(Report報告)The 113th IROAST Seminar was held 第113回IROASTセミナーが開催されました

Dec 22, 2023

On December 22, 2023, the 113th IROAST Seminar, organized by Prof. Makoto KUMON (FAST, Kumamoto University) , was held with Prof. Tomonari FURUKAWA from University of Virginia, USA (IROAST Visiting Professor).
Prof. FURUKAWA, who is conducting research from multiple perspectives, introduced the latest research in the field of robotics, including research conducted by master's students in Prof. Furukawa's laboratory. Many undergraduate students participated in the seminar, which was very fruitful as they were able to get a closer look at the research being conducted in the the United States of America today.
2023年12月22日、公文 誠教授(大学院先端科学研究部)が世話人となり、バージニア大学より 古川知成教授(IROAST客員教授)をお迎えし、第113回IROASTセミナーを開催しました。


公文 誠 教授 (大学院先端科学研究部)
Prof. Makoto Kumon (FAST, Kumamoto University)


古川知成 教授    (バージニア大学  (アメリカ) )
Prof. Tomonari Furukawa, University of Virginia, USA

■At Venue|会場の様子

The 113th IROAST Seminar

Dec 19, 2023

国際先端科学技術研究機構(IROAST)は、バージニア大学所属、古川 知成IROAST客員教授による、第113回IROASTセミナーを下記のとおり開催いたします。興味のある方はどなたでもご参加いただけます。多くの皆さまのご参加をお待ちしております。

1.日 時:令和5年12月22日(金)8:40~10:10

2.会 場:黒髪南C8(工学部2号館) 64番 231室

3.講演者・演題 (Speaker & Title):
   バージニア大学 機械・航空宇宙工学科(アメリカ)  古川知成 教授
   “Motion Tracking of a High-Speed Humanoid Using Dynamic Measurements Fusion”

 Inertial sensing and estimation methods allow the tracking of human, or more broadly humanoid, motion in the absence of optical tracking and joint encoders, but the methods are rather developed for quasistatic motion due to the limited motion capability of humanoids.  This talk will present a technique for tracking the high-speed motion of a humanoid using Inertial Measurement Units (IMUs) in a new sensor arrangement, an approach which is referred to as dynamic measurements fusion. The proposed technique incorporates accelerometers with traditional gyroscopes to measure joint angular velocities, while joint angles are measured with magnetometers. Comparative studies with conventional techniques show that the proposed technique tracks the motion of a multi-link system accurately at both low (0.5 m/s) and high (5 m/s) speeds. Further analysis with different levels of measurement noise demonstrates the robustness of the proposed technique and its overall capability for tracking joint angular velocities and angles.  The validity of the proposed technique has been finally validated by applying it to the motion tracking of a dummy in a vehicle crash test and a human with accelerated motion. 

The talk will also cover other state-of-the-art technologies developed at the University of Virginia.

5.世話人: 公文 誠 教授 (大学院先端科学研究部)




IROAST will have the 113th IROAST Seminar by IROAST Visiting Professor Tomonari Furukawa, University of Virginia, USA as follows.

Anyone interested in this seminar is more than welcome. Registration is not required.

We hope to see you at the seminar.                        

  1. Date and time: December 22 (Fri), 2023, 8:40 - 10:10
  2. Venue: Room 231, Kurokami South C8 (Faculty of Engineering Bldg. 2)
  3. Speaker: Prof. Tomonari Furukawa
                      Department of Mechanical and Aerospace Engineering
                      University of Virginia, USA
  4. Title & Abstract: Referred to above
  5. Organizer: Prof. Makoto Kumon (FAST, Kumamoto University)   


IROAST Seminar inquiries
Sato (Ms.)

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