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A simple bipedal robot model demonstrating speed-dependent gait transition
Full text linkThis paper introduces a novel bipedal robot model designed for adaptive transition between walking and running gaits solely through changes in locomotion speed. The bipedal robot model comprises two sub-components: a mechanical model for the legs that accommodates both walking and running and a continuous state model that does not explicitly switch states. The mechanical model employs a structure combining a linear cylinder with springs, dampers, and stoppers, designed to have mechanistic properties of both the inverted pendulum model used for walking and the spring-loaded inverted pendulum model used for running. The state model utilizes a virtual leg representation to abstractly describe the actual support leg, capable of commonly representing both a double support leg in walking and a single support leg in running. These models enable a simple gait controller to determine the kick force and the foot touchdown point based solely on the parameter of the target speed, thus allowing a robot to walk and run stably. Hence, simulation validation demonstrates the adaptive robot transition to an energy-efficient gait depending on locomotion speed without explicit gait-type instructions and maintaining stable locomotion across a wide range of speeds.journal articl
Awareness of the Learning Outcomes of the Teacher Training Programme at Kyushu Institute of Technology -Exploratory Examination Using Open-Ended Responses-
Full text linkKyushu Institute of Technology has a teacher training programme that allows students to obtain teaching certificates for High School Teacher's License (Industrial Arts) and High School Teacher's License (Information). For students who are studying a different specialization to education, there is a need to develop and improve the curriculum unique to this university in order to send teachers who can support the growth of students to the school site within a limited time and effort. Therefore, it is necessary to first clarify the actual situation of what kind of learning the current teacher training programme at Kyushu Institute of Technology is providing to the students as learners, and what kind of transformation it is giving to the students. The aim is to gain insight into the aspects of the analysis needed to examine the trajectory of learning in the teacher training programme at Kyushu Institute of Technology. We were able to obtain responses from 17 students who were taking the practical training for teaching practice about their learning throughout the teacher training programme. As a result, it was suggested that the teacher training programme at Kyushu Institute of Technology is also providing the learning necessary for teachers who can support the growth of students in terms of their views of education, students and teachers, and career awareness.departmental bulletin pape
Wireframe DNA Origami Capable of Vertex-protruding Transformation
Full text linkRegulating dynamic behavior of the designed molecular structures provides a foundation for the construction of functional molecular devices. DNA nanotechnology allows conformational changes in two-dimensional and three-dimensional DNA origami nanostructures by introducing flexibility between the faces of the structures. However, dynamic transformations in wireframe DNA origami, composed solely of vertices and edges, remain challenging due to vertex-specific flexibility. We report a wireframe DNA origami capable of vertex-protruding transformation between the open- and closed-form with eight protruding vertices. This reversible transformation is driven by DNA hybridization and a toehold-mediated strand displacement reaction. Spacer strands between vertices and edges were designed to introduce flexibility. Coarse-grained molecular dynamics simulations demonstrated that a longer spacer increases conformational flexibility and can achieve the narrow angles required for the vertex-protruding transformation. The experimental results showed the successful assembly of the open-form structure under optimized salt conditions, as visualized through transmission electron microscopy images. Furthermore, the transformation between the open- and closed-form structures was demonstrated by the sequential addition of signal strands. This vertex-protruding transformation mechanism will expand the design approach of dynamic DNA nanostructures and help develop functional molecular devices for artificial molecular systems.journal articl
Force control experiment of a 3-link dual-arm underwater robot with model error compensator
Full text linkThe underwater environment is an extreme condition for humans, making direct underwater operations hazardous. Consequently, the development of underwater robots equipped with manipulators (UVMS: Underwater Vehicle-Manipulator System) to perform tasks in place of humans has been pursued. We have proposed Resolved Acceleration Control (RAC) methods for UVMS as position control methods. Additionally, as a force control method for UVMS end-effectors, we have proposed position-based impedance control methods using the RAC methods for UVMS. However, accurately modeling the fluid forces acting on the robot underwater is challenging, resulting in modeling errors. To compensate for such errors, the Model Error Compensator (MEC) has been proposed. The MEC incorporates the model of the controlled system and compensates for the modeling errors by feeding back the difference between the model output and the controlled system output. In this paper, we construct a control system for a 3-link dual-arm underwater robot by adding MEC to a position-based impedance control method using the RAC method for UVMS, and verify the usefulness of the constructed control system through force control experiments.conference pape
Coronal Plane Control of Biped Robots Using Nonlinear Model Predictive Control for Realizing Quasi-Limit Cycle Walking
Full text linkTo perform three-dimensional simulations for bipedal robots, it is necessary to consider control strategies for both the coronal and sagittal planes. In our previous work on sagittal plane control, we implemented limit-cycle walking using nonlinear model predictive control (NMPC) and confirmed its effectiveness. This paper presents our approach for controlling the coronal plane. In coronal plane control, we aimed to prevent the robot from tipping over by employing a stepping-in-place strategy that keeps the Zero Moment Point (ZMP) within the foot sole. To achieve this motion, we compared the conventional method of output-zeroing control based on input-output linearization with our proposed NMPC approach, validating the effectiveness of NMPC for maintaining stability in the coronal plane.conference pape
マッハ数4における圧縮ランプ上の縦渦のパラメトリック解析
Full text link九州工業大学九州工業大学博士学位論文（要旨）学位記番号:工博甲第607号 学位授与年月日:令和7年9月25日thesi
A Real-Time Vision-Based System for Human Gesture Recognition in Collaborative Work Cells
Full text linkHuman-robot interaction is a major field of investigation, focusing on the optimization of working processes as well as employee productivity. Despite an enormous amount of progress made in this direction, the necessity to develop systems targeting people with disabilities remains a pressing need. This report presents a novel paradigm for assistive robotics via the development of an intelligent work cell for aging individuals and physically disabled persons. The system merges depth camera technology, light machine learning, and MediaPipe-based human tracking to enable real-time human-robot interaction through accurate inference of user intent. Key innovations include a gimbal-mounted depth camera for motion tracking of the user, a modular 3D-printed gripper for easily customizing manipulation, and an efficient gesture classification pipeline. Experimental results demonstrate that the system achieves over 90% average gesture recognition accuracy, which is comparable to or higher than similar gesture-based systems, with real-time performance. The system bridges the gap between theoretical research and practical application in assistive robotics.journal articl
Structural Optimization and Performance Analysis of Boom-Supported Non-Flat Solar Sails
Full text link九州工業大学博士（工学）1 Introduction| 2 Solar Sail Design| 3 Flat Solar Sail| 4 Non-flat Sail Configurations| 5 Modeling and Simulation of the Booms| 6 Optimization and Analysis of Parachute-folded Solar Sails| 7 ConclusionSolar sailing represents a novel propulsion technique that employs solar photons to generate thrust without the need for traditional propellants. By leveraging solar radiation pressure, this approach enables extended missions and improves mass efficiency compared to conventional chemical propulsion systems. As the demand for lightweight and scalable propulsion solutions increases, particularly in the context of small satellites and deep-space missions, there is a corresponding rise in interest in advancing solar sail designs. This trend underscores the significance of ongoing research into innovative solar sail technologies.
Despite its potential, solar sailing faces several significant challenges, particularly in maintaining structural stability and achieving efficient propulsion in flat membrane designs. Continuous exposure to solar radiation pressure can lead to deformation and misalignment of the sails, thereby affecting thrust direction and introducing unintended torque. Furthermore, larger sails often struggle to maintain uniform tension and are susceptible to issues such as wrinkles or tears, which can considerably diminish their effectiveness across various mission scenarios.
This thesis explores square solar sails supported by deployable booms and utilizes origami-inspired folding techniques to enhance mechanical stability and propulsion efficiency. A review of solar sail advancements highlights successful missions such as JAXA’s IKAROS, which demonstrated that inclined geometries can significantly improve structural stiffness. While flat sails theoretically maximize exposure to solar radiation pressure, they are prone to wrinkling, tearing, and large deformations caused by solar and thermal loads. These limitations often necessitate thicker membranes or additional reinforcements, which increase system mass and complicate deployment.
Before applying origami-inspired folding primarily intended for compact stowage, we focused on intentionally designing a non-flat sail configuration to improve stiffness. Using Finite Element Analysis (FEA), we modeled a 14 × 14m2 sail to study the effects of membrane thickness and fold height on its performance. We analyzed several folding patterns, including Palmer-Shafer (iso-area flasher), Miura-ori, and parachute folds. To maintain the non-flat shape, the booms were deliberately not fully extended, preserving part of the sail’s curvature. Among these configurations, the parachute-folded design demonstrated the best massto-thrust efficiency, thanks to its structural robustness and more uniform stress distribution.
Additionally, a predictive thrust model was developed to correlate fold height with thrust and deformation, enabling quicker performance estimates during mission planning. In conjunction with this, the thesis presents an optimization of solar sail booms featuring omega-shaped carbon fiber-reinforced plastic (CFRP) cross-sections. These booms improve stiffness while maintaining compatibility with folded sail designs.
A multi-objective optimization framework was employed to simultaneously minimize deformation and maximize characteristic acceleration, providing practical guidelines to balance propulsion and structural requirements. Overall, this research demonstrates that folded, non-flat solar sails supported by optimized boom structures offer enhanced performance and simpler deployment. These advancements address critical challenges for future solar sail missions and establish a foundation for robust, scalable solar sail architectures.九州工業大学博士学位論文 学位記番号:工博甲第609号 学位授与年月日:令和7年9月25日令和7年度doctoral thesi