教員紹介(機械工学科)

• 職名　　：　講師
• 専門分野：　ロボット工学、ロボット設計と制御、ロボット運動学の数学解析と表現
  　　　　　　(Robotic engineering, Robot design and control, Robot dynamics analysis)

現在の研究課題と概要

Development of mathematical tools for robotic design and control

In recent years, the tasks indulged on the robots are becoming more and more complex, suggesting we need more sophisticated architectures and design for robots. To do so, it becomes necessary to develop mathematical tools to support those complex architectures and allow for a wider array of possible robot designs, to comply with the new challenges. To do so, I chose to use a mathematical description of 3D movement called the Exponential coordinates to describe robotic motion, and especially expand its theories to tree-type robotic systems, a type of systems containing branching in their kinematic path, and thus broadening the robotic design possibilities.
I am looking to expand this theory even more by incorporing springs and dampers in such systems, as well as improving the control theory to allow for multiple manipulators simultaneous control.

Robotic design optimization combining Exponential coordinates and genetic algorithms

In addition to the lack of mathematical analytical tools available to analyze complex robotic systems, another major challenge is faced especially in the robotic manipulation domain: the design of a robotic hand. Indeed, the designs could be inspired by human hands, but to comply with complex tasks, we should observe and consider more complex and exotic forms of robotic manipulators. To do this, I proposed a global design optimization scheme for robotic manipulators based on a combination of genetic algorithms and exponential coordinates.
This scheme is readily available for tree-type systems, but I would like to expand the possible optimization to other kind of robotic systems, especially closed-loop systems.

研究業績（主要３件）

• “Genetic-algorithm-based global design optimization of treetype robotic systens involving exponential coordinates”,
  Mechanical Systems and Signal Processing, Vol. 156, July 2021, 107461
• A unified framework for dynamics and control of tree-type systems using exponential coordinates”,
  Mechanical Systems and Signal Processing, Vol. 131, September 2019, pp. 446-468
• “Prototype of interferometric absolute motion sensor”,
  Sensors and Actuators A: Physical, Vol. 224, April 2015, pp. 72-77

所属学会，協会

担当教科

機構学、ロボット工学

顧問

ロボット工学研究会

受賞・学術賞