When the nuclear accident at Fukushima Daiichi Nuclear Power Plant happened, TOKYO Fire Department member were send for cooling the nuclear reactor. But there isn't means to get information of disaster site by unmanned and fire fighter had to rush into Nuclear Power Plant with taking a risk of radiation exposure. Therefore in this study, we propose Attack and Retreat Judgment System Referring the Lesson from Fukushima Daiichi Nuclear Power Plant. In this paper, we mainly describe Attack Judgment System, consisting of remote-control information gathering system and geographical information system. Remote-control information gathering system gets disaster site information with remote-control unmanned ground vehicle and geographical information system registers the information.

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This paper describes a method for tracking identified persons in a room using the accelerometer attached to each footwear and the laser range finder (LRF) placed on the floor. Even though the LRF measures positions of foot on the floor, it is difficult to identify each person since the floor sensor acquires only the outline of foot. In order to identify the foot, the accelerometer is attached to the footwear. When the feet contacts the floor, it starts to be measured as a blob by the LRF and the acceleration becomes constant. The system detects the timing of such state changes and finds the correspondence between blobs and accelerometers.

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This paper introduces an information processing architecture named ROS-TMS for informationally structured environment. This architecture enables to handle several practical service tasks such as state estimation in a room using accumulated information in a database, and automatic planning and execution for suitable service tasks. As an application of the proposed ROS-TMS, we present an emergency detection and alert system using distributed sensors and a service robot.

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This paper describes a method for construction of a feature points-based shape model using visual ID tags and natural feature points in the camera images. The method involves the construction of a polyhedral model of the object by means of visual ID tags assigned to natural feature points of the object. The pose of the target object are estimated by the matching of the feature points in the captured camera image and those of the constructed feature-points model. The surface of the object model are projected to the camera image using the pose-estimation results, therefore, the estimation system can register the feature points to the object shape model. The paper focuses on the evaluation of the estimation of the pose of the object model. Experimental results show the feasibility of the method.

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In this paper, we propose an air-conditioning control methodology based on prediction of occupant's request.Our method enables to predict how an occupant wants to operate switches on the air-conditioner control panel in certain thermal environment using the Bayesian Networks. To show our basic concept and detailed procedure, we first provide the structure of Bayesian Networks for this application. Next, we show probability tables which presents the probabilistic distribution of occupant's requests at each temperature width. After that, using an example case, we describe how to predict occupant's requests and how to update probability tables. Finally, we confirm our proposed method discussing our experimental results.

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In this report, an amphibian vehicle for rescue is introduced, and a manueuvering support system for the vehicle is proposed by applying a nonlinear state feedback control law for the trajectory control of the vehicle. To simplify the problem, we consider only viscous friction among the external forces and ignore other external forces applying to the vehicle. We consider that the vehicle should not drift sideways for a good driving performance. To derive a nonlinear state feedback control law, we define 'Maneuvering Trajectory' as a trajectory which is generated by the driver's maneuver and construct a Lyapunov-like function for the trajectory control system. Then feasibility of the proposed system is verified through several numerical simulations.

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This paper describes about the tension control mechanism of the variable geometry tracked vehicle (VGTV) for the purpose of the disaster response robot. The VGTV is suited for the traversing on rough terrain owing to the transformable track shape depending on a terrain variation. The tension control mechanism by using the U type spring is proposed for VGTV in this study. The tension of the belt will be controlled because that the rotation of arm deforms the U type spring. We mentioned the design method for the tension control mechanism. Theoretical and experimental results demonstrated the effectiveness of the proposed mechanism.

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Recently, demands about aerial photographing systems which gather photos and videos from the air as information are increasing. Especially, the aerial photographing devices of buildings at low altitude below 15 meters are desired. As these devices, there are a helium gas balloon, a helicopter, a pole, and a crane vehicle. However, these devices have some problems. For example, the device is strongly influenced by the wind. As the new photographing device improving the above problem, in this paper, we have developed a throw type photographing device packaged in a plastic capsule, and proposed an automatic photographing system. And we have developed a throwing device. Moreover, we show the effectiveness of the proposed system.

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A Sarin gas attack occurred in the Tokyo subway system on March 20, 1995. This fatal gas attack sickened many passengers. Since the disaster broke out underground, the main job of the rescue personnel was to transport victims on stretchers to a first-aid station above the ground. Therefore, we researched the development of a rescue support stretcher system for handling heavy casualties in underground areas or at stations in a quick and effective manner. The stretcher system is expected to help firefighters achieve efficient rescue operations. In this paper, we compare the effectiveness of our proposed rubber wheel with the past wheel on two different stairs.

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In this paper, we propose the system which identifies user's activities and acquires a life log from impact noise of daily objects in Kukanchi, without using a camera to reduce pshycological load. The logged noise is analized in the frequency domain appling spectram analysis method to identify what things users are using, action discriminate from the combination of thing currently used. We build the system that identifies what things users are using. We made sure if the system can identify the characteristic things with limited scene.

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The methods which improve space usage efficiency is important especially for city lives. Development of high-rise buildings and underground are one of the methods. However, those developments just lay out the spaces which are expanded in plane into vertical. Therefore, there are the physical and monetary limitations. So, we propose Smart Variable Space which realizes various functional spaces by changing its spatial configuration modules dynamically. In previous research, bedroom type and kitchen extension module were developed. However each module had movement mechanisms even though they were only used in changing layout of the space. It caused heavy weight and high cost of the modules. In this paper, we propose common carrier robot for various spatial configuration modules and develop the prototype model.

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To use the spatial memory system through human activities it is necessary to observe human behaviors in addition to the information on the usage of space. In this paper, we propose a method of motion recognition based on the time-series data of human posture. Similarity of motions is calculated by using the cosine similarity. This method can recognize motion regardless of individual difference of physical description. Humans are observed without any markers. Template data for motion recognition is generated based on the observation result.

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In this paper, we consider taking tau-margin, which specifies time remaining before collision without information of speed and distance proposed in ecological psychology, into design of mobile robot. We try to reduce state-space and give the robot robustness for change in speed by using tau-margin. We carried out various simulations to evaluate hypnosis's mobile robot. As a result, we confirmed the robot could achieve obstacle avoidance task regardless of changing in speed of robot. At the next stage, we are planning to test the usefulness of tau-margin to implemented robot.

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Gareki, which means collapsed structure or heaps of rubble in Japanese, is the main field of search and rescue activities in earthquake disasters. The author's group has been studying Gareki to accumulate engineering knowledge of disaster fields which can be effectively utilized for rescue robot evaluation and rescue operation planning. This report first explains the approach of Gareki engineering, and then summarizes the main results about Gareki structure analysis, digital Gareki archive, and rescue robot evaluation, followed by several topics to be investigated for applications in practical search and rescue activities.

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Search and rescue (SAR) dogs show the typical motions when they find victims. The authors aimed to develop the measurement methods of the SAR dog's motions which suggest the victim locations. It can be used for making investigation maps with victim locations. The authors focused on barking and tail's wagging, and digging as the motion. We used IMU for measurement. The sensors were put on the vest for dogs, and We use no additional clothes by preference. We evaluated their locations and whether it is possible to detect the motions. For example, we can detect wagging motion by IMU directly on the tail.

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The authors aim at developing Endo-skelton robot which can work in human life environment like human. In living spaces, the environments will be change with every moment. Therefore, robot need abilities to sense external environment. In this paper, the authors proposed the deformation amount of the skin estimation algorithm for tactile distribution sensing using a magnetic sensor. Using this sensor, robot can get the tactile information.

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This paper demonstrates the moisture measurement on the surface of the skin by a handy-type electrostatic sensor. The electrostatic sensor consists of the thin copper and polyimide films and measures the voltage generated by which the sensor is contacted and released the skin. The moisture condition of the skin is obtained from the voltage. In the experiment, the skin moisture at the forearm was measured by the proposed and commercial sensors, and their measured values were compared. As a result, it was shown that measurement of moisture on the surface of the skin is possible by the handy-type sensor.

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Gesture input with body motion has an operating limitation due to a lack of human precise positioning capability of the hand in the air. This study proposes simplified tactile feedback methods to improve spatial pointing performances in a button-selecting task. The proposed methods showed that simplified tactile feedbacks, which were just non-directional vibratory intensity or a few vibration patterns, could improve the pointing performance in a nine-buttons-selecting task by utilizing human proprioceptive sensation.

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An inexpensive joint torque measurement is achieved. A photo-interrupter is used to sense a distorsion of the joint axis due to the applied external torque. Despite the hardware system is setup at a low cost, an identification and compensation technique of the hysteresis characteristics in the strain body based on Bouc-Wen model improves the measurement accuracy.

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This study constructed a multi-layered structure of adjective pairs expressing the tactile properties of materials. We analyzed the causalities between adjectives by using the DEMATEL method involving twenty-nine adjective pairs and forty-six materials. Based on the evaluated causalities, we constructed a multi-layered structure, which contained three types of perceptual layers expressing tactile textures, i.e.: psychophysical, affective, and preferential layers. The psychophysical layer consisted of adjectives related to the physical properties of materials, which were rough/smooth, uneven/flat, hard/soft, cold/warm, sticky/slippery, and wet/dry. The affective layer expresses affective aspects such as comfortable/uncomfortable and friendly/unfriendly. The preferential layer, which is the highest layer of the structure, included adjectives related to individual preferences: rich/poor, good/bad, like/dislike, and happy/sad. The constructed structure supports us to understand affective and preferential perceptions of materials through psychophysical perceptions.

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When a wire hanger is placed sideways on the head, and the temporal region is sandwiched by the hanger, the head rotates involuntarily. This phenomenon has been named the "Hanger Reflex". We verified whether this phenomenon that has been observed only on the head occurs in other parts of the body, and found a similar rotation phenomenon to the "Hanger Reflex" in the waist and wrist. However, detailed condition of these phenomena remained unexplored. In this paper, we investigated the detailed occurrence condition of the Hanger Reflex at the wrist by measuring the pressure distribution on the wrist during the Hanger Reflex. We found two points located around the radical bone and the elbow bone that may contribute to the Hanger Reflex of the wrist.

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In future planetary missions, to increase the capability of exploration, co-operation among different types of exploration vehicles like orbiter, lander, and rover will be required. Because of the mobility and their deployment on the surface, rovers are favored. Cooperative approach seems to be more effective than using a single rover as each over adds a different perspective of the environment being explored. This paper presents ongoing works on cooperative Mars exploration using a conventional rover and a jumping robot. A jumping robot provides an additional aerial perspective much closer to the surface as compared to the orbiter. Added to that, a jumping robot has greater mobility than a conventional one. The data obtained from these two perspectives are then used for localization, mapping and path planning. In this paper some of the simulation results on visual odometry for jumping robot and cooperative path planning are presented.

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Our laboratory has been proposing novel flexible and super multi degree-of-freedom robotic arm "Morphable Beam Robot (MBR)" for helping and replacing astronauts. The MBR helps or replaces astronauts by monitoring instruments of onboard equipment, picking and passing tools to astronauts, recording of works of astronauts, or cleaning of an interior of a space station, etc. The Morphable beam is a constructional material used as an arm of desk lights. It can easily deform by a small force and can keep its shape after a force is removed. The MBR is structured by the Morphable Beam as the arm, and the end effector, the shaper, the deployment device. The end effector is attached to the tip of the beam. The shaper can move along the beam and bend any part of it. The deployment device can take-up and pay-out the beam. This robot has advantages of a wide working range with small storage space, and flexibility. The flexibility of the robot gives collision safety for astronauts who are working around it. However, there is a problem that a control method of the MBR does not be constructed because of its complexity and novelty. This paper reports results of study about a MBR's control method. It proposes the method of a representation of a shape of the Morphable beam, and the method of determining the shape of the MBR when the end effector's position and attitude is given. Moreover, it proposes the method of obstacle avoidance.

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JAXA is planning to launch Hayabusa 2 in December 2014. Hayabusa 2 will be equipped with an asteroid exploration rover which is developed by the consortium of universities. A goal of the rover is establishment of the technology for locomotion on asteroid surface. In our previous work, we proposed a new moving mechanism called "Environment-Driven Torquer, EDT." The EDT is driven by environment temperature with bimetal. In other words, the EDT can move the rover without both battery and CPU. We have developed an engineering model with magnet latch. In this paper, performance evaluation of the EDT is executed by free-fall experiments in ZARM.

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Due to irregular terrain and micro-gravity in an asteroid, particular locomotion mechanism is required for exploring an asteroid by a robot. As one of the asteroid robots, a ground grip locomotion robot is proposed. One of the most important things for realizing the robot is development of the finger mechanism which can certainly grip an uneven surface. In order to do this, it is needed to understand frictional characteristics between the finger and the surface, and to formulate grip condition. Therefore, we conducted the experimental evaluation of gripping characteristics by measuring the coefficient of friction between several finger shapes and simulated ground. Moreover, the possibility of gripping was analyzed by conditional equation. In this paper, the experimental results confirmed that conic shape is effective for ground grip locomotion robot.

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Recently the number of Space Debris is increasing. So we reviewed the way to relieve Space Debris by Using EDT(Electrodynamic Tether).Conventional way can't measure Space Debris in the daytime. Then, we considered the Space Debris measure way in daytime by using the Stereo Metod.

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This paper describes a method of reactionless point-to-point motion control of a planar 3R manipulator on a free-floating base, utilizing the transposed Jacobian matrix. In case of reactionless motion control the singularity problem is of complex nature and the accessible workspace is severely limited. To alleviate the problem, we divide the joints into two sets. The joint closest to the base is used to constrain the base orientation. The other two joints are used to position the manipulator end-effector. As a result, the behavior of the system becomes sufficiently simple to analyze the accessible area via a geometric approach. We conclude that if the desired position is set in the specified area, reactionless point-to-point motion control can be accomplished regardless of the initial configuration of the manipulator.

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The technology of debris removal is very important for permanent utilization of space. However, the technology for it is very premature for practical mission. One possibility is to use on-orbit servicing robot. However, it is hard for the space robot to capture a malfunctioning satellite that rotates with nutational motion. Therefore we have proposed a method using an eddy current brake with which the space robot can detumble the target motion at low risk of contingent contact since the eddy current brake induces braking force to the target without contact. This paper presents experimental verification of the effectiveness of the eddy current brake system for detumbling the target motion.

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In this paper, we presents how to reduce an analysis time for a dynamics of large-sized flexible space structure. Large space structure, such as Space Solar Power System is planned in near future, however these plans have a problem caused by a large flexibility of space structure. By conventional way, ground experiment and structural analysis are conducted to verify a possibility. It is difficult to conventional way to future large space structure because large flexible structures are suffered many factor and cause errors. We have been studying about online dynamics simulator to solve that problem in operation phase. One of the problem of developing online simulator is simulation time increased by a complexity of dynamics model. In conventional model, non-linearity is existed in a material property and structural property. Linearization is applied to conventional model to reduce a simulation time. As a result, simulation time is reduced with enough simulation accuracy.

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In this paper, we propose a method which a rover moves randomly on a surface of a micro gravity asteroid based on driving one motor. On an asteroid, and an unknown field, it is difficult to control the position or posture of the rover. In current missions, it seems that it is more important to explore a wide range of an asteroid than to reach predetermined destination. For the reason, we propose a random move method in any postures by simple driving unit using snap-through buckling. We also considered about randomness of the rover behavior by kinetics simulation ODE. As the result, we verified that the rover randomly moved by driving only one motor.

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The performance of an integrated navigation system is studied through the field experiments on a four-wheeled test-bed rover, AKI, operated in a terrestrial analogue. The AKI rover employs novel mobility and navigation systems which enable challenging long-range operations in natural terrain. AKI has a vision-based localization system aided by sun sensors and an inclinometer for absolute attitude estimation. The integration with absolute direction sensors improves accuracy in absolute positioning, as well as obtaining 5x run-time improvement of visual pose estimation. The paper reports the results of field experiment conducted in Izu-Oshima island in 2013, and discusses current challenges of the system.

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Space-debris removal mission which is imperative but dangerous strongly requires unmanned space robot. One of the biggest issues of the development of such space robot is a target capture technology. Plate-structures like solar array paddles are good candidates as grapple fixture on the debris. However, capture of such plate-structure is difficult because of its flexibility and fragility. The authors proposes a novel gripper system for the large plate-structure. The gripper can grasp the plane structure by plane-shaped fingers using shear adhesive like a gecko without load concentration. The fingers are driven by one actuator and have an anti-back-drive structure. The grasping force is maintained after the actuator servo-off. In this paper, the overview and evaluation of the gripper BBM is discussed.

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This paper presents that the method of position error correction for planetary rovers by using skyline matching azimuth estimation. Skyline matching is the method that estimating position and attitude by comparing two skylines. One skyline is simulated one from a digital elevation model (DEM). The other one is gotten from camera images taking around view. We focus on using azimuth attitude estimated by skyline matching to correct accumulation error of IMU. We modeled IMU angular velocity bias increases linearity. We conducted field experiments in Oshima Island and Chiba. As a result, estimated relative azimuth errors are lower than 1 degree. IMU azimuth errors decreased by 67% (6.25 deg to 2.15 deg ) and IMU position errors decreased by 70% (3.33m to 1.04m).

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In this paper, we firstly develop the system which connects an end-effector with wire just before launching the end-effector. We then conduct the experiment and verify the stable connection by six trials. We secondly propose the method to decelerate the flight speed of the end-effector after launching it. The spring is used for smooth deceleration and the ratchet is used for prevent the expanded spring from restoring. We develop the ratchet-reel system and confirm that it decelerates the translational speed of the end-effector as well as its rotational speed through experiments.

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Space elevator technology has attracted attention as a means of transport into space to replace the rocket technology. In this paper, we make a unit type experimental space elevator climber for belt tethers experimentally and execute a traveling stabilization control. In a space elevator climber, adjusting the pressing force that the wheels apply to the tether is critical in order to ensure that the climber ascends smoothly without slippage. The electric brake which can be long-distance travel at a constant speed in the descent is required. Therefore, the experimental space elevator climber with a pressing force adjusting unit and a dynamic braking unit is made, and the effectiveness is confirmed by the ascent and descent experiment.

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Electrodynamic Tether (EDT) is a promised debris deorbit device which is developed by JAXA. However the way of approaching and connecting it to debris is not established. This paper describes a novel capture mechanism for an used rocket. This mechanism is composed with a flexible tether part and a rigid fixation mechanism part. The fixation mechanism part is like a belt and has many hinges and joints with torsion springs and passively expands when it bumps to the debris and twines around the body of the rocket. The fixation mechanism part is very light and simple, but exhibits great ability to keep holding because of friction between the target and the surface of the hinges. This paper shows the result of experiments about the ability of tension loading endurance of the mechanism in a microgravity using a small bread-board model of the capture mechanism and a rocket model.

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For providing further support toward manned space activity, robots are expected to conduct various and also far dexterous tasks than ever. Such robot, Astronaut Supporting Robot, has to handle different shape, size and mass at various works. One solution is to develop multiple numbers of modularized robotic end effector (EE) that is exchangeable so as to obtain dexterity and reliability at once. In order to utilize modularized EE, robotic arm and EE need to possess interface mechanism (wrist interface) which can connect EE structurally and electrically with robotic arm, and as such interface designed especially for astronaut supporting robot, Detachable Wrist Interface Mechanism (DWIM) was proposed. In this paper, first requests and requirements for wrist interface, then the concept and design of DWIM are described briefly, and the current status of functional testing is reported.

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This paper describes the experiment platform on dynamics and control of orbital maintenance system using small satellite under the micro-gravity conditions. Micro-gravity condition is simulated by an air-floating system with stone plate, and precise positions are acquired by a motion capture system. We developed a robot, that has a serial link to contact a target, using "BoCCHAN-1" on-board computer. BoCCHAN-1 is an on-board computer for small satellites that has high calculation capability and rich interfaces connection to various kinds of actuators and sensors. Using BoCCHAN-1 computer, the robot has a possibility to perform high-level control. Results of experiment to verify the performance to control the arm and acquiring sensor data are also introduced.

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The space elevator technology has been attention as an alternative means of transport in rocket technology. In a space elevator, the traveling stabilization control is necessary to ensure passenger safety. However the climber is supported only by the rope tether and the attitude of the climber is easily affected to receive an environmental influence around. Therefore we introduced a gyro-stabilizer unit for the attitude stabilization and a disk brake unit for the safe descent . In this paper, we developed a unit type experimental space elevator climber with a gyro-stabilizer unit and a disc brake unit and executed the traveling stabilization control.

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We propose a unit type experimental space elevator climber in this paper. The unit type climber has the structure which connects the units of various mechanisms to the base frame. A cost reduction, simplification and time abridgment about the climber manufacturing which has new mechanisms are gotten using the unit type climber. In the present study, the manufacture of five units, for example tire drive, gyro-stabilizer, pressing force adjusting, disc brake, dynamic brake units. These effectiveness is shown by the experiment. This paper presents the tire driving unit which has pneumatic tire drive wheel especially.

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Asteroid probe Hayabusa 2 developed by JAXA will carry an asteroid exploration rover. The rover with hopping mechanism is developed by the consortium of universities. In our research project, we have proposed a basic model of buckling-type bimetal actuator driven by environmental temperature change on the asteroid surface. In this work, novel practical model of the buckling actuator using a small aluminum movable mass, in which a bimetal thin plate is attached for snap buckling motion, was fabricated. The bimetal actuator was successfully driven at about 65℃ and 49℃ in heating and cooling cycles, respectively. The actuator with a test mass hopped to a height of 25 mm by the buckling motion under 1G gravity condition, suggesting that the rover can hop to 1.6 m height at the asteroid surface. Deformation behavior of the bimetal actuator was evaluated in detail. It was plastically deformed at high temperature under clamping condition with large elastic deflection. However, there was no plastic affect at 80℃ under small elastic clamping condition.

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Asteroid probe Hayabusa 2 is developed by JAXA. Asteroid exploration rovers will be carried by Hayabusa 2. In our research project, we have developed an environmental-temperature-driven buckling actuator with a bimetal thin plate for a hopping mechanism of the rover. In this study, to characterize the hopping capability of the actuator, we conducted microgravity examination in ZARM drop tower. We fabricate a test rover for the microgravity examination with a rapid heating system for actuation in short free-fall time. Although reaction force from baseplate was incomplete in take-off, the rover hopped with a vertical velocity of 3.12 mm/s with 0.035 rad/s rotating rate.

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This paper presents the influence of shadow on the path planning of lunar rovers. To evaluate the influence of shadow, the terrain and shadow on the Moon are first modeled using the DEM derived from Kaguya data. Subsequently, on the basis of a path planning algorithm considering the shadow, numerical simulation is performed for the lunar terrain. In the simulation, a short path crossing shadow is compared with a long path avoiding shadow under various insolation conditions. The simulation results confirmed that although avoiding shadow adds a traveling distance and time, it doses not much affect the average power consumption but contributes to an increase in the average power generated.

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This paper described about practical evaluation and functional design of small self-control mobile robot. A new architecture for controlling small mobile robots with GPS is described. We designed and developed small self-control robot with simple computational machine for future Mars investigation rover. Many trial tests for practical requirements were preceded for each element of body structures, electric circuits and software programs. The result using small rocket laden a mobile robot was verified durability of body design and reliability of robot control system.

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This paper describes the IBM Wheel: mechanism of internal balanced magnetic wheel . IB-Magnet has been proposed and developed by prof. Shigeo Hirose. This time, we tried to expand the concept of it to the wheel mechanism.The prototype model is designed and developed. The basic motion of the prototype is confirmed experimentally.

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This paper describes the mechanical unit system to detect slippage by using connected differential mechanism for wall climbing robots. The feature of this system is that there are no electric elements but fully mechanism. Therefore, it can be useful for the inspecting mission of surfaces of wall without any electric power. The prototype model is designed and developed. The basic motion of the prototype is confirmed experimentally.

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This paper describes a motion control method for a capsule-type robot which consists of an outside capsule and a movable inner mass. To realize efficient motions, we propose a motion algorithm utilizing friction characteristics and collision phenomena. Proposed methods are investigated by theoretical analysis and numerical simulations.

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The traveling wave type omni-directional wall climbing robot imitates the snail locomotion mechanism. This movement mechanism enables stable motion because of a large contact area. Moreover, because of the magnetic adhesion mechanism used in this robot, this robot can climb ferromagnetic walls. However, this robot can move only on flat surfaces. In this paper, we developed universal joints for moving on curved surfaces and also the traveling wave type omni-directional wall climbing robot using universal joints. Furthermore, we confirmed the performance of this robot through experiments.

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We have developed VOW (vehicle on water) that can move in the rider's intended direction. However, the stability on water is not sufficient. In this paper, we derive the buoyancy and metacenter of frustum and simulate the stability on water. We propose the appropriate body size to improve the stability of VOW.

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This paper proposes a design algorithm of dual-PI controller for achieving stabilization control of a rotaty-type inverted pendulum robot. First, we show a decision technique of the PI gains in a sequential increase-decrease method, in which this system is considered in continuous-time control scheme. Next, by discretizing only the dual-PI controllers except the controlled object, we examine sampled-data control, in which the first PI controller satisfies 200ms-sampling time and the other is set to be 2ms. Finally, we reveal the successful stable behavior of the robot even in such slow sampling time.

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