Publications 2022

Journal Papers

  • Ko Yamamoto, Taiki Ishigaki and Yoshihiko Nakamura, “Humanoid Motion Control by Compliance Optimization Explicitly Considering its Positive Definiteness,” IEEE Transactions on Robotics, Volume 38, Issue 3, pp. 1973-1989, 2022. [DOI: https://doi.org/10.1109/TRO.2021.3119934]
  • Keisuke Hagiwara, Ko Yamamoto, Yoshihisa Shibata, Mitsuo Komagata and Yoshihiko Nakamura, “On High Stiffness of Soft Robots for Compatibility of Deformation and Function,” Advanced Robotics, Volume 36, Issue 19, pp. 995-1010, 2022. [DOI: https://doi.org/10.1080/01691864.2022.2117574]
  • Ko Yamamoto, Kazuya Murotani, Tianyi Ko and Yoshihiko Nakamura, “Resolved Viscoelasticity Control for Robust Walking of a Humanoid with Knee-stretched Posture Considering Singularity,” Robotics and Autonomous Systems, Volume 157, 2022. [DOI: https://doi.org/10.1016/j.robot.2022.104218]
  • Mitsuo Komagata, Ko Yamamoto and Yoshihiko Nakamura, “Compact, backdrivable, and efficient design of linear electro-hydrostatic actuator module,” Advanced Robotics, Volume 36, Issue 19, pp. 1030-1047, 2022. [DOI: https://doi.org/10.1080/01691864.2022.2119884]

International Conference Papers

  • Natsu Ooke, Yosuke Ikegami, Ko Yamamoto, and Yoshihiko Nakamura, “Transfer Learning of Deep Neural Network Human Pose Estimator by Domain-Specific Data for Video Motion Capturing,” Proceedings of 2022 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO2022), pp. 1-6, 2022.
  • Zewen He and Ko Yamamoto, “Decoupling of Inertia Effect in Angular Momentum of a Humanoid and its Application to Resolved Viscoelasticity Control,” Proceedings of 2022 IEEE International Conference on Robotics and Automation (ICRA2022), 2022.
  • Kazuya Tomabechi, Yosuke Ikegami, Ko Yamamoto, and Yoshihiko Nakamura, “Learning Whole-body Effects for Biomechanics Analysis from Partial IMU Sensing,” Proceedings of the 9th IEEE RAS/EMBS International Conference on Biomedical Robotics & Biomechatronics (BioRob2022), pp. 734-739, 2022.
  • Ko Yamamoto, Naoki Kobayashi, Taiki Ishigaki and Yuichi Sakemi, “Integration of Variable-height and Hopping Strategies for Humanoid Push Recovery,” Proceedings of 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), pp. 12979-12985, 2022.
  • Mitsuo Komagata, Yutaro Imashiro, Ryoya Suzuki, Kento Oishi, Ko Yamamoto and Yoshihiko Nakamura, “Experimental Study on Impact Resistance of Multi-DOF Electro-Hydrostatic Robot Systems Using Hydracer, a 6DOF Arm,” Proceedings of 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), pp. 7352-7358, 2022.
  • Yuta Shimane, Taiki Ishigaki, Sunghee Kim, Yosuke Ikegami and Ko Yamamoto, “Application of Piece-wise Constant Strain Model to Flexible Deformation Calculation of Sports Prosthesis and Stiffness Estimation,” Proceedings of 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), pp. 6547-6553, 2022.
  • Zewen He and Ko Yamamoto, “Humanoid Running based on 3D COG-ZMP Model and Resolved Centroidal Viscoelasticity Control,” Proceedings of 2022 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), pp. 645-650, 2022.
  • Sunghee Kim, Taiki Ishigaki, Yuta Shimane, Yosuke Ikegami, and Ko Yamamoto, “Inverse Kinematics of Hybrid Multi-link System and its Application to Motion Capture for Athlete Wearing Sports Prosthesis,” Proceedings of 2022 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), pp. 837-842, 2022.

Domestic Conference Papers

  • 大桶夏津,池上洋介,山本 江,中村仁彦,”スポーツ動作の三次元再構成と解析のための画像ポーズ推定器の転移学習とそれを用いたビデオモーションキャプチャ,”日本機械学会ロボティクス・メカトロニクス講演会,2A2-I02,2022.
  • 石橋亨祐,阿佐美理,駒形光夫,山本江,”重量野菜ハンドリングのための油圧駆動型ソフトハンドの構成法と実験検証,” 日本機械学会ロボティクス・メカトロニクス講演会,2A2-R09,2022.
  • 赤川憲司,深尾隆則,”路面状況と天候の影響を受けにくい遠赤外線カメラを用いた自動運転,” 日本機械学会ロボティクス・メカトロニクス講演会,1P1-E02,2022.
  • 嶋根裕太,石垣泰暉,金星喜,池上洋介,山本江,”Piece-wise Constant Strain モデルに基づく 競技用義足の柔軟変形の計算と剛性パラメータの推定,” 日本機械学会ロボティクス・メカトロニクス講演会,2A2-H04,2022.
  • 石垣泰暉,山本江,”柔剛体を統合したハイブリッドリンク系によるヒューマノイドの動力学計算,”第40回日本ロボット学会学術講演会,2E2-03,2022.
  • 駒形光夫,山本江,中村仁彦,”油圧アクチュエータ用外接歯車ポンプの低摩擦化のための可動ケーシングの提案,”第40回日本ロボット学会学術講演会,2K2-03,2022.
  • 小林直樹,山本江,”可変時定数制御によるヒューマノイドの跳躍動作の生成,”第40回日本ロボット学会学術講演会,2E2-01,2022.
  • 嶋根裕太,石垣泰暉,金星喜,池上洋介,山本江,”Piece-wise Constant Strainモデルに基づく 競技用義足の動力学計算と評価,”第40回日本ロボット学会学術講演会,3C2-02,2022.
  • 海保陽太,深尾隆則,”不整地における画像による路面認識に基づく小型運搬トラックの自律走行,”第40回日本ロボット学会学術講演会,3H1-09,2022.
  • 櫻井彬光,池上洋介,山本江,”モーションマッチングによる全身運動生成と歩行者流リアルタイムVRシミュレーションへの応用,”第40回日本ロボット学会学術講演会,4G1-01,2022.

Award

日本機械学会ロボメカ部門 ROBOMECH表彰(学術研究分野)

  • 中西貴大, 駒形光夫, 山本江, 中村仁彦,”フレームレスモータを用いた高重量出力比EHAの設計とバックドライブ性能の評価,” 2022/6/2