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Akihiro Kawamura Last modified date:2018.05.29



Graduate School
Undergraduate School


E-Mail
Homepage
http://robotics.ait.kyushu-u.ac.jp/kurazume_lab/index-e.html
Phone
092-802-3605
Fax
092-802-3607
Academic Degree
Ph.D
Field of Specialization
Robotics
Outline Activities
Research topics are object grasping and manipulation by robot hand-arm system, dynamic motion control of manipulators, and inflatable robots and motion measurement of sports climbing
Research
Research Interests
  • Motion measurement and analysis of sports climbing
    keyword : climbing, motion measurement, motion capture, force sensor
    2018.04~2021.03.
  • Development of pneumatic inflatable robotic arms
    keyword : Robotic Arm, Manipulator, Pneumatically driven, Inflatable structure
    2013.04~2018.03.
  • Robotic Arm with Movable Counterweights
    keyword : Robotic Arm, Counterweight, Dynamics
    2013.04~2018.03.
  • Object grasping and manipulation by multi-fingered hand-arm system
    keyword : Grasping, Manipulation, Multi-fingered hand
    2008.04~2013.03.
Academic Activities
Papers
1. Hye-Jong Kim, Akihiro Kawamura, Yasutaka Nishioka, Sadao Kawamura, Mechanical design and control of inflatable robotic arms for high positioning accuracy, Advanced Robotics, https://doi.org/10.1080/01691864.2017.1405845, 32, 2, 89-104, 2017.11, In recent years, inflatable robotic arms have been developed so that physical contact with humans and working environments could be performed safety. In industry, there is a growing demand for safe industrial robots to collaborate with people and work in various environments. In general, however, the positioning accuracy of inflatable robotic arms has not been discussed. This paper proposes an inflatable link structure and a non-inflatable joint structure that could realize a high positioning accuracy for such robotic arms. This paper experimentally demonstrates that these structures can improve positioning accuracy. In addition to these structures, the joint torque characteristics of the inflatable robotic arms were investigated. In order to perform accurate motion control, a visual feedback control method was introduced for inflatable robotic arms. The mechanism and control system used in this paper can improve the positioning accuracy performance of inflatable robots. A 2-DOF inflatable robotic arm and a camera system were found to be able to achieve a high positioning accuracy (i.e. less than 1 mm)..
2. Akihiro Kawamura, Byunghyun Gang, Mitsunori Uemura, Sadao Kawamura, Mechanism and control of robotic arm using rotational counterweights, IEEE Int. Conf. on Robotics and Automation (ICRA2015) , 2716-2721, 2015.05.
3. Akihiro Kawamura, Manami Kubo, Kenshiro Yokoi, Norimitsu Sakagami, Sadao Kawamura, Motion control of underwater robotic arm using calibration-free visual servoing system, MTS/IEEE Oceans 2015 Genova, 2015.05.
4. Akihiro Kawamura, Miyako Tachibana, Soichiro Yamate, Sadao Kawamura, Encoderless robot motion control using vision sensor and back electromotive force, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2014), 1609-1615, 2014.09.
5. Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa, Dynamic Grasping of an Arbitrary Polyhedral Object, Robotica, 31, 4, 511-523, 2013.07.
6. Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa, Robust Visual Servoing for Object Manipulation against Temporary Loss of Sensory Information using a Multi-Fingered Hand-Arm, Journal of Robotics and Mechatronics, 25, 1, 125-135, 2013.02.
7. Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa, Robust visual servoing for object manipulation with large time-delays of visual information, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2012), 4797-4803, 2012.10.
Membership in Academic Society
  • SICE
  • IEEE
  • RSJ