Kazuya Murotani

AGV relay order picking method for eliminating order consolidation in warehouse

Takashi Fukunaga, Satoshi Nagahara, Kazuya Murotani, S. Ueno et autres

Goods To Person (GTP) type material handling systems, such as Automated Storage and Retrieval Systems (ASRS), and shelf transfer Automated Guided Vehicles (AGVs), are automation technologies that reduce workers walking time in warehouse picking operations by bringing items to the picker automatically, …

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Step recognition using LiDAR and navigation considering step entry direction for skid-steer robots

Kazuya Murotani, Noriyasu Hasejima

In recent years, studies on autonomous mobile robots for outdoor use have been actively conducted. In these studies, skid-steer robots such as crawler robots are often used. These mechanisms are not good at diagonally entering steps such as curbs, so it is …

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Resolved viscoelasticity control for robust walking of a humanoid with knee-stretched posture considering singularity

Ko Yamamoto, Kazuya Murotani, Tianyi Ko, Yoshihiko Nakamura

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Autonomous Patrol Robot using Solid-State LiDAR with Narrow FoV

Kazuya Murotani, Noriyasu Hasejima, Takahiro Yamada

This research develops an autonomous mobile robot to automate indoor/outdoor patrol. We prototyped a crawler robot with LiDAR, GNSS, IMU, for navigation, and PTZ camera for patrol. We adopted a solid-state LiDAR for localization, while a lack of FoV was a problem …

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Whole-Body Compliant Motion by Sensor Integration of an EHA-Driven Humanoid Hydra

Tianyi Ko, Kazuya Murotani, Ko Yamamoto, Yoshihiko Nakamura

Joints’ backdrivability is desired for robots that perform tasks contacting the environment, in addition to the high torque and fast response property. The electro-hydrostatic actuator (EHA) is an approach to realize force-sensitive robots. To experimentally confirm the performance of a biped robot …

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Comparative study of force control methods for bipedal walking using a force-sensitive hydraulic humanoid

Kazuya Murotani, Ko Yamamoto, Taiki Ishigaki, Yoshihiko Nakamura

This paper describes an experimental comparison of force control methods, including resolved acceleration control (RAC), joint position control (JPC), and resolved viscoelasticity control (RVC), focusing on the biped walking performance. In previous studies, we reported a stable biped walking using the JPC …

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Development of 3-DOF wrist mechanism for electro-hydrostatically driven robot arm

Ryoya Suzuki, Mitsuo Komagata, Tianyi Ko, Kazuya Murotani et autres

Electro-hydrostatic actuator (EHA) has backdrivability and is suitable for a robot system that cooperates with human. However, its design methodology to miniaturize and to generate high pressure has not been established. We develop a robotic arm, all joints of which are actuated …

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Experimental Validation of Resolved Viscoelasticity Control on Hydrostatically Driven Humanoid Hydra

Ko Yamamoto, Tianyi Ko, Kazuya Murotani, Yoshihiko Nakamura

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Resolved Viscoelasticity Control Considering Singularity for Knee-stretched Walking of a Humanoid

Kazuya Murotani, Ko Yamamoto, Tianyi Ko, Yoshihiko Nakamura

This paper describes a stable knee-stretched walking of a humanoid by the resolved viscoelasticity control (RVC). The RVC method resolves multiple viscoelasticities in task-space, including the center of mass viscoelasticity for balancing, into joint-space viscoelasticity. Although a robust and compliant motion was …

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Whole-body Compliant Motion by Resolved Acceleration Control on Hydrostatically Driven Humanoid Hydra

Kazuya Murotani, Ko Yamamoto, Yoshihiko Nakamura

This paper demonstrates a whole-body compliant motion by using resolved acceleration control, on the hydrostatically driven humanoid Hydra. Although Hydra realized a compliant and robust motion control in a previous study, it was limited on the ideal planar surface. In this paper, …

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Compliant Biped Locomotion of Hydra, an Electro-Hydrostatically Driven Humanoid

Tianyi Ko, Ko Yamamoto, Kazuya Murotani, Yoshihiko Nakamura

The backdrivability of joints is a critical requirement for the robots that perform tasks in uncertain environments. While series elastic actuators are intrinsically backdrivable, their control bandwidth is limited by the low resonant frequency of the elastic component. To simultaneously realize both …

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MEMS electret energy harvester with embedded bistable electrostatic spring for broadband response

Kazuya Murotani, Yuji Suzuki

Abstract A MEMS electret vibration energy harvester with an embedded bistable electrostatic spring for broadband response is proposed. By using a vertical electret, the bistable potential can be realized without any complex structure or additional mechanism. Based on the 1D electrostatic model, …

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