March 8th Room: 6th Bldg., 5th floor, 6-501 9:00-10:00 PS2: Plenary Session: Prof. Asif Šabanović Challenges in Motion Control Systems

Break Room 1 (501) Room 5 (401) Room 4 (504) IS4: Emerging technologies in motion control TT6: Robotics 1 TT7: Haptics and network based control Toshiaki Tsuji Kenji Natori Kazuhiro Yubai Mie University (Yutaka Umemura) University Ryogo Kubo Daisuke Yashiro Mie University Takahiro Mizoguchi KAST Title First Autor Title First Autor Title First Autor

Mechanical Admittance Control Equilibrium Motion Planning of Intelligent robot navigation for Akira Shimada (Shibaura Institute Takayuki Oshima (University of Based on Feedforward Yusuke Asai (Nagaoka University IS4-1 Humanoid Climbing Robot under TT6-1 surveillance behavior - a remote TT7-1 of Technology) Toyama) Compensation for Fine Realization of Technology) Constraints based approach of Impedance

Deadbeat Feedforward Application of Deep Belief Neural Modal Space Disturbance Compensation with Frequency Noriaki Hirose (Toyota Central Delowar Hossain (University of Yoshiyuki Kambara (Keio IS4-2 TT6-2 Network for Robot Object TT7-2 Decoupling Method for Bilateral Shaping Available for Continuous R&D Labs., INC.) Toyama) University) Recognition and Grasping Control Path Control

10:15- Adaptive Robot Formations using Control Performance and Stability 12:15 Simulations of 2D Tactile Display Sakahisa Nagai (Yokohama IS4-3 Multiobjective Evolution of Neural Genci Capi (University of Toyama) TT6-3 Evaluation Based on Unfalsified Ryota Isobe (Mie University) TT7-3 Using Compact Solenoid Actuators. National University) Controllers Control for a Reconfigurable Robot

The application of vibration A Performance Analysis of Yasufumi Yoshiura (Yaskawa Center of Mass State Based Kazuya Tamura (Yokohama IS4-4 suppression control method for TT6-4 TT7-4 Distributed Control over Multi-hop Yu Imai (Mie University) Electric Corporation) Control for Bipedal Robot national university) servo products Network using STDMA Switches

A holonomy-based motion planning A human-like robot intelligent Design of network-based control Masahide Ito (Aichi Prefectural Tooru Suhara (Shibaura Institute IS4-5 approach for a second-order TT6-5 navigation in dynamic indoor Hua Bin (University of Toyama) TT7-5 system in consideration of packet University) of Technology) nonholonomic system environments loss and time delay

Trajectory Generation of Leg A Geard Servo Motor with Output Modal Space Selection and Control Motion with CoG Limitation of IS4-6 Torque control and Sensing Kotaro Saito (ROBOTEC.Inc) TT6-6 Shin Uhara () TT7-6 in Bilateral Control under Time Satoshi Nishimura (Keio University) Swing leg for Reducing Yaw-Axis Capability Delay Torque on Biped Robot

Break Room 1 (501) Room 5 (401) Room 2 & 3 V: Video and interactive session IS5: High precision motion control TT8: Robotics 2 13：00-14:40 Video session 14：40-15:20 Poster Session National Institute of Technology, Kazuaki Ito Yutaka Uchimura Shibaura Institute of Technology Masaaki Shibata Seikei University Toyota College Hiroshi Fujimoto The Seiichiro Katsura Keio University Sho Sakaino Saitama University Title First Autor Title First Autor

Estimation Method of Improvement of Rough Terrain Takenori Atsumi (Chiba Institute of Ryohei Sato (The University of IS5-1 Unobservable Oscillations in TT8-1 Running Ability for Mobility Robot Technology) Tokyo) Sampled-Data Positioning Systems with In-Wheel Motor

Comparison of Generation Method Experimental Study on Formation Takayuki Shiraishi (National Toshiki Midorikawa (National of Feedforward Input in Time and Variable Form Swarm Robot IS5-2 Institute of Technology, Kagoshima TT8-2 Institute of Technology, Gunma Frequency Domain for System with System by Environment College) College) Unstable Zero Recognition

13:15- Design and Development of a 15:15 Initial Friction Compensation for Yoshihiro Maeda (Nagoya Institute Mobile Rostrum Robot for Dickson, Tze How Neoh (National IS5-3 Suppressing Response Dispersion TT8-3 of Technology) University Convocation Ceremony Energy University, Malaysia) in Micrometer Stroke Positioning in Malaysia

Influence of the Nonlinear Friction Development of super multi-joint Takashi Nagai (Shibaura Institute IS5-4 Characteristics onto the Motion Ryuta Sato (Kobe University) TT8-4 robot driven by single power of Technology) Behavior of Feed Drive Systems source

Parameter Design of Optical Lens Disturbance Obeserver With Yoshiyuki Urakawa (Sony IS5-5 Control System Using Limited Pole TT8-5 Variable Gain for Saving Energy of Ryuya Komatsu (Keio University) Corporation) Placement Method Robots

Retrospection on control-oriented Bilateral Control Using Functional Michael Ruderman (University of Hiroto Mizoguchi (Saitama IS5-6 case study of nonlinear elasticities TT8-6 Electrical Stimulation Considering Agder) University) in wave-motion gears Muscle Length

Break

IS1: Haptics and its related technologies TT9: Human support and rehabilitation systems

Yutaka Uchimura Shibaura Institute of Technology Tomoyuki Shimono Yokohama National University

Takahiro Endo Kyoto University Hiroshi Igarashi Tokyo Denki University Title First Autor Title First Autor

Force Sensorless Power Assist Bilateral Control of Single-Rotor Control for Wheelchair on Flat IS1-1 Daisuke Yashiro (Mie University) TT9-1 Xi Lele (The University of Tokyo) Helicopter Road Using Recursive Least Square with Multiple Forgetting

Force Control of a Flexible Assistive Control using Monocular Takatoshi Oikawa (Chitose IS1-2 Timoshenko Arm for Softness Takahiro Endo (Kyoto University) TT9-2 Fisheye Camera for Power Assist Institute of Science and Display Wheelchair Technology)

Quantitative Evaluation of 15:30- A New Possibility of Bilateral Hemiplegic Ankle Spasticity Using 17:30 IS1-3 Control -Functional Electrical Sho Sakaino (Saitama University) TT9-3 Satoshi Shibata (Mie University) Angular Velocity Control System Stimulation- with Torque Sensor and EMG

Evaluation of Muscular Power Tactile Display Using Ultrasonic Masaya Takasaki (Saitama Measurement Equipment of Lower IS1-4 TT9-4 Yuki Mizutani (Mie Univeristy) Vibration University) Limbs to Measure Output Force Distribution

Transfer Function-based Approach Yasutaka Fujimoto (Yokohama A Robotic Cane for Walking Kyohei Shimizu (Yokohama IS1-5 for Designing Two-channel TT9-5 National University) Support Using Two Control Modes National University) Bilateral Control Systems

Wearable Device for Postural Hiroki Ohya (Yokohama National TT9-6 Control using Control Moment University) Gyroscopes