Tadashi Sumioka — accepted AI-conference papers

2026

Energy-Based Closed-Form Solution of the Divergent Component of Motion for Nonlinear Inverted Pendulum Trajectories

Daiki Morozumi, Tadashi Sumioka, Hirofumi Shin

RA-L 2026

The divergent component of motion (DCM) quantifies the unstable component of a robot's motion and is widely used for online motion planning and stabilization in robots. Although the DCM is derived from the linear inverted pendulum model, which admits a closed-form solution, extending it to nonlinear

Cited by 0 Source ↗Scholar ↗

2024

Rider Cooperative Control of Rear-Wheel-Swing Motorcycle Based on Divergent Component of Motion

Tadashi Sumioka, Kazushi Akimoto, Takuya Tsujimura, Sho Takayanagi, Katsuhiko Fukushima, Tsubasa Nose

RA-L 2024

We previously proposed a motorcycle with a balance assist function that can generate a self-balancing moment by changing the front wheel fork slant angle. Although this method reduces the risk of falling over, it makes it difficult for the rider to go in the desired direction due to interference by

Cited by 6 Source ↗Scholar ↗