Z-Lab

Tomomichi Sugihara

E-mail: zhidao[at]ieee.org

English/Japanese

Researches

Kinetics computation for human, robot and environment / Motion control of humanoid robots / Motion analysis of humans / Behavior synthesis of robots / Mechatronics / Mechanisms and mechanical design / Humanoid robots

Motor intelligence

Motor control is the basis of intelligence Humans' behaviors and decision-makings are neither necessarily logical nor optimal, but always rational and robust. It is because an activity to purposefully manipulate the body under the natural laws, namely, motor control, embodies the behaviors. Hence, the motor control is the basis of intelligence.

Control in the open world The ability to manipulate the body cannot be measured by speed, strength, accuracy, etc. Skillfulness to produce intended behaviors in the open world, which is filled with unpredictable events, by coordinating many joints and switching contacts should be pursued.

Toward really practical humanoid robots It also makes sense in practice to develop humanoid robots. The humanoid robots are ultimately personified machines and utilized as users' another bodies. This obviously requires the robots to be equipped with physical and information processing abilities at the same or higher level with humans.

Kinetics computation for human, robot and environment
Resolved COM rate control The body dynamics with many degrees-of-freedom can be reduced by focusing on the center of mass (COM) and the zero-moment point (ZMP). Based on this idea, we developed a framework to synthesize the whole-body motion that is dynamically consistent with rather small amount of computation using the COM Jacobian matrix.
  • R. K. Sato and T. Sugihara, Walking Control for Feasibility at Limit of Kinematics Based on Virtual Leader-Follower, 2017 IEEE-RAS International Conference on Humanoid Robots, 718-723, 2017.
  • T. Sugihara and Y. Nakamura, Whole-body Cooperative Reaction Force Manipulation on Legged Robots with COG Jacobian involving Implicit Representation of Unactuated Coordinates (in Japanese), Journal of Robotics Society of Japan, 24(2):222-231, 2006.
  • T. Sugihara and Y. Nakamura, Whole-body Cooperative COG Control through ZMP Manipulation for Humanoid Robots, 2nd International Symposium on Adaptive Motion of Animals and Machines, SaP-III-4, 2003.
Robust inverse kinematics We study the inverse kinematics algorithm to resolve the desired motions of body parts including COM into the whole joint movements. Our algorithm can provide the least-square solution robustly even in the cases where the strict solution does not exist or an infinite number of solutions exist.
  • T. Sugihara, Robust Solution of Prioritized Inverse Kinematics Based on Hestenes-Powell Multiplier Method, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 510-515, 2014.
  • T. Sugihara, Solvability-Unconcerned Inverse Kinematics by the Levenberg-Marquardt Method, IEEE Transaction on Robotics, 27(5):984-991, 2011.
Forward dynamics We developed fast and stable algorithms to simulate situations where a number of rigid bodies including robots interact with each other based on solid computations. Friction in motors and gears were also taken into account.
  • K. Zhang, N. Wakisaka and T. Sugihara, A fast volumetric contact force computation of rigid bodies by decomposition and iteration, 2019 JSME Conference on Robotics and Mechatronics, 2P1-D07, 2019.
  • N. Wakisaka and T. Sugihara, Loosely-constrained Volumetric Contact Force Computation For Rigid Body Simulation, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 6428-6433, 2017.
  • N. Wakisaka, R. Kikuuwe and T. Sugihara, Fast Forward Dynamics Simulation of Robot Manipulators with Highly Frictional Gears, 2016 IEEE International Conference on Robotics and Automation, 2096-2101, 2016.
  • N. Wakisaka and T. Sugihara, Fast and Reasonable Contact Force Computation in Forward Dynamics Based on Momentum-Level Penetration Compensation, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2434-2439, 2014.
Soil mechanics We developed algorithms to simulate deformation of soil that interact with robots in reasonable time.
  • T. Suzuki and T. Sugihara, Soil Mechanics Simulation Based On Superposition of Subsidence and Bulldozing Resistance, 2018 JSME Conference on Robotics and Mechatronics, 2A1-K05, 2018.

Motion control of humanoid robots
Biped motion control We study biped motion control that does not require fine trajectory planning based on the COM-ZMP model. We also propose a framework in which the robot can seamlessly transition various motions through morphing of the controller.
  • T. Yamamoto and T. Sugihara, Foot-guided control of a biped robot through ZMP manipulation, Advanced Robotics, 34(21-22):1472-1489, 2020.
  • K. Imanishi and T. Sugihara, Autonomous Biped Stepping Control Based on the LIPM Potential, 2018 IEEE-RAS International Conference on Humanoid Robots, 593-598, 2018.
  • H. Atsuta and T. Sugihara, 2D Omnidirectional Navigation of a Biped Robot Based on an Egocentric Orbit Following, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 5257-5262, 2017.
  • T. Sugihara and T. Yamamoto, Foot-guided Agile Control of a Biped Robot through ZMP Manipulation, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 4546-4551, 2017.
  • H. Atsuta, H. Nozaki and T. Sugihara, Smooth-Path-Tracking Control of a Biped Robot at Variable Speed Based on Dynamics Morphing, 2017 IEEE International Conference on Robotics and Automation, 4116-4121, 2017.
  • H. Nozaki and T. Sugihara, Switching technique of COM-navigation / foot-navigation controls for a biped robot that goes over various terrains, 2016 JSME Conference on Robotics and Mechatronics, 2A1-12b4, 2016.
  • H. Atsuta and T. Sugihara, Dynamics Morphing between Standing and Repetitive Hopping of Biped Robots, 2015 IEEE International Conference on Robotics and Automation, 5704-5709, 2015.
  • H. Atsuta and T. Sugihara, Sideward Locomotion Control of Biped Robots Based on Dynamics Morphing, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 959-964, 2014.
  • Y. Ishiguro and T. Sugihara, Dynamic 3-dimensional Locomotion of a Humanoid Robot with Hand-foot Support Coordination, 2014 JSME Conference on Robotics and Mechatronics, 3P1-E06, 2014.
  • T. Sugihara, Reflexive Step-out Control Superposed on Standing Stabilization of Biped Robots, 2012 IEEE-RAS International Conference on Humanoid Robots, 741-746, 2012.
  • T. Sugihara, Biped Control To Follow Arbitrary Referential Longitudinal Velocity based on Dynamics Morphing, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1892-1897, 2012.
  • T. Sugihara, Consistent Biped Step Control with COM-ZMP Oscillation Based on Successive Phase Estimation in Dynamics Morphing, 2010 IEEE International Conference on Robotics and Automation, 4224-4229, 2010.
  • T. Sugihara, Dynamics Morphing from Regulator to Oscillator on Bipedal Control, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2940-2945, 2009.
  • T. Sugihara, Standing Stabilizability and Stepping Maneuver in Planar Bipedalism based on the Best COM-ZMP Regulator, 2009 IEEE International Conference on Robotics and Automation, 1966-1971, 2009.
  • T. Sugihara and Y. Nakamura, High Mobility Control of Humanoid Robots Based on an Analogy of ZMP-COG Model and Carted Inverted Pendulum Model (in Japanese), Journal of Robotics Society of Japan, 24(1):74-83, 2006.
  • T. Sugihara, Y. Nakamura and H. Inoue, Realtime Humanoid Motion Generation through ZMP Manipulation based on Inverted Pendulum Control, 2002 IEEE International Conference on Robotics and Automation, 1404-1409, 2002.
State estimation of biped motion We developed techniques to accurately estimate trunk inclination, translational movement and the COM movement of a humanoid robot based on information from inertial-force sensors and kinematic-dynamic models.
  • K. Masuya and T. Sugihara, COM Motion Estimation of a Biped Robot Based on Kinodynamics and Torque Equilibrium, Advanced Robotics, 30(10):691-703, 2016.
  • K. Masuya and T. Sugihara, Dead reckoning for biped robots that suffers less from foot contact condition based on anchoring pivot estimation, Advanced Robotics, 29(12):785-799, 2015.
Arm motion control We developed a reaching controller with which the arm exhibits human-like smooth velocity profile and flexibly absorbs perturbations.
  • F. Seto and T. Sugihara, Nonlinear Reference Shaping with Endpoint Position Feedback for Large Acceleration Avoidance in Reaching Movement, Journal of Robotics and Mechatronics, 22(2):173-178, 2010.
  • F. Seto and T. Sugihara, Motion Control with Slow and Rapid Adaptation for Smooth Reaching Movement Under External Force Disturbance, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1650-1655, 2010.
  • F. Seto and T. Sugihara, Online Nonlinear Reference Shaping with End-point Position Feedback for Human-Like Smooth Reaching Motion, 2009 IEEE-RAS International Conference on Humanoid Robots, 297-302, 2009.
  • F. Seto and T. Sugihara, Online Reference Shaping with End-point Position Feedback for Large Acceleration Avoidance on Manipulator Control, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 5743-5748, 2009.

Motion analysis of humans
Accurate reproduction of original motion from captured data We developed a technique to identify kinematics model and marker arrangements of the subject human from optical motion capture data and to estimate the whole-body motion accurately. It especially works in complex joints such as shoulders.
  • T. Zou and T. Sugihara, Toward on-line fitting of a human skeleton-marker model for accurate motion tracking, The 8th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 219-224, 2020.
  • T. Zou and T. Sugihara, Fast identification of a human skeleton-marker model for motion capture system using stochastic gradient descent method, The 8th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 188-193, 2020.
Identification of standing controller We hypothesized that the standing controller developed for a humanoid robot can model that of a human, and got supportive results by identifying controller parameters. It works for evaluating abilities that are hard to be quantified such as equilibratory sense and reflex.
  • N. Murai and T. Sugihara, Identification of COM Control Behavior of a Human in Stance as a Dynamical System, The 8th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 95-100, 2020.
  • D. Kaneta, N. Murai and T. Sugihara, Reassessment of COM-ZMP Model for the Identification of Lateral Standing Controller of a Human, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2351-2356, 2013.
  • N. Murai, D. Kaneta and T. Sugihara, Identification of a Piecewise Controller of Lateral Human Standing Based on Returning Recursive-Least-Square Method, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 96-101, 2013.
  • D. Kaneta, N. Murai and T. Sugihara, Visualization and Identification of Macroscopic Dynamics of a Human Motor Control Based on the Motion Measurement, 2012 IEEE-RAS International Conference on Humanoid Robots, 767-772, 2012.
Identification of step-and-brake controller We hypothesized the walking controller developed for a humanoid robot can model that of a human, and got supportive results through controller identifications. The controller can be identified only from initiating movements, so that it works for design of walking-assistive devices.
  • M. Kojima and T. Sugihara, Identification of a Step-and-Brake Controller of a Human Based on COM-ZMP Model and Terminal Capturability Condition, The 8th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 165-170, 2020.

Behavior synthesis of robots
Behavior transition based on dynamics morphing We proposed a framework with which the robot can autonomously transition behaviors based on the connectivity of dynamical systems representing each motion.
  • H. Atsuta and T. Sugihara, Automatic Biped Motion Transition Based on Adjancency Relations of Dynamics Morphing Controllers, The 17th SICE System Integration Division Annual Conference, 1C3-4, 2016.
SLAM-SEAN We proposed a concept of SEAN (Simultaneous Exploration And Navigation) to efficiently achieve a goal in an unknown environment and developed a combined system with SLAM (Simultaneous Localization And Mapping).
  • J. Zuo, T. Yamamoto, T. Sugihara, SLAM-SEAN for Higher Autonomy of Mobile Robots in Unknown Environment, 2020 JSME Conference on Robotics and Mechatronics, 2P1-K15, 2020.
  • M. Yamamoto and T. Sugihara, An Efficient Simultaneous Exploration and Navigation in An Unknown Environment of a Mobile Robot by Dynamic Update of Extremum-Free Potential Method, The 34th Annual Conference of The Robotics Society of Japan, 1C1-05, 2016.
Subsumptive biped locomotion control We developed an autonomous biped locomotion controller in which observation, mapping, navigation and whole-body control concurrently run to improve robustness against dynamic changes of environments and perturbations.
  • T. Yamamoto and T. Sugihara, Robust Path Planning for Biped Robots Against Variation of Surroundings and Goal, The 36th Annual Conference of The Robotics Society of Japan, 1J2-06, 2018.
  • T. Yamamoto and T. Sugihara, Semi-autonomous Navigation of a Biped Robot Over Unlevel Terrain Based on the Combination of Discreate-Continuous Control, 22nd Robotics Symposia, 177-182, 2017.
  • T. Yamamoto and T. Sugihara, Responsive Navigation of a Biped Robot On Elevation-Normal Terrain Map, The 35th Annual Conference of The Robotics Society of Japan, 3L2-02, 2017.
  • T. Yamamoto and T. Sugihara, Robust Navigation System of a Biped Robot On the Combination of Responsive Discrete-Continuous Control, The 17th SICE System Integration Division Annual Conference, 1C3-3, 2016.
  • H. Kobayashi and T. Sugihara, Self-consistent Automatic Navigation of COM and Feet for Realtime Humanoid Robot Steering, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 3525-3530, 2009.
Fast planning of biped motions We developed a fast planning method of biped motion trajectories based on an analytical solution of a differential equation based on the COM-ZMP model.
  • T. Sugihara and Y. Nakamura, Boundary Condition Relaxation Method for Stepwise Pedipulation Planning of Biped Robots, IEEE Transaction on Robotics, 25(3):658-669, 2009.
  • K. Yamamoto, T. Sugihara and Y. Nakamura, Gait Planning including Toe Contact with Boundary Condition Relaxation, The 17th CISM-IFToMM Symposium (RoManSy17), 409-416, 2008.
  • T. Sugihara and Y. Nakamura, Enhancement of Boundary Condition Relaxation Method for 3D Hopping Motion Planning of Biped Robots, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 444-449, 2007.
  • K. Terada, T. Sugihara and Y. Kuniyoshi, Online Gait Planning with Boundary Condition Relaxation and Dynamical 3D-Symmetrization, 25th Annual Conference of Robotics Society of Japan, 1G26, 2007.
Path planning in complex environment We developed a method to plan a locomotion path in a complex environment efficiently by adapting the search space to the local density of the environment.
  • T. Nishi and T. Sugihara, Motion Planning of a Humanoid Robot in a Complex Environment Using RRT and Spatiotemporal Post-Processing Techniques, International Journal of Humanoid Robotics, 11(2):14410035-1-35, 2014.
  • Y. Shimizu and T. Sugihara, Long-distance Path Planning for a Humanoid Robot in Large Scale Environment by Adaptive Complexity Method, 31th Annual Conference of Robotics Society of Japan, 1C1-08, 2013.
  • Y. Shimizu and T. Sugihara, Efficient Path Planning of Humanoid Robots with Automatic Conformation of Body Representation to the Complexity of Environments, 2012 IEEE-RAS International Conference on Humanoid Robots, 755-760, 2012.
  • Y. Shimizu and T. Sugihara, Local Collision Resolution in Two-Phase Path Planning for Humanoid Robots, 30th Memorial Conference of Robotics Society of Japan, 4K3-8, 2012.
Interactive motion design We developed a technology to rapidly and interactively design dynamically consistent robot motions by automatically interpolating keyposes, where collisions with the environment and self-collisions are automatically resolved.
  • K. Tanaka and T. Sugihara, Interactive Motion Design of an Anthropomorphic Robot represented by NURBS II: Fast Motion Design incorporated with 3-dimensional Contact with the Environment, The 34th Annual Conference of The Robotics Society of Japan, 3Y1-08, 2016.
  • K. Tanaka and T. Sugihara, Interactive Motion Design of an Anthropomorphic Robot represented by NURBS I: Fast Motion Retouch to Satisfy ZMP Constraint based on Mathematical Structure of NURBS, The 34th Annual Conference of The Robotics Society of Japan, 3Y1-07, 2016.
  • Y. Matsumoto and T. Sugihara, Auto-resolution of Collisions in Interactive Motion Design of a Humanoid Robot, 31th Annual Conference of Robotics Society of Japan, 1C3-05, 2013.
  • Y. Matsumoto and T. Sugihara, Auto-resolution of Collisions for Interactive Posture Edit of a Humanoid Robot, 2013 JSME Conference on Robotics and Mechatronics, 2P1-A11, 2013.
  • Y. Matsumoto and T. Sugihara, Auto-binding of Constraint Conditions for Interactive Motion Design of Humanoid Robots, 2012 JSME Conference on Robotics and Mechatronics, 1A2-O04, 2012.
Mimetic communication We developed a non-verbal communication system between a human and a robot, in which the robot guesses an intention of the opposed person from his/her movement and responds to him/her at some-hundreds-of-millisecond cycle.
  • W. Takano, K. Yamane, T. Sugihara, K. Yamamoto and Y. Nakamura, Theory of Communication between Human and Humanoid Robot based on Embodied Symbol Model (in Japanese), Journal of Robotics Society of Japan, 28(6):735-745, 2010.
  • W. Takano, K. Yamane, T. Sugihara, K. Yamamoto and Y. Nakamura, Interactive Contents between a Human and a Robot Using Primitive Communication Model Based on Symbolizing Motion Patterns, The 2nd Digital Contents Symposium, 4-2, 2006.
  • W. Takano, K. Yamane, T. Sugihara, K. Yamamoto and Y. Nakamura, Primitive Communication based on Motion Recognition and Generation with Hierarchical Mimesis Model, 2006 IEEE International Conference on Robotics and Automation, 3602-3609, 2006.
  • T. Sugihara, W. Takano, K. Yamane, K. Yamamoto and Y. Nakamura, Online Dynamical Retouch of Motion Patterns Towards Animatronic Humanoid Robots, 2005 IEEE-RAS International Conference on Humanoid Robots, 117-122, 2005.
  • T. Sugihara, K. Yamamoto, W. Takano, K. Yamane and Y. Nakamura, Animatronic Humanoid Robot System That Responsively Interacts with Humans, 36th International Symposium on Robotics, 2005.

Mechatronics
Torque sensor We developed a rather low-cost torque sensor comprising a torsion bar and some photosensors.
  • T. Sugihara and T. Katoh, Torque sensor, Japanese Patent Public 2018-08-896.
  • T. Kato, S. Ishikawa and T. Sugihara, Reduction of other-axis interference in torque sensing unit by a bearing, 2016 JSME Conference on Robotics and Mechatronics, 1A2-20a2, 2016.
  • M. Nishio, S. Ishikawa and T. Sugihara, Low-cost Torque Sensor for Compensation of Gear Friction by Using Optical Sensor, 2015 JSME Conference on Robotics and Mechatronics, 2A1-B08, 2015.
Backdrivable motor control We developed a motor control unit that is backdrivable and can flexibly absorb perturbations with friction compensation in a gear at about 100:1 reduction ratio.
  • T. Kato and T. Sugihara, Variable loss-compensation control for flexible and accurate manipurator, 2019 JSME Conference on Robotics and Mechatronics, 2A2-C08, 2019.
  • T. Sugihara and S. Ishikawa, Motor control device and motor controlling method, Japanese Patent Public 2014-163172.
  • S. Ishikawa, M. Nishio and T. Sugihara, Low-cost Backdrivable Motor Control Based on Feed-forward/Feed-back Friction Compensation, 2015 IEEE International Conference on Robotics and Automation, 5026-5031, 2015.
Fast and accurate attitude estimation We developed a technique to estimate irregularly-changing attitude of a mobile craft accurately by complementarily combining a rate-gyroscope, an inclinometer and a magnetometer with their frequency responses compensated.
  • K. Masuya and T. Sugihara, A Nonlinear Complementary Filter for Attitude Estimation with Dynamics Compensation of MARG Sensor, 2016 IEEE International Conference on Advanced Intelligent Mechatronics, 976-981, 2016.
  • T. Sugihara, K. Masuya and M. Yamamoto, A Complementary Filter for High-fidelity Attitude Estimation based on Decoupled Linear / Nonlinear Properties of Inertial Sensors (in Japanese), Journal of the Robotics Society of Japan, 31(3):251-262, 2013.
  • T. Sugihara and K. Masuya, Attitude estimation machine, Japanese Patent Public 2012-198057.
  • K. Masuya, T. Sugihara and M. Yamamoto, Design of Complementary Filter for High-fidelity Attitude Estimation based on Sensor Dynamics Compensation with Decoupled Properties, 2012 IEEE International Conference on Robotics and Automation, 606-611, 2012.

Mechanisms and mechanical design
Anthropomorphic upperarm mechanism We developed an upperarm mechanism that mimics complex movements of the shoulder joint with rather simple constitution.
  • T. Teramoto and T. Sugihara, 5-DOF Anthropomorphic Shoulder Mechanism Compromising Support Stiffness and Workspace, 2015 JSME Conference on Robotics and Mechatronics, 1P2-C03, 2015.
Waist joint mechanism We developed a parallel mechanism with high durability against payload and mobility. It is in theory with zero degree-of-freedom but in practice movable in two directions.
  • M. Kageyama and T. Sugihara, Kinematics Computation of a Mobile Zero-DOF Mechanism with Neural Network, 2019 JSME Conference on Robotics and Mechatronics, 2A2-F07, 2019.
  • T. Sugihara and J. Noumi, Mobility Analysis of Zero-DOF Mechanism That Moves, 23rd Robotics Symposia, 85-90, 2018.
  • K. Shimoguchi and T. Sugihara, Reduction of Backlash of the 3-UU Parallel Mechanism, 2016 JSME Conference on Robotics and Mechatronics, 2P2-13b2, 2016.
  • K. Shikata, K. Masuya and T. Sugihara, Zero-DOF 3-UU parallel mechanism that inclines largely in two directions, 2014 JSME Conference on Robotics and Mechatronics, 3P2-K02, 2014.
Anthropomorphic lower-leg complex mechanism We developed a lower-leg complex mechanism that naturally changes the reduction ratio along with the postural change as to behave stiffly in stance phase and flexibly in swing phase.
  • T. Suzue and T. Sugihara, Lower leg mechanism for humanoid robots that enables natural transition between resistive/compliant behaviors to gravity and ankle pronation/supination, 2019 JSME Conference on Robotics and Mechatronics, 1A1-J05, 2019.
  • N. Higashida, K. Masuya and T. Sugihara, Variable transmission mechanism with coupled joints, Japanese Patent Public 2015-098610.
  • N. Higashida, K. Masuya and T. Sugihara, An Anthropomorphic Lower Leg Mechanism with Variable Transmission by Engaged Knee-Ankle Joints, 2015 JSME Conference on Robotics and Mechatronics, 2A2-P08, 2015.
Robot foot mechanism We developed a foot mechanism consisting of rigid parts that zeroes impacts at touchdown and rapidly regains stiffness after that.
  • M. Yamasaki and T. Sugihara, Effect of Plastic Deformation on Foot Mechanism That Enables Impact Absorption and Stable Support, 2014 JSME Conference on Robotics and Mechatronics, 1A1-R01, 2014.
  • M. Yamasaki and T. Sugihara, Foot Mechanism for a Humanoid Robot That Enables Impact Absorption and Steady Support, 2013 JSME Conference on Robotics and Mechatronics, 1A2-P06, 2013.
Anthropomorphic hand mechanism We developed a five-fingered anthropomorphic hand mechanism that enables grasping and in-hand manipulation of complex objects. The most-likely joint assignment was identified through motion measurement.
  • H. Tani, R. Nozawa and T. Sugihara, Identification of a Human Hand Kinematics by Measuring and Merging of Nail-Based Finger Motions, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.9220-9225, 2020.
  • H. Tani, R. Nozawa and T. Sugihara, Development and Evaluation of Robot Hand Mechanism That Reproduces Human Motion Characteristics, 2019 JSME Conference on Robotics and Mechatronics, 2A2-G09, 2019.
  • H. Tani and T. Sugihara, Nail-Position-Based Identification of Joint Assignment of a Human Hand through Motion Measurement, The 36th Annual Conference of The Robotics Society of Japan, 1B1-01, 2018.
  • H. Tani and T. Sugihara, Kinematics identification of CMC joint of a human thumb toward mechanical design of an anthropomorphic robot hand, 2017 JSME Conference on Robotics and Mechatronics, 2P1-D10, 2017.

Humanoid robots
I joined projects to build life-sized humanoid robots H5, H6 and H7 (from left to right).
  • S. Kagami, K. Nishiwaki, J. J. Kuffner, T. Sugihara, M. Inaba and H. Inoue, Design, Implementation and Remote Operation of the Humanoid H6, In Experimental Robotics VII, Lecture Notes in Control and Information Sciences 271, 41-50, Springer-Verlag., 2001.
  • S. Kagami, J. J. Kuffner, K. Nishiwaki, T. Sugihara, T. Michikata, T. Aoyama, M. Inaba and H. Inoue, Design and Implementation of Remotely Operation Interface for Humanoid Robot, 2001 IEEE International Conference on Robotics and Automation, 401-406, 2001.
  • S. Kagami, K. Nishiwaki, T. Sugihara, J. J. Kuffner, M. Inaba and H. Inoue, Design and Implementation of Software Research Platform for Humanoid Robotics : H6, 2001 IEEE International Conference on Robotics and Automation, 2431-2436, 2001.
  • K. Nishiwaki, T. Sugihara, S. Kagami, F. Kanehiro, M. Inaba and H. Inoue, Design and Development of Research Platform for Perception-Action Integration in Humanoid Robot : H6, 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1559-1564, 2000.
  • K. Nagasaka, A. Konno, K. Nishiwaki, T. Kitagawa, T. Sugihara, M. Inaba and H. Inoue, Development of Dynamic Humanoid H5, 16th Annual Conference of Robotics Society of Japan, 837-838, 1998.
We developed miniature humanoid robots mighty (left) and magnum (right) with a portable robot control unit AnimatoCore.
  • T. Sugihara, K. Yamamoto and Y. Nakamura, Hardware design of high performance miniature anthropomorphic robots, Robotics and Autonomous System, 56(1):82-94, 2007.
  • T. Sugihara, K. Yamamoto and Y. Nakamura, Architectural Design of Miniature Anthropomorphic Robots Towards High-Mobility, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1083-1088, 2005.
We proposed a software framework that can be easily enhanced, where plug-in architecture is employed and accessibility to the unique robot data is adjustable according to functions.
  • T. Sugihara, Growing Robot Software Architecture based on Microkernel Emulation, JSME Annual Conference on Robotics and Mechatronics, 2P1-F05, 2008.
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(C) Tomomichi Sugihara, since 1998. All rights are reserved.