Masahide Ito   Kazuyoshi Kawatsu   Masaaki Shibata   
IEEJ Journal of Industry Applications 6(4) 278-285 2017年 [査読有り]
This paper addresses the joint limit avoidance problem in kinematic control of redundant manipulators. A kinematically redundant manipulator has more Degrees of Freedom (DOFs) than are required to perform a given task. An inverse kinematic problem...
Masahide Ito   Shuya Urai   Masaaki Shibata   
2015 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT) 107-112 2015年 [査読有り]
This paper addresses a depth estimation problem for a robotic system with a single camera. For this problem, several depth observers have been proposed so far. Most of them are based on the Persistency-of-Excitation (PE) condition. But, the PE con...
2014 IEEE 13TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC) 2014年 [査読有り]
This study aims to achieve the smooth going up and down the step for a biped robot whose leg has 6 DOFs with kinematics redundancy. If COG position is not controlled in the going up and down motion, the robot falls down forward or backward. The ro...