村上 俊之

研究成果

年別の研究成果 1988 2021

• 5083 被引用数
• 26 h-index
• 166 Conference contribution
• 119 Article
• 76 Paper
• 9 Editorial
• 7 その他
  • 3 Review article
  • 2 Conference article
  • 1 Chapter
  • 1 Comment/debate

年別の研究成果

年別の研究成果

検索結果

• 2021

  A Robust Hybrid Position/Force Control Considering Motor Torque Saturation

  Ohhira, T., Yokota, K., Tatsumi, S. & Murakami, T., 2021, In: IEEE Access. 9, p. 34515-34528 14 p., 9355132.

  研究成果: Article › 査読

  Open Access

  • Torque motors
  • Force control
  • Position control
  • Manipulators
  • Torque

• Development of neural network-based explicit force control with disturbance observer

  Okano, T., Nozaki, T. & Murakami, T., 2021 3 1, In: IEEJ Journal of Industry Applications. 10, 2, p. 153-164 12 p.

  研究成果: Article › 査読

  Open Access

  • Force control
  • Neural networks
  • Controllers
  • Feedback
  • Cutoff frequency

• Disturbance observer for DC motor based on Savitzky-Golay filters and application to bilateral control

  Hazaz, M. & Murakami, T., 2021 3 1, In: IEEJ Journal of Industry Applications. 10, 2, p. 227-235 9 p.

  研究成果: Article › 査読

  Open Access

  • Cutoff frequency
  • DC motors
  • Derivatives
  • Position measurement
  • Computer simulation
• 2020

  A multi-sensory dataset for the activities of daily living

  Ruzzon, M., Carfì, A., Ishikawa, T., Mastrogiovanni, F. & Murakami, T., 2020 10, In: Data in Brief. 32, 106122.

  研究成果: Article › 査読

  Open Access

  • Labeling
  • Units of measurement
  • Cameras
  • Experiments
  2 被引用数 (Scopus)

• An Approach to Architecture Design of Bilateral Control System based on a Layer Structure

  Tanida, K., Okano, T., Murakami, T. & Ohnishi, K., 2020 7 1, In: IEEJ Journal of Industry Applications. 9, 4, p. 318-330 13 p.

  研究成果: Article › 査読

  Open Access

  • Control systems
  • Surgery
  • Robots
  • Large scale systems
  • Experiments

• An approach to evaluation index-based gain scheduling for acceleration-based four-channel bilateral control

  Okano, T., Nozakt, T. & Murakami, T., 2020 9 5, In: Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering. 86, 9, p. 720-730 11 p.

  研究成果: Article › 査読

  Open Access

  • Scheduling
  • Remote control
  • Acoustic impedance
  • Transfer functions
  • Tuning

• An approach to human walking analysis based on balance, symmetry and stability using COG, ZMP and CP

  Kim, S. & Murakami, T., 2020 10 2, In: Applied Sciences (Switzerland). 10, 20, p. 1-17 17 p., 7307.

  研究成果: Article › 査読

  Open Access

  • walking
  • Gravitation
  • moments
  • symmetry
  • gait

• Measurement of joint moments using wearable sensors

  Fukutoku, K., Nozaki, T. & Murakami, T., 2020, In: IEEJ Journal of Industry Applications. 9, 2, p. 125-131 7 p.

  研究成果: Article › 査読

  Open Access

  • Wearable sensors
  • Nursing
  • Units of measurement
  • Sensors
  • Health care
  2 被引用数 (Scopus)

• Selection of required controller for position-and force-based task in motion copying system

  Okano, T., Oboe, R., Ohnishi, K. & Murakami, T., 2020, In: Journal of Robotics and Mechatronics. 32, 1, p. 113-127 15 p.

  研究成果: Article › 査読

  • Copying
  • Controllers
  • Robots
  • Experiments
• 2019

  Advanced deceleration control considering driving resistance by predicting the position of pedestrians

  Nakamura, Y. & Murakami, T., 2019, In: IEEJ Journal of Industry Applications. 8, 2, p. 334-341 8 p.

  研究成果: Article › 査読

  Open Access

  • Deceleration
  • Model predictive control
  • Controllers
  • Experiments
  3 被引用数 (Scopus)

• Control Structure Determination of Bilateral System based on Reproducibility and Operationality

  Tanida, K., Okano, T., Murakami, T. & Ohnishi, K., 2019, In: IEEJ Journal of Industry Applications. 8, 5, p. 767-777 11 p.

  研究成果: Article › 査読

  Open Access

  • Controllers
  • Remote control
  • Experiments
  2 被引用数 (Scopus)

• Impedance Field Expression of Bilateral Control for Reducing Data Traffic in Haptic Transmission

  Nozaki, T., Shimizu, S., Murakami, T. & Oboe, R., 2019 2, In: IEEE Transactions on Industrial Electronics. 66, 2, p. 1142-1150 9 p., 8353747.

  研究成果: Article › 査読

  • Acoustic impedance
  • Data transfer rates
  • Mobile robots
  • Sampling
  • Communication
  10 被引用数 (Scopus)

• Multilevel inverter topology using current path change for zero current switching

  Sugimoto, T., Nozaki, T. & Murakami, T., 2019, In: IEEJ Journal of Industry Applications. 8, 2, p. 250-255 6 p.

  研究成果: Article › 査読

  Open Access

  • Zero current switching
  • Switching frequency
  • Topology
  • Copper
  3 被引用数 (Scopus)

• Simultaneous bipedal locomotion based on haptics for teleoperation

  Prasanga, D. K., Tanida, K., Ohnishi, K. & Murakami, T., 2019, In: Advanced Robotics. 33, 15-16, p. 824-839 16 p.

  研究成果: Article › 査読

  • Remote control
  • Trajectories
  • Robots
  • Experiments
  • Dynamic models
  1 被引用数 (Scopus)
• 2018

  An estimation method of end-point impedance based on bilateral control system

  Okano, T., Ohnishi, K. & Murakami, T., 2018 11 2, In: Advanced Robotics. 32, 21, p. 1151-1167 17 p.

  研究成果: Article › 査読

  • Acoustic impedance
  • Control systems
  • Controllers
  • Mathematical operators
  • Stiffness

• Human motion analysis and its application to walking stabilization with COG and ZMP

  Kim, S., Hirota, K., Nozaki, T. & Murakami, T., 2018 11, In: IEEE Transactions on Industrial Informatics. 14, 11, p. 5178-5186 9 p., 8350084.

  研究成果: Article › 査読

  • Motion analysis
  • Gravitation
  • Stabilization
  • Robots
  • Torque
  7 被引用数 (Scopus)

• Position and torque sensorless motion transmission using voltage compensation

  Akutsu, S., Nozaki, T., Sekiguchi, H. & Murakami, T., 2018, In: IEEJ Journal of Industry Applications. 7, 2, p. 150-157 8 p.

  研究成果: Article › 査読

  • Compensation and Redress
  • Torque
  • Electric potential
  • Sensors
  • Experiments
  4 被引用数 (Scopus)

• Translation and inclination control for Intelligent Tension Pole based on mode decoupling method

  Hanaoka, R., Nozaki, T. & Murakami, T., 2018, In: IEEJ Journal of Industry Applications. 7, 2, p. 158-165 8 p.

  研究成果: Article › 査読

  • Poles
  • Wheels
  • Railings
  • Ball screws
  • Control systems
  6 被引用数 (Scopus)
• 2017

  Line crossing assistance based on situation modulated potentials using stereo camera detection

  Rouzier, B. & Murakami, T., 2017, In: IEEJ Journal of Industry Applications. 6, 4, p. 286-294 9 p.

  研究成果: Article › 査読

  • Fuzzy logic
  • Wheels
  • Torque
  • Cameras
  3 被引用数 (Scopus)
• 2016

  A General Framework for Designing SISO-Based Motion Controller with Multiple Sensor Feedback

  Suzumura, A., Fujimoto, Y., Murakami, T. & Oboe, R., 2016 12, In: IEEE Transactions on Industrial Electronics. 63, 12, p. 7607-7620 14 p., 7529064.

  研究成果: Article › 査読

  • Feedback
  • Controllers
  • Sensors
  • Control system stability
  • Accelerometers
  6 被引用数 (Scopus)

• Full-Speed Range Self-Balancing Electric Motorcycles Without the Handlebar

  Yang, C. & Murakami, T., 2016 3 1, In: IEEE Transactions on Industrial Electronics. 63, 3, p. 1911-1922 12 p., 7355367.

  研究成果: Article › 査読

  • Motorcycles
  • Aging of materials
  • Wheels
  • Experiments
  16 被引用数 (Scopus)

• IMU sensor based human motion detection and its application to braking control of electric wheeled walker for fall-prevention

  Hirota, K. & Murakami, T., 2016, In: IEEJ Journal of Industry Applications. 5, 4, p. 347-354 8 p.

  研究成果: Article › 査読

  • Braking
  • Torque
  • Sensors
  • Aging of materials
  • Switches
  5 被引用数 (Scopus)

• Performance Evaluation of an Image-Space Observer-Based Visual Servoing System

  Okiyama, K. & Murakami, T., 2016 7 1, In: Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi). 196, 2, p. 34-43 10 p.

  研究成果: Article › 査読

  • Visual servoing
  • Robots
  • CCD cameras
  • Manipulators
  • Experiments
• 2015

  Assisted control of step passage motion and its comfort evaluation in two-wheel wheelchair systems

  Hirata, K. & Murakami, T., 2015 5 1, In: Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi). 191, 3, p. 50-58 9 p.

  研究成果: Article › 査読

  • Wheelchairs
  • Wheels
  • Compliance control
  • Torque
  • Pendulums
  1 被引用数 (Scopus)

• Comparison of force control performance based on only acceleration sensor with KF/EKF

  Kobayashi, N. & Murakami, T., 2015, In: IEEJ Journal of Industry Applications. 4, 5, p. 559-567 9 p.

  研究成果: Article › 査読

  • Force control
  • Extended Kalman filters
  • Kalman filters
  • Manipulators
  • Sensors
  5 被引用数 (Scopus)

• Parameter Design of Disturbance Observer for a Robust Control of Two-Wheeled Wheelchair System

  Dinale, A., Hirata, K., Zoppi, M. & Murakami, T., 2015 1, In: Journal of Intelligent and Robotic Systems: Theory and Applications. 77, 1, p. 135-148 14 p.

  研究成果: Article › 査読

  • Wheelchairs
  • Robust control
  • Wheels
  • Maneuverability
  • Controllers
  4 被引用数 (Scopus)

• Principle for the validation of a driving support using a computer vision-based driver modelization on a simulator

  Rouzier, B. & Murakami, T., 2015 7 29, In: International Journal of Advanced Robotic Systems. 12

  研究成果: Article › 査読

  • Computer vision
  • Wheels
  • Torque
  • Simulators
  • Hazards
  2 被引用数 (Scopus)

• Walking-assist principle analysis for a multi-legged system

  Yang, C. & Murakami, T., 2015, In: IEEJ Journal of Industry Applications. 4, 3, p. 294-300 7 p.

  研究成果: Article › 査読

  • Units of measurement
  • Sensors
  • Stairs
  • Magnetometers
  • Gages
  5 被引用数 (Scopus)
• 2014

  A study on controller characteristics for most efficient gait assist system

  Sasayama, M. & Murakami, T., 2014, In: IEEJ Journal of Industry Applications. 3, 3, p. 206-213 8 p.

  研究成果: Article › 査読

  • Controllers
  • Gait analysis
  • Aging of materials
  • Robotics
  3 被引用数 (Scopus)

• Novel walking assist device based on mobile manipulator and inertial measurement unit

  Yang, C. & Murakami, T., 2014, In: IEEJ Journal of Industry Applications. 3, 5, p. 381-387 7 p.

  研究成果: Article › 査読

  • Units of measurement
  • Manipulators
  • Mobile computing
  • Sensors
  • Experiments
  9 被引用数 (Scopus)

• Performance evaluation of image-space observer based visual servoing system

  Okiyama, K. & Murakami, T., 2014 11 1, In: ieej transactions on industry applications. 134, 11, p. 930-938 9 p.

  研究成果: Article › 査読

  • Visual servoing
  • Robots
  • CCD cameras
  • Manipulators
  • Experiments
  1 被引用数 (Scopus)

• Robust stabilization control for an electric bicycle

  Kawamura, T. & Murakami, T., 2014 9, In: Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi). 188, 4, p. 68-77 10 p.

  研究成果: Article › 査読

  • Bicycles
  • Cambers
  • Stabilization
  • Control systems
  • Robustness (control systems)
  3 被引用数 (Scopus)

• Stability analysis of disturbance observer based controllers for two-wheel wheelchair systems

  Hirata, K. & Murakami, T., 2014 4 3, In: Advanced Robotics. 28, 7, p. 467-477 11 p.

  研究成果: Article › 査読

  • Wheelchairs
  • Wheels
  • Controllers
  • Root loci
  • Stabilization
  7 被引用数 (Scopus)

• Workspace-based controller design and performance evaluation of MDOF force sensorless bilateral system

  Horie, R. & Murakami, T., 2014 3 1, In: Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi). 186, 4, p. 70-80 11 p.

  研究成果: Article › 査読

  • Torque
  • Controllers
  • Acceleration control
  • Sensorless control
  • Chemical analysis
  1 被引用数 (Scopus)
• 2013

  Assisted control of step passage motion and its comfort evaluation in two-wheel wheelchair systems

  Hirata, K. & Murakami, T., 2013 12 1, In: ieej transactions on industry applications. 133, 12, p. 1120-1127 8 p.

  研究成果: Article › 査読

  • Wheelchairs
  • Wheels
  • Compliance control
  • Torque
  • Pendulums

• Improvement of free motion operability for slave robot with underactuated joint in bilateral system

  Komuta, K. & Murakami, T., 2013 9 3, In: ieej transactions on industry applications. 133, 8, p. 771-779+1

  研究成果: Article › 査読

  • Robots
  • Manipulators
  • Wheels
  1 被引用数 (Scopus)

• Improvement of Free Motion Operability for Slave Robot with Underactuated Joint in Bilateral System

  Komuta, K. & Murakami, T., 2013, In: ieej transactions on industry applications. 133, 8, p. 1-11 11 p.

  研究成果: Article › 査読

• Multifunctional control of a two-wheel driven wheelchair considering comfort of a passenger

  Kawamura, T. & Murakami, T., 2013, In: ieej transactions on industry applications. 133, 4, p. 404-413 10 p.

  研究成果: Article › 査読

  • Wheelchairs
  • Wheels
  • Trajectories
  • Landing
  5 被引用数 (Scopus)
• 2012

  A stabilization control of underactuated system using sliding mode differentiator based disturbance observer

  Suzuki, K. & Murakami, T., 2012 11 26, In: ieej transactions on industry applications. 132, 11, p. 1024-1032+2

  研究成果: Article › 査読

  • Low pass filters
  • Stabilization
  • Derivatives
  • Time delay
  • Cranes

• Power-assist control of pushing task by repulsive compliance control in electric wheelchair

  Shibata, T. & Murakami, T., 2012 1, In: IEEE Transactions on Industrial Electronics. 59, 1, p. 511-520 10 p., 5754574.

  研究成果: Article › 査読

  • Compliance control
  • Wheelchairs
  • Torque
  • Robustness (control systems)
  • Sensors
  39 被引用数 (Scopus)

• Robust stabilization control for an electric bicycle

  Kawamura, T. & Murakami, T., 2012 10 9, In: ieej transactions on industry applications. 132, 6, p. 651-658 8 p.

  研究成果: Article › 査読

  • Bicycles
  • Stabilization
  • Cambers
  • Control systems
  • Robustness (control systems)
  4 被引用数 (Scopus)

• Workspace based controller design and performance evaluation of MDOF force sensorless bilateral system

  Horie, R. & Murakami, T., 2012 10 9, In: ieej transactions on industry applications. 132, 7, p. 755-763 9 p.

  研究成果: Article › 査読

  • Torque
  • Controllers
  • Acceleration control
  • Sensorless control
  • Chemical analysis
• 2011

  A novel approach to master and slave control by force feedback based virtual impedance controller

  Iwase, N., Horie, R. & Murakami, T., 2011 11 2, In: Control Engineering and Applied Informatics. 13, 2, p. 9-13 5 p.

  研究成果: Article › 査読

  • Acoustic impedance
  • Feedback
  • Controllers
  • Transparency
  • Friction
  1 被引用数 (Scopus)

• Center of gravity compensation for Dynamically-Balanced Two-Wheeled Wheelchair system

  Acar, C. & Murakami, T., 2011 9 12, In: ieej transactions on industry applications. 131, 5, p. 714-720 7 p.

  研究成果: Article › 査読

  • Wheelchairs
  • Gravitation
  • Compensation and Redress
  • Compliance control
  • Backstepping
  7 被引用数 (Scopus)

• Driving support control of electric vehicle adapting to environment with a haptic accelerator pedal

  Igari, Y. & Murakami, T., 2011 12 1, In: ieej transactions on industry applications. 131, 9, p. 1135-1140+6

  研究成果: Article › 査読

  • Particle accelerators
  • Electric vehicles
  • Highway accidents
  • Human engineering
  • Accidents

• Virtual force field based of force-feedback of road condition for driving assistant design in electric vehicle

  Carlier, J. & Murakami, T., 2011 11 1, In: International Journal of Automation Technology. 5, 6, p. 908-915 8 p.

  研究成果: Article › 査読

  • Electric vehicles
  • Feedback
  • Highway accidents
  • Visibility
  • Wire
  5 被引用数 (Scopus)
• 2010

  A control of two wheels driven redundant mobile manipulator using a monocular camera system

  Tai, H. & Murakami, T., 2010 1 1, In: International Journal of Intelligent Systems Technologies and Applications. 8, 1-4, p. 361-381 21 p.

  研究成果: Article › 査読

  • Manipulators
  • Wheels
  • Cameras
  • Robots
  • Stabilization
  2 被引用数 (Scopus)

• A robust control of two-wheeled mobile manipulator with underactuated joint by nonlinear backstepping method

  Acar, C. & Murakami, T., 2010, In: ieej transactions on industry applications. 130, 6, p. 742-751+5

  研究成果: Article › 査読

  • Backstepping
  • Robust control
  • Manipulators
  • Acceleration control
  • Pendulums
  5 被引用数 (Scopus)

• Rising and landing motion control using null space control for coaxial two-wheel driven mobile manipulator

  Fujimoto, Y. & Murakami, T., 2010, In: ieej transactions on industry applications. 130, 10, p. 1161-1168 8 p.

  研究成果: Article › 査読

  • Motion control
  • Landing
  • Manipulators
  • Wheels
  • Switches
  1 被引用数 (Scopus)

• Vibration suppression of two-wheel mobile manipulator using resonance-ratio-control-based null-space control

  Abeygunawardhana, P. K. W. & Murakami, T., 2010 12 1, In: IEEE Transactions on Industrial Electronics. 57, 12, p. 4137-4146 10 p., 5422770.

  研究成果: Article › 査読

  • Manipulators
  • Wheels
  • Pendulums
  • Robots
  • Gravitation
  51 被引用数 (Scopus)