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Synthesis and Control of Hyper Redundant Robots

Aiming to develop high-performance robots which can realize flexible and complicated motions, we research mechanisms and control methods for hyper redundant robot. Recent research works are as follows:

  1. Synthesis of Spatial Prime Structures and Kinematic Analysis of Spatial Closed-loop Mechanism Based on the Configuration Analysis of the Spatial Prime Structures
  2. Spatial Rolling Contact Pairsical Which Can Generate the Specified Relative Motion between Links
  3. Walking Motion Control of a Centipede Walking Robot
  4. Motion Control of Wire-driven Underactuated Link Mechanisms
  5. Redundancy Utilization of Hyper Redundant Robots
  6. Control of Position and Compliance of Elastic Links
  7. Motion Control of a Hyper Redundant Robot Composed of Many Units with a Few DOF
  8. Synthesis and Control of Network-structure Robots
  9. Motion Control of Unit-structured Hyper Redundant Robot Based of Reflex Motions of Units

Flexible Robot Mechanism

Aiming to realize quiet machinery, we research methods to precisely estimate sound power radiating from vibrating structures and to optimize structures to minimize their sound power. Recent research works are as follows:

  1. Flexibly Grasping and Manupulating Mechanism Composed of Many Elastic Cords
  2. Elastic Spatial Parallel Mechanism Made of a Certain Thin Plate
  3. Elastic Closed-loop Mechanism Made of a Certain Spring Beam
  4. Nonlinear Stiffness Control with a Underactuated Redundant Link Mechanism Constrained with Elastic Elements
  5. Simultaneous Control of Out put Displacement and Stiffness with Parallel Mechanisms with Elastic Elements
  6. Vibration Analysis of Spatial Closed-loop Mechanisms with Elastic Links

Silent Engineering

Aiming to realize quiet machinery, we research methods to precisely estimate sound power radiating from vibrating structures and to optimize structures to minimize their sound power. Recent research works are as follows:

  1. Estimation of Virtual Exciting Source Not Affected by Sturacture Modification
  2. Estimation of Sound Power Radiating from Thin Plate Subjected to Random Collision of Flying Objects
  3. Design of Vibration Modes with Localized Vibration Amplitud
  4. Minimization of Sound Radiation Power form a Plate by Adding Dimples
  5. Sound Generating Mechanism of Frog Shaped Guiro
  6. Active Noise Control Based on Song of Insects
  7. Musical Scale Generatio of Steel Drum