Dynamic motion control of passive objects using an active plate

• Project/Area Number: 25820089
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Hiroshima University
• Principal Investigator: AOYAMA Tadayoshi 広島大学, 工学(系)研究科(研究院), 助教 (00569337)
• Project Period (FY): 2013-04-01 – 2015-03-31
• Project Status: Completed (Fiscal Year 2014)
• Budget Amount: ¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000); Fiscal Year 2014: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000); Fiscal Year 2013: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
• Keywords: マニピュレーション / 離散システム / 周期的安定性 / 離散力学系 / 周期運動

Outline of Final Research Achievements

This work proposed motion control of passive object by adding force of an active plate. Firstly, 2-D controlled object is considered. The controlled object and active plate is modelled and object’s inclination control method was proposed. Then, the proposed method was verified through numerical simulations and experiments. Secondly, the controlled object was expanded to 3-D model. The control method of 3-D object was proposed and verified through numerical simulation.

Research Products

• [Journal Article] Cyclic Motion Design and Analysis for a Passive Object Manipulation Using an Active Plate (2015)
  • Author(s): Tadayoshi Aoyama, Yuji Harada, Qingyi Gu, Takeshi Takaki, and Idaku Ishii
  • Journal Title: Advanced Robotics Volume: 29 Issue: 7 Pages: 493-503
  • DOI: 10.1080/01691864.2015.1024737
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Presentation] A Scheme for Manipulating a Passive Object Using an Active Plate (2015)
  • Author(s): Tadayoshi Aoyama
  • Organizer: IEEE International Conference on Robotics and Automation
  • Place of Presentation: Seattle, Washington, USA
  • Year and Date: 2015-05-26 – 2015-05-30
• [Presentation] 周期的並進運動生成による非駆動対象物に対する姿勢角操作 (2015)
  • Author(s): 青山忠義
  • Organizer: 第20回ロボティクスシンポジア
  • Place of Presentation: 軽井沢市
  • Year and Date: 2015-03-14 – 2015-03-15
• [Presentation] Posture Angle Manipulation of Passive Object Using Active Plate (2014)
  • Author(s): Tadayoshi Aoyama
  • Organizer: IEEE International Conference on Robotics and Biomimetics
  • Place of Presentation: Bali, Indonesia
  • Year and Date: 2014-12-05 – 2014-12-10
• [Presentation] 駆動台による3次元受動歩行ロボットのラテラル運動制御 (2014)
  • Author(s): 青山忠義
  • Organizer: 第32回日本ロボット学会学術講演会
  • Place of Presentation: 福岡市
  • Year and Date: 2014-09-04 – 2014-09-06
• [Presentation] 駆動台による非駆動対象物の動的運動制御 (2014)
  • Author(s): 青山忠義
  • Organizer: ロボティクス・メカトロニクス講演会2014
  • Place of Presentation: 富山市
  • Year and Date: 2014-05-25 – 2015-05-29
• [Presentation] 駆動台による非駆動対象物の姿勢角制御 (2013)
  • Author(s): 青山忠義
  • Organizer: 第31回日本ロボット学会学術講演会
  • Place of Presentation: 八王子市