論文
公開件数:89件
No. 発表論文の標題 著者名等 掲載誌名 巻/号,頁 出版年月 ISSN DOI URL
1 Overpressure compensation for hydraulic hybrid servo booster applied to hydraulic manipulator
S. Hyon, Y. Taniai, K. Hiranuma, K. Yasunaga, and M. Harutsugu
IEEE Robotics and Automation Letters
942-949
2019

10.1109/LRA.2019.2894868

2 油圧による柔軟で機動性の高い多脚ロボットの実現
玄相昊
日本ロボット学会誌

2019



3 Passivity-based compliant walking on torque-controlled hydraulic biped robot
K.Hirayama, N.Hirosawa and S.Hyon
IEEE-RAS 18th International Conference on Humanoid Robots
552--557
2018



4 安価な汎用部品を用いた油圧駆動回路とロボットへの応用
玄相昊
計測と制御

2018



5 フルードパワー「低コストで多機能な油圧ハイブリッドロボット」
玄相昊
日本フルードパワー工業会

2017



6 Joint torque control of a hydraulic manipulator with hybrid servo booster
Hyon, S., Tanimoto, S.
The 10th JFPS International Symposium on Fluid Power

2017/10



7 Realization of fast 10-ton servo press using hydraulic hybrid servo booster
Hyon, S., Li, W. and Mori, Y.
The 10th JFPS International Symposium on Fluid Power

2017/10



8 Passivity-based balance and walking control on hydraulic quadruped robot
Oda, K. and Hyon, S.
The 10th JFPS International Symposium on Fluid Power

2017/10



9 Toward compliant, fast, high-precision,and low-cost manipulator with Hydraulic Hybrid Servo Booster
Hyon, S., Tanimoto S. and Asao S.
Proc. IEEE International Conference on Robotics and Automation
39-44
2017/05



10 Design and experimental evaluation of a fast torque-controlled hydraulic humanoid robot
Sang-Ho Hyon, Daisuke Suewaka, Yuki Torii and Narifumi Oku
IEEE/ASME Transactions on Mechatronics
22/ 2
2017/04



11 油空圧技術「油圧駆動4脚歩行ロボット」
玄相昊
日本工業出版
14-17
2016



12 Latent Kullback-Leibler control for dynamic imitation learning of whole-body behaviors in humanoid robots
Yuka Ariki, Takamitsu Matsubara, Sang-Ho Hyon
IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)
946-951
2016/11



13 Prototyping force-controlled 3-DOF hydraulic arms for humanoid robots
Kensuke Izawa, Sang-Ho Hyon
Journal of Robotics and Mechatronics
28/ 1, 95-103
2016/02



14 Development of a fast torque-controlled hydraulic humanoid robot that can balance compliantly
Sang-Ho Hyon, Daisuke Suewaka, Yuki Torii, Narifumi Oku, Hiroki Ishida
IEEE-RAS International Conference on Humanoid Robots
576-581
2015/11



15 油空圧技術「新しい油圧ハイブリッドサーボと油圧プレスへの応用」
玄相昊
日本工業出版
.14-17,
2014



16 フルードパワーシステム「高速かつ柔軟な油圧式2足歩行ロボット」
玄相昊
日本フルードパワーシステム学会
12-15
2014



17 Hydraulic hybrid servo booster and application to servo press
Sang-Ho Hyon, Fumio Noda, Toshiyuki Nomura, Hiroshi Kosodo, Yoshihiro Mori and Harutsugu Mizui
The 9th JFPS International Symposium on Fluid Power
152-162
2014/10



18 Joint torque control by pressure feedback on hydraulic excavator for robotic application
Kohei Inoue, Tomoo Yoneda, Sang-Ho Hyon
The 9th JFPS International Symposium on Fluid Power
28-31
2014/10



19 Running Model and Hopping Robot Using Pelvic Movement and Leg Elasticity
Takuya Otani, Masaaki Yahara, Kazuhiro Uryu, Akihiro Iizuka, Kenji Hashimoto, Tatsuhiro Kishi, Nobutsuna Endo, Masanori Sakaguchi, Yasuo Kawakami, Sang-Ho Hyon, Hun-ok Lim and Atsuo Takanishi
IEEE International Conference on Robotics and Automation
2313-2318
2014/05



20 新しい油圧ハイブリッドサーボと油圧プレスへの応用
玄相昊
油空圧技術
53/ 1, 14-17
2014/01



21 高速かつ柔軟な油圧式2足歩行ロボット
玄相昊
フルードパワーシステム
45/ 1, 12-15
2014/01



22 油空圧技術「脚型の油圧駆動ロボット」
玄相昊
日本工業出版
45-49
2013



23 Design of hybrid drive exoskeleton robot XoR2
Hyon, S., Hayashi, T., Yagi, A., Noda, T. and Morimoto, J.
IEEE/RSJ IROS
4642-4648
2013/11



24 Lightweight hydraulic leg to explore agile legged locomotion
Hyon, S. Yoneda, T. and Suewaka, D.
IEEE/RSJ IROS
4655-4660
2013/11



25 脚型の油圧駆動ロボット
玄相昊
油空圧技術
52/ 10, 45-49
2013/10



26 Gait generation via unified learning optimal control of Hamiltonian systems
Satoh, S., Fujimoto, K. and Hyon, S.
Robotica
31/ 5, 717-732
2013/08



27 Extraction of primitive representation from captured human movements and measured ground reaction force to generate physically consistent imitated behaviors
Yuka Ariki, Sang-Ho Hyon, Jun Morimoto
Neural Networks
40, 32-43
2013/04



28 Brain-controlled exoskeleton robot for BMI rehabilitation
T. Noda, N. Sugimoto, J. Furukawa, M. Sato, S. Hyon and J. Morimoto
IEEE-RAS International Conference on Humanoid Robots
21-27
2012/11



29 Extraction of latent kinematic relationship between human users and assistive robots
Morimoto, J., Noda, T. and Hyon, S.
IEEE International Conference on Robotics and Automation
3909-3915
2012/05



30 eMOSAIC model for humanoid robot control
N. Sugimoto, J. Morimoto, S. Hyon, and M. Kawato
Neural Networks
29, 8-19
2012/05



31 Real-time stylistic prediction for whole-body human motions
T. Matsubara, S. Hyon and J. Morimoto
Neural Networks
25/ 5, 191-199
2012/01



32 An optimal control approach for hybrid actuator system
T. Matsubara, T. Noda, S. Hyon and J. Morimoto
IEEE-RAS International Conference on Humanoid Robots
300-305
2011/10



33 XoR: Hybrid drive exoskeleton robot that can balance
S. Hyon, J. Morimoto, T. Matsubara, T. Noda and M. Kawato
IEEE/RSJ International Conference on Intelligent Robots and Systems
3975-3981
2011/09



34 Periodic gait generation via repetitive optimal control of Hamiltonian systems
S. Satoh, K. Fujimoto and S. Hyon
18th IFAC World Congress (IFAC2011)
6912-6917
2011/08



35 Learning parametric dynamic movement primitives from multiple demonstrations
Takamitsu Matsubara, Sang-Ho Hyon, Jun Morimoto
Neural Networks
24/ 5, 493-500
2011/06



36 不連続な状態遷移を考慮した学習最適制御による歩行軌道の生成手法
佐藤訓志, 藤本健治, 玄相昊
日本ロボット学会誌
29/ 2, 90-100
2011/04



37 個性を考慮した周期的全身運動の予測
松原崇充, 玄相昊, 森本淳
電子情報通信学会論文誌
J94-D/ 1, 344-355
2011/01



38 Reinforcement learning for balancer embedded humanoid locomotion
Yamaguchi, A., Hyon, S. and Ogasawara, T.
IEEE-RAS International Conference on Humanoid Robots
308-313
2010/12



39 Learning Parametric Dynamic Movement Primitives from Multiple Demonstrations
Takamitsu Matsubara, Sang-Ho Hyon, Jun Morimoto
17th International Conference on Neural Information Processing (ICONIP 2010)
6443, 347-354
2010/11



40 Learning stylistic dynamic movement primitives from multiple demonstrations
atsubara, T., Hyon, S., Morimoto, J.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems
1277-1283
2010/10



41 eMOSAIC Model for Humanoid Robot Control
Norikazu Sugimoto, Jun Morimoto, Sang-Ho Hyon, and Mitsuo Kawato
From Animals to Animats 11: 11th International Conference on Simulation of Adaptive Behavior (SAB 2010)
447-457
2010/08



42 From compliant balancing to dynamic walking on humanoid robot: Integration of CNS and CPG
Hyon, S., Morimoto, J. and Kawato, M
IEEE International Conference on Robotics and Automation
1084-1085
2010/05



43 可変重力環境における全身運動制御と等身大ヒト型ロボットを用いた検証
玄相昊, 里宇明元
バイオメカニズム, 特集「宇宙環境・低重力環境下でのバイオメカニズム」
34/ 1
2010/04



44 計算脳プロジェクト 終了報告書 招待講演
玄相昊
独立行政法人科学技術振興機構
第6.1.5節, pp.55-83
2009



45 準静的に獲得した関節軌道を利用して動的な類似運動を逐次的に学習する方法
玄相昊
日本ロボット学会誌
27/ 9, 1025-1028
2009



46 Invariant manifold of symmetric orbits and its application toward globally optimal gait generation for biped locomotion
Hyon, S. and Fujimoto, K.
9th International IFAC Symposium on Robot Control
619-626
2009/09



47 A motor control strategy with virtual musculoskeletal systems for compliant anthropomorphic robots
Hyon, S
IEEE/ASME Transactions on Mechatronics
14/ 6, 677-688
2009/06



48 Integration of multi-level postural balancing on humanoid robots
Hyon, S., Osu, R. and Otaka, Y
IEEE International Conference on Robotics and Automation
1549-1556
2009/05



49 複数の接地部分と冗長関節を有するヒューマノイドロボットの受動性に基づく最適接触力制御
玄相昊
日本ロボット学会誌
27/ 2, 178-187
2009/03



50 Compliant terrain adaptation for biped humanoids without measuring ground surface and contact forces
Hyon, S.
IEEE Transactions on Robotics
25/ 1, 171-178
2009/03



51 Low-dimensional feature extraction for humanoid locomotion using kernel dimension reduction
Morimoto, J., Hyon, S., Atkeson, C. and Cheng, G.
IEEE International Conference on Robotics and Automation
2711-2716
2008



52 Hierarchical motor learning and synthesis with passivity-based controller and phase oscillator
Hyon, S., Morimoto, J. and Cheng, G.
IEEE International Conference on Robotics and Automation
2705-2710
2008



53 Learning to acquire whole-body humanoid CoM movements to achieve dynamic tasks
Matsubara, T., Morimoto, J., Nakanishi, J., Hyon, S., Hale, J. G. and Cheng, G.
Advanced Robotics
22/ 10, 1125-1142
2008



54 動作認識における床反力情報の推定と見まね学習への適用
有木由香, 森本淳, 玄相昊
電子情報通信学会論文誌
J91-D/ 9, 2394-2403
2008



55 Highly precise dynamic simulation environment for humanoid robots
Hale, J. G., Hohl, B., Hyon, S., Matsubara, T., Moraud, E. and Cheng, G
Advanced Robotics
22/ 10, 1075-1105
2008



56 ハミルトン力学系の対称軌道族と2足歩行の大域的歩容生成
玄相昊, 藤本健治
日本ロボット学会誌
26/ 4, 372-380
2008



57 Humanoid batting with bipedal balancing
Hyon, S., Moren, J. and Cheng, G
IEEE-RAS International Conference on Humanoid Robots
493-499
2008/12



58 A framework for optimal gait generation via learning optimal control using virtual constraint
Satoh, S., Fujimoto, K., Hyon, S.
IEEE/RSJ IROS
3426-3432
2008/09



59 Behavior recognition with ground reaction force estimation and its application to imitation learning
Ariki, Y., Morimoto, J. and Hyon, S.
IEEE/RSJ IROS
2029-2034
2008/09



60 Biped gait generation via iterative learning control including discrete state transitions
Satoh, S., Fujimoto, K., Hyon, S.
17th IFAC World Congress
1729-1734
2008/07



61 A simple approach to humanoid locomotion
Morimoto, J., Endo, G., Hyon, S. and Cheng, G
IEEE-RAS International Conference on Humanoid Robots, Pittsburgh
596–602
2007



62 Simultaneous adaptation to rough terrain and unknown external forces for biped humanoids
Hyon, S. and Cheng, G.
IEEE-RAS International Conference on Humanoid Robots
19-26
2007



63 ハミルトン系の変分対称性に基づく1脚ロボットの最適歩容生成
佐藤訓志, 藤本健治, 玄相昊
計測自動制御学会論文集
43/ 12, 1103-1110
2007



64 A humanoid research platform for exploring neuroscience
Cheng, G., Hyon, S., Morimoto, J., Ude, A., Hale, J. G., Colvin, G., Scroggin, W. and Jacobsen, S. C.
Advanced Robotics
21/ 10, 1097-1114
2007



65 Full-body compliant human-humanoid interaction: Balancing in the presence of unknown external forces
Hyon, S., Hale, J. G. and Cheng, G.
IEEE Transactions on Robotics
23/ 5, 884-898
2007



66 Disturbance rejection for biped humanoids
Hyon, S. and Cheng, G.
IEEE International Conference on Robotics and Automation
2668-2675
2007/05



67 Gait generation for passive running via iterative learning control
Satoh, S., Fujimoto, K. and Hyon, S.
IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China
5907-5912
2006



68 Passivity-based full-body force control for humanoids and application to dynamic balancing and locomotion
Hyon, S. and Cheng, G.
IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China
4915-4922
2006



69 Gravity compensation and full-body balancing for humanoid robots
Hyon, S. and Cheng, G.
IEEE-RAS International Conference on Humanoid Robots, Genoa, Italy
214-221
2006



70 Quasi-human biped walking
Lim, H., Hyon, S., Setiawan, S. A. and Takanishi, A.
Robotica
24/ 2, 257-268
2006



71 Back handspring of a multi-link gymnastic robot - reference model approach
Hyon, S., Yokoyama, N. and Emura, T.
Advanced Robotics
20/ 1, 93-113
2006



72 倒立振子から始めた2脚ロボットの開発
江村超, 玄相昊
日本ロボット学会誌
23/ 4, 418-421
2005



73 動的脚ロボットのハミルトン系に基づく走行制御
玄相昊
システム制御情報学会誌
49/ 7, 260-265
2005



74 Parametric excitation mechanisms for dynamic bipedal walking
Asano, F., Luo, Z. and Hyon, S.
IEEE International Conference on Robotics and Automation, Barcelona, Spain
611-617
2005/04



75 Symmetric walking control: Invariance and global stability
Hyon, S. and Emura, T.
IEEE International Conference on Robotics and Automation, Barcelona, Spain
1455-1462
2005/04



76 Energy-preserving control of passive one-legged running robot
Hyon, S. and Emura, T.
Advanced Robotics
18/ 4, 357-381
2004



77 Back handspring control of a multi-link gymnastic robot
Hyon, S., Yokoyama, N., Emura, T.
3rd IFAC Symposium on Mechatronic Systems, Sydney, Australia
73-78
2004/09



78 Detection and stabilization of hybrid periodic orbits of passive running robots
Hyon, S., Emura, T. and Ueta, T.
Mechatronics and Robotics, Aachen, Germany
1309-1314
2004/09



79 Passive running of planar 1/2/4-legged robots
Hyon, S., Jiang, X., Emura, T. and Ueta, T.
IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan
3532-3539
2004/09



80 Back handspring robot - Target dynamics-based control, Sendai, Japan
Hyon, S., Yokoyama, N. and Emura, T.
IEEE/RSJ International Conference on Intelligent Robots and Systems
248-253
2004/09



81 Running control of a planar biped robot based on energy-preserving strategy
Hyon, S. and Emura, T.
Proc. of IEEE International Conference on Robotics and Automation,New-Orleans, USA
3791-3796
2004/04



82 Dynamics-based control of one-legged hopping robot
Hyon, S., Emura, T. and Mita, T.
Journal of Systems and Control Engineering, Proceedings of the Institution of Mechanical Engineers Part I
217/ 2, 83-98
2003



83 Aerial posture control for 3D biped running using compensator around yaw axis
Hyon, S. and Emura, T.
IEEE International Conference on Robotics and Automation Taipei, Taiwan
57-62
2003/09



84 動物の脚構造をモデル化した1脚走行ロボット-Kenken-
玄相昊, 上條敏,美多勉
日本ロボット学会誌
20/ 4, 453-462
2002



85 Quasi-periodic gaits of passive one-legged hopper, Lausanne, Switzerland
Hyon, S. and Emura, T.
Proc. of IEEE/RSJ IROS
2625-2630
2002/09



86 Development of a biologically inspired hopping robot -Kenken
Hyon, S. and Mita, T.
IEEE International Conference on Robotics and Automation, Washington, USA
3984-3991
2002/05



87 Analytical time optimal control solution for a two link planar acrobot with initial angular momentum
Mita, T., Hyon, S. and Nam, T.
IEEE Transactions on Robotics and Automation
17/ 3, 361-366
2001



88 初期角運動量を有する劣駆動浮遊機械系の最短時間制御解 の導出と解析
美多勉, 玄相昊, 中村文一, 南 澤槿
計測自動制御学会論文集
36/ 8, 668-675
2000



89 Physical Interaction between Human and a Bipedal Humanoid Robot -Realization of Human-follow Walking-
Setiawan, S. A., Hyon, S., Yamaguchi, J. and Takanishi, A.
IEEE International Conference on Robotics and Automation
361-367
1999