Ritsumeikan Humanoid Lab; Research

(Ritsumeikan Univ. 2010-)

Hydraulic humanoid robot H1 and dual arm

(Waseda Univ. 1995-1997, ATR 2005-)

• Whole-body balancing (postural control)
• Contact force control
• Compliant full-body interaction
• Fast full-body motions

Human-following walking (with Prof. Takanishiand Dr. Jinichi Yamaguchi)


Joint torque control implementation

Human-assisted walking


Autonomous biped walkingWhole-body compliant control and learning

Baseball batting

Compliant balancing on a moving seesaw

Torque-controlled hydraulic quadruped robots A1 and R1

(Tohoku Univ. 2002-2004, ATR 2005-, Nagoya Univ. 2005-, Gifu Univ. 2007-)

• Global gait generation by time-reversal symmetry and passivity
• Numerical analysis of symmetric orbits (with Prof. Tetsushi Ueta)
• Perturbation analysis of symmetric orbits (with Prof. Kazuyuki Yagasaki)
• Iterative learning control (with Prof. Kenji Fujimotoand Dr. Satoshi Satoh)
• Experiments of walking and running on a planar biped robot (with Prof. Takashi Emura)

Movie

Symmetric walking

,http://gdata.youtube.com/feeds/api/videos/fSciUu1JPMU,simple01,{"playerWidth":"425","useCustom":false,"autoPlay":false,"autoLoop":false,"autoNext":false,"quality":"medium","qualityName":"中"}

Symmetric running

,http://gdata.youtube.com/feeds/api/videos/dXk-ues9I00,simple01,{"playerWidth":"425","useCustom":false,"autoPlay":false,"autoLoop":false,"autoNext":false,"quality":"medium","qualityName":"中"}

Simulation

,http://gdata.youtube.com/feeds/api/videos/mZQ9LFLTzxE,simple01,{"playerWidth":"425","useCustom":false,"autoPlay":false,"autoLoop":false,"autoNext":false,"quality":"medium","qualityName":"中"}

(Tokyo Institute of Technology 1998-2001, 2005-)
(Tohoku Univ. 2002-2004, Tokyo Institute of Technology 2005-)

Kenken

KenkenII

• Biomechanical design (bi-articular muscle)
• High-speed running (with the late Prof. Tsutomu Mita)
• Design and control of hydraulic actuators
• High-speed walking and running (with Prof. Takashi Emura)
• Optimal control of biped running (with Prof. Masaki Yamakita)

Movie

High speed hopping 2.0[m/s]

,http://gdata.youtube.com/feeds/api/videos/nBBPSB_bjiE,standard,{"playerWidth":"425","useCustom":false,"autoPlay":false,"autoLoop":false,"autoNext":false,"quality":"medium","qualityName":"中"}

High-jump test (only at 1/3 of maximum power)

,http://gdata.youtube.com/feeds/api/videos/Dvu1DeaRCYI,standard,{"playerWidth":"425","useCustom":false,"autoPlay":false,"autoLoop":false,"autoNext":false,"quality":"medium","qualityName":"中"}

Swing test

,http://gdata.youtube.com/feeds/api/videos/X5-N84Cz0T8,standard,{"playerWidth":"425","useCustom":false,"autoPlay":false,"autoLoop":false,"autoNext":false,"quality":"medium","qualityName":"中"}

(Tokyo Institute of Technology 1999-2000, Tohoku Univ. 2002-2003)

• Optimal airbone posture control (with the late Prof. Tsutomu Mita)
• Nonlinear feedback control of contact forces and momenta
• High-speed handspring on a reald robot (with Prof. Takashi Emura)

Movie

Back-handspring

(Tokyo Institute of Technology 1999-2001, Tohoku Univ. 2002-2004)

• Stabilization by time-reversal symmetry and passivity
• Numerical analysis of symmetric orbits (with Prof. Tetsushi Ueta)
• Iterative learning control (with Prof. Kenji Fujimoto and Dr. Satoshi Satoh)

Movie

High speed running at 5 m/s

(Ritsumeikan Univ. 2011-)

Hydrauilc servo press (2013-)

Air-hydro servo press (2013-)

• Precise motion control
• Energy-efficient hydraulic circuits
• Pneumatic-hydraulic hybrid drive
• Digital servo controller
• Optimal control

(Ritsumeikan Univ. 2011-)

• Force (pressure) control
• Autonomous control
• Semi-autonomous control with skill learning
• Hydraulic hybrid servo drive

Fishing robot (Tohoku Univ. 2002-2004)

,http://gdata.youtube.com/feeds/api/videos/y7TBlH8nN0w,simple01,{"playerWidth":"425","useCustom":false,"autoPlay":true,"autoLoop":false,"autoNext":false,"quality":"medium","qualityName":"中"}

Can press (2010)

,http://gdata.youtube.com/feeds/api/videos/EF__1V5Q9GA,standard,{"playerWidth":"425","useCustom":false,"autoPlay":false,"autoLoop":false,"autoNext":false,"quality":"medium","qualityName":"中"}