Welcome to Yamakita Lab'

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Welcome to Yamakita Lab.
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Robotic Systems at Yamakita Lab.

• Application of Control Theory to Robotic Systems
• Snake-like robot(Super Mechano-Anaconda SMA)
• Humanoid robot (Super Mechano-Boy SMB)
• Group robot (Super Mechano-Colony SMC)
• Running robot (KenKenII)
• Automatic Motor Rider(Super Mechano-RiderSMR)
• Artificial Muscle Actuators
• Other Projects

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Snake-like Robot(SMA)
Active
Passive
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Humanoid Robot(SMB)
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SMB(Acrobatic Robot)
Giant Swing
Jumping (Prof. Sampei)
Swing Up Stabilization
Rotation Landing
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Application to Commercial Robot
Giant swing
Landing
KHR-1
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Robust Landing Control
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Group Robot(SMC)
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Running Robot (KenKenII)
Fluid Power Actuator
Coil Sprig
(by Dr. Hyun )
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Simulation Results
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Automatic Motor Cycle
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• Hard Actuator ? Soft Actuator
• Artificial Muscle Actuator
• IPMC (Ionic Polymer-Metal Composite)
• ? Application to walking robots

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Artificial Muscle Actuator and its Applications
Sensor System
Actuator System
3V
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Doping Effects on Actuator
Dynamics of IPMC Affected by Counter
Ions Adjustment of IPMC Prop. for tasks and
environment (Control by voltage is limited due to
electrolysis)
Doping is done by just putting IPMC films to
liquid containing ions !
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Future Dream
Development of on-line adaptation mechanisms !
Doping
Doping bath
Doping vessel
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Bucky Gel Actuator/Sensor
T. Fukushima, K. Asaka et. al. (2003)

• It can be operated in dry condition.
• It can be fabricated simply by printing
  technology.
• Higher voltage can be applied for.
• (It has good response in low voltage.)

Printable Robots http//english.ohmynews.com
IROS 2007
2009/11/23
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Other Recent Projects

• UKF Applications
• Model Predictive Control
• Boundary Control for dPH
• Identification of Hybrid Systems
• Robot Design based on PDW

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Robotic Contest at the Dept.