Details of a Researcher - Murakami, Toshiyuki

Murakami, Toshiyuki

写真a

Affiliation: Faculty of Science and Technology, Department of System Design Engineering (Yagami)

Position: Professor

External Links

Page Top ▲

Profile 【 Display / hide 】

Prof. Toshiyuki MURAKAMI received the B. E., M. E., and Ph. D. degrees in electrical engineering from Keio University, Yokohama, Japan, in 1988, 1990, and 1993, respectively. In 1993, he joined the Department of Electrical Engineering, Keio University, where he is currently a Professor in the Department of System Design Engineering. From 1999 to 2000, he was a Visiting Researcher with The Institute for Power Electronics and Electrical Drives, Aachen University of Technology, Aachen, Germany. His research interests are robotics, intelligent vehicles, mobile robots, and motion control.

Page Top ▲

Profile Summary 【 Display / hide 】

'''''''This laboratory focuses on robot control/instrumentation and sensor applicationa to achieve a flexible human assist (FHA) system. Areas investigated include sensor application, intelligent wheelchair control, vibration control, mobile manipulator control, and intelligent manufacturing systems; areas yielding many conference papers and articles.'''''''

Page Top ▲

Other Affiliation 【 Display / hide 】

Dean, Faculty of Science and Technology

Page Top ▲

Career 【 Display / hide 】

1993.04

-

1996.03

慶應義塾大学理工学部電気工学科 ,助手
1996.04

-

Present

慶應義塾大学理工学部システムデザイン工学科 ,専任講師
1996.04

-

Present

慶應義塾大学理工学部電気工学科 ,専任講師
1997.04

-

1999.03

慶應義塾大学理工学部情報処理常置委員会　 ,委員
1998.04

-

1999.03

慶應義塾大学日吉２学年 ,担任

display all >>

Page Top ▲

Academic Background 【 Display / hide 】

1988.03

Keio University, Faculty of Science and Engineering, 電気工学科

University, Graduated
1990.03

Keio University, Graduate School, Division of Science and Engineeri, 電気工学専攻

Graduate School, Completed, Master's course
1993.03

Keio University, Graduate School, Division of Science and Engineeri, 電気工学専攻

Graduate School, Completed, Doctoral course

Page Top ▲

Academic Degrees 【 Display / hide 】

工学　, Keio University, 1993.03

Page Top ▲

Research Areas 【 Display / hide 】

Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Power engineering (Electric Power Engineering/Electric Equipment Engineering)

Page Top ▲

Research Keywords 【 Display / hide 】

Robotics, Motion Control

Page Top ▲

Books 【 Display / hide 】

「電磁気工学」

村上俊之，内山太郎，大西公平, 培風館, 2002.05

　View Summary

力を中心とした電磁気工学の基礎事項および電磁気工学に基づいた実機応用について概説した教科書である．
数理工学基礎シリーズ「コンピュータの数理」

矢向高弘、村上俊之、大西公平, 朝倉書店, 2000.10

　View Summary

コンピュータのハードウェアの基礎から、2進数による数値計算法、C言語によるプログラミング、計算誤差にまで言及した工学者向けの教科書である。
Recent Advances in Motion Control (邦訳 : モーション・コントロールの最新技術)

G.S.Buja, H.Fujita and K.Ohnishi, 日刊工業新聞社, 1990.12

Scope: 3〜12, 131〜138

　View Summary

G.S.Buja, H.Fujita and K.Ohnishi のうちChapter 1-1 'Advanced Control Technique inMotion System', pp3〜12, 及びChapter 6-2 'An Approach to Artificial MuscleMotion by Network of Actuators', pp131〜138, 本著書では，多自由度モーションシステムにおけるロバスト制御技術の最新技術について述べている．同時に，モーションシステムの自
Integrated Micro-Motion Systems　-Micromachining, Control and Applications- (邦訳 : マイクロモーション統合システム)

Edited by F.Harashima, Elsevier Science Publishers B.V., 1990.12

Scope: 185〜198

　View Summary

Edited by F.Harashima のうちNetwork Motion Control in Micromechatronics, pp185〜198,本著書では，近年注目されているマイクロアクチュエータを想定した多自由度システムの構成法ならびにその力制御手法について述べている．本手法の特長は，非線形フィードバックにより，力の動作信号が孤立波としてアクチュエータ間を伝搬する機構となっている点にある．提案する手法の有効性は数値シミュレーションにより確認されている．

Page Top ▲

Papers 【 Display / hide 】

Wide-Bandwidth Estimation of Cross-Coupling Factors for Advanced Position-Sensorless Control of IPMSM

Shimamoto, K; Murakami, T

IEEJ JOURNAL OF INDUSTRY APPLICATIONS 14 ( 1 ) 111 - 119 2025

ISSN 2187-1094
- Access to Document (DOI)
Vibration Suppression and Disturbance Rejection Based on Equivalent Mass and Stiffness Matrices

Ito J., Murakami T.

2025 IEEE International Conference on Mechatronics, ICM 2025 2025

　View Summary

This paper proposes vibration suppression and disturbance rejection methods for multi-degrees-of-freedom (MDOF) manipulators with flexible joints in the workspace. The proposed methods utilize an equivalent mass matrix (EMM) and equivalent stiffness matrix (ESM) that represent the mass and stiffness in the workspace, respectively. In conventional methods, variations of EMM and ESM can degrade vibration suppression and disturbance rejection performances. Therefore, the proposed methods employ a workspace observer (WOB), resonance ratio control, and load-side workspace observer (LWOB). The WOB and resonance ratio control fix the EMM to constant values and realize stable vibration suppression. The LWOB improves ro-bustness by compensating for disturbances. The stability analyses reveal the parameter conditions. The simulation results show that the proposed methods suppress vibrations and disturbances in the workspace.
- Access to Document (DOI)
A Remote Control Method for Transport Two-Wheeled Mobile Robot

Kuwata M., Murakami T.

2025 IEEE International Conference on Mechatronics, ICM 2025 2025

　View Summary

This paper investigates the deployment of transport Two-Wheeled Mobile Robots (TWMRs) within warehouse environments. TWMRs have superior maneuverability and a smaller footprint compared to conventional steering-type Autonomous Mobile Robots (AMRs). This feature makes TWMRs well-suited for narrow spaces and high-reach tasks. Despite these advantages, TWMRs are inherently unstable, necessitating sophisticated control systems to maintain balance. In this study, we propose a control system that enables remote operation of the TWMR, allowing the operator to adjust the pitch angle command. The TWMR is equipped with various control mechanisms, including Disturbance Observer (DOB), PD controller and Lyapunov controller. These components work in conjunction to stabilize the TWMR and enhance the translational position tracking performance. Simulation results demonstrated the effectiveness of our approach, showing that the proposed system successfully stabilized the TWMR and reduced pitch angle variations, especially under load conditions. It also suggested the potential of integrating human control ability with advanced control systems for improved TWMR performance.
- Access to Document (DOI)
A PID-backstepping Hybrid Position and Attitude Control of a Bi-copter AUV with a Moving Mass

Muto K., Murakami T., Simetti E.

2025 IEEE International Conference on Mechatronics, ICM 2025 2025

　View Summary

This research aims to design a bi-copter AUV and evaluate its feasibility. Autonomous Underwater Vehicles (AUVs) that sail independently without cables and human operators are in the spotlight as an alternative to human divers. To miniaturize AUVs to operate in narrow spaces, we propose an AUV with two thrusters and two pitch angle servo motors: a 'bi-copter' AUV. The bi-copter is expected to be power efficient, and have high turning performance. However, precise and robust control performance is required to overcome its underactuated characteristics and disturbances. To enhance pitch motion stability, a Pitch Motion Compensator (PMC) with a Pitch Angle Disturbance Observer (PADO) is implemented and controls the position of a moving mass inside the AUV body. We propose a PID-Backstepping Hybrid (PBH) control composed of the PID position controller and the backstepping attitude (roll and yaw motion) controller for the position and attitude control. In addition, We propose the yaw angle reference value calculation methodology to control the y position indirectly. Our proposed method is evaluated by the simulations using MATLAB/Simulink and Simscape including wave disturbance and its feasibility is confirmed.
- Access to Document (DOI)
Topology Optimization for Motor Slot with Heat Generation Rate Depending on Winding Occupancy

Katsuno, A; Murakami, T

IEEJ JOURNAL OF INDUSTRY APPLICATIONS 13 ( 4 ) 453 - 462 2024

ISSN 2187-1094
- Access to Document (DOI)

display all >>

Page Top ▲

Papers, etc., Registered in KOARA 【 Display / hide 】

A study on human motion model and force control based life support for ADL

Murakami, Toshiyuki

科学研究費補助金研究成果報告書 2017
Realization of force feedback communication by nonlinear impedance model

Murakami, Toshiyuki

科学研究費補助金研究成果報告書 2012
Ion transport control of cell membrane by developing sensing technique using evanescent wave for refractive index and electrostatic potential of cell

Murakami, Toshiyuki

科学研究費補助金研究成果報告書 2010
A Stabilization Control Based on Analytical Disturbance Estimation for Electric Bicycle

MURAKAMI, TOSHIYUKI

科学研究費補助金研究成果報告書 2008

Page Top ▲

Reviews, Commentaries, etc. 【 Display / hide 】

Message from the Chairs

Jo K., Palensky P., Rodriguez-Andina J.J., Manic M., Murakami T., Oboe R., Gomes L., Suh Y.

IEEE International Symposium on Industrial Electronics 2024

ISSN 21635137
- Access to Document (DOI)
Guest editorial advanced mechatronics in research and industrial applications

Ibrahim Y., Murakami T., Hashimoto H., Korondi P.

IEEE Transactions on Industrial Informatics (IEEE Transactions on Industrial Informatics) 14 ( 11 ) 5143 - 5145 2018.11

ISSN 15513203
- Access to Document (DOI)

Page Top ▲

Presentations 【 Display / hide 】

An Approach to Power Assist Hand Exoskeleton for Patients with Paralysis

H. Uchida and T. Murakami

IEEE 15th International Workshop on Advanced Motion Control (Nagaoka University of Technology, Japan) ,

2018.03
,
Oral presentation (general)
Automated Deceleration System Considering Driving Resistance Based on Pedestrian’s Forecast Position

Y. Nakamura, T. Nozaki and T. Murakami

The IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON2018) (Nagaoka University of Technology, Japan) ,

2018.03
,
Oral presentation (general)
Comprehensive Evaluation of Human Activity Classiﬁcation based on Inertia Measurement Unit with Air Pressure Sensor

T. Ishikawa, H. Hayami and T. Murakami

2017 IEEE 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP2017) (Nagaoka University of Technology, Japan) ,

2017.11
,
Oral presentation (general)
Position and Torque Sensorless Motion Transmission for Haptic Teleoperation Using Two Types of Voltage Compensation

S. Akutsu, T. Nozaki and T. Murakami

2017 IEEE 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP2017) (Nagaoka University of Technology, Japan) ,

2017.11
,
Oral presentation (general)
A Comparison Study of Velocity and Torque Based Control of Two-Wheel Mobile Robot for Human Operation

S. Amagai, M. Kamatani and T. Murakami

2017 IEEE 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP2017) (Nagaoka University of Technology, Japan) ,

2017.11
,
Oral presentation (general)

display all >>

Page Top ▲

Research Projects of Competitive Funds, etc. 【 Display / hide 】

A Study on Human Motion Model and Force Control Based Life Support for ADL

2015.04

-

2018.03

MEXT,JSPS, Grant-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (A) , Principal investigator

Page Top ▲

Awards 【 Display / hide 】

第33回業績賞

2024.05, 電気学会
IEEE Fellow

2024.01, IEEE(Institute of Electrical and Electronics Engineers)
電気学会産業応用特別賞学術賞

2023.08, 電気学会産業応用部門
電気学会産業応用特別賞貢献賞

2022.08
Best Paper Award

2021.03, The 9th IIAE International Conference on Industrial Application Engineering 2021

Type of Award： Award from international society, conference, symposium, etc.