Murakami, Toshiyuki

写真a

Affiliation

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

Position

Professor

External Links

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.

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.'''''''

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
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    Present

    慶應義塾大学理工学部電気工学科 ,専任講師

  • 1997.04
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    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
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    1999.03

    慶應義塾大学日吉2学年 ,担任

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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

Academic Degrees 【 Display / hide

  • 工学 , Keio University, 1993.03

 

Research Areas 【 Display / hide

  • Power engineering/Power conversion/Electric machinery (Electric Power Engineering/Electric Equipment Engineering)

Research Keywords 【 Display / hide

  • Robotics, Motion Control

 

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.

Papers 【 Display / hide

  • A Decentralized Force Controller Synthesis for Compliant Robots Driven by Series Elastic Actuators

    Sariyildiz E., Mutlu R., Nozaki T., Murakami T.

    Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019 (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019)     661 - 666 2019.05

    ISSN  9781538669594

     View Summary

    © 2019 IEEE. This paper deals with the decentralized force control problem of compliant robots driven by Series Elastic Actuators (SEAs). The decentralized force control problem of a compliant robot manipulator is transformed into the robust position control problem of a servo system by using Hooke's law and lumping the nonlinear dynamics and unknown disturbances of the robot manipulator into a fictitious disturbance variable. In order to precisely follow the reference force trajectories at joint space, i.e., the position trajectories of the servo systems, the robust controller is synthesized by using Disturbance Observer (DOb) and Sliding Mode Control (SMC). Although the robust force controller can be synthesized by using only SMC, the force control signal may suffer from high control signal chattering as the force reference input is increased. In addition to improving the robustness of force control, DOb significantly suppresses the discontinuous control signal chattering by allowing to decrease the SMC gain. When the proposed decentralized robust force controller is implemented, the compliant robot can precisely track desired force trajectories and safely contact to different environments. The validity of the proposed force controller is verified by giving the simulation results of a redundant robot manipulator.

  • Bilateral Control between Manipulators with Different Structure Considering Fluctuation of Equivalent Mass Matrix

    Lyu W., Murakami T.

    Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019 (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019)     370 - 375 2019.05

    ISSN  9781538669594

     View Summary

    © 2019 IEEE. This paper proposes the bilateral control method for a pair of manipulators which have different structures considering the fluctuation of an equivalent mass matrix. Bilateral control is one of the methods that controls position and force bidirectionally between two actuators. By using this method, operators can get haptic sensation from the remote environment during teleoperation. When considering the practical situation, the desired structure of robots would be different between the operator and remote sides depending on a task or environment. Therefore, bilateral control between two manipulators with different structure needs to be considered. In the method using Workspace Observer (WOB), conventionally, the nominal value is used for the equivalent mass matrix. However, an error occurs between the nominal and true values of equivalent mass matrix, and this error deteriorates the stability or noise-sensitivity of the system. In addition, it deteriorates the accuracy of the force estimation since Workspace Reaction Force Observer (WRFOB) estimates external force including this error. To overcome this problem, the control system needs to be designed based on the equivalent mass, which fluctuates depending on the posture of manipulators. By using the estimated equivalent mass matrix for WOB, the mass fluctuation can be considered, however, the interference between position control and force control occurs as the equivalent mass is different between the master and slave. Therefore, in the proposed method, Modal space Disturbance Observer (MDOB) with estimated task mass matrix is used to reduce the interference. Experiments were conducted to validate the proposed method.

  • Grasping Point Estimation Based on Stored Motion and Depth Data in Motion Reproduction System

    Sun X., Nozaki T., Murakami T., Ohnishi K.

    Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019 (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019)     471 - 476 2019.05

    ISSN  9781538669594

     View Summary

    © 2019 IEEE. Most countries are running shortage of working force due to the aging population and reduction in the birthrate. Robot manipulators are expected to replace human work. However, it it still difficult for manipulators to do simple tasks such as fruit harvesting, foods cooking or toy assembling. A problem for robotic automation arise in the difficulty in teaching how much force manipulators should use for a task execution. Motion reproduction system, which uses bilateral control to store motion data, is one of a method to teach manipulators motion including position and force. The problem concerning motion reproduction system is that the motion reproducing fails if environment is changed between motion saving phase and motion reproducing phase. Motion reproduction system which can understand and adapt to environment is required. Vision sensor can sense environment. Computer vision is mainly focus on how to classify objects. Vision information is seldom combined with motion control especially force motion. Therefore, I propose a motion reproduction system in which reproduced motion is decided based on several motions and collected depth data. Convolutional Neural Network(CNN) was used to estimate a motion command from a depth image. Saved force data was used to generate labels for training. The label decision is different from conventional Machine learning alzorithm.

  • Sensorless Bilateral Control Using Hall ICs

    Akutsu S., Nozaki T., Murakami T.

    Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019 (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019)     243 - 248 2019.05

    ISSN  9781538669594

     View Summary

    © 2019 IEEE. Sensorless bilateral control has been studied to improve fault-tolerance of teleoperation without using torque sensors, position sensors, and other mechanical sensors. However, sensorless control often has less control accuracy due to model errors, parameter variations, and other unexpected factors. Feedback control with some position sensors is practically required for teleoperation. Therefore, this study aims at sensorless bilateral control using Hall ICs. A proposed bilateral control does not necessarily require disturbance observers unlike a conventional method originally using high-resolution sensors. Owing to this advantage, low-resolution sensors are applicable to the proposed bilateral control. Experiments showed that the proposed method succeeded bilateral control using Hall ICs without mechanical sensors, although the conventional control did not work using the low-resolution sensors. Therefore, the proposed method will be able to enhance fault-tolerance of teleoperation systems.

  • Variable Slave Force Gain for Oblique Coordinate Control under the Presence of Time-Delay

    Okano T., Ohnishi K., Murakami T.

    Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019 (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019)     249 - 254 2019.05

    ISSN  9781538669594

     View Summary

    © 2019 IEEE. Teleoperation gets a significant attention from the society, and 4ch bilateral control is known as a method to realize the haptics transmission. Its controller is able to achieve the rich haptics transmission, but the performance is degraded under the presence of time-delay due to the interference between the position and force controllers. In particular, its interference becomes larger when position and force scaling are set more than 1 and the mass difference between the master and slave is large. 3ch architecture has proposed to tackle with the performance deterioration when the position and force scaling are set more than 1, but no researches have conducted for considering both the scaling and mass difference. This paper considers the situation that the scaling are set and the mass difference is existed in addition to the time-delay. Oblique coordinate control is utilized, and the superiority of 4ch and 3ch architectures are discussed. The proposal takes the superiority of these two architectures, and its effectiveness was verified through simulations and experiments.

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

Reviews, Commentaries, etc. 【 Display / hide

Presentations 【 Display / hide

  • 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)

  • 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)

  • 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)

  • 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)

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

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

    2015.04
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    2018.03

    MEXT,JSPS, Grant-in-Aid for Scientific Research, 村上 俊之, Grant-in-Aid for Scientific Research (A) , Principal Investigator

Awards 【 Display / hide

  • 電気学会 フェロー

    2016.04

  • IEEJ Industry Applications Society Distinguished Transaction Paper Award

    Misako Sasayama and Toshiyuki Murakami, 2015.09, (社)電気学会

  • 電気学会論文投稿システム立ち上げ功労賞

    村上 俊之, 2005.08, (社)電気学会

  • IPEC2005 Recognition Award

    村上 俊之, 2005.08, (社)電気学会

  • SCIS&ISIS2004 Recognition Award

    村上 俊之, 2004.09, SCIS&ISIS

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Courses Taught 【 Display / hide

  • GRADUATE RESEARCH ON INTEGRATED DESIGN ENGINEERING 2

    2019

  • INDEPENDENT STUDY ON INTEGRATED DESIGN ENGINEERING

    2019

  • INTELLIGENT MACHINE SYSTEM

    2019

  • LABORATORIES IN SYSTEM DESIGN ENGINEERING 2)

    2019

  • SEMINAR IN SYSTEM DESIGN ENGINEERING

    2019

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Memberships in Academic Societies 【 Display / hide

  • 電気学会東京支部学生員委員会, 

    2005.05
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    2006.05
  • 電気学会 平成17年度産業応用部門大会論文委員会, 

    2004.12
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    2005.11
  • 電気学会 センサの知能化によるシステムの高度化協同研究委員会, 

    2004.11
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    2006.10
  • 電気学会 産業応用部門国際化WG, 

    2004.09
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    2005.09
  • 電気学会 東京支部役員会, 

    2004.05
    -
    2006.05

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Committee Experiences 【 Display / hide

  • 2005.05
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    2006.05

    委員長, 電気学会東京支部学生員委員会

  • 2004.12
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    2005.11

    委員, 電気学会 平成17年度産業応用部門大会論文委員会

  • 2004.11
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    2006.10

    委員, 電気学会 センサの知能化によるシステムの高度化協同研究委員会

  • 2004.09
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    2005.09

    委員, 電気学会 産業応用部門国際化WG

  • 2004.05
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    2006.05

    協議員, 電気学会 東京支部役員会

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