2 citations · 2 across the 3 of their papers we have counts for
6 papers
Modeling and Control of a Rigid-soft Hybrid-link Humanoid Robot
Zewen He, Taiki Ishigaki, Ko Yamamoto
Physical flexibility plays a significant role not only in human motions but also in robot motions. For example, a humanoid robot with passive and flexible elements, which can be re…
PC7 Model: Dynamics of Expanding and Contracting Soft Robots using Piece-wise Constant 7D Deformation Based on Similarity Transformation Group
Yamato Kudo, Taiki Ishigaki, Ko Ayusawa +1
This paper proposes a novel soft robot model named piece-wise constant 7D deformation (PC7) model that can represent expanding and contracting deformation of, for example, artifici…
Implicit Null-space Manifold Generation for Redundant Robotic Systems
Taiki Ishigaki, Teresa Vidal-Calleja, Ko Ayusawa +1
Robotic systems with redundant degrees of freedom can achieve the same task outcome using multiple configurations, resulting in solution sets that form manifolds in the configurati…
Structured Jacobian Construction for Motion Optimization with High-Order Time Derivatives in Multi-Link Systems
Taiki Ishigaki, Ko Ayusawa, Eiichi Yoshida
This paper presents a novel framework for Jacobian computation in motion optimization problems involving multi-link systems, where physical quantities are represented using higher-…
Dynamics Computation of Soft-Rigid Hybrid-Link System and Its Application to Motion Analysis of an Athlete Wearing Sport Prosthesis
Sunghee Kim, Yuta Shimane, Taiki Ishigaki +1
This paper presents a motion analysis framework for an athlete wearing sport-specific flexible prosthesis based on the soft-rigid hybrid-link system. Such a motion analysis is a ch…
Viscoelasticity Estimation of Sports Prosthesis by Energy-minimizing Inverse Kinematics and Its Validation by Forward Dynamics
Yuta Shimane, Taiki Ishigaki, Sunghee Kim +1
In this study, we present a method for estimating the viscoelasticity of a leaf-spring sports prosthesis using advanced energy minimizing inverse kinematics based on the Piece-wise…