Noriaki Takasugi — accepted AI-conference papers

2024

Real-time Perceptive Motion Control using Control Barrier Functions with Analytical Smoothing for Six-Wheeled-Telescopic-Legged Robot Tachyon 3

Noriaki Takasugi, Masaya Kinoshita, Yasuhisa Kamikawa, Ryoichi Tsuzaki, Atsushi Sakamoto, Toshimitsu Kai +1

IROS 2024poster

To achieve safe legged locomotion, it is crucial to generate motion in real-time considering various constraints in robots and environments. In this study, we propose a lightweight real-time perceptive motion control system for the newly developed six-wheeled-telescopic-legged robot, Tachyon 3. In t…

Cited by 7 Source ↗Scholar ↗

2024

Robustifying Model-Based Locomotion by Zero-order Stochastic Nonlinear Model Predictive Control with Guard Saltation Matrix

Sotaro Katayama, Noriaki Takasugi, Mitsuhisa Kaneko, Norio Nagatsuka, Masaya Kinoshita

IROS 2024poster

This paper presents a stochastic/robust nonlinear model predictive control (NMPC) to enhance the robustness of model-based legged locomotion against contact uncertainties. We integrate the contact uncertainties into the covariance propagation of stochastic/robust NMPC framework by lever-aging the gu…

Cited by 0 Source ↗Scholar ↗

2021

Tachyon: Design and Control of High Payload, Robust, and Dynamic Quadruped Robot with Series-Parallel Elastic Actuators

Yasuhisa Kamikawa, Masaya Kinoshita, Noriaki Takasugi, Katsufumi Sugimoto, Toshimitsu Kai, Takashi Kito +3

IROS 2021poster

This paper introduces a quadruped robot, Tachyon, which aims to achieve high payload, robust, and dynamic locomotion on the various terrain with high energy efficiency. Thanks to a novel compact series-parallel elastic actuator (SPEA) on the upper link and a four-bar linkage design in the knee joint…

Cited by 11 Source ↗Scholar ↗

2019

Extended Three-Dimensional Walking and Skating Motion Generation for Multiple Noncoplanar Contacts With Anisotropic Friction: Application to Walk and Skateboard and Roller Skate

Noriaki Takasugi, Kunio Kojima, Shunichi Nozawa, Fumihito Sugai, Youhei Kakiuchi, Kei Okada +1

RA-L 2019

In this letter, we propose a three-dimensional (3-D) walking and skating motion generation method to achieve sequential walking and skating motion with skateboard and roller skate. For generating the sequential stable skating motion using a passive wheel, we must deal with non-coplanar contacts with

Cited by 12 Source ↗Scholar ↗

2017

3D walking and skating motion generation using divergent component of motion and gauss pseudospectral method

Noriaki Takasugi, Kunio Kojima, Shunichi Nozawa, Kei Okada, Masayuki Inaba

IROS 2017poster

This paper presents a COM trajectory generation method for 3D walking and skating motion by nonlinear optimization. In our method, we solve the following problems: (1) dealing with both walking and skating motion in the same framework, (2) generating center of mass (COM) trajectory faster than execu…

Cited by 6 Source ↗Scholar ↗

2017

Development of life-sized humanoid robot platform with robustness for falling down, long time working and error occurrence

Yohei Kakiuchi, Masayuki Kamon, Nobuyasu Shimomura, Sou Yukizaki, Noriaki Takasugi, Shunichi Nozawa +2

IROS 2017poster

In this paper, we described a new developed life-size humanoid robot. A purpose of the developed robot is to realize continuous operation for a long time and to improve an action autonomously. we considered three aspects of robustness, mechanical robustness, functional robustness and robustness of a…

Cited by 45 Source ↗Scholar ↗

2016

Real-time skating motion control of humanoid robots for acceleration and balancing

Noriaki Takasugi, Kunio Kojima, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba

IROS 2016poster

In this paper, we propose a real-time control method for skating motion of humanoid robots. There are three problems for skating motion: (1) keeping dynamic balance, (2) adequately controlling foot force to suppress slipping at the foot, (3) controlling full-body motion in real-time. For solving the…

Cited by 17 Source ↗Scholar ↗