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過去の研究論文,科学研究費プロジェクト等
1.誌上発表(1993 年~2010 年) (1) 原著論文 番号 1 2 3 4 5 6 7 8 9 10 11 12 13 14 著書,学術論文名 著者 ロボットマニピュレータのロバストな位置と力 成清辰生 のハイブリッド制御 G.Schmidt 芥田友彦 Control System Design for Precision 芥田友彦 中根浩幸 Machining Robot 成清辰生 毛利尚武 斎藤長男 加工作業におけるタスク理解 成清辰生 差動式リニアモータによるコンプライアンス制 成清辰生 御 芥田友彦 大野直樹 滑らか駆動を実現する空気圧シリンダのロバス 成清辰生 ト制御 芥田友彦 高松邦彦 精密加工ロボットの制御系設計-放電加工への 中根浩幸 応用- 成清辰生 芥田友彦 毛利尚武 斎藤長男 超精密軸対称加工品の形状計測に関する研究 (第 伊藤俊治 1報)-測定原理とシミュレーション- 山本昌治 成清辰生 堀内 宰 非干渉化された位置と力のハイブリッド制御に 成清辰生 よる研磨加工 Chained form で記述された非ホロノミック 成清辰生 系の指数安定化 杉田澄雄 累進レンズの断面曲線評価 伊藤俊治 成清辰生 宇宙ロボットのベース姿勢と手先軌道の非干渉 佐々木政治 化制御 成清辰生 触覚式による非軸対象形状の 3 次元的測定 伊藤俊治 山本昌治 成清辰生 ノルム評価を用いた逆モデルの構成とその応用 不破勝彦 成清辰生 非ホロノミック力学系のフィードバック安定化 杉田澄雄 -多入力 Chained System の指数安定化と 成清辰生 Caplygin System の安定化 発表誌名など 計測自動制御学会論文集, Vol.29 No.7,810/818(1993) International Journal of JSPE, Vol.27,No.3,226/227(1993) システム制御情報学会誌, Vol.37,No.10,607/614(1993) 電気学会論文集,Vol.113-D, No.10,1177/1183(1993) 電気学会論文集,Vol.113-D, No.10,1184/1191(1993) 精密工学会誌,Vol.59,No.10, 1637/1642(1993) 精密工学会誌,Vol.60,No.6, 867/871(1994) 日本ロボット学会誌, Vol.14,No.4,116/122(1996) 計測自働制御学会論文集, Vol.32,N0.8,1310/1312(1996) 精密工学会誌,Vol.62,No.1, 103/107(1997) 日本機械学会論文集,Vol.63, No.606,164/171(1997) 精密工学会誌,Vol.63,No.3, 363/367(1997) 電気学会論文集,Vol.117-C, No.6,720/726(1997) 計測自動制御学会論文集, Vol.33,No.6,469/476(1997) 15 周波数変動外乱オブザーバの構成法 16 カオス的回転を用いた湿式定圧研磨 17 自動運転車両の操舵制御報に関する基礎研究- 前方注視・予見機能を有する走行軌跡制御系の設 計- System Identification of Wire Electrical Discharge Machining 18 19 20 21 22 23 24 25 26 27 28 29 不破勝彦 成清辰生 伊藤俊治 成清辰生 桑原一樹 成清辰生 不破勝彦 N.Mohri H.Yamada K.Furutani T.Narikiyo T.Magara T.Narikiyo M.Katoh Stabilization of Nonholonomic Dynamic Systems Based on the Force/Torque Feedback and Its Application 高域遮断型逆モデルの構成とモデルフィードバ 不破勝彦 ック形制御系への応用 成清辰生 舟橋康行 Construction of an Inverse Model with Cutoff K.Fuwa Filter and Its Application to a Model Feedback T.Narikiyo Control System Y.Funahashi デュアルオブザーバによる外乱除去制御系の一 不破勝彦 構成法 成清辰生 舟橋康行 遠隔操作による宇宙ロボットのベース姿勢安定 成清辰生 化制御 岡田 進 H.D.Tuan N.V.Q.Hung Parameterized Linear Matrix Inequality H.D.Tuan Technique in Fuzzy Control System Design P.Apkarian T.Narikiyo Y.Yamamoto 未知ダイナミクスを含む非ホロノミック力学系 鈴木 昭 の軌道追従制御 成清辰生 H.D.Tuan 原 進 Dynamics-Based Adaptive Control for a N.V.Q.Hung Master-Slave System in Teleoperation T.Narikiyo H.D.Tuan Construction of a Control System for K.Fuwa Disturbance Rejection Using a Dual Observer T.Narikiyo Y.Funahashi Robust Mixed H2/Hinf Filtering of 2-D H.D.Tuan Systems P.Apkarian T.Q.Nguyen T.Narikiyo 時変振動系のための非定常最適レギュレータを 原 進 電気学会論文集,Vol.118-D, No.1,127/133(1998) 精密工学会誌,Vol.64,No.5, 748/752(1998) 日本機械学会論文集,Vol.64, No.622,274/281(1998) Annals of the CIRP, Vol.47,No.1,173/176(1998) Recent Advances in Mechatoronics,560/574(1999) Springer 電気学会論文誌,Vol.119-C, No.12,1444/1453(1999) Electrical Engineering in Japan,Vol.133,No.4,79/90 (2000) 電気学会論文誌,Vol.121-C, No.2,333/341(2001) 計測自働制御学会論文集, Vol.37,No.1,73/78(2001) IEEE Trans. Fuzzy Systems, Vol.9,No.2,324/332(2001) 計測自動制御学会論文集, Vol.37,No.8,763/769(2001) 計測自動制御学会論文集, Vol.37,No.10,970/978(2001) Electrical Engineering in Japan,Vol.138,No.4,50/60 (2002) IEEE Trans. Signal Processing, Vol.50,No.7,1759/1771(2002) 日本機械学会論文集(C 編) , 用いた位置決めおよび振動制御 30 シミュレーションベースによる目標軌道設計と その振動系の位置決め制御への適用 31 周波数変動外乱オブザーバを用いた振動制御系 の実現 Nonlinear Adaptive Control of Master-Slave System in Teleoperations 32 33 デュアルオブザーバを用いた多入力系での外乱 制御 34 外乱抑制に基づく柔軟構造物の振動抑制 35 New Fuzzy Control Model and Dynamic Output Feedback Parallel Distributed Compensation 36 受動速度場制御を用いた劣駆動マニピュレータ の制御,計測自動制御学会論文集 デュアルオブザーバによる零点配置 37 38 デュアルオブザーバを用いたモデルマッチング 問題の一考察 39 ABS 制御のためのパラメータ推定と制御系設計 40 受動速度場制御を用いた劣駆動メカニカルシス テムの制御-Snakeboard と剛体システムへの応 用固有構造配置による未知入力系の推定機構と外 乱抑制 41 42 Zero Assignment using a Dual Observer 43 Large-Scale Traffic Network Control Based on Convex Programming Coupled with B & B Strategy 44 ワイヤ放電加工におけるワイヤ振動を考慮した システム同定(第 1 報) 中村研二 成清辰生 原 進 若松康介 成清辰生 不破勝彦 成清辰生 N.V.Q.Hung T.Narikiyo H.D.Tuan 不破勝彦, 成清辰生, 神藤久 不破勝彦, 成清辰生, 川口久雄 H.D.Tuan, P.Apkarian, T.Narikyio, M.Kanota 佐橋順一郎, 成 清辰生 不破勝彦, 成清辰生, 神藤久 不破勝彦, 成清辰生, 神藤久 木下卓浩, 成清辰生, 不破勝彦 成清辰生, 三佐尾和呂,松 田淳 不破勝彦, 成清辰生, 石田真規, 神藤久 K.Fuwa, T.Narikiyo & H.Kando T. Kato, Y. W. Kim S. Okuma, T. Narikiyo 山田久, 毛利尚武, Vol.68,No.665,44/51(2002) 日本機械学会論文集(C 編) , Vol.68,No.672,25/32(2002) 日本機械学会論文集(C 編) , Vol.68,No.674,78/84(2002) Control Engineering Practice , Vol.11, 1/10(2003) 計測自動制御学会論文集, Vol.39, No.2 , 110/119(2003) 計測自動制御学会論文集, Vol.39,No.12,1143/1149(2003) IEEE Trans. Fuzzy Systems ,Vol.12, No.1, 13/21 (2004) 計測自動制御学会論文集, Vol.40.No.10,1030/1037(2004) 電気学会論文誌,Vol.124-C, No.12, 2461/2469 (2004) 計測自動制御学会論文集, Vol.41, No.4, 322/329 (2005) 自動車技術会論文集, Vol.36,No.6,169/174(2005) 計測自動制御学会論文集, Vol.41,No.10,856/865(2005) 計測自動制御学会論文集, Vol.42, No.3, 232/240 (2006) Electrical Engineering in Japan ,Vol.154,38/47(2006) 電気学会論文誌,Vol.126-C, No.6, 752/760 (2006) 精密工学会誌,Vol.72, N0.6, 750/755(2006) 45 46 Control of a Planar Space Robot: Theory and Experiments Efficient Modeling Method of Vehicle Dynamics Operating at a Low Speed and Its Application to Non-Linear Optimal Controller Design 47 極配置問題におけるフィードバックゲインの構 成とその応用 48 FMS Scheduling Based on Timed Petri Net Model and Reactive Graph Search 49 Realization of Parking Task Based on Affine System Modeling 50 Traffic Network Control Based on Hybrid Dynamical System Modeling and Mixed Integer Non-Linear Programming With Convexity Analysis 51 Optimal Controller Design for a Constrained Polynomial Vehicle System with a Input-State Linearized Model 52 Non-linear Optimal Control Design of Vehicle With Low Speed Operation Based on Data Mining Algorithm 53 零感度状態推定器の一構成法 54 繰返し制御を用いたロバストサーボ系の構成と ディスク型記録装置への応用 55 計測不可能な入力の推定機構をもつオブザーバ を用いた外乱抑制制御 Control of a class of underactuated mechanical systems 56 古谷克司, 成清辰生, 武沢英樹 T. Narikiyo, M. Ohmiya Y. W. Kim, S.Matuzaki and T.Narikiyo 不破勝彦, 成清 辰生, 神藤久 YoungWoo Kim, Tatsuya Suzuki, Tatsuo Narikiyo YoungWoo Kim, Tatsuo Narikiyo YoungWoo Kim, Tatsuya Kato, Shigeru Okuma, Tatsuo Narikiyo YoungWoo Kim, Tatsuya Harada, Tatsuo Narikiyo YoungWoo Kim, Sinya Matsuzaki, Tatsuo Narikiyo, Jong-Hae Kim 不破勝彦, 成清 辰生,神藤久 成清辰生, 若松 康介,不破勝 彦,神藤久 不破勝彦,成清 辰生,神藤久 Tatsuo Narikiyo, Junichiro Sahashi, Control Engineering Practice, Vol.14, 875/883(2006) JSME International Journal, Vol.49 - Series C, No.4, 1040/1047(2006) 計測自動制御学会論文集, Vol.43, No.6, 490/499(2007) AMM (Applied Mathematical Modeling), Vol.31, Issue 6, 955/970(2007) Journal of Mechanical Science and Technology 、 Vol.21 、 935/949(2007) IEEE Transaction on SMC(Systems, Man, and Cybernetics)- A, Vol.38, No.2, 346/357(2007) International Journal of Automotive Technology, Vol.9, No.1, 103/110(2007) International Journal of WEVA(World Electric Vehicle Association), Vol.1, No.1, 10/18(2007) 電気学会論文誌 C, 127 巻, 12 号, 2033/2041(2007) 電気学会論文誌 C, 127 巻, 12 号, 2018/2026(2007) 電気学会論文誌 C, 127 巻, 11 号, 1918/1927(2007) Nonlinear Analysis: Hybrid Systems, Vol.2, No.11, 231/241(2008) 57 Adaptive Controls for Parameterized Uncertainties Manipulators 58 Attitude Control of a Flexible Planar Space Robot 59 周波数推定に基づく外乱抑制制御系の実装 60 モバイルマニピュレータの位置と力のハイブリ ッド制御 モード切換え型制御系の評価方法に関する一考 察 Control of underactuated Mechanical Systems via Passive Velocity Field Control: Application to Snakeboard and 3D Rigid Body 計測不可能な入力の推定器による外乱抑制とそ の応用 61 62 63 Nonlinearly in Robot 64 零感度制御に関する一考察 65 新しい最小次元状態推定器に基づいた安定化制 御器の設計法 66 Stability Feeler による実数μ解析 67 位置型 PID 制御則を用いた多入力系の極零点配 置に関する一考察 68 Complete D-stability intervals of matrices generalization of the stability feeler 69 Implementation of Disturbance Attenuation Controller Based on Frequency Estimation 70 Robust Adaptive Position/Force Control of Mobile Manipulators –Theory and Experiments- Kazutomu Misao N.V.Q.Hung, H.D.Tuan, T.Narikiyo , P. Aplarian Tatsuo Narikiyo, Masanori Sakata and Michihiro Kawanishi 成清辰生, 不破 勝彦, 村野剛志 成清辰生, 中川 雅史, 川西通裕 不破勝彦, 成清 辰生,神藤久 Tatsuo Narikiyo, IEEE Trans. Control Systems Technology, Vol.16, No.3,458/468(2008) SICE Journal of Control, Measurement, and System Integration, Vol.1, No.5, 368/375(2008) 電気学会論文誌 C 編, Vol.128, No.12, 1727/1734(2008) 計測自動制御学会論文集, Vol.44, No.11, 919/926(2008) 計測自動制御学会論文集, Vol.45, No.5, 283/285( 2009) Nonlinear Analysis: Theory, Methods & Applications, No.71, 2358/2365(2009) 不破勝彦, 成清 日本機械学会論文集,Vol.75, 辰生,門脇秀 No.759-C,97/104(2009) 二,森貴彦,神 藤久 不破勝彦, 成清 電気学会論文誌 C 編, Vol.129, 辰生,神藤久 No.12, 2163/2164(2009) 不破勝彦, 成清 計測自動制御学会論文集, 辰生, 森田良文 Vol.46, No.4, pp.189/198(2010) 松田忠典, 川西 システム制御情報学会論文集, 通裕, 成清辰生 Vol.23, No.12, pp.277/287 (2010) 不破勝彦, 電気学会論文誌 C 編, Vol.130, 成清辰生, No12 号, pp.2106/2117 (2010) 大羽達志 Journal of T. Matsuda, International M.Kawanishi, Computational Intelligence in Control, Vol.2, pp.59/63 (2010) T. Narikiyo Electrical Engineering in T.Narikiyo, K.Fuwa and Japan, Vol.175, No.2, T.Murano pp.1727/1734 (2011) T.Narikiyo, To appear in SICE Journal of M.Kawanishi , Control, Measurement, and T.Mizuno and System Integration (2011) Y.Hanada (2) 解説 1.伊藤正美,成清辰生:拘束のある二足歩行運動の解析と制御,日本ロボット学会誌 Vol.1 No.11, 191/195(1983) 2.M..Itoh, T.Narikiyo:Analysis and Control of Biped Locomotion subject to Constraints, Advanced Robotics, Vol.1, No.2, 165/176(1986) 3.成清辰生:加工作業におけるタスク理解:システム制御情報学会誌,Vol.37, No.10, 607/614(1993) 4.成清辰生:未知ダイナミクスを含む非ホロノミック力学系の制御系設計,計測と制御,Vol.45, No.7, 574/581 (2006) (3) 著書 1. Okyay Kaynak, Sabri Tosunoglu and Marcelo Ang,Jr Eds, “Recent Advances in Mechatoronics “, Tatsuo Narikiyo and Masakazu Katoh: Stabilization of Nonholonomic Dynamic Systems Based on the Force/Torque Feedback and Its Application, 560/574(1999),Springer 2. Frontiers in Adaptive Control Edited by Shuang Cong , N.V.Q. Hung, H.D. Tuan and T. Narikiyo, Lipshitzian Parametrization-Based Approach for Adaptive Controls of Nonlinear Dynamic Systems with Nonlinearly Parameterized Uncertainties: A Theoretical Framework and Its Applications, 223/252(2009), In-Tech (3) 国際会議(Proceedings) 1.”Lateral Control of Autonomous Vehicle Robot for the Automated Highway System”, K.Kuwabara, T.Narikiyo, K.Fuwa, Proceedings of the 1998 Japan-U.S.A Symposium on Flexible Automation, July 12-15, 1013-1016(1998), Ots 2.”Stabilization of Nonholonomic Dynamic Systems Based on the Force/Torque Feedback with Robustness Considerations”, T.Narikiyo, M.Katoh, Proceedings of the 3rd International Conference on Advanced Mechatronics, August 3-6, 59-66(1998), Okayama 3.” Stabilization of Nonholonomic Dynamic Systems Based on the Force/Torque Feedback and Its Application”, T.Narikiyo, M.Katoh, Proceedings of the 2nd International Conference on Recent Advances in Mechatronics, May 24-26, Istanbul 4.”Controller Design for Master-Slave Teleoperation System in Space”,T.Narikiyo, S.Okada, H.D.Tuan, N.V.Q.Hung, Proceedings of the 3re Asian Control Conference, July 4-7,2000,Shanghai 5.”Controller Design for Master-Slave System in Tele-operation with Kinematic Dissimilarity”, N.V.Q.Hung, T.Narikiyo, H.D.Tuan, Proceedings of the 3re Asian Control Conference, July 4-7,2000,Shanghai 6.”Control System Design of TeleoperationSystem for Free Flying Space Robot”, T.Narikiyo, S.Okada, H.D.Tuan, N.V.Q.Hung, Proceedings of the IASTED International Conference on Intelligent Systems and Control, August 2000, Hawaii 7.”Positioning and Vibration Control of Time-Varying Vibration Systems by Means of Gain-Scheduled Nonstationary Optimal Regulator”, S.Hara, K.Nakamura, T.Narikiyo, Proceedings of Asia-Pacific Vibration Conference , October 2001 8.”Trajectory Tracking Control for Nonholonomic Systems with Dynamic Uncertainties”, A.Suzuki, T.Narikiyo, H.D.Tuan, S.Hara, IASTED International Conference on Control and Applications, June 2001, Banff 9.”A Dynamics-Based Adaptive Control for Master-Slave System in Teleoperation”, N.V.Q.Hung, T.Narikiyo, H.D.Tuan, IFAC Symposium on Nonlinear Control Design, July 2001, St. Petersburg, 10.”Monotonic Approach for Adaptive Controls of Nonlinerly Parameterized Syatems”, H.D.Tuan P.Apkarian, H.Tuy, T.Narikiyo, IFAC Symposium on Nonlinear Control Design, July 2001, St. Petersburg 11.”Simulation-Based Reference Design and Its Application to Positioning Control of Vibration Systems”, S.Hara, K.Wakamatsu, T.Narikiyo, Proceedings of 2nd IFAC Conference on Mechatronic Systems (Mechatronics 2002), Berkeley 12.”Adaptive controls for nonlinearly parameterized uncertainties in robot manipulators”, N.V.Q.Hung, H.D.Tuan, T.Narikiyo, P.Apkarian, Proceedings of the 41st IEEE Conference on Decision and Control, Dec.10-13,2002, Las Vegas 13.”General adaptive controls for nonlineraly parameterized systems under generalized matching condition”, N.V.Q.Hung, H.D.Tuan, P.Apkarian, T.Narikiyo, Proceedings of the 15th Triennial World Congress of the International Federation of Automatic Control, July 21-26, 2002, Barcelona 14.”Nonlinear Adaptive Control for Nonlinearly Parameterized Systems with a Triangular Structure, N.V.Q.Hung, H.D.Tuan, T.Narikiyo, P.Apkarian, K.Yokoi, The 4th Asian Control Conference, September 2002, Singapore 15. ” Experimental study on stabilizing control of a floating planar space robot”,T.Narikiyo, M.Ohmiya, The 6th IASTED International Conference INTELLIGENT SYSYEMS AND CONTROL,2004,Honolulu 16.” Control of Underactuated Mechanical Systems with Passive Velocity Field Control”, T.Narikiyo, J.Sahashi, Proceedings of the Eighth IASTED international Conference INTELLIGENT SYSTEMS AND CONTROL,2005, Cambridge 17.” Attitude Control of Planar Space Robot Based on Self-Organizing Polynomial Data Mining Algorithm”, Y. Kim, T. Narikiyo and J-H. Kim, Proceedings of the Eighth IASTED international Conference INTELLIGENT SYSTEMS AND CONTROL, Oct. 31-Nov.2, 2005, Cambridge, USA 18.” Attitude Control of Planar Space Robot based on Self-Organizing Data Mining Algorith”, YoungWoo Kim, Ryousuke Matsuda, Tatsuo Narikiyo, Jong-Hae Kim, ICCAS 2005 , June 2-5, 2005, Kintex, Gyeonggi-Do, Korea (Best Paper Award 受賞) 19.” Attitude Control of Unmanned Vehicle System Based on Constrained Sliding Mode Strategy”, YoungWoo Kim, Sinya Matsuzaki, Tatsuo Narikiyo, Proceedings of Controlo 2006, Sep.11-13, Lisbon, Portugal 20.” Realization of Parking Task Based on Affine System Modeling”, YoungWoo Kim, Tatsuo Narikiyo, The 8th International Conference on Motion and Vibration Control (MOVIC 2006). Daejeon, Korea Aug. 27-30 21.” Control of a Class of Underactuated Mechanical Systems via Passive Velocity Field Control”, Tatsuo Narikiyo, 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Nagoya , July 19-21(2006) 22. “A New Nonlinear Controller Design Method Based on Polynomial Data-mining Algorithm”, YoungWoo Kim, Narikiyo Tatsuo, Goro Obinata, Proceedings of International Symposium on EcoTopia Science 2007 , Nov.23-25, Nagoya, Japan ,1142/1149(2007) 23.“Generation of Differentiable Homomorphism Function Based on Self-Organizing Polynomial Data-mining Algorithm”, YoungWoo Kim, Narikiyo Tatsuo, Proceedings of The 7th International Conference on Power Electronics , Oct.22-26, Daegu, Korea, 107/112(2007) 24. “Control of parallel mechanism with redundant actuators and non-redundant actuators”, Tatsuro Hino,Michihiro Kawanishi, Hiroshi Kanki, Tatsuo Narikiyo, Mechatronics, MEMS, and Smart Materials, Vol. 6794, Part. 1, 639/644(2007) 25. “PWARX Traffic Network Hybrid Controller Based on 0-1 Classification”, YoungWoo Kim, Tatsuya Kato, Shigeru Okuma, Tatsuo Narikiyo, Proceedings of the 17th IFAC World Congress, July 6-11, Seoul, Korea, 117/122(2008) 26. “A Construction of Disturbance Observer to Cope with Frequency Variation and Its application to Vibration Suppression Control System”, Katsuhiko Fuwa, Tatsuo Narikiyo, Hisashi Kandoh, Proceedings of the 17th IFAC World Congress, July 6-11, Seoul, Korea, 2696/2701(2008) 27.“Implementation of Disturbance Attenuation System Based on Frequency Estimation”, Tatsuo Narikiyo, Katsuhiko Fuwa, Takeshi Murano, Proceedings of the 17th IFAC World Congress, July 6-11, Seoul, Korea, 2702/2707(2008) 28.“Attitude Control of a Flexible Planar Space Robot”, Tatsuo Narikiyo, Masanori Sakata, Michihiro Kawanishi, Proceedings of the 47th IEEE Conference on Decision and Control, 596/601(2008) 29.“Computation of Real Structured Singular Value by Stability Feeler”, Tadasuke Matsuda, Michihiro Kawanishi and Tatsuo Narikiyo, Proceedings of the 7th Asian Control Conference, August 27-29, Hong Kong, China, 672/677(2009) 30.“Performance Bounds for Optimal Control of Polynomial Systems: A Convex Optimization based Approach”, Tanagorn Jennawasin, Michihiro Kawanishi and Tatsuo Narikiyo , Proceedings of the ICROS-SICE International Joint Conference 2009, August 18-21, Fukuoka, Japan, 3925/3928(2009) 31.“Robust Adaptive Position/Force Control of Mobile Manipulators with Dynamic Uncertainties”, Tatsuo Narikiyo, Michihiro Kawanishi and Masashi Nakagawa, Proceedings of the IASTED International Conference Control and Applications, July 13-15, Cambridge, UK, 264/269(2009) 32.“Bilinear Matrix Eigenvalue Optimization using Parallel Branch and Bound Method with Adaptive Computational Granularity”, Michihiro Kawanishi, Tatsuo Narikiyo and Takaya Hashimoto, Proceedings of the IASTED International Conference Control and Applications, July 13-15, Cambridge, UK, 201/206(2009) 33.“Robust Adaptive Position/Force Control of Mobile Manipulators with Kinematic and Dynamic Uncertainties”, Tatsuo Narikiyo, Michihiro Kawanishi and Tomohito Mizuno, Proceedings of the ICROS-SICE International Joint Conference 2009, August 18-21, Fukuoka, Japan, 4704/4709(2009) 34.” Disturbance Attenuation based on an Observer with a Function of Estimating Unmeasurable Inputs and its Application”, Tatsuo Narikiyo, Katsushi Fuwa ,Shuuji Kadowaki, Takehiro Mori, Hisashi Kando, Proceedings of the Twelfth IASTED International Conference on Intelligent Systems and Control, November 2-4, Cambridge, MA,USA,282/287(2009) 35.” Real オ-Analysis by Stability Feeler”, Tadasuke Matsuda, Michihiro Kawanishi and Tatsuo Narikiyo , Proceedings of the Twelfth IASTED International Conference on Intelligent Systems and Control, November 2-4, Cambridge, MA,USA,235/242(2009) 36.” Real オ-Analysis by Stability Feeler ・Estimation of Lower Bounds and Reduction of Conservativeness”, Tadasuke Matsuda, Michihiro Kawanishi , Tanagorn Jennawasin and Tatsuo Narikiyo, Proceedings of the Twelfth IASTED International Conference on Intelligent Systems and Control, November 2-4, Cambridge, MA,USA,243/251(2009) 37.” Exactness Verification of Sum-of-Squares Approximations to Robust Semidefinite Programs with Functional Variables”, T.Jennawasin, M.Kawanishi and T.Narikiyo, Proceedings of the 2010 American Control Conference, pp.4096/4100, Baltimore, USA, June 30-July 2(2010) 3 8 . ”Complete Intervals for D-stability of Single-Parameter Polynomially-Dependent Matrices – Generation of the Stability Feeler”, T.Matsuda, M.Kawanishi and T.Narikiyo, Proceedings of the SICE 2010, Taipei, Taiwan, pp.942/944, Aug.18-21(2010) 39.”Robust Adaptive Position/Force Control of Mobile Manipulators –Theory and Experiments-”, T.Narikiyo, M.Kawanishi, T.Mizuno and Y.Hanada, Proceedings of the SICE 2010, Taipei, Taiwan, pp.1326/1331, Aug.18-21(2010) 4 0 . ”Turning Motion by Control Constraint Mechanism of Passive Dynamic Walking”, K.Hyodo, S.Mikami, T.Narikiyo and M.Kawanishi , Proceedings of the SICE 2010, Taipei, Taiwan, pp.2804/2806, Aug.18-21(2010) 41.”Control System Design Based on Distributed Probabilistic Model-Building Genetic Algorithm”, M.Kawanishi, T.Kaneko and T.Narikiyo, Proceedings of the SICE 2010, Taipei, Taiwan, pp.2835/2837, Aug.18-21(2010) 42.”An Improved SOS-based Stabilization Condition for Uncertain Polynomial Systems”, T.Jennawasin, T.Narikiyo and M.Kawanishi, Proceedings of the SICE 2010, Taipei, Taiwan, pp.3030/3034, Aug.18-21(2010) 4 3 . "Computation Method for Complete D-stability Intervals of a Class of Matrices Based on Generalization of the Stability Feeler", T. Matsuda, M. Kawanishi and T. Narikiyo,, Proceedings of the 49th IEEE Conference on Decision and Control, pp. 1454-1459, December, 2010 2.招待講演(Invited lecture) 1. “Control of Underactuated Mechanical Systems”, International Conference on Hybrid Systems and Application, May 22-26, University of Louisiana at Lafayette, Louisiana, 2006 2. “Control of Underactuated Mechanical Systems via Passive Velocity Field Control: Application to Snakeboard and 3D Rigid Body, The Fifth World Congress of Nonlinear Analysis, July 2-9, Orlando, Florida, 2008 3.科学研究費等学外研究資金(平成 10 年~平成 18 年) (1) 科学研究費 1.平成 10 年~平成 11 年度:基盤研究(C) 「非ホロノミック環境と干渉する生体運動の解析と制御」 研究費総額:3,200 千円 2.平成 12 年度~平成 14 年度:基盤研究(B) 「非ホロノミック大型宇宙構造物の位置・姿勢と振動のハイブ リッド制御」 研究費総額:14,600 千円 3.平成 15 年度~平成 16 年度:基盤研究(C) 「非線形パラメトリゼーションに基づく適応制御理論と超微細 メカニカルシステムへの応用」 研究費総額:3,100 千円 4.平成 17 年度~平成 18 年度:基盤研究(C) 「劣駆動バイオ・ミメティック歩行ロボットの開発と制御」 研究費総額:3,500 千円 5.平成 19 年度~平成 22 年度:基盤研究(B) 「ヒューマノイド型多自由度跳躍移動ロボットの実現」 研究費総額:11,500 千円(直接経費)