Control of a bipedal walker
Neural Network Based Hybrid Force/Position Control
Implementing a novel hybrid force-position controller for KUKA iiwa serial manipulator focused on contact-rich manipulation tasks, such as nut screwing. The proposed controller is tested in MIT Drake simulator against several alternative control algorithms.
A sandbox for personal experiments with the carFollowingRTI repository
Hybrid Intelligence Control for Human-Support Robots: FSM, PID, and LLM integrated architecture. 人型ロボットのためのハイブリッド知能制御アーキテクチャ：FSM・PID・LLMの統合設計
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