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Research Output 2001 2019

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1P1-X02 最大筋力を考慮した筋骨格システムの位置制御

Translated title of the contribution: 1P1-X02 Set-point Control of a Musculoskeletal System Considering Maximum Muscular Force中川大輔, 松谷祐希, 木野仁 & 田原健二, May 17 2015, In : ロボティクス・メカトロニクス講演会講演概要集. 2015, p. "1P1-X02(1)"-"1P1-X02(4)"

Research output: Contribution to journalArticle

Musculoskeletal system
Feedforward control
Feedback control
Sensory feedback
Muscle

1P2-O08 パーティクルフィルタによる物体の位置・姿勢推定値を用いた物体把持・操作手法

Translated title of the contribution: 1P2-O08 Object Manipulation using a Particle Filter to Estimate a Position and Attitude of an Grasped Object大藤康平, 辻徳生 & 田原健二, May 17 2015, In : ロボティクス・メカトロニクス講演会講演概要集. 2015, p. "1P2-O08(1)"-"1P2-O08(3)"

Research output: Contribution to journalArticle

Time delay
Lasers
Sensors

2A2-K06 リニアアクチュエータを用いた歩行アシスト装置の開発と歩行シミュレーションによるアシスト効果の検証

Translated title of the contribution: 2A2-K06 Development of Wearable Walking Assist Device using Linear Actuator and Its Verification through Numerical Simulations田原健二, 岡田共史, 中島康貴 & 山本元司, May 17 2015, In : ロボティクス・メカトロニクス講演会講演概要集. 2015, p. "2A2-K06(1)"-"2A2-K06(4)"

Research output: Contribution to journalArticle

Linear actuators
Controllers
Computer simulation
Gears
Actuators

2リンク6筋を有する筋骨格システムにおけるフィードフォワード位置決めのための筋配置条件

Translated title of the contribution: Muscular Arrangement Conditions of Musculoskeletal System with Two Joints and Six Muscles for Feedforward Position Control越智裕章, 木野仁, 田原健二 & 松谷祐希, 2016, In : 日本ロボット学会誌. 34, 2, p. 133-142 10 p.

Research output: Contribution to journalArticle

Musculoskeletal system
Feedforward control
Position control
Muscle
Torque
1 Citation (Scopus)

3-DOF planar parallel-wire driven robot with an active balancer and its model-based adaptive control

Kino, H., Yoshitake, T., Wada, R., Tahara, K. & Tsuda, K., Jul 18 2018, In : Advanced Robotics. 32, 14, p. 766-777 12 p.

Research output: Contribution to journalArticle

Wire
Robots
Ceilings
Degrees of freedom (mechanics)
Dynamic analysis
62 Citations (Scopus)

A stability theory of a manifold: Concurrent realization of grasp and orientation control of an object by a pair of robot fingers

Arimoto, S., Tahara, K., Bae, J. H. & Yoshida, M., Jan 1 2003, In : Robotica. 21, 2, p. 163-178 16 p.

Research output: Contribution to journalArticle

Sensory feedback
Stability Theory
Concurrent
Robot
Robots
3 Citations (Scopus)

A study on effect of biarticular muscles in an antagonistically actuated robot arm through numerical simulations

Morizono, T., Tahara, K. & Kino, H., Mar 1 2017, In : Artificial Life and Robotics. 22, 1, p. 74-82 9 p.

Research output: Contribution to journalArticle

Muscle
Robots
Muscles
Computer simulation
Motion control
1 Citation (Scopus)

Biomimetic pinching movements of a musculo-skeletal dual-finger model

Tahara, K., Arimoto, S., Ozawa, R. & Luo, Z. W., Jan 1 2011, In : Advanced Robotics. 25, 1-2, p. 175-204 30 p.

Research output: Contribution to journalArticle

Biomimetics
Muscle
Kinematics
Damping
Computer simulation

Choice of muscular forces for motion control of a robot arm with biarticular muscles

Morizono, T., Tahara, K. & Kino, H., Jan 1 2019, In : Journal of Robotics and Mechatronics. 31, 1, p. 143-155 13 p.

Research output: Contribution to journalArticle

Motion control
Muscle
Robots
Robotic arms
Kinetics
1 Citation (Scopus)

Complementary compound set-point control by combining muscular internal force feedforward control and sensory feedback control including a time delay

Matsutani, Y., Tahara, K., Kino, H. & Ochi, H., Mar 28 2018, (Accepted/In press) In : Advanced Robotics. 32, 8, p. 1-15 15 p.

Research output: Contribution to journalArticle

Sensory feedback
Feedforward control
Force control
Feedback control
Time delay
31 Citations (Scopus)

Dynamic force/torque balance of 2D polygonal objects by a pair of rolling contacts and sensory-motor coordination

Arimoto, S., Yoshida, M., Bae, J. H. & Tahara, K., Jan 1 2003, In : Journal of Robotic Systems. 20, 9, p. 517-537 21 p.

Research output: Contribution to journalArticle

Kinematics
Torque
Sensory feedback
Point contacts
Gravitation
7 Citations (Scopus)

Dynamic grasping of an arbitrary polyhedral object

Kawamura, A., Tahara, K., Kurazume, R. & Hasegawa, T., Jul 2013, In : Robotica. 31, 4, p. 511-523 13 p.

Research output: Contribution to journalArticle

Grasping
Arbitrary
Torque
Controllers
Computer simulation

Experiment verification and stability analysis of iterative learning control for shape memory alloy wire

Kino, H., Mori, N., Moribe, S., Tsuda, K. & Tahara, K., Aug 2019, In : Journal of Robotics and Mechatronics. 31, 4, p. 583-593 11 p.

Research output: Contribution to journalArticle

Shape memory effect
Wire
Experiments
Manipulators
Hysteresis
9 Citations (Scopus)

Feedforward control of twisted and coiled polymer actuator based on a macroscopic nonlinear model focusing on energy

Masuya, K., Ono, S., Takagi, K. & Tahara, K., Jul 1 2018, In : IEEE Robotics and Automation Letters. 3, 3, p. 1824-1831 8 p.

Research output: Contribution to journalArticle

Feedforward Control
Feedforward control
Nonlinear Model
Feedforward
Actuator
12 Citations (Scopus)

Grasp and dexterous manipulation of multi-fingered robotic hands: a review from a control view point

Ozawa, R. & Tahara, K., Oct 18 2017, In : Advanced Robotics. 31, 19-20, p. 1030-1050 21 p.

Research output: Contribution to journalArticle

End effectors
Robotics
Control systems
1 Citation (Scopus)

Learning task manifolds for constrained object manipulation

Li, M., Tahara, K. & Billard, A., Jan 1 2018, In : Autonomous Robots. 42, 1, p. 159-174 16 p.

Research output: Contribution to journalArticle

Robotics
Robots
Controllers
12 Citations (Scopus)
Joule heating
convective heat transfer
Polymers
Actuators
actuators
14 Citations (Scopus)

Numerical analysis of feedforward position control for non-pulley musculoskeletal system: A case study of muscular arrangements of a two-link planar system with six muscles

Kino, H., Kikuchi, S., Matsutani, Y., Tahara, K. & Nishiyama, T., Aug 21 2013, In : Advanced Robotics. 27, 16, p. 1235-1248 14 p.

Research output: Contribution to journalArticle

Musculoskeletal system
Feedforward control
Position control
Muscle
Numerical analysis
18 Citations (Scopus)

On control of reaching movements for musculo-skeletal redundant arm model

Tahara, K., Arimoto, S., Sekimoto, M. & Luo, Z. W., Mar 2009, In : Applied Bionics and Biomechanics. 6, 1, p. 11-26 16 p.

Research output: Contribution to journalArticle

Muscle
Muscles
Joints
Feedback
Research
99 Citations (Scopus)

Principles of superposition for controlling pinch motions by means of robot fingers with soft tips

Arimoto, S., Tahara, K., Yamaguchi, M., Nguyen, P. T. A. & Han, H. Y., Jan 1 2001, In : Robotica. 19, 1, p. 21-28 8 p.

Research output: Contribution to journalArticle

Superposition
Robot
Degree of freedom
Robots
Motion
7 Citations (Scopus)
Damping
Muscle
Trajectories
Computer simulation
23 Citations (Scopus)

Robotic pinching by means of a pair of soft fingers with sensory feedback

Han, H. Y., Arimoto, S., Tahara, K., Yamaguchi, M. & Nguyen, P. T. A., Jan 1 2001, In : Proceedings - IEEE International Conference on Robotics and Automation. 1, p. 97-102 6 p.

Research output: Contribution to journalArticle

Sensory feedback
Robotics
Optical devices
Closed loop systems
Robots
2 Citations (Scopus)
Visual servoing
Dynamic models
Controllers
Computer simulation
Experiments
1 Citation (Scopus)

Rotational Angle Control of a Twisted Polymeric Fiber Actuator by an Estimated Temperature Feedback

Tahara, K., Hayashi, R., Masuya, K., Takagi, K., Irisawa, T., Yamauchi, T. & Tanaka, E., Jul 1 2019, In : IEEE Robotics and Automation Letters. 4, 3, p. 2447-2454 8 p., 8653971.

Research output: Contribution to journalArticle

Open Access
Actuator
Actuators
Fiber
Feedback
Angle

Rotational Angle Trajectory Tracking of a Twisted Polymeric Fiber Actuator by the Combination of a Model-Based Feed-Forward and Estimated Temperature Feedback

Hayashi, R., Masuya, K., Takagi, K., Irisawa, T., Fujino, R., Yamauchi, T., Tanaka, E. & Tahara, K., Jul 1 2019, In : IEEE Robotics and Automation Letters. 4, 3, p. 2561-2567 7 p., 8678402.

Research output: Contribution to journalArticle

Trajectory Tracking
Feedforward
Actuator
Actuators
Trajectories
4 Citations (Scopus)

Sensorless point-to-point control for a musculoskeletal tendon-driven manipulator: analysis of a two-DOF planar system with six tendons

Kino, H., Ochi, H., Matsutani, Y. & Tahara, K., Aug 18 2017, In : Advanced Robotics. 31, 16, p. 851-864 14 p.

Research output: Contribution to journalArticle

Tendons
Manipulators
Position control
Sensory feedback
Lyapunov functions
23 Citations (Scopus)

Sensorless position control using feedforward internal force for completely restrained parallel-wire-driven systems

Kino, H., Yahiro, T., Taniguchi, S. & Tahara, K., Mar 10 2009, In : IEEE Transactions on Robotics. 25, 2, p. 467-474 8 p.

Research output: Contribution to journalArticle

Position control
Wire
Sensors
Feedback
Costs
19 Citations (Scopus)

Sensory-motor control mechanism for reaching movements of a redundant musculo-skeletal arm

Tahara, K., Luo, Z. W., Arimoto, S. & Kino, H., Nov 1 2005, In : Journal of Robotic Systems. 22, 11, p. 639-651 13 p.

Research output: Contribution to journalArticle

Muscle
Computer simulation
Gravitation
Kinematics
Damping
Musculoskeletal system
Gravitation
Feedback
Controllers
Time delay
2 Citations (Scopus)

Stable pinching by controlling finger relative orientation of robotic fingers with rolling soft tips

Psomopoulou, E., Karashima, D., Doulgeri, Z. & Tahara, K., Feb 1 2018, In : Robotica. 36, 2, p. 204-224 21 p.

Research output: Contribution to journalArticle

Robotics
Controllers
Static analysis
Controller
Grasping

「ソフトロボティクス」特集について

Translated title of the contribution: On special issue “Soft Robotics”新山龍馬 & 田原健二, Jan 2019, In : 日本ロボット学会誌. 37, 1, p. 2-3 2 p.

Research output: Contribution to journalArticle

Robotics

「マニピュレーション・レビュー」特集について

Translated title of the contribution: On special issue "Introduction to The Review of Advanced Manipulation"原田研介 & 田原健二, Jul 15 2018, In : 日本ロボット学会誌. 36, 5, p. 305-305 1 p.

Research output: Contribution to journalArticle

ねじり型釣糸人工筋アクチュエータのトルク制御

Translated title of the contribution: Torque Control of Torsional-Type Fishing-Line Artificial Muscle Actuator大岩千隼, 荒川武士, 舛屋賢, 田原健二, 入澤寿平, 安積欣志 & 高木賢太郎, 2017, In : ロボティクス・メカトロニクス講演会講演概要集. 2017, 0, p. 2A1-A04

Research output: Contribution to journalArticle

Torque control
Muscle
Actuators
Torque
Transfer functions

むだ時間を含む感覚フィードバックと筋内力フィードフォワードの相補的組み合わせによる筋骨格アームの位置制御

Translated title of the contribution: Set-point Control for a Musculoskeletal System using Complementary Combination of a Sensory Feedback Including a Time-delay and a Muscular Internal Force Feedforward松谷祐希, 田原健二, 木野仁, 越智裕章 & 山本元司, 2016, In : 日本ロボット学会誌. 34, 2, p. 143-152 10 p.

Research output: Contribution to journalArticle

Musculoskeletal system
Sensory feedback
Feedforward control
Time delay
Force control

多指ハンドアームシステムを用いたセンソリーフィードバックによる任意多面体の姿勢制御

Translated title of the contribution: Sensory Feedback Attitude Control for an Arbitrary Polyhedral Object by a Multi-Fingered Hand-Arm System河村晃宏, 田原健二, 倉爪亮 & 長谷川勉, Jan 15 2012, In : 日本ロボット学会誌. 30, 1, p. 72-83 12 p.

Research output: Contribution to journalArticle

Sensory feedback
Attitude control
Feedback control
Sensors
Computer simulation

多指ロボットハンドの制御法

Translated title of the contribution: A Brief Survey on Control of Multi-fingered Robotic hands小澤隆太 & 田原健二, Jul 15 2018, In : 日本ロボット学会誌. 36, 5, p. 306-315 10 p.

Research output: Contribution to journalArticle

End effectors

対流熱伝達の温度・速度依存性に基づく釣糸人工筋肉の変位モデリング

Translated title of the contribution: Macroscopic Displacement Model of Twisted and Coiled Polymer Actuator based on the Temperature and Velocity Dependence of Convective Heat Transfer舛屋賢, 小野秀, 高木賢太郎 & 田原健二, 2017, In : ロボティクス・メカトロニクス講演会講演概要集. 2017, 0, p. 2A1-A01

Research output: Contribution to journalArticle

Actuators
Heat transfer
Polymers
Temperature
Experiments

時間遅れやノイズにロバストな運動制御戦略:—開かれた環境での運動知能—

Translated title of the contribution: A Robust Motor Control Strategy against Time-delays and Noises:—Motor Intelligence on Open Environments—田原健二, Dec 15 2018, In : 日本ロボット学会誌. 36, 9, p. 616-619 4 p.

Research output: Contribution to journalArticle

intelligence
time

複数の釣糸アクチュエータを用いた2自由度マニピュレータの位置・剛性制御

Translated title of the contribution: Position and Stiffness Control of 2-DOF Manipulator Using Multiple Fishing Line Actuators小野秀, 舛屋賢, 高木賢太郎 & 田原健二, 2017, In : ロボティクス・メカトロニクス講演会講演概要集. 2017, 0, p. 2A1-A03

Research output: Contribution to journalArticle

Manipulators
Actuators
Stiffness
Fibers
Polymers

誘電エラストマーアクチュエータを用いた1自由度マニピュレータの位置・力制御

Translated title of the contribution: Position and Force Control of 1 DOF Manipulator driven by Dielectric Elastomer Actuators久保田洋輝 & 田原健二, 2017, In : ロボティクス・メカトロニクス講演会講演概要集. 2017, 0, p. 2A1-B06

Research output: Contribution to journalArticle

Force control
Position control
Elastomers
Manipulators
Actuators

釣糸人工筋肉の束を利用したアクチュエータユニットの開発

Translated title of the contribution: Development of Actuator Unit consisting of Multiple Twisted and Coiled Polymer Actuators舛屋賢, 小野秀, 高木賢太郎 & 田原健二, 2017, In : ロボティクス・メカトロニクス講演会講演概要集. 2017, 0, p. 2A1-A02

Research output: Contribution to journalArticle

Actuators
Polymers
Controllers
Fibers
Experiments