NARUKAWA Terumasa(Mechanical Science Division)｜Saitama University Researcher List

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NARUKAWA　Terumasa
Mechanical Science Division Associate Professor
Department of Mechanical Engineering and System Design

Performance information

■ Paper

空気ばねを用いた防振機構における積載物特性の推定　　　　　　　　　　　　　　　
中野健太; 山本浩; 成川輝真
Volume：91, Number：942, First page：24-00218, Feb. 2025, [Reviewed]
Scientific journal

自動減衰調整機構を有する空気ばねを用いた防振システムの開発　　　　　　　　　　　　　　　
髙浪裕樹; 山本浩; 成川輝真
Volume：89, Number：924, First page：23-00096, Aug. 2023, [Reviewed]
Scientific journal

Two-dimensional Degenerated Model of Next-generation Crash Test Dummy THOR 5F　　　　　　　　　　　　　　　
Kurano Yutaro; Hikida Kazuki; Hibara Shinya; Kawamura Yasushi; Maehara Kazunori; Narukawa Terumasa
International Journal of Automotive Engineering, Volume：11, Number：3, First page：94, Last page：100, 2020, [Reviewed]

次世代衝突ダミーTHOR の2次元縮退モデルの構築　　　　　　　　　　　　　　　
倉野優太郎; 疋田和樹; 米本涼; 檜原慎弥; 川村康; 前原一範; 成川輝真
Volume：50, Number：3, First page：863, Last page：869, 2019, [Reviewed]

Characteristics of adjustable dynamic vibration absorber
根本健也; 山本浩; 成川輝真
日本機械学会論文集(Web), Volume：84, Number：862, First page：ROMBUNNO.18‐00062(J‐STAGE), 2018, [Reviewed]
Japanese
ISSN：2187-9761, J-Global ID：201802212643131645

A Simple Dynamic Model Based on Human FE Model in Side Impact Crash　　　　　　　　　　　　　　　
Narukawa Terumasa; Okamoto Masayoshi; Motozawa Yasuki; Mori Fumie
Transactions of Society of Automotive Engineers of Japan, Volume：46, Number：6, First page：1151, Last page：1156, 2015, [Reviewed]
A simple dynamic human model in side impact crash is introduced based on finite element (FE) model. The simple dynamic model consists of three masses corresponding to the thorax, the upper body and the lower body. The thorax mass was introduced in order to consider the thoracic deflection. The thorax and the upper body were connected by a linear spring and a linear damper in parallel. Numerical simulations show that the simple dynamic model can approximate the thoracic deflection, the upper body displacement, and the lower body displacement of the human FE model in side impact crash.
公益社団法人自動車技術会, Japanese
ISSN：0287-8321, CiNii Articles ID：130006319674, CiNii Books ID：AN00105913

Vibration Isolator Using Air Suspensions with Slit Restrictions　　　　　　　　　　　　　　　
NARUKAWA Terumasa; SAKURADA Ken; YAMAMOTO Hiroshi
Journal of the Japan Society for Precision Engineering, Volume：80, Number：1, First page：94, Last page：98, 2014, [Reviewed]
This paper investigates the dynamic characteristics of an isolator supported by four air suspensions. Each air suspension has a cylinder, a reservoir tank and a slit restriction. The air suspension with the slit restriction provides damping which is introduced through the flow restriction connecting the cylinder and the reservoir tank. The slit restriction is effective for suppressing micro vibration because air flow in the restriction is viscous flow. The effects of the air suspension with the slit restriction are shown through theoretical analysis and experimental tests. An experimental investigation indicates the air suspension model including rubber membrane predicts frequency-domain behavior closely. Experimental tests show that the maximum transmissibility of the isolator is about 1.5 by choosing the optimal slit depth.
公益社団法人精密工学会, Japanese
DOI：https://doi.org/10.2493/jjspe.80.94
DOI ID：10.2493/jjspe.80.94, ISSN：0912-0289, CiNii Articles ID：130003385065

Dynamic characteristics of 3-DOF vibration isolator supported with air suspensions　　　　　　　　　　　　　　　
Hiroshi Yamamoto; Tatsuya Ozu; Terumasa Narukawa
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Volume：79, Number：804, First page：2780, Last page：2791, 2013, [Reviewed]
In this study we make clear the dynamic characteristics of a vibration isolator with three degrees of freedom, two degrees of freedom in vertical rotation and one degree of freedom in vertical translation. The isolator consists of four air suspensions with slit restrictions and reservoir tanks. To minimize resonance amplitude, the damping ratio, which corresponds to the restriction coefficient of the slit restriction, has to be chosen in order to equalize the resonance amplitude when the lowest mode of vibration is excited to that of the highest mode of vibration. The resonance amplitude can be decreased by bringing the natural frequencies closer together. Furthermore, we derive a system of nonlinear equations whose solution corresponds to the damping ratio of the air suspension to decrease the resonance amplitude. It is shown that the relative difference between the analytical solution and the optimal damping ratio for minimizing the resonance amplitude is below 0.07 %. © 2013 The Japan Society of Mechanical Engineers.
一般社団法人日本機械学会, Japanese, Scientific journal
DOI：https://doi.org/10.1299/kikaic.79.2780
DOI ID：10.1299/kikaic.79.2780, ISSN：0387-5024, CiNii Articles ID：130003375147, SCOPUS ID：84885039313

Studies on occupant restraint method in car crash using reduced-order dynamic model considering thoracic deflection　　　　　　　　　　　　　　　
Terumasa Narukawa; Hidekazu Nishimura; Yuichi Ito; Yasuki Motozawa
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Volume：79, Number：801, First page：1396, Last page：1405, 2013, [Reviewed]
A simple dynamic model will be effective to determine the properties of protection devices because it is useful to understand the essential dynamics of the occupant in car crash. This paper describes an optimal restraint method in frontal car crash by using a reduced-order dynamic model based on human finite element model having age-specific characteristics such as bone stiffness and tolerance of the body. The restraint force is determined so as to minimize the maximum thoracic deflection, which is one of the representing injury criteria in frontal car crash, while the maximum thorax and pelvis displacements are restrained. Simulation results clarify that the optimal restraint force is effective for reducing the maximum thoracic deflection. © 2013 The Japan Society of Mechanical Engineers.
一般社団法人日本機械学会, Japanese, Scientific journal
DOI：https://doi.org/10.1299/kikaic.79.1396
DOI ID：10.1299/kikaic.79.1396, ISSN：0387-5024, CiNii Articles ID：130003375025, SCOPUS ID：84879903462

Development of Gravity Compensator for Analysis of Walking Characteristics under the Reduced Gravity (Verification of Its Effectiveness with Rimless Wheel)　　　　　　　　　　　　　　　
IKEDA Tatsuhiko
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A, Volume：78, Number：790, First page：2119, Last page：2130, 2012
For the future manned exploration mission to the other planet, the change of motion characteristics due to the reduced gravity must be studied. Walking, especially, is the basic action of human life, and the efficient walking enables the exploration mission under the limited life-sustaining time and resources. To minimize the risk of injury and damaging of the life-supporting system, the safety of the walking must be studied. To simulate the micro-gravity on the earth, gravity compensation is required, and the wire suspension system is often used for gait analysis. In this system, a subject wears harness and will be suspended by the wire to apply an upward force to the center of mass of the subject. However, pulleys for many systems are fixed at a point and this will lead to inappropriate compensation. While the subject is underneath the pulley, the complete compensation can be achieved with suspension force parallel to the gravity. However, once the subject moved away from the initial position, the unloading force is no longer equal to the suspension force but fluctuate as the subject move. Considering this problem, this paper first represents the effect of force fluctuation to the gait property using the planar rimless wheel, one of the simplest models of locomotion. Gait under lunar gravity and under fixed point suspension is compared, and the effect of restoring force is analyzed. Then, a new gravity compensator with horizontal follower is proposed and its effectiveness is verified through rimless wheel experiment.
The Japan Society of Mechanical Engineers, Japanese
DOI：https://doi.org/10.1299/kikaic.78.2119
DOI ID：10.1299/kikaic.78.2119, ISSN：0387-5024, CiNii Articles ID：130002051471

Reduced-Order Dynamic Model Considering Thoracic Deflection Based on Human FE Model in Frontal Car Crash　　　　　　　　　　　　　　　
成川輝真; 西村秀和; 伊藤優一; 本澤養樹
日本機械学会論文集 C編(Web), Volume：78, Number：795, First page：3677-3688 (WEB ONLY), Last page：3688, 2012, [Reviewed]
A simple dynamic model is useful to understand the essential dynamics of an occupant in car crash and will be effective to determine the properties of protection devices. In this paper, a reduced-order dynamic model is introduced based on human finite element (FE) model having age-specific characteristics such as bone stiffness and tolerance of the body. The reduced-order dynamic model consists of two masses and one rigid body. The two masses correspond to the thorax and the lower body, and the rigid body corresponds to the upper body. The mass representing the thorax was connected to the upper body by a spring and a damper in parallel to consider the thoracic deflection, which is one of the representing injury criteria in frontal car crash. The comparisons of the responses between the reduced-order dynamic model and the human FE model were conducted in frontal car crash and indicate that the reduced-order dynamic model can approximate the thoracic deflection, the thorax displacement, and the lower body displacement.
The Japan Society of Mechanical Engineers, Japanese
DOI：https://doi.org/10.1299/kikaic.78.3677
DOI ID：10.1299/kikaic.78.3677, ISSN：1884-8354, J-Global ID：201302252788819009, CiNii Articles ID：130002571896

Control System Design for Occupant Lower Extremity Protection Using Semi-Active Knee Bolster　　　　　　　　　　　　　　　
成川輝真; 西村秀和
日本機械学会論文集 C編(Web), Volume：78, Number：789, First page：1711-1722 (WEB ONLY), Last page：1722, 2012, [Reviewed]
This paper presents control system design for occupant lower extremity protection in the event of a frontal car crash. A semi-active knee bolster is used to protect occupant lower extremities. The semi-active knee bolster varies the damping coefficient of the knee bolster. The control system design of the semi-active knee bolster is based on a design method of an active knee bolster. LQI (Linear Quadratic Integration) control with an initial value compensation input is applied. We obtain an optimal reference signal of the contact force between the knees and the instrument panel by considering characteristics of the semi-active actuator and the closed loop control system. The control system of the semi-active knee bolster follows the reference signal of the contact force. The protective control system with the semi-active knee bolster is effective for reducing the femur load, verified by carrying out simulations and experiments.
The Japan Society of Mechanical Engineers, Japanese
DOI：https://doi.org/10.1299/kikaic.78.1711
DOI ID：10.1299/kikaic.78.1711, ISSN：1884-8354, J-Global ID：201202285013198944, CiNii Articles ID：130002051431

Walking Control for a Compass-Like Biped Robot under Variable Gravity Based on Passive Dynamic Walking　　　　　　　　　　　　　　　
松本祐介; 池田達彦; 成川輝真; 高橋正樹
日本機械学会論文集 C編(Web), Volume：78, Number：791, First page：2496-2508 (WEB ONLY), 2012, [Reviewed]
Japanese
DOI：https://doi.org/10.1299/kikaic.78.2496
DOI ID：10.1299/kikaic.78.2496, ISSN：1884-8354, J-Global ID：201202261112134200

Shock Control of Servo Press Using Two-Staged Final-State Control　　　　　　　　　　　　　　　
福崎淳一; 成川輝真; 西村秀和; 伊藤博幸; 有壁剛生
日本機械学会論文集 C編(Web), Volume：78, Number：793, First page：3166-3177 (WEB ONLY), Last page：3177, 2012, [Reviewed]
Recently, servo presses driven by servo motors have become widely into use. In this research, we derive the optimal control inputs of the slide and die cushion and trajectory which fills the suitable index of formability and productivity using shock control. It aims to design the control system for securing the robustness for friction or a parameter error. The contact load of the slide and the die cushion, bottom dead point and its arrival time are used as the index. In derivation of the optimal control inputs and trajectory, we proposed method of applying final-state control by dividing from the collision of the slide and the die cushion until reaching the bottom dead point into two stages. In order to secure the robustness we propose the control system which changes control flexibility. By carrying out numerical simulations and experiments, it is verified that the control system has good performance.
The Japan Society of Mechanical Engineers, Japanese
DOI：https://doi.org/10.1299/kikaic.78.3166
DOI ID：10.1299/kikaic.78.3166, ISSN：1884-8354, J-Global ID：201202236250641428, CiNii Articles ID：130002051557

Development of Gravity Compensator for Analysis of Walking Characteristics under the Reduced Gravity (Verification of Its Effectiveness with Rimless Wheel)　　　　　　　　　　　　　　　
池田達彦; 松本祐介; 成川輝真; 高橋正樹; 山田深; 大島博; 里宇明元
日本機械学会論文集 C編(Web), Volume：78, Number：790, First page：2119-2130 (WEB ONLY), 2012, [Reviewed]
Japanese
DOI：https://doi.org/10.1299/kikaic.78.2022
DOI ID：10.1299/kikaic.78.2022, ISSN：1884-8354, J-Global ID：201202230749688010

Efficient walking with optimization for a planar biped walker with a torso by hip actuators and springs　　　　　　　　　　　　　　　
Terumasa Narukawa; Masaki Takahashi; Kazuo Yoshida
ROBOTICA, Volume：29, First page：641, Last page：648, Jul. 2011, [Reviewed]
This paper focuses on the use of passive dynamics to achieve efficient walking with simple mechanisms. A torso is added to a biped walker; and hip actuators, instead of ankle actuators, are used. A numerical approach is used to find the optimal control trajectories. A comparison between the cost functions of simple feedback control and optimal control is presented. Next, springs are added to the biped walking model at the hip joints to demonstrate the advantage of hip springs in terms of energy cost and ground conditions. The comparison between the torque costs with and without hip springs indicates that hip springs reduce the torque cost, particularly at a high walking speed.
CAMBRIDGE UNIV PRESS, English, Scientific journal
DOI：https://doi.org/10.1017/S0263574710000354
DOI ID：10.1017/S0263574710000354, ISSN：0263-5747, eISSN：1469-8668, Web of Science ID：WOS:000292239200016

Control System Design for Occupant Lower Extremity Protection in Vehicle Frontal Collision (Cooperative Control of Active Knee Bolster and Active Lap Belt)　　　　　　　　　　　　　　　
NARUKAWA Terumasa; NISHIMURA Hidekazu
J Syst Des Dyn (Web), Volume：5, Number：5, First page：1176-1187 (J-STAGE), Last page：1187, 2011, [Reviewed]
This paper presents control system design for occupant lower extremities protection in vehicle frontal collision. A protective control system consisting of an active knee bolster and an active lap belt is designed to reduce the maximum load to the femurs and the maximum lap belt force. In the control system design, we examine the effects of the initial distance between the occupant's knees and the active knee bolster, and the maximum pelvis displacement. It is expected that the initial distance affects the protection performance because the control duration of the active knee bolster mainly depends on the initial distance. To avoid the collision with the steering wheel, the maximum pelvis displacement is restrained. The lap belt force and the contact force between the knees and the instrument panel are calculated so that the load to the femurs is reduced while the lap belt force is not increased compared to passive lap belt. Simulation results clarify the effects of the initial distance and the maximum pelvis displacement on occupant protection under assumption that the protective control system can vary the initial distance.
The Japan Society of Mechanical Engineers, English
DOI：https://doi.org/10.1299/jsdd.5.1176
DOI ID：10.1299/jsdd.5.1176, ISSN：1881-3046, J-Global ID：201102258876652088, CiNii Articles ID：130001014217

Numerical and Experimental Studies of Planar Passive Biped Walker with Flat Feet and Ankle Springs　　　　　　　　　　　　　　　
NARUKAWA TERUMASA; YOKOYAMA KAZUTO; TAKAHASHI MASAKI
Journal of System Design and Dynamics, Volume：4, Number：6, First page：848, Last page：856, Dec. 2010, [Reviewed]
Passive biped walkers can walk down a shallow slope without actuators. This study presents a simple planar passive biped walker with flat feet and ankle springs and investigates the effect of torsional spring stiffness on the pitch motion at the ankle joints. Numerical stability studies indicated that the motion of the passive walker is stable. The physical biped walker has four legs, with each of the two legs connected so that they move identically in order to restrict the motion of the walker to the sagittal plane. Experimental results showed that the biped walker can walk in a stable manner.
JSME, English, Scientific journal
DOI：https://doi.org/10.1299/jsdd.4.848
DOI ID：10.1299/jsdd.4.848, ISSN：1881-3046, CiNii Articles ID：130000431773

Motion analysis and experiment of a planar passive biped walker with flat feet and ankle springs　　　　　　　　　　　　　　　
Terumasa Narukawa; Kazuto Yokoyama; Masaki Takahashi
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Volume：76, Number：765, First page：1380, Last page：1385, 2010, [Reviewed]
Passive biped walkers can walk down a shallow slope without actuators. This paper presents a simple planar passive biped walker with flat feet and ankle springs, and investigates the effects of torsional spring stiffness on the pitch motion at the ankle joints. Numerical stability studies indicated that the motion of the passive walker is stable. Physical biped walker has four legs, with each set of two legs connected so that they move identically, to constrain the motion of the walker to the sagittal plane. Experimental results showed that the biped walker can walk stably.
Japan Society of Mechanical Engineers, Japanese, Scientific journal
DOI：https://doi.org/10.1299/kikaic.76.1380
DOI ID：10.1299/kikaic.76.1380, ISSN：0387-5024, J-Global ID：201002248697236648, CiNii Articles ID：110007619503, SCOPUS ID：77955203784

Design and Stability Analysis of a 3D Rimless Wheel with Flat Feet and Ankle Springs　　　　　　　　　　　　　　　
NARUKAWA Terumasa; TAKAHASHI Masaki; YOSHIDA Kazuo
J Syst Des Dyn (Web), Volume：3, Number：3, First page：258-269 (J-STAGE), Last page：269, 2009, [Reviewed]
A two-dimensional rimless wheel provides a simple model of bipedal walking. The motion of the rimless wheel is stable, and this particular property has clarified the fundamental role of a swing leg in planar bipedal walking that addresses the problem of falling forward. In this paper, a three-dimensional rimless wheel is investigated as a simple model of three-dimensional bipedal walking. The 3D rimless wheel model is useful in understanding the essential dynamics of 3D bipedal locomotion. The model consists of two rimless wheels connected by a link at the center of the wheels, and flat feet connected to the spokes with springs. The first numerical stability studies indicated that the motion of the 3D rimless wheel could be unstable; however, numerical simulations and experimental results showed that for a given slope and physical parameters, including the spring constant at the ankles, a stable motion is obtained. This indicates the usefulness of ankle springs in providing stable bipedal locomotion in three-dimensions.
The Japan Society of Mechanical Engineers, English
DOI：https://doi.org/10.1299/jsdd.3.258
DOI ID：10.1299/jsdd.3.258, ISSN：1881-3046, J-Global ID：200902279993672714, CiNii Articles ID：130000132881

Design and Construction of a Simple 3D Straight-Legged Passive Walker with Flat Feet and Ankle Springs　　　　　　　　　　　　　　　
NARUKAWA Terumasa; YOKOYAMA Kazuto; TAKAHASHI Masaki; YOSHIDA Kazuo
J Syst Des Dyn (Web), Volume：3, Number：1, First page：1-12 (J-STAGE), Last page：12, 2009, [Reviewed]
To date, most passive walkers have been designed with arc-shaped feet rigidly attached to the legs. However, the friction torque against yaw is often insufficient because of their contact conditions with the ground. We developed a simple 3D straight-legged passive walker with flat feet and ankle springs. Flat feet were used to gain enough scrubbing friction to oppose unstable yaw motion. Springs were attached to the ankle to produce torque resulting in roll and pitch motions that mimic those of 3D passive walkers with arc-shaped feet, while the friction torque against yaw should be sufficient. The spring constant for the roll motion at the stance ankle is obviously an important factor in enabling the straight-legged robot to rock adequately from side to side to avoid problematic scuffing of the swing leg so it can swing forward. We used numerical simulations to determine the value of the spring constant. Experimental results indicated that our 3D straight-legged passive walker with a 0.77-m leg can walk more than 2 m at about 0.46 m/s.
The Japan Society of Mechanical Engineers, English
DOI：https://doi.org/10.1299/jsdd.3.1
DOI ID：10.1299/jsdd.3.1, ISSN：1881-3046, J-Global ID：200902248955564662, CiNii Articles ID：130000674113

Numerical Simulations of Level-Ground Walking Based on Passive Walk for Planar Biped Robots with Torso by Hip Actuators　　　　　　　　　　　　　　　
NARUKAWA Terumasa; TAKAHASHI Masaki; YOSHIDA Kazuo
J Syst Des Dyn (Web), Volume：2, Number：2, First page：463-474 (J-STAGE), Last page：474, 2008, [Reviewed]
This study aims at a design technique of energy-efficient biped walking robots on level ground with simple mechanisms. To do this, we focus on the passive dynamic walkers which can walk stably down a shallow slope without actuators and controllers. On level ground, active walking should be studied because the mechanical energy is mainly lost through the swing-leg impacts with the ground. In this paper, numerical simulations show that planar biped robots with torso can walk efficiently on level ground over a wide range of speed by only using hip actuators. The hip actuators are used for a torso and swing-leg control based on passive-dynamic walking. The torso is used to generate active power replacing gravity used in the case of the passive walk. The swing-leg control is introduced to walk stably over a wide range of speed.
The Japan Society of Mechanical Engineers, English
DOI：https://doi.org/10.1299/jsdd.2.463
DOI ID：10.1299/jsdd.2.463, ISSN：1881-3046, J-Global ID：200902253771188203, CiNii Articles ID：130000098844

Intelligent Stabilization Control to An Arbitrary Equilibrium Point of Double Pendulum　　　　　　　　　　　　　　　
TAKAHASHI Masaki; NARUKAWA Terumasa; YOSHIDA Kazuo
J Syst Des Dyn (Web), Volume：1, Number：4, First page：672-681 (J-STAGE), 2007, [Reviewed]
English
DOI：https://doi.org/10.1299/jsdd.1.672
DOI ID：10.1299/jsdd.1.672, ISSN：1881-3046, J-Global ID：200902239876538320, CiNii Articles ID：10015503653

Intelligent Stabilization Control to Arbitrary Equilibrium Point of Double Inverted Pendulum　　　　　　　　　　　　　　　
高橋正樹; 成川輝真; 吉田和夫
日本機械学会論文集 C編, Volume：70, Number：689, First page：15, Last page：22, Jan. 2004, [Reviewed]
Japanese
DOI：https://doi.org/10.1299/kikaic.70.15
DOI ID：10.1299/kikaic.70.15, ISSN：0387-5024, J-Global ID：200902217950348780

Robustness and Fault-Tolerance of Cubic Neural Network Intelligent Control Method: Comparison with Sliding Mode Control　　　　　　　　　　　　　　　
Masaki Takahashi; Terumasa Narukawa; Kazuo Yoshida
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Volume：69, Number：682, First page：1579, Last page：1586, 2003, [Reviewed]
This study aims at establishing a robust intelligent control method with higher control performance and wider application region. In particular, this study deals with a nonlinear and failure-proof control problem. In this study, the dynamical energy principle is embedded into the integrator of Cubic Neural Network (CNN) that consists of multilevel parallel processing on different degrees of abstraction. The proposed CNN is applied to a control problem of a swung up and inverted pendulum. In order to confirm the effectiveness of the integrated CNN controllers, we carried out simulations and experiments with parameter variation and sensor failure. As a result of simulation and experiment, it was demonstrated that the integrated CNN controllers can stand up the pendulum taking into account the cart position limit at abnormal situations. Then, the robustness and the faulttolerance of the proposed CNN controllers is confirmed by comparing sliding mode control techniques. © 2003, The Japan Society of Mechanical Engineers. All rights reserved.
English, Scientific journal
DOI：https://doi.org/10.1299/kikaic.69.1579
DOI ID：10.1299/kikaic.69.1579, ISSN：0387-5024, J-Global ID：200902277386469117, SCOPUS ID：0042932517

■ MISC

G1100201 Reaction force and sealing characteristics of reciprocating compressor piston-cylinder system　　　　　　　　　　　　　　　
YAMAMOTO Hiroshi; KOIKE Daiki; NARUKAWA Terumasa
Mechanical Engineering Congress, Japan, Volume：2015, First page："G1100201, Last page：1"-"G1100201-3", 13 Sep. 2015
In order to improve vibration characteristics of reciprocating compressor with labyrinth piston, we investigate reaction force and sealing characteristics of piston-cylinder system using modeled experimental equipment. As supply pressure increases, stiffness, damping and flow rate increase in all case. As clearance between the piston and the cylinder decreases, stiffness and damping increase and flow rate decreases in all case. The stiffness and the damping of system with labyrinth piston is smaller than those with plane piston which has no labyrinth. On the other hand, leakage of labyrinth piston system is smaller than that of plane piston system.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110010048523, CiNii Books ID：AA12588255

421 Experiment of a compass-like passive walker with circular feet　　　　　　　　　　　　　　　
KATAOKA Tomoaki; NARUKAWA Terumasa; YAMAMOTO Hiroshi
Dynamics and Design Conference : D & D, Volume：2015, First page："421, Last page：1"-"421-7", 25 Aug. 2015
A passive walker can walk down a shallow slope using only gravity energy. Passive walking is useful for understanding human locomotion and developing energy-efficient biped robots. In order to study the passive walking, it is important to carry out modeling. Passive walking model relies on some assumptions. In conventional passive walking model it is assumed that the impact is inelastic and without slipping. Comparing the passive walking model against a physical passive walker determines whether the assumptions are valid. We built a physical compass-like passive walker with circular feet to validate the conventional walking model. It is shown that the difference between the gait of the physical passive walker and the simulated gait of the conventional walking model can be accounted for the walking model.
The Japan Society of Mechanical Engineers, Japanese
ISSN：1348-0235, CiNii Articles ID：110010054191, CiNii Books ID：AA11901770

162 Characteristics of friction induced bouncing vibration　　　　　　　　　　　　　　　
YAMAMOTO Hiroshi; HASEGAWA Hiroyuki; NARUKAWA Terumasa
Dynamics and Design Conference : D & D, Volume：2015, First page："162, Last page：1"-"162-9", 25 Aug. 2015
In this study we make clear the characteristics of friction induced vibration which involves collision and bound. This system consists of a rotating long arm, a rotating cylinder and a vibration object which collides with rotating cylindrical surface. The vibration object can rotate around a axis through one edge of the rotating arm and the center of mass of the vibration object. The motion of the center of mass of the vibration object can be considered as a vertical translational motion since length of the rotating arm is long enough. Thus, this system can be considered as two degree of freedom system. The rotating axes of the rotating arm and the vibration object are parallel to a rotating axis of the rotating cylinder. The vibration object connects to the rotating arm with spring in order to return its posture to the equilibrium state. After the vibration object collides with the rotating cylinder due to the gravity, its bounces immediately. After its height becomes maximum, the vibration object drops and collides with the rotating cylinder again. The vibration object repeats a series of those motion. As the rotating speed of the cylinder or the equivalent mass of the vibration object increases, the maximum height of the bouncing motion increases and the bouncing period increases. As the load or the contact angle increases, the maximum height of the bouncing motion decreases and the bouncing period decreases.
The Japan Society of Mechanical Engineers, Japanese
ISSN：1348-0235, CiNii Articles ID：110010051785, CiNii Books ID：AA11901770

224 Stability of a rotor supported by hydrostatic gas journal bearings with partially circular grooves　　　　　　　　　　　　　　　
YAMAMOTO Hiroshi; URA Shotaro; NARUKAWA Terumasa
Dynamics and Design Conference : D & D, Volume：2014, First page："224, Last page：1"-"224-8", 25 Aug. 2014
In this study we make clear dynamic characteristics of a partially circular grooved hydrostatic gas journal bearing and whirling instability of a rotor supported with this bearing. The pressure of gas film is increased as a whole by partially circular grooves. Moreover, the bearing stiffness can be increased by fabricated pocket near feeding holes. As a result, the diagonal terms k_ of stiffness matrix can be increased. Then the rotor becomes stable. And we can stabilize a rotor supported with grooved hydrostatic gas journal bearings by choosing the optimum feeding parameter Γ, depth, width and length of partially circular grooves in order to increase k_ the range in which damping doesn't become negative. Although the optimum bearing parameters which correspond to the maximum stiffness and the maximum critical mass are not same, it is better to choose the design parameters which give the maximum critical mass. The shortest and the shallowest partially circular groove length and feeding parameter which give the maximum critical mass should be chosen.
The Japan Society of Mechanical Engineers, Japanese
ISSN：1348-0235, CiNii Articles ID：110009979262, CiNii Books ID：AA11901770

2C14 Level-Ground Walking Based on Passive Walk for a Simple Planar Biped with Torso and Flat Feet(The 12th International Conference on Motion and Vibration Control)　　　　　　　　　　　　　　　
NARUKAWA Terumasa; YAMAMOTO Hiroshi
Dynamics and Design Conference, Volume：2014, Number：12, First page："2C14, Last page：1"-"2C14-11", 03 Aug. 2014
This study is inspired by the passive walking mechanisms which show that stable walking can be realized simply. The passive walkers can only walk on shallow slopes because they use gravitational potential energy in order to recover the energy lost mainly thorough the swing-leg impacts with the ground. The walking speed decreases with the slope angle and it is almost impossible to walk on level ground. We propose a level-ground walking method for a biped walker based on passive walking mechanisms, however two actuators are added at the hip in order to walk on level ground. The torso is added to the biped walker and the torque required to hold the leaning torso is used to walk on level ground. A swing- leg control is introduced to modify the free pendulum motion of the swing-leg in order to avoid falling forward. Numerical simulations show that ankle stiffness helps the walker to walk more efficiently.
The Japan Society of Mechanical Engineers, English
CiNii Articles ID：110009976587, CiNii Books ID：AA11902241

J-2-5-240 Optimum Design Procedure for a Vibration Isolator Supported with Air Suspensions : Effect of offset of center of mass　　　　　　　　　　　　　　　
YAMAMOTO Hiroshi; NARUKAWA Terumasa; MATZUZAKA Shun
Dynamics and Design Conference : D & D, Volume：2013, First page："240, Last page：1"-"240-10", 25 Aug. 2013
In this study we make clear the dynamic characteristics of a vibration isolator with two degrees of freedom, one degree of freedom in rotation around horizontal axis and one degree of freedom in vertical translation. The isolator consists of two air suspensions with slit restrictions and reservoir tanks. To minimize resonance amplitude, the damping ratio, which corresponds to the restriction coefficient of the slit restriction, has to be chosen in order to equalize the resonance amplitude when the lowest mode of vibration is excited to that of the highest mode of vibration, where the offset of center of mass sets largest. To minimize standard deviation of amplitude of the system, the optimum damping ratio which minimize the standard deviation of amplitude of the system under the condition of rotating oscillating has to be chosen when the natural frequency of the parallel mode is lower than that of the rotating mode, where the offset of center of mass sets largest.
The Japan Society of Mechanical Engineers, Japanese
ISSN：1348-0235, CiNii Articles ID：110009979155, CiNii Books ID：AA11901770

J-2-5-237 Optimal Configuration of Rolling Bearings and Magnetic Dampers in Horizontal Vibration Isolator　　　　　　　　　　　　　　　
NARUKAWA Terumasa; YAMAMOTO Hiroshi
Dynamics and Design Conference : D & D, Volume：2013, First page："237, Last page：1"-"237-9", 25 Aug. 2013
This paper studies a horizontal vibration isolator with two degrees of freedom in horizontal translation and one degree of freedom in horizontal rotation. The isolator consists of three rolling bearings and three magnetic dampers. The stiffness is provided by the rolling bearings and the damping force is generated by the magnetic dampers. The rolling bearing is composed of spherical bearing blocks and a ball. The magnetic damper is composed of a circular conductor and circular permanent magnets. The optimal stiffness and damping, and optimal configuration of the rolling bearings and the magnetic dampers are obtained to minimize standard deviation of amplitude under random external excitation, while satisfying the desired settling time to reduce the residual vibration. Examples of the optimal design are presented and the effectiveness is verified by numerical simulations.
The Japan Society of Mechanical Engineers, Japanese
ISSN：1348-0235, CiNii Articles ID：110009979152, CiNii Books ID：AA11901770

C03 Control Systems Design Based on Functional Analysis Using SysML : Application to Occupant Protective Control System　　　　　　　　　　　　　　　
NISHIMURA Hidekazu; NARUKAWA Terumasa
Dynamics and Design Conference, Volume：2013, Number：13, First page："C03, Last page：1"-"C03-6", 25 Aug. 2013
This paper introduces control systems design based on functional analysis using SysML in terms of the model based systems engineering. Optimization problem for a system of interest can be redefined including its time span and physical behavior. Functions of occupant protective control are analyzed using SysML diagrams and possible necessity to take the behavior before the knee contact with the instrument panel into consideration occurs. Thus collaboration control of a lap belt and a knee bolster is derived to reduce injuries of occupants. The optimization results show that the superior performance of reduction of the lower extremities is obtained. Also importance of dynamical model reduction is emphasized in order to not only design the control system but also understand the behavior of the system of interest.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110009976217, CiNii Books ID：AA11902241

D40 Motion Analysis of a Planar Passive Biped Walker with Flat Feet and Knees　　　　　　　　　　　　　　　
NARUKAWA Terumasa; YAMAMOTO Hiroshi
Dynamics and Design Conference, Volume：2013, Number：13, First page："D40, Last page：1"-"D40-6", 25 Aug. 2013
This paper studies a planar passive biped walker with flat feet and knees whose motion is restricted to the sagittal plane. It consists of two legs with knees connected by a frictionless hinge at the hip and two flat feet connected to each leg by a frictionless hinge at the ankle. Torsional springs are attached to the ankles. Passive walking consists of different phases such as the double-support phase and the impact phase due to the impact between the feet and the ground. It is assumed that when the knee of the swing-leg reaches full extension, the knee joint is locked. We develop a mathematical model of bipedal locomotion by using a set of differential equations describing the dynamics of walking and discrete models describing impact events. The effects of torsional spring stiffness are investigated through numerical simulations. Numerical simulations show that the planar passive biped walker with flat feet and knees can walk stably.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110009976290, CiNii Books ID：AA11902241

650 Drive Control System Design of Small 4-In-Wheel-Motor Vehicle　　　　　　　　　　　　　　　
MORI Takashi; NARUKAWA Terumasa; MURAKAMI Shintaroh; NISHIMURA Hidekazu
Dynamics & Design Conference, Volume：2012, First page："650, Last page：1"-"650-9", 18 Sep. 2012
Small 4-in-wheel-motor vehicles are required to have driving performance same as that of conventional cars. From the requirement analysis utilizing sequence diagrams based on the operational scenario, necessity of driving stability on low rolling resistance is derived. In this study we pick Direct Yaw moment Control (DYC) among several control architectures for driving stability. We develop a model for verification of control performance of the DYC system using the model of JSAE-SICE Benchmark Problem No.3. Some simulation results for testing under crosswind conditions and double lane change are shown.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110009908283, CiNii Books ID：AA12120184

231 Studies on Occupant Restraint Method in Car Crash Using Reduced-Order Dynamic Model Considering Thoracic Deflection　　　　　　　　　　　　　　　
NARUKAWA Terumasa; NISHIMURA Hidekazu; ITO Yuichi; MOTOZAWA Yasuki
Dynamics and Design Conference : D & D, Volume：2012, First page：40, Last page：40, 17 Sep. 2012
The Japan Society of Mechanical Engineers, Japanese
ISSN：1348-0235, CiNii Articles ID：110009952992, CiNii Books ID：AA11901770

J123012 Reduced-Order Dynamic Model for Design of Occupant Protection Device Considering Thoracic Deflection in Car Crash　　　　　　　　　　　　　　　
NARUKAWA Terumasa; NISHIMURA Hidekazu; ITO Yuichi; MOTOZAWA Yasuki
Mechanical Engineering Congress, Japan, Volume：2012, First page："J123012, Last page：1"-"J123012-4", 09 Sep. 2012
A simple dynamic model is useful to understand the essential dynamics of the occupant in car crash and will be effective to determine the properties of protection devices. In this paper, a reduced-order dynamic model is introduced based on human finite element model having age-specific characteristics such as bone stiffness and tolerance of the body. The reduced-order dynamic model consists of two masses and one rigid body. The two masses correspond to the thorax and the lower body, and the rigid body corresponds to the upper body. The mass representing the thorax was connected to the upper body by a spring and a damper in parallel to consider the thoracic deflection, which is one of the representing injury criteria in frontal car crash.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110009994947, CiNii Books ID：AA12588255

J123011 Design of Chassis and Drive Control System for Next-generation Small Electric Vehicle　　　　　　　　　　　　　　　
MORI Takashi; NISHIMURA Hidekazu; NARUKAWA Terumasa
Mechanical Engineering Congress, Japan, Volume：2012, First page："J123011, Last page：1"-"J123011-4", 09 Sep. 2012
In this paper, the design of a chassis and drive control system for a next-generation small electric vehicle is carried out on system level with Model-Based System Engineering (MBSE) and 1DCAE (1 Dimensional Computer Aided Engineering). MBSE is effective for co-operation with some disciplinary teams and promotion of concurrent engineering. 1DCAE in MBSE can help simulating and analyzing the physical model for selection from some alternatives of system architecture. We show the control design process by ensuring traceability among requirement analysis, functional model, logical model and physical model for 1DCAE.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110009994946, CiNii Books ID：AA12588255

134 Control System Design for Occupant Lower Extremity Protection Using Semi-Active Knee Bolster　　　　　　　　　　　　　　　
NARUKAWA Terumasa; NISHIMURA Hidekazu
Dynamics and Design Conference : D & D, Volume：2011, First page：25, Last page：25, 04 Sep. 2011
The Japan Society of Mechanical Engineers, Japanese
ISSN：1348-0235, CiNii Articles ID：110009689818, CiNii Books ID：AA11901770

314 Walking Velocity Control for a Compass-like Biped Robot Based on Passive Dynamic Walking under Variable Gravity　　　　　　　　　　　　　　　
Matsumoto Yusuke; IKEDA Tatsuhiko; NARUKAWA Terumasa; TAKAHASHI Masaki
Dynamics and Design Conference : D & D, Volume：2011, First page：52, Last page：52, 04 Sep. 2011
The Japan Society of Mechanical Engineers, Japanese
ISSN：1348-0235, CiNii Articles ID：110009689920, CiNii Books ID：AA11901770

C207 Braking Force Control System Design for A Motorcycle　　　　　　　　　　　　　　　
ZHU Shaopeng; MURAKAMI Shintaroh; NISHIMURA Hidekazu; NARUKAWA Terumasa
Dynamics and Design Conference, Volume：2011, Number：12, First page：375, Last page：379, 28 Jun. 2011
In this paper, we study the design of an Anti-lock Brake System (ABS) using a dynamical model of a rider-motorcycle system, which considered the rider's dynamic characteristics and vehicle's suspensions. A Magic Formula tire model is used to describe the relationship between the slip rate and the friction coefficient. We verify the effect of the designed ABS by using nonlinear simulations of front braking at the straight running on the low friction coefficient road surface. In addition, by adjusting the control range of the slip rate as the design parameter of ABS, the relationship between the motorcycle's pitching and the braking distance is quantitatively analyzed. The influence of suspensions for the braking performance of ABS is also investigated.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110009619604, CiNii Books ID：AA11902241

B313 Gait Analysis of Passive Dynamic Walking of a Compass-like Biped Robot under Variable Gravity and Proposal of Experimental Reproduction Method　　　　　　　　　　　　　　　
MATSUMOTO Yusuke; IKEDA Tatsuhiko; NARUKAWA Terumasa; TAKAHASHI Masaki; YAMADA Shin; OHSHIMA Hiroshi; LIU Meigen
Dynamics and Design Conference, Volume：2011, Number：12, First page：550, Last page：555, 28 Jun. 2011
In the future, astronauts will go to the moon and stay there for several weeks. Lack of experience of reduced might cause astronauts falling down. To prevent this risk, it is important to research human gait under variable gravity and propose significant method to train astronauts' walking before they go to the moon. There are several methods to simulate walking under variable gravity and one of the most major methods is unloading of the body by suspension (suspension method). However, suspension method has a problem that only body is unloaded but legs are not. In order to analyze the influence of lack of leg unloading, this paper compares the gait of suspension method and the gait under variable gravity using a compass-like biped robot. In this paper, we propose new method to simulate walking under variable gravity rigorously, In addition to suspension method, legs are actuated from hip and ankle joints to support the leg mass against the gravity. With proposed method, it is shown that simulation results conform to the gait under variable gravity.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110009619640, CiNii Books ID：AA11902241

D105 Control System Design for Occupant Lower Extremity Protection in Car Crash Using Reduced-Order Dynamical Model　　　　　　　　　　　　　　　
Narukawa Terumasa; Nishimura Hidekazu
Dynamics and Design Conference, Volume：2011, Number：12, First page：225, Last page：230, 28 Jun. 2011
This paper presents control system design for occupant lower extremity protection in vehicle frontal collision by using a reduced-order dynamical model. Physical parameters of the reduced-order dynamical model are estimated from a simulation result of a three-dimensional dynamical simulator with a passive knee bolster. An active knee bolster is used to protect occupant lower extremities. The control system of the active knee bolster follows a reference signal of the contact force between the knee and the instrument panel. The protective control system with the active knee bolster is effective for reducing the femur load, verified by using three-dimensional multi body simulator.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110009619574, CiNii Books ID：AA11902241

1P1-Q06 Biped Walking with Torso for Changing Walking Speed Based on Passive Dynamics(Dynamics & Design of Robot System)　　　　　　　　　　　　　　　
NARUKAWA Terumasa; NISHIMURA Hidekazu
Volume：2011, First page："1P1, Last page：Q06(1)"-"1P1-Q06(3)", 26 May 2011
A planar kneeless biped walker with a torso can walk efficiently on level ground by only using hip actuators. The hip actuators are used for a torso and swing-leg control based on passive dynamics. In this paper, numerical simulations show that the walking speed of the biped walker can be changed by changing the desired torso angle. The biped walker can walk over a wide speed range without falling by the simple control algorithm. The desired torso angle varies between 0.1 rad and 0.6 rad. The walking speed is 0.7m/s when the desired torso angle is 0.1 rad, and the walking speed is 1.4m/s when the desired torso angle is 0.6 rad.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110009692031, CiNii Books ID：AA11902933

329 Protective Control System Design by Using System Identification Model for Occupant's Lower Extremities in Frontal Car Crash　　　　　　　　　　　　　　　
NARUKAWA Terumasa; NISHIMURA Hidekazu
Dynamics & Design Conference, Volume：2010, First page："329, Last page：1"-"329-5", 14 Sep. 2010
This paper presents protective control system design for occupant lower extremities in vehicle frontal collision by using system identification model. The protective control system consists of active knee bolsters. The control problem is formulated as reducing the load to the femurs while restraining the occupant forward motion. The active knee bolster force is calculated to minimize the maximum load to the femurs. Numerical simulations show the load to the femurs is reduced. Finally the protective control system with the active knee bolster is verified by using three-dimensional multi body simulator.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110008740449, CiNii Books ID：AA12120184

63637 Numerical Simulations of a Simple Planar Passive Walker with Ankle Springs(Robotics and Mechatronics)　　　　　　　　　　　　　　　
Narukawa Terumasa; Nishimura Hidekazu
Proceedings of the ... Asian Conference on Multibody Dynamics, Volume：2010, Number：5, First page："63637, Last page：1"-"63637-6", 22 Aug. 2010
This paper presents modeling and simulation study of a simple planar passive walker with ankle springs, which exhibits double support phase. Contact model of the passive walking is constructed in order to deal with various conditions of contact with the ground and the presence of impact due to foot touchdown, liftoff and possibly foot rotation over the heel or toe during walking. A foot-ground contact is simulated as a compression normal force with Coulomb friction. Numerical simulations indicated that the passive walker with flat feet and ankle springs walks down stably on a shallow slope.
The Japan Society of Mechanical Engineers, English
CiNii Articles ID：110009968525, CiNii Books ID：AA11901351

64039 An Experimental Study on Motions of a Planar Rimless Wheel(Contact, Impact, and Friction)　　　　　　　　　　　　　　　
Narukawa Terumasa; Ikeda Tatsuhiko; Takahashi Masaki
Proceedings of the ... Asian Conference on Multibody Dynamics, Volume：2010, Number：5, First page："64039, Last page：1"-"64039-7", 22 Aug. 2010
One of the most fundamental models of biped locomotion is a planar rimless wheel which captures the stance leg motion and the heel strike. In numerical simulations, it is usually assumed that the impact between the leg and the ground is instantaneous and the impact results in no rebound and no slipping. This paper presents an experimental study on motions of a planar rimless wheel to validate the assumptions used to model rimless wheels. We investigate mainly the impact phenomenon with the ground. We built experimental setup to capture the motion of a planar rimless wheel. In our experimental setup, the rimless wheel moves on a slope. The motion is captured by motion capture cameras and a high speed camera. The locations of markers at a spoke are calculated by the images of the motion capture cameras. The motion analysis clarifies the effects of the impact phenomenon.
The Japan Society of Mechanical Engineers, English
CiNii Articles ID：110009968548, CiNii Books ID：AA11901351

2C13 Control System Design for Occupant Lower Extremity Protection in Vehicle Frontal Collision　　　　　　　　　　　　　　　
NARUKAWA Terumasa; NISHIMURA Hidekazu
Dynamics and Design Conference, Volume：2010, First page："2C13, Last page：1"-"2C13-11", 17 Aug. 2010
This paper presents control system design for occupant lower extremity protection in vehicle frontal collision. In order to protect the occupant's lower extremities in vehicle collision, a protective control system consisting of an active knee bolster and an active lap belt is designed to reduce the maximum load to the femurs and the maximum lap belt force. The lap belt force and the contact force between the knees and the instrument panel are controlled. The lap belt force acts on the pelvis. The contact force between the knees and the instrument panel acts on the lower limb after the knee collision. The control problem is formulated as reducing the load to lower extremities while restraining the occupant forward motion. The lap belt force and the contact force are calculated so that the load to the femurs is reduced while the lap belt force is not increased compared to passive lap belt. In this paper, we assume that the protective control system can vary the initial distance between the occupant's knees and the active knee bolster. Simulation results clarify the effects of the initial distance between the knees and the knee bolster on occupant protection.
The Japan Society of Mechanical Engineers, English
CiNii Articles ID：110009976743, CiNii Books ID：AA11902241

A07 Cooperative Control of Knee Bolster and Seat Belt for Injury Protection of Occupants in Vehicle Collision　　　　　　　　　　　　　　　
Narukawa Terumasa; Nishimura Hidekazu; Narikawa Ryu
Dynamics and Design Conference, Volume：2009, Number：11, First page：36, Last page：40, 01 Sep. 2009
This paper presents injury protection control of the occupant's lower extremities in vehicle collision with an active seat belt and an active knee bolster. The seat belt force for his or her pelvis is controlled by the active seat belt. The contact force between his or her knees and the instrument panel is controlled by the active knee bolster. The control problem is formulated as an optimization problem and the control inputs are calculated to minimize the maximum load of his or her femurs under the constraint of the maximum seat belt force. Numerical simulations show that cooperative control of the active seat belt and the active knee bolster reduces the maximum load of the femurs and the maximum seat belt force at the same time.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110008010521, CiNii Books ID：AA11902241

623 The Motion of a Planar Passive Biped Walker with Flat Feet and Ankle Springs　　　　　　　　　　　　　　　
NARUKAWA Terumasa; YOKOYAMA Kazuto; TAKAHASHI Masaki
Dynamics & Design Conference, Volume：2009, First page："623, Last page：1"-"623-5", 03 Aug. 2009
Passive biped walkers can walk down a shallow slope without actuators. This paper presents a simple planar passive biped walker with flat feet and ankle springs, and investigates the effects of torsional spring stiffness on the pitch motion at the ankle joints. Numerical stability studies indicated that the motion of the passive walker is stable. Physical biped walker has four legs, with each set of two legs connected so that they moved identically, to constrain the motion of the walker to the sagittal plane. Experimental results showed that the biped walker can walk stably.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110008089389, CiNii Books ID：AA12120184

657 Control of Shock for Occupant Protection in Vehicle Collision　　　　　　　　　　　　　　　
NARIKAWA Ryu; NISHIMURA Hidekazu; NARUKAWA Terumasa
Dynamics & Design Conference, Volume：2009, First page："657, Last page：1"-"657-6", 03 Aug. 2009
In this paper, we propose a design method of a control system for a semi-active knee bolster to protect occupant legs in vehicle collision. The optimal contact force between an instrument panel and a knee is obtained by Limiting Performance Analysis for the augmented system including an active control system of an active knee bolster with an initial value compensation input. By carrying out simulations we clarify effectiveness of the design parameters of constrain of the pelvis displacement and a parameter of the initial value compensation input to undershoot of the control input and reduction of the femur load.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110008089421, CiNii Books ID：AA12120184

558 Torso and Swing-Leg Control Based on Passive-Dynamic Walking for a Biped Robot with K nees on Level Ground　　　　　　　　　　　　　　　
NARUKAWA Terumasa; TAKAHASHI Masaki; YOSHIDA Kazuo
Dynamics & Design Conference, Volume：2006, First page："558, Last page：1"-"558-6", 06 Aug. 2006
This study aims at finding active biped robot designs with efficiency and simplicity of passive-dynamic walking. In this paper, a control method based on passive-dynamic walking is proposed. Torso and swing-leg control enable a biped robot with knees on level ground to walk stably without gait planning. The torso control is used to generate active power replacing gravitational potential energy which is used in the case of passive-dynamic walking. The swing-leg control is applied in order to satisfy the transition condition of the swing-leg and the stance-leg before the robot falls down. When we choose an appropriate parameter of the swing-leg control, the biped robot can walk stably and efficiently over a wide range of speed.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110006657178, CiNii Books ID：AA12120184

C34 Combined Control of CPG and Torso Attitude Control for Biped Locomotion　　　　　　　　　　　　　　　
TAKAHASHI Masaki; NARUKAWA Terumasa; MIYAKAWA Ken; YOSHIDA Kazuo
Dynamics and Design Conference, Volume：2005, Number：9, First page：520, Last page：525, 22 Aug. 2005
This study aims at establishing a new control strategy for more natural and efficient bipedal locomotion. In this study, the robot is modeled as a planar biped model composed of a torso, hips, and two different legs with knees, but without ankles. The proposed method consists of Central Pattern Generator (CPG) for legged locomotion and torso attitude control. It is well known that the CPG controller copes with environmental changes by mutual entrainment of the oscillatory activities of the CPG and the body. Therefore, the biped robot can walk on both a level ground and a slope, and has the robustness for environmental changes. Moreover, the torso attitude control is executed concurrently with CPG controller for legged locomotion in the method. By utilizing the interaction between torso and legs, the biped robot with the torso can walk on the level ground over a wide range of speed. This paper presents a systematic control design method of the proposed strategy by using the genetic algorithm. In order to verify the effectiveness of the proposed method, computational simulations were carried out. As a result, it was demonstrated that the biped robot can walk on the level ground at a variable pace according to the desired torso angle given as an external command. Moreover, it was confirmed that the proposed controller has the robustness for environmental changes and external disturbance, and the biped robot can walk naturally on the uphill and downhill slopes.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110006209570, CiNii Books ID：AA11902241

C32 Torso and Swing-Leg Control for a Biped Walking Robot on Level Ground　　　　　　　　　　　　　　　
NARUKAWA Terumasa; TAKAHASHI Masaki; YOSHIDA Kazuo
Dynamics and Design Conference, Volume：2005, Number：9, First page：509, Last page：513, 22 Aug. 2005
This study aims at finding active biped robot designs with efficiency and simplicity of passive-dynamic walking. In this paper, it is shown that a biped robot with torso can walk efficiently on level ground over a wide range of speed by using torso and swing-leg control based on passive-dynamic walking. The torso and swing-leg control enable the biped robot on level ground to walk stably without gait planning. The torso is used to generate active power replacing gravity. The swing-leg control is applied in order to satisfy the transition condition of the swing leg and the stance leg before the robot falls down. It is also shown that the swing-leg control effects the efficiency of walking.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110006209568, CiNii Books ID：AA11902241

C38 Velocity Tracking Control of Bipedal Walking with Combined Control of CPG and Torso Attitude Control　　　　　　　　　　　　　　　
MIYAKAWA Ken; TAKAHASHI Masaki; NARUKAWA Terumasa; YOSHIDA Kazuo
Dynamics and Design Conference, First page：544, Last page：547, 2005
The combined control method consists of Central Pattern Generator (CPG) for legged locomotion and torso attitude control has been proposed. The combined control has the adaptability to the change of environment with CPG. Moreover using the control method, it has been confirmed that walking speed is changed according to the desired angle of torso. Therefore based on the result, this study aims to propose the desired velocity tracking control of biped locomotion by changing the torso angle according to the difference between the walking speed and the desired speed. In this paper, computer simulations were carried out to verify the performance of velocity tracking. From the result, the effectiveness of this method was confirmed.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110006209574, CiNii Books ID：AA11902241

Integrated Intelligent Control System : Equilibrium Point Transfer and Stabilization Control of Double Pendulum　　　　　　　　　　　　　　　
TAKAHAHSHI Masaki; NARUKAWA Terumasa; YOSHIDA Kazuo
Dynamics and Design Conference, Volume：2003, Number：8, First page：507, Last page：512, 30 Oct. 2003
This study aims at establishing a robust intelligent control method for nonlinear and complicated systems. In the method, an integrator neural network acquires optimum switching and integration of several controllers for a different local purpose by calculating the fitness function using the genetic algorithm. The proposed method is applied to an equilibrium point transfer and stabilization control of a double pendulum that possesses four equilibrium points. In order to verify the effectiveness of the proposed method, simulations and experiments were carried out. As a result, it was demonstrated that the proposed controller can transfer and stabilize the double pendulum from the arbitrary equilibrium points to one of unstable equilibrium points, that is, Up-Up without touching the cart position limit.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110002502132, CiNii Books ID：AA11902241

Integrated Cubic Neural Network Intelligent Control Method for Swing-Up and Stabilization of Inverted Pendulum : Verification of Robustness and Fault-Tolerance　　　　　　　　　　　　　　　
NARUKAWA Terumasa; TAKAHASHI Masaki; YOSHIDA Kazuo
Dynamics and Design Conference, Volume：2003, Number：8, First page：513, Last page：518, 30 Oct. 2003
This study aims at establishing a robust intelligent control method with high control performance and wide applicable region. In this paper, an integrated Cubic Neural Network (CNN) intelligent control method is applied to swing-up and stabilization of an inverted pendulum on a cart having restricted travel. CNN consists of multilevel parallel processing on different degrees of abstraction. An integrator is employed to decide between a swing-up CNN controller and a stabilizing CNN controller depending on the state of the inverted pendulum system. By comparing the proposed method with a sliding mode control method numerically and experimentally, it was verified that the proposed method has a good robustness with respect to parameter variation and a high tolerance to sensor failure.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110002502133, CiNii Books ID：AA11902241

Robustness and Fault-Tolerance of Integrated Cubic Neural Network Intelligent Control Method　　　　　　　　　　　　　　　
TAKAHAHSHI Masaki; NARUKAWA Terumasa; YOSHIDA Kazuo
Volume：2003, First page：13, Last page：13, 15 Sep. 2003
This study aims at establishing a robust intelligent control method with higher control performance and wider applicable region. In particular, this study deals with a nonlinear control problem. In this study, the dynamical energy principle is embedded into the integrator of Cubic Neural Network (CNN). The proposed CNN is applied to a control problem of a swung up and inverted pendulum. The performance of the proposed CNN are verified theoretically and experimentally compared with the sliding mode control techniques.
The Japan Society of Mechanical Engineers, Japanese
ISSN：1348-0235, CiNii Articles ID：110002483113, CiNii Books ID：AA11901770

Intelligent Transfer Control to an Unstable Equilibrium Point of Double Inverted Pendulum　　　　　　　　　　　　　　　
NARUKAWA Terumasa; TAKAHASHI Masaki; YOSHIDA Kazuo
Volume：2003, First page：30, Last page：30, 15 Sep. 2003
The double inverted pendulum has been known as a good example of nonlinear system. In the double inverted pendulum there are four equilibrium points. In this paper, we present a control method for transition between equilibrium points of the double inverted pendulum. The swing-up controller is designed based on energy. The stabilizing controllers are designed on the basis of the linear models at each unstable equilibrium point. Radial Basis Function Neural Network (RBFNN) learned by genetic algorithm is used to integrate the swing-up controller and the stabilizing controllers. The effectiveness of the proposed method is shown by simulation and experimental results.
The Japan Society of Mechanical Engineers, Japanese
ISSN：1348-0235, CiNii Articles ID：110002483130, CiNii Books ID：AA11901770

■ Books and other publications

Humanoid Robots: Human-like Machines Stability Analysis of a Simple Active Biped Robot with a Torso on Level Ground Based on Passive Walking Mechanisms　　　　　　　　　　　　　　　
2007
ISBN：9783902613073

Humanoid Robots: Human-like Machines Stability Analysis of a Simple Active Biped Robot with a Torso on Level Ground Based on Passive Walking Mechanisms　　　　　　　　　　　　　　　
I-Tech Education and Publishing, 2007
ISBN：9783902613073

■ Lectures, oral presentations, etc.

次世代衝突ダミーTHORの2次元縮退モデルの構築　　　　　　　　　　　　　　　
倉野優太郎; 疋田和樹; 米本涼; 檜原慎弥; 川村康; 前原一範; 成川輝真
自動車技術会大会学術講演会講演予稿集(CD-ROM), Oct. 2018
Japanese

空気ばねを用いた防振機構の動特性に積載荷重条件が及ぼす影響　　　　　　　　　　　　　　　
山本浩; 成川輝真
日本機械学会年次大会講演論文集(CD-ROM), Sep. 2017
Japanese
In this study we make clear the dynamic characteristics of a vibration isolator with two degrees of freedom, one degree of freedom in rotation around horizontal axis and one degree of freedom in vertical translation. The isolator consists of two pair of air suspensions with slit restrictions and reservoir tanks. Even if damping ratio of air suspension, which corresponds to the restriction coefficient of the slit restriction, is chosen in order to minimize resonance amplitude, the resonance amplitude increases in case of a mass of a supported object increasing. Moreover, even if the optimum damping ratio is chosen in order to minimize the resonance amplitude or the standard deviation of amplitude of the system, which corresponds to the response for random excitation, both value increase if offset of center of mass from a center of the pair of air suspensions increases. Thus, it is necessary to consider the mass of the supported object and the offset of center of mass of supported object in case of decreasing response of vibration isolator.

浮力を用いた防振機構　　　　　　　　　　　　　　　
山本浩; 成川輝真
日本機械学会年次大会講演論文集(CD-ROM), Sep. 2016
Japanese
In this study, we propose a vibration isolator using buoyant force and damping force due to viscosity of operating fluid and make clear its dynamical fundamental characteristics. A supported object of the isolator has several legs which sink into operating fluid filled in vessels put on a foundation. The buoyant force, which is proportional to displacement of the supported object, acts on the legs. The damping force acts on the side wall and the bottom wall of the legs. As an axial clearance between the bottom walls of the vessel and the leg decreases, the damping ratio increases. As the clearance decreases, a rate of change of damping ratio becomes large. As a radial clearance between the side walls of the vessel and the leg decreases, the damping ratio also increases. However, the increment ratio is not so large. Natural frequencies also changed due to the change of the damping ratio as the axial clearance and the radial clearance change. However, the rate of change of the natural frequency is small. The effect of viscosity of operating fluid on the damping ratio is also dominant. As the viscosity of the operating fluid increases, the damping ratio increases. However, the damping coefficient is not proportional to the viscosity of the fluid.

調整機構を有する動吸振器の特性　　　　　　　　　　　　　　　
根本健也; 山本浩; 成川輝真
Dynamics & Design Conference (CD-ROM), 2016
Japanese

歩行者保護を目的とした小型無人搬送車用アクティブバンパの設計　　　　　　　　　　　　　　　
成川輝真; 柘植智輝; 山本浩; 鈴木隆広
Dynamics & Design Conference (CD-ROM), 2016
Japanese

レシプロコンプレッサピストン・シリンダ系の反力および封止特性　　　　　　　　　　　　　　　
山本浩; 小池大樹; 成川輝真
日本機械学会年次大会講演論文集(CD-ROM), Sep. 2015
Japanese

421 Experiment of a compass-like passive walker with circular feet　　　　　　　　　　　　　　　
KATAOKA Tomoaki; NARUKAWA Terumasa; YAMAMOTO Hiroshi
Dynamics and Design Conference : D & D, Aug. 2015
Japanese
A passive walker can walk down a shallow slope using only gravity energy. Passive walking is useful for understanding human locomotion and developing energy-efficient biped robots. In order to study the passive walking, it is important to carry out modeling. Passive walking model relies on some assumptions. In conventional passive walking model it is assumed that the impact is inelastic and without slipping. Comparing the passive walking model against a physical passive walker determines whether the assumptions are valid. We built a physical compass-like passive walker with circular feet to validate the conventional walking model. It is shown that the difference between the gait of the physical passive walker and the simulated gait of the conventional walking model can be accounted for the walking model.

162 Characteristics of friction induced bouncing vibration　　　　　　　　　　　　　　　
YAMAMOTO Hiroshi; HASEGAWA Hiroyuki; NARUKAWA Terumasa
Dynamics and Design Conference : D & D, Aug. 2015
Japanese
In this study we make clear the characteristics of friction induced vibration which involves collision and bound. This system consists of a rotating long arm, a rotating cylinder and a vibration object which collides with rotating cylindrical surface. The vibration object can rotate around a axis through one edge of the rotating arm and the center of mass of the vibration object. The motion of the center of mass of the vibration object can be considered as a vertical translational motion since length of the rotating arm is long enough. Thus, this system can be considered as two degree of freedom system. The rotating axes of the rotating arm and the vibration object are parallel to a rotating axis of the rotating cylinder. The vibration object connects to the rotating arm with spring in order to return its posture to the equilibrium state. After the vibration object collides with the rotating cylinder due to the gravity, its bounces immediately. After its height becomes maximum, the vibration object drops and collides with the rotating cylinder again. The vibration object repeats a series of those motion. As the rotating speed of the cylinder or the equivalent mass of the vibration object increases, the maximum height of the bouncing motion increases and the bouncing period increases. As the load or the contact angle increases, the maximum height of the bouncing motion decreases and the bouncing period decreases.

摩擦に起因する跳躍振動の特性　　　　　　　　　　　　　　　
山本浩; 長谷川裕之; 成川輝真
Dyn Des Conf (CD-ROM), Aug. 2015
Japanese

円弧足を有するコンパス型受動歩行機の歩行実験　　　　　　　　　　　　　　　
片岡知明; 成川輝真; 山本浩
Dyn Des Conf (CD-ROM), Aug. 2015
Japanese

人体FEモデルに基づく側面衝突時の簡易人体力学モデルの構築　　　　　　　　　　　　　　　
成川輝真; 岡元雅義; 本澤養樹; 森史江
自動車技術会大会学術講演会講演予稿集(CD-ROM), May 2015
Japanese

G1100201 Reaction force and sealing characteristics of reciprocating compressor piston-cylinder system　　　　　　　　　　　　　　　
YAMAMOTO Hiroshi; KOIKE Daiki; NARUKAWA Terumasa
The Proceedings of Mechanical Engineering Congress, Japan, 2015
Japanese
In order to improve vibration characteristics of reciprocating compressor with labyrinth piston, we investigate reaction force and sealing characteristics of piston-cylinder system using modeled experimental equipment. As supply pressure increases, stiffness, damping and flow rate increase in all case. As clearance between the piston and the cylinder decreases, stiffness and damping increase and flow rate decreases in all case. The stiffness and the damping of system with labyrinth piston is smaller than those with plane piston which has no labyrinth. On the other hand, leakage of labyrinth piston system is smaller than that of plane piston system.

簡易人体力学モデルを用いた衝突事前検知による乗員拘束方法の検討　　　　　　　　　　　　　　　
藤原誠吾; 成川輝真; 山本浩; 本澤養樹
自動制御連合講演会(CD-ROM), 2015
Japanese

224 Stability of a rotor supported by hydrostatic gas journal bearings with partially circular grooves　　　　　　　　　　　　　　　
YAMAMOTO Hiroshi; URA Shotaro; NARUKAWA Terumasa
Dynamics and Design Conference : D & D, Aug. 2014
Japanese
In this study we make clear dynamic characteristics of a partially circular grooved hydrostatic gas journal bearing and whirling instability of a rotor supported with this bearing. The pressure of gas film is increased as a whole by partially circular grooves. Moreover, the bearing stiffness can be increased by fabricated pocket near feeding holes. As a result, the diagonal terms k_ of stiffness matrix can be increased. Then the rotor becomes stable. And we can stabilize a rotor supported with grooved hydrostatic gas journal bearings by choosing the optimum feeding parameter Γ, depth, width and length of partially circular grooves in order to increase k_ the range in which damping doesn't become negative. Although the optimum bearing parameters which correspond to the maximum stiffness and the maximum critical mass are not same, it is better to choose the design parameters which give the maximum critical mass. The shortest and the shallowest partially circular groove length and feeding parameter which give the maximum critical mass should be chosen.

J-2-5-240 Optimum Design Procedure for a Vibration Isolator Supported with Air Suspensions : Effect of offset of center of mass　　　　　　　　　　　　　　　
YAMAMOTO Hiroshi; NARUKAWA Terumasa; MATZUZAKA Shun
Dynamics and Design Conference : D & D, Aug. 2013
Japanese
In this study we make clear the dynamic characteristics of a vibration isolator with two degrees of freedom, one degree of freedom in rotation around horizontal axis and one degree of freedom in vertical translation. The isolator consists of two air suspensions with slit restrictions and reservoir tanks. To minimize resonance amplitude, the damping ratio, which corresponds to the restriction coefficient of the slit restriction, has to be chosen in order to equalize the resonance amplitude when the lowest mode of vibration is excited to that of the highest mode of vibration, where the offset of center of mass sets largest. To minimize standard deviation of amplitude of the system, the optimum damping ratio which minimize the standard deviation of amplitude of the system under the condition of rotating oscillating has to be chosen when the natural frequency of the parallel mode is lower than that of the rotating mode, where the offset of center of mass sets largest.

J-2-5-237 Optimal Configuration of Rolling Bearings and Magnetic Dampers in Horizontal Vibration Isolator　　　　　　　　　　　　　　　
NARUKAWA Terumasa; YAMAMOTO Hiroshi
Dynamics and Design Conference : D & D, Aug. 2013
Japanese
This paper studies a horizontal vibration isolator with two degrees of freedom in horizontal translation and one degree of freedom in horizontal rotation. The isolator consists of three rolling bearings and three magnetic dampers. The stiffness is provided by the rolling bearings and the damping force is generated by the magnetic dampers. The rolling bearing is composed of spherical bearing blocks and a ball. The magnetic damper is composed of a circular conductor and circular permanent magnets. The optimal stiffness and damping, and optimal configuration of the rolling bearings and the magnetic dampers are obtained to minimize standard deviation of amplitude under random external excitation, while satisfying the desired settling time to reduce the residual vibration. Examples of the optimal design are presented and the effectiveness is verified by numerical simulations.

D40 Motion Analysis of a Planar Passive Biped Walker with Flat Feet and Knees　　　　　　　　　　　　　　　
NARUKAWA Terumasa; YAMAMOTO Hiroshi
The Proceedings of the Symposium on the Motion and Vibration Control, 2013
Japanese
This paper studies a planar passive biped walker with flat feet and knees whose motion is restricted to the sagittal plane. It consists of two legs with knees connected by a frictionless hinge at the hip and two flat feet connected to each leg by a frictionless hinge at the ankle. Torsional springs are attached to the ankles. Passive walking consists of different phases such as the double-support phase and the impact phase due to the impact between the feet and the ground. It is assumed that when the knee of the swing-leg reaches full extension, the knee joint is locked. We develop a mathematical model of bipedal locomotion by using a set of differential equations describing the dynamics of walking and discrete models describing impact events. The effects of torsional spring stiffness are investigated through numerical simulations. Numerical simulations show that the planar passive biped walker with flat feet and knees can walk stably.

C03 Control Systems Design Based on Functional Analysis Using SysML : Application to Occupant Protective Control System　　　　　　　　　　　　　　　
NISHIMURA Hidekazu; NARUKAWA Terumasa
The Proceedings of the Symposium on the Motion and Vibration Control, 2013
Japanese
This paper introduces control systems design based on functional analysis using SysML in terms of the model based systems engineering. Optimization problem for a system of interest can be redefined including its time span and physical behavior. Functions of occupant protective control are analyzed using SysML diagrams and possible necessity to take the behavior before the knee contact with the instrument panel into consideration occurs. Thus collaboration control of a lap belt and a knee bolster is derived to reduce injuries of occupants. The optimization results show that the superior performance of reduction of the lower extremities is obtained. Also importance of dynamical model reduction is emphasized in order to not only design the control system but also understand the behavior of the system of interest.

650 Drive Control System Design of Small 4-In-Wheel-Motor Vehicle　　　　　　　　　　　　　　　
MORI Takashi; NARUKAWA Terumasa; MURAKAMI Shintaroh; NISHIMURA Hidekazu
Dynamics and Design Conference : D & D, Sep. 2012
Japanese

231 Studies on Occupant Restraint Method in Car Crash Using Reduced-Order Dynamic Model Considering Thoracic Deflection　　　　　　　　　　　　　　　
NARUKAWA Terumasa; NISHIMURA Hidekazu; ITO Yuichi; MOTOZAWA Yasuki
Dynamics and Design Conference : D & D, Sep. 2012
Japanese

Simulation Studies of Bipedal Walking on the Moon and Mars　　　　　　　　　　　　　　　
YAMADA Shin; OHSHIMA Hiroshi; YAMAGUCHI Tomofumi; NARUKAWA Terumasa; TAKAHASHI Masaki; HASE Kimitaka; LIU Meigen; MUKAI Chiaki
Trans Jpn Soc Aeronaut Space Sci Aerosp Technol Jpn (Web), 2012
English

J123012 Reduced-Order Dynamic Model for Design of Occupant Protection Device Considering Thoracic Deflection in Car Crash　　　　　　　　　　　　　　　
NARUKAWA Terumasa; NISHIMURA Hidekazu; ITO Yuichi; MOTOZAWA Yasuki
The Proceedings of Mechanical Engineering Congress, Japan, 2012
Japanese
A simple dynamic model is useful to understand the essential dynamics of the occupant in car crash and will be effective to determine the properties of protection devices. In this paper, a reduced-order dynamic model is introduced based on human finite element model having age-specific characteristics such as bone stiffness and tolerance of the body. The reduced-order dynamic model consists of two masses and one rigid body. The two masses correspond to the thorax and the lower body, and the rigid body corresponds to the upper body. The mass representing the thorax was connected to the upper body by a spring and a damper in parallel to consider the thoracic deflection, which is one of the representing injury criteria in frontal car crash.

J123011 Design of Chassis and Drive Control System for Next-generation Small Electric Vehicle　　　　　　　　　　　　　　　
MORI Takashi; NISHIMURA Hidekazu; NARUKAWA Terumasa
The Proceedings of Mechanical Engineering Congress, Japan, 2012
Japanese
In this paper, the design of a chassis and drive control system for a next-generation small electric vehicle is carried out on system level with Model-Based System Engineering (MBSE) and 1DCAE (1 Dimensional Computer Aided Engineering). MBSE is effective for co-operation with some disciplinary teams and promotion of concurrent engineering. 1DCAE in MBSE can help simulating and analyzing the physical model for selection from some alternatives of system architecture. We show the control design process by ensuring traceability among requirement analysis, functional model, logical model and physical model for 1DCAE.

650 Drive Control System Design of Small 4-In-Wheel-Motor Vehicle　　　　　　　　　　　　　　　
MORI Takashi; NARUKAWA Terumasa; MURAKAMI Shintaroh; NISHIMURA Hidekazu
The Proceedings of the Dynamics & Design Conference, 2012
Japanese
Small 4-in-wheel-motor vehicles are required to have driving performance same as that of conventional cars. From the requirement analysis utilizing sequence diagrams based on the operational scenario, necessity of driving stability on low rolling resistance is derived. In this study we pick Direct Yaw moment Control (DYC) among several control architectures for driving stability. We develop a model for verification of control performance of the DYC system using the model of JSAE-SICE Benchmark Problem No.3. Some simulation results for testing under crosswind conditions and double lane change are shown.

231 Studies on Occupant Restraint Method in Car Crash Using Reduced-Order Dynamic Model Considering Thoracic Deflection　　　　　　　　　　　　　　　
NARUKAWA Terumasa; NISHIMURA Hidekazu; ITO Yuichi; MOTOZAWA Yasuki
The Proceedings of the Dynamics & Design Conference, 2012
Japanese
A simple dynamic model will be effective to determine the properties of protection devices because it is useful to understand the essential dynamics of the occupant in car crash. This paper describes an optimal restraint method in frontal car crash by using a reduced-order dynamic model based on a human occupant finite element model having age-specific characteristics such as bone stiffness and tolerance of the body. The restraint force is determined so as to minimize the maximum thoracic deflection, which is one of the representing injury criteria in frontal car crash, while the maximum thorax and pelvis displacements are restrained. Simulation results clarify that the optimal restraint force is effective for reducing the maximum thoracic deflection.

314 Walking Velocity Control for a Compass-like Biped Robot Based on Passive Dynamic Walking under Variable Gravity　　　　　　　　　　　　　　　
Matsumoto Yusuke; IKEDA Tatsuhiko; NARUKAWA Terumasa; TAKAHASHI Masaki
Dynamics and Design Conference : D & D, Sep. 2011
Japanese

134 Control System Design for Occupant Lower Extremity Protection Using Semi-Active Knee Bolster　　　　　　　　　　　　　　　
NARUKAWA Terumasa; NISHIMURA Hidekazu
Dynamics and Design Conference : D & D, Sep. 2011
Japanese

1P1-Q06 Biped Walking with Torso for Changing Walking Speed Based on Passive Dynamics(Dynamics & Design of Robot System)　　　　　　　　　　　　　　　
NARUKAWA Terumasa; NISHIMURA Hidekazu
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2011
Japanese
A planar kneeless biped walker with a torso can walk efficiently on level ground by only using hip actuators. The hip actuators are used for a torso and swing-leg control based on passive dynamics. In this paper, numerical simulations show that the walking speed of the biped walker can be changed by changing the desired torso angle. The biped walker can walk over a wide speed range without falling by the simple control algorithm. The desired torso angle varies between 0.1 rad and 0.6 rad. The walking speed is 0.7m/s when the desired torso angle is 0.1 rad, and the walking speed is 1.4m/s when the desired torso angle is 0.6 rad.

314 Walking Velocity Control for a Compass-like Biped Robot Based on Passive Dynamic Walking under Variable Gravity　　　　　　　　　　　　　　　
MATUSMOTO Yusuke; IKEDA Tatsuhiko; NARUKAWA Terumasa; TAKAHASHI Masaki
The Proceedings of the Dynamics & Design Conference, 2011
Japanese
Recently, biped robots are flourished all over the world. Japan, as a leading country of biped robots, plans to send them into the moon. The project is magnificent but there are lots of problems to operate biped robots. One of the biggest problems is the difference of gravity between the moon and the earth. Therefore, it is necessary to develop control method concerning the gravity. This paper proposes a novel control method to generate gait under variable gravity. Previous research show a method to generate gait based on passive dynamic walking. Proposed method expands the previous study and enables to control robots' step length and velocity on any slope angle under variable gravity. The concept of the proposed method is to generate gait based on natural relativities of passive dynamic walking: the step length depends on the slope angle and the velocity depends on the gravity. To generate control inputs, we find the passive dynamic walking that corresponds to the desired gait in step length and velocity. We apply this referential passive dynamic walking to previous method and then we get control inputs. With proposed method, it is shown that simulation results under variable gravity conform to the desired gait.

134 Control System Design for Occupant Lower Extremity Protection Using Semi-Active Knee Bolster　　　　　　　　　　　　　　　
NARUKAWA Terumasa; NISHIMURA Hidekazu
The Proceedings of the Dynamics & Design Conference, 2011
Japanese
This paper presents control system design for occupant lower extremity protection in the event of a frontal car crash. A semi-active knee bolster is used to protect occupant lower extremities. The semi-active knee bolster varies the damping coefficient of the knee bolster. The control system design of the semi-active knee bolster is based on a design method of an active knee bolster. LQI (Linear Quadratic Integration) control with an initial value compensation input is applied. We obtain an optimal reference signal of the contact force between the knees and the instrument panel by considering characteristics of the semi-active actuator and the closed loop control system. The control system of the semi-active knee bolster follows the reference signal of the contact force. The protective control system with the semi-active knee bolster is effective for reducing the femur load, verified by carrying out simulations.

B313 Gait Analysis of Passive Dynamic Walking of a Compass-like Biped Robot under Variable Gravity and Proposal of Experimental Reproduction Method　　　　　　　　　　　　　　　
MATSUMOTO Yusuke; IKEDA Tatsuhiko; NARUKAWA Terumasa; TAKAHASHI Masaki; YAMADA Shin; OHSHIMA Hiroshi; LIU Meigen
The Proceedings of the Symposium on the Motion and Vibration Control, 2011
Japanese
In the future, astronauts will go to the moon and stay there for several weeks. Lack of experience of reduced might cause astronauts falling down. To prevent this risk, it is important to research human gait under variable gravity and propose significant method to train astronauts' walking before they go to the moon. There are several methods to simulate walking under variable gravity and one of the most major methods is unloading of the body by suspension (suspension method). However, suspension method has a problem that only body is unloaded but legs are not. In order to analyze the influence of lack of leg unloading, this paper compares the gait of suspension method and the gait under variable gravity using a compass-like biped robot. In this paper, we propose new method to simulate walking under variable gravity rigorously, In addition to suspension method, legs are actuated from hip and ankle joints to support the leg mass against the gravity. With proposed method, it is shown that simulation results conform to the gait under variable gravity.

C207 Braking Force Control System Design for A Motorcycle　　　　　　　　　　　　　　　
ZHU Shaopeng; MURAKAMI Shintaroh; NISHIMURA Hidekazu; NARUKAWA Terumasa
The Proceedings of the Symposium on the Motion and Vibration Control, 2011
Japanese
In this paper, we study the design of an Anti-lock Brake System (ABS) using a dynamical model of a rider-motorcycle system, which considered the rider's dynamic characteristics and vehicle's suspensions. A Magic Formula tire model is used to describe the relationship between the slip rate and the friction coefficient. We verify the effect of the designed ABS by using nonlinear simulations of front braking at the straight running on the low friction coefficient road surface. In addition, by adjusting the control range of the slip rate as the design parameter of ABS, the relationship between the motorcycle's pitching and the braking distance is quantitatively analyzed. The influence of suspensions for the braking performance of ABS is also investigated.

D105 Control System Design for Occupant Lower Extremity Protection in Car Crash Using Reduced-Order Dynamical Model　　　　　　　　　　　　　　　
Narukawa Terumasa; Nishimura Hidekazu
The Proceedings of the Symposium on the Motion and Vibration Control, 2011
Japanese
This paper presents control system design for occupant lower extremity protection in vehicle frontal collision by using a reduced-order dynamical model. Physical parameters of the reduced-order dynamical model are estimated from a simulation result of a three-dimensional dynamical simulator with a passive knee bolster. An active knee bolster is used to protect occupant lower extremities. The control system of the active knee bolster follows a reference signal of the contact force between the knee and the instrument panel. The protective control system with the active knee bolster is effective for reducing the femur load, verified by using three-dimensional multi body simulator.

D101 Shock Control of a Servo Press Using Two-Staged Final-State Control　　　　　　　　　　　　　　　
FUKUZAKI Junichi; NARUKAWA Terumasa; NISHIMURA Hidekazu; ITOU Hiroyuki; ARIKABE Takeo
The Proceedings of the Symposium on the Motion and Vibration Control, 2011
Japanese
Recently, servo presses have become widely used in manufacturing companies since they have the capability of high accuracy and free motion of the slide. This paper describes the optimum trajectory to achieve target values of the bottom dead point and the contact force between the slide and the die cushion (DC), and shows its implementation method. The optimum trajectory is derived using final-state control by dividing into two stages from the collision of the slide and DC until reaching the bottom dead point. Effectiveness from the viewpoint that controlled the DC load and the bottom dead point is shown by using two degrees of freedom control system as a method for following to the optimum trajectory.

Control System Design of Semi-Active Knee Bolster for Occupant Lower Extremity Protection in Frontal Car Crash　　　　　　　　　　　　　　　
Narukawa Terumasa; Nishimura Hidekazu; Narikawa Ryu
Proceedings of the Japan Joint Automatic Control Conference, 2010
Japanese
This study presents control system design of a semi-active knee bolster in order to protect occupant lower extremities in frontal car crash. The semi-active knee bolster varies the damping coefficient of the knee bolster. The control system design of the semi-active knee bolster is based on a design method of an active knee bolster. LQI (Linear Quadratic Integration) control with an initial value compensation input is applied. We obtain an optimal reference signal of the contact force between the knees and the instrument panel by considering feedback characteristics of the closed loop system and the time constant of the semi-active actuator.

329 Protective Control System Design by Using System Identification Model for Occupant's Lower Extremities in Frontal Car Crash　　　　　　　　　　　　　　　
NARUKAWA Terumasa; NISHIMURA Hidekazu
The Proceedings of the Dynamics & Design Conference, 2010
Japanese
This paper presents protective control system design for occupant lower extremities in vehicle frontal collision by using system identification model. The protective control system consists of active knee bolsters. The control problem is formulated as reducing the load to the femurs while restraining the occupant forward motion. The active knee bolster force is calculated to minimize the maximum load to the femurs. Numerical simulations show the load to the femurs is reduced. Finally the protective control system with the active knee bolster is verified by using three-dimensional multi body simulator.

J0201-1-1 Occupant Injury Protection in Frontal Car Crash by Using Shoulder Belt and Lap Belt Control　　　　　　　　　　　　　　　
NARUKAWA Terumasa; NISHIMURA Hidekazu
The proceedings of the JSME annual meeting, 2010
Japanese
This paper investigates occupant injury protection in frontal car crash. The occupant is modeled as three lumped masses. An active shoulder belt and an active lap belt are used to control occupant's motion. We assume that the shoulder belt force acting on the torso is controlled by the active shoulder belt, and that the lap belt force acting on the pelvis is controlled by the active lap belt. The control problem is formulated as an optimization problem. Numerical simulations show that the cooperative control of the active shoulder belt and the active lap belt reduces the maximum deceleration of the torso.

657 Control of Shock for Occupant Protection in Vehicle Collision　　　　　　　　　　　　　　　
NARIKAWA Ryu; NISHIMURA Hidekazu; NARUKAWA Terumasa
The Proceedings of the Dynamics & Design Conference, 2009
Japanese
In this paper, we propose a design method of a control system for a semi-active knee bolster to protect occupant legs in vehicle collision. The optimal contact force between an instrument panel and a knee is obtained by Limiting Performance Analysis for the augmented system including an active control system of an active knee bolster with an initial value compensation input. By carrying out simulations we clarify effectiveness of the design parameters of constrain of the pelvis displacement and a parameter of the initial value compensation input to undershoot of the control input and reduction of the femur load.

623 The Motion of a Planar Passive Biped Walker with Flat Feet and Ankle Springs　　　　　　　　　　　　　　　
NARUKAWA Terumasa; YOKOYAMA Kazuto; TAKAHASHI Masaki
The Proceedings of the Dynamics & Design Conference, 2009
Japanese
Passive biped walkers can walk down a shallow slope without actuators. This paper presents a simple planar passive biped walker with flat feet and ankle springs, and investigates the effects of torsional spring stiffness on the pitch motion at the ankle joints. Numerical stability studies indicated that the motion of the passive walker is stable. Physical biped walker has four legs, with each set of two legs connected so that they moved identically, to constrain the motion of the walker to the sagittal plane. Experimental results showed that the biped walker can walk stably.

A07 Cooperative Control of Knee Bolster and Seat Belt for Injury Protection of Occupants in Vehicle Collision　　　　　　　　　　　　　　　
Narukawa Terumasa; Nishimura Hidekazu; Narikawa Ryu
The Proceedings of the Symposium on the Motion and Vibration Control, 2009
Japanese
This paper presents injury protection control of the occupant's lower extremities in vehicle collision with an active seat belt and an active knee bolster. The seat belt force for his or her pelvis is controlled by the active seat belt. The contact force between his or her knees and the instrument panel is controlled by the active knee bolster. The control problem is formulated as an optimization problem and the control inputs are calculated to minimize the maximum load of his or her femurs under the constraint of the maximum seat belt force. Numerical simulations show that cooperative control of the active seat belt and the active knee bolster reduces the maximum load of the femurs and the maximum seat belt force at the same time.

平らな足と足首関節ばねを持つ３次元２足受動歩行ロボットの実機検証　　　　　　　　　　　　　　　
2008

平らな足と足首ばねを有する3次元Rimless Wheel の運動解析　　　　　　　　　　　　　　　
2008

A Simple 3D Straight-Legged Passive Walker with Flat Feet and Ankle Springs　　　　　　　　　　　　　　　
Narukawa Terumasa; Yokoyama Kazuto; Takahashi Masaki; Yoshida Kazuo
2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS, 2008

Control method at support-exchange phase for efficient dynamic bipedal robot locomotion　　　　　　　　　　　　　　　
Narukawa Terumasa; Takahashi Masaki; Yoshida Kazuo
Proceedings of the Japan Joint Automatic Control Conference, 2007
Japanese
二足歩行は片脚のみが接地している片脚支持期と遊脚が地面と衝突し支持脚が入れ替わる両脚支持期を繰り返すことで達成される．受動歩行は坂道においてロボットのダイナミクスと地面との衝突を利用することで歩行が可能であることを示した．本研究では受動歩行のようにロボットのダイナミクスを積極的に利用しつつ，支持脚の切り替え時に着目することで平地においても移動エネルギー効率の高い歩行を達成する．

Level-ground walk based on passive dynamic walking for a biped robot with torso　　　　　　　　　　　　　　　
NARUKAWA Terumasa; TAKAHASHI Masaki; YOSHIDA Kazuo
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007
English

558 Torso and Swing-Leg Control Based on Passive-Dynamic Walking for a Biped Robot with K nees on Level Ground　　　　　　　　　　　　　　　
NARUKAWA Terumasa; TAKAHASHI Masaki; YOSHIDA Kazuo
The Proceedings of the Dynamics & Design Conference, 2006
Japanese
This study aims at finding active biped robot designs with efficiency and simplicity of passive-dynamic walking. In this paper, a control method based on passive-dynamic walking is proposed. Torso and swing-leg control enable a biped robot with knees on level ground to walk stably without gait planning. The torso control is used to generate active power replacing gravitational potential energy which is used in the case of passive-dynamic walking. The swing-leg control is applied in order to satisfy the transition condition of the swing-leg and the stance-leg before the robot falls down. When we choose an appropriate parameter of the swing-leg control, the biped robot can walk stably and efficiently over a wide range of speed.

受動歩行を規範とした上体を有する円弧足付き二足ロボットの平地歩行　　　　　　　　　　　　　　　
2006

受動歩行を規範とした上体と遊脚制御による膝つき二足ロボットの平地歩行　　　　　　　　　　　　　　　
2006

C38 Velocity Tracking Control of Bipedal Walking with Combined Control of CPG and Torso Attitude Control　　　　　　　　　　　　　　　
MIYAKAWA Ken; TAKAHASHI Masaki; NARUKAWA Terumasa; YOSHIDA Kazuo
The Proceedings of the Symposium on the Motion and Vibration Control, 2005
Japanese
The combined control method consists of Central Pattern Generator (CPG) for legged locomotion and torso attitude control has been proposed. The combined control has the adaptability to the change of environment with CPG. Moreover using the control method, it has been confirmed that walking speed is changed according to the desired angle of torso. Therefore based on the result, this study aims to propose the desired velocity tracking control of biped locomotion by changing the torso angle according to the difference between the walking speed and the desired speed. In this paper, computer simulations were carried out to verify the performance of velocity tracking. From the result, the effectiveness of this method was confirmed.

C34 Combined Control of CPG and Torso Attitude Control for Biped Locomotion　　　　　　　　　　　　　　　
TAKAHASHI Masaki; NARUKAWA Terumasa; MIYAKAWA Ken; YOSHIDA Kazuo
The Proceedings of the Symposium on the Motion and Vibration Control, 2005
Japanese
This study aims at establishing a new control strategy for more natural and efficient bipedal locomotion. In this study, the robot is modeled as a planar biped model composed of a torso, hips, and two different legs with knees, but without ankles. The proposed method consists of Central Pattern Generator (CPG) for legged locomotion and torso attitude control. It is well known that the CPG controller copes with environmental changes by mutual entrainment of the oscillatory activities of the CPG and the body. Therefore, the biped robot can walk on both a level ground and a slope, and has the robustness for environmental changes. Moreover, the torso attitude control is executed concurrently with CPG controller for legged locomotion in the method. By utilizing the interaction between torso and legs, the biped robot with the torso can walk on the level ground over a wide range of speed. This paper presents a systematic control design method of the proposed strategy by using the genetic algorithm. In order to verify the effectiveness of the proposed method, computational simulations were carried out. As a result, it was demonstrated that the biped robot can walk on the level ground at a variable pace according to the desired torso angle given as an external command. Moreover, it was confirmed that the proposed controller has the robustness for environmental changes and external disturbance, and the biped robot can walk naturally on the uphill and downhill slopes.

C32 Torso and Swing-Leg Control for a Biped Walking Robot on Level Ground　　　　　　　　　　　　　　　
NARUKAWA Terumasa; TAKAHASHI Masaki; YOSHIDA Kazuo
The Proceedings of the Symposium on the Motion and Vibration Control, 2005
Japanese
This study aims at finding active biped robot designs with efficiency and simplicity of passive-dynamic walking. In this paper, it is shown that a biped robot with torso can walk efficiently on level ground over a wide range of speed by using torso and swing-leg control based on passive-dynamic walking. The torso and swing-leg control enable the biped robot on level ground to walk stably without gait planning. The torso is used to generate active power replacing gravity. The swing-leg control is applied in order to satisfy the transition condition of the swing leg and the stance leg before the robot falls down. It is also shown that the swing-leg control effects the efficiency of walking.

上体姿勢制御とCPGによる脚制御を複合した目標速度追従型二足歩行制御　　　　　　　　　　　　　　　
2005

CPGと上体姿勢制御を融合した統合型歩行制御手法　　　　　　　　　　　　　　　
2005

上体と遊脚制御による二足ロボットの平地歩行　　　　　　　　　　　　　　　
2005

CPG による脚制御と上体姿勢制御を用いた統合型歩行制御手法　　　　　　　　　　　　　　　
2005

CPG と上体姿勢制御を統合した目標速度追従型二足歩行制御　　　　　　　　　　　　　　　
2005

上体を有する二足歩行ロボットの平地における分岐現象とカオス的歩容　　　　　　　　　　　　　　　
2005

Combined Control of CPG and Torso Attitude Control for Biped Locomotion　　　　　　　　　　　　　　　
2005

Biped Locomotion on Level Ground by Torso and Swing-Leg Control Based on Passive-Dynamic Walking　　　　　　　　　　　　　　　
2005

Combined Control of CPG and Torso Attitude Control for Biped Locomotion　　　　　　　　　　　　　　　
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005

Biped Locomotion on Level Ground by Torso and Swing-Leg Control Based on Passive-Dynamic Walking　　　　　　　　　　　　　　　
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005

Intelligent Nonlinear Control for Underactuated Pendulum Systems　　　　　　　　　　　　　　　
2004

Intelligent control of integrated cubic neural network for robustness and fault-tolerance　　　　　　　　　　　　　　　
2004

Intelligent Stabilization Control to An Arbitrary Equilibrium Point of Double Pendulum　　　　　　　　　　　　　　　
2004

Intelligent Nonlinear Control for Underactuated Pendulum Systems　　　　　　　　　　　　　　　
Joint 2nd International Conference on Soft Computing and Intelligent Systems and 5th International Symposium on Advanced Intelligent Systems, 2004

Intelligent control of integrated cubic neural network for robustness and fault-tolerance　　　　　　　　　　　　　　　
IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2004

Intelligent Stabilization Control to An Arbitrary Equilibrium Point of Double Pendulum　　　　　　　　　　　　　　　
American Control Conference, 2004

Intelligent Transfer Control to an Unstable Equilibrium Point of Double Inverted Pendulum　　　　　　　　　　　　　　　
NARUKAWA Terumasa; TAKAHASHI Masaki; YOSHIDA Kazuo
Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D, Sep. 2003
Japanese
The double inverted pendulum has been known as a good example of nonlinear system. In the double inverted pendulum there are four equilibrium points. In this paper, we present a control method for transition between equilibrium points of the double inverted pendulum. The swing-up controller is designed based on energy. The stabilizing controllers are designed on the basis of the linear models at each unstable equilibrium point. Radial Basis Function Neural Network (RBFNN) learned by genetic algorithm is used to integrate the swing-up controller and the stabilizing controllers. The effectiveness of the proposed method is shown by simulation and experimental results.

Robustness and Fault-Tolerance of Integrated Cubic Neural Network Intelligent Control Method　　　　　　　　　　　　　　　
TAKAHAHSHI Masaki; NARUKAWA Terumasa; YOSHIDA Kazuo
Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D, Sep. 2003
Japanese
This study aims at establishing a robust intelligent control method with higher control performance and wider applicable region. In particular, this study deals with a nonlinear control problem. In this study, the dynamical energy principle is embedded into the integrator of Cubic Neural Network (CNN). The proposed CNN is applied to a control problem of a swung up and inverted pendulum. The performance of the proposed CNN are verified theoretically and experimentally compared with the sliding mode control techniques.

122 Intelligent Transfer Control to an Unstable Equilibrium Point of Double Inverted Pendulum　　　　　　　　　　　　　　　
NARUKAWA Terumasa; TAKAHASHI Masaki; YOSHIDA Kazuo
The Proceedings of the Dynamics & Design Conference, 2003
Japanese
The double inverted pendulum has been known as a good example of nonlinear system. In the double inverted pendulum there are four equilibrium points. In this paper, we present a control method for transition between equilibrium points of the double inverted pendulum. The swing-up controller is designed based on energy. The stabilizing controllers are designed on the basis of the linear models at each unstable equilibrium point. Radial Basis Function Neural Network (RBFNN) learned by genetic algorithm is used to integrate the swing-up controller and the stabilizing controllers. The effectiveness of the proposed method is shown by simulation and experimental results.

105 Robustness and Fault-Tolerance of Integrated Cubic Neural Network Intelligent Control Method　　　　　　　　　　　　　　　
TAKAHASHI Masaki; NARUKAWA Terumasa; YOSHIDA Kazuo
The Proceedings of the Dynamics & Design Conference, 2003
Japanese
This study aims at establishing a robust intelligent control method with higher control performance and wider applicable region. In particular, this study deals with a nonlinear control problem. In this study, the dynamical energy principle is embedded into the integrator of Cubic Neural Network (CNN). The proposed CNN is applied to a control problem of a swung up and inverted pendulum. The performance of the proposed CNN are verified theoretically and experimentally compared with the sliding mode control techniques.

Integrated Cubic Neural Network Intelligent Control Method for Swing-Up and Stabilization of Inverted Pendulum : Verification of Robustness and Fault-Tolerance　　　　　　　　　　　　　　　
NARUKAWA Terumasa; TAKAHASHI Masaki; YOSHIDA Kazuo
The Proceedings of the Symposium on the Motion and Vibration Control, 2003
Japanese
This study aims at establishing a robust intelligent control method with high control performance and wide applicable region. In this paper, an integrated Cubic Neural Network (CNN) intelligent control method is applied to swing-up and stabilization of an inverted pendulum on a cart having restricted travel. CNN consists of multilevel parallel processing on different degrees of abstraction. An integrator is employed to decide between a swing-up CNN controller and a stabilizing CNN controller depending on the state of the inverted pendulum system. By comparing the proposed method with a sliding mode control method numerically and experimentally, it was verified that the proposed method has a good robustness with respect to parameter variation and a high tolerance to sensor failure.

Integrated Intelligent Control System : Equilibrium Point Transfer and Stabilization Control of Double Pendulum　　　　　　　　　　　　　　　
TAKAHAHSHI Masaki; NARUKAWA Terumasa; YOSHIDA Kazuo
The Proceedings of the Symposium on the Motion and Vibration Control, 2003
Japanese
This study aims at establishing a robust intelligent control method for nonlinear and complicated systems. In the method, an integrator neural network acquires optimum switching and integration of several controllers for a different local purpose by calculating the fitness function using the genetic algorithm. The proposed method is applied to an equilibrium point transfer and stabilization control of a double pendulum that possesses four equilibrium points. In order to verify the effectiveness of the proposed method, simulations and experiments were carried out. As a result, it was demonstrated that the proposed controller can transfer and stabilize the double pendulum from the arbitrary equilibrium points to one of unstable equilibrium points, that is, Up-Up without touching the cart position limit.

Intelligent Stabilization Control to Arbitrary Equilibrium Point of Double Pendulum　　　　　　　　　　　　　　　
Takahashi M; Narukawa T; Yoshida K
Proceedings of the Japan Joint Automatic Control Conference, 2003
複数の平衡点が存在する非線形システムに対して，各平衡点近傍において局所的目的に基づいて設計された複数の制御器を状況に応じて切換え・統合することで，システムの制御問題に対して有効な制御入力を生成する統合化知的制御システムを提案した．非線形性が強く，４つの平衡点を有する二重振子の平衡点間移動・安定化制御問題に適用し，その具体的な制御系構造と設計手法を提示した．４つの局所的な制御器と3つの統合器によって，９つすべての平衡点間移動・安定化制御を実験的に達成した．

Intelligent Control Using Destabilized and Stabilized Controllers for a Swung up and Inverted Double Pendulum　　　　　　　　　　　　　　　
2003

Intelligent Transfer and Stabilization Control to Unstable Equilibrium Point of Double Inverted Pendulum　　　　　　　　　　　　　　　
2003

Robustness and Fault-tolerance of Cubic Neural Network Intelligent Control Method (Comparison with Sliding Mode Control)　　　　　　　　　　　　　　　
2003

二重振子の任意平衡点への知的移動　　　　　　　　　　　　　　　
2003

統合化知的制御システム（二重振子の平衡点間移動, 安定化制御）　　　　　　　　　　　　　　　
2003

統合化キュービックニューラルネットワーク知的制御手法による倒立振子の振り上げ安定化（ロバスト性と耐故障性の検証）　　　　　　　　　　　　　　　
2003

統合化キュービックニューラルネットワーク知的制御手法のロバスト性と耐故障性　　　　　　　　　　　　　　　
2003

二重倒立振子における不安定平衡点への知的安定化制御　　　　　　　　　　　　　　　
2003

Intelligent Control Using Destabilized and Stabilized Controllers for a Swung up and Inverted Double Pendulum　　　　　　　　　　　　　　　
IEEE International Symposium on Intelligent Control, 2003

Intelligent Transfer and Stabilization Control to Unstable Equilibrium Point of Double Inverted Pendulum　　　　　　　　　　　　　　　
SICE Annual Conference, 2003

Robustness and Fault-tolerance of Cubic Neural Network Intelligent Control Method (Comparison with Sliding Mode Control)　　　　　　　　　　　　　　　
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2003

■ Research projects

屋内外を走行する小型無人搬送車の急制動システムの構築　　　　　　　　　　　　　　　
01 Apr. 2022 - 31 Mar. 2025
Grant amount(Total)：4030000, Direct funding：3100000, Indirect funding：930000
Grant number：22K03993

積載物および走行路面の状況に自動的に対応する無人搬送車用防振システムの開発　　　　　　　　　　　　　　　
01 Apr. 2021 - 31 Mar. 2024
Grant amount(Total)：4290000, Direct funding：3300000, Indirect funding：990000
Grant number：21K03943

直列粘弾性アクチュエータを用いた歩行者用アクティブダミーの開発　　　　　　　　　　　　　　　
01 Apr. 2019 - 31 Mar. 2023
Grant amount(Total)：4030000, Direct funding：3100000, Indirect funding：930000
Grant number：19K04270

Development of a high presision vibration isolator using air suspensions with auto tuning mechanism　　　　　　　　　　　　　　　
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (C), 01 Apr. 2016 - 31 Mar. 2020
Yamamoto Hiroshi, Saitama University
Grant amount(Total)：4810000, Direct funding：3700000, Indirect funding：1110000
For the purpose of developing a high precision vibration isolator using air suspensions with an automatic adjustment mechanism, we firstly clarify the dynamic characteristics of the vibration isolator supported by multiple air suspensions theoretically and experimentally. The design guideline for minimizing the resonance magnification of the vibration isolator is clarified. In addition, in order to clarify the effect of load fluctuation, the effect of the supporting mass and the position of the center of gravity on the dynamic characteristics of the vibration isolator supported by the air suspensions is clarified. We find that it is necessary to adjust the equivalent damping coefficient of the air suspension in order to minimize the resonance amplitude when the load changes, and proposed a mechanism that simply adjusts the damping coefficient, which is the most characteristic of the air suspension. The isefullness of the proposed adjustment mechanism is clarified.
Grant number：16K06148

Crash safety of unmanned vehicles for pedestrian protection　　　　　　　　　　　　　　　
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Young Scientists (B), 01 Apr. 2015 - 31 Mar. 2018
Narukawa Terumasa, Saitama University
Grant amount(Total)：3900000, Direct funding：3000000, Indirect funding：900000
Small unmanned vehicles moving on sidewalks must have high collision safety in order to avoid injury when collision accidents with pedestrians occur. In this study, we proposed an active bumper with a series elastic actuator in order to generate a desired force applied to the bumper and ensure collision safety performance even in case of failure of the active bumper. The series elastic actuator consists of an elastic element in series with a table driven by a ball screw and servo motor. The optimal motor torque for minimizing the maximum deflection of the object of the collision is derived, and it is shown that the active bumper with the series elastic actuator have high collision safety.
Grant number：15K17993

Mechanical Science Division	Associate Professor
Department of Mechanical Engineering and System Design

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NARUKAWA TerumasaMechanical Science DivisionAssociate ProfessorDepartment of Mechanical Engineering and System Design

Performance information

NARUKAWA　Terumasa
Mechanical Science Division Associate Professor
Department of Mechanical Engineering and System Design