研究者学術情報データベース

ゲン　ソウコウ
玄　相昊
HYON Sang Ho

所属理工学部ロボティクス学科

職名教授

論文
1.	2022	全身トルク制御可能な油圧ローバーの実現: 最適接触力制御による不整地適応 │ 日本ロボット学会誌 │ (共著)
2.	2021/04	Air-Hydraulic Servo Booster Toward Submersible Water-Driven Robots │ IEEE Robotics and Automation Letters │ 6 (2),1966-1972頁 (共著)
3.	2021	Enhancement of a Leg-Wheel Mechanism by Hydraulics toward Compliantly Balancing Platforms for Heavy Duty Work │ Advanced Robotics │ 35 (23),1450-1467頁 (共著)
4.	2021	水圧ロボットの空気–液圧サーボ増圧器による遠隔トルク制御 │ 日本ロボット学会誌 │ (共著)
5.	2020	トルク制御型油圧2足歩行ロボットにおける受動性に基づく床反力制御による不整地歩行 │ 日本ロボット学会誌 │ 38 (1),104-112 (共著)
6.	2019/10	Whole-body locomotion and posture control on a torque-controlledhydraulic rover │ IEEE Robotics and Automation Letters │ 4 (4),4587-4594 (共著)
7.	2019/08	Development of HYDROVER, a torque-controlled hydraulic rover │ FSR 12th Conference on Field and Service Robotics │ (共著)
8.	2019/04	Overpressure compensation for hydraulic hybrid servo booster applied to hydraulic manipulator │ IEEE Robotics and Automation Letters │ 4 (2),942-949 (共著)
9.	2019/03	油圧による柔軟で機動性の高い多脚ロボットの実現 │ 日本ロボット学会誌 │ 37 (2),150-155 (単著)
10.	2019	ヒューマノイドのバランス制御におけるHip StrategyとAnkle Strategyの最適レギュレータによる統合 │ 日本ロボット学会誌 │ 37 (9),873-880 (単著)
11.	2018	Passivity-based compliant walking on torque-controlled hydraulic biped robot │ IEEE-RAS 18th International Conference on Humanoid Robots │ ,552--557 (共著)
12.	2018	安価な汎用部品を用いた油圧駆動回路とロボットへの応用 │ 計測と制御 │ (単著)
13.	2017/10	Joint torque control of a hydraulic manipulator with hybrid servo booster │ The 10th JFPS International Symposium on Fluid Power │ (共著)
14.	2017/10	Passivity-based balance and walking control on hydraulic quadruped robot │ The 10th JFPS International Symposium on Fluid Power │ (共著)
15.	2017/10	Realization of fast 10-ton servo press using hydraulic hybrid servo booster │ The 10th JFPS International Symposium on Fluid Power │ (共著)
16.	2017/05	Toward compliant, fast, high-precision,and low-cost manipulator with Hydraulic Hybrid Servo Booster │ Proc. IEEE International Conference on Robotics and Automation │ ,39-44 (共著)
17.	2017/04	Design and experimental evaluation of a fast torque-controlled hydraulic humanoid robot │ IEEE/ASME Transactions on Mechatronics │ 22 (2) (共著)
18.	2017	フルードパワー「低コストで多機能な油圧ハイブリッドロボット」 │ 日本フルードパワー工業会 │ (単著)
19.	2016/11	Latent Kullback-Leibler control for dynamic imitation learning of whole-body behaviors in humanoid robots │ IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) │ ,946-951 (共著)
20.	2016/02	Prototyping force-controlled 3-DOF hydraulic arms for humanoid robots │ Journal of Robotics and Mechatronics │ 28 (1),95-103 (共著)
21.	2016	油空圧技術「油圧駆動４脚歩行ロボット」 │ 日本工業出版 │ ,14-17
22.	2015/11	Development of a fast torque-controlled hydraulic humanoid robot that can balance compliantly │ IEEE-RAS International Conference on Humanoid Robots │ ,576-581 (共著)
23.	2014/10	Hydraulic hybrid servo booster and application to servo press │ The 9th JFPS International Symposium on Fluid Power │ ,152-162 (共著)
24.	2014/10	Joint torque control by pressure feedback on hydraulic excavator for robotic application │ The 9th JFPS International Symposium on Fluid Power │ ,28-31 (共著)
25.	2014/05	Running Model and Hopping Robot Using Pelvic Movement and Leg Elasticity │ IEEE International Conference on Robotics and Automation │ ,2313-2318 (共著)
26.	2014/01	高速かつ柔軟な油圧式２足歩行ロボット │ フルードパワーシステム │ 45 (1),12-15 (単著)
27.	2014/01	新しい油圧ハイブリッドサーボと油圧プレスへの応用 │ 油空圧技術 │ 53 (1),14-17 (単著)
28.	2014	フルードパワーシステム「高速かつ柔軟な油圧式２足歩行ロボット」 │ 日本フルードパワーシステム学会 │ ,12-15
29.	2014	油空圧技術「新しい油圧ハイブリッドサーボと油圧プレスへの応用」 │ 日本工業出版 │ ,.14-17,
30.	2013/11	Design of hybrid drive exoskeleton robot XoR2 │ IEEE/RSJ IROS │ ,4642-4648 (共著)
31.	2013/11	Lightweight hydraulic leg to explore agile legged locomotion │ IEEE/RSJ IROS │ ,4655-4660
32.	2013/10	脚型の油圧駆動ロボット │ 油空圧技術 │ 52 (10),45-49 (単著)
33.	2013/08	Gait generation via unified learning optimal control of Hamiltonian systems │ Robotica │ 31 (5),717-732 (共著)
34.	2013/04	Extraction of primitive representation from captured human movements and measured ground reaction force to generate physically consistent imitated behaviors │ Neural Networks │ 40,32-43 (共著)
35.	2013	油空圧技術「脚型の油圧駆動ロボット」 │ 日本工業出版 │ ,45-49
36.	2012/11	Brain-controlled exoskeleton robot for BMI rehabilitation │ IEEE-RAS International Conference on Humanoid Robots │ ,21-27 (共著)
37.	2012/05	eMOSAIC model for humanoid robot control │ Neural Networks │ 29,8-19 (共著)
38.	2012/05	Extraction of latent kinematic relationship between human users and assistive robots │ IEEE International Conference on Robotics and Automation │ ,3909-3915 (共著)
39.	2012/01	Real-time stylistic prediction for whole-body human motions │ Neural Networks │ 25 (5),191-199 (共著)
40.	2011/10	An optimal control approach for hybrid actuator system │ IEEE-RAS International Conference on Humanoid Robots │ ,300-305 (共著)
41.	2011/09	XoR: Hybrid drive exoskeleton robot that can balance │ IEEE/RSJ International Conference on Intelligent Robots and Systems │ ,3975-3981 (共著)
42.	2011/08	Periodic gait generation via repetitive optimal control of Hamiltonian systems │ 18th IFAC World Congress (IFAC2011) │ ,6912-6917 (共著)
43.	2011/06	Learning parametric dynamic movement primitives from multiple demonstrations │ Neural Networks │ 24 (5),493-500 (共著)
44.	2011/04	不連続な状態遷移を考慮した学習最適制御による歩行軌道の生成手法 │ 日本ロボット学会誌 │ 29 (2),90-100 (共著)
45.	2011/01	個性を考慮した周期的全身運動の予測 │ 電子情報通信学会論文誌 │ J94-D (1),344-355 (共著)
46.	2010/12	Reinforcement learning for balancer embedded humanoid locomotion │ IEEE-RAS International Conference on Humanoid Robots │ ,308-313 (共著)
47.	2010/11	Learning Parametric Dynamic Movement Primitives from Multiple Demonstrations │ 17th International Conference on Neural Information Processing (ICONIP 2010) │ 6443,347-354 (共著)
48.	2010/10	Learning stylistic dynamic movement primitives from multiple demonstrations │ Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems │ ,1277-1283 (共著)
49.	2010/08	eMOSAIC Model for Humanoid Robot Control │ From Animals to Animats 11: 11th International Conference on Simulation of Adaptive Behavior (SAB 2010) │ ,447-457 (共著)
50.	2010/05	From compliant balancing to dynamic walking on humanoid robot: Integration of CNS and CPG │ IEEE International Conference on Robotics and Automation │ ,1084-1085 (共著)
51.	2010/04	可変重力環境における全身運動制御と等身大ヒト型ロボットを用いた検証 │ バイオメカニズム, 特集「宇宙環境・低重力環境下でのバイオメカニズム」 │ 34 (1) (共著)
52.	2009/09	Invariant manifold of symmetric orbits and its application toward globally optimal gait generation for biped locomotion │ 9th International IFAC Symposium on Robot Control │ ,619-626 (共著)
53.	2009/06	A motor control strategy with virtual musculoskeletal systems for compliant anthropomorphic robots │ IEEE/ASME Transactions on Mechatronics │ 14 (6),677-688 (単著)
54.	2009/05	Integration of multi-level postural balancing on humanoid robots │ IEEE International Conference on Robotics and Automation │ ,1549-1556 (共著)
55.	2009/03	Compliant terrain adaptation for biped humanoids without measuring ground surface and contact forces │ IEEE Transactions on Robotics │ 25 (1),171-178 (単著)
56.	2009/03	複数の接地部分と冗長関節を有するヒューマノイドロボットの受動性に基づく最適接触力制御 │ 日本ロボット学会誌 │ 27 (2),178-187 (単著)
57.	2009	計算脳プロジェクト終了報告書招待講演 │ 独立行政法人科学技術振興機構 │ ,第6.1.5節, pp.55-83 (単著)
58.	2009	準静的に獲得した関節軌道を利用して動的な類似運動を逐次的に学習する方法 │ 日本ロボット学会誌 │ 27 (9),1025-1028 (単著)
59.	2008/12	Humanoid batting with bipedal balancing │ IEEE-RAS International Conference on Humanoid Robots │ ,493-499 (共著)
60.	2008/09	A framework for optimal gait generation via learning optimal control using virtual constraint │ IEEE/RSJ IROS │ ,3426-3432 (共著)
61.	2008/09	Behavior recognition with ground reaction force estimation and its application to imitation learning │ IEEE/RSJ IROS │ ,2029-2034 (共著)
62.	2008/07	Biped gait generation via iterative learning control including discrete state transitions │ 17th IFAC World Congress │ ,1729-1734 (共著)
63.	2008	Hierarchical motor learning and synthesis with passivity-based controller and phase oscillator │ IEEE International Conference on Robotics and Automation │ ,2705-2710 (共著)
64.	2008	Highly precise dynamic simulation environment for humanoid robots │ Advanced Robotics │ 22 (10),1075-1105 (共著)
65.	2008	Learning to acquire whole-body humanoid CoM movements to achieve dynamic tasks │ Advanced Robotics │ 22 (10),1125-1142 (共著)
66.	2008	Low-dimensional feature extraction for humanoid locomotion using kernel dimension reduction │ IEEE International Conference on Robotics and Automation │ ,2711-2716 (共著)
67.	2008	ハミルトン力学系の対称軌道族と2足歩行の大域的歩容生成 │ 日本ロボット学会誌 │ 26 (4),372-380 (共著)
68.	2008	動作認識における床反力情報の推定と見まね学習への適用 │ 電子情報通信学会論文誌 │ J91-D (9),2394-2403 (共著)
69.	2007/05	Disturbance rejection for biped humanoids │ IEEE International Conference on Robotics and Automation │ ,2668-2675 (共著)
70.	2007	A humanoid research platform for exploring neuroscience │ Advanced Robotics │ 21 (10),1097-1114 (共著)
71.	2007	A simple approach to humanoid locomotion │ IEEE-RAS International Conference on Humanoid Robots, Pittsburgh │ ,596–602 (共著)
72.	2007	Full-body compliant human-humanoid interaction: Balancing in the presence of unknown external forces │ IEEE Transactions on Robotics │ 23 (5),884-898 (共著)
73.	2007	Simultaneous adaptation to rough terrain and unknown external forces for biped humanoids │ IEEE-RAS International Conference on Humanoid Robots │ ,19-26 (共著)
74.	2007	ハミルトン系の変分対称性に基づく1脚ロボットの最適歩容生成 │ 計測自動制御学会論文集 │ 43 (12),1103-1110 (共著)
75.	2006	Back handspring of a multi-link gymnastic robot - reference model approach │ Advanced Robotics │ 20 (1),93-113 (共著)
76.	2006	Gait generation for passive running via iterative learning control │ IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China │ ,5907-5912 (共著)
77.	2006	Gravity compensation and full-body balancing for humanoid robots │ IEEE-RAS International Conference on Humanoid Robots, Genoa, Italy │ ,214-221 (共著)
78.	2006	Passivity-based full-body force control for humanoids and application to dynamic balancing and locomotion │ IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China │ ,4915-4922 (共著)
79.	2006	Quasi-human biped walking │ Robotica │ 24 (2),257-268 (共著)
80.	2005/04	Parametric excitation mechanisms for dynamic bipedal walking │ IEEE International Conference on Robotics and Automation, Barcelona, Spain │ ,611-617 (共著)
81.	2005/04	Symmetric walking control: Invariance and global stability │ IEEE International Conference on Robotics and Automation, Barcelona, Spain │ ,1455-1462 (共著)
82.	2005	倒立振子から始めた２脚ロボットの開発 │ 日本ロボット学会誌 │ 23 (4),418-421 (共著)
83.	2005	動的脚ロボットのハミルトン系に基づく走行制御 │ システム制御情報学会誌 │ 49 (7),260-265 (単著)
84.	2004/09	Back handspring control of a multi-link gymnastic robot │ 3rd IFAC Symposium on Mechatronic Systems, Sydney, Australia │ ,73-78 (共著)
85.	2004/09	Back handspring robot - Target dynamics-based control, Sendai, Japan │ IEEE/RSJ International Conference on Intelligent Robots and Systems │ ,248-253 (共著)
86.	2004/09	Detection and stabilization of hybrid periodic orbits of passive running robots │ Mechatronics and Robotics, Aachen, Germany │ ,1309-1314 (共著)
87.	2004/09	Passive running of planar 1/2/4-legged robots │ IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan │ ,3532-3539 (共著)
88.	2004/04	Running control of a planar biped robot based on energy-preserving strategy │ Proc. of IEEE International Conference on Robotics and Automation,New-Orleans, USA │ ,3791-3796 (共著)
89.	2004	Energy-preserving control of passive one-legged running robot │ Advanced Robotics │ 18 (4),357-381 (共著)
90.	2003/09	Aerial posture control for 3D biped running using compensator around yaw axis │ IEEE International Conference on Robotics and Automation Taipei, Taiwan │ ,57-62 (共著)
91.	2003	Dynamics-based control of one-legged hopping robot │ Journal of Systems and Control Engineering, Proceedings of the Institution of Mechanical Engineers Part I │ 217 (2),83-98 (共著)
92.	2002/09	Quasi-periodic gaits of passive one-legged hopper, Lausanne, Switzerland │ Proc. of IEEE/RSJ IROS │ ,2625-2630 (共著)
93.	2002/05	Development of a biologically inspired hopping robot -Kenken │ IEEE International Conference on Robotics and Automation, Washington, USA │ ,3984-3991 (共著)
94.	2002	動物の脚構造をモデル化した１脚走行ロボット-Kenken- │ 日本ロボット学会誌 │ 20 (4),453-462 (共著)
95.	2001	Analytical time optimal control solution for a two link planar acrobot with initial angular momentum │ IEEE Transactions on Robotics and Automation │ 17 (3),361-366 (共著)
96.	2000	初期角運動量を有する劣駆動浮遊機械系の最短時間制御解の導出と解析 │ 計測自動制御学会論文集 │ 36 (8),668-675 (共著)
97.	1999	Physical Interaction between Human and a Bipedal Humanoid Robot -Realization of Human-follow Walking- │ IEEE International Conference on Robotics and Automation │ ,361-367 (共著)