RYO KIKUUWE

Last Updated :2024/05/07

Affiliations, Positions
Graduate School of Advanced Science and Engineering, Professor
Web Site
https://home.hiroshima-u.ac.jp/kikuuwe/
https://mdl.hiroshima-u.ac.jp/e/
https://www.youtube.com/kikuuwe/
https://speakerdeck.com/kikuuwe/
E-mail
kikuuwehiroshima-u.ac.jp
Other Contact Details
1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan, Japan
TEL : (+81)82-424-7573 FAX : (+81)
Self-introduction
My main research interest is on the control, simulation, and analysis of dynamical mechanical systems, especially of robotic systems. The research themes range from the fundamentals of computational and control theory to the development of various control and computing techniques intended for industrial applications.

Basic Information

Major Professional Backgrounds

  • 2020/04/01, Hiroshima University, Graduate School of Advanced Science and Engineering, Professor
  • 2017/10/01, 2020/03/31, Hiroshima University, Graduate School of Engineering, Professor
  • 2014/09/12, 2015/03/17, Institut National de Recherche en Informatique et Automatique (INRIA), France, Visiting Researcher
  • 2007/03/01, 2017/09/30, Kyushu University, Faculty of Engineering, Associate Professor
  • 2003/04/01, 2007/02/28, Nagoya Institute of Technology, Faculty of Engineering, Endowed-Chair Research Associate

Educational Backgrounds

  • Kyoto University, Graduate School of Engineering, Department of Mechanical Engineering, Japan, 2000/04, 2003/07
  • Kyoto University, Graduate School of Engineering, Department of Mechanical Engineering, Japan, 1998/04, 2000/03
  • Kyoto University, Faculty of Engineering, Department of Engineering Science, Japan, 1994/04, 1998/03

Academic Degrees

  • Ph.D. (Eng.), Kyoto University
  • M.S. (Eng.), Kyoto University

Research Fields

  • Engineering;Mechanical engineering;Dynamics / Control

Research Keywords

  • Machinery Dynamics, Robotics, Robot Control, Realtime Physics Simulation, Computer Graphics

Affiliated Academic Societies

  • Robotics Society of Japan
  • Japan Society of Mechanical Engineers
  • IEEE
  • Society of Instrument and Control Engineers

Educational Activity

Course in Charge

  1. 2024, Liberal Arts Education Program1, 2Term, Design and Optimization of Mechanical Systems
  2. 2024, Liberal Arts Education Program1, 1Term, Introductory Seminar for First-Year Students
  3. 2024, Undergraduate Education, Second Semester, Experiments in Mechanical Engineering II
  4. 2024, Undergraduate Education, 3Term, Dynamics of Vibrations I
  5. 2024, Undergraduate Education, 4Term, Mechanism and Kinematics
  6. 2024, Undergraduate Education, 1Term, Dynamics of Vibrations II
  7. 2024, Undergraduate Education, 4Term, Measurement Signal Processing
  8. 2024, Undergraduate Education, Year, Graduation Thesis
  9. 2024, Graduate Education (Master's Program) , 1Term, Special Exercises on Mechanical Engineering A
  10. 2024, Graduate Education (Master's Program) , 2Term, Special Exercises on Mechanical Engineering A
  11. 2024, Graduate Education (Master's Program) , 3Term, Special Exercises on Mechanical Engineering B
  12. 2024, Graduate Education (Master's Program) , 4Term, Special Exercises on Mechanical Engineering B
  13. 2024, Graduate Education (Master's Program) , Academic Year, Special Study on Mechanical Engineering
  14. 2024, Graduate Education (Master's Program) , 2Term, Advanced Machinery Dynamics
  15. 2024, Graduate Education (Doctoral Program) , Academic Year, Special Study on Mechanical Engineering

Research Activities

Academic Papers

  1. A Position Controller for Hydraulic Excavators with Deadtime and Regenerative Pipelines, IEEE Transactions on Automation Science and Engineering, 20240123
    Link to Paper Search Results by DOI
  2. An Admittance Controller with a Jerk Limiter for Position-Controlled Robots, Journal of Robotics and Mechatronics, 36(2), 483-493, 20240420
    Link to Paper Search Results by DOI
  3. Position-Commanding Anti-Sway Controller for 2-D Overhead Cranes Under Velocity and Acceleration Constraints, IEEE Access, 11, 35069-35079, 20230407
    Link to Paper Search Results by DOI
  4. COM Shifter and Body Rotator for Step-by-Step Teleoperation of Bipedal Robots, IEEE Access, 11, 25786-25800, 20230313
    Link to Paper Search Results by DOI
  5. ★, Dynamics Modeling of Gear Transmissions with Asymmetric Load-Dependent Friction, Mechanism and Machine Theory, 179, 105116, 20230101
    Link to Paper Search Results by DOI
  6. ★, Implicit Implementation of Nonsmooth Controllers to Nonsmooth Actuators, IEEE Transactions on Automatic Control, 67(9), 4645-4657, 20220901
    Link to Paper Search Results by DOI
  7. ★, A Nonsmooth Quasi-Static Modeling Approach for Hydraulic Actuators, Transactions of ASME: Journal of Dynamic Systems, Measurement, and Control, 143(12), 20211201
    Link to Paper Search Results by DOI
  8. A Sliding-Mode Set-Point Position Controller for Hydraulic Excavators, IEEE Access, 9, 153735-153749, 20211115
    Link to Paper Search Results by DOI
  9. Chattering of Proxy-based Sliding Mode Control in the Presence of Parasitic Dynamics, IMA Journal of Mathematical Control and Information, 38(1), 177-191, 20210301
    Link to Paper Search Results by DOI
  10. Sliding Motion Accuracy of Proxy-Based Sliding Mode Control Subjected to Measurement Noise and Disturbance, European Journal of Control, 58, 114-122, 20210301
    Link to Paper Search Results by DOI
  11. An Improved Sliding Mode Differentiator Combined with Sliding Mode Filter for Estimating First and Second-order Derivatives of Noisy Signals, International Journal of Control, Automation and Systems, 18(12), 3001-3014, 202012
    Link to Paper Search Results by DOI
  12. Implicit-Euler Implementation of Super-Twisting Observer and Twisting Controller for Second-Order Systems, IEEE Transactions on Circuits and Systems II: Express Briefs, 67(11), 2607-2611, 20201101
    Link to Paper Search Results by DOI
  13. An Amplitude- and Rate-Saturated Collective Pitch Controller for Wind Turbine Systems., Renewable Energy, 158, 400-409, 20201001
    Link to Paper Search Results by DOI
  14. Stiff and Safe Task-Space Position and Attitude Controller for Robotic Manipulators, ROBOMECH Journal, 7, 18, 20200330
  15. An Amplitude- and Rate-Saturated Controller for Linear Plants, Asian Journal of Control, 22(1), 77-91, 20200124
    Link to Paper Search Results by DOI
  16. A Brush-Type Tire Model with Nonsmooth Representation, Mathematical Problems in Engineering, 2019, 9747605, 20191217
    Link to Paper Search Results by DOI
  17. ★, Torque-Bounded Admittance Control Realized by a Set-Valued Algebraic Feedback, IEEE Transactions on Robotics, 35(5), 1136-1149, 20191001
  18. Parameter Selection Procedure for an Amplitude- and Rate-saturated Controller, International Journal of Control, Automation and Systems, 17(4), 926-935, 20190401
  19. Some Stability Proofs on Proxy-Based Sliding Mode Control, IMA Journal of Mathematical Control and Information, 35(4), 1319-1341, 20181218
  20. A New Parabolic Sliding Mode Filter Augmented by a Linear Low-Pass Filter and Its Application to Position Control, Transactions of ASME: Journal of Dynamic Systems, Measurement, and Control, 140(4), 041005, 20180401
  21. A time-integration method for stable simulation of extremely deformable hyperelastic objects, Visual Computer, 33(10), 1335-1346, 20171001
  22. Stability enhancement of admittance control with acceleration feedback and friction compensation, Mechatronics, 45, 110-118, 20170801
  23. Some Improvements in Elastoplastic Friction Compensator, SICE Journal of Control, Measurement, and System Integration, 10(3), 141-148, 20170501
  24. A new representation of systems with frictional unilateral constraints and its Baumgarte-like relaxation, Multibody System Dynamics, 39(3), 267-290, 20170301
  25. An identification procedure for rate-dependency of friction in robotic joints with limited motion ranges, Mechatronics, 36, 36-44, 20160601
  26. Fundamental Problems Regarding Physics Simulators: From the Perspective of Relations Among Reality, Model, and Simulator, Journal of the Robotics Society of Japan, 34(6), 374-377, 2016
  27. Implicit Euler simulation of one-dimensional Burridge-Knopoff model of earthquakes with set-valued friction laws, Advances in Computational Mathematics, 41(6), 1039-1057, 20151201
  28. Friction compensation of geared actuators with high presliding stiffness, Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, 137(1), 20150101
  29. Phase-Lead Stabilization of Force-Projecting Master-Slave Systems with a New Sliding Mode Filter, IEEE Transactions on Control Systems Technology, 23(6), 2182-2194, 20150101
  30. A contact force model with nonlinear compliance and residual indentation, Journal of Applied Mechanics, Transactions ASME, 81(2), 20140101
  31. A sliding-mode-like position controller for admittance control with bounded actuator force, IEEE/ASME Transactions on Mechatronics, 19(5), 1489-1500, 20140101
  32. Improving velocity feedback for position control by using a discrete-time sliding mode filtering with adaptive windowing, Advanced Robotics, 28(14), 943-953, 20140101
  33. Friction Compensation of Harmonic Drive Gearing Based on Parallel Viscoelasto-plastic Friction Model, JRSJ, 32(5), 445-455, 2014
  34. A multistate friction model described by continuous differential equations, Tribology Letters, 51(3), 513-523, 20130901
  35. A differential algebraic method to approximate nonsmooth mechanical systems by ordinary differential equations, Journal of Applied Mathematics, 2013, 20130611
  36. Alternative proofs of four stability properties of rigid-link manipulators under PID position control, Robotica, 31(1), 113-122, 20130101
  37. Parameter selection guidelines for a parabolic sliding mode filter based on frequency and time domain characteristics, Journal of Control Science and Engineering, 2012, 20121201
  38. Finger-mounted tactile sensor for evaluating surfaces, Journal of Robotics and Mechatronics, 24(3), 430-440, 20120601
  39. Real-time quadratic sliding mode filter for removing noise, Advanced Robotics, 26(8-9), 877-896, 20120501
  40. Finger-Mounted Tactile Sensor for Evaluating Surfaces, Transactions of the Japan Society of Mechanical Engineers Series A, 77(784), 4567-4580, 2011
  41. Proxy-based sliding mode control: A safer extension of PID position control, IEEE Transactions on Robotics, 26(4), 670-683, 20100801
  42. An edge-based computationally efficient formulation of Saint Venant-Kirchhoff tetrahedral finite elements, ACM Transactions on Graphics, 28(1), 20090101
  43. A control framework to generate nonenergy-storing virtual fixtures: Use of simulated plasticity, IEEE Transactions on Robotics, 24(4), 781-793, 20080801
  44. A guideline for low-force robotic guidance for enhancing human performance of positioning and trajectory tracking: It should be stiff and appropriately slow, IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans, 38(4), 945-957, 20080701
  45. A Control Framework to Generate Nonenergy-Storing Virtual Fixtures : Use of Simulated Plasticity, IEEE Transactions on Robotics, 24(4), 781-793, 2008
  46. Analysis and Experiment of Helical Spring-Type Pressure and Shear Sensor, Journal of System Design and Dynamics, 1(3), 629-637, 20070801
  47. Force-Dependent Variable Damping Control for Positioning Task Assist, Journal of Robotics Society of Japan, 25(2), 306-313, 20070301
  48. Impedance- and Admittance-Type Implementation of Geometric Haptic Rendering Algorithms Based on Mechanistic Interpretation, Journal of Robotics Society of Japan, 25(2), 314-323, 200703
  49. Admittance and impedance representations of friction based on implicit Euler integration, IEEE Transactions on Robotics, 22(6), 1176-1188, 20061201
  50. Kinesthetic Interface for Task Assistance(Using Virtual Coulomb Friction and Its Extensions), 45(5), 419-424, 20060510
  51. Analysis and experiment of helical spring-type pressure and shear sensor, Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 71(708), 2543-2548, 20050801
  52. Recognizing object surface properties using impedance perception, Robotica, 23(3), 387-396, 20050501
  53. Robot perception of impedance, Journal of Robotic Systems, 22(5), 231-247, 20050501
  54. Enhancing Haptic Detection of Surface Undulation, ACM Transactions on Applied Perception, 2(1), 46-67, 20050101
  55. Skill and Mathematical Principle of Haptics, JRSJ, 23(7), 805-810, 2005
  56. Recognizing Environment Surface Properties Using Impedance Perception, JRSJ, 22(2), 239-244, 20040315
  57. Robot Perception lf Impedance, JRSJ, 21(1), 103-108, 20030115
  58. Recognizing Cylindrical Curved Surface Using Impedance Perception, Transactions of the Society of Instrument and Control Engineers, 39(10), 970-977, 2003
  59. Haptic Display Device with Fingertip Pressing Function for Motor Skill Transfer from Human to Human, Transactions of the Virtual Reality Society of Japan, 5(1), 803-809, 20000301

Invited Lecture, Oral Presentation, Poster Presentation

  1. End-Effector Position Estimation and Control of Hydraulic Excavators with Total Stations, Yuki Yamamoto and Ryo Kikuuwe, 2024 IEEE/SICE International Symposium on System Integration (SII 2024), 2024/01/08, Without Invitation, English
  2. Solving Technical Difficulties in Implementing Teleoperated Biped Walking on NAO Robot, Yachen Zhang and Ryo Kikuuwe, 2024 IEEE/SICE International Symposium on System Integration (SII 2024), 2024/01/08, Without Invitation, English
  3. Reference ZMP Generation for Teleoperated Bipedal Robots Walking on Non-Flat Terrains, Tomoya Ando, Tomofumi Watari and Ryo Kikuuwe, 2021 IEEE/SICE International Symposium on System Integration (SII 2021), 2021/01/11, Without Invitation, English
  4. Reliable Chattering-free Simulation of Friction Torque in Joints Presenting High Stiction, Rafael Cisneros, Mehdi Benallegue, Ryo Kikuuwe, Mitsuharu Morisawa, and Fumio Kanehiro, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020/10/25, Without Invitation, English, Las Vegas, USA
  5. A First-Order Differentiator with First-Order Sliding Mode Filtering, Ryo Kikuuwe, Rainhart Pasaribu and Gyuho Byun, Rainhart Pasaribu and Gyuho Byun, 11th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2019), 2019/09/06, Without Invitation, English, IFAC, Vienna, Austria

Awards

  1. 2013/09/10, Advanced Robotics Best Paper Award, Robotics Society of Japan

Patented

  1. Patent, EP3067162, 2018/07/11, EP3067162
  2. Patent, US Patent 9855653, 2018/01/02, Master-slave system
  3. Patent, EP1697709, 2012/01/18, Convex or Concave Surface Curvature Amplifying Device and Convex or Concave Surface Curvature Detecting Method Using the Same
  4. Patent, US Patent 7685886, 2010/03/30, Convexo concave amplifying device and convexo concave detecting method by use thereof, deformation sensing device and convexo concave detecting method by use thereof, and convexo concave position exhibiting device and convexo concave position exhibiting method
  5. Patent, 4376732, 2009/09/18
  6. Patent, KR10-0876635, 2008/12/23

Social Activities

Organizing Academic Conferences, etc.

  1. IEEE/RSJ 2024 International Conference on Intelligent Robots and Systems, Associate Editor, 2024/03, 2024/10
  2. IEEE/RSJ 2023 International Conference on Intelligent Robots and Systems, Associate Editor, 2023/03, 2023/10

History as Peer Reviews of Academic Papers

  1. 2023, Advanced Robotics, Others, reviewer, 1
  2. 2023, Communications in Nonlinear Science and Numerical Simulation, Others, reviewer, 1
  3. 2023, Franklin Open, Others, reviewer, 1
  4. 2023, IEEE/ASME Transactions on Mechatronics, Others, reviewer, 2
  5. 2023, IEEE Robotics and Automation Letters, Others, reviewer, 1
  6. 2023, IEEE Transactions on Automation Science and Engineering, Others, reviewer, 1
  7. 2023, IEEJ Transactions on Electrical and Electronic Engineering, Others, reviewer, 1
  8. 2023, ISA Transactions, Others, reviewer, 1
  9. 2023, Mathematics and Computers in Simulation, Others, reviewer, 1
  10. 2023, Mechanism and Machine Theory, Others, reviewer, 1
  11. 2023, Ocean Engineering, Others, reviewer, 1
  12. 2023, Proceedings of IMechE, Part I: Journal of Systems and Control Engineering, Others, reviewer, 1
  13. 2022, Advanced Robotics, Others, reviewer, 1
  14. 2022, Annual Reviews in Control, Others, reviewer, 1
  15. 2022, ASME Journal of Dynamic Systems, Measurement, and Control, Others, reviewer, 1
  16. 2022, European Journal of Control, Others, reviewer, 1
  17. 2022, IEEE Access, Others, reviewer, 1
  18. 2022, IEEE Transactions on Circuits and Systems II: Express Briefs, Others, reviewer, 1
  19. 2022, ISA Transactions, Others, reviewer, 1
  20. 2022, Mechatronics, Others, reviewer, 1
  21. 2022, Proceedings of IMechE, Part C: Journal of Mechanical Engineering Science, Others, reviewer, 1
  22. 2022, Robotics and Autonomous Systems, Others, reviewer, 1
  23. 2021, ASME Journal of Tribology, Others, reviewer, 1
  24. 2021, Communications in Nonlinear Science and Numerical Simulation, Others, reviewer, 1
  25. 2021, IEEE/ASME Transactions on Mechatronics, Others, reviewer, 1
  26. 2021, IEEE Access, Others, reviewer, 1
  27. 2021, IEEE Robotics and Automation Letters, Others, reviewer, 2
  28. 2021, IEEE Transactions on Automatic Control, Others, reviewer, 1
  29. 2021, IEEE Transactions on Automation Science and Engineering, Others, reviewer, 1
  30. 2021, Mathematics and Computers in Simulation, Others, reviewer, 1
  31. 2021, Mechatronics, Others, reviewer, 2
  32. 2022, Transactions of the Institute of Measurement and Control, Others, reviewer, 1
  33. 2021, Vehicle System Dynamics, Others, reviewer, 2