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Previous Research Works

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. Previous research works are as follows:

  1. Development of Micro Cilium Actuators in Groupe
  2. Learning Control of Hyper Redundant Robots
  3. Synthesis and Control of Multi-loop Spatial Manipulator with Redundancy
  4. Development of Active Bed
  5. Posture Stabilizing Control of Inpipe Mobile Robot
  6. Motion Control of Overactuator Mechanisms with Multi-DOF Based on Propagation of Actuator Motions
  7. Systematically Kinematic Analysis of Spatial Closed-loop Link Mechanisms
  8. Robotic Mechanisms with SIDM Micro-linearactuator
  9. Multi-DOF Motor Using Two-dimensional Ultrasonic Actuators
  10. Development of Active Worktable Composed of Spatial Parallel Manipulator
  11. Micro-Inpipe Robot Based on 'Screw Principle'
  12. Synthesis of Multi-DOF Kinematic Pairs Which Give Relative Displacement Constraints Described by Mathematical Function

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. Previous research works are as follows:

  1. Motion Control of Overactuator Mechanisms with Elastic Elements
  2. Vibration Analysis of Spatial Serial Elastic Manipulator

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. Previous research works are as follows:

  1. Stastical Evaluation of Continuous Impact Force Acting on Thin Plate Structures and Estimation of Radiating Sound Power
  2. Estimation of Sound Radiation Power Based on Virtual Exciting Force
  3. Estimation of Sound Power Radiating from MRI
  4. Sound Generating Mechanism of Singing Insects
  5. Approximate Modal Analysis of Thin Plates with Dimples and Its Application to Structural Optimization to Decrease Noise
  6. Noise Transmission of Plates Subjected to Acoustic Excitation
  7. Estimation of Sound Reduction by Non-constraint Type Damper
  8. Structural Optimization of Axisymmetric Structures to Minimize Noise Power
  9. Estimation of Sound Power Radiating from Thin Gear Body

Intelligent Laser Measurement

Aiming to contribute to design of high-performance vibrator or quiet structures, we develop a new laser interferometer which can detect multi-dimensional vibratory displacement with high precision and high speed. Previous research works are as follows:

  1. Real-time Measurement of Two-dimensional Displacement with a Laser Speckle Interferometer with Quad Aperture Method
  2. Phase Detection of Interferogram Using Two-dimensional FFT
  3. Real-time Measurement of Inplane Vibration with a Laser Speckle Interferometer with Double Aperture Method
  4. Measuring Accuracy of a Laser Speckle Interferometer with Double Aperture Method