133 citations · 151 across the 6 of their papers we have counts for
6 papers
The Waterbed Effect on Quasiperiodic Disturbance Observer: Avoidance of Sensitivity Tradeoff with Time Delays
Hisayoshi Muramatsu
In linear time-invariant systems, the sensitivity function to disturbances is designed under a sensitivity tradeoff known as the waterbed effect. To compensate for a quasiperiodic…
Quasiperiodic Disturbance Observer for Wideband Harmonic Suppression
Hisayoshi Muramatsu
Periodic disturbances composed of harmonics typically occur during periodic operations, impairing performance of mechanical and electrical systems. To improve the performance, cont…
A Mobile Quad-Arm Robot ARMS: Wheeled-Legged Tripedal Locomotion and Quad-Arm Loco-Manipulation
Hisayoshi Muramatsu, Keigo Kitagawa, Jun Watanabe +2
This article proposes a mobile quad-arm robot: ARMS, which unifies wheeled-legged tripedal locomotion, wheeled locomotion, and quad-arm loco-manipulation. ARMS's four arms have dif…
Involuntary Stabilization in Discrete-Event Physical Human-Robot Interaction
Hisayoshi Muramatsu, Yoshihiro Itaguchi, Seiichiro Katsura
Robots are used by humans not only as tools but also to interactively assist and cooperate with humans, thereby forming physical human-robot interactions. In these interactions, th…
Separation and Estimation of Periodic/Aperiodic State
Hisayoshi Muramatsu
Periodicity and aperiodicity can exist in a state simultaneously and typically become quasi-periodicity and quasi-aperiodicity in a dynamically changing state. The quasi-periodic a…
An Adaptive Periodic-Disturbance Observer for Periodic-Disturbance Suppression
Hisayoshi Muramatsu, Seiichiro Katsura
Repetitive operations are widely conducted by automatic machines in industry. Periodic disturbances induced by the repetitive operations must be compensated to achieve precise func…