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Tasuku Yamawaki
Lecturer

Affiliation
Department of Mechanical Systems Engineering
School of Systems Engineering

E-mail
yamawaki [at] nda.ac.jp

Research Interests
Motion control and planning for robotic manipulation

Profile
(2001) B.S., Dept. of Mechanical Engineering, Tokyo University of Science.
(2003) M.Eng., Dept. of Precision Machinery Systems, Tokyo Institute of Technology.
(2005) Ph.D., Dept. of Mechano-Micro Engineering, Tokyo Institute of Technology.
(2005) Assistant Professor, Dept. of Mechanical Systems Engineering, National Defense Academy.
(2013-) Lecturer
 
Journal and Conference Papers
  1. M. Yashima and T. Yamawaki, ``Iterative Learning Control for Whole-Arm Object Manipulation through Coordination of Torque/Velocity-Controlled Fingers ,'' Proc. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, pp. 6223-6230, October, 2015.
  2. M. Yashima and T. Yamawaki, ``Robotic Nonprehensile Catching on a Stick: Initial Experiments,'' Proc. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, pp. 2461-2467, September, 2014.
  3. M. Yashima and T. Yamawaki, ``Control Strategy for Whole-Arm Manipulation of a Polygonal Object by Considering the Estimated Bounds of Frictional Coefficient,'' Proc. 2014 IEEE International Conference on Robotics and Automation, Hong Kong, pp. 6792-6799, June, 2014
  4. T. Yamawaki and M. Yashima, ``Randomized Planning and Control Strategy for Whole-Arm Manipulation of a Slippery Polygonal Object,'' Proc. 2013 IIEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, pp. 2485-2492, November, 2013.
  5. T. Yamawaki and M. Yashima, ``Grasp Configuration Planning based on Manipulation Task Accuracy,'' Proc. 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Budapest, pp. 617-622, July, 2011.
  6. H. Miyashita, T. Yamawaki and M. Yashima, ``Parts Assembly and Sorting by Throwing Manipulation: Planning and Control,'' Journal of System Design and Dynamics, Vol. 5, No. 1, pp. 139-154, 2011.
  7. T. Yamawaki and M. Yashima, ``Planning Tracking Motion Insusceptible to Unknown Disturbances Using Sensitivity Measure,'' Proc. 2010 IEEE International Conference on Robotics and Biomimetics, Tianjin, pp. 1571-1576, December, 2010.
  8. H. Miyashita, T. Yamawaki and M. Yashima, ``Parts Assembly by Throwing Manipulation with a One-Joint Arm,'' Proc. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, pp. 43-48, October, 2010.
  9. H. Miyashita, T. Yamawaki and M. Yashima, ``Learning Control Method for Throwing an Object More Accurately with One Degree of Freedom Robot,'' Proc. 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Montreal, pp. 397-472, July, 2010.
  10. H. Miyashita, T. Yamawaki and M. Yashima, ``Control for Throwing Manipulation by One Joint Robot,'' Proc. 2009 IEEE International Conference on Robotics and Automation, Kobe, pp. 1273-1278, May, 2009.
  11. T. Yamawaki, Y. Tsuzuki and M. Yashima, ``Robust Hitting with Dynamics Shaping,'' Proc. 2009 IEEE International Conference on Robotics and Automation, Kobe, pp. 114-119, May, 2009.
  12. M. Yashima and T. Yamawaki, ``Task-Oriented Accuracy Measure for Dexterous Manipulation,'' Proc. 2008 IEEE International Conference on Robotics and Biomimetics, Bangkok, pp. 903-908, February, 2009.
  13. H. Miyashita, T. Yamawaki and M. Yashima, ``Control of Robotic Juggling by Iterative Learning Control using Optimization,'' Proc. 2008 IEEE International Conference on Robotics and Biomimetics, Bangkok, pp. 1427-1432, February, 2009.
  14. T. Yamawaki, S. Aasano, H. Miyashita and M. Yashima, `` Robot Catching with High Manipulability Grasp Configuration using Vision,'' Proc. 2008 IEEE International Conference on Robotics and Biomimetics, Bangkok, pp. 909-914, February, 2009.
  15. T. Yamawaki and M. Yashima, `` Task Accuracy Measure based on Dynamic Process for Cooperating Manipulation System,'' Proc. 2008 IEEE International Conference on Mechatronics and Automation, Kagawa, FA2-2, August, 2008.
  16. T. Yamawaki and M. Yashima, ``Arm Trajectory Planning by Controlling the Direction of End-point Position Error Caused by Disturbance,'' Proc. 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, X'ian, pp. 1120-1125, July, 2008.
  17. T. Yamawaki and M. Yashima, ``Effect of Gravity on Manipulation Performance of Robotic arm,'' Proc. 2007 IEEE International Conference on Robotics and Automation, Rome, pp. 4407-4413, April, 2007. PDF(250KB)
  18. T. Yamawaki, T. Omata and O. Mori, "4R and 5R Parallel Mechanism Mobile Robots," Proc. 2004 IEEE International Conference on Robotics and Automation, New Orleans, pp. 3684-3689, April, 2004. PDF(894KB)
  19. T. Yamawaki, O. Mori and T. Omata, "Nonholonomic Dynamic Rolling Control of Reconfigurable 5R Closed Kinematic Chain Robot with Passive Joints," Proc. 2003 IEEE International Conference on Robotics and Automation, Taipei, pp. 4054-4059, September, 2003. PDF(1.52MB)
Control Engineering Laboratory
Dept. of Mechanical Systems Engineering
National Defense Academy of Japan
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Kanagawa, JAPAN
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