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Arita Hikaru Last modified date：2024.04.02

Assistant Professor / Control Systems
Department of Mechanical Engineering
Faculty of Engineering




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Homepage
https://kyushu-u.elsevierpure.com/en/persons/hikaru-arita
　Reseacher Profiling Tool　Kyushu University Pure
Academic Degree
Ph. D (Eng.)
Country of degree conferring institution (Overseas)
No
Field of Specialization
Sensor, Robotics
ORCID(Open Researcher and Contributor ID)
0000-0003-4953-2553
Total Priod of education and research career in the foreign country
00years00months
Research
Research Interests
  • Robot with proximity sense
    keyword : Proximity sensor, Robotics
    2022.03.
Academic Activities
Papers
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1. Hikaru Arita, Hayato Nakamura, Takuto Fujiki, Kenji Tahara, Smoothly Connected Preemptive Impact Reduction and Contact Impedance Control, IEEE Transactions on Robotics, 10.1109/TRO.2023.3286045, 2023.06, This article proposes novel control methods that lower impact force by preemptive movement and smooth transition to conventional contact-based impedance control. These techniques are suggested for application in force-control-based robots and position/velocity-control-based robots. Strong impact forces have a negative influence on multiple robotic tasks. Recently, preemptive impact reduction techniques that expand conventional contact impedance control using proximity sensors have been examined. However, a seamless transition from impact reduction to contact impedance control has yet to be demonstrated. It has, therefore, been necessary to switch control strategies or perform complicated parameter tuning. In contrast, our proposedmethods utilize a serial combined impedance control framework to solve these problems. The preemptive impact reduction feature can be added to an already-implemented impedance controller because the parameter design is divided into impact reduction and contact impedance control. There is no discontinuity or abrupt alteration in the contact force, nor are there any excessively large contact forces that exceed the intended repulsive force established by the contact impedance control during the transition. Furthermore, although the preemptive impact reduction uses a crude optical proximity sensor, the influence of reflectance is minimized by employing a virtual viscous force. Analyses and real-world experiments with a 1-D mass model confirm these features, which are useful for many robots performing contact tasks..
Presentations
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Membership in Academic Society
  • 日本機械学会
  • 日本ロボット学会
  • IEEE
Awards
  • 第19回計測自動制御学会SI部門講演会 優秀講演賞


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