業績情報

• 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
  日本機械学会論文集, 巻：91, 号：942, 開始ページ：24-00218, 2025年02月, ［査読有り］
  研究論文（学術雑誌）
• 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
  日本機械学会論文集, 巻：89, 号：924, 開始ページ：23-00096, 2023年08月, ［査読有り］
  研究論文（学術雑誌）
• 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, 巻：11, 号：3, 開始ページ：94, 終了ページ：100, 2020年, ［査読有り］
• 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
  自動車技術会論文集, 巻：50, 号：3, 開始ページ：863, 終了ページ：869, 2019年, ［査読有り］
• 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
  日本機械学会論文集(Web), 巻：84, 号：862, 開始ページ：ROMBUNNO.18‐00062(J‐STAGE), 2018年, ［査読有り］
  日本語
  ISSN：2187-9761, J-Global ID：201802212643131645
• 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
  自動車技術会論文集, 巻：46, 号：6, 開始ページ：1151, 終了ページ：1156, 2015年, ［査読有り］
  人体の特性を再現した詳細な人体FE モデルを用いた側面衝突シミュレーションに基づき，車両衝突時の乗員保護方法を検討するために有用な簡易人体力学モデルを構築する．胸部変形量や人体の移動量などの応答結果を比較し，構築した簡易モデルと人体FE モデルとの整合性について検証する．
  公益社団法人 自動車技術会, 日本語
  ISSN：0287-8321, CiNii Articles ID：130006319674, CiNii Books ID：AN00105913
• スリット絞りを有する空気ばねを複数用いた防振機構　　　　　　　　　　　　　　　
  成川 輝真; 櫻田 健; 山本 浩
  精密工学会誌, 巻：80, 号：1, 開始ページ：94, 終了ページ：98, 2014年, ［査読有り］
  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, 日本語
  DOI：https://doi.org/10.2493/jjspe.80.94
  DOI ID：10.2493/jjspe.80.94, ISSN：0912-0289, CiNii Articles ID：130003385065
• 空気ばねで支持された3自由度防振機構の動特性　　　　　　　　　　　　　　　
  山本 浩; 大図 達也; 成川 輝真
  日本機械学会論文集 C編, 巻：79, 号：804, 開始ページ：2780, 終了ページ：2791, 2013年, ［査読有り］
  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 %.
  一般社団法人 日本機械学会, 日本語, 研究論文（学術雑誌）
  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
• 胸部変形に着目した低次元力学モデルを用いた車両衝突時の乗員拘束方法の検討　　　　　　　　　　　　　　　
  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, 巻：79, 号：801, 開始ページ：1396, 終了ページ：1405, 2013年, ［査読有り］
  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.
  一般社団法人 日本機械学会, 日本語, 研究論文（学術雑誌）
  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
• 微小重力環境下における歩行特性解析に向けた追従式免荷装置の開発（リムレスホイールを用いた有効性の検証）　　　　　　　　　　　　　　　
  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, 巻：78, 号：790, 開始ページ：2119, 終了ページ：2130, 2012年
  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, 日本語
  DOI：https://doi.org/10.1299/kikaic.78.2119
  DOI ID：10.1299/kikaic.78.2119, ISSN：0387-5024, CiNii Articles ID：130002051471
• 人体FEモデルに基づく車両前面衝突時の胸部変形に着目した低次元力学モデルの構築　　　　　　　　　　　　　　　
  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), 巻：78, 号：795, 開始ページ：3677-3688 (WEB ONLY), 終了ページ：3688, 2012年, ［査読有り］
  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, 日本語
  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
• セミアクティブニーボルスターを用いた乗員下肢保護制御系設計　　　　　　　　　　　　　　　
  成川輝真; 西村秀和
  日本機械学会論文集 C編(Web), 巻：78, 号：789, 開始ページ：1711-1722 (WEB ONLY), 終了ページ：1722, 2012年, ［査読有り］
  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, 日本語
  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
• 受動歩行を規範とした異なる重力環境下におけるコンパス型二足ロボットの歩行制御　　　　　　　　　　　　　　　
  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), 巻：78, 号：791, 開始ページ：2496-2508 (WEB ONLY), 2012年, ［査読有り］
  日本語
  DOI：https://doi.org/10.1299/kikaic.78.2496
  DOI ID：10.1299/kikaic.78.2496, ISSN：1884-8354, J-Global ID：201202261112134200
• 2段階終端状態制御によるサーボプレスの衝撃制御　　　　　　　　　　　　　　　
  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), 巻：78, 号：793, 開始ページ：3166-3177 (WEB ONLY), 終了ページ：3177, 2012年, ［査読有り］
  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, 日本語
  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
• 微小重力環境下における歩行特性解析に向けた追従式免荷装置の開発(リムレスホイールを用いた有効性の検証)　　　　　　　　　　　　　　　
  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), 巻：78, 号：790, 開始ページ：2119-2130 (WEB ONLY), 2012年, ［査読有り］
  日本語
  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, 巻：29, 開始ページ：641, 終了ページ：648, 2011年07月, ［査読有り］
  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, 英語, 研究論文（学術雑誌）
  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), 巻：5, 号：5, 開始ページ：1176-1187 (J-STAGE), 終了ページ：1187, 2011年, ［査読有り］
  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, 英語
  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, 巻：4, 号：6, 開始ページ：848, 終了ページ：856, 2010年12月, ［査読有り］
  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, 英語, 研究論文（学術雑誌）
  DOI：https://doi.org/10.1299/jsdd.4.848
  DOI ID：10.1299/jsdd.4.848, ISSN：1881-3046, CiNii Articles ID：130000431773
• 平らな足と足首ばねを有する平面受動二足歩行の運動解析と歩行実験　　　　　　　　　　　　　　　
  成川輝真; 横山和人; 高橋正樹
  日本機械学会論文集 C編, 巻：76, 号：765, 開始ページ：1380, 終了ページ：1385, 2010年, ［査読有り］
  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.
  一般社団法人 日本機械学会, 日本語, 研究論文（学術雑誌）
  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), 巻：3, 号：3, 開始ページ：258-269 (J-STAGE), 終了ページ：269, 2009年, ［査読有り］
  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, 英語
  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), 巻：3, 号：1, 開始ページ：1-12 (J-STAGE), 終了ページ：12, 2009年, ［査読有り］
  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, 英語
  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), 巻：2, 号：2, 開始ページ：463-474 (J-STAGE), 終了ページ：474, 2008年, ［査読有り］
  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, 英語
  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), 巻：1, 号：4, 開始ページ：672-681 (J-STAGE), 2007年, ［査読有り］
  英語
  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
• 二重倒立振子の任意平衡点への知的安定化制御　　　　　　　　　　　　　　　
  高橋正樹; 成川輝真; 吉田和夫
  日本機械学会論文集 C編, 巻：70, 号：689, 開始ページ：15, 終了ページ：22, 2004年01月, ［査読有り］
  日本語
  DOI：https://doi.org/10.1299/kikaic.70.15
  DOI ID：10.1299/kikaic.70.15, ISSN：0387-5024, J-Global ID：200902217950348780
• キュービックニューラルネットワーク知的制御のロバスト性と耐故障性(スライディングモード制御との比較・検討)　　　　　　　　　　　　　　　
  高橋正樹; 成川輝真; 吉田和夫
  日本機械学会論文集 C編, 巻：69, 号：682, 開始ページ：1579, 終了ページ：1586, 2003年, ［査読有り］
  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.
  英語, 研究論文（学術雑誌）
  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

• G1100201 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
  年次大会 : Mechanical Engineering Congress, Japan, 巻：2015, 開始ページ："G1100201, 終了ページ：1"-"G1100201-3", 2015年09月13日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110010048523, CiNii Books ID：AA12588255
• 421 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
  機械力学・計測制御講演論文集, 巻：2015, 開始ページ："421, 終了ページ：1"-"421-7", 2015年08月25日
  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.
  一般社団法人日本機械学会, 日本語
  ISSN：1348-0235, CiNii Articles ID：110010054191, CiNii Books ID：AA11901770
• 162 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
  機械力学・計測制御講演論文集, 巻：2015, 開始ページ："162, 終了ページ：1"-"162-9", 2015年08月25日
  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.
  一般社団法人日本機械学会, 日本語
  ISSN：1348-0235, CiNii Articles ID：110010051785, CiNii Books ID：AA11901770
• 224 部分円周溝付き静圧気体ジャーナル軸受で支持された回転軸系の安定性(領域4 流体関連振動・ローターダイナミクス)　　　　　　　　　　　　　　　
  山本 浩; 浦 翔太郎; 成川 輝真
  機械力学・計測制御講演論文集, 巻：2014, 開始ページ："224, 終了ページ：1"-"224-8", 2014年08月25日
  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.
  一般社団法人日本機械学会, 日本語
  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
  「運動と振動の制御」シンポジウム講演論文集, 巻：2014, 号：12, 開始ページ："2C14, 終了ページ：1"-"2C14-11", 2014年08月03日
  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.
  一般社団法人日本機械学会, 英語
  CiNii Articles ID：110009976587, CiNii Books ID：AA11902241
• J-2-5-240 空気ばねで支持された防振機構の最適設計法 : 質量中心位置のずれの影響(J-2-5:防振,領域2:耐震・制振・ダンピング,総合テーマ「海を越え,国を越え,世代を超えて!」)　　　　　　　　　　　　　　　
  山本 浩; 成川 輝真; 松坂 俊
  機械力学・計測制御講演論文集, 巻：2013, 開始ページ："240, 終了ページ：1"-"240-10", 2013年08月25日
  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.
  一般社団法人日本機械学会, 日本語
  ISSN：1348-0235, CiNii Articles ID：110009979155, CiNii Books ID：AA11901770
• J-2-5-237 水平防振機構における転がり支承と磁気ダンパの最適配置(J-2-5:防振,領域2:耐震・制振・ダンピング,総合テーマ「海を越え,国を越え,世代を超えて!」)　　　　　　　　　　　　　　　
  成川 輝真; 山本 浩
  機械力学・計測制御講演論文集, 巻：2013, 開始ページ："237, 終了ページ：1"-"237-9", 2013年08月25日
  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.
  一般社団法人日本機械学会, 日本語
  ISSN：1348-0235, CiNii Articles ID：110009979152, CiNii Books ID：AA11901770
• C03 SysML (Systems Modeling Language)を用いた機能分析に基づく制御系設計 : 乗員保護制御システムに対する適用(M-OS16-1:MBSEと1D-CAE,M-OS6 運動制御とシミュレーションの融合,M-OS16 MBSE(モデルベースシステムズエンジニアリング)と1D-CAEジョイントセッション,「海を越え,国を越え,世代を超えて!」)　　　　　　　　　　　　　　　
  西村 秀和; 成川 輝真
  「運動と振動の制御」シンポジウム講演論文集, 巻：2013, 号：13, 開始ページ："C03, 終了ページ：1"-"C03-6", 2013年08月25日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110009976217, CiNii Books ID：AA11902241
• D40 平らな足と膝関節を有する平面受動二足歩行機の運動解析(M-OS11-2 ロボットおよび人間のダイナミクスと制御II,M-OS11 ロボットおよび人間のダイナミクスと制御,「海を越え,国を越え,世代を超えて!」)　　　　　　　　　　　　　　　
  成川 輝真; 山本 浩
  「運動と振動の制御」シンポジウム講演論文集, 巻：2013, 号：13, 開始ページ："D40, 終了ページ：1"-"D40-6", 2013年08月25日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110009976290, CiNii Books ID：AA11902241
• 650 小型4輪駆動インホイールモータ自動車の駆動制御システム設計　　　　　　　　　　　　　　　
  森 崇; 成川 輝真; 村上 晋太郎; 西村 秀和
  Dynamics & Design Conference, 巻：2012, 開始ページ："650, 終了ページ：1"-"650-9", 2012年09月18日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110009908283, CiNii Books ID：AA12120184
• 231 胸部変形に着目した低次元力学モデルを用いた車両衝突時の乗員拘束方法の検討(ビークルの振動と制御,OS8.1 運動と振動の制御,総合テーマ:「システムを考える。境界を越えて。」)　　　　　　　　　　　　　　　
  成川 輝真; 西村 秀和; 伊藤 優一; 本澤 養樹
  機械力学・計測制御講演論文集, 巻：2012, 開始ページ：40, 終了ページ：40, 2012年09月17日
  一般社団法人日本機械学会, 日本語
  ISSN：1348-0235, CiNii Articles ID：110009952992, CiNii Books ID：AA11901770
• J123012 車両衝突時の胸部変形に着目した乗員保護装置設計のための低次元力学モデル　　　　　　　　　　　　　　　
  成川 輝真; 西村 秀和; 伊藤 優一; 本澤 養樹
  年次大会 : Mechanical Engineering Congress, Japan, 巻：2012, 開始ページ："J123012, 終了ページ：1"-"J123012-4", 2012年09月09日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110009994947, CiNii Books ID：AA12588255
• J123011 次世代超小型電気自動車のためのシャーシー・駆動制御システムの設計　　　　　　　　　　　　　　　
  森 崇; 西村 秀和; 成川 輝真
  年次大会 : Mechanical Engineering Congress, Japan, 巻：2012, 開始ページ："J123011, 終了ページ：1"-"J123011-4", 2012年09月09日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110009994946, CiNii Books ID：AA12588255
• 134 セミアクティブニーボルスターを用いた乗員下肢保護制御系設計(ビークルのロバスト制御,OS-16 運動と振動の制御,総合テーマ:「部門創設25周年、新たなる躍動」)　　　　　　　　　　　　　　　
  成川 輝真; 西村 秀和
  機械力学・計測制御講演論文集, 巻：2011, 開始ページ：25, 終了ページ：25, 2011年09月04日
  一般社団法人日本機械学会, 日本語
  ISSN：1348-0235, CiNii Articles ID：110009689818, CiNii Books ID：AA11901770
• 314 可変重力環境下の受動歩行を規範としたコンパス型2足ロボットの歩行速度制御(ロボットのダイナミクスと制御1,OS-17 ロボットのダイナミクスと制御,総合テーマ:「部門創設25周年、新たなる躍動」)　　　　　　　　　　　　　　　
  松本 祐介; 池田 達彦; 成川 輝真; 高橋 正樹
  機械力学・計測制御講演論文集, 巻：2011, 開始ページ：52, 終了ページ：52, 2011年09月04日
  一般社団法人日本機械学会, 日本語
  ISSN：1348-0235, CiNii Articles ID：110009689920, CiNii Books ID：AA11901770
• C207 二輪自動車に対する制動力制御システムデザイン(OS12 二輪車のダイナミクスと制御1)　　　　　　　　　　　　　　　
  朱 紹鵬; 村上 晋太郎; 西村 秀和; 成川 輝真
  「運動と振動の制御」シンポジウム講演論文集, 巻：2011, 号：12, 開始ページ：375, 終了ページ：379, 2011年06月28日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110009619604, CiNii Books ID：AA11902241
• B313 可変重力環境下におけるコンパス型2足歩行ロボットの受動歩行の解析と再現法の提案(OS2 ロボットのダイナミクスと制御2)　　　　　　　　　　　　　　　
  松本 祐介; 池田 達彦; 成川 輝真; 高橋 正樹; 山田 深; 大島 博; 里宇 明元
  「運動と振動の制御」シンポジウム講演論文集, 巻：2011, 号：12, 開始ページ：550, 終了ページ：555, 2011年06月28日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110009619640, CiNii Books ID：AA11902241
• D105 低次元力学モデルを用いた車両衝突時の乗員下肢保護制御系設計(OS15 機械・制御系設計と1D-CAE 1)　　　　　　　　　　　　　　　
  成川 輝真; 西村 秀和
  「運動と振動の制御」シンポジウム講演論文集, 巻：2011, 号：12, 開始ページ：225, 終了ページ：230, 2011年06月28日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110009619574, CiNii Books ID：AA11902241
• 1P1-Q06 受動ダイナミクスに基づく上体を利用した可変速度二足歩行方法(【機械力学・計測制御部門】ロボットシステムのダイナミクス&デザイン)　　　　　　　　　　　　　　　
  成川 輝真; 西村 秀和
  ロボティクス・メカトロニクス講演会講演概要集, 巻：2011, 開始ページ："1P1, 終了ページ：Q06(1)"-"1P1-Q06(3)", 2011年05月26日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110009692031, CiNii Books ID：AA11902933
• 329 車両前面衝突における乗員下肢保護のためのシステム同定モデルを用いた制御系設計(車両駆動系の解析と制御,OS-16 運動と振動の制御,総合テーマ「伝統を,未来へ!」)　　　　　　　　　　　　　　　
  成川 輝真; 西村 秀和
  Dynamics & Design Conference, 巻：2010, 開始ページ："329, 終了ページ：1"-"329-5", 2010年09月14日
  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.
  一般社団法人日本機械学会, 日本語
  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, 巻：2010, 号：5, 開始ページ："63637, 終了ページ：1"-"63637-6", 2010年08月22日
  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.
  一般社団法人日本機械学会, 英語
  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, 巻：2010, 号：5, 開始ページ："64039, 終了ページ：1"-"64039-7", 2010年08月22日
  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.
  一般社団法人日本機械学会, 英語
  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
  「運動と振動の制御」シンポジウム講演論文集, 巻：2010, 開始ページ："2C13, 終了ページ：1"-"2C13-11", 2010年08月17日
  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.
  一般社団法人日本機械学会, 英語
  CiNii Articles ID：110009976743, CiNii Books ID：AA11902241
• A07 ニーボルスターとシートベルトの協調制御による車両衝突時の乗員損傷低減(OS1 交通機械の制御1)　　　　　　　　　　　　　　　
  成川 輝真; 西村 秀和; 成川 理優
  「運動と振動の制御」シンポジウム講演論文集, 巻：2009, 号：11, 開始ページ：36, 終了ページ：40, 2009年09月01日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110008010521, CiNii Books ID：AA11902241
• 623 平らな足と足首ばねを有する平面受動二足歩行の運動解析　　　　　　　　　　　　　　　
  成川 輝真; 横山 和人; 高橋 正樹
  Dynamics & Design Conference, 巻：2009, 開始ページ："623, 終了ページ：1"-"623-5", 2009年08月03日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110008089389, CiNii Books ID：AA12120184
• 657 車両衝突時の乗員保護のための衝撃制御　　　　　　　　　　　　　　　
  成川 理優; 西村 秀和; 成川 輝真
  Dynamics & Design Conference, 巻：2009, 開始ページ："657, 終了ページ：1"-"657-6", 2009年08月03日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110008089421, CiNii Books ID：AA12120184
• 558 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　　　　　　　　　　　　　　　
  成川 輝真; 高橋 正樹; 吉田 和夫
  Dynamics & Design Conference, 巻：2006, 開始ページ："558, 終了ページ：1"-"558-6", 2006年08月06日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110006657178, CiNii Books ID：AA12120184
• C34 CPGと上体姿勢制御を融合した統合型歩行制御手法(OS11-2 二足歩行ロボット)　　　　　　　　　　　　　　　
  高橋 正樹; 成川 輝真; 宮川 健; 吉田 和夫
  「運動と振動の制御」シンポジウム講演論文集, 巻：2005, 号：9, 開始ページ：520, 終了ページ：525, 2005年08月22日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110006209570, CiNii Books ID：AA11902241
• C32 上体と遊脚制御による二足ロボットの平地歩行(OS11-2 二足歩行ロボット)　　　　　　　　　　　　　　　
  成川 輝真; 高橋 正樹; 吉田 和夫
  「運動と振動の制御」シンポジウム講演論文集, 巻：2005, 号：9, 開始ページ：509, 終了ページ：513, 2005年08月22日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110006209568, CiNii Books ID：AA11902241
• 上体姿勢制御とCPGによる脚制御を複合した目標追従型二足歩行ロボット　　　　　　　　　　　　　　　
  宮川健; 高橋 正樹; 成川 輝真; 吉田 和夫
  「振動と運動の制御」シンポジウム講演論文集, 2005, 開始ページ：544, 終了ページ：547, 2005年
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110006209574, CiNii Books ID：AA11902241
• 406 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　　　　　　　　　　　　　　　
  高橋 正樹; 成川 輝真; 吉田 和夫
  「運動と振動の制御」シンポジウム講演論文集, 巻：2003, 号：8, 開始ページ：507, 終了ページ：512, 2003年10月30日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110002502132, CiNii Books ID：AA11902241
• 407 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　　　　　　　　　　　　　　　
  成川 輝真; 高橋 正樹; 吉田 和夫
  「運動と振動の制御」シンポジウム講演論文集, 巻：2003, 号：8, 開始ページ：513, 終了ページ：518, 2003年10月30日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110002502133, CiNii Books ID：AA11902241
• 105 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　　　　　　　　　　　　　　　
  高橋 正樹; 成川 輝真; 吉田 和夫
  Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D, 巻：2003, 開始ページ：13, 終了ページ：13, 2003年09月15日
  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.
  一般社団法人日本機械学会, 日本語
  ISSN：1348-0235, CiNii Articles ID：110002483113, CiNii Books ID：AA11901770
• 122 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　　　　　　　　　　　　　　　
  成川 輝真; 高橋 正樹; 吉田 和夫
  Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D, 巻：2003, 開始ページ：30, 終了ページ：30, 2003年09月15日
  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.
  一般社団法人日本機械学会, 日本語
  ISSN：1348-0235, CiNii Articles ID：110002483130, CiNii Books ID：AA11901770

• 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年
  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年
  ISBN：9783902613073

• 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), 2018年10月
  日本語
• 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), 2017年09月
  日本語
  

  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), 2016年09月
  日本語
  

  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年
  日本語
• 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年
  日本語
• 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), 2015年09月
  日本語
• 421 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
  機械力学・計測制御講演論文集, 2015年08月
  日本語
  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 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
  機械力学・計測制御講演論文集, 2015年08月
  日本語
  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), 2015年08月
  日本語
• 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), 2015年08月
  日本語
• 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), 2015年05月
  日本語
• G1100201 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
  年次大会, 2015年
  日本語
  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年
  日本語
• 224 部分円周溝付き静圧気体ジャーナル軸受で支持された回転軸系の安定性(領域4 流体関連振動・ローターダイナミクス)　　　　　　　　　　　　　　　
  山本 浩; 浦 翔太郎; 成川 輝真
  機械力学・計測制御講演論文集, 2014年08月
  日本語
  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 空気ばねで支持された防振機構の最適設計法 : 質量中心位置のずれの影響(J-2-5:防振,領域2:耐震・制振・ダンピング,総合テーマ「海を越え,国を越え,世代を超えて!」)　　　　　　　　　　　　　　　
  山本 浩; 成川 輝真; 松坂 俊
  機械力学・計測制御講演論文集, 2013年08月
  日本語
  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 水平防振機構における転がり支承と磁気ダンパの最適配置(J-2-5:防振,領域2:耐震・制振・ダンピング,総合テーマ「海を越え,国を越え,世代を超えて!」)　　　　　　　　　　　　　　　
  成川 輝真; 山本 浩
  機械力学・計測制御講演論文集, 2013年08月
  日本語
  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 平らな足と膝関節を有する平面受動二足歩行機の運動解析(M-OS11-2 ロボットおよび人間のダイナミクスと制御II,M-OS11 ロボットおよび人間のダイナミクスと制御,「海を越え,国を越え,世代を超えて!」)　　　　　　　　　　　　　　　
  成川 輝真; 山本 浩
  「運動と振動の制御」シンポジウム講演論文集, 2013年
  日本語
  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 SysML (Systems Modeling Language)を用いた機能分析に基づく制御系設計 : 乗員保護制御システムに対する適用(M-OS16-1:MBSEと1D-CAE,M-OS6 運動制御とシミュレーションの融合,M-OS16 MBSE(モデルベースシステムズエンジニアリング)と1D-CAEジョイントセッション,「海を越え,国を越え,世代を超えて!」)　　　　　　　　　　　　　　　
  西村 秀和; 成川 輝真
  「運動と振動の制御」シンポジウム講演論文集, 2013年
  日本語
  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 小型4輪駆動インホイールモータ自動車の駆動制御システム設計(ロボット・メカトロニクスのための新しい制御理論とその応用,OS8.5 システム制御理論の新潮流,総合テーマ:「システムを考える。境界を越えて。」)　　　　　　　　　　　　　　　
  森 崇; 成川 輝真; 村上 晋太郎; 西村 秀和
  機械力学・計測制御講演論文集, 2012年09月
  日本語
• 231 胸部変形に着目した低次元力学モデルを用いた車両衝突時の乗員拘束方法の検討(ビークルの振動と制御,OS8.1 運動と振動の制御,総合テーマ:「システムを考える。境界を越えて。」)　　　　　　　　　　　　　　　
  成川 輝真; 西村 秀和; 伊藤 優一; 本澤 養樹
  機械力学・計測制御講演論文集, 2012年09月
  日本語
• 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年
  英語
• J123012 車両衝突時の胸部変形に着目した乗員保護装置設計のための低次元力学モデル　　　　　　　　　　　　　　　
  成川 輝真; 西村 秀和; 伊藤 優一; 本澤 養樹
  年次大会, 2012年
  日本語
  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 次世代超小型電気自動車のためのシャーシー・駆動制御システムの設計　　　　　　　　　　　　　　　
  森 崇; 西村 秀和; 成川 輝真
  年次大会, 2012年
  日本語
  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 小型4輪駆動インホイールモータ自動車の駆動制御システム設計　　　　　　　　　　　　　　　
  森 崇; 成川 輝真; 村上 晋太郎; 西村 秀和
  Dynamics & Design Conference, 2012年
  日本語
  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 胸部変形に着目した低次元力学モデルを用いた車両衝突時の乗員拘束方法の検討　　　　　　　　　　　　　　　
  成川 輝真; 西村 秀和; 伊藤 優一; 本澤 養樹
  Dynamics & Design Conference, 2012年
  日本語
  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 可変重力環境下の受動歩行を規範としたコンパス型2足ロボットの歩行速度制御(ロボットのダイナミクスと制御1,OS-17 ロボットのダイナミクスと制御,総合テーマ:「部門創設25周年、新たなる躍動」)　　　　　　　　　　　　　　　
  松本 祐介; 池田 達彦; 成川 輝真; 高橋 正樹
  機械力学・計測制御講演論文集, 2011年09月
  日本語
• 134 セミアクティブニーボルスターを用いた乗員下肢保護制御系設計(ビークルのロバスト制御,OS-16 運動と振動の制御,総合テーマ:「部門創設25周年、新たなる躍動」)　　　　　　　　　　　　　　　
  成川 輝真; 西村 秀和
  機械力学・計測制御講演論文集, 2011年09月
  日本語
• 1P1-Q06 受動ダイナミクスに基づく上体を利用した可変速度二足歩行方法(【機械力学・計測制御部門】ロボットシステムのダイナミクス&デザイン)　　　　　　　　　　　　　　　
  成川 輝真; 西村 秀和
  ロボティクス・メカトロニクス講演会講演概要集, 2011年
  日本語
  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 可変重力環境下の受動歩行を規範としたコンパス型2足ロボットの歩行速度制御　　　　　　　　　　　　　　　
  松本 祐介; 池田 達彦; 成川 輝真; 高橋 正樹
  Dynamics & Design Conference, 2011年
  日本語
  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 セミアクティブニーボルスターを用いた乗員下肢保護制御系設計　　　　　　　　　　　　　　　
  成川 輝真; 西村 秀和
  Dynamics & Design Conference, 2011年
  日本語
  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 可変重力環境下におけるコンパス型2足歩行ロボットの受動歩行の解析と再現法の提案(OS2 ロボットのダイナミクスと制御2)　　　　　　　　　　　　　　　
  松本 祐介; 池田 達彦; 成川 輝真; 高橋 正樹; 山田 深; 大島 博; 里宇 明元
  「運動と振動の制御」シンポジウム講演論文集, 2011年
  日本語
  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 二輪自動車に対する制動力制御システムデザイン(OS12 二輪車のダイナミクスと制御1)　　　　　　　　　　　　　　　
  朱 紹鵬; 村上 晋太郎; 西村 秀和; 成川 輝真
  「運動と振動の制御」シンポジウム講演論文集, 2011年
  日本語
  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 低次元力学モデルを用いた車両衝突時の乗員下肢保護制御系設計(OS15 機械・制御系設計と1D-CAE 1)　　　　　　　　　　　　　　　
  成川 輝真; 西村 秀和
  「運動と振動の制御」シンポジウム講演論文集, 2011年
  日本語
  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 2段階終端状態制御によるサーボプレスの衝撃制御(制御技術)　　　　　　　　　　　　　　　
  福崎 淳一; 成川 輝真; 西村 秀和; 伊藤 博幸; 有壁 剛生
  「運動と振動の制御」シンポジウム講演論文集, 2011年
  日本語
  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.
• 車両前面衝突時の乗員下肢損傷低減のためのセミアクティブニーボルスター制御系設計　　　　　　　　　　　　　　　
  成川 輝真; 西村 秀和; 成川 理優
  自動制御連合講演会講演論文集, 2010年
  日本語
  車両前面衝突時においてニーボルスターを用いて乗員下肢を適切に拘束することで乗員下肢の損傷を低減することが期待できる．本論文では，車両前面衝突時の乗員の大腿骨荷重を低減するために，減衰力が変化するセミアクティブニーボルスターの制御系設計を行った．セミアクティブニーボルスターを用いることで，塑性変形を行うパッシブニーボルスターと比較して，乗員下肢の移動量を同程度に抑えつつ大腿骨荷重を低減した．
• 329 車両前面衝突における乗員下肢保護のためのシステム同定モデルを用いた制御系設計(車両駆動系の解析と制御,OS-16 運動と振動の制御,総合テーマ「伝統を,未来へ!」)　　　　　　　　　　　　　　　
  成川 輝真; 西村 秀和
  Dynamics & Design Conference, 2010年
  日本語
  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 ショルダベルトとラップベルトの制御による車両前面衝突時の乗員保護([J0201-1]自動車の衝突と傷害の力学(1))　　　　　　　　　　　　　　　
  成川 輝真; 西村 秀和
  年次大会講演論文集, 2010年
  日本語
  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 車両衝突時の乗員保護のための衝撃制御　　　　　　　　　　　　　　　
  成川 理優; 西村 秀和; 成川 輝真
  Dynamics & Design Conference, 2009年
  日本語
  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 平らな足と足首ばねを有する平面受動二足歩行の運動解析　　　　　　　　　　　　　　　
  成川 輝真; 横山 和人; 高橋 正樹
  Dynamics & Design Conference, 2009年
  日本語
  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 ニーボルスターとシートベルトの協調制御による車両衝突時の乗員損傷低減(OS1 交通機械の制御1)　　　　　　　　　　　　　　　
  成川 輝真; 西村 秀和; 成川 理優
  「運動と振動の制御」シンポジウム講演論文集, 2009年
  日本語
  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　　　　　　　　　　　　　　　
  第26回日本ロボット学会学術講演会, 2008年
• 平らな足と足首ばねを有する3次元Rimless Wheel の運動解析　　　　　　　　　　　　　　　
  第26回日本ロボット学会学術講演会, 2008年
• A Simple 3D Straight-Legged Passive Walker with Flat Feet and Ankle Springs　　　　　　　　　　　　　　　
  Narukawa Terumasa; Yokoyama Kazuto; Takahashi Masaki; Yoshida Kazuo
  IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008年
• 高エネルギー効率のためのダイナミクスを利用した二足歩行ロボットの支持脚切り替え時に着目した制御方法　　　　　　　　　　　　　　　
  成川 輝真; 高橋 正樹; 吉田 和夫
  第５０回自動制御連合講演会, 2007年
  日本語
  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
  IEEE International Conference on Robotics and Automation, 2007年
  英語
• 558 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　　　　　　　　　　　　　　　
  成川 輝真; 高橋 正樹; 吉田 和夫
  Dynamics & Design Conference, 2006年
  日本語
  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　　　　　　　　　　　　　　　
  第24回日本ロボット学会学術講演会, 2006年
• 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　　　　　　　　　　　　　　　
  Dynamics and Design Conference 2006, 2006年
• C38 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(OS11-3 移動ロボットと制御理論)　　　　　　　　　　　　　　　
  宮川 健; 高橋 正樹; 成川 輝真; 吉田 和夫
  「運動と振動の制御」シンポジウム講演論文集, 2005年
  日本語
  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 CPGと上体姿勢制御を融合した統合型歩行制御手法(OS11-2 二足歩行ロボット)　　　　　　　　　　　　　　　
  高橋 正樹; 成川 輝真; 宮川 健; 吉田 和夫
  「運動と振動の制御」シンポジウム講演論文集, 2005年
  日本語
  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 上体と遊脚制御による二足ロボットの平地歩行(OS11-2 二足歩行ロボット)　　　　　　　　　　　　　　　
  成川 輝真; 高橋 正樹; 吉田 和夫
  「運動と振動の制御」シンポジウム講演論文集, 2005年
  日本語
  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　　　　　　　　　　　　　　　
  第9回「運動と振動の制御」シンポジウム講演論文集, 2005年
• CPGと上体姿勢制御を融合した統合型歩行制御手法　　　　　　　　　　　　　　　
  第9回「運動と振動の制御」シンポジウム講演論文集, 2005年
• 上体と遊脚制御による二足ロボットの平地歩行　　　　　　　　　　　　　　　
  第9回「運動と振動の制御」シンポジウム講演論文集, 2005年
• 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　　　　　　　　　　　　　　　
  第23回日本ロボット学会学術講演会, 2005年
• 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　　　　　　　　　　　　　　　
  第23回日本ロボット学会学術講演会, 2005年
• 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　　　　　　　　　　　　　　　
  第23回日本ロボット学会学術講演会, 2005年
• Combined Control of CPG and Torso Attitude Control for Biped Locomotion　　　　　　　　　　　　　　　
  IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005年
• 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年
• Combined Control of CPG and Torso Attitude Control for Biped Locomotion　　　　　　　　　　　　　　　
  IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005年
• 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年
• 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年
• Intelligent control of integrated cubic neural network for robustness and fault-tolerance　　　　　　　　　　　　　　　
  IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2004年
• Intelligent Stabilization Control to An Arbitrary Equilibrium Point of Double Pendulum　　　　　　　　　　　　　　　
  American Control Conference, 2004年
• 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年
• Intelligent control of integrated cubic neural network for robustness and fault-tolerance　　　　　　　　　　　　　　　
  IFAC Workshop on Adaptation and Learning in Control and Signal Processing, 2004年
• Intelligent Stabilization Control to An Arbitrary Equilibrium Point of Double Pendulum　　　　　　　　　　　　　　　
  American Control Conference, 2004年
• 122 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　　　　　　　　　　　　　　　
  成川 輝真; 高橋 正樹; 吉田 和夫
  Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D, 2003年09月
  日本語
  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 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　　　　　　　　　　　　　　　
  高橋 正樹; 成川 輝真; 吉田 和夫
  Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D, 2003年09月
  日本語
  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 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　　　　　　　　　　　　　　　
  成川 輝真; 高橋 正樹; 吉田 和夫
  Dynamics & Design Conference, 2003年
  日本語
  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 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　　　　　　　　　　　　　　　
  高橋 正樹; 成川 輝真; 吉田 和夫
  Dynamics & Design Conference, 2003年
  日本語
  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.
• 407 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　　　　　　　　　　　　　　　
  成川 輝真; 高橋 正樹; 吉田 和夫
  「運動と振動の制御」シンポジウム講演論文集, 2003年
  日本語
  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.
• 406 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　　　　　　　　　　　　　　　
  高橋 正樹; 成川 輝真; 吉田 和夫
  「運動と振動の制御」シンポジウム講演論文集, 2003年
  日本語
  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.
• 二重振子の任意平衡点への知的移動・安定化制御　　　　　　　　　　　　　　　
  高橋 正樹; 成川 輝真; 吉田 和夫
  自動制御連合講演会講演論文集, 2003年
  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　　　　　　　　　　　　　　　
  IEEE International Symposium on Intelligent Control, 2003年
• Intelligent Transfer and Stabilization Control to Unstable Equilibrium Point of Double Inverted Pendulum　　　　　　　　　　　　　　　
  SICE Annual Conference, 2003年
• 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年
• 二重振子の任意平衡点への知的移動　　　　　　　　　　　　　　　
  第46回自動制御連合講演会, 2003年
• 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）　　　　　　　　　　　　　　　
  第８回「運動と振動の制御」シンポジウム, 2003年
• 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）　　　　　　　　　　　　　　　
  第８回「運動と振動の制御」シンポジウム講演論文集, 2003年
• 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　　　　　　　　　　　　　　　
  Dynamics and Design Conference 2003, 2003年
• 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　　　　　　　　　　　　　　　
  Dynamics and Design Conference 2003, 2003年
• Intelligent Control Using Destabilized and Stabilized Controllers for a Swung up and Inverted Double Pendulum　　　　　　　　　　　　　　　
  IEEE International Symposium on Intelligent Control, 2003年
• Intelligent Transfer and Stabilization Control to Unstable Equilibrium Point of Double Inverted Pendulum　　　　　　　　　　　　　　　
  SICE Annual Conference, 2003年
• 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年

• 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　　　　　　　　　　　　　　　
  日本学術振興会, 科学研究費助成事業, 基盤研究(C), 2022年04月01日 - 2025年03月31日
  成川 輝真, 埼玉大学
  配分額（総額）：4030000, 配分額（直接経費）：3100000, 配分額（間接経費）：930000
  課題番号：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　　　　　　　　　　　　　　　
  日本学術振興会, 科学研究費助成事業, 基盤研究(C), 2021年04月01日 - 2024年03月31日
  山本 浩; 成川 輝真, 埼玉大学
  配分額（総額）：4290000, 配分額（直接経費）：3300000, 配分額（間接経費）：990000
  (1)研究代表者らが提案した，円弧溝を有する円板と，それに対向する回転可能な減衰調整円板の組み合わせにより形成されるスリットの長さを調整することにより実現される減衰係数調整機構を拡張し，積載物の質量の変動を設置環境および空気室の圧力から検出し，それに基づき自動的に減衰係数調整機構を駆動する制御系と統合することにより，積載物特性の変動に応じて最適な減衰係数に調整するシステムを開発した．
  (2)空気室に設けた給排気弁を開閉することにより空気室内の空気体積を変化させて支持高さを調整する機構と，上述の通り検出した積載物の質量の変動に基づき自動的に高さ調整機構を駆動する制御系を統合することにより，積載物特性の変動によらず支持高さを一定に調整するシステムを開発した．
  (3)上記システムを統合することにより，積載物質量の変動に応じて自動的に減衰係数と支持高さを調整する空気ばねを開発し，その特性を明らかにした．
  (4)積載物の質量のみならず，重心位置，慣性モーメントといった特性の推定を通して，より多岐にわたる積載物特性の推定を実現するために，２機の空気ばねで積載物を支持するシステムを設計製作し，非振動時および自由振動時の空気室圧力から上記特性を推定するシステムを開発した．
  (5)空気ばね実機における構成上必要なゴム部品などの影響を考慮した，共振倍率最小化を実現する新たな最適減衰比導出手法を見出し，その有効性を実機により検証した．
  課題番号：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　　　　　　　　　　　　　　　
  日本学術振興会, 科学研究費助成事業, 基盤研究(C), 2019年04月01日 - 2023年03月31日
  成川 輝真, 埼玉大学
  配分額（総額）：4030000, 配分額（直接経費）：3100000, 配分額（間接経費）：930000
  本年度は、歩行者ダミーにおいて傷害発生リスクを見積もるために想定される傷害指標である頭部加速度や胸部たわみ量を評価するために頭部、頚部、胸部を有するダミーの設計を行った。設計の過程において、頭部、頚部、胸部を追加した場合にもダミー全体の質量を超過させることなく歩行動作を実現するためには、より小型のアクチュエータを用いて高効率な力制御や位置制御を達成することが不可欠であり、それぞれの部位の設計において少ない部品数による構造とすることが重要であることが明らかとなった。そこで、本研究課題で対象としている弾性要素や粘性要素を直列に配置したアクチュエータにおける制御方法について関連研究も含めて比較検討を行った。特に、本研究課題で開発する歩行者用アクティブダミーは子供を模擬したものを想定しているが、本研究課題のアクティブダミーの設計方法は子供用ダミーに限定されるものではなく、体格が異なるダミーへの適用を期待できることから、リンクの長さや質量、慣性モーメントおよび全体の重心位置が異なる場合にも歩行が実現可能かを検討した。これにより、直列に弾性要素や粘性要素を配置したアクチュエータの制御方法について比較することで、より広範囲な対象に適用可能な設計方法の知見を得た。さらに、衝突実験に向けた取り組みとして、ダミーの横方向の運動のみを拘束する機構を有効に活用することで、体格の最も小さい子供用ダミーが歩行動作を行いつつ衝突評価実験が可能となるような試験装置を案出した。
  課題番号：19K04270
• 自動調整機構を有する空気ばねを用いた精密防振機構の開発　　　　　　　　　　　　　　　
  日本学術振興会, 科学研究費助成事業, 基盤研究(C), 2016年04月01日 - 2020年03月31日
  山本 浩; 成川 輝真, 埼玉大学
  配分額（総額）：4810000, 配分額（直接経費）：3700000, 配分額（間接経費）：1110000
  自動調整機構を有する空気ばねを用いた精密防振機構の開発を目的として，まず複数の空気ばねで支持された防振機構の動特性を理論および実験により明らかにすることを通して，空気ばね支持防振機構の共振倍率を最小化する設計指針を明らかにした．また積載荷重変動の影響を明らかにするべく，空気ばねで支持された防振機構の動特性に支持質量の大きさや重心位置が及ぼす影響を明らかにした．そして積載荷重変動時に共振倍率を最小化するには空気ばねの等価減衰係数の調整が必要なことを見出し，空気ばねにおいて最も調整すべき特性である減衰係数を簡便に調整する機構を提案し，その有用性を明らかにした．
  課題番号：16K06148
• 歩行者保護を目的とした無人搬送車の衝突安全　　　　　　　　　　　　　　　
  日本学術振興会, 科学研究費助成事業, 若手研究(B), 2015年04月01日 - 2018年03月31日
  成川 輝真, 埼玉大学
  配分額（総額）：3900000, 配分額（直接経費）：3000000, 配分額（間接経費）：900000
  歩道などで小型無人搬送車を運用する場合、衝突事故時に歩行者を保護するための極めて高い衝突安全性能が求められる。本研究では、小型軽量のアクチュエータで所望の力を発生し、かつ、故障した際にも最低限の衝突安全性能を確保するために、小型サーボモータとボールねじにより駆動されるテーブルに対して、弾性要素を直列に配置した直列弾性アクチュエータを用いて能動的に制御を行うアクティブバンパを提案した。被衝突物の最大変形量を最小とする最適なモータトルクを算出し、このアクティブバンパが高い衝突安全性能を有することを明らかにした。
  課題番号：15K17993