Browsing Mechanical Engineering by Author "Narikiyo, T."
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Agile and stable running locomotion control for an untethered and one-legged hopping robot
Uğurlu, Regaip Barkan; Sariyildiz, E.; Kawasaki, T.; Narikiyo, T. (Springer, 2021-09)This paper is aimed at presenting a locomotion control framework to realize agile and robust locomotion behaviors on conventional stiff-by-nature legged robots. First, a trajectory generator that is capable of characterizing ... -
Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on roboCat-1 and hyQ
Uğurlu, Regaip Barkan; Havoutis, I.; Semini, C.; Kayamori, K.; Caldwell, D. G.; Narikiyo, T. (Springer Science+Business Media, 2015-04)In this paper, we introduce a method that synergistically combines an analytical pattern generator and a feedback controller frame, which are developed for the purpose of synthesizing dynamic quadrupedal trot-walking ... -
Proof of concept for robot-aided upper limb rehabilitation using disturbance observers
Uğurlu, Regaip Barkan; Nishimura, M.; Hyodo, K.; Kawanishi, M.; Narikiyo, T. (IEEE, 2015-02)This paper presents a wearable upper body exoskeleton system with a model-based compensation control framework to support robot-aided shoulder-elbow rehabilitation and power assistance tasks. To eliminate the need for EMG ...
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