Robot Control System Laboratory

T. Egami

Tadashi Egami
(Professor)

Office: 12-310 Ext.: 3485

e-mail:  egami@kanagawa-u.ac.jp

03/1987, Ph.D., Hokkaido University

03/1984, M.S., Hokkaido University

K. Umemoto

Kazuki Umemoto
(Assistant Professor)

Laboratory: 23-501 Ext.: 3750

e-mail:  umemoto@kanagawa-u.ac.jp

03/2014, Ph.D., Kyoto University

03/2010, M.S., Okayama University

Research Field

Robotics, Mechatronics, Control.

Research Overview

Development of experimental space elevator climbers, and development of welfare robots and vehicle robots, theory and application of path control and preview control.

Research Subjects

  • 1. Development of experimental space elevator climbers.
  • 2. Path control of ball and plate equipment.
  • 3. Path control of an electric wheelchair using intersection maps.
  • 4. Development and control of a transformable robot hand.

Introduction:

Development and Control of Experimental Space Elevator Climbers

Running Control of Electrical Wheelchair

A space elevator is a physical connection from the surface of the Earth to a geostationary Earth orbit above an altitude of 36,000 km. We are developing indoor experimental equipment and space elevator climbers that have various features such as adjustable press force and altitude control.

Indoor electric wheelchairs should automatically avoid obstacles and stop at intersections to await instructions from the user. We have proposed a path semi-autonomous control method for an electric wheelchair in which an environmental map including indoor hallway intersection information is constructed and the self-position is estimated in combination with a particle filter.

Publications
  • 1)K.Umemoto and T. Egami, “Path following control for a reference path consists of a sequence of points and an application to a ball & plate system,” Transactions of The Institute of Systems, Control and Information Engineers, vol. 29, (2016) (in Japanese).
  • 2) H. Iijima and T. Egami, “Path control for an electric wheelchair using intersection maps,” Transactions of The Institute of Systems, Control and Information Engineers, vol. 28, pp. 12–21 (2015) (in Japanese).
  • 3) H. Iijima and T. Egami, “Running control of electric wheelchairs using intersection recognition and path control,” Transactions of The Institute of Systems, Control and Information Engineers, vol. 27, pp. 207–215 (2014) (in Japanese).
Affiliated Academic Organizations

T. Egami:
The Society of Instrument and Control Engineers, The Institute of Electrical Engineers of Japan, The Institute of Systems, Control and Information Engineers, The Robotics Society of Japan, The Japan Society of Mechanical Engineers, IEEE.

K. Umemoto:
The Society of Instrument and Control Engineers, The Institute of Electrical Engineers of Japan, IEEE.

Current members
◯ Professors: 1 ◯ Assistant Professors: 1 ◯ Postgraduates: 11
◯ Undergraduates: 13

Facilities: NC milling machine, robot manipulators, electric wheelchairs

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