著者

岩崎 遥 青柳 学 梶原 秀一

出版者

自動制御連合講演会

雑誌

自動制御連合講演会講演論文集 第61回自動制御連合講演会

巻号頁・発行日

pp.1318-1321, 2018 (Released:2018-12-21)

著者

日下 聖 田中 孝之 梶原 秀一

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.32, no.2, pp.198-206, 2014 (Released:2014-04-15)

参考文献数

21

被引用文献数

3

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This paper describes a method of skill assist efficiency control by using semi-active assist mechanisms based on phase difference limitation method. The skill assist in this study means the motion correction effect in periodical motions. The semi-active assist mechanisms can make the assist force with the phase difference, because the mechanism uses elastic materials as the source of the assist force. This force is controlled by adjusting the fixed point of the elastic materials by using the connected actuator as a series-elastic actuator. We confirmed the motion correction effect of our skill assist based on the phase difference control in previous study. Our proposed method in this study can control the skill assist efficiency to arbitrary value by limitation of the phase difference. Moreover, we confirmed that the proposed method can control its effect through experiments with several value of the efficiency. As a result of this study, we confirmed the fundamental ability of our developed method to control the motion correction ratio depending on types of task or personal differences in periodical motions.

著者

梶原 秀一 橋本 幸男 松田 敏彦 土谷 武士

出版者

日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.18, no.4, pp.515-520, 2000-05-15

被引用文献数

8 6

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This paper discusses a motion control of horizontal bar gymnast robot with two links and one passive joint on the bar. First, we show that the amplitude of the swing of the first link increases with resonance and parametric excitation by swinging the second link periodically. Next, we propose the control method using entrainment to produce each excitation by swinging the second link 'in phase' with the motion of the first link. In our method, the control input is consisted of periodic solution of van der Pol's equation inputted the angular velocity of the first link. Finally, we present experimental results that swing up control and continuous giant swings can be realized in the real robot.

著者

梶原 秀一 橋本 幸男 松田 敏彦 土谷 武士

出版者

日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.17, no.4, pp.520-525, 1999-05-15

参考文献数

7

被引用文献数

9 4

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Timely input sometimes can control periodic movement of mechanical systems. In the swing which is the parametric excitation system, when the center of gravity is moved in double cycle, the swing's amplitude increases, and it decreases when this phase is moved π [rad] . But it is difficult to control a swing in the wide range, because the cycle of the swing depends on its amplitude. This paper shows that the van der Pol's equation inputted the swing's angular velocity can compose the frequency observer, and proposed the new control form of a swing that the center of gravity is moved by nonlinear feedback which consists of equation's output.