Norio Nagatsuka — accepted AI-conference papers

2024

Development of Bidirectional Series Elastic Actuator with Torsion Coil Spring and Implementation to the Legged Robot

Yuta Koda, Hiroshi Osawa, Norio Nagatsuka, Shinichi Kariya, Taeko Inagawa, Kensaku Ishizuka

IROS 2024poster

Many studies have been conducted on Series Elastic Actuators (SEA) for robot joints because they are effective in terms of flexibility, safety, and energy efficiency. The ability of SEA to robustly handle unexpected disturbances has raised expectations for practical applications in environments wher…

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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…

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