Mechanical Engineering

• Torque-Bounded Task-Space Admittance Control for Redundant Manipulators

  Ryo Kikuuwe

  • Admittance Control
  • Nullspace
  • Redundancy
  • Singular Configuration

  Downloads ：622 - Submitted 2025-02-02 06:01:11 UTC - Posted 2025-08-12 05:04:02 UTC - Versions: 2

  • PDF_ver.2

• Ensuring Viability: A QP-Based Inverse Kinematics for Handling Joint Range, Velocity and Acceleration Limits, as Well as Whole-body Collision Avoidance

  雅琛 張, 亮 菊植

  • Inverse kinematics
  • Collision avoidance
  • Quadratic programming
  • Mixed-integer linear programming
  • Viability kernel

  Downloads ：375 - Submitted 2025-01-22 07:43:20 UTC - Posted 2025-01-24 01:08:38 UTC

  • PDF

• Study on Risk Reduction in Localization of Cloud-Supported Autonomous Mobile Robots

  Mao Nabeta, Kazuteru Tobita, Seiya Nakamura, Kazuhiro Mima

  • Autonomous mobile robots
  • self-localization
  • sensor fusion
  • cloud robotics
  • communication failure resilience

  Downloads ：226 - Submitted 2024-10-15 07:49:29 UTC - Posted 2024-10-18 00:32:51 UTC

  • PDF

• Efficient kinematics using quaternions for serial and antiparallel link robot arms

  Kazutoshi Nishii, Yoshihiro Okumatsu, Akira Hatano

  • kinematics
  • parallel link

  Downloads ：300 - Submitted 2024-09-03 00:14:21 UTC - Posted 2024-09-05 04:40:54 UTC

  • PDF

• The velocity center theorem of a spinning mobile object and its application to the vehicles Application to the automobiles

  NAOSHI MATSUO

  • automobile
  • autonomous driving
  • driving stability
  • posture control
  • The velocity center theorem

  Downloads ：193 - Submitted 2024-04-13 14:45:50 UTC - Posted 2024-04-19 10:13:19 UTC

  • PDF

• A Position Controller for Hydraulic Excavators with Deadtime and Regenerative Pipelines

  Yuki Yamamoto, Jinjun Qiu, Takayuki Doi, Takao Nanjo, Koji Yamashita, Ryo Kikuuwe

  • Position control
  • Hydraulic system
  • Time delay

  Downloads ：582 - Submitted 2023-07-05 09:49:17 UTC - Posted 2023-11-22 05:27:07 UTC - Versions: 3

  • PDF_ver.3

• An Admittance Controller with a Jerk Limiter for Position-Controlled Robots

  Mae, Ryusei, Ryo Kikuuwe

  • Admittance control
  • jerk limiter
  • vibration suppression
  • normal cone
  • differential inclusion
  • UR3e

  Downloads ：602 - Submitted 2023-07-07 02:59:22 UTC - Posted 2023-07-10 04:07:29 UTC

  • PDF

• The velocity center theorem of a spinning mobile object and its application to the vehicles

  NAOSHI MATSUO

  • velocity center
  • speed center
  • Omnidirectional
  • rotating
  • spinning
  • vehicle
  • mobile object
  • mobility

  Downloads ：258 - Submitted 2023-03-05 15:35:16 UTC - Posted 2023-03-08 05:52:44 UTC

  • PDF

• Position-Commanding Anti-Sway Controller for 2-D Overhead Cranes Under Velocity and Acceleration Constraints

  Ryo Nishimoto, Ryo Kikuuwe

  • Overhead crane
  • Position command
  • Anti-sway control
  • Velocity limits
  • Acceleration limits

  Downloads ：665 - Submitted 2023-02-22 10:09:24 UTC - Posted 2023-02-24 06:52:27 UTC

  • PDF

• COM Shifter and Body Rotator for Step-by-Step Teleoperation of Bipedal Robots

  Yachen Zhang, Ryo Kikuuwe

  • Teleoperation
  • Bipedal robots
  • Cart-flywheel-table model

  Downloads ：1156 - Submitted 2022-04-07 07:41:53 UTC - Posted 2023-01-27 00:08:37 UTC - Versions: 5

  • PDF_ver.5

• Topology optimization for rarefied gas flow problems using density method and adjoint DSMC

  Kaiwen Guan, Yuki Noguchi, Kei Matsushima, Takayuki Yamada

  • Topology optimization
  • Rarefied gas flow
  • Direct simulation Monte Carlo method
  • Density method
  • Adjoint equations
  • Sensitivity analysis

  Downloads ：509 - Submitted 2022-06-20 07:01:28 UTC - Posted 2022-06-21 08:27:13 UTC

  • PDF

• Multiscale topology optimization of electromagnetic metamaterials using a high-contrast homogenization method

  Naoki Murai, Yuki Noguchi, Kei Matsushima, Takayuki Yamada

  • Multiscale topology optimization
  • High-contrast homogenization method
  • Electromagnetic metamaterial
  • Level set method
  • Sensitivity analysis
  • Negative permeability

  Downloads ：575 - Submitted 2022-06-20 05:04:38 UTC - Posted 2022-06-21 06:03:08 UTC

  • PDF

• Multicomponent topology optimization method considering assemblability using a fictitious physical model

  Ryoma Hirosawa, Masaki Noda, Kei Matsushima, Yuki Noguchi, Takayuki Yamada

  • Topology optimization
  • Assemblability
  • Extended level set method
  • Multicomponent design
  • Fictitious physical model
  • Finite element method
  • FreeFEM

  Downloads ：720 - Submitted 2022-03-28 03:54:34 UTC - Posted 2022-04-01 06:04:47 UTC

  • PDF