6th International Workshop on Advanced Motion Control

6th International Workshop onAdvanced Motion Control

March 30-Apri l 1,2000Nagoya Institute of Technology

Nagoya, Japan

Proceedings

Sponsored byIEEE The Industrial Electronics Society (IES)

The Society of Instrument and Control Engineers (SICE)Nagoya Institute of Technology

Supported byAichi Prefecture and Nagoya City

In cooperation with

The Institute of Electrical Engineers of Japan

The Japan Society of Mechanical Engineers

Institute of Systems, Control and Information Engineers

Robotics Society of Japan

IEEE/Tokyo Section

© 2008 AGI-Information Management Consultants

May be used for personal purporses only or by libraries associated to dandelon.com network.

Table of ContentsPs : Plenary Session1 . Intelligent Modelling Observation and Control for Nonlinear Systems

Dierk Schroder (Technical University of Munich, Germany)2 . Mechatronics of Electrostatic Microactuators and Micro-gyroscopes

Roberto Horowitz, Yunfeng Li and Sungsu Park(University of California, USA)

TA — 1 : Visual Servo System and Image Processing in Motion Control (1)(Special Organized Session)

1 . A Tracking Control to Multiple Objects for Plural Hand-Eye Systems 1Takashi Aoki, Goh Hidaka, Toshiyuki Murakami and Kouhei Ohnishi(Keio University, Japan)

2 . Exploring Motion Planning for 3D Object Recognition 7Takashi Amada and Masaaki Shibata (Seikei University, Japan)

3 . Control Issues to Improve Visual Control of Motion : Applications in Active 13Tracking of Moving Targets

Joao P. Barreto, Jorge Batista, Helder Araujo and A. T. Almeida(University of Coimbra, Portugal)

4 . Evaluation of Processing Architecture and Control Law on the Performance of 19Vision-Based Control Systems

5. Chroust, M. Vincze, R. TraxI and P. Krautgartner(Vienna University of Technology, Austria)

TA —2 : Actuators and Sensors in Motion Control

1 . Design and Realization of Autonomous Decentralized Object Transfer System : 25Magic Carpet

Hichirousai Oyobe, Hiroaki Kitajima and Yoichi Hori (The University of Tokyo, Japan)

2 . Initial Condition Adapting Robust Control for a High-Speed Moving Iron 30Type Lift Actuator

Taketoshi Kawabe, Dcuhiro Taniguchi and Masaki Toriumi (Nissan Research Center, Japan)

3 . Electronic Nose-Based Odour Source Localization 36Lino Marques and Anibal T. de Almeida (University of Coimbra, Portugal)

4 . Torque Sensing from Harmonic Drives by Using Three strain Gages 41Ivan Godler, Tamotsu Ninomiya (Kyusyu University, Japan) andMasashi Horiuchi (Harmonic Drive Systems Inc)

VI

TA —3 : Advanced Control of Flexible Manipulators

1 . Following Control of Flexible Manipulator 47Mitsuhiro Sugita, Toshiyuki Murakami and Kouhei Ohnishi (Keio University, Japan)

2 . Control Strategy of One Link Flexible Arm for Contact Motion to Moving Object 52Yoshifumi Morita (Gifu National College of Technology, Japan), Yoshihito Shimada,Hiroyuki Ukai, Hisashi Kando and Nobuyuki Matsui (Nagoya Institute of Technology, Japan)

3 . Development of a Software Package for a Flexible Link Manipulator 58N.M. Kwok (Hong Kong Institute of Vocational Education, Hong Kong) andC.K. Lee (Hong Kong Polytechnic University, Hong Kong)

4 . Command Generation With Sliding Mode Control for Flexible Systems 64Erik a A. Ooten and William Singhose (Georgia Institute of Technology, USA)

TM — 1 : High Performance Servo System for Mass Storage System(Special Organized Session)

1 . Recent Control Technologies for Fast and Precise Servo System of Hard Disk Drives 69Takashi Yamaguchi and Shinsuke Nakagawa(Mechanical Engineering Research Lab., Hitachi Ltd., Japan)

2 . Proposal of Seeking Control of Hard Disk Drives Based on Perfect Tracking 74Control Using Multirate Feedforward Control

Hiroshi Fujimoto and Yoichi Hori (The University of Tokyo, Japan), Takashi Yamaguchiand Shinsuke Nakagawa (Mech. Eng. Research Lab., Hitachi, Ltd., Japan)

3 . Single/Dual-rate Digital Controller Design for Dual Stage Track Following 80in Hard Disk Drives

Jiagen Ding (University of California at Berkeley, USA), Hidehiko Numasato (Data Storage& Retrieval Systems Division, Hitachi, Ltd., Japan) and Masayoshi Tomizuka (Universky of California at Berkeley, USA)

4 . High Performance Digital Servo Design for HDD by using Sampled-Data Hoo 86Control TheoryMitsuo Hirata, Takenori Atsumi and Kenzo Nonami (Chiba University, Japan)

5 . Robust High Speed Tracking Servo System for Optical Disk System 92Kiyoshi Ohishi and Kenji Kudo, (Nagaoka University of Technology, Japan), Kiyotaka Araiand Haruki Tokumaru (NHK Science and Technical Research Laboratories, Japan)

TM —2 : Advanced Control of Mobile Robots

1 . A Motion Control of Mobile Manipulator with External Force 98Fumiaki Inoue, Toshiyuki Murakami and Kouhei Ohnishi (Keio University, Japan)

2 . An Estimation of Slope for Mobile Manipulator 104Kazutaka Kumeno, Toshiyuki Murakami and Kouhei Ohnishi (Keio University, Japan)

Vll

3 . Experiment System for Two Wheels Drive Running Control 110Yasuo Yoshida, Kiyoshi Mishima and Feifei Zhang(Tokyo University of Mercantile Marine, Japan)

4 . Microcontroller Implementation for Distributed Motion Control of Mobile Robots 114Gen' ichi Yasuda (Nagasaki Institute of Applied Science, Japan)

5 . A Motion Control of Unconstrained Object in Mobile Robot System 120Tatsuo Yajima, Akihisa Nagami, Takahiro Yakoh, Toshiyuki Murakamiand Kouhei Ohnishi (Keio University, Japan)

TM — 3 : Applications of Advanced Control Theory( 1)

1 . The Proof of Global Boundedness in the Adaptive Control Using Hoo Control Law 126Guo Qingding and Sun Yanna (Shenyang University of Technology, PR. China) andWang Limei (Harbin Institute of Technology, P.R. China)

2 . The Control System Design of a Traveling Crane using Hoo Control Theory 131Kunihito Matsuki, Noriyuki Kikuti, Shigeto Ouchi (Tokai University, Japan)and Yuji Todaka (Fuji Electric Co., Ltd., Japan)

3 . Joint Design Method Based on Factorized Representation of Plant and Controller 135of 2 DOF Control System

Kazuhiro Yubai, Tatsuya Suzuki and Shigeru Okuma (Nagoya University, Japan)

4 . Degital Controller Design For Recordable Optical Disk Player Using Disturbance Observer•••141Koji Fujiyama, Ryu Katayama, Toshihide Hamaguchi and Koichi Kawakami(Sanyo Electric Co., Ltd., Japan)

5 . Observer-Based Loop Control of Bullblock Drawing Machines 147Ikuya Hoshino, Hiroki Yamanashi and Haruo Tanaka (Sumitomo Light Metal Ind., Ltd., Japan)

TP— 1 : Advanced Traction Control

1 . A Power-Assistant Platform Taking Environmental Disturbance into Account 152Akihisa Nagami, Toshiyuki Murakami and Kouhei Ohnishi (Keio University, Japan)

2 . Automatic Following Control for Agricutural Vehicle 158M. Iida, M. Kudou, K. Ono and M. Umeda (Kyoto University, Japan)

3 . Application of Pure Electric Braking System to Electric Railcars 163Masahiro Ashiya (Mitsubishi Electric Corporation, Japan), Satoru Sone (The University ofTokyo, Japan), Yasuharu Sato (Shin-Keisei Electric Railway, Japan), and Atsushi Kaga(Mitsubishi Electric Corporation, Japan)

4 . Disturbance Observer Based Adhesion Control for Shinkansen 169Yosuke Takaoka and Atsuo Kawamura (Yokohama National University, Japan)

vin

TP—2 : Advanced Control of Nonlinear Systems(l)

1 . Combined Identification of Parameters and Nonlinear Characteristics • 175based on Input-Output Data

Christian Hintz, Martin Rau and Dierk Schroder (Technical University Munich, Germany)

2 . Genetic Algorithm (GA) Based Modeling of Non-linear Behavior of Friction of 181A Rolling Ball Guide Way

Kazuhiro Tsuruta (Yaskawa Electric Corporation, Japan), Teruo Murakami (KyushuUniversity, Japan) Shigeru Futami (Yaskawa Electric Corporation, Japan) and TadashiSumimoto (Yaskawa Electric Corporation, Japan)

3 . A Friction Compensation in Twin Drive System 187Nobuhiro Hayashida, Takahiro Yakoh, Toshiyuki Murakami and Kouhei Ohnishi(Keio University, Japan)

4 . A Torque Control Method of Three-Inertia Torsional System with Backlash 193Yu Nakayama, Kiyoshi Fujikawa and Hirokazu Kobayashi(Toyo Electric. Mfg. Co., Ltd., Japan)

TP—3 : Applications of Advanced Control Theory(2)

1 . A Control Design Method of Repetitive Control Systems Using Free Parameter 199Kou Yamada (Yamagata University, Japan), Hironobu Hoshi (NTT Corp., Japan) andTadashi Okuyama (Yamagata College of Industry and Technology, Japan)

2 . A Design Method of Antiwindup Control Systems With Unknown External Signal 205Kou Yamada (Yamagata University, Japan) and Yosuke Funami (Yamagata Collegeof Industry and Technology, Japan)

3 . Motive Simulation Table Mixed Sensitivity Design Applying Sampled-data Control 211Theory

Ma lie, Yao Yu and Fang Qiang(Harbin Institute of Technology, PR. China)

4 . New Representation of Systems with Effect Variables 216Kentarou Ueno, Takahiro Yakoh, Toshiyuki Murakami and Kouhei Ohnishi(Keio University, Japan)

FA—1 : Methodologies for Precision Motion Control Systems(Special Organized Session)

1 . Developing a Controller to Reduce Contour Error 222Hiroshi Takahashi (Tokyo University of Agriculture and Technology, Japan) andRobert J. Bickel (Toyota Motor Corporation, Japan)

IX

2 . Discrete-Time Repetitive Control System with Multiple Periods 228Manabu Yamada (Nagoya Institute of Technology, Japan), Zaier Riadh (Fujitsu AutomationLtd., Japan) and Yasuyuki Fun ah ash i (Nagoya Institute of Technology, Japan)

3 . Design of Precise Multi-Axis Motion Control Systems 234Syh-Shiuh Yeh and Pau-Lo Hsu (National Chiao Tung University, Taiwan)

4 . The Design of Precise Motion Systems by Applying both the Advanced Controllers 240and the Interpolators

Yu-Yuan Chang and Pau-Lo Hsu (National Chiao Tung University, Taiwan)

5 . Digital Redesign and Multi-rate Control for Motion Control 246— a general approach and application to hard disk drive servo system

Yuping Gu and Masayoshi Tomizuka (University of California at Berkeley, USA)

FA —2 : Advanced Control for Various Robots

1 . A Decoupling Control Method for Industrial Robots 252Ray Nakashima (Kyushu Institute of Technology, Japan), Masao Ojima (Yaskawa ElectricCorporation, Japan), Ryuichi Oguro (Yaskawa Electric Corporation, Japan) and Teruo Tsuji(Kyushu Institute of Technology, Japan)

2 . A Design of Switched Controllers for Force Control System 258Tadanao Zanma, Tatsuya Suzuki and Shigeru Okuma (Nagoya University, Japan)

3 . Final-state Control of A Two-link Cat Robot by Feedforward Torque Inputs 264Zhiqiang Weng and Hidekazu Nishimura (Chiba University, Japan)

4 . Control of a New Tele Robot 270A. Schlotter and F. Pfeiffer (Technische Universitat Munchen, Germany)

5 . Evolution Strategies Applied to Controls on a Two Axis Robot 276W. Hofmann and R. Richter (Chemnitz University of Technology, Germany)

FA — 3 : Advanced Control for Induction Motors

1 . Robust Fuzzy State Feedback Control of a Field Oriented Induction Motor 281M.A. Denai and S.A. Attia (University Usto, Algeria)

2 . Compensation Method of Stator Iron Loss 287of Vector Controlled Induction Motor Using Robust Flux Observer

M. Hasegawa, S. Doki and S. Okuma (Nagoya University, Japan)

3 . Fuzzy Logic Control of Saturated Induction Machine 293Mona N. Eskander (Electronics Research Institute, Egypt)

4 . Period Adding Route to Chaos in a Hysteresis Current Controlled AC Drive 299Zolian Siitb, Istvan Nagy (Technical University of Budapest, Hungary) andEisuke Masada (The Science University of Tokyo, Japan)

FM— 1 : Advanced Traction Control of Electric Vehicles and Trains(l)(Special Organized Session)

1 . Robust Longitudinal Velocity Tracking of Vehicles Using Traction and Brake Control 305Meihua Tai and Masayoshi Tomizuka(University of California at Berkeley, USA)

2 . Traction Control of Electric Vehicles Considering Vehicle Stability 311Motoki Shino, Naoya Miyamoto, YuQing Wang and Masao Nagai(Tokyo University of Agriculture and Technology, Japan)

3 . Anti Skid Control with Motor in Electric Vehicle 317Shin-ichiro Sakai, Hideo Sado and Yoichi Hori (University of Tokyo, Japan)

4 . Adhesion Control of Electric Motor Coach Based on Force Control Using 323Disturbance Observer

Kiyoshi Ohishi and Yasuaki Ogawa (Nagaoka University of Technology, Japan), Ichiro Miyashita and Shinobu Yasukawa (Toyo Electric Manufacturing Co., Ltd.)

5 . Torque Trajectory Tracking Control of IM for EV's 329Karel Jezemik (University of Maribor, Slovenia) and Asif Sabanovic (Sabanci University,Turkey)

FM —2 : High Accurate Positioning/Tracking Control

1 . Quasi Mixed H 2 / H 0 0 Controller for a High Precision Positioning Device 335Estiko Rijanto (Tokyo University of Agriculture and Technology, Japan)

2 . A Tracking Method for Soft Non-Linear Moving Objects 339Using Correlation Method with Confidence

Shinji Tsuruoka, Toshihiro Kunisada, Wataru Ohyama, Tomohiro Yoshikawa andKiyotsugu Sekioka (Mie University, Japan)

3 . Plasma Arc Cutting Torch Tracking Control 345Jiayou Wang, Kazuomi Kusumoto and Kikuo Nezu (Gunma University, Japan)

4 . Horizontal Stabilization of a Rocket Launcher Transporter 351Y. Ota, W. Mizunuma, H. Konuma and Ben T. Nohara(Mitsubishi Heavy Industries, Japan)

5 . Integrated Planar Drives and Their Application 357Eugen Saffert and Eberhard Kallenbach(Ilmenau Technical University, Germany)

XI

FM —3 : Advanced Vibration Suppression Control(l)

1 . A Floor Vibration Attenuation Device Using Robust H oo Controller 363E. Rijanto, M. Okamoto, Wu Kuang and Y. Tagawa(Tokyo University of Agriculture and Technology, Japan)

2 . Feedforward Control Design for Vibration of Machine Stand 367Teruo Tsuji (Kyushu Institute of Technology, Japan), Shuang-Hui Hao and Ryuichi Oguro(Yaskawa Electric Corporation, Japan)

3 . Concurrent Design of Input Shaping and Feedback 372Control for Insensitivity to Parameter Variations

Michael Kenison (Development Engineer, Schlumberger, USA) andWilliam Singhose (Georgia Institute of Technology, USA)

4 . Fuzzy Logic Based Vibration Suppression Control of Flexible Structures 378A. Forrai, S. Hashimoto, H. Funato and K Kamiyama(Utsunomiya University, Japan)

FP— 1 : Advanced Control of Machine Tools

1 . Comparative Investigation of Rotary and Linear Motor 384Feed Drive Systems for High Precision Machine Tools

G. Brandenburg, S. Bruckl, J. Dormann, J. Heinzl and C. Schmidt(Technical University Munchen, Germany)

2 . Automatic Tuning of Cascade Structure CNC Controllers 390M. T. Pham and Ph. Poignet (Laboratoire de Vision et Robotique de Bourges, France) andM. Gautier (Institut de Recherche en Cybernetique de Nantes, France)

3 . High-Speed Precision Numerically Controlled Tapping Using Dual Predictive Control 396Shigeru Futami and Hiroshi Nakamura (Yaskawa Electric Corporation, Japan)

FP—2 : Advanced Control of Nonlinear Systems(2)

1 . Nonlinear Model Predictive Control of a Robot Manipulator 401Ph. Poignet (Laboratoire de Vision et Robotique de Bourges, France) andM. Gautier (Institut de Recherche en Cybernetique de Nantes, France)

2 . On the Statistical and Fourier Modelling of Robot Motion 407J.A. Tenreiro Machado and Alexandra M.S.F. Galhano(Polytechnic Inst. of Porto, Portugal)

3 . Parameter Estimation for State Controlled Rolling-Mill Motors Using 413Evolutionary Algorithms

Hans-Peter Beck and Dirk Turschner (Technical University Clausthal, Germany)

Xll

Anti-Sway Control System of a Rotational Crane Using the Non-Linear Controller 419Jun Yanai, Makoto Murakami and Shigeto Ouchi (Tokai University, Japan)Kang-Zhi Liu (Chiba University, Japan) and Yuji Todaka (Fuji Electric Co., Ltd)

FP —3 : Advanced Vibration Suppression Control(2)

1 . Robust Motion Controller Design for Servo System with 2 Mass Characteristics 423Doo-Jin Shin and Uk-Youl Huh (Inha University, Korea)

2 . Suppression Control Method for Torque Vibration of Brushless DC Motor 427Utilizing Repetitive Control with Fourier Transform

Satomi Hattori, Muneaki Ishida and Takamasa Hori (Mie University, Japan)

3 . A Solution to Benchmark Problems of a Couple of 3 Inertia System 433Kou Yamada (Yamagata University, Japan)

4 . Suppression of Vibration for Elevator System using Deadtime Compensation with 439Current Prediction

Yong- Won Choi, Jung-Ik Ha Seung-Ki Sul (Seoul National University, Korea),Dae-Woong Chung (Fairchild Semiconductor, Korea), Jun-Koo Kang (Yaskawa ElectricCorporation, Japan), Geun-Ho Lee, Han-Jong Kim and Jea-Pil Lee (LG Industrial SystemCo., Ltd., Korea)

SA— 1 : Soft Computing Applications to Motion Control(l) (Special Organized Session)

1 . New Fuzzy Inference Method for Symbolic Stability Analysis of Fuzzy Control System 443Hidehiro Yamamoto and Takeshi Furuhashi (Nagoya University, Japan)

2 . Automatic Generation of Motion Sequence in Programmable Logical Control 448Takeshi Aoki (Nagoya Municipal Industrial Research Institute, Japan)Tomonori Hashiyama (Nagoya City University, Japan)Tadanao Zanma, Tatsuya Suzuki and Shigeru Okuma (Nagoya University, Japan)

3 . GA-Based Practical Compensator Design for Motion Control System 453Kazuaki Itoh, Makoto Iwasaki and Nobuyuki Matsui(Nagoya Institute of Technology, Japan)

SA —2 : Advanced Traction Control of Electric Vehicles and Trains(2)

1 . Optimization Strategy for Design and Control of a Hybrid Vehicle 459A. Kleimaier and D. Schroder (Technical University of Munich, Germany)

2 . Researches on Small Capacity Vehicles Driven by Induction Machine 465Kunio Fujii (Kyushu Kyoritsu University, Japan), Hisayuki Kumai (Kyushu Seimitsu DenkiCo., Ltd.), Eiji Ishii (QM Soft Co., Ltd.), Suguru Higaki, Sizuo Yamaguchi and Hua-AuZhao (Kyushu Kyoritsu University, Japan)

Xlll

3 . Optimization of Gear Shift Operations in Automatic Transmissions 469A. Haj-Fraj and F. Pfeiffer (TU-Munchen, Germany)

4 . The Drive Control System of Automobile Based on 474the Quadratic Stabilization Design Method

Shinji Hanada, Masaru Nakayama and Shigeto Ouchi (Tokai University, Japan)

SA —3 : Advanced Control of Hard Disk Drive

1 . Modeling and Control of a Dual Stage Actuator 479Hard Disk Drive with MEMS-based secondary actuator

Roberto Oboe (University of Padova, Italy) andBruno Murari (STMicroelectronics S.r.l, Italy)

2 . Use of Low-cost MEMS Accelerometers for 485Vibration Compensation in Hard Disk Drives

Roberto Oboe (University of Padova, Italy)

3 . Compensation for Repeatable Tracking Errors in Hard Drives 490Using Discrete-Time Repetitive Controllers

Yoshikazu Onuki and Hideaki Ishioka (Sony Corporation, Japan)

4 . Toward the Discrete Sliding-Mode Controller Design For An Optical Pick-up Head 496Tsang-Li Tai and Jian-Shiang Chen(National Tsing-Hua University, Taiwan, ROC)

5 . Optimal Track Following Control for Hard Disk Drives 502Chen Lin, Guoxiao Guo, Ben M. Chen (Data Storage Institute, Singapore)(National University of Singapore, Singapore) and Chi-Chung Ko (National University ofSingapore, Singapore)

SM — 1 : Soft Computing Applications to Motion Control(2)

1 . Acquisition of Fuzzy Control Rules for a Mobile Robot Using Genetic Algorithm 507Hiroharu Kawanaka, Tomohiro Yoshikawa and Shinji Tsuruoka(Mie University, Japan)

2 . Collision Avoidance of Moving Obstacles for Ship with Genetic Algorithm 513Xiao-ming Zeng, Masanori Ito and Etsuro Shimizu(Tokyo University of Mercantile Marine, Japan)

3 . Towards Latent Faults Prevision in an Automatic Controlled Plant 519Alessandro De Carli, Riccardo Cirillo and Cosmo Leccese(University of Rome "La Sapienza ", Italy)

xiv

SM —2 : Control of Biped Walking Robots(l)(Special Organized Session)

1 . Waseda Biped Humanoid Robots Realizing Human-like Motion 525Hun-ok Lim and Atsuo Takanishi (Waseda University, Japan)

2 . A Mathematical Representation of Biorobots and Humanoids for 531Performance Assessment, Computer Simulation and Motion Animation

Hooshang Hemami (The Ohio State University, USA) andBehzad Dariush (Honda R&D Americas, USA)

3 . An Approach to Biped Robot with Parallel Mechanism 537Mitsuharu Morisawa, Takahiro Yakoh, Toshiyuki Murakami and Kouhei Ohnishi(Keio University, Japan)

4 . Gait Characteristics of Speed Variable Biped Walking Robot 542Hideaki Minakata, Chikara Katagiri and Susumu Tadakuma(Chiba Institute of Technology, Japan)

5 . Experimental Approach for the Biped Walking Robot MARI- 1 548Akira Yonemura, Youji Nakajima, Andre R. Hirakawa and Atsuo Kawamura(Yokohama National University, Japan)

SM — 3 : Advanced Control for PM Motors

1 . Robust Motion Control Algorithm for Brushless Direct Drive Motor 554Ales Hace and Karel Jezemik (University of Maribor, Slovenia)

2 . Self-Sensing Control of AC-Servo Motor with DSP Oriented Observer 560Akihiko Yoneya, Kiyotaka Yoshimaru and Yoshitaka Togari(Nagoya Institute of Technology, Japan)

3 . Output DC Voltage Control System of a Doubly Salient-Pole Homopolar Generator 566Jimon Tomino, Kensuke Yoshizue, Akira Chiba (Science University of Tokyo, Japan)and Tadashi Fukao (Tokyo Instiute of Technology, Japan)

4 . The H°° Robust Adaptive Control for Linear Permanent Magnet Synchronous 572Servo Motor (LPSM)

Sun Yanna, Guo Qingding, Liu Aimin (Shenyang University of Technology, PR. China)and Wang Limei (Harbin Institute of Technology, PR. China)

5 . Preview Feedforward Compensation of Permanent Magnet Linear Synchronous 576Motor Servo System Implemented with Adaline

Guo Qingding, Guo Wei (Shenyang University of Technology, P.R. China),Zhou Yue (Chinese Academy of Sciences P.R. China) andWang Limei (Harbin Institute of Technology, P.R. China)

XV

SP—1 : Visual Servo System and Image Processing in Motion Control(2)

1 . A Visual Motion Control Strategy of Multi-Degrees-of-Freedom Manipulators 580using Virtual Image Space

Naoki Oda (Chitose Institute of Science and Technology, Japan)

2 . Control of A Wheeled Mobile Robot with Two Image Processing Grades 586Tamio Nakashima, Takahiro Yakoh, Toshiyuki Murakami and Kouhei Ohnishi(Keio University, Japan)

3 . Application of Limited Authority Control to Visual Tracking System 590Djoko Purwanto, Toshiyuki Murakami and Kouhei Ohnishi(Keio University, Japan)

S P - 2 : Control of Biped Walking Robots(2)

1 . Controllability Analysis of Biped Walking Robots 595Filipe M. Silva (University of Aveiro, Portugal) andJ.A. Tenreiro Machado (Polytechnic Institute of Porto, Portugal)

2 . Control of a Biped Jogging Robot 601K. Loftier, M. Gienger and F. Pfeiffer(Technische Universitat Miinchen, Germany)

3 . Development of ROCOS(Robot Control Simulator) 606Jump of human-type biped robot by the adaptive impedance control

Takeshi Hirano (Mitubishi Heavy Industries Co.,), Takuma Sueyoshi andAtsuo Kawamura (Yokohama National University, Japan)

4 . Impact Force Reduction for Biped Robot Based on Decoupling COG Control Scheme 612Masaaki Shibata and Takeshi Natori (Seikei University, Japan)

SP — 3 : Advanced Manipnlator Control

1 . The High-speed Numerical Calculation Method for the On-Line Inverse Kinematics of 618Redundant Degree of Freedom Manipulators

Taro Takahashi and Atsuo Kawamura (Yokohama National University, Japan)

2 . Motion Chaos in the Pseudoinverse Control of Redundant Robots 624Fernando B.M. Duarte (Polytechnic Institute of Viseu, Portugal) andJ.A. Tenreiro Machado (Polytechnic Institute of Porto, Portogal)

3 . Energy Saving Manipulator by Regenerating Conservative Energy 630Teruyuki Izumi (Shimane University, Japan)

XVI