All the laboratories under Agency of Industrial Science and Technology - MITI, including MEL, were restructured into the National Institute of Advanced Industrial Science and Technology in April, 2001.
This page has moved to http://staff.aist.go.jp/h.arai/papers_e.html
Publications
Journal Papers
- 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;
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.
- 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;
Video.
Conference Papers
- Nonholonomic Motion Planning for Coupled Planar Rigid Bodies
- 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;
Postscript
(by Kevin Lynch); Video.
- Time-scaling Control of an Underactuated Manipulator
- Nonlinear Control of a Planar Free Link Under a Nonholonomic Constraint
- Feedback Control of a 3-DOF Planar Underactuated Manipulator
- 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.
- Controllability of a 3-DOF Manipulator with a Passive Joint under a
Nonholonomic Constraint
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.
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
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
- Evaluation of Compensation Ratios in a Power Assist System Based on
Operational Sensation
- Y. Hayashibara, K. Tanie, H. Arai and H. Tokashiki
- Electrical Engineering in Japan, Vol.124, No. 3, pp. 57-63, 1998.
- Abstract
Conference Papers
- Human-Robot Cooperative Manipulation Using a Virtual Nonholonomic
Constraint
- 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;
PDF
file; Video
.
- Control of Mobile Manipulators for Power Assist Systems
- 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;
PDF
file.
- 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.
- 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.
- 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 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.
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.
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.
- 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.
ARAI's
page
harai@mel.go.jp 
