Kyushu University Academic Staff Educational and Research Activities Database
List of Papers
Arita Hikaru Last modified date:2024.04.02

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


Papers
1. Antagonistic Total Torque Control of Rotational Straight Twisted Polymeric Fiber Actuator.
2. 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..
3. Hikaru Arita, Yosuke Suzuki, Hironori Ogawa, Kazuteru Tobita, Makoto Shimojo, Hemispherical Net-structure Proximity Sensor Detecting Azimuth and Elevation for Guide Dog Robot, 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 10.1109/IROS.2013.6696420, 653-658, 2013.11, We have developed a net-structure proximity sensor that detects the azimuth and elevation to a nearby object. This information can be used by robots to avoid obstacles or to respond to human behavior. We propose detection principles where the azimuth is detected by arranging two one-dimensional net-structure proximity sensors along orthogonal axes, and the elevation is detected by arranging two one-dimensional net-structure proximity sensors in a stacked ring. We also experimentally demonstrate the feasibility of these detection principles. The experimental result shows the sensor can detect azimuth at all peripheral angles and elevation from side to top up..
4. 2足歩行安定性を向上する足裏実装型非接触センサの開発
For bipedal robots walking on uneven terrain, lack of information about a terrain may cause serious reduction of the stability. To solve the problem, the purpose of this paper is to develop a sensor which can be mounted on robot's soles and propose methods which can increase the stability of bipedal walk with the sensor. The sensor should detect information including relative posture and relative distance between the sole of the swing leg and the floor, when the robot execute the walk by ZMP-based control. In this paper, the sensor has been designed based on Net-Structure Proximity Sensor (NSPS) and a prototype has been developed. The developed sensor is with thin structure, light weight, less wirings (four wires only) and fast response (
5. Real-time Motion Planning Using Proximity Information for Bipedal Walking on Sloped Terrain.
6. Motion planning method of bipedal walking using partial-circular feet imitating wheel motion.