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New In-Pipe Robot Capable of Coping with Various Diameters
Sari Yabe,Hiroyuki Masuta,Hun-ok Lim 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
This paper describes a new robot capable of inspecting pipes with different diameters. The robot is composed of units and connecting links. One unit is used for the robot to move in a straight pipe, while two or more units are needed to move and turn in a divergent pipe. Several experiments are conducted in the pipes with different diameters, and the effectiveness of the mechanism of the robot is confirmed.
Development of Koala Robot Capable of Expressing Various Kinds of Feelings
Fuminori Souma,Hiroyuki Masuta,Hun-ok Lim 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
This paper describes the mechanism and the control system of a koala robot. It is extremely important for this kind of pet robot to be familiar with a human being. The robot can express various types of feelings by using body motions, eye motions, and sounds. It consists of 14 DOFs such as 2-DOF in the neck, and a 3-DOF in each leg. Its height is 233[mm], and its weight is 2.24[kg]. Several types of sensors and devices such as LED modules are attached to the head, the face, and the body to express many different types of emotions. Various emotional expression experiments were conducted and evaluated on the basis of questionnaires made by nineteen subjects. As a result, the effectiveness of the mechanism and the control of the robot were verified.
Mechanism of One-Legged Jumping Robot With Artificial Musculoskeletal System
Hideki Iijima,Keisuke Sayama,Hiroyuki Masuta,Atsuo Takanishi,Hun-ok Lim 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
This paper describes the mechanism and vertical jumping pattern of a one-legged jumping robot that can mimic the muscular and skeletal system of a human leg. The jumping robot has a waist, a thigh, a shin, a foot, and a toe. Its weight is 12.34 kg, and its height is 1010 mm. It has a total of 13 actuators: 10 mono-articular types and 3 bi-articular types. Two kinds of pneumatic artificial muscles such as mono-articular and bi-articular muscles are installed in the rear and the front of the thigh and shin to antagonize each other. For a vertical jump, a joint angle pattern is developed based on the linear and angular momentum. The effectiveness of the mechanism and the jumping pattern of the robot are verified through simulations and experiments.
Stability Control and Pattern Generation for Biped Humanoid Robot
Yuki Kamogawa,Kouhei Yamada,Hiroyuki Masuta,Hun-ok Lim 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
This paper describes stability control for a biped humanoid robot. The stability control consists of ZMP compensation control and inverted pendulum control for the robot to walk stably on the ground. The ZMP compensation control compensates the displacement of the waist according to ZMP, and the inverted pendulum control accelerates ZMP to the falling direction of the robot. Also, a whole motion pattern generation based on the preview control is developed. It enables the robot to walk with arm swings. According to the walking parameters, the angles of the whole body are calculated by inverse kinematics. In order to verify the effectiveness of the pattern generation and the control method, the simulation of the whole body motion is conducted by using Adams and MATLAB/Simulink.
Performance Analysis of Ubiquitous Power Systems under Coordinated Control of System Elements
Liyanage, Kithsiri M.,Masuta, Taisuke,Shimizu, Koichiro,Kihara, Hiroyuki,Yokoyama, Akihiko,Ota, Yutaka,Nakajima, Tatsuhito,Taniguchi, Haruhito The Korean Institute of Electrical Engineers 2011 The Journal of International Council on Electrical Vol.1 No.1
The trend of integrating renewable energy sources into power networks is becoming common in practice, making power systems to be more ubiquitous in nature. The connection of renewable sources in large numbers at distribution level could cause adverse power fluctuations. By employing battery energy storage systems, these fluctuations can be reduced. However economic constraints imposed by high battery cost may not justify liberal use of battery storage to control power fluctuations. The authors have previously shown the possibility of reducing battery energy storage systems' capacity without degrading the performance in terms of energy capturing efficiency and arresting power fluctuations of a ubiquitous power network through coordinated control of elements. Meantime there are attempts to make use the battery energy storage available in electric vehicles to provide a cushion against power and frequency fluctuations caused by renewable generation. In this paper authors presents a comparison between the effectiveness of conventional battery energy storage system and that of battery energy storage available in electric vehicles to improve the performance of ubiquitous power network under coordinated control. This study has shown that energy storage from electric vehicles can outperform conventional battery energy storage systems of similar capacity range under certain conditions.