Faculty of Engineering, Department of Mechanical Systems Engineering, Tokyo City University, Faculty of Engineering, Department of Mechanical Systems Engineering
Job title
Professor
Degree
Doctor of Engineering(Tokyo Institute of Technology)
International Journal of Automotive Engineering 9 39-47 Jan 2018
A novel trajectory generator for obstacle avoidance is proposed and evaluated through numerical simulations with common iterative methods. Since the proposed method generates quasi-optimal trajectories using model predictive control (MPC) theory w...
TRANSACTIONS OF THE JAPAN FLUID POWER SYSTEM SOCIETY 49(1) 1-9 2018
<p>There are cases where a hydraulic excavator does not perform the accurate digging operation due to the influence of the resistance force when the bucket tip contacts with the unknown object in the ground. To resolve this problem, we propose a m...
Transactions of the Society of Instrument and Control Engineers 53(12) 633-643 2017
This paper proposes a velocity observer for caster wheel odometers resisting steady-state error. The proposed method is established by attaching a feedback loop of error integration to extended Luenberger observer (ELO). The stability of the propo...
Transactions of the Society of Instrument and Control Engineers 53(6) 355-365 2017
In this paper, we propose a localization method integrating laser range finder (LRF) measurement and odometry by moving horizon estimation (MHE). The position and the attitude angle of a robot are estimated by solving an optimization problem using...
Transactions of the JSME (in Japanese) 82(842) 16-00144-16-00144 2016
<p>Leg/Wheel mobile robots can achieve adaptive motions for various environments using legs or wheels. However, computational complexity of optimization like model predictive control (MPC) is increased with the number of degree of freedom on joint...
Transactions of the Society of Instrument and Control Engineers 51(7) 484-493 2015
This paper investigates a robust path tracking control for four-wheel driving and steering vehicles. The proposed integrated control system aims at high maneuverability and robustness. The proposed controller is applied to the path tracking proble...
Transactions of the JSME (in Japanese) 81(825) 14-00484-14-00484 2015
Robots with independent four-wheel steering have many advantages such as high mobility, energy efficiency and strong stability. They can move toward arbitrary direction by conforming the wheel velocity to the velocity field of the locomotion. If t...
