Humanoid Robotics

Hydra

H. Kaminaga, T. Ko, S. Yorita, S. Sato, R. Masumura, M. Komagata, T. Ishikawa, T. Miyatake, and Y. Nakamura, “Enhancement of Mechanical Strength, Computational Power, and Heat Management for Fieldwork Humanoid Robots”, 16th IEEE-RAS International Conference on Humanoid Robots, pp. 786-793, November 15-27, 2016, Cancun, Mexico

T. Ko, H. Kaminaga, Y. Nakamura, “Underactuated Four-fingered Hand with Five Electro Hydrostatic Actuators in Cluster, ” in proceedings of IEEE International Conference on Robotics and Automation, pp.620-625, 2017.

UT-delta, UT-delta2

Motion Control

Stephane Caron, Quang-Cuong Pham and Yoshihiko Nakamura, “ZMP support areas for multi-contact mobility under frictional constraints”, IEEE Transactions on Robotics (2016). doi: 10.1109/TRO.2016.2623338.

UT-mu, UT-mu2

T. Sugihara, K. Yamamoto and Y. Nakamura. “Hardware design of high performance miniature anthropomorphic robots,” Robotics and Autonomous Systems, Vol. 56, Issue 1, pp.82-94, 2007. [DOI: 10.1016/j.robot.2007.09.012]

<span data-mce-type="bookmark" style="display: inline-block; width: 0px; overflow: hidden; line-height: 0;" class="mce_SELRES_start"></span><span data-mce-type="bookmark" style="display: inline-block; width: 0px; overflow: hidden; line-height: 0;" class="mce_SELRES_start"></span>

K. Yamamoto, “Control Strategy Switching for Humanoid Robots Based on Maximal Output Admissible Set,” Robotics and Autonomous Systems, Volume 81, 2016, pp. 17-32. [DOI: 10.1016/j.robot.2016.03.010]

UT-gamma

UT-theta, UT-theta2