Publications (Motion Control with Biological Mechanism)

Valerio Salvucci, Travis Baratcart, Takafumi Koseki:
“Analytical study on increasing isotropy of intrinsic stiffness in manipulators through biarticular structure,”
2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), France, Jul. 2014, pp. 198-203
Valerio Salvucci, Travis Baratcart, Takafumi Koseki:
“Increasing Isotropy of Intrinsic Compliance in Robot Arms through Biarticular Structure,”
Proceedings of the 19th IFAC World Congress, Vol. 19, Part1, Aug. 2014, pp. 332-337
Valerio Salvucci, Travis Baratcart, Takafumi Koseki:
“Analytical study on improving intrinsic stiffness modulation of biarticularly actuated manipulators through infinity norm resolution,”
2014 IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA), Sep. 2014, pp. 1-6
Travis Baratcart, Valerio Salvucci, Takafumi Koseki:
“Extending the Resolution Range of the Cascaded Generalized Inverse,”
2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), France, Jul. 2014, pp. 1343-1348
Travis Baratcart, Valerio Salvucci, Takafumi Koseki:
“Dynamic Analysis of Continuous Cascaded Generalized Inverse Resolution of Kinematically Redundant Manipulators with Flexible Joints,”
2014 European Control Conference (ECC), France, Jun. 2014

Valerio Salvucci, Yasuto Kimura, Sehoon Oh, Takafumi Koseki, Yoichi Hori:
“Comparing Approaches for Actuator Redundancy Resolution in Biarticularly-Actuated Robot Arms,”
IEEE/ASME Transactions on Mechatronics, Vol. 19, No. 2, pp. 1080-1089, 2014

Valerio Salvucci, Takafumi Koseki:
“Improving Dynamic Performance of Bi-articularly Actuated Robot Arms by Using Infinity Norm Based Actuation Redundancy Resolution,”
IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM), Jul. 2013, pp. 926-931
Valerio Salvucci, Takafumi Koseki:
“Non-Linear Phase Different Control to Improve Dynamics of Bi-Articularly Actuated Manipulators,”
39th Annual Conference of the IEEE Industrial Electronics Society(IECON), Vienna, Austria, Nov. 2013, pp. 6496-6501
Travis Baratcart, Valerio Salvucci, Takafumi Koseki:
“On the Continuity of Cascaded Generalized Inverse Redundancy Resolution, with Application to Kinematically Redundant Manipulators,”
39th Annual Conference of the IEEE Industrial Electronics Society(IECON), Vienna, Austria, Nov. 2013, pp. 6508-6513
Valerio Salvucci, Takafumi Koseki:
“Design Proposal for Reducing Actuator Redundancy in Intrinsically Compliant Manipulators,”
The 16th International Conference on Advanced Robotics(ICAR), Nov. 2013
Yunha Kim, Valerio Salvucci, Yoichi Hori:
“Design and Control of an Under-actuated Robot Leg, Using State Feedback and Impulse Shaping,”
The 16th International Conference on Advanced Robotics(ICAR), Nov. 2013
Travis Baratcart, Valerio Salvucci, Takafumi Koseki:
“2-norm, Infinity-norm Continous Switching Resolution in Biarticularly Actuated Robot Arms,”
Advanced Motion Control(AMC), Mar. 2014

Alexander Viehweider, Valerio Salvucci, Yoichi Hori, Takafumi Koseki:
“Improving EV Lateral Dynamics Control Using Infinity Norm Approach with Closed-form Solution,”
International Conference on Mechatronics, 2013
Takayuki Kawabe, Takuma Honda, Takafumi Koseki:
“Swing leg control for efficient and repeatable biped walking to emulate biological mechanisms,”
IEEE International Conference on Mechatronics, Vicenza, Italy, 2013

Hiroyuki Fukusho, Takahiro Sugimoto, Takafumi Koseki:
“Control of a Straight Line Motion for a Humanmoid Robot using Characteristics of Bi-Articular Simultaneous Drive and Machine Learning Control,”
International Symposium on Application of Biomechanical Control Systems to Precision Engineering (ISAB 2010), Onahama, Japan, Jul. 2010, pp. 163-169
Takahiro Sugimoto, Hiroyuki Fukusho, Takafumi Koseki:
“Calculaton of the Maximum Force Distribution of an Index Finger by using Linear Programming Method,”
International Symposium on Application of Biomechanical Control Systems to Precision Engineering (ISAB 2010), Onahama, Japan, Jul. 2010, pp. 210-215

Hiroyuki Fukusho, Takafumi Koseki, Takahiro Sugimoto:
“Control of a Straight Line Motion for a Two-Link Robot Arm Using Coordinate Transform ofBi-articular Simultaneous Drive,”
The 11th IEEE International Workshop on Advanced Motion Control (AMC2010), NF-003069 (発表後論文修正), Nagaoka, Japan, Mar. 2010

福正博之, 杉本貴大, 古関隆章:
“二関節筋を持つ2リンクロボットアームの動力学計算から見た二関節筋の特徴解析,”
精密工学会生体機構制御・応用技術専門委員会第16回研究例会, pp.14-17 2009.8
福正博之, 杉本貴大, 古関隆章:
“生体の機構と特徴を取り入れたヒューマノイドロボットの運動学計算,”
平成21年電気学会産業応用部門大会, 2-73, 津, 2009.9
Hiroyuki Fukusho, Takahiro Sugimoto, Takafumi Koseki:
“Motion Control for a Humanoid Robot with Characteristics of Bi-Articular Simultaneous Drive,”
The 10th University of Tokyo - Seoul National University Joint Seminar on Electrical Engineering, 2010.3
杉本貴大, 福正博之, 古関隆章:
“生体の筋配列を有する多関節マニピュレータの先端出力分布特性,”
第27回日本ロボット学会学術講演会, 1K2-03, 2009

Hiroyuki Fukusho, Takafumi Koseki:
“Coordinated control for a robot arm with bi-articular muscle mechanism,”
SNU-UT Joint Seminar, Jan. 2009, pp.132-135
福正博之, 古関隆章:
“生体の二関節筋機構を取り入れたヒューマノイドロボットの静力学基礎計算,”
平成21年電気学会全国大会, Mar. 2009, vol. 5 pp.116-117