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Synthesis and Control of Hyper Redundant Robots

Aiming to develop high-performance robots which can realize flexible and complex motion, we research mechanisms and control methods for hyper redundant robot. Recent research works are as follows:

  1. Development of Micro Cilium Actuators in Groupe
  2. Learning Control of Hyper Redundant Robots
  3. Redundancy Utilization of Hyper Redundant Robots
  4. Motion Control of Overactuator Mechanisms with Elastic Elements
  5. Control of Position and Compliance of Elastic Links
  6. Motion Control of a Hyper Redundant Robot Composed of Many Units with a Few DOF
  7. Synthesis and Control of Multi-loop Spatial Manipulator with Redundancy
  8. Synthesis and Control of Network-structure Robots
  9. Motion Control of Unit-structured Hyper Redundant Robot Based of Reflex Motions of Units
  10. Motion Control of Overactuator Mechanisms with Multi-DOF Based on Propagation of Actuator Motions
  11. Vibration Analysis of Spatial Closed-loop Mechanisms with Elastic Links
  12. Systematically Kinematic Analysis of Spatial Closed-loop Link Mechanisms
  13. Posture Stabilizing Control of Inpipe Mobile Robot
  14. Development of Active Bed

Silent Engineering

Aiming to realize quiet machinery, we research methods to precisely estimate sound power radiating from vibrating structures and to optimize structures to minimize their sound power.

  1. Stastical Evaluation of Continuous Impact Force Acting on Thin Plate Structures and Estimation of Radiating Sound Power
  2. Estimation of Sound Radiation Power Based on Virtual Exciting Force
  3. Estimation of Sound Power Radiating from MRI
  4. Minimization of Sound Radiation Power form a Plate by Adding Dimples
  5. Sound Generating Mechanism of Frog Shaped Guiro
  6. Sound Generating Mechanism of Singing Insects
  7. Active Noise Control Based on Song of Insects
  8. Approximate Modal Analysis of Thin Plates with Dimples and Its Application to Structural Optimization to Decrease Noise

Intelligent Laser Measurement

Aiming to contribute to design of high-performance vibrator or quiet structures, we develop a new laser interferometer which can detect multi-dimensional vibratory displacement with high precision and high speed.

  1. Real-time Measurement of Two-dimensional Displacement with a Laser Speckle Interferometer with Quad Aperture Method
  2. Phase Detection of Interferogram Using Two-dimensional FFT