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Yuya Nagamatsu

8 accepted papers

2022

RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping

Temma Suzuki, Yasunori Toshimitsu, Yuya Nagamatsu, Kento Kawaharazuka, Akihiro Miki, Yoshimoto Ribayashi +5
IROS 2022poster

Legged robots with high locomotive performance have been extensively studied, and various leg structures have been proposed. Especially, a leg structure that can achieve both continuous and high jumps is advantageous for moving around in a three-dimensional environment. In this study, we propose a p…

Cited by 10Source ↗Scholar ↗
2020

Basic Implementation of FPGA-GPU Dual SoC Hybrid Architecture for Low-Latency Multi-DOF Robot Motion Control

Yuya Nagamatsu, Fumihito Sugai, Kei Okada, Masayuki Inaba
IROS 2020poster

This paper describes basic implementation of an embedded controller board based on a hybrid architecture equipped with an Intel FPGA SoC and an NVIDIA GPU SoC. Embedded distributed network involving motor-drivers or other embedded boards is constructed with low-latency optical transmission link. The…

Cited by 7Source ↗Scholar ↗
2020

Bilateral Humanoid Teleoperation System Using Whole-Body Exoskeleton Cockpit TABLIS

Yasuhiro Ishiguro, Tasuku Makabe, Yuya Nagamatsu, Yuta Kojio, Kunio Kojima, Fumihito Sugai +3
RA-L 2020

We describe a system design approach for the bilateral teleoperation of a humanoid robot. We have focused on bipedal stability and 2D/3D locomotion space problems. Our proposed system has two robot hardware and two control software. The master side hardware is newly developed seat-type whole-body ex

Cited by 70Source ↗Scholar ↗
2019

Component Modularized Design of Musculoskeletal Humanoid Platform Musashi to Investigate Learning Control Systems

Kento Kawaharazuka, Shogo Makino, Kei Tsuzuki, Moritaka Onitsuka, Yuya Nagamatsu, Koki Shinjo +5
IROS 2019poster

To develop Musashi as a musculoskeletal humanoid platform to investigate learning control systems, we aimed for a body with flexible musculoskeletal structure, redundant sensors, and easily reconfigurable structure. For this purpose, we develop joint modules that can directly measure joint angles, m…

Cited by 70Source ↗Scholar ↗
2019

Development of Joint Module with Two-speed Gear Transmission and Joint Lock Mechanism during Driving for Task Adaptable Robot

Tasuku Makabe, Takuma Shirai, Yuya Nagamatsu, Kento Kawaharazuka, Fumihito Sugai, Kei Okada +1
IROS 2019poster

In order to achieve tasks in the real world environment, humanoid robots have motors and reduction drives optimized in relation to weight and size for providing the necessary torque and angle speed. Therefore, having torque or angle speed outside of the predicted range will usually cause the task to…

Cited by 3Source ↗Scholar ↗
2019

Humanoid Robot’s Force-Based Heavy Manipulation Tasks with Torque-Controlled Arms and Wrist Force Sensors

Shintaro Komatsu, Yuya Nagamatsu, Tatsuya Ishikawa, Takuma Shirai, Kunio Kojima, Yohei Kakiuchi +3
IROS 2019poster

We present a torque controller for humanoid robot's arm and a method to execute heavy-load tasks under that controller. Torque control of arms can reduce the joint load when an impulsive force is applied to the robot's hand. This feature is important for robots that will work among many humans or ob…

Cited by 2Source ↗Scholar ↗
2018

Design and Evaluation of Torque Based Bipedal Walking Control System That Prevent Fall Over by Impulsive Disturbance

Takuma Shirai, Yuya Nagamatsu, Hiroto Suzuki, Shunichi Nozawa, Kei Okada, Masayuki Inaba
IROS 2018poster

In this paper, we develop a bipedal robot control system that has an ability to perform instantaneous high power and flexibility to absorb an impulsive disturbance. We utilize a sensor-less whole body torque control method executed in a high responsive realtime distributed system. This system also i…

Cited by 4Source ↗Scholar ↗
2017

Distributed torque estimation toward low-latency variable stiffness control for gear-driven torque sensorless humanoid

Yuya Nagamatsu, Takuma Shirai, Hiroto Suzuki, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
IROS 2017poster

This paper explains low-latency joint torque feedback control based on torque estimation on each joint for gear-driven humanoid robots with harmonic drives. Force control of gear-driven robots has an advantage in its fully variable stiffness in comparison with elastic robots. However, feedback laten…

Cited by 27Source ↗Scholar ↗