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Trajectory control of omni-directional mobile robot with considering shift of center of gravity and nonlinear friction which is affected by direction of movement

Research Project

Project/Area Number 23760380
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeMulti-year Fund
Research Field Control engineering
Research InstitutionHokkaido University

Principal Investigator

EMARU Takanori  北海道大学, 工学(系)研究科(研究院), 准教授 (30440952)

Co-Investigator(Renkei-kenkyūsha) KOBAYASHI Yukinori  北海道大学, 大学院工学研究院, 教授 (10186778)
WANG Shuoyu  高知工科大学, 工学部, 教授 (90250951)
Project Period (FY) 2011 – 2013
Project Status Completed (Fiscal Year 2013)
Budget Amount *help
¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2013: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2012: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2011: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Keywords制御システム / 全方向移動ロボット / 軌道制御 / 非線形補償器 / nonlinear friction / trajectory control / nonlinear compensator
Research Abstract

Mechanism analysis and performance improvement of an omni-directional wheel mobile robot is purpose of this research. Here, an omni-directional wheel has special mechanism in order to achieve omni-directional movement. The results of this project are as follows: 1)Appropriate model of nonlinear friction of omni-directional wheel that is affected by direction of movement has been proposed. This result makes it possible to control position or velocity of an omni-directional wheel mobile robot accurately. 2)Appropriate model of dynamic shift of center of gravity has been proposed. Such model has strong nonlinearity. In order to compensate such nonlinearity, a novel control strategy has been proposed. The validity of the new control strategy has been investigated by simulations and experiments using an omni-directional wheel mobile robot and manipulator system.

Report

(4 results)
  • 2013 Annual Research Report   Final Research Report ( PDF )
  • 2012 Research-status Report
  • 2011 Research-status Report
  • Research Products

    (77 results)

All 2014 2013 2012 2011 Other

All Journal Article (14 results) (of which Peer Reviewed: 12 results) Presentation (62 results) Remarks (1 results)

  • [Journal Article] Straight Line Segments Extraction and EKF-SLAM in Indoor Environment2014

    • Author(s)
      Jixin LV, Yukinori KOBAYASHI, Ankit A. RAVANKAR and Takanori EMARU
    • Journal Title

      Jounal of Automation and Control Engineering

      Volume: Vol. 2, No. 3 Issue: 3 Pages: 270-276

    • DOI

      10.12720/joace.2.3.270-276

    • Related Report
      2013 Annual Research Report 2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] Approaches Based on Particle Swarm Optimization for Problems of Vibration Reduction of Suspended Mobile Robot with a Manipulator2014

    • Author(s)
      Guoliang ZHONG, Yukinori KOBAYASHI, Takanori EMARU and Yohei HOSHINO
    • Journal Title

      Journal of Vibration and Control

      Volume: Vol.20, No.1 Issue: 1 Pages: 1-21

    • DOI

      10.1177/1077546312458534

    • Related Report
      2013 Annual Research Report 2013 Final Research Report 2012 Research-status Report
    • Peer Reviewed
  • [Journal Article] Force Redistribution Method for Compensating Actuator-Breakdown of Vibration-Isolation Tables Supported with a Redundant Number of Pneumatic Actuators2013

    • Author(s)
      Takumi MAEDA, Yohei HOSHINO, Daisuke YOSHIDA, Yukinori KOBAYASHI and Takanori EMARU
    • Journal Title

      Journal of System Design and Dynamics

      Volume: 7 Issue: 4 Pages: 355-366

    • DOI

      10.1299/jsdd.7.355

    • NAID

      130003384423

    • ISSN
      1881-3046
    • Related Report
      2013 Annual Research Report 2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] Force Redistribution Method for Compensating Actuator-Breakdown of Vibration Isolation Tables Supported with a Redundant Number of Pneumatic Actuators2013

    • Author(s)
      前田拓巳,星野洋平,吉田大輔,小林幸徳,江丸貴紀
    • Journal Title

      TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C

      Volume: 79 Issue: 801 Pages: 1317-1326

    • DOI

      10.1299/kikaic.79.1317

    • NAID

      130003375018

    • ISSN
      0387-5024, 1884-8354
    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] Motion Control of a Ball Throwing Robot with a Flexible Robotic Arm2013

    • Author(s)
      Yizhi GAI, Yukinori KOBAYASHI, Yohei HOSHINO and Takanori EMARU
    • Journal Title

      International Journal of Computer, Information Sciences and Engineering

      Volume: Vol. 7, No. 7 Pages: 79-87

    • URL

      http://waset.org/publications/16363/

    • Related Report
      2013 Annual Research Report 2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] Optimal control of the dynamic stability for robotic vehicles in rough terrain2013

    • Author(s)
      Guoliang ZHONG, Yukinori KOBAYASHI, Takanori EMARU and Yohei HOSHINO
    • Journal Title

      Nonlinear Dynamics

      Volume: 13(published online) Issue: 1-2 Pages: 981-992

    • DOI

      10.1007/s11071-013-0847-2

    • Related Report
      2013 Annual Research Report 2013 Final Research Report 2012 Research-status Report
    • Peer Reviewed
  • [Journal Article] System modeling and tracking control of mobile manipulator subjected to dynamic interaction and uncertainty2013

    • Author(s)
      Guoliang ZHONG, Yukinori KOBAYASHI, Yohei HOSHINO and Takanori EMARU
    • Journal Title

      Nonlinear Dynamics

      Volume: 25(published online) Issue: 1-2 Pages: 167-182

    • DOI

      10.1007/s11071-013-0776-0

    • Related Report
      2013 Final Research Report 2012 Research-status Report
    • Peer Reviewed
  • [Journal Article] アクチュエータ故障に対する冗長支持空気圧除振台の出力再分配法2013

    • Author(s)
      前田拓巳, 星野洋平, 吉田大輔, 小林幸徳, 江丸貴紀
    • Journal Title

      日本機械学会論文集(C編)

      Volume: 79巻, 801号 Pages: 1317-1326

    • NAID

      130003375018

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Sky-Hook with Adaptive Disturbance Cancellation Control for Flexible Structures with an Active Vibration Control Unit2012

    • Author(s)
      Yohei HOSHINO, Kyohei KATAYAMA, Yukinori KOBAYASHI, Takanori EMARU and Yohsuke NAKANISHI
    • Journal Title

      Journal of System Design and Dynamics

      Volume: 6 Issue: 5 Pages: 626-640

    • DOI

      10.1299/jsdd.6.626

    • NAID

      130003368496

    • ISSN
      1881-3046
    • Related Report
      2013 Final Research Report 2012 Research-status Report
    • Peer Reviewed
  • [Journal Article] Active Vibration Suppression of Flexible Sprayer-Boom by Sky-Hook with Adaptive Disturbance Cancellation Control Unit2012

    • Author(s)
      Yohei HOSHINO, Kyohei KATAYAMA, Yukinori KOBAYASHI, Yohsuke NAKANISHI and Takanori EMARU
    • Journal Title

      Journal of System Design and Dynamics

      Volume: 6 Issue: 3 Pages: 251-262

    • DOI

      10.1299/jsdd.6.251

    • NAID

      130002100211

    • ISSN
      1881-3046
    • Related Report
      2013 Final Research Report 2012 Research-status Report
  • [Journal Article] Sky-Hook with Adaptive Disturbance Cancellation Control for Flexible Structures by Active Vibration Control Unit2012

    • Author(s)
      星野洋平, 片山恭平, 小林幸徳, 江丸貴紀, 中西洋介
    • Journal Title

      TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C

      Volume: 78 Issue: 789 Pages: 1485-1496

    • DOI

      10.1299/kikaic.78.1485

    • NAID

      130002051410

    • ISSN
      0387-5024, 1884-8354
    • Related Report
      2013 Final Research Report 2012 Research-status Report 2011 Research-status Report
    • Peer Reviewed
  • [Journal Article] Robot Mapping Using k-means Clustering Of Laser Range Sensor Data, Bulletin of Networking, Computing2012

    • Author(s)
      Ankit A. RAVANKAR, Yohei HOSHINO, Takanori EMARU and Yukinori KOBAYASHI
    • Journal Title

      Systems and Software

      Volume: Vol. 1, No. 1 Pages: 9-12

    • Related Report
      2013 Final Research Report
  • [Journal Article] Modeling and Vibration Analysis of Flexible Robotic Arm under Fast Motion in Consideration of Nonlinearity2011

    • Author(s)
      Haibin YIN, Yukinori KOBAYASHI, Yohei HOSHINO, Takanori EMARU
    • Journal Title

      Journal of System Design and Dynamics

      Volume: 5 Issue: 5 Pages: 909-924

    • DOI

      10.1299/jsdd.5.909

    • NAID

      130001014197

    • ISSN
      1881-3046
    • Related Report
      2013 Final Research Report 2011 Research-status Report
    • Peer Reviewed
  • [Journal Article] Decomposed Dynamic Control for Flexible Manipulator in Consideration of Nonlinearity -Flexible Dynamic Control-2011

    • Author(s)
      Haibin YIN, Yukinori KOBAYASHI, Yohei HOSHINO, Takanori EMARU
    • Journal Title

      Journal of System Design and Dynamics

      Volume: 5 Issue: 2 Pages: 219-230

    • DOI

      10.1299/jsdd.5.219

    • NAID

      130000674409

    • ISSN
      1881-3046
    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Presentation] 筋電パターン認識におけるリカレントニューラルネットワークの有用性の検討2014

    • Author(s)
      相澤優作,江丸貴紀,小林幸徳
    • Organizer
      第46回計測自動制御学会北海道支部学術講演会
    • Place of Presentation
      北海道大学,札幌市
    • Year and Date
      2014-03-09
    • Related Report
      2013 Final Research Report
  • [Presentation] Tracking of Mobile Robot and 3-D Grid Structure Recognition with Stereo Camera and RGB-D Camera2014

    • Author(s)
      Chenyu WANG, Yukinori KOBAYASHI and Takanori EMARU
    • Organizer
      第46回計測自動制御学会北海道支部学術講演会
    • Place of Presentation
      北海道大学,札幌市
    • Year and Date
      2014-03-09
    • Related Report
      2013 Final Research Report
  • [Presentation] アクティブ制振ユニットのためのロバスト多重スペクトル正弦外乱推定2014

    • Author(s)
      鈴木幹生,星野洋平,小林幸徳,江丸貴紀
    • Organizer
      第46回計測自動制御学会北海道支部学術講演会
    • Place of Presentation
      北海道大学,札幌市
    • Related Report
      2013 Annual Research Report
  • [Presentation] ファジィ制御によるマスター-スレーブアームの運動制御2014

    • Author(s)
      小田祐也,小林幸徳,江丸貴紀
    • Organizer
      第46回計測自動制御学会北海道支部学術講演会
    • Place of Presentation
      北海道大学,札幌市
    • Related Report
      2013 Annual Research Report
  • [Presentation] 筋電パターン認識におけるリカレントニューラルネットワークの有用性の検討2014

    • Author(s)
      相澤優作,江丸貴紀,小林幸徳
    • Organizer
      第46回計測自動制御学会北海道支部学術講演会
    • Place of Presentation
      北海道大学,札幌市
    • Related Report
      2013 Annual Research Report
  • [Presentation] Tracking of Mobile Robot and 3-D Grid Structure Recognition with Stereo Camera and RGB-D Camera2014

    • Author(s)
      Chenyu Wang, Yukinori Kobayashi and Takanori Emaru
    • Organizer
      第46回計測自動制御学会北海道支部学術講演会
    • Place of Presentation
      北海道大学,札幌市
    • Related Report
      2013 Annual Research Report
  • [Presentation] センサの物理的特性を組み込んだ確率的な自己位置同定法の確立2014

    • Author(s)
      佐藤雄太,江丸貴紀,小林幸徳
    • Organizer
      第6回北海道ロボット技術研究専門委員会学術講演会
    • Place of Presentation
      北海道大学,札幌市
    • Related Report
      2013 Annual Research Report
  • [Presentation] 積分型ソナーリングを用いた人工ポテンシャル法による全方位移動ロボットの行動決定法2014

    • Author(s)
      与能本俊也,江丸貴紀,小林幸徳
    • Organizer
      第6回北海道ロボット技術研究専門委員会学術講演会
    • Place of Presentation
      北海道大学,札幌市
    • Related Report
      2013 Annual Research Report
  • [Presentation] セミアクティブサスペンションを有する移動ロボットの運動制御シミュレーション2014

    • Author(s)
      大河原琢真,小林幸徳,江丸貴紀
    • Organizer
      第6回北海道ロボット技術研究専門委員会学術講演会
    • Place of Presentation
      北海道大学,札幌市
    • Related Report
      2013 Annual Research Report
  • [Presentation] Clustering Based Loop Closure Technique for 2D Robot Mapping Based on EKF-SLAM2013

    • Author(s)
      Ankit RAVANKAR, Yukinori KOBAYASHI, Takanori EMARU
    • Organizer
      7th Asia international conference on Mathematical/Analytical Modelling and Computer Simulation
    • Place of Presentation
      Harbour Plaza 8 Degrees, Hong Kong
    • Year and Date
      2013-06-23
    • Related Report
      2013 Annual Research Report 2013 Final Research Report
  • [Presentation] カルマンフィルタを用いた全方位移動ロボットの速度推定と制御性能改善2013

    • Author(s)
      李鍾赫,江丸貴紀,小林幸徳
    • Organizer
      第31回日本ロボット学会学術講演会
    • Place of Presentation
      首都大学東京,東京
    • Related Report
      2013 Final Research Report
  • [Presentation] A Novel Nonlinear Compensator Based on Digital Acceleration Control2013

    • Author(s)
      Masashi OKUMA, Takanori EMARU, Yohei HOSHINO, Yukinori KOBAYASHI
    • Organizer
      9th annual IEEE International Conference on Automation Science and Engineering
    • Place of Presentation
      Madison Concourse Hotel, Madison, WI, USA
    • Related Report
      2013 Final Research Report
  • [Presentation] Motion Control of a Ball Throwing Robot with a Flexible Robotic Arm2013

    • Author(s)
      Yizhi GAI, Yukinori KOBAYASHI, Yohei HOSHINO, Takanori EMARU
    • Organizer
      International Conference on Mechatronics and Robotics
    • Place of Presentation
      Holiday Inn London - Wembley, UK
    • Related Report
      2013 Final Research Report
  • [Presentation] Mass Identification by Digital Acceleration Control for Dynamic Systems2013

    • Author(s)
      Koichi IMAOKA, Takanori EMARU, Yukinori KOBAYASHI, Yohei HOSHINO
    • Organizer
      15th Asia Pacific Vibration Conference
    • Place of Presentation
      International Convention Center, Jeju, Korea
    • Related Report
      2013 Final Research Report
  • [Presentation] A New Algorithm To Detect Lines in Noisy Environment for Indoor Robot Mapping2013

    • Author(s)
      Ankit RAVANKAR, Yohei HOSHINO, Takanori EMARU, Yukinori KOBAYASHI
    • Organizer
      2013 JSME Conference on Robotics and Mechatronics
    • Place of Presentation
      つくば市,つくば国際会議場
    • Related Report
      2013 Final Research Report
  • [Presentation] ディジタル加速度制御とフィードフォワード制御の組み合わせによる柔軟ロボットアームの高性能化2013

    • Author(s)
      高野直人,江丸貴紀,星野洋平,小林幸徳
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      つくば市,つくば国際会議場
    • Related Report
      2013 Final Research Report
  • [Presentation] 重心のずれに対する全方位移動ロボットの速度制御2013

    • Author(s)
      李鍾赫,江丸貴紀,星野洋平,小林幸徳
    • Organizer
      第45回計測自動制御学会北海道支部学術講演会
    • Place of Presentation
      北海道大学,札幌市
    • Related Report
      2013 Final Research Report
  • [Presentation] ディジタル加速度制御則を用いたロボットアームの質量推定2013

    • Author(s)
      今岡広一,江丸貴紀,小林幸徳,星野洋平
    • Organizer
      第45回計測自動制御学会北海道支部学術講演会
    • Place of Presentation
      北海道大学,札幌市
    • Related Report
      2013 Final Research Report
  • [Presentation] カルマンフィルタを用いた全方位移動ロボットの速度推定と制御性能改善2013

    • Author(s)
      李鍾赫,江丸貴紀,小林幸徳
    • Organizer
      第31回日本ロボット学会学術講演会
    • Place of Presentation
      首都大学東京,東京都
    • Related Report
      2013 Annual Research Report
  • [Presentation] 一様流中に置かれた非線形復原力特性を有する円柱構造物のロックイン現象解析2013

    • Author(s)
      今岡 広一,小林 幸徳,江丸 貴紀,星野 洋平
    • Organizer
      Dynamics and Design Conference 2013
    • Place of Presentation
      九州産業大学,福岡
    • Related Report
      2013 Annual Research Report
  • [Presentation] カント付曲線軌道走行時における鉄道車両の固有値解析による走行安定性解析2013

    • Author(s)
      星野 洋平,佐藤 勇大,小林 幸徳,江丸 貴紀
    • Organizer
      Dynamics and Design Conference 2013
    • Place of Presentation
      九州産業大学,福岡
    • Related Report
      2013 Annual Research Report
  • [Presentation] A Novel Nonlinear Compensator Based on Digital Acceleration Control2013

    • Author(s)
      Masashi OKUMA, Takanori EMARU, Yohei HOSHINO, Yukinori KOBAYASHI
    • Organizer
      9th annual IEEE International Conference on Automation Science and Engineering (IEEE CASE 2013)
    • Place of Presentation
      Madison Concourse Hotel, Madison, WI, USA
    • Related Report
      2013 Annual Research Report
  • [Presentation] Motion Control of a Ball Throwing Robot with a Flexible Robotic Arm2013

    • Author(s)
      Yizhi GAI, Yukinori KOBAYASHI, Yohei HOSHINO, Takanori EMARU
    • Organizer
      International Conference on Mechatronics and Robotics (ICMR 2013)
    • Place of Presentation
      Holiday Inn London - Wembley, UK
    • Related Report
      2013 Annual Research Report
  • [Presentation] Competitive Pressure Modes in a Vibration-Isolation Table Supported by a Redundant Number of Pneumatic Actuators and its Stabilization Method2013

    • Author(s)
      Yohei HOSHINO, Daisuke YOSHIDA, Takumi MAEDA, Yukinori KOBAYASHI, Takanori EMARU
    • Organizer
      the 15th Asia Pacific Vibration Conference (APVC2013)
    • Place of Presentation
      International Convention Center, Jeju, Korea
    • Related Report
      2013 Annual Research Report
  • [Presentation] Mass Identification by Digital Acceleration Control for Dynamic Systems2013

    • Author(s)
      Koichi IMAOKA, Takanori EMARU, Yukinori KOBAYASHI, Yohei HOSHINO
    • Organizer
      the 15th Asia Pacific Vibration Conference (APVC2013)
    • Place of Presentation
      International Convention Center, Jeju, Korea
    • Related Report
      2013 Annual Research Report
  • [Presentation] 骨組み構造を移動する Limb 型ロボットにおけるセンシングと移動戦略2013

    • Author(s)
      吉田州平,小林幸徳,江丸貴紀,星野洋平
    • Organizer
      日本機械学会ロボティクス・メカトロニクス部門講演会 (Robomec2013)
    • Place of Presentation
      つくば国際会議場,つくば市
    • Related Report
      2013 Annual Research Report
  • [Presentation] A New Algorithm To Detect Lines in Noisy Environment for Indoor Robot Mapping2013

    • Author(s)
      Ankit RAVANKAR, Yohei HOSHINO, Takanori EMARU, Yukinori KOBAYASHI
    • Organizer
      日本機械学会ロボティクス・メカトロニクス部門講演会 (Robomec2013)
    • Place of Presentation
      つくば国際会議場,つくば市
    • Related Report
      2013 Annual Research Report
  • [Presentation] ディジタル加速度制御とフィードフォワード制御の組み合わせによる柔軟ロボットアームの高性能化2013

    • Author(s)
      高野直人,江丸貴紀,星野洋平,小林幸徳
    • Organizer
      日本機械学会ロボティクス・メカトロニクス部門講演会 (Robomec2013)
    • Place of Presentation
      つくば国際会議場,つくば市
    • Related Report
      2013 Annual Research Report
  • [Presentation] 重心のずれに対する全方位移動ロボットの速度制御2013

    • Author(s)
      イジョンヒョク,江丸貴紀,星野洋平,小林幸徳
    • Organizer
      第45回計測自動制御学会北海道支部学術講演会
    • Place of Presentation
      北海道大学(札幌市)
    • Related Report
      2012 Research-status Report
  • [Presentation] ディジタル加速度制御則を用いたロボットアームの質量推定2013

    • Author(s)
      今岡広一,江丸貴紀,小林幸徳,星野洋平
    • Organizer
      第45回計測自動制御学会北海道支部学術講演会
    • Place of Presentation
      北海道大学(札幌市)
    • Related Report
      2012 Research-status Report
  • [Presentation] Slope Detection based on Orthogonal Assumption2012

    • Author(s)
      Jixin Lv, Yukinori KOBAYASHI, Yohei Hoshino and Takanori EMARU
    • Organizer
      IEEE/SICE International Symposium on System Integration
    • Place of Presentation
      Kyushu Univ. Fukuoka
    • Year and Date
      2012-12-18
    • Related Report
      2013 Final Research Report
  • [Presentation] 動的な重心のずれに対する全方位移動ロボットの軌道制御2012

    • Author(s)
      李鍾赫,江丸貴紀,星野洋平,小林幸徳
    • Organizer
      日本機械学会北海道支部北海道学生会第41回学生員卒業研究発表講演会
    • Place of Presentation
      北海道大学,札幌市
    • Year and Date
      2012-03-03
    • Related Report
      2013 Final Research Report
  • [Presentation] Trajectory Tracking of Wheeled Mobile Robot with a Manipulator Considering Dynamic Interaction and Modeling Uncertainty2012

    • Author(s)
      Guoliang ZHONG, Yukinori KOBAYASHI, Takanori EMARU and Yohei HOSHINO
    • Organizer
      International Conference on Intelligent Robotics and Applications
    • Place of Presentation
      Concordia University, Montreal, QC, Canada
    • Related Report
      2013 Final Research Report
  • [Presentation] ディジタル加速度制御系に基づく非線形補償器の提案2012

    • Author(s)
      大熊雅史,江丸貴紀,星野洋平,小林幸徳
    • Organizer
      JSME Conference on Robotics and Mechatronics
    • Place of Presentation
      アクトシティ浜松,浜松市
    • Related Report
      2013 Final Research Report
  • [Presentation] Performance Improvement of PID-DAC- Nonlinear-Compensator by Applying Online System Identification2012

    • Author(s)
      Takanori EMARU, Hiroto SASAKI, Yohei HOSHINO and Yukinori KOBAYASHI
    • Organizer
      International Symposium on Nonlinear Theory and Its Applications
    • Place of Presentation
      Gran Melia Victoria, Majorca, Spain
    • Related Report
      2013 Final Research Report
  • [Presentation] 柔軟ロボットアームによる高効率投球動作に関する研究2012

    • Author(s)
      山川量平, 小林幸徳, 蓋 軼之, 星野洋平, 江丸貴紀
    • Organizer
      第13回システムインテグレーション部門講演会
    • Place of Presentation
      福岡国際会議場(福岡市)
    • Related Report
      2012 Research-status Report
  • [Presentation] サスペンションを有する移動ロボットのセミアクティブ振動制御2012

    • Author(s)
      山本良祐, 小林幸徳, 江丸貴紀, 星野洋平
    • Organizer
      第13回システムインテグレーション部門講演会
    • Place of Presentation
      福岡国際会議場(福岡市)
    • Related Report
      2012 Research-status Report
  • [Presentation] ディジタル加速度制御による片持ちはりの振動制御2012

    • Author(s)
      今岡広一, 江丸貴紀, 星野洋平, 小林幸徳
    • Organizer
      第13回システムインテグレーション部門講演会
    • Place of Presentation
      福岡国際会議場(福岡市)
    • Related Report
      2012 Research-status Report
  • [Presentation] Slope Detection based on Orthogonal Assumption2012

    • Author(s)
      Jixin LV, Yukinori KOBAYASHI, Yohei HOSHINO and Takanori EMARU
    • Organizer
      2012 IEEE/SICE International Symposium on System Integration
    • Place of Presentation
      Kyushu University (Fukuoka, Japan)
    • Related Report
      2012 Research-status Report
  • [Presentation] Intuitive Teleoperation of Nonholonomic Mobile Robot with a Manipulator Based on Virtual Reality and WIFI2012

    • Author(s)
      Gouliang ZHONG, Yukinori KOBAYASHI, Yohei HOSHINO and Takanori EMARU
    • Organizer
      International Conference on Information Science and Control Engineering
    • Place of Presentation
      Vienna Hotel (Shenzhen, China)
    • Related Report
      2012 Research-status Report
  • [Presentation] Trajectory Tracking of Wheeled Mobile Robot with a Manipulator Considering Dynamic Interaction and Modeling Uncertainty2012

    • Author(s)
      Guoliang ZHONG, Yukinori KOBAYASHI, Takanori EMARU and Yohei HOSHINO
    • Organizer
      The 5th International Conference on Intelligent Robotics and Applications
    • Place of Presentation
      Concordia University (Montreal, QC, Canada)
    • Related Report
      2012 Research-status Report
  • [Presentation] Application of Singular Value Decomposition in Robot Map Building2012

    • Author(s)
      Ankit A. RAVANKAR, Yohei HOSHINO, Takanori EMARU and Yukinori KOBAYASHI
    • Organizer
      The 30th Annual Conference of the Robotics Society of Japan
    • Place of Presentation
      Sapporo Convention Center (Sapporo, Japan)
    • Related Report
      2012 Research-status Report
  • [Presentation] Dynamics Modeling and Trajectory Planning of Wheeled Mobile Robot Having a Manipulator2012

    • Author(s)
      Guoliang Zhong, Yukinori Kobayashi, Takanori Emaru and Yohei Hoshino
    • Organizer
      the 43rd International Symposium on Robotics
    • Place of Presentation
      Taipei World Trade Center Nangang Exhibition Hall (Taipei, Taiwan)
    • Related Report
      2012 Research-status Report
  • [Presentation] ディジタル加速度制御系に基づく非線形補償器の提案2012

    • Author(s)
      大熊雅史, 江丸貴紀, 星野洋平, 小林幸徳
    • Organizer
      日本機械学会ロボティクス・メカトロニクス部門講演会
    • Place of Presentation
      アクトシティ浜松(浜松市)
    • Related Report
      2012 Research-status Report
  • [Presentation] Performance Improvement of PID-DAC-Nonlinear-Compensator by Applying Online System Identification2012

    • Author(s)
      Takanori Emaru, Hiroto Sasaki, Yohei Hoshino, Yukinori Kobayashi
    • Organizer
      2012 International Symposium on Nonlinear Theory and its Applications
    • Place of Presentation
      Gran Melia Victoria (Majorca, Spain)
    • Related Report
      2012 Research-status Report
  • [Presentation] 動的な重心のずれに対する全方位移動ロボットの軌道制御2012

    • Author(s)
      イ ジョンヒョク,江丸貴紀,小林幸徳,星野洋平
    • Organizer
      日本機械学会北海道支部北海道学生会第41回学生員卒業研究発表講演会
    • Place of Presentation
      北海道大学(札幌市)
    • Related Report
      2011 Research-status Report
  • [Presentation] オンラインシステム同定によるPID-ディジタル加速度制御併合制御系の性能向上2011

    • Author(s)
      佐々木広人,江丸貴紀,星野洋平,小林幸徳
    • Organizer
      第29回日本ロボット学会学術講演会
    • Place of Presentation
      芝浦工業大学,東京
    • Year and Date
      2011-09-07
    • Related Report
      2013 Final Research Report
  • [Presentation] Map Building from Laser Range Sensor Information using Mixed Data Clustering and Singular Value Decomposition in Noisy Environment2011

    • Author(s)
      Ankit A. Ravankar, Yohei Hoshino, Takanori Emaru and Yukinori Kobayashi
    • Organizer
      IEEE/SICE International Symposium on System Integration
    • Place of Presentation
      Kyoto University, Kyoto, Japan
    • Related Report
      2011 Research-status Report
  • [Presentation] 鉄道車体のFRP補強による振動特性向上に関する研究2011

    • Author(s)
      桂 鳳云,小林幸徳,富岡隆弘,星野洋平,江丸貴紀
    • Organizer
      日本機械学会第20回交通・物流部門大会
    • Place of Presentation
      川崎市,川崎市産業振興会館
    • Related Report
      2011 Research-status Report
  • [Presentation] 鉄道台車の台車傾斜と輪軸操舵の連成を考慮した走行動特性解析2011

    • Author(s)
      津谷夏希,星野洋平,小林幸徳,江丸貴紀
    • Organizer
      日本機械学会第20回交通・物流部門大会
    • Place of Presentation
      川崎市,川崎市産業振興会館
    • Related Report
      2011 Research-status Report
  • [Presentation] Active Vibration-Suppression Unit with Sky-Hook and Adaptive Disturbance Cancellation Control for Flexible Agricultural Sprayer-Booms2011

    • Author(s)
      Yohei HOSHINO, Kyohei KATAYAMA, Yosuke NAKANISHI, Yukinori KOBAYASHI and Takanori EMARU
    • Organizer
      14th Asia Pacific Vibration Conference
    • Place of Presentation
      The Hong Kong Polytechnic University, Hong Kong, China
    • Related Report
      2011 Research-status Report
  • [Presentation] Motion Control of a Flexible Robotic Arm by Utilizing Its Dynamics2011

    • Author(s)
      Yizhi GAI, Yukinori KOBAYASHI, Ryohei YAMAKAWA ,Yohei HOSHINO and Takarori EMARU
    • Organizer
      14th Asia Pacific Vibration Conference
    • Place of Presentation
      The Hong Kong Polytechnic University, Hong Kong, China
    • Related Report
      2011 Research-status Report
  • [Presentation] Vibration Reduction of Mobile Robot with Suspension System Using Optimal Multi-Input Shaping2011

    • Author(s)
      Guoliang ZHONG, Yukinori KOBAYASHI, Takanori EMARU and Yohei HOSHINO
    • Organizer
      14th Asia Pacific Vibration Conference
    • Place of Presentation
      The Hong Kong Polytechnic University, Hong Kong, China
    • Related Report
      2011 Research-status Report
  • [Presentation] Experimental Investigation on Decomposed Dynamic Control Considering the Nonlinearity of Flexible Robotic Arm2011

    • Author(s)
      Haibin YIN, Yukinori KOBAYASHI, Yohei HOSHINO, Takanori EMARU
    • Organizer
      SICE Annual Conference 2011
    • Place of Presentation
      Waseda University, Tokyo, Japan
    • Related Report
      2011 Research-status Report
  • [Presentation] セグメントマップを用いたSLAMにおけるパラメータの最適化2011

    • Author(s)
      金谷栄則, 江丸貴紀, 星野洋平, 小林幸徳
    • Organizer
      第29回日本ロボット学会学術講演会
    • Place of Presentation
      東京,芝浦工業大学
    • Related Report
      2011 Research-status Report
  • [Presentation] オンラインシステム同定によるPID-ディジタル加速度制御併合制御系の性能向上2011

    • Author(s)
      佐々木 広人, 江丸貴紀, 星野洋平, 小林幸徳
    • Organizer
      第29回日本ロボット学会学術講演会
    • Place of Presentation
      東京,芝浦工業大学
    • Related Report
      2011 Research-status Report
  • [Presentation] アクティブ制振ユニットによる柔軟構造物の適応スカイフック-外乱相殺併合制御2011

    • Author(s)
      星野洋平,片山恭平,小林幸徳,江丸貴紀,中西洋介
    • Organizer
      Dynamics and Design Conference 2011
    • Place of Presentation
      高知,高知工科大学
    • Related Report
      2011 Research-status Report
  • [Presentation] 2リンクゴルフスイングロボットによるゴルフクラブ特性の自動推定 (推定可能条件についての検討)2011

    • Author(s)
      吉田大輔,星野洋平,小林幸徳,江丸貴紀
    • Organizer
      Dynamics and Design Conference 2011
    • Place of Presentation
      高知,高知工科大学
    • Related Report
      2011 Research-status Report
  • [Presentation] スカイフック-適応外乱相殺併合制振制御ユニットによるスプレーヤブームのアクティブ振動抑制2011

    • Author(s)
      星野洋平, 片山恭平, 小林幸徳, 中西洋介, 江丸貴紀
    • Organizer
      第12回 運動と振動の制御シンポジウム
    • Place of Presentation
      長野市, メルパルク長野
    • Related Report
      2011 Research-status Report
  • [Presentation] 農薬散布機作業アームの姿勢安定化・振動抑制技術の開発2011

    • Author(s)
      中西洋介, 浦池隆文, 鈴木慎一, 小林幸徳, 星野洋平, 江丸貴紀
    • Organizer
      第12回 運動と振動の制御シンポジウム
    • Place of Presentation
      長野市, メルパルク長野
    • Related Report
      2011 Research-status Report
  • [Presentation] 積分型ソナーリングを用いたロバストな経路生成法の提案2011

    • Author(s)
      佐藤宏樹, 江丸貴紀, 星野洋平, 小林幸徳
    • Organizer
      日本機械学会ロボティクス・メカトロニクス部門講演会(Robomec2011
    • Place of Presentation
      岡山市,岡山コンベンションセンター
    • Related Report
      2011 Research-status Report
  • [Presentation] Hybrid Sliding Mode Control with Optimization for Flexible Manipulator under Fast Motion2011

    • Author(s)
      Haibin Yin, Yukinori Kobayashi, Yohei Hoshino and Takanori Emaru
    • Organizer
      IEEE International Conference on Robotics and Automation
    • Place of Presentation
      Shanghai International Convention Center, Shanghai, China
    • Related Report
      2011 Research-status Report
  • [Remarks]

    • URL

      http://net-hm.eng.hokudai.ac.jp/~rd/

    • Related Report
      2013 Final Research Report

URL: 

Published: 2011-08-05   Modified: 2019-07-29  

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