Robots are used for many manufacturing tasks, and its prevalence in manufacturing is ever-
increasing. Robots in future manufacturing are expected to be valuable and essential tools …

This paper proposes a new nonlinear stability analysis for the acceleration-based robust
position control of robot manipulators by using disturbance observer (DOb). It is shown that if …

It has been reported that, in impedance control, there exists a dilemma between impedance
accuracy and robustness against modeling error. As a solution to this dilemma, an accurate …

In tasks that require improved mechanical strength and load-bearing capacity, such as the
handling of heavy or large-volume objects, multi-robot collaborative control is of utmost …

This paper analyses Disturbance Observer-(DOb-) based robust force control systems in the
discrete-time domain. The robust force controller is implemented using velocity and …

As applications and tasks of robotic manipulators become more diverse and complicated,
the desired motions of the robots also become more sophisticated and complicated. In spite …

This paper extends the diagonalization method on the basis of the modal space disturbance
observer (MDOB) for application to a multidegree-of-freedom (DOF) system. The aim of this …

The development of automatic control for driving a bicycle is a challenging theme and is
expected to be a human assist system. Previously, an acceleration-based method for …

In recent years, the skill preservation of an expert has been a serious problem in various
fields. If digital skill preservation like a haptic database is attained, it may become an …

The decreasing number of workers and the loss of techniques of skilled workers, associated
with an aging society, which can be attributed to the falling birth rate, are serious issues. To …