Takashi Yatoh
Kyushu Institute of Technology
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Publication
Featured researches published by Takashi Yatoh.
Artificial Life and Robotics | 2006
Shinichi Sagara; Masakazu Tamura; Takashi Yatoh; Kenzo Shibuya
We have proposed continuous-time and discrete-time resolved acceleration control methods for underwater vehicle-manipulator systems and the effectiveness of the control methods has been shown by experiments. In this article, we propose a digital control method considering the singular configuration of manipulator. Experimental results show the effectiveness of the proposed method.
Artificial Life and Robotics | 2008
Takashi Yatoh; Shinichi Sagara; Masakazu Tamura
We have proposed continuous and discrete time resolved acceleration control methods for underwater vehicle-manipulator systems and the effectiveness of the control methods have been shown by experiments. In this paper, we propose a digital type disturbance compensation control method based on the RAC method considering singular configuration of manipulator. Experimental results show the effectiveness of the proposed method.
Artificial Life and Robotics | 2010
Shinichi Sagara; Takashi Yatoh; Tomoaki Shimozawa
Most control methods of underwater vehiclemanipulator systems (UVMS) are based on the computed torque method that is used for underwater robotic vehicles. We have proposed a resolved acceleration control (RAC) method for UVMS. In this article, we propose a disturbance compensation control method for both vehicle and manipulator based on the RAC method. Experimental results using an underwater robot with a vertical planar 2-link manipulator show that the proposed control method has good control performance.
oceans conference | 2008
Takashi Yatoh; Shinichi Sagara
We have proposed continuous and discrete time Resolved Acceleration Control (RAC) methods for underwater vehicle-manipulator systems and the effectiveness of the control methods have been demonstrated by experiments. In this paper, we propose a digital type disturbance compensation control method based on the RAC method. Experimental results show the effectiveness of the proposed method.
oceans conference | 2007
Takashi Yatoh; Shinichi Sagara
We have proposed continuous and discrete time resolved acceleration control methods for underwater vehicle-manipulator systems and the effectiveness of the control methods have been shown by experiments. In this paper, we compare a computed torque method and our proposed continuous-time control method. Simulation and experimental results show that the control performance of our proposed method is better than the conventional method.
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) | 2009
Takashi Yatoh; Tomoaki Shimozawa; Shinichi Sagara; Fumiaki Takemura
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) | 2009
Shinichi Sagara; Junichi Fukuda; Gaku Ohnishi; Takashi Yatoh; Fumiaki Takemura
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) | 2008
Shinichi Sagara; Takashi Yatoh; Hajime Sakai; Fumiaki Takemura
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) | 2008
Shinichi Sagara; Yuichiro Taira; Gaku Ohnishi; Masaharu Abe; Takashi Yatoh
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) | 2008
Shinichi Sagara; Tomoaki Shimozawa; Takashi Yatoh; Shigeaki Ino
