Murakami, Toshiyuki

J-GLOBAL         Last updated: Oct 11, 2019 at 02:55
 
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Name
Murakami, Toshiyuki
Affiliation
Keio University
Section
Faculty of Science and Technology Department of System Design Engineering
Job title
Professor
Degree
工学(Keio University)
Research funding number
00255598

Profile

Prof. Toshiyuki MURAKAMI received the B. E., M. E., and Ph. D. degrees in electrical engineering from Keio University, Yokohama, Japan, in 1988, 1990, and 1993, respectively. In 1993, he joined the Department of Electrical Engineering, Keio University, where he is currently a Professor in the Department of System Design Engineering. From 1999 to 2000, he was a Visiting Researcher with The Institute for Power Electronics and Electrical Drives, Aachen University of Technology, Aachen, Germany. His research interests are robotics, intelligent vehicles, mobile robots, and motion control.

Research Interests

 
 

Research Areas

 
 

Academic & Professional Experience

 
Apr 1993
 - 
Mar 1996
慶應義塾大学理工学部電気工学科 ,助手
 
Apr 1996
 - 
Today
慶應義塾大学理工学部電気工学科 ,専任講師
 
Apr 1996
 - 
Today
慶應義塾大学理工学部システムデザイン工学科 ,専任講師
 
Apr 1997
 - 
Mar 1999
慶應義塾大学理工学部情報処理常置委員会  ,委員
 
Apr 1998
 - 
Mar 1999
慶應義塾大学日吉2学年 ,担任
 

Education

 
Mar 1988
   
 
電気工学科, Faculty of Science and Engineering, Keio University
 
Mar 1990
   
 
電気工学専攻, Graduate School, Division of Science and Engineeri, Keio University
 
Mar 1993
   
 
電気工学専攻, Graduate School, Division of Science and Engineeri, Keio University
 

Committee Memberships

 
May 2005
 - 
May 2006
電気学会東京支部学生員委員会  委員長
 
Dec 2004
 - 
Nov 2005
電気学会 平成17年度産業応用部門大会論文委員会  委員
 
Nov 2004
 - 
Oct 2006
電気学会 センサの知能化によるシステムの高度化協同研究委員会  委員
 
Sep 2004
 - 
Sep 2005
電気学会 産業応用部門国際化WG  委員
 
May 2004
 - 
May 2006
電気学会 東京支部役員会  協議員
 

Awards & Honors

 
Apr 2016
電気学会 フェロー
 
Sep 2015
IEEJ Industry Applications Society Distinguished Transaction Paper Award, (社)電気学会
Winner: Misako Sasayama and Toshiyuki Murakami
 
Aug 2005
電気学会論文投稿システム立ち上げ功労賞, (社)電気学会
Winner: 村上 俊之
 
Aug 2005
IPEC2005 Recognition Award, (社)電気学会
Winner: 村上 俊之
 
Sep 2004
SCIS&ISIS2004 Recognition Award, SCIS&ISIS
Winner: 村上 俊之
 

Published Papers

 
Sariyildiz E., Mutlu R., Nozaki T., Murakami T.
Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019   661-666   May 2019
© 2019 IEEE. This paper deals with the decentralized force control problem of compliant robots driven by Series Elastic Actuators (SEAs). The decentralized force control problem of a compliant robot manipulator is transformed into the robust posit...
Lyu W., Murakami T.
Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019   370-375   May 2019
© 2019 IEEE. This paper proposes the bilateral control method for a pair of manipulators which have different structures considering the fluctuation of an equivalent mass matrix. Bilateral control is one of the methods that controls position and f...
Sun X., Nozaki T., Murakami T., Ohnishi K.
Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019   471-476   May 2019
© 2019 IEEE. Most countries are running shortage of working force due to the aging population and reduction in the birthrate. Robot manipulators are expected to replace human work. However, it it still difficult for manipulators to do simple tasks...
Akutsu S., Nozaki T., Murakami T.
Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019   243-248   May 2019
© 2019 IEEE. Sensorless bilateral control has been studied to improve fault-tolerance of teleoperation without using torque sensors, position sensors, and other mechanical sensors. However, sensorless control often has less control accuracy due to...
Okano T., Ohnishi K., Murakami T.
Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019   249-254   May 2019
© 2019 IEEE. Teleoperation gets a significant attention from the society, and 4ch bilateral control is known as a method to realize the haptics transmission. Its controller is able to achieve the rich haptics transmission, but the performance is d...

Misc

 
Ibrahim Y., Murakami T., Hashimoto H., Korondi P.
IEEE Transactions on Industrial Informatics   14(11) 5143-5145   Nov 2018

Books etc

 
「電磁気工学」
村上俊之,内山太郎,大西公平 (Part:Joint Work)
培風館   May 2002   
力を中心とした電磁気工学の基礎事項および電磁気工学に基づいた実機応用について概説した教科書である.
数理工学基礎シリーズ「コンピュータの数理」
矢向高弘、村上俊之、大西公平 (Part:Joint Work)
朝倉書店   Oct 2000   
コンピュータのハードウェアの基礎から、2進数による数値計算法、C言語によるプログラミング、計算誤差にまで言及した工学者向けの教科書である。
Recent Advances in Motion Control (邦訳 : モーション・コントロールの最新技術)
G.S.Buja, H.Fujita and K.Ohnishi (Part:Joint Work, 3〜12, 131〜138)
日刊工業新聞社   Dec 1990   
G.S.Buja, H.Fujita and K.Ohnishi のうちChapter 1-1 'Advanced Control Technique inMotion System', pp3〜12, 及びChapter 6-2 'An Approach to Artificial MuscleMotion by Network of Actuators', pp131〜138, 本著書では,多自由度モーションシステムにおけるロバスト制御技術の最新技術について述べている.同時に,モーシ...
Integrated Micro-Motion Systems -Micromachining, Control and Applications- (邦訳 : マイクロモーション統合システム)
Edited by F.Harashima (Part:Joint Work, 185〜198)
Elsevier Science Publishers B.V.   Dec 1990   
Edited by F.Harashima のうちNetwork Motion Control in Micromechatronics, pp185〜198,本著書では,近年注目されているマイクロアクチュエータを想定した多自由度システムの構成法ならびにその力制御手法について述べている.本手法の特長は,非線形フィードバックにより,力の動作信号が孤立波としてアクチュエータ間を伝搬する機構となっている点にある.提案する手法の有効性は数値シミュレーションにより確認されている.

Conference Activities & Talks

 
An Approach to Power Assist Hand Exoskeleton for Patients with Paralysis
H. Uchida and T. Murakami
IEEE 15th International Workshop on Advanced Motion Control   Mar 2018   
Automated Deceleration System Considering Driving Resistance Based on Pedestrian’s Forecast Position
Y. Nakamura, T. Nozaki and T. Murakami
The IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON2018)   Mar 2018   
Comprehensive Evaluation of Human Activity Classification based on Inertia Measurement Unit with Air Pressure Sensor
T. Ishikawa, H. Hayami and T. Murakami
2017 IEEE 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP2017)   Nov 2017   
A Comparison Study of Velocity and Torque Based Control of Two-Wheel Mobile Robot for Human Operation
S. Amagai, M. Kamatani and T. Murakami
2017 IEEE 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP2017)   Nov 2017   
Position and Torque Sensorless Motion Transmission for Haptic Teleoperation Using Two Types of Voltage Compensation
S. Akutsu, T. Nozaki and T. Murakami
2017 IEEE 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP2017)   Nov 2017   

Research Grants & Projects

 
A Study on Human Motion Model and Force Control Based Life Support for ADL
MEXT,JSPS: Grant-in-Aid for Scientific Research
Project Year: Apr 2015 - Mar 2018    Investigator(s): 村上 俊之