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園田 翔 応用数理 33 (1), 4-13, 2023-03-24

<p>Characterization of the typical deep learning solutions is crucial to understanding and controlling deep learning. Due to the complex structure of real deep neural networks (NNs), various …

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磯貝 弦哉, 神谷 恵輔 Dynamics & Design Conference 2023 (0), 617-, 2023

<p>One of the authors has proposed a motion analysis method for multibody systems called nullspace matrix method of differential equation type. In the proposed method, a nullspace matrix for the …

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萩原 朋道, 藤井 開 システム制御情報学会論文誌 35 (4), 55-61, 2022-04-15

<p>This paper discusses a connection between the Wronski matrix and observability of linear time-invariant systems as well as their unobservable subspaces. For a linear time-invariant single-output …

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川口 夏樹, 東手 悠太, 佐藤 孝雄, 高木 太郎, 水本 郁朗 電気学会論文誌Ｃ（電子・情報・システム部門誌） 142 (3), 264-272, 2022-03-01

<p>A stable control system is easily designed with the simple adaptive control (SAC) method by using the almost strictly positive real (ASPR) condition of a plant. For the plant that does not …

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川口 夏樹, 佐藤 孝雄, 荒木 望, 黒田 雅治 計測自動制御学会論文集 58 (4), 229-235, 2022

<p>In this paper, we proposed to design a null-space compensation control system for linear time invariant systems with multi-input redundant channels. In the input redundant systems, control input …

DOI Web Site 被引用文献1件 参考文献6件

佐藤 孝雄 自動制御連合講演会講演論文集 65 (0), 1267-1272, 2022

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磯貝 弦哉, 神谷 恵輔 最適化シンポジウム講演論文集 2022.14 (0), U00054-, 2022

<p>One of the authors has proposed a motion analysis method for multibody systems called nullspace matrix method of differential equation type. In the proposed method, a nullspace matrix for the …

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園田 翔 日本統計学会誌 50 (2), 285-316, 2021-03-05

.../Graphics/abst-50020285_1.gif"/>には無限次元の零空間ker <i>S</i>が存在するということもあまり認知されていない．本稿では，積分表現に纏わる複数の問題を取り上げながら，それぞれの文脈において<img align="middle" src="....

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神谷 恵輔 Dynamics & Design Conference 2020 (0), 509-, 2020-08-25

<p>This paper treats analysis of rigid multibody systems subject to friction force. The authors has presented analysis methods of motion and constraint forces. In the presented motion analysis …

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神谷 恵輔 日本機械学会論文集 86 (887), 19-00419-19-00419, 2020

<p>In previous papers, the author presented motion analysis methods of multibody systems. In the presented methods, the null space matrix for the constraint Jacobian is obtained by solving a …

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川口 夏樹, 佐藤 孝雄, 荒木 望, 浅見 敏彦, 黒田 雅治 計測自動制御学会論文集 56 (5), 293-298, 2020

<p>In this paper, we propose a null-space compensation control for linear first-order systems with redundant two input channels. In the input redundant systems, control input vector generally has …

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保井 良太, 川口 夏樹, 佐藤 孝雄, 荒木 望, 小西 康夫 電気学会論文誌Ｃ（電子・情報・システム部門誌） 139 (4), 287-292, 2019-04-01

<p>This paper discusses a design method for a single-input single-output multi-rate sampled-data control system, where the sampling interval of a plant output is an integer multiple of the hold …

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藤田 健汰, 川口 夏樹, 佐藤 孝雄, 高木 太郎, 水本 郁朗 電気学会論文誌Ｃ（電子・情報・システム部門誌） 139 (4), 330-333, 2019-04-01

<p>Because almost strictly positive real (ASPR) condition can be satisfied using the parallel feedforward compensator (PFC), the stable control system is easily designed with simple adaptive control …

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神谷 恵輔 東海支部総会講演会講演論文集 2019.68 (0), 321-, 2019

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本堂 貴敏, 鈴木 貢 日本機械学会論文集 85 (877), 19-00195-19-00195, 2019

<p>The control of the imbalance of wheel load in a railway vehicle is important in maintaining running safety against a flange climb derailment. This paper discusses a control method for …

DOI Web Site 被引用文献5件 参考文献6件

神谷 恵輔 Dynamics & Design Conference 2019 (0), 501-, 2019

<p>This paper treats a problem to determine constraint forces in rigid mutibody systems. One of the most often applied algorithms for determination of constraint forces is based on the use of …

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稗田 悠太, 神谷 恵輔 東海支部総会講演会講演論文集 2018.67 (0), 131-, 2018

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稗田 悠太, 神谷 恵輔 年次大会 2018 (0), G1000305-, 2018

<p>In a previous report, one of the authors presented a method for efficient motion analysis of multibody systems. The presented method determines the null space matrix for the constraint Jacobian …

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神谷 恵輔 日本機械学会論文集 84 (868), 18-00288-18-00288, 2018

<p>In a previous report, the author presented a motion analysis method for rigid multibody systems, called nullspace matrix method of differential equation type. The method determines the nullspace …

DOI Web Site 被引用文献3件 参考文献11件

佐藤 孝雄, 川口 夏樹, 荒木 望, 小西 康夫 システム制御情報学会論文誌 30 (9), 373-377, 2017

<p>This paper discusses a design method for an input multiple single-input single-output dual-rate control system, where the sampling interval of the plant output is an integer multiple of the hold …

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神谷 恵輔 日本機械学会論文集 83 (851), 17-00101-17-00101, 2017

<p>This paper presents a method for analysis of motion of multibody systems. In the presented method, the null space matrix for the constraint Jacobian is determined by solving differential …

DOI Web Site 被引用文献4件 参考文献3件

大川 涼平, 村松 雄基, 田口 翔一, 佐藤 大祐, 金宮 好和 ロボティクス・メカトロニクス講演会講演概要集 2014 (0), _3A1-E08_1-_3A1-E08_4, 2014

This research shows how to apply the Reaction Null-Space method for controller design of a humanoid robot such that the balance and motion/force control subtasks are dynamically decoupled. The …

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小牟田 清俊, 村上 俊之 電気学会論文誌Ｄ（産業応用部門誌） 133 (8), 771-779, 2013

The bilateral system is expected to be a key technology for the next generation of robots. However, in previous studies, bilateral systems consisted of ground-based devices with limited workspaces. …

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神谷 恵輔 Dynamics & Design Conference 2012 (0), _845-1_-_845-8_, 2012

The governing equations for multibody systems are, in general, formulated in the form of differential algebraic equations (DAEs) involving the Lagrange multipliers. It is desirable for efficient and …

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木口 量夫, 林 喜章 IIP情報・知能・精密機器部門講演会講演論文集 2011 (0), 62-64, 2011

In the upper-limb power-assist exoskeleton robot, one of the most important things for the robot is assisting the joint motion of the user. Specifically, the robot needs to move according to the …

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藤本 祐介, 村上 俊之 電気学会論文誌Ｄ（産業応用部門誌） 130 (10), 1161-1168, 2010

This paper describes a control scheme for the stable operation of a two-wheel driven mobile manipulator. The manipulator has excellent mobility and manipulability, and is capable of many functions. …

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神谷 恵輔, 澤田 真, 古澤 佑次 Dynamics & Design Conference 2010 (0), _512-1_-_512-6_, 2010

The governing equations for multibody systems are often formulated in the form of differential algebraic equations (DAEs) involving the Lagrange multipliers. As a method to solve the DAEs by …

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野崎 康平, 村上 俊之 電気学会論文誌Ｄ（産業応用部門誌） 129 (9), 874-880, 2009

This paper describes a stabilization control method of a two-wheels driven mobile manipulator by ground reaction torque feedback. As the population ages and birthrates decline, many people are …

DOI Web Site Web Site 被引用文献1件 参考文献17件

篠村, 祐司, 玉木, 徹, 天野, 敏之, 金田, 和文 MIRU 2007 画像の認識・理解シンポジウム論文集 774-779, 2007-07

...本稿では,固有空間を用いて学習した人物の歩行軌跡をもとに,ある時点までの人物の歩行軌跡から,それ以降の歩行軌跡を予測する手法について述べる.この予測は軌跡の固有空間への射影と逆射影に基づいている.しかし,予測された軌跡は画像中での人物の歩行軌跡としての特性を考慮していないため滑らかでない.そこで,本研究では固有空間に直交する零空間に属するベクトル(零ベクトル)を用いて,予測された軌跡を修正する手法を...

機関リポジトリ

長尾 学, 西尾 彰倫, 金宮 好和(D. N. ネンチェフ) ロボティクス・メカトロニクス講演会講演概要集 2007 (0), _1A1-B06_1-_1A1-B06_3, 2007

Humanoid robots must maintain balance to ensure safe operation. The purpose of this paper is to introduce a balance control method for a humanoid robot based on the Reaction Null-Space Method, when …

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柴田 剛慶, 村上 俊之 電気学会論文誌Ｄ（産業応用部門誌） 127 (11), 1109-1116, 2007

This paper describes a control strategy of null space motion of a two wheels driven mobile manipulator. Recently, robot is utilized in various industrial fields and it is preferable for the robot …

DOI Web Site Web Site 参考文献14件

佐々木 孝治, 村上 俊之 電気学会論文誌Ｄ（産業応用部門誌） 127 (10), 1043-1049, 2007

Redundant manipulator is useful for posture control with keeping the desired end-effector position by using its redundancy. This makes it possible to realize dexterous motion such as obstacle …

DOI Web Site Web Site ほか1件 参考文献15件

柴田 剛慶, 村上 俊之 精密工学会誌 73 (11), 1238-1245, 2007

This paper describes a strategy of null space force control of a redundant manipulator. As well known, robot is utilized in various industrial fields and it is preferable for the robot manipulator …

DOI Web Site Web Site 参考文献30件

西尾 彰倫, 高橋 健太郎, 岩倉 崇, Zlatanov Dimiter, Nenchev Dragomir ロボティクス・メカトロニクス講演会講演概要集 2005 (0), 215-, 2005

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塩崎 智行, 村上 俊之 電気学会論文誌Ｄ（産業応用部門誌） 125 (6), 561-567, 2005

This paper describes a strategy to improve the accuracy of 3D position detection of a moving object. Stereo vision is one of powerful methods to detect a target position. However the measurement …

DOI Web Site Web Site 被引用文献2件 参考文献9件

菅原 俊晴, 村上 俊之 電気学会論文誌Ｄ（産業応用部門誌） 123 (6), 689-695, 2003

This paper describes a control strategy to realize grasping and cooperative motion in multiple mobile manipulators. In the general approach, the stable grasping motion is well realized, but the …

DOI Web Site Web Site 被引用文献3件 参考文献11件

長岡 一夫 科学史研究 42 (228), 213-217, 2003

コレクション : 国立国会図書館デジタルコレクション > デジタル化資料 > 雑誌

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/, 谷川 ゆかり, 山田 幸生, YAMADA Yukio 日本機械学会論文集Ａ編 65 (633), 982-988, 1999

Optical tomography is a new modality of non invasive measurement of physiological information, and some algorithms using the technique of the ill-posed inverse problem have been developed to obtain …

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西川 直樹, 藤本 康孝, 村上 俊之, 大西 公平 電気学会論文誌Ｄ（産業応用部門誌） 119 (12), 1507-1514, 1999

The relation between the robot with the environment is very important issue for the biped robot's control because the collision with the environment occurs repeatedly during the walking motion. …

DOI Web Site Web Site 被引用文献26件 参考文献11件