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Hiroomi Toui

dblp:93/2240 · DBLP profile ↗
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2ranked-venue papers
0as first author
0since 2021 · last 2004
—ORCID · none

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 2Systems, architecture and hardware · 2

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Legged, aerial and field robots · 100%

Topics — the 2 heaviest of 2, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Legged, aerial and field robots › legged robots › legged robot locomotion
dynamic turning		 0.012004
Dynamic Turning Control of a Quadruped Robot using Oscillator Network · ICRA 2004
Robotics › Legged, aerial and field robots › legged robots › legged robot locomotion
quadruped locomotion		 0.012004
Dynamic Turning Control of a Quadruped Robot using Oscillator Network · ICRA 2004

Methods — techniques the papers use, named apart from their topics

numerical simulation · 0.0nonlinear oscillator network · 0.0
YearPublicationVenuePosition
2004 Dynamic Turning Control of a Quadruped Robot using Oscillator Network
abstract
The authors have proposed a dynamic turning control system of a quadruped robot by using nonlinear oscillators. It is composed of a spontaneous locomotion controller and voluntary motion controller. In this article, capability of dynamic turning motion of the proposed control system is verified through numerical simulations: In the slow speed turning, the robot has strong geometrical constraints. Whereas in the high speed turning, the robot has great influences of dynamic forces. These constraint conditions make the motion of the robot asymmetry in terms of duty ratio, stride and center of pressure. The proposed controller actively and adaptively controls redundant DOF to cancel the dynamic asymmetry and established stable turning motion at various locomotion speed and turning orientation.
Katsuyoshi Tsujita, Hiroomi Toui, Kazuo Tsuchiya
 ICRA2
2004 Dynamic turning control of a quadruped robot using nonlinear oscillators
abstract
The authors have proposed a dynamic turning control system of a quadruped robot by using nonlinear oscillators. It is composed of a spontaneous locomotion controller and voluntary motion controller. In this article, capability of dynamic turning motion of the proposed control system is verified through numerical simulations and hardware experiments: Various turning speed and orientation make the motion of the robot asymmetry in terms of duty ratio, stride and center of pressure. The proposed controller actively and adaptively controls redundant DOF to cancel the dynamic asymmetry and established stable turning motion at various locomotion speed and turning orientation.
Katsuyoshi Tsujita, Hiroomi Toui, Kazuo Tsuchiya
 IROS2