Researcher Database

（Last updated : 2023-03-01 12:03:09）

HYON Sang Ho

Department / Course College of Science and Engineering Department of Robotics

Title / Position Professor

Other Affiliations
1.	Graduate School of Science and Engineering
2.	Research Organization of Science and Technology Robotics Research Center

Academic background
1.	2002/03 Degree Acquisition	│ Tokyou Institute of Technology Ph.D
2.	～1998/03	Master Course │ Waseda University │ Completed Master
3.	～2002/02	Doctorial Course │ Tokyo Institute of Technology │ Completed

Business career
1.	2009/04/01 ～ 2010/03/31	Researcher │ │ NICT
2.	2009/04/01 ～ 2010/03/31	Researcher │ │ ATR Computational Neuroscience Laboratories
3.	2005/04/01 ～ 2009/03/31	Researcher │ Computational Brain Project │ JST ICORP,
4.	2005/04/01 ～ 2009/03/31	Visiting Researcher │ │ ATR Computational Neuroscience Laboratories
5.	2005/01/01 ～ 2005/03/31	Lecturer │ Graduate School of Engineering, │ Tohoku University
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Research activities
1.		The Robotics Society of Japan
2.		The Japan Fluid Power System Society
3.		IEEE

Subject of research
1.	Development of High-power and Flexible Life-sized Robots ・Humanoid Robots ・4-legged Locomotion Robot ・Oil Pressure Manipulator
2.	Hydraulic control systems
3.	Walking/Running Control Theory of Legged Robots
4.	Whole Body Balance Control and Its Application ・Exoskeleton Robots and Sports Training Equipment ・Non-leveled Ground Running Vehicles ・Recognition and Control by Machine Learning

Research summary
How to incorporate the body and skills of human beings into a robot system R&D is being conducted on exoskeleton robots, hydraulic servo shovels, hydraulic servo press, and other practical robot hardware, in addition to humanoid robots, and four legged robots. The study is also accompanied by engineer education to “create and operate” these hardware. Furthermore, joint studies with people from other fields are being actively sought to devise algorithms based on hints from human forms of motion, taking the approach of conducting empiric verification of its performance and appropriateness.

Research summary(Photo/Image)
1. 国際ロボット展2015

Present specialized field
Intelligent robotics, Dynamics/Control, Intelligent mechanics/ Mechanical systems (Keyword：Robotics, Motion Control, Motion Learning, Humanoid, Balance, Locomotion, Hydraulic circuits, Force control, Sports, Amusement, Assist robots)

Books
1.	2021	Development of HYDROVER: A Torque-Controlled Hydraulic Rover │ Field and Service Robotics, Results of the 12th International Conference │ (Co-authored)
2.	2019	New Hydraulic Components for Tough Robots │ (Co-authored)
3.	2017/10	Humanoid Robotics: a Reference │ (Co-authored)
4.	2015/05	Dynamics and the Brain, in Humanoid Robotics and Neuroscience │ ,pp.183-230
5.	2007	Gait generation for a hopping robot via iterative learning control based on variational symmetry, Lecture Notes in Control and Information Sciences 336 │ ,pp.197-208 (Co-authored)
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Papers
1.	2021/04	Air-Hydraulic Servo Booster Toward Submersible Water-Driven Robots │ IEEE Robotics and Automation Letters │ 6 (2),pp.1966-1972 (Co-authored)
2.	2021	Enhancement of a Leg-Wheel Mechanism by Hydraulics toward Compliantly Balancing Platforms for Heavy Duty Work │ Advanced Robotics │ 35 (23),pp.1450-1467 (Co-authored)
3.	2021	Remote Torque Control of a Water-Driven Robot with Air-Hydraulic Servo Booster │ (Co-authored)
4.	2019/10	Whole-body locomotion and posture control on a torque-controlledhydraulic rover │ IEEE Robotics and Automation Letters │ 4 (4),pp.4587-4594 (Co-authored)
5.	2019/08	Development of HYDROVER, a torque-controlled hydraulic rover │ FSR 12th Conference on Field and Service Robotics │ (Co-authored)
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Academic conference presentation
1.	2021/10	Modular Hydraulic Servo Booster for Multi-Axis Robots (The 11th JFPS International Symposium on Fluid Power)
2.	2014/05	Ground contact detection using air pressure sensors for biped walking (2014 JSME Conference on Robotics and Mechatronics)
3.	2013/11	Development of torque-controlled hydraulic robot platforms (IEEE/RSJ IROS Workshop on New Applications of Hydraulic Actuation for Fast, Powerful, Efficient, Compact, and Compliant Robots)
4.	2013/11	Hydraulic servo drive for legged robots and industrial machinery (IEEE/RSJ IROS Workshop on New Applications of Hydraulic Actuation for Fast, Powerful, Efficient, Compact, and Compliant Robots)
5.	2013/05/10	From legged robots to hydraulic servo press: the design, control, and education, (IEEE International Conference on Robotics and Automation, Workshop)
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Other research achievements
1.	2017/11/29 ～ 2017/12/02	Live demo on our hydraulic hybrid manipulator (International Robot Exhibition 2017)
2.	2017/09/13 ～ 2017/09/15	Live demo on our hydraulic humanoid, quadruped robot, servo press, hybrid manipulator (invited) (International Fluid Power Exhibition 2017)
3.	2016/10/17 ～ 2016/10/19	Live demo on a leg-wheel hybrid quadruped robot and a hydraulic hybrid manipulator (Japan Robot Week 2016)

Winning science prize
1.	2012/11	IEEE IEEE-RAS International Conference on Humanoid Robots, Best Conference Paper Award, Finalist (Brain-controlled exoskeleton robot for BMI rehabilitation)
2.	2010	IEEE International Conference on Robotics and Automation, Best Video Award, Finalist
3.	2009	IEEE International Conference on Robotics and Automation, Best Paper Award, Finalist
4.	1999	IEEE International Conference on Robotics and Automation, Best Paper Award, Finalist

Acquisition patent
1.	2016/10/04	Hydraulic drive circuit （US Patent 9458864）
2.	2008/09/02	脚式ロボット及び制御装置（特願2006-150466）

Research exchange preferred theme
1.	Development of hydraulic humanoid robots We can provide full-sized hydraulic humanoid robots. Commisioned research Joint research
2.	Advanced hydraulic hydraulic servo press We can realize high precision hydraulic servo press very easily by using our novel hydraulic control circuit. Technical consultation Commisioned research Joint research