研究活動情報

• 2023年08月 電気学会産業応用部門, 部門活動功労賞


• 2020年10月 IEEE Industrial Electronics Society, IES Best Conference Paper Award, Remote Control Method with Force Assist Based on Collision Prediction Calculated from Each Turning Radius in Mobile Robot

  N.Motoi, R. Masaki, M. Kobayashi


• 2019年03月 IEEE International Conference on Mechatronics, Best Regular Paper Award, Remote Control Method with Force AssistBased on Collision Prediction Calculatedfrom Each Turning Radius in Mobile Robot

  Naoki Motoi, Ryo Masaki, Masato Kobayashi

  国際学会・会議・シンポジウム等の賞


• 2018年01月 電気学会, 電気学会 産業計測制御技術委員会優秀論文賞, 衝突予測マップに基づく力覚フィードバックを有する移動ロボットの遠隔制御手法に関する研究

  元井 直樹

  日本国

  国内学会・会議・シンポジウム等の賞


• 2017年01月 電気学会 産業計測制御研究会, 産業計測制御技術委員会優秀論文賞

  元井 直樹


• 2013年03月 電気学会, 電気学会優秀論文発表賞, 画像情報を用いた道具座標系に基づくタスク実現のための一制御手法

  元井 直樹

  国内学会・会議・シンポジウム等の賞


• 2013年01月 電気学会 産業計測制御研究会, 産業計測制御技術委員会優秀論文賞, 画像情報を用いた道具座標系に基づくタスク実現のための一制御手法

  元井 直樹

  国内学会・会議・シンポジウム等の賞


• 2008年03月 電気学会 産業応用部門, 電気学会産業応用部門 部門優秀論文発表賞, ヒューマノイドロボットの未知対象物に対する押し動作制御

  元井 直樹

  国内学会・会議・シンポジウム等の賞


• 2007年12月 電気学会 産業計測制御研究会, 産業計測制御技術委員会優秀論文賞, ヒューマノイドロボットの未知対象物に対する押し動作制御

  元井 直樹

  国内学会・会議・シンポジウム等の賞


• 2007年 慶応義塾大学大学院理工学研究科 藤原賞

  日本国


• 2006年11月 IEEE Industrial Electronics Society, Best Conference Paper Award (IEEE Industrial Electronics Society), Real-Time Gait Planning for Pushing Motion of Humanoid Robot

  Naoki Motoi, Motomi Ikebe, Kouhei Ohnishi

  国際学会・会議・シンポジウム等の賞


• 2005年11月 IEEE Industrial Electronics Society, IECON (Annual Conference of the IEEE Industrial Electronics Society) 2005 Best Paper Award, Real-Time Gait Planning for Pushing Motion of Humanoid Robot

  Naoki Motoi, Motomi Ikebe, Kouhei Ohnishi

  国際学会・会議・シンポジウム等の賞

• 腱駆動機構を有するロボットハンドによる張力制御を考慮したバイラテラル制御

  元井 直樹, 元木 碧波

  Institute of Electrical Engineers of Japan (IEE Japan), 2024年07月, 電気学会論文誌Ｃ（電子・情報・システム部門誌）, 144(7) (7), 651 - 657

  [査読有り]

  研究論文（学術雑誌）


• バイラテラル制御における 周波数修正法の有効性検証

  椿崇裕, 小林聖人, 上田好寛, 元井直樹

  2024年01月, 電気学会論文誌C, 144(1) (1), 28 - 34

  [査読有り]


• Experimental Verification of Underwater 2-ch Bilateral Controller with Disturbance Observer

  Naoki Motoi, Taiga Okada, Masato Kobayashi

  IEEE, 2023年10月, 2023 IEEE International Workshop on Metrology for the Sea; Learning to Measure Sea Health Parameters (MetroSea)

  [査読有り]

  研究論文（国際会議プロシーディングス）


• DQDWA: Dynamic Weight Coefficients Based on Q-learning for Dynamic Window Approach Considering Environmental Situations

  Masato Kobayashi, Hiroka Zushi, Tomoaki Nakamura, Naoki Motoi

  IEEE, 2023年06月, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Local Path Planning with Turnabouts for Mobile Robot by Deep Deterministic Policy Gradient

  Tomoaki Nakamura, Masato Kobayashi, Naoki Motoi

  IEEE, 2023年03月, 2023 IEEE International Conference on Mechatronics (ICM)

  [査読有り]

  研究論文（国際会議プロシーディングス）


• BSL: Navigation Method Considering Blind Spots Based on ROS Navigation Stack and Blind Spots Layer for Mobile Robot

  Masato Kobayashi, Naoki Motoi

  Institute of Electrical and Electronics Engineers (IEEE), 2023年, IEEE Transactions on Industry Applications, 1 - 10

  [査読有り]

  研究論文（学術雑誌）


• Local Path Planning: Dynamic Window Approach with Q-learning Considering Congestion Environments for Mobile Robot

  Masato Kobayashi, Hiroka Zushii, Tomoaki Nakamura, Naoki Motoi

  Institute of Electrical and Electronics Engineers (IEEE), 2023年, IEEE Access, 11, 96733 - 96742

  [査読有り]

  研究論文（学術雑誌）

  神戸大学リポジトリ（Kernel）へのリンク


• Path Planning for Mobile Robot Considering Turnabouts on Narrow Road by Deep Q-Network

  Tomoaki Nakamura, Masato Kobayashi, Naoki Motoi

  Institute of Electrical and Electronics Engineers (IEEE), 2023年, IEEE Access, 11, 19111 - 19121

  [査読有り]

  研究論文（学術雑誌）

  神戸大学リポジトリ（Kernel）へのリンク


• Local Path Planning Based on Velocity Obstacle Considering Collision Probability and Kinematic Constraint for Mobile Robot

  Yosuke Ueda, Naoki Motoi

  IEEE, 2022年10月, IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society

  [査読有り]

  研究論文（国際会議プロシーディングス）


• 2-DOF Haptic Feedback Control Stick for Remote Rover Navigation

  Tomonori Yamazaki, Sota Shimizu, Rikuta Mazaki, Hokuto Kurihara, Naoki Motoi, Roberto Oboe, Nobuyuki Hasebe, Tomoyuki Miyashita

  IEEE, 2022年10月, IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Path Planning Method Considering Blind Spots Based on ROS Navigation Stack and Dynamic Window Approach for Wheeled Mobile Robot

  Masato Kobayashi, Naoki Motoi

  IEEE, 2022年05月, 2022 International Power Electronics Conference (IPEC-Himeji 2022- ECCE Asia)

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Remote-Controlled Method with Force and Visual Assists Based on Time to Collision for Mobile Robot

  Ryo Masaki, Masato Kobayashi, Naoki Motoi

  Various remote-controlled methods have been developed to improve operability using force or visual assists; however, using only force or visual assists may deteriorate the operability or safety performance. Therefore, a remote-controlled method with both force and visual assists is proposed to improve the operability while maintaining safety performance. The proposed remote-controlled system consists of a wheeled mobile robot, control device, and monitor. The force assist is generated using the time to collision (TTC), which is the predicted time of collision of the mobile robot against an obstacle. This force assist is applied to the operator using a control device to achieve collision avoidance. Using a visual assist, a predicted trajectory for the mobile robot based on the TTC is generated. For operability improvement, this predicted trajectory with color gradation is shown on the monitor. In summary, the achievement of operability improvement while maintaining safety performance is confirmed from experimental results using the proposed method.

  MDPI AG, 2022年04月, Applied Sciences, 12(8) (8), 3727 - 3727

  [査読有り]

  研究論文（学術雑誌）

  神戸大学リポジトリ（Kernel）へのリンク


• ロボット群による仮想フェロモンを伴う粒子群最適化を用いた探索アルゴリズムの研究

  稲原 大翔, 元井 直樹

  Institute of Electrical Engineers of Japan (IEE Japan), 2022年02月, 電気学会産業応用部門誌, 142(2) (2), 86 - 94

  [査読有り]

  研究論文（学術雑誌）


• Local Path Planning: Dynamic Window Approach With Virtual Manipulators Considering Dynamic Obstacles

  Masato Kobayashi, Naoki Motoi

  Institute of Electrical and Electronics Engineers (IEEE), 2022年, IEEE Access, 10, 17018 - 17029

  [査読有り]

  研究論文（学術雑誌）

  神戸大学リポジトリ（Kernel）へのリンク


• Force-Controlled Tensile Test of Collagen Fibril by Using 2-DOF Control System With Modeling Error Compensation

  Naoki Motoi, Mathis Nalbach, Shingo Ito, Philipp J. Thurner, Georg Schitter

  Institute of Electrical and Electronics Engineers (IEEE), 2022年, IEEE Open Journal of the Industrial Electronics Society, 3, 366 - 374

  [査読有り]

  研究論文（学術雑誌）

  神戸大学リポジトリ（Kernel）へのリンク


• 車輪型移動ロボットにおける死角領域を考慮したコストマップに基づく局所的経路計画手法

  小林 聖人, 元井 直樹

  2021年08月, 電気学会産業応用部門誌, 141(8) (8), 598 - 605, 日本語

  [査読有り]

  研究論文（学術雑誌）


• Development of exoskeleton haptic device using powder brake and constant torque spring

  Shoki Nakamura, Naoki Motoi

  This study proposes an exoskeleton haptic device using a powder brake and a constant torque spring. The powder brake can change the torque resistance in real time, and the constant torque spring can generate a constant torque. This device is of a wearable type, and is worn on the operator's hand. By combining the powder brake and the constant torque spring, it is possible to generate an arbitrary passive force on the fingertip. Because this device generates passive force alone, it has an advantage from the viewpoint of safety. The proposed device is applied to the master system to control the slave system in a virtual reality (VR) device. Consequently, the operator can perceive the contact force between the VR device and the VR object. VR object exists in VR space, and can provide the contact force with arbitrary plasticity and elasticity. The experimental results confirm the validity of the proposed system.

  John Wiley and Sons Inc, 2021年06月, Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi), 214(2) (2), 英語

  研究論文（学術雑誌）


• Research on Bilateral Control with Frequency Modification by using Fast Fourier Transformation

  Takahiro Tsubaki, Yoshihiro Ueda, Naoki Motoi

  2021年05月, Proceedings of International Symposium on Industrial Electronics, 1 - 6, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Research on Search Algorithm by PSO with Virtua Pheromone and Dynamical Niche for Swarm Robots

  Hiroto Inahara, Naoki Motoi

  2021年05月, Proceedings of International Symposium on Industrial Electronics, 1 - 6, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Development of Haptic Feedback Control Stick for Remote Control between Different Structures

  Hokuto Kurihara, Sota Shimizu, Rikuta Mazaki, Naoki Motoi, Roberto Oboe, Nobuyuki Hasebe, Tomoyuki Miyashita

  IEEE, 2021年03月, 2021 IEEE International Conference on Mechatronics (ICM), 1 - 6, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Motion Control Method Based on Two-link Manipulator Model with Bi-articular Muscle Considering Planetary Gear

  Takumi Nishimura, Naoki Motoi

  IEEE, 2021年03月, 2021 IEEE International Conference on Mechatronics (ICM), 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Human Tracking Control by Using Model Predictive Control with Human Trajectory Model for Mobile Robot

  H. Takatani, M.Kobayashi, N. Motoi

  2021年03月, Proceedings of IEEJ International Workshop on Sensing, Actuation, Motion Control and Optimization, 128 - 133, 英語

  [査読有り]


• Local Path Planning Method Based on Virtual Manipulators and Dynamic Window Approach for a Wheeled Mobile Robot

  Masato Kobayashi, Naoki Motoi

  This paper proposes a local path planning method based on virtual manipulators and dynamic window approach (VMDWA) for a wheeled mobile robot. In the conventional researches such as the dynamic window approach (DWA), the mobile robot follows the desired path and avoids obstacles in the dynamic and static environment. However, DWA calculates the predicted path assuming the constant velocities. From these predicted paths, the best path is selected using the cost function. Since the DWA assumes the constant value of velocities, multiple candidates of paths cannot generate flexible movements. Therefore, it may not be possible to generate the path that does not collide with obstacles. To solve these problems, this paper proposes the local path planning method based on virtual manipulators and dynamic window approach (VMDWA). In the proposed method, virtual manipulators are taken into account at the calculation of the path planning based on DWA. Therefore, it is possible to use the variable velocities values for the predictive paths. VMDWA selects the optimal path from the several calculations of predictive paths. The simulation results confirmed the effectiveness of the VMDWA.

  IEEE, 2021年01月, 2021 IEEE/SICE International Symposium on System Integration (SII), 499 - 504, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Haptic Feedback Rover Navigation Based on Positional Gain Adjusting Bilateral Control.

  Rikuta Mazaki, Sota Shimizu, Tomonoti Yamazaki, Hokuto Kurihara, Naoki Motoi, Roberto Oboe, Nobuyuki Hasebe, Tomoyuki Miyashita

  2021年, IEEE 17th International Conference on Advanced Motion Control (AMC), 311 - 316

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Adaptive Control Method Based on Recursive Least Square Method by Piezoelectric Actuator for Pulling Fibril with Parameter Variation

  Naoki Motoi, Mathis Nalbach, Shingo Ito, Philipp J. Thurner, Georg Schitter

  This research focuses on an adaptive control method for a pulling motion of a fibril. From the viewpoint of the biotechnology, analyses of a mechanical characteristic of a fibril are important. For the analyses, the pulling motion of the fibril is conducted by a piezoelectric actuator with a cantilever. The fibril is attached at the tip of the cantilever, and is pull by the piezoelectric actuator. By this pulling motion, it is possible to measure the mechatronic parameters of the fibril. During the pulling motion, the mechatronic parameters of fibril are changed due to the pulling force. Therefore, it is hard to conduct the pulling motion at the desired force command such as the constant force. From this view point, this paper proposes the adaptive control method based on the recursive least squares algorithm (RLS). These mechanical parameters are estimated in real-time by RLS. By using these estimated parameters, the position command to achieve the force command is calculated. In the simulation, the proposed method is implemented, and the pulling motion with the contact force is simulated. The validity of the proposed method is confirmed from the simulation results.

  IEEE, 2020年10月, IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society, 2020-October, 550 - 555

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Remote Control Method with Tactile Sensation for Underwater Robot with Magnetic Coupling

  Naoki Motoi, Shoki Nakamura

  IEEE, 2020年09月, 2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)

  [査読有り]

  研究論文（国際会議プロシーディングス）


• パウダブレーキと定トルクばねを用いた外骨格型ハプティックデバイスの開発

  中村 昇暉, 元井 直樹

  Institute of Electrical Engineers of Japan (IEE Japan), 2020年09月, 電気学会産業応用部門誌, 140(9) (9), 651 - 661

  [査読有り]

  研究論文（学術雑誌）


• Hybrid Control of Trajectory Planning for Desired Trajectory and Collision Avoidance Based on Optimization Problem for a Wheeled Mobile Robot

  Masato Kobayashi, Naoki Motoi

  Institute of Electrical Engineers of Japan (IEE Japan), 2020年07月, IEEJ Journal of Industry Applications, 9(4) (4), 331 - 340

  [査読有り]

  研究論文（学術雑誌）

  神戸大学リポジトリ（Kernel）へのリンク


• Remote Control Method With Force Assist Based on Time to Collision for Mobile Robot

  Ryo Masaki, Naoki Motoi

  Institute of Electrical and Electronics Engineers (IEEE), 2020年07月, IEEE Open Journal of the Industrial Electronics Society, 1, 157 - 165

  [査読有り]

  研究論文（学術雑誌）

  神戸大学リポジトリ（Kernel）へのリンク


• Remote Control Method for Mobile Robot Based on Force Feedback Generated using Collision Prediction Map

  Naoki Motoi, Masato Kobayashi, Ryo Masaki

  IEEJ, 2019年07月, IEEJ Journal of Industry Applications, 8(4) (4), 727 - 735, 英語

  [査読有り]

  研究論文（学術雑誌）

  神戸大学リポジトリ（Kernel）へのリンク


• Velocity Command Generation Considering Trajectory Tracking and Collision Avoidance for Mobile Robot

  Masato Kobayashi, Naoki Motoi

  IEEJ, 2019年03月, Proceedings of IEEI International Workshop on Sensing, Actuation, Motion Control and Optimization, 1 - 6, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Remote Control Method with Force AssistBased on Collision Prediction Calculatedfrom Each Turning Radius in Mobile Robot

  Naoki Motoi, Ryo Masaki, Masato Kobayashi

  This paper proposes the remote control method with the force assist based on the collision prediction calculated from each turning radius in a mobile robot. The remote control system consists of the control device and the mobile robot. By using the force assist in the remote control system, the operator recognizes the environmental information as the tactile sensation. For the realization of the force assist, the environmental information has to be transmitted from the mobile robot to the control device. In addition, the precise force assist is achieved from the high resolution environmental data. However, the communication time delay occurs by increasing environmental data. From this viewpoint, this paper proposes the data compression method based on the collision prediction. This collision prediction is calculated from the environmental information and the prediction trajectory of each turning radius. Not the whole environmental data but the collision prediction for each prediction trajectory is sent from the mobile robot to the control device. As the result, the amount of the data is drastically decreased. In addition, it is possible to realize the force assist having the almost same performance as the conventional method. The validity of the proposed method was confirmed from the experimental results.

  IEEE, 2019年03月, Proceedings of IEEE International Conference on Mechatronics, 477 - 482, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Development of Visual Remote Operation System for Low-Gravity Planet Rover

  Sota Shimizu, Ryoya Takewaki, Rei Murakami, Naoaki Kameyama, Naoki Motoi, Tatsuya Yamazaki, Nobuyuki Hasebe

  IEEE, 2019年03月, Proceedings of IEEE International Conference on Mechatronics, 461 - 466, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Tracking Control Method Considering Obstacle Avoidance by Reflective Motion for Mobile Robot

  Kobayashi Masato, Motoi Naoki

  This paper proposes a tracking control method considering an obstacle avoidance by a reflective motion for a mobile robot. In the mobile robot, a laser range finder is utilized to recognize environmental information. The obstacle avoid motion is created by using environmental information and the virtual manipulators mounted on the mobile robot. In the conventional researches, the flexible obstacle avoidance method by using the kinematic relation between the virtual manipulators and environmental information was reported. This method has the advantage for the calculation cost and flexibility like reflective motion. However, the robot may not follow the desired trajectory after the obstacle avoidance, since this conventional method is based on the velocity control. In order to solve this problem, this paper proposes a combination method of the tracking control and the obstacle avoidance. Considering the velocity limits of the tracking control, it is possible to modify the priority of the trajectory tracking and the obstacle avoidance. The effectiveness of the proposed method was confirmed from the experimental results.

  IEEE, 2018年10月, Proceedings of the Annual Conference of the IEEE Industrial Electronics Society, 5493 - 5498, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Position and Attitude Control Method Using Disturbance Observer for Station Keeping in Underwater Vehicle

  Sakiyama Junki, Motoi Naoki

  2018年10月, Proceedings of the Annual Conference of the IEEE Industrial Electronics Society, 5469 - 5474, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Development of Underwater Bilateral Control by Using Manipulator with Module Structure

  Motoi Naoki, Takizawa Kenta, Sakiyama Junki

  IEEE, 2018年08月, Proceedings of International Conference on Intelligence and Safety for Robotics, 122 - 127, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Position tracking control by combination of phase different control and workspace observer for 2-link manipulator with bi-articular muscle

  Hisashi Tamashima, Naoki Motoi

  This paper proposes the position tracking control for a 2-link manipulator with a bi-articular muscle. The 2-link manipulator with the bi-articular muscle is designed by using the epicycle gear. This 2-link manipulator has the redundancy, since this has the not only the mono-articular muscle but also the bi-articular muscle. Therefore, it is necessary to implement the particular control method for its redundancy. In order to solve this redundancy, phase different control (PDC), which is based on electromyogram of each muscle, has been reported. This paper proposes PDC combined with the workspace observer. By using the proposed method, the error between the force reference and the force response due to the linearization is compensated. In addition, the modeling errors are also compensated. As a result, the high precision motion control based on the musculoskeletal model of the upper arm is achieved. The effectiveness of the proposed method was confirmed by the simulation and experimental results.

  Institute of Electrical and Electronics Engineers Inc., 2018年06月, Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018, 120 - 125, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Experimental operability evaluation of remote control with force feedback for mobile robot

  Naoki Motoi, Hayato Kimura, Masato Kobayashi

  This paper describes the experimental operability evaluation of a remote control method with a force feedback for a mobile robot. By using the force feedback in the remote control system, it is possible to recognize the environmental information as the tactile sensation. In the conventional remote control methods, the force feedback is generated based on the geometric position relation between the mobile robot and environment. On the other hand, this paper shows the force feedback based on the collision prediction. The steering type control device with the tactile force feedback is utilized. In addition, the visual sensor is added to the remote control system for the visual feedback. Therefore, the operator manipulates the control device based on the visual and tactile information. In order to evaluate these remote control methods, the experimental results by 5 subjects are shown. The operability improvement by using the remote control method based on the collision prediction was experimentally proved.

  Institute of Electrical and Electronics Engineers Inc., 2018年04月, Proceedings of the IEEE International Conference on Industrial Technology, 2018-, 159 - 164, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Remote Control Method for Mobile Robot by using Force Feedback Based on Collision Prediction Map

  Motoi Naoki, Kobayashi Matato, Masaki Ryo

  IEEJ, 2018年, Proceedings of IEEJ International Workshop on Sensing, Actuation, Motion Control and Optimization, 1 - 6, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Experimental evaluation of operability improvement in bilateral control by using visual information

  Naoki Motoi, Akihiro Yamaguchi

  This paper proposes the improvement method of operability in a bilateral control by using visual information. The bilateral control system consists of a master system which is manipulated by the operator and a slave system which contacts remove environment. Considering the actual use of the bilateral control, the operator manipulates the master system while watching the visual information from the slave side. In this situation, there is the time delay of visual information. This time delay has the bad influence of the operability. In order to improve the operability, the synchronization method of visual and tactile information is described. The virtual model, which consists of the virtual slave model and the virtual object model, is proposed to compensate this time delay. This virtual model is overlaid on the visual image from the slave side. As a result, the operator grasps the motion of the slave system and the object without time delay. The validity of the proposed system was confirmed from the experimental results.

  Institute of Electrical and Electronics Engineers Inc., 2017年12月, Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, 2017-, 8279 - 8284, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• A Synchronization Method of Visual and Tactile Information for Bilateral Control by Using Virtual System

  Naoki Motoi, Akihiro Yamaguchi

  VDI, 2017年03月, Proceedings of Mechatronik, 54 - 59, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Remote Control Method for Mobile Robot with Virtual Force Feedback Based on Environmental Information

  Naoki Motoi, Hayato Kimura

  IEEJ, 2016年03月, Proceedings of the IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, (IS3-3) (IS3-3), 1 - 6, 英語

  [査読有り][招待有り]

  研究論文（国際会議プロシーディングス）


• High efficiency energy conversion system for decreaces in electric vehicle battery terminal voltage

  Kohei Aoyama, Naoki Motoi, Yukinori Tsuruta, Atsuo Kawamura

  The powertrain of electric vehicles in the market has a problem in that its performance degrades because of fluctuations in battery voltage. In order to solve this problem, this paper proposes an energy conversion system to boost a part of the electric vehicle battery voltage. This system consists of the existing electric vehicle powertrain and a bi-directional isolated DC-DC converter called the dual active bridge (DAB). This system is able to compensate for battery voltage drops with high efficiency by using a small capacity DAB converter. In addition, a control method for the DAB converter is proposed. This control method achieves a better response to the transient state than conventional methods. The validity of the proposed system and its control method are confirmed by simulation and experiments. A high efficiency of about 99% is obtained from the experimental system prototype.

  Institute of Electrical Engineers of Japan, 2016年, IEEJ Journal of Industry Applications, 5(1) (1), 12 - 19, 英語

  [査読有り]

  研究論文（学術雑誌）


• Human-machine cooperative grasping/manipulating system using force-based compliance controller with force threshold

  Naoki Motoi, Ryogo Kubo

  In recent years, there have been several studies on human-machine cooperative systems. These systems involve contact between humans and the environment. Therefore, it is necessary to create a safe system in order to avoid injuring humans and the environment. On the other hand, task realization is also important. From this viewpoint, a force-based compliance controller with a force threshold is proposed in this paper. This controller achieves both task realization and adaptation to the environment. This motion selection is conducted by comparing the force command and a force threshold. In addition, a human-machine cooperative grasping/manipulating system using the proposed controller is developed. This system can conduct a human-machine cooperative motion, which consists of an autonomous motion and a human-assisting motion. The priorities of the autonomous motion and the human-assisting motion are easily designed by changing the force thresholds. The validity of the proposed system is confirmed with experimental results.

  Institute of Electrical Engineers of Japan, 2016年, IEEJ Journal of Industry Applications, 5(2) (2), 39 - 46, 英語

  [査読有り]

  研究論文（学術雑誌）


• Virtual Force Generation Method for Remote Control System in Mobile Robot

  Hayato Kimura, Naoki Motoi

  This paper describes a remote control system with a virtual force feedback in a mobile robot. In the mobile robot, a laser range finder is utilized to recognize environmental information. By using this environmental information and the specification of the mobile robot, the safety velocity area (SVA) is calculated in real-time. On the other hand, an operator generates the velocity commands for the mobile robot in real time. By using the relation between SVA and the velocity commands, the virtual force is generated. If the velocity commands are out of SVA, the operator can feel the virtual force. In the previous research, the virtual force is generated based on the only velocity differences. Therefore, the chattering of virtual force commands may occur. In order to solve this problem, this paper proposes the virtual force generation method with hysteresis. Therefore, the operability of the remote control system is increased. From experimental results, the validity of the proposed method was confirmed.

  IEEE, 2016年, PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 6193 - 6198, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• A Synchronization Method of Visual and Tactile Information by Virtual Slave Model in Bilateral Control

  Akihiro Yamaguchi, Naoki Motoi

  This paper proposes a synchronization method of visual and tactile information by using a virtual slave model in a bilateral control. Considering an actual remote-operated system, an operator operates a master system while watching visual information that is sent from a slave side. However, transmission of position, force, and visual information has communication delay. This is because the slave system on the image moves later than the actual slave system. This communication delay gives a bad effect on operability in the bilateral control. Therefore, the synchronization method of visual and tactile information is important. From this viewpoint, visual and tactile information in bilateral control is synchronized by using the virtual slave model. This virtual slave model is overlaid on the image from the slave side. The operator operates the master system while watching the virtual slave model overlaid on the image. As a result, the operability is improved, since the virtual slave model helps the communication delay of visual information. The effectiveness of the proposed system was confirmed form the experimental results.

  IEEE, 2016年, PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 5772 - 5777, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• 人・機械協調システムによる 位置・力情報を有する教示信号の実時間修正手法

  元井 直樹, 久保 亮吾, 下野 誠通

  This paper proposes a real-time modification method of position and force teaching information in a human-robot cooperative system. In this study, human motion is recorded using bilateral control to obtain position and force teaching information. When the recorded information is reproduced, a human operator can add an operation to modify the teaching information. Because of the ability to modify the teaching information, it is possible to create variations in the motion to accommodate environmental changes. On the other hand, without the modification by the operator, the original recorded motion is achieved. In the proposed method, the operator focuses on modifying the teaching information in order to realize the desired motion. The validity of the proposed method is confirmed by experimental results.

  電気学会, 2015年05月, 電気学会産業応用部門誌, 135(5) (5), 503 - 512, 日本語

  [査読有り]

  研究論文（学術雑誌）


• High efficiency series chopper power train for electric vehicles using a motor test bench

  Yu Hosoyamada, Masashi Takeda, Takahiro Nozaki, Naoki Motoi, Atsuo Kawamura

  Many researchers have studied electric vehicles (EVs) for improving their efficiency to increase the driving range. The system design of an electrical power train has significant influence on the total driving range per charge and has been widely researched. A series chopper power train using a buck-boost chopper has been proposed as an electrical power train system. This electrical power train achieves high efficiency due to low and high inverter input voltage in the low and high speed regions, respectively. In previous studies, a high efficiency control optimizing the chopper output voltage was proposed, and a motor test bench with characteristics similar to actual EVs was constructed by using a battery emulation system with voltage variation characteristics, which occur due to the state of charge (SOC) and internal resistance. This paper shows the effects of optimizing the chopper output voltage on the driving range per charge in both efficiency estimation and the motor test bench experiment. This allows the verification of the usefulness of optimizing the chopper output voltage for increasing the efficiency. The results indicate an improvement of 0.9% and 2.7% in the driving range per charge during efficiency estimation and the motor test bench experiment, respectively.

  Institute of Electrical Engineers of Japan, 2015年, IEEJ Journal of Industry Applications, 4(4) (4), 460 - 468, 英語

  [査読有り]

  研究論文（学術雑誌）


• An Implementation Method of Workspace Observer Considering Fluctuation of Equivalent Mass Matrix

  Naoki Motoi, Ryogo Kubo

  This paper proposes an implementation method of a workspace observer (WOB) considering a fluctuation of an equivalent mass matrix. WOB is one of useful methods to achieve robust control systems. The stability and transient response of WOB is influenced from a modeling error of a nominal plant model. For a high performance of WOB, a precise modeling of a nominal plant model should be used. From this viewpoint, this paper modifies a nominal plant model in real time due to an estimation of an equivalent mass matrix. Here, a nominal plant model includes off-diagonal elements. An equivalent mass matrix is fluctuated due to a manipulator motion. This fluctuation is influenced to a control performance of WOB. Therefore, this fluctuation is compensated in this paper. In addition, a decoupling in an acceleration dimension is actualized, even if a nominal plant model includes off-diagonal elements. The validity of the proposed method was confirmed by simulation results.

  IEEE, 2015年, IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 4568 - 4573, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• An Estimation Method of Kinematic Relation betweeb Multiple Robots ant Their Grasping Tool

  Naoki Motoi, Yoshiyuki Hatta, Tomoyuki Shimono, Atsuo Kawamura

  In order to perform intelligent tasks using a tool, it is necessary to estimate the relation between a robot system and the tasks. However, no estimation method for this relation is currently available. Therefore, this paper proposes an estimation method for this relation by using an external sensor. In this paper, the hybrid control method based on the oblique coordinate system is utilized. Then, this relation can be treated as a task Jacobian matrix. By using the proposed method, it is possible to estimate the correct task Jacobian matrix, even if the kinematic relation between the robot system and the tool is not known or is changed during the task. As a result, the tasks are performed with this tool. From the simulation and the experimental results, the validity of the proposed method was confirmed.

  IEEJ, 2014年03月, IEEJ Journal of Industry Applications, 3(2) (2), 146 - 155, 英語

  [査読有り]

  研究論文（学術雑誌）


• Task Realization by a Force-Based Variable Compliance Controller for Flexible Motion Control Systems

  Naoki Motoi, Tomoyuki Shimono, Ryogo Kubo, Atsuo Kawamura

  This paper proposes a task realization method by using a force-based variable compliance controller for flexible motion control systems. In recent years, the robots working in human life space are desirable. Considering the robots working in human life space, they should achieve the safety motion. From this viewpoint, one of the key technologies is flexible motion control system. Of course, task realization instead of human beings is important. Therefore, it is necessary to propose the realization method of several tasks for the flexible motion control systems. In this paper, two robot tasks are defined: "approach task" and "pushing task." The approach task is the motion for a robot to approach an environment and not to contact the environment. On the other hand, the pushing task is the motion for the robot to contact and push the environment in order to achieve the several tasks. For the realization of the several tasks to the environment, it is necessary to achieve both the position control during the approach task and the force control during the pushing task. Therefore, the controller has to be modified depending on the contact state, which means whether the robot is in contact with the environment or not. In order to modify the controller, the variable compliance gain which is varied according to the contact state is proposed. Focusing on the approach task, the position control which is equivalent to the conventional position-based compliance method is achieved by using the proposed method. On the other hand, the proposed controller is suitable for the pushing task compared with the conventional position-based compliance controller since the proposed controller is based on the force control. Therefore, several tasks which include the position tracking and the contact with the environment are actualized by using the proposed method. In addition, the performance analysis by a Bode diagram and stability analysis by root loci are conducted. The validity of the proposed method is confirmed from the experimental results.

  IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2014年02月, IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 61(2) (2), 1009 - 1021, 英語

  [査読有り]

  研究論文（学術雑誌）


• 作業空間オブザーバに基づく推定等価質量を用いた運動制御手法の有効性検証

  富樫 信之, 山下 徹, 下野 誠通, 元井 直樹, 小田 尚樹

  This study investigates the influence of the equivalent mass fluctuation on the control performance of a workspacebased motion control system with a workspace observer. It is theoretically demonstrated that the equivalent mass fluctuation affects the control gain, the cut-off frequency of the workspace observer, and so on. In addition, the effectiveness of the workspace motion controller based on the estimated equivalent mass with the workspace observer is discussed. In order to verify the workspace-based control method with the estimated equivalent mass, some simulation and experimental results obtained with the workspace position control of a two-degrees-of-freedom planar manipulator are presented. © 2014 The Institute of Electrical Engineers of Japan.

  電気学会, 2014年, 電気学会産業応用部門誌, 134(2) (2), 115 - 126, 日本語

  [査読有り]

  研究論文（学術雑誌）


• Experimental Comparison of Design Methods for Equivalent Mass Matrix in Motion Control System based on Workspace Observer

  Nobuyuki Togashi, Tomoyuki Shimono, Naoki Motoi, Naoki Oda

  This paper investigates a design method for an equivalent mass matrix in motion control based on workspace observer. The equivalent mass matrix implemented in the control system is often designed as a diagonal matrix. On the other hand, a real equivalent mass matrix includes non-diagonal elements. Conventionally, assuming the cut-off frequency as infinity, these elements is ignored. However, actually, since the cut-off frequency is not infinity, the non-diagonal elements can not be ignored. Therefore, in order to improve the control performance, it may be necessary to implement the equivalent mass matrix including the non-diagonal elements. From the background, the experimental comparison about the equivalent mass matrix design is conducted.

  IEEE, 2014年, 2014 IEEE 13TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC), 669 - 674, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Development of the Experiment Platform for Electric Vehicles by using Motor Test Bench with the Same Environment as the Actual Vehicle

  Masashi Takeda, Yu Hosoyamada, Naoki Motoi, Atsuo Kawamura

  In this paper, the experimental platform using motor test bench with same environment as the actual vehicle is developed. In the previous paper, the experiments were performed by using motor test bench[2]. These experiments were performed under the condition of the constant DC-supply voltage. However, the output voltage of the battery used in the actual EV is changed depending on the state of charge (SOC). Furthermore, flux weakening control was not applied to the inverter at the previous motor test bench. This is why exactly one charge driving range could not measured. In order to solve these problems, this paper develops the experimental platform (motor test bench) with following two things; 1) construction of the battery emulation system, and 2) adaptation of the flux weakening control to the inverter. The experiments was implemented for verification of the validity of the experiment platform (motor test bench). From these experimentalal results, it was confirmed that the experiment platform (motor test bench) can simulate the actual vehicle.

  IEEE, 2014年, 2014 IEEE 13TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC), 356 - 361, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• A Prediction Method Considering Object Motion for Humanoid Robot with Visual Sensor

  Kensuke Baba, Atsuo Kawamura, Naoki Motoi, Yosuke Asano

  This paper proposes a prediction method considering object motion for a humanoid robot with a visual sensor. A visual servo control method is one of the useful methods to control the robot based on visual information. Robot can track the movable object by using this method. However, this system does not consider the future response of the object motion. As a result, the delay arises. In order to solve this problem, it is necessary to predict the object motion from the visual information. This paper proposes the prediction method considering object motion based on visual servo system. By using this method, the robot predicts the goal position which is the stop position of the movable object. Thereafter, the robot walks to the above prediction position. The robot moves to goal position without useless trajectory. The experiments with this prediction control method are conducted to confirm the validity of the proposed method. From these results, the validity of the proposed method is confirmed.

  IEEE, 2014年, 2014 IEEE 13TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC), 320 - 325, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• An Integration Method between Vision-based Disturbance Observer and Bilateral Haptic System for Robust Tracking of Target Object

  Muhammad Herman Jamaluddin, Tomoyuki Shimono, Naoki Motoi

  This paper presents a technique for a robust tracking of the target object by integration of the vision-based disturbance observer with bilateral haptic system. As for the motion navigation task, the bilateral control of master-slave system is combined with the vision-based force compliance controller. The disturbance of the modelling error that occurs in the integration of the system will be compensated by the proposed vision-based disturbance observer. The concept of control structure between the integration of bilateral manipulator, vision-based force compliance controller and the proposed vision-based disturbance observer are described. Two experiments were conducted to compare the result of without and with the proposed integration method. From the experimental results, the robustness of the proposed system is confirmed.

  IEEE, 2014年, 2014 IEEE 13TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC), 723 - 728, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Transient Behavior of the Dual Active Bridge Converter in High Efficient Energy Conversion System

  Kohei Aoyama, Naoki Motoi, Yukinori Tsuruta, Atsuo Kawamura

  This paper shows the transient behavior of a system which boosts a part of the battery voltage for a electric vehicle. This system consists of the powertrain of electric vehicles and a bi-directional isolated DC-DC converter called dual active bridge (DAB). This system can compensate the battery voltage drops with high efficiency compared with the conventional series chopper system. In many studies, the DAB converter operates in the steady state. On the other hand, this paper analyzes the operation of the DAB converter in the transient state. Especially, the operation at the start of the DAB converter is focused on.

  IEEE, 2014年, 2014 INTERNATIONAL POWER ELECTRONICS CONFERENCE (IPEC-HIROSHIMA 2014 - ECCE-ASIA), 2266 - 2271, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Large Driving Range Increase of Series Chopper Based Power Train Using Motor Test Bench

  Yu Hosoyamada, Masashi Takeda, Naoki Motoi, Atsuo Kawamura

  Authors proposed the series chopper based power train aimed for the extension of the driving range. In previous paper [1], under the condition of the constant DC-supply voltage, effectiveness of the optimization of the profile of the chopper output voltage was shown. However, the output voltage of the battery used in the actual EV varies depending on the state of charge (SOC). Because of this difference, the precise comparison of the power train was not performed. In this paper, by emulating the battery including the internal resistance and output voltage dependency on SOC, the driving range is compared in the motor test bench. It is shown that the chopper output voltage adjustment depending on the rotor speed and the weight of the chopper has large effect on the driving range. In comparison to non-chopper power train, the driving range of the series chopper power train increases by 2.1%. In addition, by decreasing the weight of the chopper by a half and zero, the driving range further extends by 1.4% and 3.0%.

  IEEE, 2014年, 2014 INTERNATIONAL POWER ELECTRONICS CONFERENCE (IPEC-HIROSHIMA 2014 - ECCE-ASIA), 801 - 806, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Force-based compliance controller utilizing visual information for motion navigation in haptic bilateral control system

  Muhammad Herman Jamaluddin, Tomoyuki Shimono, Naoki Motoi

  This paper proposes a force-based compliance control method utilizing visual information that can be integrated with a haptic system for motion navigation tasks. The force generated on the basis of useful image information of the tracked object is utilized to provide a response to the bilateral control system. An eye-to-hand approach is used to magnify the information from the vision sensor. The control strategy, image processing method, and integration techniques are elaborated upon in detail. Four experiments were conducted using different distances between the camera and object to validate the proposed integration method. The effectiveness of the proposed method was evaluated through a comparison with the conventional bilateral control method.

  Institute of Electrical Engineers of Japan, 2014年, IEEJ Journal of Industry Applications, 3(3) (3), 227 - 235, 英語

  [査読有り]

  研究論文（学術雑誌）


• Motion Navigation in Haptic Bilateral System Based on Vision-based Force Compliance Controller Taking Object Coordinate into Account

  Muhammad Herman Jamaluddin, Tomoyuki Shimonot, Naoki Motoi

  This paper addresses a solution for solving the object's rotational effect during the navigation process by the haptic bilateral control system. The system utilizes the vision-based guidance which depends on the virtual force generated by the vision-based force compliance controller (VFCC). During object's navigation, the virtual force is generated and affected to the manipulator's horizontal trajectory movement. In this paper, the different rotational angle of an object's trajectory which reflects to different movement direction of produced force, will be studied and evaluated. The details concerning the implementation of this method will be discussed. Two sets of experiments are conducted to evaluate the effectiveness of the proposed technique.

  IEEE, 2014年, 2014 IEEE 23RD INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE), 2238 - 2243, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Point-to-point Motion Control Based on Reproduction of Recorded Human Motions with Time Scaling

  Naoki Motoi, Ryogo Kubo, Tomoyuki Shimono

  In order to assist human beings, the reproduction methods of the recorded human motions have been researched. On these systems, the human motions are recorded as the haptic data (i.e., position, velocity, and force data) by using bilateral control. However, these conventional methods show poor adaptability to the difference in the environmental location during the reproduced phase. In order to compensate this spatial difference, the spatial data processing of the recorded human motions was utilized. On the other hand, the reproduction method of the recorded human motions with time scaling is proposed to compensate this spatial problem in this paper. In other words, the proposed method applies time scaling to compensate the spatial difference. For the realization of the proposed reproduction method with time scaling, the recorded velocity and force data are utilized. By using the proposed method, the physical meaning is clear compared with conventional methods, since power on the certain moment of the reordered task is reproduced. This paper focuses on the point-to-point motion, which includes the force motion and the position motion, as one of typical tasks in the industry field. The validity of the proposed method was confirmed by the experimental results.

  IEEE, 2014年, IECON 2014 - 40TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2834 - 2839, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• 操作性向上のための機能分離による異自由度ロボット間バイラテラル制御

  元井 直樹, 下野 誠通, 久保 亮吾, 河村 篤男

  This paper proposes a bilateral control for master and slave systems with different degrees of freedom (DOF). In this paper, it is assumed that the number of DOF on the master side is smaller than that on the slave side. In addition, the slave system is divided into slave subsystems according to the number of DOF on the master side. Each slave subsystem accomplishes two kinds of distinctive functions; "task realization by bilateral control between a master robot and a slave subsystem" and "adaptation to environment in contact with a slave subsystem by automation control." The task realization is achieved within the range of the number of DOF on the master side. On the other hand, the adaptation to environment in contact with the slave subsystem is achieved by using the DOF not to be utilized for the task realization. In the results, the proposed controller actualizes both functions. In addition, a human operator can carry out the desired task of the slave system without the consideration of environmental surface. The validity of the proposed method is confirmed by experimental results.

  The Robotics Society of Japan, 2013年07月, 日本ロボット学会誌, 31(7) (7), 651 - 658, 日本語

  [査読有り]

  研究論文（学術雑誌）


• Development of Grasping/Manipulating System Simulation Platform Considering Collision Model

  Bumjun Kwon, Naoki Motoi, Tomoyuki Shimono, Atsuo Kawamura

  This paper develops the grasping/manipulating simulation system considering the micro/macro collision model. Previous haptics, especially the bilateral control systems, mainly focused on transmitting the sense of touch and position tracking. In order to expand haptic technology, it is necessary to consider the dynamics motion, such as the impulse force against the environment. For this reason, a collision model is implemented into an environment for a grasping/manipulating simulation system. By applying the collision model, the reaction force, which occurs between the robot and the environment, can be predicted. This implies more accurate interpretation of the dynamics between the robot and the object is available. The simulation platform is confirmed to be valid by comparing the experimental result with the simulation result of grasping/manipulating control. From these results, the relation between the environmental parameters and sampling period of the controller is clarified.

  IEEE, 2013年, 2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM), 522 - 527, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Total Harmonic Distortion and Content Rate of Spatial Modal Information for Haptic Parallel Motion Analysis

  Tomoyuki, Yukihiro, Naoki Motoi

  2013年01月, Journal for Control, Measurement, Electronics, Computing and Communications, Automatika, 54(1) (1), 39 - 48, 英語

  [査読有り]

  研究論文（学術雑誌）


• Regeneration of LIPM bipedal walking trajectories for minimum energy consumption

  Aliza Che Amran, Naoki Motoi, Atsuo Kawamura

  This paper introduces a method that is able to regenerate joint trajectories based on LIPM walking trajectories for minimal energy consumption during a single support phase. Using variational approach and B-spline curve, this method is able to solve for new set of joint configurations that consumes lower energy while keeping the center of mass almost at the same position in x,y and z direction. From simulation results, it is verified that the proposed method is effective.

  IEEE, 2013年, 2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM), 617 - 622, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Performance Improvement of Bilateral Control with Multi-Degree-of-Freedom based on Disturbance Observer Design

  Nobuyuki Togashi, Tomoyuki Shimono, Naoki Motoi

  This paper proposes a disturbance observer (DOB) design method for bilateral control systems with multi-degree-of-freedom (MDOF). DOB is one of the robust control methods based on acceleration. DOB uses the nominal mass or nominal inertia for the estimation of disturbance force. A control performance of the bilateral control with DOB is changed according to the design of the nominal mass in DOB. This paper firstly discusses the relationship between nominal mass in DOB and the control performance. Then, the design method of bilateral control with low nominal parameter is proposed. The effectiveness of proposed method is confirmed from the experimental results.

  IEEE, 2013年, 2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM), 558 - 563, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Ground Reaction Force Reduction of Biped Robot for Walking along a Step in Lateral Plane with Dual Length Linear Inverted Pendulum Method

  Fariz Ali, Naoki Motoi, Kirill Van Heerden, Atsuo Kawamura

  A bipedal robot should be robust and able to move in various directions on stairs. However, up to date many research studies have been focusing on walking in the up or down direction only. Therefore, a strategy to realize walking along a step is investigated. In conventional methods, CoM is moved up or down during walking in this situation. In this paper, a method named as Dual Length Linear Inverted Pendulum Method (DLLIPM) with Newton-Raphson is proposed for 3-D biped robot walking. The proposed method applies different length of pendulum at left and right legs in order to represent the CoM height. By using the proposed method, maximum impact forces are reduced. From the Ground Reaction Forces (GRF) data obtained in the simulations, the validity of the proposed method is confirmed.

  Fuji Technology Press, 2013年, Journal of Robotics andMechatronics, 25(1) (1), 220 - 231, 英語

  [査読有り]

  研究論文（学術雑誌）


• A Motion Control Method of Dual Arm Robot based on Environmental Modes

  Takuya Kenmochi, Naoki Motoi, Tomoyuki Shimono, Atsuo Kawamura

  This paper proposes a motion control method based on environmental mode for a dual arm robot. By controlling mode information, particular features or trends can be given to robot's motion. Then a distinctive complex motion can be realized. In addition, because environmental mode is information based on the coordinate system which is fixed in the environment, environment-based motion can be realized. Because of these two advantages, it is thought that the proposed method makes a contribution to realization of interactive motion between robots and ambient environment like human being's complex motion.

  IEEE, 2013年, 2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM), 458 - 463, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Total Harmonic Distortion and Content Rate of Spatial Modal Information for Haptic Parallel Motion Analysis

  Tomoyuki Shimono, Yoshiyuki Hatta, Naoki Motoi

  In this paper, two kinds of evaluation index for the haptic motion analysis in parallel multiple degrees of freedom (MDOF) system are proposed. At first, the spatial modal decomposition method based on discrete Fourier series expansion (DFS) is presented. Spatial modal information expresses a motion element that corresponds to a specific physical action. The spatial modal information can mathematically be defined by the Fourier coefficients. Then, this paper proposes the total harmonic distortion (THD) and the content rate of the haptic modal information as motion evaluation indexes. THD of the spatial modal information can evaluate the complexity of the human motion and/or the deformability of the contact environment. Content rate of the spatial modal information can evaluate the priority of motion element. Some experimental results on the bilateral motion control of a parallel five DOF haptic system are shown, in order to confirm the utility of the proposed indexes.

  KOREMA, 2013年01月, AUTOMATIKA, 54(1) (1), 39 - 48, 英語

  [査読有り]

  研究論文（学術雑誌）


• An improved trajectory of a bipedal robot walking along a step with the dual length linear inverted pendulum method

  Fariz Ali, Naoki Motoi, Atsuo Kawamura

  This paper proposes a new design method for obtaining walking parameters for a 3-D biped robot walking along a step. Many researchers concentrated only on the motion of climbing up or down stairs. However, this study investigates a strategy for realizing walking along a step. In conventional methods, the center of mass (CoM) moves up or down during walking in this situation because the pendulum height is kept at the same length for the left and right legs. Thus, extra work is required in order to bring the CoM up to higher ground. In this study, different pendulum heights are applied for the left and right legs and this method is referred to as the dual length linear inverted pendulum method (DLLIPM). However, when different pendulum heights are applied, it is quite difficult to obtain symmetrical and smooth pendulum motions. Furthermore, synchronization between the sagittal and lateral planes is not confirmed. Therefore, DLLIPM with the Newton-Raphson algorithm is proposed to solve these problems. The walking pattern for both planes is designed systematically, and synchronization between the planes is ensured. Finally, the proposed method is verified by simulation and experimental results.

  Institute of Electrical Engineers of Japan, 2013年, IEEJ Journal of Industry Applications, 2(2) (2), 121 - 131, 英語

  [査読有り]

  研究論文（学術雑誌）


• Haptic Bilateral Control System with Visual Force Compliance Controller

  Muhammad Herman Jamaluddin, Tomoyuki Shimono, Naoki Motoi

  This paper presents a new haptic bilateral control method with vision-based guidance. The vision-based guidance is realized by the visual force compliance controller which can translate the visual information to assistive force. Integration of an imaging modality effectively further consolidates the servoing procedures. Such information needs to be efficiently rendered to the operator at master system. Particularly, the proposed approach provides real-time visualization and force feedback based guidance for the navigation task. The details concerning the method of implementation of this theory will be explained. Finally, the experimental evaluation of the functionality of this visual compliance controller based on force control is described and discussed.

  IEEE, 2013年, 2013 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE), 1 - 6, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Generation of minimal energy joint trajectories during single support phase for 3-dimensional bipedal walking

  Aliza Che Amran, Naoki Motoi, Atsuo Kawamura

  This paper introduces a method to generate minimal energy joint trajectories during a single support phase of linear inverted pendulum model (LIPM)-based biped walking. By using a variational approach and B-spline curves, this method is able to generate new set of joint configurations. This joint set minimizes the cost function which reduces the energy consumption while keeping the center of mass almost at the same position in x-, yand z-directions. Constraining the center of mass to be the same during minimization helps in conserving the zero moment point (ZMP) of the predefined walking trajectory. The energy consumption function is represented by the actuator's electrical energy which consists of copper loss and mechanical energy. From the simulation results, it is verified that the proposed method is effective.

  Institute of Electrical Engineers of Japan, 2013年, IEEJ Journal of Industry Applications, 2(3) (3), 150 - 160, 英語

  [査読有り]

  研究論文（学術雑誌）


• Design Method of Variable Compliance Gain for Force-based Compliance Controller

  Naoki Motoi, Tomoyuki Shimono, Ryogo Kubo, Atsuo Kawamura

  This paper proposes the design method of the variable compliance gain for the force-based compliance controller considering both position information and force information. The force-based variable compliance controller is effective since it is possible for this controller to realize both the compliant contact motion and the precise position control. However, the chattering occurs at the moment of the controller modification between the position control and the force control. In order to solve this chattering problem, the modification method considering both position information and force information is proposed. As a result, the smooth controller modification between the position control and the force control is actualized. In addition, the position control during the non-contact motion is analyzed by modeling the controller as a second order system. From this analysis, the precise position control is obtained by setting the parameters to achieve a critical damping. The validity of the proposed method is confirmed by the experimental results.

  IEEE, 2013年, 2013 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE), 1 - 6, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Development of a Haptic Bilateral Interface for Arm Self-Rehabilitation

  Chikara Morito, Tomoyuki Shimono, Naoki Motoi, Yasutaka Fujimoto, Toshiaki Tsuji, Yuri Hasegawa, Keiichiro Abe, Yoshimi Sakurai, Shinichiro Ishii

  This paper presents a newly-developed haptic interface for arm self-rehabilitation based on bilateral control. The purpose of this research is the improvement of the physical function of patients' arm with hemiplegia. In order to acquire enough motion range for the rehabilitation, the X-Y tables with two degrees-of-freedom are utilized as the haptic system. The developed interface realizes the rehabilitation environment on the basis of the integration of the bilateral control system for haptic transmission between arms and the virtual reality for visual guidance. This integration can provide the self-rehabilitation suitable for the patients with hemiplegia. In this paper, the results of bilateral control in the presented haptic system and the results of basic evaluation for the physicality of the human arm in the reaching task are presented. From these experimental results, the utility of the developed interface is verified.

  IEEE, 2013年, 2013 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM): MECHATRONICS FOR HUMAN WELLBEING, 804 - 809, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Switching control method for stable landing by legged robot based on zero moment point

  Naoki Motoi, Kenta Sasahara, Atsuo Kawamura

  This paper proposes a switching control method to achieve a smooth transition from an edge landing to a sole landing for a legged robot. When a biped robot walks, an undesirable condition at the moment of landing, such as hunting between the ground and the foot, may occur for several reasons. To avoid this condition, this paper focuses on a method that uses simple controllers to ensure a smooth transition from an edge landing to a sole landing. In the event of an edge landing, a force controller should be implemented for a smooth transition to a sole landing. This is because the force controller enables the foot to contact the ground softly. After the landing state is shifted to the sole landing, the control method should be changed to the position controller. Therefore, it is necessary to switch the control method according to the contact condition between the foot and the ground. To avoid the chattering of the controller switching, several hysteresis values are used for the zero moment point (ZMP) position and ZMP velocity in the switching function. Simulations and experimental results confirmed the validity of the proposed method.

  Fuji Technology Press, 2013年, Journal of Robotics and Mechatronics, 25(5) (5), 831 - 839, 英語

  [査読有り]

  研究論文（学術雑誌）


• Ultra high efficient battery voltage compensation against decrease in the terminal voltage of electric vehicles

  Kohei Aoyama, Naoki Motoi, Giuseppe Guidi, Yukinori Tsuruta, Atsuo Kawamura

  This paper proposes a system and its control method to boost part of the battery voltage for electric vehicle. This system consists of the powertrain of electric vehicles and a bi-directional isolated DC-DC converter called dual active bridge (DAB). The powertrain of electric vehicles in the market has the problem that its performance degrades due to fluctuations in battery voltage. In order to solve this problem, a DC-DC converter is often inserted serially between the battery and the inverter. However, in this solution, the conduction loss of the DC-DC converter always occurs. In this paper, as a solution to the above problems, a voltage boosting system using DAB converter is shown. © 2013 IEEE.

  IEEE, 2013年, IECON Proceedings (Industrial Electronics Conference), 7280 - 7285, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Driving Performance Experimental Analysis of Series Chopper Based EV Power Train

  Atsuo Kawamura, Giuseppe Guidi, Yuki Watanabe, Yukinori Tsuruta, Naoki Motoi, Tae-Woong Kim

  In this paper, the series chopper based power train for electric vehicle is proposed for aiming the increase of one battery charge driving distance. Both the motor test bench based experiments and the chassis dynamo based experiments are tested and then analyzed for EV driving performance that the proposed power train with SAZZ chopper and Quasi-PAM control scheme is compared with or without the series chopper. It is confirmed through two kinds of experimental analyses that the series chopper power train for EV can be useful to extend the driving distance if the high efficiency and the low weight of chopper are satisfied.

  KOREAN INST POWER ELECTRONICS, 2012年11月, JOURNAL OF POWER ELECTRONICS, 12(6) (6), 992 - 1002, 英語

  [査読有り]

  研究論文（学術雑誌）


• Driving Range Extension by Series Chopper Power Train of EV with Optimized dc Voltage Profile

  Kenta Sasahara, Naoki Motoi, Tomoyuki Shimono, Atsuo Kawamura

  This paper proposes driving range extension by series chopper power train for Electric Vehicles (EV for abbreviation). The proposed method was experimentally verified and compared with the previous publication [1]. Further measurement on motor test bench, to compare this drive with the conventional power train, showed a 2.1 % improvement. © 2012 IEEE.

  IEEE, 2012年03月, Proceedings of the IEEE International Workshop on Advanced Motion Control, 1 - 6, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Stable landing method for biped robot by using switching control

  Kenta Sasahara, Naoki Motoi, Tomoyuki Shimono, Atsuo Kawamura

  This paper proposes the switching control method to realize stable landing for a biped robot. If the landing of the biped robot is unstable, the robot may fall down. Therefore, it is necessary for the biped robot to realize stable landing. In order to achieve the stable landing, force controller should be implemented at the moment of landing. Since force control enables the sole to softly contact the ground. If the landing state becomes stable, control method needs to change position control for the biped robot moving. In other words, the controller should be switched according to the contact condition between the sole and the ground. Therefore, switching control method which consists of position control and force control is proposed. Zero Moment Point (ZMP) is used as index to switch the controller. Position control is applied when ZMP exists in the area around the center of the foot. Force control is used when ZMP exists around the edge of the foot. The validity of the proposed method is confirmed from the simulation results by using the model of inverted pendulum with a sole. © 2012 IEEE.

  2012年, International Workshop on Advanced Motion Control, AMC, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Driving Range Extension by Series Chopper Power Train of EV with Optimized de Voltage Profile

  Masashi Takeda, Naoki Motoi, Giuseppe Guidi, Yukinori Tsuruta, Atsuo Kawamura

  This paper proposes driving range extension by series chopper power train for Electric Vehicles (EV for abbreviation). The proposed method was experimentally verified and compared with the previous publication [1]. Further measurement on motor test bench, to compare this drive with the conventional power train, showed a 2.1 % improvement.

  IEEE, 2012年, 38TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2012), 2936 - 2941, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Total harmonic distortion of haptic modal information for analysis of human fingertip motion

  Tomoyuki Shimono, Yoshiyuki Hatta, Naoki Motoi

  This paper proposes an evaluation index for the analysis of the motion complexity in parallel multi-degrees-of-freedom (MDOF) haptic system. Firstly, the modal decomposition based on discrete Fourier series expansion (DFS) is described. Modal information expresses a motion element that corresponds to a specific physical action. The modal information can be defined by the Fourier coefficients. This paper proposes a total harmonic distortion (THD) of the haptic modal information as a haptic motion index. The utility of the proposed index is confirmed from the experimental results on the bilateral motion control of MDOF haptic system. © 2012 IEEE.

  IEEE, 2012年, International Workshop on Advanced Motion Control, AMC, 1 - 6, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• The performance validation of disturbance observer based on comparison between motion control frequency and current control frequency

  Hiromi Ohkubo, Tomoyuki Shimono, Naoki Motoi

  Recently, a lot of robots and industrial machines with disturbance observer (DOB) have been put to practical use all over the world. By using DOB, acceleration control is achieved. As a result, DOB is contributed to robust position and force control. In other front, DOB is utilized as the reaction force observer (RFOB) for estimation of the external force. As a result, DOB is a key technology for motion control. Therefore, it is necessary to improve the performance of DOB to realize high advanced motion control system. The performance of DOB depends on motion control frequency, current control frequency of motor driver and the resolution of encoder. This paper focuses on motion control frequency and current control frequency. The purpose of this paper is realization of high-performance DOB based on fast motion control frequency and fast current control frequency. © 2012 IEEE.

  IEEE, 2012年, International Workshop on Advanced Motion Control, AMC, 1 - 6, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Force-based variable compliance control method for bilateral system with different degrees of freedom

  Naoki Motoi, Ryogo Kubo, Tomoyuki Shimono, Atsuo Kawamura

  This paper proposes the force-based variable compliance control method for a bilateral system which consists of master and slave robots with different degree of freedom (DOF). In order to control the bilateral system with this assumption, bilateral control between master and slave robots for task realization and automation control for adaptation to environment in contact with a slave robot are necessary. In this paper, automation control for adaptation to environment in contact with a slave robot is focused on. Considering the automatic control of slave system, the control method should be switched according to the contact condition. In the case of non-contact motion, the position of the slave system is not decided by using the conventional force controller. Therefore, unexpected contact between the slave system and the object may occur. In order to avoid this unexpected contact motion, the position of slave system should be controlled in the case of non-contact motion. When the slave system contacts the object, the force control should be implemented to achieve the stable contact. In this paper, the force-based variable compliance control method is proposed to achieve 2 desired motion. The validity of the proposed method is confirmed by the experimental results. © 2012 IEEE.

  IEEE, 2012年, International Workshop on Advanced Motion Control, AMC, 1 - 6, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• An arrangement identification method for parallel multi-degrees-of-freedom teleoperation systems based on Levenberg-Marquardt method

  Yoshiyuki Hatta, Tomoyuki Shimono, Naoki Motoi

  In recent years, haptic communication with teleoperation systems has been actively researched. One of the effective methods for haptic communication is bilateral motion control based on acceleration control. If the acceleration-based bilateral control is applied to a parallel multi-degrees-of-freedom (MDOF) system, complicated haptic human motion can be realized in the remote site. However it is difficult to understand whole motion of the system based only on information of each actuator. One of the effective methods for the motion recognition is modal decomposition based on Discrete Fourier series expansion (DFS). This modal decomposition is effective for the analysis of motion of parallel MDOF systems. However, in order to apply the modal decomposition, it is necessary that an arrangement of the parallel MDOF system is known. This paper proposes an arrangement identification method for parallel MDOF teleoperation systems based on Levenberg-Marquardt (LM) method. The method can estimate the arrangement, even if there is no visual information. Finally, the validity of the proposed method is confirmed by the experimental results. © 2012 IEEE.

  IEEE, 2012年, International Workshop on Advanced Motion Control, AMC, 1 - 6, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• An Improved Trajectory of Biped Robot for Walking along Slope

  Fariz Ali, Naoki Motoi, Atsuo Kawamura

  A bipedal robot should be robust and able to move in various directions on slope or stairs. However, up to date many research studies have been focussing on walking in the up or down direction only. Therefore, a strategy to realize walking along slope is investigated. In conventional methods, CoM is moved up and down during walking in this situation. In this paper, a method named as dual length linear inverted pendulum method with Newton-Raphson is proposed in order to move CoM always in horizontal. Different lengths of pendulums are applied at left and right legs in order to represent the CoM height. By using the proposed method, maximum impact forces are reduced as verified via the simulation results.

  IEEE, 2012年, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 140 - 145, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Task Realization Method Based on Modal Space Considering Tool Kinematics

  Naoki Motoi, Tomoyuki Shimono, Atsuo Kawamura

  In this paper, a task realization method based on modal space considering a tool kinematics is proposed. Modal space is a coordinate system which consists of the position/force tasks. In addition, position/force tasks are transformed from motor information by using task Jacobian matrix. In the conventional method, the various tasks are able to be obtained in the case of setting an appropriate task Jacobian matrix. However, the design method of task Jacobian matrix is not clarified. Therefore, only simple task was realized in the conventional researches. In this research, the design method of task Jacobian matrix is proposed. In order to design the appropriate task Jacobian matrix, kinematics parameters of the tool is put to use. Therefore, the task based on the tool is realized even if the motor configuration is asymmetry. Additionally, the virtual coordinate system is also proposed. The virtual coordinate system is defined at the point on the tool where the designer wants to control. Therefore, the various tasks by using the tool are easily able to be realized. The validity of the proposed method is confirmed by the experimental results.

  IEEE, 2011年, IECON 2011: 37TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY, 295 - 300, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Manipulability Servoing in Null Space for Bilateral Motion Control of Redundant Manipulators

  Tomoyuki Shimono, Nobuyuki Togashi, Naoki Motoi, Atsuo Kawamura

  This paper proposes a manipulability servoing control method in null space for redundant bilateral control systems. In order to bi-directionally transmit vivid haptic sensation between motion control systems, both synchronization of position signals and "action and reaction" law of force signals must simultaneously be achieved. The proposed method adopts modal decoupling method based on Hadamard matrix to bilateral workspace control. Then, this paper investigates the possibility that the proposed method realizes the transmission of haptic sensation and the manipulability servoing between redundant haptic motion systems. In this paper, the effectiveness of the proposed method is confirmed by simulation results and experimental results.

  IEEE, 2011年, IECON 2011: 37TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY, 295 - 300, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Experimental Data Analysis on Total Driving Performance of Series Chopper Based EV Power Train

  Atsuo Kawamura, Giuseppe Guidi, Sota Tsutsuki, Yuki Watanabe, Yukinori Tsuruta, Naoki Motoi

  The series chopper type power train for EV is proposed for aiming the increase of one battery charge driving range. A motor-test bench and also actual car were constructed, and the proposed power train with SAZZ (Snubber Assisted Zero voltage and Zero current Transition) chopper was experimentally compared between with and without the chopper.

  IEEE, 2011年, IECON 2011: 37TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY, 1348 - 1353, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• An Expression of Transparency in Time-Delayed Multilateral Control Systems

  Ryogo Kubo, Naoki Motoi

  JSPE, 2010年11月, Proceedings of the 8th France-Japan and 6th Europe-Asia Congress on Mechatronics, 183 - 188, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• 拡張軌道エネルギーに基づくヒューマノイドロボットの押し動作を考慮した軌道生成法

  元井直樹, 大西公平

  This paper describes the trajectory planning for the pushing motion of a humanoid robot. In the design of a humanoid robot for pushing an object, it is necessary to take into account many parameters such as stride length, pushing force, and walking velocity. However, there are no standard methods for evaluating these parameters. Additionally, the robot may fall down if these parameters are not chosen correctly. In this paper, a method for determining these parameters for pushing motion is proposed. The extended orbital energy (EOE) is considered as the design index. Here, the EOE describes the relation between walking motion and pushing motion. By using the proposed method, the COG trajectory, pushing force and stride length can be modified on the basis of the EOE. In other words, the suitable values of theses parameters can be obtained by determining only the desired EOE. As a result, the humanoid robot walks stably during pushing motion. The effectiveness of the proposed method was confirmed by experimental results.

  The Institute of Electrical Engineers of Japan, 2010年09月, 電気学会産業応用部門誌, 130(9) (9), 1094 - 1101, 日本語

  [査読有り]

  研究論文（学術雑誌）


• Transparency and system connection for heterogeneous haptic network systems

  Ryogo Kubo, Naoki Motoi, Kouhei Ohnishi

  This paper describes transparency and system connection for future heterogeneous haptic network systems, e.g. bilateral teleoperation systems which include communication networks with different capacities and haptic devices with different degrees of freedom (DOF). This paper also proposes a controller design method of bilateral control systems in the heterogeneous environment. A one-dimensional master-slave haptic display system is taken as an example in this research. Firstly, haptic information, i.e. the position of each haptic device and the reaction force exerted on each haptic device, is transformed into environmental modes by means of mode transformation. Then the haptic information in the modal space is transmitted between master and slave haptic devices. The controller is designed so as to optimize mode-space transparency. Transparent bilateral control in the modal space is achieved even when the system connection changes, e.g. the capacity of communication network or the DOF of haptic devices changes. The proposed controller design method is validated by experimental results. © 2010 IEEE.

  IEEE, 2010年, International Workshop on Advanced Motion Control, AMC, 709 - 714, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Bilateral control with different inertia based on modal decomposition

  Naoki Motoi, Ryogo Kubo, Tomoyuki Shimono, Kouhei Ohnishi

  A bilateral control robot is one of the master-slave teleoperation robots. Consider two robots, a master robot is manipulated by human operators and a slave robot contacts remote environment. Decoupling of a force control and a position control in bilateral control is realized using the mode transformation i.e. a force controller in the common mode and a position controller in the differential mode. In conventional method, high transparency in a bilateral control is obtained when the inertia of the master and slave robots are equal. However, high transparency is not achieved when the inertia of the master and slave robots is different. Additionally, transparency goes down in the case of the bilateral control with scaling. Since the common mode and the differential mode interfere when the inertia and scaling of the master robot slave robots are different. In this paper, modal space disturbance observer (MSDOB) is proposed to solve these interferential problems. MSDOB is disturbance observer in the modal space and is implemented in each mode. MSDOB eliminates these interferences and modeling error in the modal space. In the results, decoupling of the force control and the position control is realized. Therefore, high transparency is achieved even if the inertia and the scaling of the master and slave robots are different. From the simulation and experimental results, the validity of the proposed method was confirmed. © 2010 IEEE.

  IEEE, 2010年, International Workshop on Advanced Motion Control, AMC, 697 - 702, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• A Bipedal Locomotion Planning Based on Virtual Linear Inverted Pendulum Mode

  Naoki Motoi, Tomoyuki Suzuki, Kouhei Ohnishi

  In this paper, a bipedal locomotion planning based on virtual linear inverted pendulum mode (VLIPM) is proposed. In conventional methods, the desired center of gravity (COG) position and velocity are achieved by modifying the foot placement. In this research, the desired COG position and velocity are achieved while the desired foot placement is also realized. In the proposed method, the virtual modified foot placement and trajectory planning are calculated separately. VLIPM is applied to the calculation of the virtual modified foot placement. By using virtual supporting point (VSP), the difference between the virtual modified and desired foot placements is compensated. In the result, the desired foot placement is achieved as if the foot placement is in the virtual modified foot placement. Trajectory planning is applied to LIPM with VSP and 5-D polynomial. The boundary conditions of the polynomial are set to the desired COG position and velocity. In the result, the desired COG position and velocity are also obtained. Differences of the motion by different models are compensated by matching the boundary conditions of different models. By applying different models in the calculations of the foot placement and trajectory planning, the desired robot motion is realized. The walking stability of the proposed method is equivalent to that of the conventional method. The effectiveness of the proposed method is confirmed by a simulation and an experiment.

  IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2009年01月, IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 56(1) (1), 54 - 61, 英語

  [査読有り]

  研究論文（学術雑誌）


• ヒューマノイドロボットの未知対象物に対する押し動作制御

  元井直樹, 大西公平

  This paper describes a pushing motion for an unknown object by a humanoid robot. This method deals with an object whose parameters are not known. In order to push the unknown object, the robot motion must be decided according to the object. Therefore, the robot judges whether the unknown object is movable or not. When the robot judges the object is unmovable, the robot stops pushing. On the other hand, when the robot judges the object is movable, the robot continues pushing and walking. When the robot walks during a pushing motion, the influence of the pushing motion may destabilize a walking motion. Therefore, ZMP trajectory is modified by reaction force response before one step. Additionally, cycle time in double support phase is also modified by using sigmoid function. In the result, the heavier the object is, the more slowly the robot moves like a human. With these methods, the robot is able to push the unknown object during walking. Furthermore, even if parameters of the object change, this proposed method is available to continue pushing the object. © 2008 The Institute of Electrical Engineers of Japan.

  2008年, 電気学会産業応用部門誌, 128(6) (6), 3 - 708, 日本語

  [査読有り]

  研究論文（学術雑誌）


• Real-time gait planning for pushing motion of humanoid robot

  Naoki Motoi, Motomi Ikebe, Kouhei Ohnishi

  This paper describes real-time gait planning for pushing motion of humanoid robots. This method deals with an object whose mass is not known. In order that a humanoid robot pushes an unknown object in both single support phase and double support phase, real-time gait planning for pushing the unknown object is proposed. Real-time gait planning consists of zero moment point (ZMP) modification and cycle time modification. ZMP modification is the method that modifies the influence of reaction force to ZMP. By cycle time modification, the period in double support phase is modified to avoid a robot tipping over. These modifications are calculated from reaction force on arms in every cycle. With these methods, trajectory planning for pushing an unknown object in both single support phase and double support phase is calculated. Even if parameters of an object and friction coefficient on the floor vary, the robot keeps on walking while pushing an object. The effectiveness of the proposed method is confirmed by a simulation and an experiment.

  IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2007年05月, IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, 3(2) (2), 154 - 163, 英語

  [査読有り]

  研究論文（学術雑誌）


• Collision avoidance method of humanoid robot based on controlling extended orbital energy

  Naoki Motoi, Kouhei Ohnishi

  This paper describes a collision avoidance method of a humanoid robot based on controlling the extended orbital energy. When a robot detects an obstacle using an arm tip, it should stop short of the obstacle to avoid crushing. However, modification of the ankle torque may destabilize a walking motion. We propose a method that the robot stops by utilizing an arm force. The COG trajectory is modified during walking by controlling the arm force. The robot stops within 2 steps after contact between the arm tip and the obstacle. During the first step, the COG velocity is reduced by changing the arm force. Here, the arm force is decided based on the extended orbital energy. During the second step, the robot stops just above the supporting point. In addition, the arm force becomes 0 smoothly when the robot stops. In the result, the robot is easily able to switch to the next action after stop.

  IEEE, 2006年, IECON 2006 - 32ND ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS, VOLS 1-11, 2196 - +, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• A bipedal locomotion planning based on virtual linear inverted pendulum mode

  Naoki Motoi, Tomoyuki Suzuki, Kouhei Ohnishi

  In this paper, a bipedal locomotion planning based on Virtual Linear Inverted Pendulum Mode (VLIPM) is proposed. The purpose of the proposed method is to achieve the desired foot placement and the desired COG position and velocity in walking motion of a bipedal robot. In order to realize the purpose, the foot placement and trajectory planning are calculated separately. In calculation of the foot placement, VLIPM and Virtual Supporting Point (VSP) are used. Here, VLIPM is calculation method of the modified foot placement to realize the desired COG position and velocity. By using VSP, the difference between the modified and the desired foot placements is compensated. In the result, the desired foot placement is obtained. While, trajectory planning is applied to LIPM with VSP and 5 dimension polynomial. Boundary conditions of polynomial are set to the desired robot state. In the result, the desired COG position and velocity are also obtained. By applying to different models in calculations of the foot placement and trajectory planning, the desired robot motion is realized.

  IEEE, 2006年, 2006 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS 1-6, 56(1) (1), 1494 - +, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）


• Real-time gait planning for pushing motion of humanoid robot

  N Motoi, M Ikebe, K Ohnishi

  This paper describes real-time gait planning for pushing motion of a humanoid robot. We propose ZMP modification and cycle time modification. ZMP modification is the value which compensates the influence of virtual force to ZMP. Cycle time modification is that the period in double support phase is modified to avoid a robot tipping over. These modifications are calculated from information of reaction force on arms. In these methods, a robot walks while pushing an unknown object. Even if parameters of a object and friction coefficient on the floor vary, the robot keeps on walking while pushing. The effectiveness of the proposed method is confirmed by a simulation and an experiment.

  IEEE, 2005年, IECON 2005: THIRTY-FIRST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3, 1809 - 1814, 英語

  [査読有り]

  研究論文（国際会議プロシーディングス）

• 招待講演 ロボット遠隔制御における力覚伝達手法 (コミュニケーションクオリティ)

  元井 直樹

  電子情報通信学会, 2017年07月27日, 電子情報通信学会技術研究報告 = IEICE technical report : 信学技報, 117(159) (159), 61 - 66, 日本語


• 力制御ベース可変コンプライアンス制御器に基づく人動作再現手法に関する一考察 (産業計測制御 メカトロニクス制御合同研究会 産業計測制御・メカトロニクス制御一般)

  元井 直樹, 下野 誠通, 河村 篤男

  電気学会, 2014年03月10日, 電気学会研究会資料. IIC, 2014(35) (35), 63 - 68, 日本語


• ハプティックデータからの意味理解

  元井 直樹, 久保 亮吾, 下野 誠通

  本記事に「抄録」はありません。

  The Institute of Electrical Engineers of Japan, 2013年05月, 電気学会誌, 133(5) (5), 270 - 273, 日本語

  記事・総説・解説・論説等（学術雑誌）


• A Scaling Effect of Visual Force in Haptic Bilateral Control System (産業計測制御 メカトロニクス制御合同研究会 産業計測制御･メカトロニクス制御一般)

  Jamaluddin Muhammad Herman, 下野 誠通, 元井 直樹

  電気学会, 2013年03月07日, 電気学会研究会資料. IIC, 産業計測制御研究会, 2013(135) (135), 37 - 42, 英語


• 二足歩行ロボットにおける足裏の滑りを利用した方向転換制御の一考察

  三宮 哲志, 元井 直樹, 河村 篤男

  電気学会, 2013年03月07日, 電気学会研究会資料. IIC, 産業計測制御研究会, 2013(111) (111), 87 - 90, 日本語


• ハイブリッド鉄道車両のコスト低減を目指した燃料電池運用方法の研究

  伊藤 智昭, 元井 直樹, 河村 篤男

  電気学会, 2013年03月07日, 電気学会研究会資料. IIC, 産業計測制御研究会, 2013(1) (1), 85 - 90, 日本語


• 目標対象物の位置・姿勢を考慮したビジュアル歩行による二足歩行ロボットの一制御手法

  馬場 健輔, 元井 直樹, 河村 篤男

  電気学会, 2012年03月06日, 電気学会研究会資料. IIC, 産業計測制御研究会, 2012(110) (110), 37 - 42, 日本語


• マルチ駆動マスタ・スレーブー体型ハプティック鉗子のための機能に基づくスケーリングバイラテラル制御

  金子 伸行, 富樫 信之, 八田 禎之, 下野 誠通, 元井 直樹, 藤本 康孝, 谷田 和貴, 大西 公平

  電気学会, 2012年03月06日, 電気学会研究会資料. IIC, 産業計測制御研究会, 2012(25) (25), 79 - 84, 日本語


• 画像情報を用いた道具座標系に基づくタスク実現のための一制御手法

  元井 直樹, 八田 禎之, 下野 誠通, 河村 篤男

  電気学会, 2012年03月06日, 電気学会研究会資料. IIC, 産業計測制御研究会, 2012(133) (133), 89 - 94, 日本語


• 作業空間オブザーバに基づく推定等価質量を用いた運動制御手法の有効性検証

  下野 誠通, 富樫 信之, 山下 徹, 元井 直樹

  電気学会, 2012年03月06日, 電気学会研究会資料. IIC, 産業計測制御研究会, 2012(133) (133), 77 - 82, 日本語


• 多自由度ロボットの運動制御における外乱オブザーバのノミナル慣性の設計に関する一考察

  富樫 信之, 下野 誠通, 元井 直樹

  電気学会, 2012年03月06日, 電気学会研究会資料. IIC, 産業計測制御研究会, 2012(133) (133), 113 - 118, 日本語


• 環境モード制御に基づく双腕ロボットによる協調的タスクの実現

  劔持 拓哉, 元井 直樹, 下野 誠通, 河村 篤男

  電気学会, 2012年03月06日, 電気学会研究会資料. IIC, 産業計測制御研究会, 2012(133) (133), 131 - 136, 日本語


• 移動ロボットのための極座標に基づく軌道生成手法

  枝川 祐輝, 下野 誠通, 元井 直樹

  電気学会, 2012年03月06日, 電気学会研究会資料. IIC, 産業計測制御研究会, 2012(70) (70), 63 - 68, 日本語


• 足裏の回転動作によるロボットの回転に関する研究

  黄塚 森, 元井 直樹, 河村 篤男

  電気学会, 2012年03月06日, 電気学会研究会資料. IIC, 産業計測制御研究会, 2012(110) (110), 83 - 88, 日本語


• ZMPを基準とした切り替え制御による二足ロボットの着地安定化制御手法の提案

  笹原 健太, 元井 直樹, 河村 篤男

  電気学会, 2012年03月06日, 電気学会研究会資料. IIC, 産業計測制御研究会, 2012(110) (110), 73 - 78, 日本語


• An Arrangement Estimation Method for Parallel Multi-degrees-of-freedom Bilateral Systems (産業計測制御研究会 : 産業計測制御一般)

  Hatta Yoshiyuki, Shimono Tomoyuki, Motoi Naoki

  電気学会, 2012年03月06日, 電気学会研究会資料. IIC, 産業計測制御研究会, 2012(25) (25), 7 - 12, 英語


• 運動制御周波数と電流制御周波数に基づく外乱オブザーバの性能評価

  大久保 宏海, 下野 誠通, 元井 直樹

  電気学会, 2012年03月06日, 電気学会研究会資料. IIC, 産業計測制御研究会, 2012(1) (1), 53 - 58, 日本語


• AS-4-6 高信頼ハプティック通信のための情報結合を考慮したマルチラテラル制御(AS4.高信頼制御を支える無線通信技術,シンポジウムセッション)

  久保 亮吾, 元井 直樹

  一般社団法人電子情報通信学会, 2012年03月06日, 電子情報通信学会総合大会講演論文集, 2012, "S - 44"-"S-45", 日本語


• B-11-10 多地点双方向力覚通信システムにおける力・位置情報の伝送特性評価(B-11.コミュニケーションクオリティ,一般セッション)

  久保 亮吾, 元井 直樹

  一般社団法人電子情報通信学会, 2011年02月28日, 電子情報通信学会総合大会講演論文集, 2011(2) (2), 439 - 439, 日本語


• ミクロ/マクロバイラテラルロボットにおける一制御手法

  元井 直樹, 久保 亮吾, 下野 誠通, 大西 公平

  電気学会, 2010年03月08日, 電気学会研究会資料. IIC, 産業計測制御研究会, 2010(23) (23), 1 - 6, 日本語


• モード空間抽出に基づく複数エンドエフェクタの一制御手法

  元井 直樹, 久保 亮吾, 大西 公平

  電気学会, 2009年03月09日, 電気学会研究会資料. IIC, 産業計測制御研究会, 2009(43) (43), 65 - 70, 日本語


• 二足歩行ロボットの重心速度プロファイル修正に基づく実時間軌道計画

  増田 智久, 鈴木 智之, 元井 直樹, 大西 公平

  電気学会, 2007年03月07日, 電気学会研究会資料. IIC, 産業計測制御研究会, 2007(100) (100), 33 - 38, 日本語


• ヒューマノイドロボットの未知対象物に対する押し動作制御

  元井 直樹, 大西 公平

  電気学会, 2007年03月07日, 電気学会研究会資料. IIC, 産業計測制御研究会, 2007(100) (100), 57 - 62, 日本語


• ヒューマノイドロボットの押し動作のための一制御手法

  元井 直樹, 大西 公平

  2006年03月09日, 電気学会研究会資料. IIC, 産業計測制御研究会, 2006(63) (63), 73 - 78, 日本語

• 予測軌道と衝突判定を考慮したDynamic Window Approachに関する研究

  花房 大輔, 元井 直樹

  電気学会産業応用部門大会, 2024年08月


• ER-DDPGを用いた狭路環境における移動ロボットの経路計画に関する研究

  尾村 幸祐, 元井 直樹

  電気学会産業応用部門大会, 2024年08月


• ピエゾアクチュエータの機械学習による高精度なヒステリシスモデルの構築

  南舜祐, 元井直樹

  電気学会産業計測制御研究会,, 2023年08月


• 画像情報と力情報による書道ロボットの高精度化に関する研究

  大竹浩辰, 元井直樹

  電気学会産業計測制御研究会, 2023年08月


• バイラテラル制御を用いた穿刺動作の解析

  河野伸一, 小林聖人, 元井直樹, 石井豊恵, 大西鮎美

  電気学会全国大会, 2023年03月


• 深層学習によるピエゾアクチュエータのヒステリシス特性補償に関する研究

  南舜祐, 元井直樹

  電気学会全国大会, 2023年03月


• 路面摩擦係数の推定に基づく制動距離を抑制するブレーキ制御手法

  藤田悠, 清水創太, 眞崎陸太, 廣瀬元輝, 元井直樹, Roberto Oboe, 長谷部 信行, 宮下 朋之

  電気学会産業計測制御研究会, 2022年12月


• 衝突時間を考慮したVelocity Obstacleに基づく移動ロボットの局所的経路計画に関する研究

  上田洋輔, 小林聖人, 元井直樹

  電気学会産業計測制御研究会, 2022年12月


• 外乱オブザーバを用いた根掛かりしにくいインテリジェントルアーの開発

  須永駿太, 清水創太, 眞崎陸太, 元井直樹, Roberto Oboe

  電気学会産業計測制御研究会, 2022年12月


• バイラテラル制御時の復元力を活かしたローバーの遠隔操縦手法

  眞崎陸太, 清水創太, 山崎倫義, 廣瀬元輝, Roberto Oboe, Razvan Andrei Budau Petrea, 元井直樹, 長谷部 信行, 宮下 朋之

  電気学会産業計測制御研究会, 2022年12月


• ローバーの遠隔バイラテラル制御時の復元力を活かす操縦桿の開発

  眞崎陸太, 清水創太, 山崎倫義, 廣瀬元輝, Roberto Oboe, Razvan Andrei Budau Petrea, 元井直樹, 長谷部 信行, 宮下 朋之

  電気学会産業計測制御研究会, 2022年12月


• 深層強化学習を用いた挟路走行環境における車輪型移動ロボットの経路計画に関する研究

  中村友亮, 小林聖人, 元井直樹

  電気学会産業計測制御研究会, 2022年12月


• 腱駆動機構を有するロボットハンドを用いたバイラテラル制御

  元木碧波, 小林聖人, 元井直樹

  電気学会産業計測制御研究会, 2022年12月


• 水中ロボットにおける外乱オブザーバを用いた2チャンネルバイラテラル制御の実験的検証

  岡田大河, 小林聖人, 元井直樹

  電気学会産業計測制御研究会, 2022年12月


• 機械学習を用いた反力推定オブザーバの高精度化に関する研究

  杉浦愛未, 元井直樹

  電気関係学会関西連合大会, 2022年11月


• 微細な力覚伝送のためのミクロマクロバイラテラル制御システムの研究

  村雲 建汰, 南 舜祐, 元井 直樹

  電気関係学会関西連合大会, 2022年11月


• 水中タスク実現のための水中ロボットの運動制御技術

  元井 直樹, 岡田 大河

  電気学会産業応用部門大会, 2022年08月

  [招待有り]


• 水中ロボットのための2チャンネルバイラテラル制御の実験的検証

  岡田 大河, 元井 直樹

  電気学会全国大会, 2022年03月


• 腱駆動型手指モデルを用いたバイラテル制御に関する研究

  元木 碧波, 元井 直樹

  電気関係学会関西連合大会, 2021年11月


• バイラテル制御における高速フーリエ変換を用いた周波数修正法の有効性検証

  椿 崇裕, 元井 直樹

  電気関係学会関西連合大会, 2021年11月


• 力検知を利用した腱駆動型カメラワーク装置の高精度視線方向制御

  荒井 善将, 清水 創太, 元井 直樹, 長谷部 信行, 宮下 朋之

  電気学会産業計測制御研究会,, 2021年11月


• 異自由度かつ異構造をもつ遠隔操縦用力覚フィードバック操縦桿の開発

  山崎 倫義, 清水 創太, 眞崎 陸太, 栗原 北斗, 元井 直樹, Roberto Oboe, 長谷部 信行, 宮下 朋之

  電気学会産業計測制御研究会, 2021年11月


• バイラテラル制御を用いた平行二輪ローバーの遠隔操縦システムの開発

  眞崎 陸太, 清水 創太, 山崎 倫義, 栗原 北斗, 元井 直樹, Roberto Oboe, 長谷部 信行, 宮下 朋之

  電気学会産業計測制御研究会, 2021年11月


• 再現速度変更型モーションコピーシステムの反復学習制御による精度向上

  山口 瞭, 小林 聖人, 元井 直樹

  電気学会産業計測制御研究会, 2021年11月


• 接触動作を想定したクアッドロータの制御手法に関する研究

  池野 聡司, 元井 直樹

  電気学会産業計測制御研究会, 2021年11月


• 障害物軌道を考慮した衝突時間に基づく移動ロボットの局所的経路計画に関する研究

  上田 洋輔, 元井 直樹

  電気学会産業応用部門大会, 2021年08月, 日本語

  ポスター発表


• 狭路走行環境下における切り返しを考慮した移動ロボットの経路計画に関する研究

  中村 友亮, 元井 直樹

  電気学会産業応用部門大会, 2021年08月, 日本語

  ポスター発表


• VR空間における視覚・力覚を用いたトレーニング手法に関する研究

  山口 瞭, 元井 直樹

  電気関係学会関西連合大会, 2020年11月


• クアッドロータによる壁面接触タスクのための静力学的解析

  池野 聡司, 元井 直樹

  気関係学会関西連合大会, 2020年11月


• バイラテラル制御を用いた平行二輪ローバーの遠隔操縦システムの開発

  真崎 陸太, 清水 創太, 栗原 北斗, 元井 直樹, Roberto Oboe, 長谷部 信行, 宮下 朋之

  電気学会産業計測制御研究会, 2020年11月


• モデル予測制御と人モデルを用いた移動ロボットによる人追従制御に関する研究

  高谷 拓伸, 元井 直樹

  電気学会産業計測制御研究会, 2020年11月


• 二関節筋を有する2 リンクマニピュレータにおける遊星歯車機構を考慮したモデリング手法

  西村 拓海, 元井 直樹

  電気学会産業計測制御研究会, 2020年11月


• 隔操縦のための異構造間力覚フィードバック操縦桿の性能評価

  栗原 北斗, 清水 創太, 真崎 陸太, 元井 直樹, Roberto Oboe, 長谷部 信行, 宮下 朋之

  電気学会産業計測制御研究会, 2020年11月


• 受動力フィードバックを用いた外骨格型ハプティックデバイスの開発

  中村 昇暉, 元井 直樹

  ロボット学会学術講演会, 2020年10月


• 水中ロボットによる外乱推定を付加したスライディングモード制御による定点保持制御手法の研究

  平山 大悟, 吉村 郁人, 元井 直樹

  マリンエンジニアリング学術講演会, 2020年10月


• 観測ノイズを考慮した外乱オブザーバに基づく水中ロボットの定点保持制御に関する研究

  吉村 郁人, 平山 大悟, 元井 直樹

  マリンエンジニアリング学術講演会, 2020年10月


• 移動ロボット群のための仮想フェロモンを伴う粒子群最適化を用いた探索アルゴリズムに関する研究

  稲原 大翔, 元井 直樹

  電気学会産業計測制御・メカトロニクス研究会, 2020年09月


• 平行二輪ローバーの速度制御コントローラの開発

  長倉 朱里, 清水 創太, 栗原 北斗, 元井 直樹, 長谷部 信行

  電気学会産業計測制御研究会, 2019年11月


• 外骨格型ハプティックデバイスを用いた水中バイラテラルシステムの開発

  中村 昇暉, 元井 直樹

  電気学会産業計測制御研究会, 2019年11月


• 二関節筋を有する 2 リンクマニピュレータを用いた力センサレスパワーアシスト制御に関する研究

  西村 拓海, 元井 直樹

  2019年08月


• パウダブレーキと定トルクばねを用いた外骨格型ハプティックデバイスの開発

  中村 昇暉, 元井 直樹

  電気学会産業応用部門大会, 2019年08月


• モデル予測制御を用いた移動ロボットによる人追従制御に関する研究

  高谷 拓伸, 元井 直樹

  電気学会産業応用部門大会, 2019年08月


• 平行車輪をもつ視覚遠隔操縦システムの開発

  清水 創太, 竹脇 僚哉, 村上 零, 元井 直樹, 長谷部 信行

  電気学会産業計測制御研究会, 2018年11月, 日本語, 国内会議

  口頭発表（一般）


• 水中ロボットにおける外乱オブザーバを用いた定点保持制御手法の実機検証

  先山 準規, 元井 直樹

  電気学会産業計測制御研究会, 2018年11月, 日本語, 国内会議

  口頭発表（一般）


• 車輪型移動ロボットにおける衝突回避と軌道追従を考慮した速度生成手法の検討

  小林 聖人, 元井 直樹

  電気学会産業計測制御研究会, 2018年11月, 日本語, 国内会議

  口頭発表（一般）


• 2次元動作を考慮したクレーン振れ止め制御の一制御手法

  北村 侑輝, 元井 直樹

  電気学会産業計測制御研究会, 2018年11月, 日本語, 国内会議

  口頭発表（一般）


• Position Tracking Control by Combination of Phase Different Control and Workspace Observer for 2-Link Manipulator with Bi-articular Muscle

  Tamashima Hisashi, Motoi Naoki

  IEEE International Workshop on Advanced Motion Control, 2018年03月, 英語, IEEE, 国際会議

  口頭発表（一般）


• 片付けロボットのための物体位置変化検出手法および環境地図作成に関する研究

  八木 瑶子, 元井 直樹

  電気学会全国大, 2018年, 日本語, 電気学会, 国内会議

  口頭発表（一般）


• 二関節筋を有する2リンクマニピュレータの運動制御と上肢アシストシステムへの応用

  元井 直樹, 玉嶋 久詩

  電気学会全国大, 2018年, 日本語, 電気学会, 国内会議

  口頭発表（一般）


• モジュール構造を有するマニピュレータを用いた水中バイラテラル制御実験

  瀧澤 健太, 元井 直樹

  電気学会全国大, 2018年, 日本語, 電気学会, 国内会議

  口頭発表（一般）


• Remote Control Method for Mobile Robot by using Force Feedback Based on Collision Prediction Map

  Motoi Naoki, Kobayashi Masato, Masaki Ryo

  IEEJ International Workshop on Sensing, Actuation, Motion Control and Optimization, 2018年, 英語, 電気学会, 国際会議

  [招待有り]

  口頭発表（招待・特別）


• Experimental Operability Evaluation of Remote Control with Force Feedback for Mobile Robot

  Motoi Naoki, Kimura Hayato, Kobayashi Masato

  IEEE Conference on Industrial Technology, 2018年, 英語, IEEE, 国際会議

  口頭発表（一般）


• 片付けロボットのための物体位置変化検出手法に関する研究

  八木 瑶子, 元井 直樹

  電気学会産業計測制御研究会, 2017年, 日本語, 電気学会, 国内会議

  口頭発表（一般）


• 二関節筋を有する2リンクマニピュレータのための作業空間オブザーバに基づく運動制御に関する研究

  玉嶋 久詩, 元井 直樹

  電気学会産業計測制御研究会, 2017年, 日本語, 電気学会, 国内会議

  口頭発表（一般）


• 水中ロボットにおける外乱オブザーバを用いた定点保持制御手法の検討

  先山 準規, 元井 直樹

  電気関係学会関西連合大会, 2017年, 日本語, 電気学会, 国内会議

  口頭発表（一般）


• 移動ロボットにおけるモデル予測制御に基づく衝突回避動作に関する研究

  小林 聖人, 元井 直樹

  電気学会産業応用部門大会, 2017年, 日本語, 電気学会, 国内会議

  口頭発表（一般）


• モジュール構造を有する水中マニピュレータの開発

  瀧澤 健太, 元井 直樹

  電気学会産業計測制御研究会, 2017年, 日本語, 電気学会, 国内会議

  口頭発表（一般）


• コンテナクレーンの揺れ止めのためのトロリ速度指令値生成手法の検討

  北村 侑輝, 元井 直樹, 谷口 祐樹, 山本 茂広

  電気学会産業応用部門大会, 2017年, 日本語, 電気学会, 国内会議

  口頭発表（一般）


• Experimental Evaluation of Operability Improvement in Bilateral Control by Using Visual Information

  Motoi Naoki, Yamaguchi Akihiro

  The Annual Conference of the IEEE Industrial Electronics Society, 2017年, 英語, IEEE, 国際会議

  口頭発表（一般）


• 衝突予測マップに基づく力覚フィードバックを有する移動ロボットの遠隔制御手法に関する研究

  元井 直樹, 木村 隼人

  電気学会産業計測制御研究会, 2016年, 日本語, 電気学会, 国内会議

  口頭発表（一般）


• 磁気カップリングを用いた水中におけるバイラテラル制御の実現に向けた基礎検討

  瀧澤 健太, 元井 直樹

  電気学会産業応用部門大会, 2016年, 日本語, 電気学会, 国内会議

  口頭発表（一般）


• 視覚センサを用いた感情推定機能を有する対話ロボットの研究

  八木 瑶子, 元井 直樹

  電気学会産業応用部門大会, 2016年, 日本語, 電気学会, 国内会議

  口頭発表（一般）


• 回転座標系に基づく2リンクマニピュレータの非干渉化に関する研究

  玉嶋 久詩, 元井 直樹

  電気学会産業応用部門大会, 2016年, 日本語, 電気学会, 国内会議

  口頭発表（一般）


• Virtual Force Generation Method for Remote Control System in Mobile Robot

  Kimura Hayato, Motoi Naoki

  The Annual Conference of the IEEE Industrial Electronics Society, 2016年, 英語, IEEE, 国際会議

  口頭発表（一般）


• Remote Control Method for Mobile Robot with Virtual Force Feedback Based on Environmental Information

  Motoi Naoki, Kimura Hayato

  IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, 2016年, 英語, 電気学会, 国際会議

  [招待有り]

  口頭発表（招待・特別）


• A Synchronization Method of Visual and Tactile Information by Virtual Slave Model in Bilateral Control

  Yamaguchi Akihiro, Motoi Naoki

  The Annual Conference of the IEEE Industrial Electronics Society, 2016年, 英語, IEEE, 国際会議

  口頭発表（一般）


• Human-Machine Cooperative Grasping/Manipulating System using Force-based Compliance Controller with Force Threshold

  Naoki Motoi, Ryogo Kubo

  IEEJ International Workshop on Sensing, Actuation, and Motion Control, 2015年03月, 英語, Nagoya, 国際会議

  口頭発表（一般）


• 力制御ベースコンプライアンス制御器に基づく人・機械協調システムの研究

  元井 直樹

  電気学会産業応用部門大会, 2015年, 日本語, 電気学会, 国内会議

  口頭発表（一般）


• 力覚情報に基づく操作補助機能を有する移動ロボットのための遠隔操作システムの研究

  元井 直樹, 木村 隼人

  電気学会産業応用部門大会, 2015年, 日本語, 電気学会, 国内会議

  口頭発表（一般）


• 移動ロボットにおける力覚情報による周囲環境認知のための遠隔操作システムの研究

  木村 隼人, 元井 直樹, 山本 茂広

  電気学会産業応用部門大会, 2015年, 日本語, 電気学会, 国内会議

  口頭発表（一般）


• Human-Machine Cooperative Grasping / Manipulating System using Force-based Compliance Controller with Force Threshold

  Motoi Naoki, Kubo Ryogo

  IEEJ International Workshop on Sensing, Actuation, and Motion Control, 2015年, 英語, 電気学会, 国際会議

  [招待有り]

  口頭発表（招待・特別）


• An Implementation Method of Workspace Observer Considering Fluctuation of Equivalent Mass Matrix

  Motoi Naoki, Kubo Ryogo

  The Annual Conference of the IEEE Industrial Electronics Society, 2015年, 英語, IEEE, 国際会議

  口頭発表（一般）


• 異なる動作環境における人動作再現のための力閾値を用いた力ベースコンプライアンス制御器

  元井 直樹, 久保 亮吾, 下野 誠通

  電気学会メカトロニクス制御研究会, 2014年10月, 日本語, 国内会議

  口頭発表（一般）


• Sensorless solenoid actuation by using AC and DC input

  Sakahisa Nagai, Takahiro Nozaki, Motoi Naoki, Tomoyuki Shimono, Atsuo Kawamura

  Symposium on Semiconductor Power Conversion, 2014年10月, 英語, 国際会議

  口頭発表（一般）


• Point-to-point Motion Control Based on Reproduction of Recorded Human Motions with Time Scaling

  Naoki Motoi, Ryogo Kubo, Tomoyuki Shimono

  The 40th Annual Conference of the IEEE Industrial Electronics Society, 2014年10月, 英語, 国際会議

  口頭発表（一般）


• 交流電圧および交流振幅比によるソレノイドアクチュエータのセンサレス位置推定

  永井 栄寿, 野崎 貴裕, 元井 直樹, 下野 誠通, 河村 篤男

  日本ロボット学会学術講演会, 2014年09月, 日本語, 国内会議

  口頭発表（一般）


• 人・機械協調システムによる位置・力情報を有する教示信号の実時間修正手法

  元井 直樹, 久保 亮吾, 下野 誠通

  電気学会産業応用部門大会, 2014年08月, 日本語, 国内会議

  口頭発表（一般）


• ソレノイドアクチュエータのセンサレス位置推定に用いる交流信号の周波数検証

  永井 栄寿, 元井 直樹, 野崎 貴裕, 下野 誠通, 河村 篤男

  電気学会産業応用部門大会, 2014年08月, 日本語, 国内会議

  口頭発表（一般）


• 10年後のモーションエレクトロニクスの技術展望

  河村 篤男, 横山 智紀, 船渡 寛人, 星 伸一, 藤本 康孝, 曹 梅芬, 赤津 観, 藤本 博志, 朱 赤, 浅野 洋介, 下野 誠通, 元井 直樹

  電気学会産業応用部門大会, 2014年08月, 日本語, 国内会議

  口頭発表（一般）


• 10年後のパワーエレクトロニクスの技術展望

  河村 篤男, 横山 智紀, 船渡 寛人, 星 伸一, 藤本 康孝, 曹 梅芬, 赤津 観, 藤本 博志, 朱 赤, 浅野 洋介, 下野 誠通, 元井 直樹

  電気学会産業応用部門大会, 2014年08月, 日本語, 国内会議

  口頭発表（一般）


• Motion Navigation in Haptic Bilateral System Based on Vision-based Force Compliance Controller Taking Object Coordinate into Account

  Muhammad Herman Jamaluddin, Tomoyuki Shimono, Naoki Motoi

  IEEE International Symposium on Industrial Electronics, 2014年06月, 英語, 国際会議

  口頭発表（一般）


• Transient Behavior of the Dual Active Bridge Converter in High Efficient Energy Conversion System

  Kohei Aoyama, Motoi Naoki, Yukinori Tsuruta, Atsuo Kawamura

  The 2014 International Power Electronics Conference, 2014年05月, 英語, 国際会議

  口頭発表（一般）


• Large Driving Range Increase of Series Chopper Based Power Train Using Motor Test Bench

  Yu Hosoyamada, Masashi Takeda, Motoi Naoki, Atsuo Kawamura

  The 2014 International Power Electronics Conference, 2014年05月, 英語, 国際会議

  口頭発表（一般）


• 力制御ベース可変コンプライアンス制御器に基づく人動作再現手法に関する一考察

  元井 直樹, 下野 誠通, 河村 篤男

  電気学会産業計測制御/メカトロニクス制御合同研究会, 2014年03月, 日本語, 国内会議

  口頭発表（一般）


• 部分昇圧方式DABコンバータの試作

  弦田 幸憲, 青山 昴平, 田中 幸宏, 元井 直樹, 河村 篤男

  平成26年電気学会全国大会, 2014年03月, 日本語, 国内会議

  口頭発表（一般）


• ヒューマノイドロボットを用いた対象物接近経路の意志決定に関する一考察

  山口 柊平, 元井 直樹, 浅野 洋介, 河村 篤男

  電気学会産業計測制御/メカトロニクス制御合同研究会, 2014年03月, 日本語, 国内会議

  口頭発表（一般）


• Experimental Comparison of Design Methods for Equivalent Mass Matrix in Motion Control System Based on Workspace Observer

  Nobuyuki Togashi, Tomoyuki Shimono, Naoki Motoi, Naoki Oda

  IEEE International Workshop on Advanced Motion Control, 2014年03月, 英語, 国際会議

  口頭発表（一般）


• Development of the Experimental Platform for Electric Vehicles by using Motor Test Bench with the Same Environment as the Actual Vehicle

  Masashi Takeda, Yu Hosoyamada, Naoki Motoi, Atsuo Kawamura

  IEEE International Workshop on Advanced Motion Control, 2014年03月, 英語, 国際会議

  口頭発表（一般）


• A Prediction Method Considering Object Motion for Humanoid Robot with Visual Sensor

  Kensuke Baba, Naoki Motoi, Yosuke Asano, Atsuo Kawamura

  IEEE International Workshop on Advanced Motion Control, 2014年03月, 英語, 国際会議

  口頭発表（一般）


• An Integration Method between Vision-based Disturbance Observer and Bilateral Haptic System for Robust Tracking of Target Object

  Muhammad Herman Jamaluddin, Tomoyuki Shimono, Naoki Motoi

  IEEE International Workshop on Advanced Motion Control, 2014年03月, 英語, 国際会議

  口頭発表（一般）


• 遠隔操作システムにおける視覚フィードバックに基づく物体追従制御

  下野 誠通, ジャマルディン ムハンマド ヘルマン, 元井 直樹

  電気学会産業計測制御研究会, 2014年02月, 日本語, 国内会議

  口頭発表（一般）


• 作業空間オブザーバに基づく運動制御における力参照値を生成する等価質量行列に関する比較実験

  富樫 信行, 下野 誠通, 元井 直樹, 小田 尚樹

  自動制御連合講演会, 2013年11月, 日本語, 国内会議

  口頭発表（一般）


• Ultra High Efficient Battery Voltage Compensation against Decrease in the Terminal Voltage of Electric Vehicles

  Kohei Aoyama, Naoki Motoi, Giuseppe Guidi, Yukinori Tsuruta, Atsuo Kawamura

  Annual Conference of the IEEE Industrial Electronics Society, 2013年11月, 英語, 国際会議

  口頭発表（一般）


• 異自由度バイラテラルシステムのための可操作度追従制御

  富樫 信行, 下野 誠通, 元井 直樹

  日本ロボット学会学術講演会, 2013年09月, 日本語, 国内会議

  口頭発表（一般）


• 電気自動車における部分昇圧方式を適用した高効率バッテリ電圧補償

  青山 昂平, 元井 直樹, Giuseppe Guidi, 弦田 幸憲, 河村 篤男

  電気学会産業応用部門大会, 2013年08月, 日本語, 国内会議

  口頭発表（一般）


• モード分解理論に基づく複数台移動ロボットの隊列制御

  和田 将季, 下野 誠通, 元井 直樹

  電気学会産業応用部門大会, 2013年08月, 日本語, 国内会議

  口頭発表（一般）


• Development of a haptic bilateral interface for arm self-rehabilitation

  Chikara Morito, Tomoyuki Shimono, Naoki Motoi, Yasutaka Fujimoto, Toshiaki Tsuji, Yuri Hasegawa, Keiichiro Abe, Yoshimi Sakurai, Shinichiro Ishii

  IEEE/ASME International Conferences on Advanced Intelligent Mechatronics, 2013年07月, 英語, 国際会議

  口頭発表（一般）


• Haptic Bilateral Control System with Visual Force Compliance Controller

  Muhammad Herman Jamaluddin, Tomoyuki Shimono, Naoki Motoi

  IEEE International Symposium on Industrial Electronics, 2013年05月, 英語, 国際会議

  口頭発表（一般）


• Design Method of Variable Compliance Gain for Force-based Compliance Controller

  Naoki Motoi, Tomoyuki Shimono, Ryogo Kubo, Atsuo Kawamura

  IEEE International Symposium on Industrial Electronics, 2013年05月, 英語, 国際会議

  口頭発表（一般）


• Performance Improvement of Bilateral Control with Multi-Degree-of-Freedom based on Disturbance Observer Design

  N. Togashi, T. Shimono, N. Motoi

  IEEE International Conference on Mechatronics, 2013年02月, 英語, 国際会議

  口頭発表（一般）


• Generating minimal energy trajectories for LIPM biped walking

  A.C. Amrar, N. Motoi, A. Kawamura

  IEEE International Conference on Mechatronics, 2013年02月, 英語, 国際会議

  口頭発表（一般）


• Development of Grasping/Manipulating Simulation System Considering Collision Model and Its Evaluation

  B. Kwon, N. Motoi, T. Shimono, A. Kawamura

  IEEE International Conference on Mechatronics, 2013年02月, 英語, 国際会議

  口頭発表（一般）


• A Motion Control Method of Dual Arm Robot based on Environmental Modes

  T. Kenmochi, N. Motoi, T. Shimono, A. Kawamura

  IEEE International Conference on Mechatronics, 2013年02月, 英語, 国際会議

  口頭発表（一般）


• An Improved Trajectory of Biped Robot for Walking along Slope

  F. Ali, N. Motoi, A. Kawamura

  The IEEE-RAS International Conference on Humanoid Robots, 2012年11月, 英語, 国際会議

  口頭発表（一般）


• Driving Range Extension by Series Chopper Power Train of EV with Optimized dc Voltage Profile

  M. Takeda, N. Motoi, G. Guidi, Y. Tsuruta, A. Kawamura

  The 38th Annual Conference of the IEEE Industrial Electronics Society, 2012年10月, 英語, 国際会議

  口頭発表（一般）


• Total Harmonic Distortion of Haptic Modal Information for Analysis of Human Fingertip Motion

  T. Shimono, Y. Hatta, N. Motoi

  IEEE International Workshop on Advanced Motion Control, AMC'12-Sarajevo, 2012年03月, 英語, 国際会議

  口頭発表（一般）


• The Performance Validation of Disturbance Observer Based on Comparison between Motion Control Frequency and Current Control Frequency

  H. Ohkubo, T. Shimono, N. Motoi

  IEEE International Workshop on Advanced Motion Control, AMC'12-Sarajevo, 2012年03月, 英語, 国際会議

  口頭発表（一般）


• Stable Landing Method for Biped Robot by Using Switching Control

  K. Sasahara, N. Motoi, T. Shimono, A. Kawamura

  IEEE International Workshop on Advanced Motion Control, AMC'12-Sarajevo, 2012年03月, 英語, 国際会議

  口頭発表（一般）


• Manipulability Servoing Control in Null Space for Redundant Bilateral Control System with Different Degrees of Freedom

  N. Togashi, T. Shimono, N. Motoi

  IEEE International Workshop on Advanced Motion Control, AMC'12-Sarajevo, 2012年03月, 英語, 国際会議

  口頭発表（一般）


• Force-based Variable Compliance Control Method for Bilateral System with Different Degrees of Freedom

  N. Motoi, T. Shimono, R. Kubo, A. Kawamura

  IEEE International Workshop on Advanced Motion Control, AMC'12-Sarajevo, 2012年03月, 英語, 国際会議

  口頭発表（一般）


• An Arrangement Identification Method for Parallel Multi-Degrees-of-Freedom Teleoperation Systems Based on Levenberg-Marquardt Method

  Y. Hatta, T. Shimono, N. Motoi

  IEEE International Workshop on Advanced Motion Control, AMC'12-Sarajevo, 2012年03月, 英語, 国際会議

  口頭発表（一般）


• Task Realization Method Based on Modal Space Considering Tool Kinematics

  N.Motoi, T.Shimono, A.Kawamura

  The 37th Annual Conference of the IEEE Industrial Electronics Society, IECON'11-Melbourne, 2011年11月, 英語, 国際会議

  口頭発表（一般）


• Manipulability Servoing in Null Space for Bilateral Motion Control of Redundant Manipulators

  T.Shimono, N.Togashi, N.Motoi, A.Kawamura

  The 37th Annual Conference of the IEEE Industrial Electronics Society, IECON'11-Melbourne, 2011年11月, 英語, 国際会議

  口頭発表（一般）


• Experimental Data Analysis on Total Driving Performance of Series Chopper Based EV Power Train

  A.Kawamura, G.Guidi, S.Tsutsuski, Y.Watanabe, Y.Tsuruta, N.Motoi

  The 37th Annual Conference of the IEEE Industrial Electronics Society, IECON'11-Melbourne, 2011年11月, 英語, 国際会議

  ポスター発表


• Transparency and System Connection for Heterogeneous Haptic Network Systems

  R.Kubo, N.Motoi, K.Ohnishi

  IEEE International Workshop on Advanced Motion Control, AMC'10- Nagaoka, 2010年03月, 英語, 国際会議

  口頭発表（一般）


• Transparency and System Connection for Heterogeneous Haptic Network Systems

  R.Kubo, N.Motoi, K.Ohnishi

  IEEE International Workshop on Advanced Motion Control, AMC'10-Nagaoka, 2010年03月, 英語, 国際会議


• Bilateral Control with Different Inertia Based on Model Decomposition

  N.Motoi, R.Kubo, T.Shimono, K.Ohnishi

  IEEE International Workshop on Advanced Motion Control, AMC'10- Nagaoka, 2010年03月, 英語, 国際会議

  口頭発表（一般）


• ミクロ/マクロバイラテラルロボットにおける一制御手法

  電気学会産業計測制御研究会, 2010年


• An Expression of Transparency in Time-Delayed Multilateral Control Systems

  R.Kubo, N.Motoi

  the 8th France-Japan and 6th Europe-Asia Congress on Mechatronics, 2010年, 英語, 国際会議

  口頭発表（一般）


• 通信制約を有するバイラテラル制御における環境情報抽出と適応的モード選択

  平成21年度電気学会産業応用部門大会, 2009年


• モード空間抽出に基づく複数エンドエフェクタの一制御手法

  電気学会産業計測制御研究会, 2009年


• モードコンプライアンスを用いた未知形状の対象物に対する把持・操り制御

  平成21年度電気学会産業応用部門大会, 2009年


• 二足歩行ロボットの重心速度プロファイル修正に基づく実時間軌道計画

  電気学会産業計測制御研究会, 2007年


• ヒューマノイドロボットの未知対象物に対する押し動作制御

  電気学会産業計測制御研究会, 2007年


• A Bipedal Locomotion Planning Based on Virtual Linear Inverted Pendulum

  N.Motoi, T.Suzuki, K.Ohnishi

  IEEE International Conference on Industrial Technology, ICIT '06-MUMBAI, 2006年12月, 英語, 国際会議

  口頭発表（一般）


• Collision Avoidance Method of Humanoid Robot Based on Controlling Extended

  N.Motoi, K.Ohnishi

  The 32nd Annual Conference of the IEEE Industrial Electronics Society, IECON '06-PARIS, 2006年11月, 英語, 国際会議

  口頭発表（一般）


• ヒューマノイドロボットの押し動作のための一制御手法

  電気学会産業計測制御研究会, 2006年


• Real-Time Gait Planning for Pushing Motion of Humanoid Robot

  N.Motoi, M.Ikebe, K.Ohnishi

  the 31st Annual Conference of the Industrial Electronics Society, IECON2005, 2005年11月, 英語, 国際会議

  口頭発表（一般）

• 日本機械学会


• 日本マリンエンジニアリング学会


• 日本ロボット学会


• IEEE


• 電気学会

• 微小環境マニピュレーションのための力覚伝送を有するスケーリング型遠隔制御技術に関する研究

  元井直樹

  公益財団法人 三豊科学技術振興協会, 研究助成, 2020年10月 - 2022年09月, 研究代表者


• 感覚間の相互作用に基づく高度な災害対応ロボットの研究開発

  元井 直樹

  日本学術振興会, 科学研究費助成事業, 基盤研究(C), 神戸大学, 2019年04月01日 - 2022年03月31日

  本研究課題では、研究代表者が研究を行っている力覚伝送を有する遠隔制御であるバイラテラル制御と移動ロボットにおける運動制御技術を基盤とし、視覚・力覚情報を用いた高度な災害対策ロボットの実現を目指した。本研究遂行の結果として、視覚・力覚融合型の遠隔制御システムおよび群制御による被災者探索のための災害対策ロボットを提案した。また確立した運動制御技術についてシミュレーション・実験により有効性を実証した。


• 遠隔操作型無人探査機における力覚伝送を伴う遠隔制御技術の開発

  元井直樹

  公益財団法人 永守財団, 研究助成, 2019年10月 - 2020年09月, 研究代表者


• 原子間力顕微鏡を用いたナノマニピュレーション技術の新展開

  元井直樹

  木下下記念事業団, 基礎科学研究助成, 2019年04月 - 2020年03月, 研究代表者


• 視覚・力覚情報の感覚相互補間に基づく高操作性を有する遠隔制御技術の研究

  元井直樹

  日揮・実吉奨学会, 研究助成, 2019年04月 - 2020年03月, 研究代表者


• 人間の筋骨格モデルを規範とした装着型上肢支援システムに関する研究

  元井直樹

  一般財団法人 伊藤忠兵衛基金, 研究助成, 2019年04月 - 2020年03月, 研究代表者


• 操作性向上と多自由度化を目指したモータ駆動型水中バイラテラル制御の研究開発

  元井 直樹

  公益財団法人 永守財団, 研究助成, 2018年10月 - 2019年09月, 研究代表者

  競争的資金


• モータ駆動型水中マニピュレータにおける力覚伝達のための高精度運動制御

  元井 直樹

  公益財団法人 永守財団, 研究助成, 2017年10月 - 2018年09月, 研究代表者

  競争的資金


• 複合感覚フィードバックに基づく移動システムの遠隔制御技術に関する研究

  元井 直樹

  公益財団法人 スズキ財団, 研究助成, 2017年04月 - 2018年03月, 研究代表者

  競争的資金


• 筋骨格モデルを規範とした身体性に基づく高度運動制御理論の研究

  元井 直樹

  公益財団法人 高橋経済産業財団, 研究助成, 2017年04月 - 2018年03月, 研究代表者

  競争的資金


• 筋骨格モデルを規範とした力制御ベース上肢アシストシステムの研究

  元井 直樹

  学術研究助成基金助成金／挑戦的萌芽研究, 2016年04月 - 2018年03月, 研究代表者

  競争的資金


• 力触覚技術による医工融合基盤の革新

  大西 公平

  学術研究助成基金助成金／基盤研究（Ｓ）, 2013年05月 - 2018年03月

  競争的資金


• 多自由度水中マニピュレータによる力覚伝送機能を有する遠隔操作技術の研究

  元井 直樹

  公益財団法人 日本科学技術協会, 笹川科学研究助成, 2016年04月 - 2017年03月, 研究代表者

  競争的資金


• 視覚情報と力覚情報に基づく移動ロボットの遠隔制御技術に関する研究

  元井 直樹

  公益財団法人 ひょうご科学技術協会, 研究助成, 2016年04月 - 2017年03月, 研究代表者

  競争的資金


• 仮想空間と実空間の情報融合による力覚伝送機能を有する遠隔操作技術の構築

  元井 直樹

  公益財団法人 中島記念国際交流財団, 研究助成, 2016年04月 - 2017年03月, 研究代表者

  競争的資金


• 超高効率エネルギー変換システムによる電気自動車一充電走行距離延伸の実現

  河村 篤男

  学術研究助成基金助成金／基盤研究（Ａ）, 2014年04月 - 2017年03月

  競争的資金


• 水中マニピュレータによる双方向モーションコントロール技術の基礎研究

  元井 直樹

  公益財団法人 川西新明和教育財団, 研究助成, 2015年04月 - 2016年03月, 研究代表者

  競争的資金


• 周囲環境を知覚可能なステアバイワイヤシステムの開発

  下野 誠通

  学術研究助成基金助成金／挑戦的萌芽研究, 2014年04月 - 2016年03月

  競争的資金


• 超高繊細な力覚伝達機能を有する遠隔型人・機械協調システムの開発・研究?

  元井 直樹

  学術研究助成基金助成金／若手研究(B), 2013年04月 - 2015年03月, 研究代表者

  競争的資金


• 製造ラインにおける組み立て作業の完全無人化を目指した産業用ロボットの力制御に基づく運動制御理論の確立

  元井 直樹

  公益財団法人横浜学術教育振興財団, 研究助成, 2012年04月 - 2013年03月, 研究代表者

  競争的資金


• 遠隔・自律融合人支援システムの開発・研究（課題番号：23860023）

  元井 直樹

  日本学術振興会, 科学研究費補助金 研究活動スタート支援, 2011年09月 - 2013年03月, 研究代表者

  競争的資金

• ロボットアームの教示システム及び方法

  元井直樹, 齋藤史倫, 山崎公俊, 岡田慧, 稲葉雅幸

  特願2008-296555, 2008年, 特開2010-120124, 2010年, 特許5175691, 2013年

  特許権


• 環境地図生成方法

  元井直樹

  特願2010-257583, 2010年, 特開2012-108756, 2012年

  特許権


• 福祉用の車両システム、福祉車両、福祉用車両システム

  元井直樹, 新谷和宏, 菊池貢

  特願2010-051632, 2010年, 特開2011-182963, 2011年

  特許権


• 移動体及び移動体連結システム

  元井直樹, 新谷和宏, 菊池貢

  特願2010-037330, 2010年, 特開2011-172646, 2011年

  特許権


• 移動ロボットおよびその制御方法

  元井直樹

  特願2010-080959, 2010年, 特開2011-212092, 2011年

  特許権


• 車輪とその制御方法

  仙波快之, 元井直樹, 杉浦陽一

  特願2009-247502, 2009年, 特開2011-093370, 2011年

  特許権


• ロボットアーム、及びその制御方法

  元井直樹, 齋藤史倫

  特願2009-101875, 2009年, 特開2010-247309, 2010年

  特許権