Presentations -

Biped Locomotion on Level Ground by Torso and Swing-Leg Control Based on Passive-Dynamic Walking

NARUKAWA TERUMASA, TAKAHASHI MASAKI, YOSHIDA KAZUO

[International presentation]  2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2005) (Edmonton, Canada) , 

2005.08

, 

Oral presentation (general)

Combined Control of CPG and Torso Attitude Control for Biped Locomotion

TAKAHASHI MASAKI, NARUKAWA TERUMASA, MIYAKAWA KEN, YOSHIDA KAZUO

[International presentation]  2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2005) (Edmonton, Canada) , 

2005.08

, 

Oral presentation (general)

Intelligent Nonlinear Control for Underactuated Pendulum Systems

TAKAHASHI MASAKI, NARUKAWA TERUMASA, YOSHIDA KAZUO

[International presentation]  Joint 2nd International Conference on Soft Computing and Intelligent Systems and 5th International Symposium on Advanced Intelligent Systems (SCIS & ISIS 2004) (Yokohama, Japan) , 

2004.09

, 

Oral presentation (general)

Intelligent Control of Integrated Cubic Neural Network for Robustness and Fault-Tolerance

TAKAHASHI MASAKI, NARUKAWA TERUMASA, YOSHIDA KAZUO

[International presentation]  IFAC Workshop on Adaptation and Learning in Control and Signal Processing (ALCOSP 04) (Yokohama, Japan) , 

2004.08

, 

Oral presentation (general)

Stabilization Control of Two-Dimensional Inverted Pendulum by Feedback Control using Stereo Camera

KATAYAMA HIDEO, TAKAHASHI MASAKI, YOSHIDA KAZUO

[International presentation]  The 7th International Conference on Motion and Vibration Control (MOVIC2004) (St. Louis, Missouri, USA) , 

2004.08

, 

Oral presentation (general)

Intelligent Stabilization Control to An Arbitrary Equilibrium Point of Double Pendulum

TAKAHASHI MASAKI, NARUKAWA TERUMASA, YOSHIDA KAZUO

[International presentation]  The 2004 American Control Conference (ACC2004) (Boston, USA) , 

2004.06

, 

Oral presentation (general)

Intelligent Stabilization Control to Arbitrary Equilibrium Point of Double Pendulum

TAKAHASHI MASAKI, NARUKAWA TERUMASA, YOSHIDA KAZUO

[Domestic presentation]  第46回自動制御連合講演会 (Okayama University) , 

2003.11

, 

Oral presentation (general), The Japan Society of Mechanical Engineers

Integrated Cubic Neural Network Intelligent Control Method for Swing-Up and Stabilization of Inverted Pendulum (Verification of Robustness and Fault-Tolerance)

NARUKAWA TERUMASA, TAKAHASHI MASAKI, YOSHIDA KAZUO

[Domestic presentation]  The Eighth Conference on Motion and Vibration Control (Nihon University) , 

2003.10

, 

Oral presentation (general), The Japan Society of Mechanical Engineers

Integrated Intelligent Control System (Equilibrium Point Transfer and Stabilization Control of Double Pendulum)

TAKAHASHI MASAKI, NARUKAWA TERUMASA, YOSHIDA KAZUO

[Domestic presentation]  The Eighth Conference on Motion and Vibration Control (Nihon University) , 

2003.10

, 

Oral presentation (general), The Japan Society of Mechanical Engineers

Intelligent Control Using Destabilized and Stabilized Controllers for a Swung up and Inverted Double Pendulum

TAKAHASHI MASAKI, NARUKAWA TERUMASA, YOSHIDA KAZUO

[International presentation]  The 2003 IEEE International Symposium on Intelligent Control (ISIC2003) (Houston, Texas, USA) , 

2003.10

, 

Oral presentation (general)

Visual Feedback Control Using Stereo Camera (Stabilization of 2 Dimensional Inverted Pendulum)

TAKAHASHI MASAKI, KATAYAMA HIDERO, YOSHIDA KAZUO

[Domestic presentation]  The 21nd Annual Conference of the Robotics Society of Japan 2003 (University of Tokyo Institute of Technology) , 

2003.09

, 

Oral presentation (general), The Robotics Society of Japan

Intelligent Transfer Control to an Unstable Equilibrium Point of Double Inverted Pendulum

NARUKAWA TERUMASA, TAKAHASHI MASAKI, YOSHIDA KAZUO

[Domestic presentation]  Dynamics and Design Conference (Nagasaki University) , 

2003.09

, 

Oral presentation (general), The Japan Society of Mechanical Engineers

Robustness and Fault-Tolerance of Integrated Cubic Neural Network Intelligent Control Method.

TAKAHASHI MASAKI, NARUKAWA TERUMASA, YOSHIDA KAZUO

[Domestic presentation]  Dynamics and Design Conference (Nagasaki University) , 

2003.09

, 

Oral presentation (general), The Japan Society of Mechanical Engineers

Intelligent Transfer and Stabilization Control to Unstable Equilibrium Point of Double Inverted Pendulum

TAKAHASHI MASAKI, NARUKAWA TERUMASA, YOSHIDA KAZUO

[International presentation]  SICE Annual Conference 2003 (SICE2003) (Fukui, Japan) , 

2003.08

, 

Oral presentation (general)

Intelligent Control System Taking Account of Cooperativeness Using Weighting Information on System Object

TAKAHASHI MASAKI, YOSHIDA KAZUO

[International presentation]  The 7th World Multiconference on Systemics, Cybernetics and Informatics (SCI2003) (Orlando, Florida, USA) , 

2003.07

, 

Oral presentation (general)

Robustness and Fault-Tolerance of Cubic Neural Network Intelligent Control Method -Comparison with Sliding Mode Control-

TAKAHASHI MASAKI, YOSHIDA KAZUO

[International presentation]  2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Kobe, Japan) , 

2003.07

, 

Oral presentation (general), IEEE/ASME

　View Summary

定性的制御の導入と物理法則の埋め込みを特徴とする統合化CNN知的制御手法を確立し，そのロバスト性と耐故障性の詳細な検証を理論的かつ実験的に行っている．単振子の振上げ・倒立制御問題を例に取り，提案手法がSMCよりもパラメータ変動に対するロバスト性，センサの異常検出に対する耐故障性を有することを確認している．

Intelligent Stabilizing Control of a Two-Dimensional Inverted Pendulum By Visual Feedback Based on Stereo Camera

TAKAHASHI MASAKI, OKABE TAKAAKI, KATAYAMA HIDERO, YOSHIDA KAZUO

[Domestic presentation]  Robotics and Mechatronics Conference (Future University Hakodate) , 

2003.05

, 

Oral presentation (general), The Japan Society of Mechanical Engineers

Intelligent Control Using Destabilized and Stabilized Controllers for a Swung up and Inverted Double Pendulum

TAKAHASHI MASAKI, YOSHIDA KAZUO

[Domestic presentation]  第45回自動制御連合講演会 (Tohoku University) , 

2002.11

, 

Oral presentation (general), The Japan Society of Mechanical Engineers

Verification of Intelligent Failure-proof Control using Cubic Neural Network-Stabilization of Double Pendulum-

TAKAHASHI MASAKI, KAZUO YOSHIDA

[Domestic presentation]  Dynamics and Design Conference (Kanazawa University) , 

2002.09

, 

Oral presentation (general), The Japan Society of Mechanical Engineers

Intelligent Failure-Proof Control using Cubic Neural Network - Application to Swinging up and Stabilizing Double Pendulum -

TAKAHASHI MASAKI, YOSHIDA KAZUO

[International presentation]  The 6th International Conference on Motion and Vibration Control (Saitama, Japan) , 

2002.08

, 

Oral presentation (general), JSME

　View Summary

複雑化する非線形なシステムに対して有効なより適用範囲の広い，よりロバストな知的制御手法の確立を目的として，定性的制御の導入と物理法則の埋め込みを特徴とする統合化CNNを提案している．二重振子の振上げ・倒立制御問題に適用し，その有効性を数値計算と制御実験により検証している．