Publications
Conference Papers
- Force-controlled metal spinning machine using linear motors
- H. Arai
- Proc. 2006 IEEE International Conference on Robotics and Automation (ICRA2006), pp.4031-4036, 2006.
- IEEExplore.
- Robotic Metal Spinning - Forming Non-axisymmetric Products Using Force Control -
- H. Arai
- Proc. 2005 IEEE International Conference on Robotics and Automation (ICRA2005), pp.2691- 2696, 2005.
- IEEExplore.
- Robotic Metal Spinning - Shear Spinning Using Force Feedback Control -
- H. Arai
- Proc. 2003 IEEE International Conference on Robotics and Automation (ICRA2003), pp.3977-3983 , 2003.
- IEEExplore.
Conference Papers
- Human Interface for Maneuvering Nonholonomic Systems
- H. Arai
- Proc. 2001 IEEE International Conference on Robotics and Automation (ICRA2001), pp.1870-1877, 2001.
- Abstract;
IEEExplore.
Conference Papers
- Motion Planning of Discrete-time Nonholonomic Systems
- H. Arai
- Proc. of 9th International Conference on Advanced Robotics ('99 ICAR), pp. 577-583, 1999.
- Abstract;
Journal Papers
- Nonholonomic Motion Planning for Coupled Rigid Bodies with Passive Revolute Joints
- N. Shiroma, H. Arai and K. Tanie
- International Journal of Robotics Research, Vol. 21, No. 5, pp.563-574, 2002.
- SAGE Pub.;
- Collision-Free Trajectory Planning for a 3-DOF Robot with a Passive Joint
- Time-scaling Control of an Underactuated Manipulator
- Nonholonomic Control of a Three-DOF Planar Underactuated Manipulator
- Dynamic Control of a Manipulator with Passive Joints in Operational Space
- H. Arai, K. Tanie and S. Tachi
- IEEE Transactions on Robotics and Automation, Vol.9, No.1, pp.85-93, 1993.
- Abstract;
IEEExplore;
Video.
- Position Control of a Manipulator with Passive Joints Using Dynamic Coupling
- H. Arai and S. Tachi
- IEEE Transactions on Robotics and Automation, Vol.7, No.4, pp.528-534, 1991.
- Abstract;
IEEExplore.
- Position Control System of a Two Degree of Freedom Manipulator with a Passive Joint
- H. Arai and S. Tachi
- IEEE Transactions on Industrial Electronics, Vol.38, No.1, pp.15-20, 1991.
- Abstract;
IEEExplore;
Video.
Conference Papers
- Nonholonomic Motion Planning for Coupled Planar Rigid Bodies
- N. Shiroma, H. Arai and K. Tanie
- Proc. 3rd International Conference on Advanced Mechatronics (ICAM'98), pp.173-178, 1998.
- Abstract;
- Motion Planning for a 3-DOF Robot with a Passive Joint
- K. M. Lynch, N. Shiroma, H. Arai and K. Tanie
- Proc. 1998 IEEE International Conference on Robotics and Automation (ICRA'98), pp.927-932, 1998.
- Abstract;
IEEExplore;
Postscript (by Kevin M. Lynch);
Video.
- Time-scaling Control of an Underactuated Manipulator
- H. Arai, K. Tanie and N. Shiroma
- Proc. 1998 IEEE International Conference on Robotics and Automation (ICRA'98), pp.2619-2626, 1998.
- Abstract;
IEEExplore;
OHP;
Video.
- Nonlinear Control of a Planar Free Link Under a Nonholonomic Constraint
- Feedback Control of a 3-DOF Planar Underactuated Manipulator
- H. Arai, K. Tanie and N. Shiroma
- Proc. 1997 IEEE International Conference on Robotics and Automation (ICRA'97), pp.703-709, 1997.
- Abstract;
IEEExplore;
OHP.
- Position Control of a 3-DOF Manipulator with a Passive Joint under a Nonholonomic Constraint
- H. Arai
- Proc.1996 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'96), pp.74-80, 1996.
- Abstract;
IEEExplore.
- Controllability of a 3-DOF Manipulator with a Passive Joint under a Nonholonomic Constraint
- H. Arai
- Proc. 1996 IEEE International Conference on Robotics and Automation (ICRA'96), pp.3707-3713, 1996.
- Abstract;
IEEExplore.
Videos
- Control a 3-DOF Planar Underactuated Manipulator
- Control a Manipulator with a Passive Joint
- H. Arai
- Video Proc. 1992 IEEE International Conference on Robotics and Automation, 1992.
- Abstract;
Video 1;
Video 2.
Patent
- Manipulator and Control Method
- H. Arai and S. Tachi
- United States Patent No.4,928,047, May 22, 1990.
- Abstract
- Full text.
Conference Papers
- The Roles of Shape and Motion in Dynamic Manipulation: the Butterfly Example
- K. M. Lynch, N. Shiroma, H. Arai and K. Tanie
- Proc. 1998 IEEE International Conference on Robotics and Automation (ICRA'98), pp.1958-1963, 1998.
- Abstract;
IEEExplore
Postscript (by Kevin Lynch);
Video 1;
Video 2.
- Experiments with Dynamic Skills
- H. Arai and O. Khatib
- Proc. 1994 Japan-USA Symposium on Flexible Automation, pp.81-84, Kobe, Japan, 1994.
- Abstract.
Videos
- Experiments on Dynamic Skills
- H. Arai
- Video Proc. 1995 IEEE International Conference on Robotics and Automation, 1995.
- Video.
Journal Papers
- Human-Robot Cooperative Manipulation Using a Virtual Nonholonomic Constraint
- T. Takubo, H. Arai, Y. Hayashibara and K. Tanie
- International Journal of Robotics Research, Vol. 21, No. 5, pp.541-553, 2002.
-
SAGE Pub.;
Video1;
Video2;
Video3.
- Control of Mobile Manipulators for Power Assist Systems
- Evaluation of Compensation Ratios in a Power Assist System Based on Operational Sensation
Conference Papers
- Control of Mobile Manipulator Using a Virtual Impedance Wall
- T. Takubo, H. Arai and K. Tanie
- Proc. 2002 IEEE International Conference on Robotics and Automation (ICRA2002), pp.3571-3576, 2002.
- Abstract;
IEEExplore.
- Human-Robot Cooperative Handling Using Virtual Nonholonomic Constraint in 3-D Space
- T. Takubo, H. Arai and K. Tanie
- Proc. 2001 IEEE International Conference on Robotics and Automation (ICRA2001), pp.2680-2685, 2001.
- Abstract;
IEEExplore;
Video.
- Virtual Nonholonomic Constraint for Human-Robot Cooperation in 3-D Space
- T. Takubo, H. Arai and K. Tanie
- Proc. 2000 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2000), pp.300-305, 2000.
- Abstract;
IEEExplore;
Video .
- Human-Robot Cooperative Manipulation Using a Virtual Nonholonomic Constraint
- H. Arai, T. Takubo, Y. Hayashibara, and K. Tanie
- Proc. 2000 IEEE International Conference on Robotics and Automation (ICRA2000), 2000.
- Abstract;
IEEExplore;
OHP;
Video .
- Assist System for Carrying a Long Object with a Human - Analysis of a Human Cooperative Behavior in the Vertical Direction -
- Y. Hayashibara, Y. Sonoda, T. Takubo, H. Arai, and K. Tanie
- Proc. 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), 1999.
- Abstract;
IEEExplore;
- Control of Mobile Manipulators for Power Assist Systems
- H-K. Lee, T. Takubo, H. Arai, and K. Tanie
- Proc. 1999 IEEE International Conference on Systems, Man, and Cybernetics (SMC'99), pp.IV 989-994, 1999.
- Abstract;
IEEExplore;
OHP;
Video .
- Power Assist System for Carrying a Long Object with a Human (Analysis of Human Cooperative Behavior)
- Y. Hayashibara, K. Tanie, H. Arai and Y. Sonoda
- Proc. IFToMM Tenth World Congress on the Theory of Machines and Mechanisms, pp.1950-1955, 1999.
- Abstract;
- Development of Power Assist System with Individual Compensation Ratios for Gravity and Dynamic Load
- Y. Hayashibara, K. Tanie, H. Arai and H. Tokashiki
- Proc. 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'97), pp.640-646, 1997.
- IEEExplore.
- Design of a Power Assist System with Consideration of Actuator's Maximum Torque
- Y.Hayashibara, K.Tanie and H.Arai
- Proc. IEEE Int. Workshop on Robot and Human Communication (RoMan'95), pp.379-384, 1995.
- IEEExplore.
- Power Assist System - A proposed Method with Consideration of Actuator Saturation -
- Y.Hayashibara, K.Tanie and H.Arai
- Proc. IFToMM 9th World Congress on the Theory of Machines and Mechanisms, pp.1370-1375, 1995.
Patent
- Method and System for Controlling Cooperative Object-Transportating Robot
- H. Arai, K. Tanie, Y. Hayashibara, Y. Sonoda and T. Takubo
- United States Patent No.6,522,952 B1, 2003.
- Full text.
- Power Assist Apparatus and Control Method for Same
- H. K. Lee, H. Arai and K. Tanie
- United States Patent No.6,430,473, 2002.
- Full text.
- Method and Apparatus for Controlling a Force Assist Apparatus
- H. Arai, K. Tanie and Y.Hayashibara
- United States Patent No.5,551,308, September 3, 1996.
- Abstract
- Full text.
Journal Papers
- Path Tracking Control of a Manipulator Considering Torque Saturation
- H. Arai, K. Tanie and S. Tachi
- IEEE Transactions on Industrial Electronics, Vol.41, No.1, pp.25-31, 1994.
- Abstract;
IEEExplore.
Conference Papers
- Path Tracking Control of a Manipulator Considering Torque Saturation
- H. Arai, K. Tanie and S. Tachi
- Proc.1992 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'92), pp.1004-1009, 1992.
- Abstract;
IEEExplore.
- Real-time Path Tracking with Torque Limits by Using a Disturbance Observer
- H. Arai and K. Tanie
- Proc. 1994 IEEE International Conference on Robotics and Automation, 1994.
- Abstract;
IEEExplore.
ARAI's page
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