Soft Interface Heads: Shinichi Hirai Contact: Mizuho Shibata Date: 2004 - 2009 Mailing address: Dept. Robotics, Ritsumeikan Univ. Kusatsu, Shiga 525-8577, Japan Supported by: Associated lab/group:

Project Description

The goal of this research is to control mechanisms including soft interface. Through the simultaneous control of motion and deformation of a soft object and the control of a loosely coupled joint, we reveal the interaction between mechanics and control in the control of mechanisms with soft interface.

2007/8/22	Dr. Shibata's proposal "Investigation of Human Dexterity Generated by Loose Joints via Soft Elements"was accepted for a Grant in Aid for Scientific Research (start-up).

Personnel

	Name	Title	Degree
	Mizuho Shibata	Kinki University	Ph.D
	Takahiro Yoshimura	Graduated	Master of Eng.
	Daisuke Hino	Graduated	Master of Eng.
	Kazuma Uedan	Graduated

Publications

• Mizuho Shibata and Shinichi Hirai, Modeling and Stability Analysis of Dynamic Control Through a Soft Interface, Journal of Robotics and Mechatronics, Vol.18, No.3, pp.242-248, 10.20965/jrm.2006.p0242, June, 2006

• Takahiro Yoshimura, Mizuho Shibata, and Shinichi Hirai, Stochastic Static Analysis of Link Driven by Actuator Bundles, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2009), pp.5685-5690, 10.1109/IROS.2009.5354217, St. Louis, MO, U.S.A., Oct. 11-15, 2009
• Mizuho Shibata, Takahiro Yoshimura, and Shinichi Hirai, Loosely Coupled Joint Driven by SMA Coil Actuators, Proc. IEEE Int. Conf. on Robotics and Automation, pp.4460-4465, 10.1109/ROBOT.2007.364166, Rome, Italy, Apr. 10-14, 2007
• Mizuho Shibata, Takahiro Yoshimura, and Shinichi Hirai, Angle Control of a Loosely Coupled Mechanism in 3D Space Using Length Sensors, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1178-1183, 10.1109/IROS.2007.4399093, San Diego, CA, U.S.A., Oct. 29 - Nov. 2, 2007
• Mizuho Shibata, Takahiro Yoshimura, Shinichi Hirai, Control of Loosely Coupled Joint by Soft Actuators via Deformable Cartilage, Workshop on Modeling, Identification, and Control of Deformable Soft Objects, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Diego, CA, U.S.A., Oct. 29 - Nov. 2, 2007
• Mizuho Shibata and Shinichi Hirai, Soft Object Manipulation by Simultaneous Control of Motion and Deformation, Proc. IEEE Int. Conf. on Robotics and Automation, pp.2460-2465, 10.1109/ROBOT.2006.1642071, Orlando, FL, U.S.A., May 15-19, 2006
• Mizuho Shibata and Shinichi Hirai, Stability Analysis for Dynamic Control on Contact with Soft Interface in Continuous-discrete Time System, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1628-1633, 10.1109/IROS.2005.1545211, Edmonton, Canada, Aug. 2-6, 2005
• Mizuho Shibata and Shinichi Hirai, Stability and Graspability Analysis in Grasping Task Taking Fingertip Dynamics into Consideration, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.4, pp.3686-3691, 10.1109/IROS.2004.1389988, Sendai, Japan, Sept. 28 - Oct. 2, 2004

Notes

Loosely coupled joint driven by McKibbin actuators (mpg 2.9MB)

Loosely coupled joint driven by SMA actuators (mpg 3.0MB)

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