Junji Furusho

University of Electro-Communications

Control engineeringAngular momentumComputer scienceControl theoryRobot

14Publications

6H-index

388Citations

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Publications 13

Newest

#1Akihito Sano (University of Electro-Communications)H-Index: 17

#2Junji Furusho (University of Electro-Communications)H-Index: 6

Last. Masahiro Nishina (University of Electro-Communications)H-Index: 1

view all 4 authors...

In order to realize a sophisticated control, it is necessary to model a controlled system properly. However, it is impossible to obtain a complete model which can represent a physical system perfectly. Therefore, a robust control system has to be designed by considering an uncertainty of the model.

Evaluation of a Reduced Order Model for Quadruped System and Proposition of a Walking Control Method Using Quasi-Angular-Momentum

#1Akihito SanoH-Index: 17

#2Junji FurushoH-Index: 6

#1Junji FurushoH-Index: 6

#2Akihito SanoH-Index: 17

Last. Yosuke OkajimaH-Index: 1

view all 3 authors...

#1Akihito Sano (Gidai: Gifu University)H-Index: 17

#2Junji Furusho (University of Electro-Communications)H-Index: 6

In this study, a control method of pace gait which is often observed in middle or high-speed walking of animals is discussed. The motion in pace gait can be divided into the motion in the sagittal plane (plane vertical to the floor including the walking direction) and the motion in the lateral plane (plane vertical to the walking direction). As for the lateral motion control, a dead beat control is adopted for the purpose of adjusting the walking cycle. As for the sagittal motion control, a traj...

#1Akihito Sano (Gidai: Gifu University)H-Index: 17

#2Junji FurushoH-Index: 6

Human walking is realized by repeating two motions called single-support phase and double-support phase. The authors consider walking control in the double-support phase. During the double-support phase, there are numerous combinations of the joint torques and floor reaction forces which realize the same trajectory of motion since the number of actuators which drive the articular joints is more than the number of degrees of freedom left in the link system. Although this makes control in the doub...

#1Akihito Sano (Gidai: Gifu University)H-Index: 17

#2Junji Furusho (Gidai: Gifu University)H-Index: 6

Last. Yasushi Ikami (Gidai: Gifu University)H-Index: 1

view all 3 authors...

#1Akihito Sano (Gidai: Gifu University)H-Index: 17

#2Junji Furusho (Gidai: Gifu University)H-Index: 6

In biped locomotion systems, the angular momentum of the whole system can be taken as a good index, as seen from the law of conservation of angular momentum. A control method which divides the walking into motions in the sagittal plane and in the lateral plane has been adopted. For motion in the sagittal plane, the angular momentum is placed close to a smooth reference function given in advance by controlling the ankle torque of the supporting leg. For motion in the lateral plane, the motion con...

#1Akihito Sano (Gidai: Gifu University)H-Index: 17

#2Junji Furusho (Gidai: Gifu University)H-Index: 6

#1Junji Furusho (Gidai: Gifu University)H-Index: 6

#2Akihito Sano (Gidai: Gifu University)H-Index: 17

We aimed to realize smooth 3D biped walking in a robot through control based on information obtained from various sensors. We employed a method to control walking by divid ing it into motions in the sagittal plane and in the lateral plane. We treated motion in the lateral plane as a regulator prob lem with two equilibrium states. We also used relatively low gain feedback coefficients obtained from the optimal regula tor theory. For motion in the sagittal plane, we put the body speed close to the...

Evaluation of a Reduced Order Model of Quadruped System and Proposition of a Walking Control Method Using Quasi-Angular-Momentum

#1Akihito Sano (Gidai: Gifu University)H-Index: 17

#2Junji Furusho (Gidai: Gifu University)H-Index: 6

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