Huang Qingjiu
| Faculty of Engineering Department of Electrical and Electronic Engineering | Associate Professor |
- E-Mail: huang
cc.kogakuin.ac.jp
Career
- Apr. 2014 - Present
工学院大学 大学院電気・電子工学専攻 准教授,「現代制御システム特論」他を担当（現在に至る） - Oct. 2012 - Present
工学院大学 工学部電気システム工学科 准教授,「システム制御Ⅰ、Ⅱ」他を担当（現在に至る） - Apr. 2007 - Mar. 2012
Tokyo Institute of Technology Graduate School of Science and Engineering, Department of Mechanical and Control Engineering, Graduate School of Science and Engineering Mechanical and Control Engineering, Assistant Professor - Apr. 2003 - Mar. 2007
:東京工業大学 大学院理工学研究科機械制御システム専攻 助手
Educational Background
Affiliated academic society
IDs
Identifiers
研究者番号：20361785
researchmap会員ID：5000064995
J-Global ID：200901095159589829
Research Field
Research Keyword
Books and other publications
- Climbing and Walking Robots (As invited author) (分担)
2009 - Climbing and Walking Robots (As invited author) (分担)
Advanced Robotic Systems International and In-Tech, 2009 - Climbing and Walking Robots
Edited by Behnam Miripour; Qingjiu Huang; ほか78人, Joint work
Published by Advanced Robotic Systems International and In-Tech, 2009
9789533070308 - Humanoid Robots - New Developments (As invited author) (分担)
2007
9783902613004 - Bioinspiration and Robotics - Walking and Climbing Robots (As invited author) (分担)
2007
9783902613158 - Humanoid Robots - New Developments
Edited by Armando Carlos de Pina Filho; Qingjiu Huang; ほか79人, Joint work
Published by Advanced Robotic Systems International and In-Tech, 2007
9783902613004 - Bioinspiration and Robotics - Walking and Climbing Robots
Edited by Maki K. Habib; Qingjiu Huang; ほか81人, Joint work
Published by Advanced Robotic Systems International and In-Tech, 2007
9783902613158
Paper
- Time-Optimal Trajectory Planning of 6-DOF Manipulator Based on Fuzzy Control
Feifan He; Qingjiu Huang
Actuators, Special Issue Modeling, Optimization and Control of Robotic Systems, 16 Nov. 2022, [Reviewed]
Last, Corresponding - Robotic weld image enhancement based on improved bilateral filtering and CLAHE algorithm
Peng Lu; Qingjiu Huang
Electronics, 07 Nov. 2022, [Reviewed]
Last, Corresponding - Image Interpolation with Regional Gradient Estimation
Zuhang Jia; Qingjiu Huang
Applied Sciences, Special Issue Advanced in Digital Image Processing, 22 Jul. 2022, [Reviewed]
Last, Corresponding - An Update Rule of Parameters of Online-Offline Integrated Learning Method of Neural Network Control
Masakazu Morita; Qingjiu Huang; Mimpei Morishita
International Journal of Innovative Computing, Information and Control, Jun. 2022, [Reviewed]
Last, Corresponding - Depth Map Restoration Algorithm Based on Improved Super-Resolution and FMM by Using Weight Function
Xinyue Xu; Qingjiu Huang
International Journal of Innovative Computing, Information and Control, Apr. 2022, [Reviewed]
Last, Corresponding - Image Enhancement of Robot Welding Seam Based on Wavelet Transform and Contrast Guidance
Yiying Zhao; Qingjiu Huang
International Journal of Innovative Computing, Information and Control, Feb. 2022, [Reviewed]
Last, Corresponding - Online-Offline Integrated Learning Method of Neural Network Control for Servo System
Masakazu Morita; Qingjiu Huang; Mimpei Morishita
International Journal of Innovative Computing, Information and Control, Aug. 2021, [Reviewed]
Last, Corresponding - Steady State On Online-Offline Integrated Learning Method of the Neural Network Control
Masakazu Morita; Qingjiu Huang; Mimpei Morishita
Proceedings of the 6th Annual Conference on Engineering and Information Technology, 15 Mar. 2019, [Reviewed]
Last, Corresponding - Online-Offline Integrated Learning Method of the Neural Network Control
Masakazu Morita; Qingjiu Huang; Minpei Morishita
Proceedings of the 15th International Conference on Automation Technology, 20 Dec. 2018, [Reviewed]
Last, Corresponding - Control of position, attitude, force and moment of 6-DOF manipulator by impedance control
Takuya Hanafusa; Qingjiu Hunang
Proceedings of the 15th International Conference on Control, Automation, Robotics and Vision, 15 Nov. 2018, [Reviewed]
Last, Corresponding - Study about Variable Adjustment Rule of AC Servo Motor using Simple Adaptive Control
Yuichiro Obana; Qingjiu Huang
Proceedings of the 15th International Conference on Control, Automation, Robotics and Vision, 15 Nov. 2018, [Reviewed]
Last, Corresponding - The Analysis of the Relationship betweenDistribution the Tooth and Transmission Efficiency of 3K Type InvolutePlanetary Gear Transmission
Fei Zhou; Qingjiu Huang; Haibo Yan; Jiefa Xing
Machine Building and Automation, 20 Feb. 2018, [Reviewed]
Last, Corresponding - 高速高精度な多関節ロボットの位置、姿勢、力とモーメントのハイブリッド制御（基礎研究：単純適応制御を用いたACサーボモータの位置決め制御）
Aug. 2017, [Reviewed] - The Analysis of the Efficiency of 3K Type Conical Involute Planetary Gears Transmission Reducer
Haibo Yan; Qingjiu Huang; Jiefa Xing; Fei Zhou
Machinery Design & Manufacture, May 2017, [Reviewed] - 高速高精度な多関節ロボットの位置、姿勢、力とモーメントのハイブリッド制御（基礎研究：ACサーボモータの制御システムとロボットの運動学）
Aug. 2016, [Reviewed] - Dynamic Analysis Model of AC Servo Motor Based on Angle Control, Velocity Control, Torque Control and Current Control
Masaskazu Morita; Qingjiu Huang
Proceedings of International Conference on Electrical Engineering, Jul. 2016, [Reviewed] - Hybrid Position/Posture/Force/Moment Control of Robot Arm: Motion Analysis with DH Notation
Akira Takiguchi; Qingjiu Huang
Proceedings of International Conference on Electrical Engineering, Jul. 2016, [Reviewed] - Study on Transmission Efficiency of 3Z Type Reducer with Cycloidal Gear of Modified form Tooth Profile
Xin Wang; Qingjiu Huang; Bin Chen; Yingfeng Hou
Journal of Mechanical Transmission, Oct. 2015, [Reviewed] - Study on Transmission Efficiency of 3Z Type Reducer with Cycloidal Gear of Modified form Tooth Profile
Yingfeng Hou; Qingjiu Huang; Xin Wang; Bin Chen
Machinery Design & Manufacture, 2015, [Reviewed] - The Analysis of the Transmission Efficiency of 3K Type Involute Planetary Gear Transmission
Bin Chen; Qingjiu Huang; Xin Wang; Yingfeng Hou
Machinery Design & Manufacture, 2015, [Reviewed] - バーチャル力学に基づく多脚ロボットの全身位置・姿勢・力・モーメントの知的歩行制御（バーチャル力学モデルに基づく６足歩行ロボットの姿勢と振動のロバスト制御）
Aug. 2014, [Reviewed] - Fast Convergence Efficiency of Inverse kinematics for Robot Manipulators
Qingjiu Huang,Liqing Nie
Journal of Applied Sciences, Nov. 2013, [Reviewed] - Proposal of Six-Legged Mini Shovel and Its Mechanism Design and Walking Analysis Based on Static Analysis and CAD Dynamic Model
Qingjiu Huang; Hirotoshi Arihara; Hideki Kinugawa; Masaru Morikawa
Advanced Robotics, Jun. 2011, [Reviewed] - A Continuous Control for Stabilizing the Extended Nonholonomic Double Integrator
Yan Peng; Mei Liu; Qingjiu Huang; Shaorong Xie
Special Issue on Functional Manufacturing Technologies and Ceeusro, Key Engineering Materials, Trans Tech Publications Ltd., Jan. 2011, [Reviewed] - Modeling and Control of Unmanned Trimaran Vehicles
Yan Peng; Mei Liu; Qingjiu Huang; Jun Luo
Special Issue on Advance in Mechatronics Technology, Applied Mechanics and Materials, Trans Tech Publications Ltd., Dec. 2010, [Reviewed] - Adaptive UKF Based Tracking Control for Unmanned Trimaran
Yan Peng; Jianda Han; Qingjiu Huang
International Journal of Innovative Computing, Information and Control (Recommended by IJICIC), 2009, [Reviewed] - Performance Analysis of Biped Walking Robot with Circular Feet using Optimal Trajectory Planning Method
Takamasa Hase; Qingjiu Huang; Xuedong Chen
Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics, Dec. 2008 - Hybrid Position, Posture, Force and Moment Control of Robot Manipulators
Qingjiu Huang; Ryota Enomoto
Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics, Dec. 2008 - Passive/Active Unified Dynamic Walking for Biped Locomotion
Qingjiu Huang; Takamasa Hase; Kyosuke Ono
Proceedings of the 2007 IEEE International Conference on Robotics and Biomimetics, Dec. 2007 - Mathematical Model of Six-Axis Force/Moment Sensor and Its Applied Control Method for Robot Finger
Minghua Luo; Qingjiu Huang; Tieling Zhang
Proceedings of the 2007 IEEE International Conference on Robotics and Biomimetics, Dec. 2007 - Mechanism Design and Walking Analysis Based on CAD Dynamic Model for Development of Six-legged Mini Shovel
Qingjiu Huang; Hirotoshi Arihara; Hideki Kinugawa; Masaru Morikawa
Proceedings of the 2007 IEEE International Conference on Robotics and Biomimetics, Dec. 2007 - Error Analysis of Multi-legged Walking Robots Based on Forward Kinematics
Liangwen Wang; Xuedong Chen; Qingjiu Huang; Xinjie Wang and Ping Guo
Proceedings of the 2007 IEEE International Conference on Robotics and Biomimetics, Dec. 2007 - Sliding Mode Control Based on Virtual Suspension Model for Controlling Posture and Vibration of Six-Legged Walking Robot
Qingjiu Huang
Proceedings of the 2006 IEEE International Conference on Robotics and Biomimetics, Dec. 2006 - Energy-Efficient Trajectory Planning for Biped Walking Robot
Qingjiu Huang; Takamasa Hase
Proceedings of the 2006 IEEE International Conference on Robotics and Biomimetics, Dec. 2006 - Posture and Vibration Control Based on Virtual Suspension Model Using Sliding Mode Control for Six-Legged Walking Robot
Qingjiu Huang; Yasuyuki Fukuhara
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 2006 - Energy-Efficient Trajectory Planning using Inequality State Constraint for Biped Walking Robot with Upper Body Mass
Takamasa Hase; Qingjiu Huang
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 2006 - Humanitarian Mine Detection Six-Legged Walking Robot COMET-II with Two Manipulators
Kenzo Nonami; Qing-Jiu Huang
Proceedings of 4th International Conference on Climbing and Walking Robots, Sep. 2001 - Humanitarian Mine Detection Six-Legged Walking Robot
Kenzo Nonami; Qingjiu Huang; Daisuke Komizo; Hiroaki Uchida and Nobuhiro Shimoi
Proceedings of the Third International Conference on Climbing and Walking Robots, Oct. 2000 - Development of Teleoperated Six-legged Walking Robot for Mine Detection and Mapping of Mine Field
Kenzo Nonami; Nobuhiro Shimoi; Qingjiu Huang; Daisuke Komizo and Hiroaki Uchida
Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 2000
MISC
- Fast efficiency inverse kinematics for 6-DOF manipulator by the method of sequential retrieval with weights
Liqing Nie; Qingjiu Huang
Proceedings of 2013 International Conference on Mechanical Science and Engineering, Mar. 2013 - Inverse Kinematics for 6-DOF Manipulator by the Method of Sequential Retrieval
Liqing Nie; Qingjiu Huang
Proceedings of 2012 International Conference on Mechanical Engineering and Material Science, Dec. 2012 - Hybrid Position, Posture, Force and Moment Control for High-speed and High- precision Surface Contact Work of Robot Manipulators
Qingjiu Huang; Taishi Oiw
Proceedings of the International Conference on Intelligent Unmanned Systems 2011, Nov. 2011 - Hybrid Position, Posture, Force and Moment Control with Impedance Characteristics for Robot Manipulators
Yu Yao; Qingjiu Huang; Yan Peng; Taishi Oiwa
Proceedings of the 2011 IEEE International Conference on Mechatronics and Automation, Aug. 2011 - Active Modeling Based Course Control of Unmanned Surface Vehicles
2009 - Optimal Trajectory Planning Method for Biped Walking Robot : 4th Report, Walking Performance Analysis of Circular Feet Model(Mechanical Systems)
HASE Takamasa; HUANG Qingjiu; ONO Kyosuke
Transactions of the Japan Society of Mechanical Engineers Series C, 2009 - Optimal Trajectory Planning Method for Biped Walking Robot : 5th Report, Improving Walking Performance with Ankle Torque(Mechanical Systems)
HASE Takamasa; HUANG Qingjiu; ONO Kyosuke
Transactions of the Japan Society of Mechanical Engineers Series C, 2009 - Adaptive UKF Based Tracking Control for Unmanned Trimaran (Recommended by IJICIC)
2009 - Reptile-Inspired Biomimetic Modeling Control Actuated by Behaviors
Wenchuan Jia; Xuedong Chen; Qingjiu Huang; Yi Sun; Xin Luo; Jiaqiang Xu
ADVANCED ROBOTICS, 2009 - Active Modeling Based Course Control of Unmanned Surface Vehicles
Yan Peng; Qingjiu Huang; Yuqing He; Jianda Han
ICIC Express Letters, An International Journal of Research and Surveys on Innovative Computing, Information and Control, 2009, [Reviewed] - Optimal Trajectory Planning Method for Biped Walking Robot (4th Report, Walking Performance Analysis of Circular Feet Model)
Takamasa Hase; Qingjiu Huang; Kyosuke Ono
Transactions of the Japan Society of Mechanical Engineers, Series C, 2009 - Optimal Trajectory Planning Method for Biped Walking Robot (5th Report, Improving Walking Performance with Ankle Torque)
Takamasa Hase; Qingjiu Huang; Kyosuke Ono
Transactions of the Japan Society of Mechanical Engineers, Series C, 2009 - Adaptive UKF Based Tracking Control for Unmanned Trimaran (Recommended by IJICIC)
Yan Peng; Jiandan Han; Qingjiu Huang
International Journal of Innovative Computing, Information and Control, 2009 - A Hybrid Neural-PID Control Scheme for Adaptive Visual Tracking
Qingjiu Huang; Nan Li; Liucun Zhu; Yichiro Hagiwara
Proceedings of the 2007 International Conference on Innovative Computing, Information and Control, Jun. 2008 - Development of Multi-Legged Walking Robot Using Reconfigurable Modular Design and Biomimetic Control Architecture
CHEN Xuedong; SUN Yi; HUANG Qingjiu; JIA Wenchuan; PU Huayan
JSDD, 2008 - Symbolic Formulation of Large-scale Open-loop Multibody Systems for Vibration Analysis Using Absolute Joint Coordinates
JIANG Wei; CHEN Xuedong; LUO Xin; HUANG Qingjiu
JSDD, 2008 - Phased Compliance Control with Virtual Force for Six-legged Walking Robot
Qingjiu Huang; Kazumichi Oka
Special Issue on New Trends in Advanced Control and Applications, International Journal of Innovative Computing, Information and Control, 2008, [Reviewed] - Development of Multi-Legged Walking Robot Using Reconfigurable Modular Design and Biomimetic Control Architecture
Xuedong Chen; Yi Sun; Qingjiu Huang; Wenchuan Jia; Huayan Pu
Journal of System Design and Dynamics, 2008 - Symbolic Formulation of Large-scale Open-loop Multibody Systems for Vibration Analysis
Wei Jiang; Xuedong Chen; Xin Luo; Qingjiu Huang
Journal of System Design and Dynamics, 2008 - Phased Compliance Control With Virtual Force for Six-legged Walking Robot (Selected form ICICIC2007)
Qingjiu Huang; Kazumichi Oka
Special Issue on New Trends in Advanced Control and Applications, International Journal of Innovative Computing, Information and Control, 2008 - Optimal Trajectory Planning Method Using Inequality State Constraint for a Biped Walking Robot with Upper Body Mass
HUANG Qingjiu; HASE Takamasa; ONO Kyosuke
Journal of System Design and Dynamics, 2007 - Posture and Vibration Control Based on Virtual Suspension Model Using Sliding Mode Control for Six-Legged Walking Robot
HUANG Qingjiu; FUKUHARA Yasuyuki; CHEN Xuedong
JSDD, 2007 - Passive/Active Unified Walking Control for Biped Walking Robot : 1st Report, Development of Passive/Active Unified Actuator and Applying to Biped Walking Robot
HUANGA Qingjiu; MAEDA Hirokazu; ONO Kyosuke
Transactions of the Japan Society of Mechanical Engineers C, 2007 - Optimal Trajectory Planning Method Using Inequality State Constraint for Biped Walking Robot with Upper Body Mass (Recommended by JSDD)
Qingjiu Huang; Takamasa Hase; Kyosuke Ono
Special Issue on New Trends of Motion and Vibration Control, Journal of System Design and Dynamics, 2007 - Posture and Vibration Control Based on Virtual Suspension Model Using Sliding Mode Control for Six-Legged Walking Robot
Qingjiu Huang; Yasuyuki Fukuhara; Xuedong Chen
Special Issue on New Trends of Motion and Vibration Control, Journal of System Design and Dynamics, 2007 - Passive/Active Unified Walking Control for Biped Walking Robot (1st Report, Development of Passive/Active Unified Actuator and Applying to Biped Walking Robot)
Qingjiu Huang; Hirokazu Maeda; Kyosuke Ono
Transactions of the Japan Society of Mechanical Engineers (Series C), 2007 - Optimal Trajectory Planning Method for Biped Walking Robot : 3rd Report, Analysis of Upper Body Mass Model under Inequality State Constraint and Experimental Verificaion
HASE Takamasa; HUANG Qingjiu; ONO Kyosuke
Transactions of the Japan Society of Mechanical Engineers C, 2006, [Reviewed] - Optimal Trajectory Planning Method 5for Biped Walking Robot Based on Inequality State Constrain
Takamasa Hase; Qingjiu Huang
Proceedings of the 36th International Symposium on Robotics, Nov. 2005 - Posture and Vibration Control Based on Virtual Suspension Dynamic Model of Six-Legged Walking Robot for Rough Terrain Walking
Qingjiu Huang; Yasuyuki Fukuhara
Proceedings of the 36th International Symposium on Robotics, Nov. 2005 - Humanitarian mine detecting six-legged walking robot and hybrid neuro walking control with position/force control
QJ Huang; K Nonami
MECHATRONICS, Oct. 2003 - Development and Control of Mine Detection Robot COMET-II and COMET-III
Kenzo Nonami; Qingjiu Huang; Daisuke Komizo; Yoyichiro Fukao; Yoshitomo Asai; Yoshinori Shiraishi; Masaki Fujimoto; Yosuke Ikedo
JSME International Journal, Series C, 2003, [Reviewed] - Development and Control of Mine Detection Robot COMET-II and COMET-III
K.Nonami; Q. Huang; D. Komizo; Y. Fukao; Y. Asai; Y. Shiraishi; M. Fujimoto; Y. Ikeda
JSME International Journal, Series C, 2003 - Neuro-Based Position and Force Hybrid Control of Six-Legged Walking Robot
Qingjiu Huang; Kenzo Nonami
Special Issue on Modern Trends on Mobile Robotics, Journal of Robotics and Mechatronics, 2002, [Reviewed] - Neuro-Based Position and Force Hybrid Control of Six-Legged Walking Robot, Special Issue on Modern Trends on Mobile Robotics
Qing-Jiu Huang; Kenzo Nonami
Journal of Robotics and Mechatronics, 2002 - Attitude Control and Recogniging Environment for Six-legged Locomotion Robot Using Piching and Rolling Moments at Foot
Hiroaki Uchida; Qing-Jiu Huang; Daisuke Komizo; Nobuhiro Shimoi and Kenzo Nonami
Proceedings of the Fifth International Conference on Motion and Vibration Control, Dec. 2000 - Force/Attitude Control of Mine Detecting Six-legged Locomotion Robot
Hiroaki Uchida; Nobuhiro Shimoi; Qingjiu Huang; Daisuke Komizo and Kenzo Nonami
Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 2000 - Partial Model Based Walking Control of Quadruped Locomotion Robot with Self Renovation Control Function
Hiroaki Uchida; Kenzo Nonami; Yoshihiko Iguchi; Huang Qing Jiu; Takaaki Yanai
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 2000, [Reviewed] - CAD Model Based Autonomous Locomotion of Quadruped Robot by Using Correction of Trajectory Planning with RNN
Qingjiu Huang; Kenzo Nonami; Hiroaki Uchida; Yoshihiko Iguchi; Takaaki Yanai
Special Issue on Frontiers of Motion and Vibration Control, JSME International Journal, Series C, 2000, [Reviewed] - CAD Model Based Autonomous Locomotion of Quadruped Robot by Using Correction of Trajectory Planning with RNN
Qing-Jiu Huang; Kenzo Nonami; Hiroaki Uchida; Yoshihiko Iguchi; Takaaki Yanai
JSME International Journal, 2000 - CAD Based Autonomous Locomotion of Quadruped Robot by Using Recurrent Neural Network
Qingjiu Huang; Kenzo Nonami; Hiroaki Uchida; Yoshihiko Iguchi; Takaaki Yanai
Proceedings of Pioneering International Symposium on Motion and Vibration Control in Mechatronics, Apr. 1999
Lectures, oral presentations, etc.
- 適応制御を用いた6自由度ロボットアームの位置と力の制御
09 Mar. 2023 - 最適レギュレータを用いたACサーボモータの入力周期外乱の抑制
23 Mar. 2022 - サーボシステムの単純適応制御の内部ゲイン調整則に関する研究
23 Mar. 2022 - サーボシステムのカスケードニューラルネットワーク制御
23 Mar. 2022 - モデル規範型インピーダンス制御による6自由度ロボットアームの位置と力の制御
21 Mar. 2022 - ダイナミックインピーダンスを用いた6自由度ロボットアームのハイブリッド制御
21 Mar. 2022 - 部分モデルベースでの6自由度ロボットの位置と力のハイブリッド制御
21 Mar. 2022 - 6脚ロボットの運動制御に関する研究
21 Mar. 2022 - インピーダンス制御を用いた6自由度ロボットアームの位置と力の制御
21 Mar. 2022 - 明度変化率に基づくロボットのミカン選別における画像認識
09 Mar. 2021 - ニューラルネットワーク制御のニューロン増減則に関する研究
09 Mar. 2021 - DH記法に基づく6脚ロボットの運動学
09 Mar. 2021 - 部分モデルを用いたロボットアームの力制御
09 Mar. 2021 - ACサーボモータの単純適応制御の内部ゲイン調整則に関する研究
09 Mar. 2021 - インピーダンス制御を用いた６自由度ロボットアームの位置と力の制御
09 Mar. 2021 - 6脚ロボットの歩容に関する研究
12 Mar. 2020 - 最小二乗法を用いた最適制御の重み決定に関する研究
12 Mar. 2020 - インピーダンス制御を用いた6 自由度ロボットアームの位置と力の制御
13 Dec. 2019 - 部分モデルを用いた６自由度ロボットアームのハイブリッド制御
13 Dec. 2019 - ニューラルネットワーク制御のオンライン・オフライン融合型学習法におけるサーボシステムの補償
13 Dec. 2019 - 最小二乗法を用いた最適制御の２次形式評価関数の重み決定法
13 Dec. 2019 - AC サーボモータの解析モデルに関する研究
13 Dec. 2019 - ACサーボモータの単純適応制御の可変調整則に関する研究
13 Dec. 2019 - 最適レギュレータを用いたAC サーボモータの周期外乱の抑制
13 Dec. 2019 - サーボモータの位置決め制御における最適レギュレータの重み決定法
Mar. 2019 - 定常状態におけるニューラルネットワーク制御のオンライン・オフライン融合型学習法
Mar. 2019 - 多関節ロボットアームのインピーダンス制御による面接触作業
Mar. 2019 - 単純適応制御を用いたゲイン可変調整則に関する研究
Mar. 2019 - モデルベースのマニピュレータの位置と力のハイブリッド制御
Mar. 2019 - オンライン・オフライン融合型ニューラルネットワークを用いたサーボモータの位置決め制御
Mar. 2018 - ACサーボモータの制御アンプにおける解析
Mar. 2018 - 6自由度ロボットアームの接触作業に適応するインピーダンス制御
Nov. 2017 - 単純適応制御を用いたACサーボモータの負荷変動に対する可変調整則の提案
Nov. 2017 - フィードバック誤差学習を用いたACサーボモータの位置決め制御
Nov. 2017 - DH記法を用いた6自由度ロボットアームの位置、姿勢、力、モーメントのハイブリッド制御
Dec. 2016 - 内部モデル原理を用いたACサーボモータの周期外乱の抑制
Dec. 2016 - ACモータのサーボシステムの解析モデル
Dec. 2016 - 外乱周波数特性を考慮したACモータのサーボシステム
Dec. 2015 - 実装に向けたサーボモータの単純適応制御
Dec. 2015 - 逐次検索法を用いた産業ロボットの関節軌道補間法
Dec. 2015 - 単純適応制御を用いたサーボモータの位置決め制御
Mar. 2015 - ニューラルネットワークを用いた電気モータのサーボ制御
Dec. 2014 - 産業ロボットの高効率化及び広動作域実現のための基礎研究
Dec. 2014 - 自動車の姿勢安定化に関する制御システム
01 Sep. 2014 - ６脚移動ロボットの姿勢に関するモデリング
Jun. 2010 - Active Modeling Based Course Control of Unmanned Surface Vehicles
2009 - 振り子モデルベースの車体姿勢制御による高速走行中の動的安定
2009 - Active Modeling Based Course Control of Unmanned Surface Vehicles
2009 International Symposium on Intelligent Informatics, 2009 - Dynamic Stability under High Speed Operation by A Pendulum Model Based Posture Control of Chassis
2009 - Chassis Control of Automobile and Its Stability of High Speed Operation
Qingjiu Huang
2008 Japan-China Automotive Technology Forum with Industry-Academics Co-operation, 25 Apr. 2008 - Chassis Control of Automobile and Its Stability of High Speed Operation
2008 - A Hybrid Neural-PID Control Scheme for Adaptive Visual Tracking
2008 - Modern Trends on Dynamics and Controlﾂ黴of Vehicles and Industrial Robots
2008 - How to Solve the Inverse Kinematics of Robotics
2008 - 位置・姿勢・力・モーメントのハイブリッド制御の研削作業ロボットへの適用
2008 - ６脚小型ショベルの脚機構の最適設計
2008 - 最適軌道計画による円弧足付き2足歩行機構の歩行性能解析
2008 - Adaptive UKF Based Tracking Control for Unmanned Trimaran Vehicles
2008 - Hybrid Position, Posture, Force and Moment Control of Robot Manipulators
2008 - Performance Analysis of Biped Walking Robot with Circular Feet using Optimal Trajectory Planning Method
2008 - A Hybrid Neural-PID Control Scheme for Adaptive Visual Tracking
2008 International Conference on Innovative Computing, Information and Control, 2008 - Modern Trends on Dynamics and Controlﾂ黴of Vehicles and Industrial Robots
Research Workshop of the School of Mechanical Engineering of Huazhong University of Science and Technology, 2008 - How to Solve the Inverse Kinematics of Robotics
Research Workshop of Zhengzhou University of Light Industry, 2008 - Adaptive UKF Based Tracking Control for Unmanned Trimaran Vehicles
2008 International Symposium on Intelligent Informatics, 2008 - Hybrid Position, Posture, Force and Moment Control of Robot Manipulators
the 2008 IEEE International Conference on Robotics and Biomimetics, 2008 - Performance Analysis of Biped Walking Robot with Circular Feet using Optimal Trajectory Planning Method
the 2008 IEEE International Conference on Robotics and Biomimetics, 2008 - The Safety and Reliability of Automobile Development
Qingjiu Huang; Akira Watanabe
Workshop of 2007 Nanjing Foreign Expert Week, 16 Sep. 2007 - 自由度マニピュレータの位置・姿勢・力・モーメントのハイブリッド制御 （任意方向の実現およびRPY型実機での検証）
2007 - 築用６脚小型ショベルの研究開発 (CAD力学モデルによる機構設計と歩行の挙動解析)
2007 - ６自由度マニピュレータの位置・姿勢・力・モーメントのハイブリッド制御 （任意方向の実現およびRPY型実機での検証）
2007 - 建築用6脚小型ショベルの研究開発 (CAD力学モデルによる機構設計と歩行の挙動解析)
2007 - Phased Compliance Control With Virtual Force for Six-legged Walking Robot
2007 - The Safety and Reliability of Automobile Development
2007 - ２足歩行機構の受動能動融合型歩行
2007 - New Trends in Advanced Control and Applications of Robotics
2007 - Error Analysis of Multi-legged Walking Robots Based on Forward Kinematics
2007 - A Mathematical Model of Six-Axis Force/Moment Sensor and Its Applied Control Method for Robot Finger
2007 - Passive/Active Unified Dynamic Walking for Biped Locomotion
2007 - Mechanism Design and Walking Analysis Based on CAD Dynamic Model for Development of Six-legged Mini Shovel
2007 - Phased Compliance Control With Virtual Force for Six-legged Walking Robot
The 2007 International Conference on Innovative Computing, Information and Control, 2007 - New Trends in Advanced Control and Applications of Robotics
2007 - Error Analysis of Multi-legged Walking Robots Based on Forward Kinematics
2007 IEEE International Conference on Robotics and Biomimetics, 2007 - A Mathematical Model of Six-Axis Force/Moment Sensor and Its Applied Control Method for Robot Finger
2007 IEEE International Conference on Robotics and Biomimetics, 2007 - Passive/Active Unified Dynamic Walking for Biped Locomotion
2007 IEEE International Conference on Robotics and Biomimetics, 2007 - Mechanism Design and Walking Analysis Based on CAD Dynamic Model for Development of Six-legged Mini Shovel
2007 IEEE International Conference on Robotics and Biomimetics, 2007 - 受動・能動融合型アクチュエータの開発と2足歩行機構への適応
2006 - 逐次検索法による６自由度マニピュレータの逆運動学
2006 - 受動・能動融合型アクチュエータの開発と2足歩行機構への適用
2006 - Posture and Vibration Control Based on Virtual Suspension Model Using Sliding Mode Control for Six-Legged Walking Robot
2006 - Energy-Efficient Trajectory Planning using Inequality State Constraint for Biped Walking Robot with Upper Body Mass
2006 - Sliding Mode Control Based on Virtual Suspension Model for Controlling Posture and Vibration of Six-Legged Walking Robot
2006 - Energy-Efficient Trajectory Plannning for Biped Walking Robot
2006 - Posture and Vibration Control Based on Virtual Suspension Model Using Sliding Mode Control for Six-Legged Walking Robot
The 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006 - Energy-Efficient Trajectory Planning using Inequality State Constraint for Biped Walking Robot with Upper Body Mass
The 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006 - Sliding Mode Control Based on Virtual Suspension Model for Controlling Posture and Vibration of Six-Legged Walking Robot
The 2006 IEEE International Conference on Robotics and Biomimetics, 2006 - Energy-Efficient Trajectory Plannning for Biped Walking Robot
The 2006 IEEE International Conference on Robotics and Biomimetics, 2006 - 6自由度マニピュレータ手先の位置・姿勢・力・モーメントのハイブリッド制御
2005 - 不等式拘束条件を用いた2足歩行機構の最適軌道計画
2005 - バーチャル力学モデルに基づく６足歩行ロボットの姿勢と振動のロバスト制御
2005 - Posture and Vibration Control Based on Virtual Suspension Dynamic Model of Six-Legged Walking Robot for Rough Terrain Walking
2005 - Optimal Trajectory Plannning Method for Biped Walking Robot Based on Inequality State Constrain
2005 - Posture and Vibration Control Based on Virtual Suspension Dynamic Model of Six-Legged Walking Robot for Rough Terrain Walking
36th International Symposium on Robotics(ISR2005), 2005 - Optimal Trajectory Plannning Method for Biped Walking Robot Based on Inequality State Constrain
the 36th International Symposium on Robotics(ISR2005), 2005 - Robust Control of Posture and Vibration Based on Virtual Suspension Model for Six-Legged Walking Robot
2004 - 最小エネルギー2足歩行機構の研究
2004 - Robust Control of Posture and Vibration Based on Virtual Suspension Model for Six-Legged Walking Robot
7th international conference of Motion and Vibration Control, 2004 - CADモデルベースの不整地歩行用6足歩行ロボット開発およびアクティブサスペンションの制御
2003 - 不整地用6足歩行ロボットのサスペンション制御（バーチャル力学モデルに基づく6足歩行ロボットのサスペンションのロバスト制御）
2003 - ６足歩行ロボットの位置と力のハイブリッド制御，先端的制御技術とその応用：学習制御・同定
Sep. 2002 - Neuro-Based Position and Force Hybrid Control of Six-Legged Walking Robot
2002 - Development of Mine Detection Six-Legged Walking Robot COMET-II and COMET-III, Robot Dynamics and Control (3)
2002 - ６足歩行ロボットの位置と力のハイブリッド制御
2002 - Neuro-Based Position and Force Hybrid Control of Six-Legged Walking Robot
The First Asian Conference on Multibody Dynamics, 2002 - Development of Mine Detection Six-Legged Walking Robot COMET-II and COMET-III, Robot Dynamics and Control (3)
the 6th International Conference on Motion and Vibration Control, 2002 - 人道的地雷探知のためのパワーユニットを有する自律型６足歩行ロボットCOMET-IIの開発と自律型ラジコンヘリコプターの研究
Sep. 2001 - 地雷探知用６足歩行ロボットCOMET-IIの位置と力のハイブリッド型ニューロ歩行制御
黄慶九; 野波健蔵; ほか
第19回日本ロボット学会学術講演論文集，pp. 319-320，東京, Sep. 2001 - 雷探知６足歩行ロボットによる地雷探知の研究
Apr. 2001 - 地雷探知６足歩行ロボットによる地雷探知の研究
2001 - Humanitarian Mine Detection Six-Legged Walking Robot COMET-II with Two Manipulators
2001 - Humanitarian Mine Detection Six-Legged Walking Robot COMET-II with Two Manipulators
Proceedings of the Third International Conference on Climbing and Walking Robots (CLAWAR2001), 2001 - 地雷探知用６足歩行ロボットの未知環境適応型力・姿勢制御
Sep. 2000 - ニューロ階層制御を用いた地雷探知用６足歩行ロボットの運動制御
Sep. 2000 - 地雷探知用６足歩行ロボットとラジコンへリロボットの開発
Sep. 2000 - 地雷探知用６足歩行ロボットの開発（第１報，基本概念とメカニズム）
May 2000 - 地雷探知用６足歩行ロボットの開発（第2報，モデリングと制御）
May 2000 - 地雷探知用６足歩行ロボットの開発（第１報，，基本概念とメカニズム）
2000 - Force/Attitude Control of Mine Detecting Six-legged Locomotion Robot
2000 - Humanitarian Mine Detection Six-Legged Walking Robot
2000 - Development of Teleoperated Six-legged Walking Robot for Mine Detection and Mapping of Mine Field
2000 - Attitude Control and Recogniging Environment for Six-legged Locomotion Robot Using Piching and Rolling Moments at Foot
2000 - Force/Attitude Control of Mine Detecting Six-legged Locomotion Robot
The 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2000), 2000 - Humanitarian Mine Detection Six-Legged Walking Robot
The Third International Conference on Climbing and Walking Robots (CLAWAR2000), 2000 - Development of Teleoperated Six-legged Walking Robot for Mine Detection and Mapping of Mine Field
The 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2000), 2000 - Attitude Control and Recogniging Environment for Six-legged Locomotion Robot Using Piching and Rolling Moments at Foot
the Fifth International Conference on Motion and Vibration Control (MOVIC2000), 2000 - 地雷探知用６足歩行ロボットの運動制御とCAEシミュレーション
Nov. 1999 - CAD支援型４足歩行ロボットの可変速・階段昇降歩行
Mar. 1999 - 耐故障性を考慮した４足歩行ロボットの分散・集中補償器による協調制御
Mar. 1999 - リカレントニューラルネットワークを用いたCADベース４足歩行ロボットの自律歩行
Mar. 1999 - CAD Based Autonomous Locomotion of Quadruped Robot by Using Recurrent Neural Network
1999 - Partial Model Based Walking Control of Quadruped Locomotion Robot with Self Renovation Control Function
1999 - CAD Based Autonomous Locomotion of Quadruped Robot by Using Recurrent Neural Network
Pioneering International Symposium on Motion and Vibration Control in Mechatronics, 1999 - Partial Model Based Walking Control of Quadruped Locomotion Robot with Self Renovation Control Function
1999 ASME Design Engineering Technical Conference, 1999 - 歩行速度を指令値にもつ４足歩行ロボットの歩行制御
Oct. 1998 - 姿勢制御を用いた４足歩行ロボットの不整地歩行
Oct. 1998 - 階層N.N.構造を有する４足歩行ロボットの自律制御
Oct. 1998
Works
- ＪＳＰＳ国際学会派遣事業第Ⅲ期
2008 - 2008, Artistic activity - マニピュレータの位置・姿勢・力・モーメントのハイブリッド制御による面接触作業の実現
2007 - 2007, Artistic activity - 建築用新型ショベルの研究開発
2006 - 2007, Artistic activity - 6自由度ロボットアームの位置決め制御の技術アドバイザー
2006 - 2006, Artistic activity - バリ取り用産業ロボットの制御
2006 - 2006, Artistic activity - ＪＳＰＳ国際学会派遣事業第Ⅱ期
2006 - 2006, Artistic activity - 6自由度マニピュレータ手先の位置・力・姿勢・モーメントのハイブリッド制御
2005 - 2005, Artistic activity - 6自由度産業用ロボットアームの位置決め機構及びアクセス制御ソフトの研究開発
2005 - 2005, Artistic activity - バーチャル力学モデルに基づく作業用6足歩行ロボットの力・姿勢および振動制御
2005 - 2005, Artistic activity - 東京工業大学教育研究振興事業DoCoMo基金
2004 - 2004, Artistic activity - バーチャル力学モデルに基づく作業用6足歩行ロボットの力・姿勢および振動制御
2004 - 2004, Artistic activity
Industrial Property Rights
- 特許第5569953号, 特開2011-067884, 特願2009-219150, 高速高精度な接触作業に適用するロボット制御システム，ロボット制御方法，ロボット制御装置，およびプログラム
- 特許第5467291号, 特開2011-062766, 特願2009-214481, 省エネルギー型ロボット関節駆動制御システム
- 特許第5467290号, 特開2011-056601, 特願2009-206803, 多関節ロボットシステム，多関節ロボット，力測定モジュール，力測定方法およびプログラム
- 特許第53522880号, 特開2011-057043, 特願2009-207430, 横滑りや横転の防止，姿勢制御システム，車両，制御方法およびプログラム
- 特許第5098021号, 特開2009-101469, 特願2007-275973, 脚式移動作業装置
- 特許第5011525号, 特開2008-036742, 特願2006-212104, 逐次検索法による６自由度ロボットアームの逆運動学，およびそれを使用するロボットのシステム，制御方法，プログラム
Award
Research Themes
- Apr. 2015 - Mar. 2017
A study on simple origami designs for 3D origami printer system and its origami robot
Grant-in-Aid for Scientific Research (A), Meiji University - Apr. 2011 - Mar. 2013
バーチャル力学に基づく多脚ロボットの全身位置・姿勢・力・モーメントの知的歩行制御 - Apr. 2004 - Mar. 2005
バーチャル力学モデルに基づく作業用6足歩行ロボットの力・姿勢および振動制御 - 2005 - Present
新モビリティ（4輪自動車）の開発及び姿勢とサスペンションの同時制御 - 2003 - Present
2足歩行ロボットの準受動歩行－自励歩行・最小エネルギーによる最適歩行軌道・受動・能動の融合型歩行 - 2003 - Present
Quasi-Passive Walking for Biped Walking Robot - Self-Exciting Walking, Minimal Energy Based Optimal Walking Trajectry, Passive/Active Hybrid Actuator and Walking - Position, posture, force and moment hybird control of general six-DOF manipulator
- Posture and vibration robust control of six-legged walking robot based on virtual dynamic model
Member History
- Apr. 2021 - Mar. 2022
学生員委員会委員 - Apr. 2014 - Mar. 2021
学生員委員会委員 - Dec. 2016 - Dec. 2016
Program Committee Member, 2016 IEEE International Conference on Robotics and Biomimetics - Apr. 2013 - Mar. 2014
学生員委員会委員 - Dec. 2013 - Dec. 2013
Program Committee Member, 2013 IEEE International Conference on Robotics and Biomimetics - Aug. 2013 - Aug. 2013
Program Committee Member, 2013 IEEE International Conference on Information and Automation - Feb. 2011 - Dec. 2011
Program Committee Member, 2011 IEEE International Conference on Mechatronics and Automation - Apr. 2010 - Present
研究分科会委員 - Apr. 2008 - Mar. 2010
研究分科会委員 - Jan. 2009 - Dec. 2009
Program Committee Member, 2009 IEEE International Conference on Information and Automation - Jun. 2006 - Dec. 2009
Program Committee Member, 2006 IEEE International Conference on Robotics and Biomimetics - Apr. 2006 - Mar. 2009
研究委員会委員 - Mar. 2008 - Jul. 2008
Program Committee Member, 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics - 2008 - Present
4. Program Committee Member of 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics - 2007 - Present
3. Program Committee Member of 2007 IEEE International Conference on Robotics and Biomimetics - 2006 - Present
2. Program Committee Member of 2006 IEEE International Conference on Robotics and Biomimetics - Sep. 2004 - Sep. 2004
学内実行委員 - 2004 - Present
1. 日本機械学会Dynamics and Design Conference 2004 会場実行委員 - 6. 日中自動車技術研究会 幹事
- 5. 日中自動車交流協会 理事・事務局長
