Hiroaki Tanaka — accepted AI-conference papers

2025

Position Control of McKibben-Type Pneumatic Artificial Muscle via Port-Hamiltonian Approach

Hiroaki Tanaka, Hayato Hirai, Koh Hosoda

RA-L 2025

Pneumatic artificial muscles (PAMs) are soft actuators with softness and high power ratio. These characteristics provide a robot with adaptiveness and agility. However, controlling PAMs is difficult because they exhibit a highly nonlinear nature and involve complex multi-physical systems (i.e. mecha

Cited by 1 Source ↗Scholar ↗

2024

Tension Feedback Control for Musculoskeletal Quadrupedal Locomotion over Uneven Terrain

Hiroaki Tanaka, Ojiro Matsumoto, Takumi Kawasetsu, Koh Hosoda

IROS 2024poster

Musculoskeletal quadruped robots driven by pneumatic artificial muscles (PAMs) have great softness. Due to the softness, the proprioceptive information of PAMs (e.g. tension) reflects the environmental information. However, how to utilize this information for stable quadrupedal gait has been rarely…

Cited by 0 Source ↗Scholar ↗