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2013 Fiscal Year Final Research Report

Casimir based impedance control for N-DOF hydraulic robots

Research Project

  • PDF
Project/Area Number 24760184
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeMulti-year Fund
Research Field Dynamics/Control
Research InstitutionShinshu University

Principal Investigator

SAKAI Satoru  信州大学, 工学部, 准教授 (90400811)

Project Period (FY) 2012-04-01 – 2014-03-31
Keywords油圧ロボット / モデリング / ロバスト制御 / ハミルトン系
Research Abstract

Hydraulic robots are expected to perform construction, agriculture, rescue, and demining due to the advantages with respect to the power weight ratio in the general environment and the energy efficiency in the gravity environment. In this project, we propose a new impedance control by which the hydraulic robots can contact with human and objects without (or with less) damage. The proposed control can achieve not only robust stability but also robust structure which is a new concept that the closed-loop system can be another mechanical in the presence of parameter perturbations. The validity of the proposed control is confirmed by the numerical simulations and the experiments in 1-DOF or 2-DOF cases.

  • Research Products

    (12 results)

All 2014 2013 2012 Other

All Journal Article (5 results) (of which Peer Reviewed: 5 results) Presentation (5 results) Remarks (1 results) Patent(Industrial Property Rights) (1 results)

  • [Journal Article] Visual systems & control on polynomial space and its application to sloshing problems2014

    • Author(s)
      Satoru Sakai, Masakazu Sato
    • Journal Title

      IEEE Transaction on Control Systems Technology

    • DOI

      10.1109/TCST.2014,2309615

    • Peer Reviewed
  • [Journal Article] 視覚を用いた多項式空間上の受動性に基づく液面振動制御実験2013

    • Author(s)
      佐藤正和,永井和幸,酒井悟
    • Journal Title

      計測自動制御学会論文集

      Volume: Vol.50, No.1 Pages: 75-81

    • Peer Reviewed
  • [Journal Article] 鉛直多関節油圧マニピュレータのパラメータ同定法とモデル検証2013

    • Author(s)
      前島祐三,酒井悟
    • Journal Title

      計測自動制御学会論文集

      Volume: Vol.50, No.1 Pages: 91-100

    • Peer Reviewed
  • [Journal Article] 油圧アームのパラメータ同定法とポートハミルトン形式の新しい機械力学2013

    • Author(s)
      酒井悟
    • Journal Title

      日本フルードパワーシステム学会誌

      Volume: 44, E1-E5

    • Peer Reviewed
  • [Journal Article] Passivity based control of a class of Hamiltonian systems with nonholonomic constraints2012

    • Author(s)
      Kenji Fujimoto, Satoru Sakai, Toshiharu Sugie
    • Journal Title

      Automatica

      Volume: Vol.48, No.12 Pages: 3054–3063

    • Peer Reviewed
  • [Presentation] Casimir based fast computation for hydraulic robot optimizations2013

    • Author(s)
      Satoru Sakai
    • Organizer
      Proc. IEEE/RSJ IROS (IROS2013)
    • Place of Presentation
      Tokyo, Japan
    • Year and Date
      2013-11-05
  • [Presentation] A Design and Analysis of Casimir Based Impedance for Experimental Hydraulic Arms2013

    • Author(s)
      Ito Miki, Satoru Sakai
    • Organizer
      Proc. of SICE (SICE2013)
    • Place of Presentation
      Nagoya, Japan
    • Year and Date
      2013-09-17
  • [Presentation] A Visual Feedback Design on Matrix Space for a Liquid Sloshing Experiment2013

    • Author(s)
      Kazuyuki Nagani, Satoru Sakai
    • Organizer
      Proc. of SICE (SICE2013)
    • Place of Presentation
      Nagoya, Japan
    • Year and Date
      2013-09-17
  • [Presentation] Fast Computation by Simplifications of a Class of Hydro-Mechanical Systems2012

    • Author(s)
      Satoru Sakai
    • Organizer
      Proc. of IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (IFAC LHMNC2012)
    • Place of Presentation
      Bertinoro, Italy
    • Year and Date
      2012-08-29
  • [Presentation] Casimir Based Impedance Control2012

    • Author(s)
      Satoru Sakai, Stefano Stramigioli
    • Organizer
      Proc. of IEEE International conference on Robotics and Automation (ICRA2012)
    • Place of Presentation
      Minnesota, USA
    • Year and Date
      2012-05-15
  • [Remarks]

    • URL

      http://soar-rd.shinshu-u.ac.jp/profile/ja.upymghye.html

  • [Patent(Industrial Property Rights)] 鉛直多関節油圧マニピュレータのパラメータ同定法、同定装置および同定用プログラム2013

    • Inventor(s)
      酒井 悟,前島祐三
    • Industrial Property Rights Holder
      信州大学
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      特願2013-215178号
    • Filing Date
      2013-10-16

URL: 

Published: 2015-06-25  

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