汪 偉 (オウ イ)

写真a

所属

研究院(研究機関) 次世代ロボット研究機構

職名

次席研究員(研究院講師)

兼担 【 表示 / 非表示

  • 理工学術院   大学院基幹理工学研究科

  • 附属機関・学校   グローバルエデュケーションセンター

 

Misc 【 表示 / 非表示

  • Development of an optical sensor based torque regulation system with friction observer

    Chang Wei, Wei Wang, Chiahao Kuo, Quanhe Li, Shigeki Sugano

    SII 2017 - 2017 IEEE/SICE International Symposium on System Integration   2018-January ( SII ) 869 - 874  2018年02月

     概要を見る

    © 2017 IEEE. Physical human robot interaction has drawn widely interest and is going to be future trend. To realize this, impedance shaping, the ability to achieve an arbitrary impedance behavior is required. In this paper, we introduce an optical sensor based torque regulation method to realize large range impedance shaping, and we design a friction observer to improve positioning accuracy. Experimental results are presented to show it excellent performance.

    DOI J-GLOBAL

  • Large Range Impedance Shaping for Physical Human Robot Interaction Through Light Quantity Measurement Based Torque Regulation

    Wang Wei, Wei Chang, Suga Yuki, Kuo Chiahao, Schmitz Alexander, Sugano Shigeki

    IEEE Robotics and Automation Letters   3 ( 1 ) 187‐194  2018年

    DOI J-GLOBAL

  • Friction observer design for optical sensor based torque control

    WEI Chang, WANG Wei, KUO Chiahao, SUGANO Shigeki

    日本ロボット学会学術講演会予稿集(CD-ROM)   35th   ROMBUNNO.1C3‐01  2017年09月

    J-GLOBAL

  • Exploiting the slip behavior of friction based clutches for safer adjustable torque limiters

    Yushi Wang, Alexander Schmitz, Kento Kobayashi, Javier Alejandro Alvarez Lopez, Wei Wang, Yuki Matsuo, Yoshihiro Sakamoto, Shigeki Sugano

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   2017 ( AIM ) 1346 - 1351  2017年08月

     概要を見る

    Torque limiters are a proven way to enhance the safety in robots. To further increase the safety, adjustable torque limits depending on the task and the joint configuration (joint angles, velocity, acceleration) would be preferable. Friction clutches can be used as adjustable torque limiters (ATL). In contact free motion the ATL can be set with torque limits higher than the required torque, thereby not influencing the position tracking performance. At an impact, the torque is intrinsically limited, enhancing the safety. Furthermore, depending on the implementation, friction clutches have another relevant property. They can have different torque limits for static and kinetic friction: When the static torque limit is exceeded (as it would be the case in an incidental contact situation), the clutch starts slipping, and the torque output automatically decreases, thereby reducing the forces in a quasi-static contact, as defined in ISO/TS 15066:2016. The current paper implements and profiles an ATL, which exhibits a kinetic torque limit of only 50.4% of the static torque limit at 10rpm. This ensures both an adjustable torque limit fitting to the task requirement and a lower but not zero torque after impact for enhanced safety. Impact experiments validate the safety benefits outlined above.

    DOI J-GLOBAL

  • Improving IMES Localization Accuracy by Integrating Dead Reckoning Information

    Kenjiro Fujii, Hiroaki Arie, Wei Wang, Yuto Kaneko, Yoshihiro Sakamoto, Alexander Schmitz, Shigeki Sugano

    SENSORS   16 ( 2 ) WEB ONLY  2016年02月

     概要を見る

    Indoor positioning remains an open problem, because it is difficult to achieve satisfactory accuracy within an indoor environment using current radio-based localization technology. In this study, we investigate the use of Indoor Messaging System (IMES) radio for high-accuracy indoor positioning. A hybrid positioning method combining IMES radio strength information and pedestrian dead reckoning information is proposed in order to improve IMES localization accuracy. For understanding the carrier noise ratio versus distance relation for IMES radio, the signal propagation of IMES radio is modeled and identified. Then, trilateration and extended Kalman filtering methods using the radio propagation model are developed for position estimation. These methods are evaluated through robot localization and pedestrian localization experiments. The experimental results show that the proposed hybrid positioning method achieved average estimation errors of 217 and 1846 mm in robot localization and pedestrian localization, respectively. In addition, in order to examine the reason for the positioning accuracy of pedestrian localization being much lower than that of robot localization, the influence of the human body on the radio propagation is experimentally evaluated. The result suggests that the influence of the human body can be modeled.

    DOI J-GLOBAL

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産業財産権 【 表示 / 非表示

  • 機械装置の動力伝達システム

    シュミッツ, アレクサンダー, 汪 偉, オルガド, アレクシス, カルロス, 許 ▲晋▼誠, 小林 健人, アルバレス, ロペス, ハビエル, 王 語詩, 菅野 重樹

    特許権

    J-GLOBAL

  • トルクリミッタ

    シュミッツ, アレクサンダー, 汪 偉, オルガド, アレクシス, カルロス, 許 ▲晋▼誠, 小林 健人, アルバレス, ロペス, ハビエル, 王 語詩, 菅野 重樹

    特許権

    J-GLOBAL

  • 接触力調整エンドエフェクタ

    汪 偉, 許 ▲晋▼誠, シュミッツ, アレクサンダー, オルガド, アレクシス カルロス, 小林 健人, アルバレス, ロペス, ハビエル, 菅野 重樹

    特許権

    J-GLOBAL

  • ロボットアームの制御システム

    シュミッツ, アレクサンダー, ババラジュ ソウミヤ, 坂本 義弘, アギーレ, ドミンゲス ゴンザロ, 佐藤 立樹, 汪 偉, 菅野 重樹

    特許権

    J-GLOBAL

共同研究・競争的資金等の研究課題 【 表示 / 非表示

  • The Research on Human Robot Interface Enabled with High Bandwidth Force Servoing for Manipulation of Robotic Arm

    若手研究(B)

特定課題研究 【 表示 / 非表示

  • The Research on Impedance Shaping Enabled Interface Device for Robotic Arm Manipulation

    2014年  

     概要を見る

    In this research, a human robot interfacedevice enabled with force shaping was developed. This interface was designed asan one DOF stick-like device. During human's interaction with this device, theforce that human sense can be shaped accordingly, through the force controltechnology. Thus, human could feel different force according to differentapplications, which benefit the intuitive and effectiveness of human robotinteraction. Force shaping of the device was implemented through a series elasticactuation method. A elastic spring was placed between the handle for userinteraction and the motor, thus the force that human sense can be shapedthrough the displacement control of the spring. However, the nonlinear hysteresiseffect of spring will greatly affect the precise force shaping. Thus wedesigned and carried out an experiment to identify and model the springhysteresis, based on which a compensated control scheme was developed thatsuppress the hysteresis nonlinearity and guarantee force control performance.The results was published in a international conference as follows.Wei WANG, ShigekiSUGANO, "Output Torque Regulation through Series Elastic Actuation withTorsion Spring Hysteresis", in Proceeding of IEEE International Conferenceon Robotics and Biomimetics (ROBIO'14), December 5-10, 2014, Bali Indonesia.

 

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