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Japanese/English


Satoshi SATOH




Affiliation


Associate Professor
Ph.D.

Department of Mechanical Engineering
Graduate School of Engineering
Osaka University

Address: M4-508, 2-1, Yamadaoka, Suita, Osaka 565-0871, Japan

E-mail:
[my email]


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Research


  • Repetitive control of Hamiltonian systems based on variational symmetry

  • Gait generation for walking robots via iterative learning control

  • Passivity based control of stochastic systems

  • Nonlinear stochastic control using path integral analysis

  • Super precision formation flying control based on nonlinear and/or stochastic control theory


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Curriculum Vitae


  • Education:

    March 25, 2005, Bachelor of School of Engineering from Nagoya University

    March 25, 2007, Master of Engineering from Nagoya University

    March 25, 2010, Doctor of Engineering from Nagoya University


  • Career:

    April 2017 - present, Associate Professor in the Graduate School of Engineering, Osaka University

    2018, Part-time Lecturer in Kobe University (In charge of Advanced Applied Math.I)

    April 2010 - March 2017, Assistant Professor in the Faculty of Engineering, Hiroshima University

    August 2011 - November 2011, Visiting Researcher in the SNN Adaptive Intelligence, Radboud University Nijmegen

    April 2009 - March 2010, Japan Society for the Promotion of Science (JSPS) Research Fellow


  • Membership:

    SICE (The Society of Instrument and Control Engineers (Japan))

    ISCIE (The Institute of Systems, Control and Information Engineers (Japan))

    IEEE (The Institute of Electrical and Electronics Engineers (USA))

    IEEJ (The Institute of Electrical Engineers of Japan (Japan))

    JSME (The Japan Society of Mechanical Engineers (Japan))

    JSASS (The Japan Society for Aeronautical and Space Sciences (Japan))


  • Prizes:

    October 31, 2017, The 2nd International Symposium on Swarm Behavior and Bioinspired Robotics Best Paper Award

    March 8, 2016, SICE Control Division, Award of Annual Conference on Control Systems

    June 2, 2015, The 10th Asian Control Conference The Best Paper Award

    December 17, 2014, SICE 14th System Integration Division Annual Conference Best Session Award

    December 25, 2011, SICE 12th System Integration Division Annual Conference Best Session Award

    January 18, 2011, SICE Chugoku Chapter Young Author's Award

    March 23, 2010, SICE 10th System Integration Division Annual Conference Best Session Award

    February 24, 2010, SICE Young Author's Award

    August 21, 2009, ICROS-SICE International Joint Conference 2009 Student Travel Grant Award

    March 5, 2009, SICE Control Division Young Author's Award

    September 12, 2008, IEEE Robotics and Automation Society Japan Chapter Young Award (IROS2008)

    December 22, 2007, SICE 8th System Integration Division Annual Conference Best Session Award



    Prizes awarded to supervised students or co-authors:

    June 20, 2019, The 32nd International Symposium on Space Technology and Science Student Session Awards Finalist

    January 21, 2019, SICE Chugoku Chapter Young Author's Award

    January 20, 2017, SICE Chugoku Chapter Young Author's Award




  • Grants:

    April 2018 - March 2021, JSPS Grant-in-Aid for Scientific Research (C) (4,420,000JPY)

    April 2015 - March 2018, JSPS Grant-in-Aid for Young Scientists (B) (4,160,000JPY)

    April 2012 - March 2015, JSPS Grant-in-Aid for Young Scientists (B) (4,290,000JPY)

    August 2011 - November 2011, Strategic Fostering Program for Young Researchers Engaged in Natural Sciences toward the Establishment of the Sustainable Society (750,000JPY)

    July 2010 - March 2012, JSPS Grant-in-Aid for Research Activity Start-up (3,146,000JPY)

    April 2009 - March 2010, JSPS Grant-in-Aid for JSPS Fellows (700,000JPY)

    April 2009, JSPS Grant-in-Aid for Young Scientists (B) (3,500,000JPY)
    (However, I respectfully declined this grant to prioritize JSPS Research Fellow.)

    October 2008 - March 2009, Global COE Program Research grant (1,000,000JPY)

    June 2007 - March 2008, 21st COE Program Research grant (1,000,000JPY)



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Hobby


  • Snowboarding

  • Kendo

  • Boxing


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Publications


Journal Papers


    Notice: Selected papers are the authors' version of the publications. Changes introduced by the publishing processes may not be reflected in those documents. Copyright and all rights therein are maintained by the authors or by other copyright holders.


  1. S. Satoh and H. J. Kappen:"Nonlinear stochastic optimal control with input saturation constraints based on path integrals", IEEJ Transactions on Electrical and Electronic Engineering , Vol. *, 2020, pp. *-*;
    DOI: new!


  2. D. Higashiyama, Y. Shoji, S. Satoh, I. Jikuya, and K. Yamada:"Attitude control for spacecraft using pyramid-type variable-speed control moment gyros", Acta Astronautica, Vol. *, 2020, pp. *-*;
    DOI:


  3. T. Nishishita, S. Satoh, and K. Yamada:"Stochastic bounded stability in the three-body problem with probabilistic uncertainty using port-Hamiltonian representation", Aerospace Technology Japan, Vol.*, No.*, 202*, pp.*-*;
    DOI:


  4. D. Tate, K. Kitamura, S. Satoh, and K. Yamada:"Optimization of low-thrust transfer trajectories to L1 and L2 halo orbits in the Earth-Moon system", AEROSPACE TECHNOLOGY JAPAN, Vol. 19, 2020, pp. 63-70;
    DOI: 10.2322/astj.JSASS-D-19-00027


  5. K. Nishimura, S. Satoh, and K. Yamada:"Analysis of a distant retrograde orbit in the Hill three-body problem", Acta Astronautica, Vol. 170, 2020, pp. 365-374;
    DOI: 10.1016/j.actaastro.2019.12.028


  6. A. Taniguchi, S. Satoh, and K. Yamada:"Simultaneous learning optimization of Hamiltonian systems and trajectory tracking around an asteroid", Journal of Guidance, Control, and Dynamics, Vol. 43, No. 2, 2020, pp. 222-231;
    DOI: 10.2514/1.G004533


  7. T. Sugiura, S. Satoh, Y. Shoji, and K. Yamada:"Optimal trajectory design of spacecraft using multi-flyby", AEROSPACE TECHNOLOGY JAPAN, Vol. 18, 2019, pp. 217-225;
    DOI: 10.2322/astj.JSASS-D-19-00026


  8. S. Satoh and K. Fujimoto:"Iterative feedback tuning for Hamiltonian systems based on variational symmetry", International Journal of Robust and Nonlinear Control, Vol.29, No.16, 2019, pp. 5845-5865; Paper
    DOI: 10.1002/rnc.4692


  9. N. Tasaka, S. Satoh, T. Hatanaka, and K. Yamada:"Stochastic stabilization of rigid body motion of a spacecraft on SE(3)", International Journal of Control, Vol.*, No.*, 202*, pp.*-*; Paper
    DOI: 10.1080/00207179.2019.1637544


  10. M. Kimura, S. Satoh and K. Yamada:"Continuous control for long-distance formation in eccentric orbits", Transactions of JSASS Aerospace Technology Japan, Vol.17, No.5, 2019, pp. 569-576;
    DOI: 10.2322/tastj.17.569


  11. S. Satoh and K. Fujimoto:"Gait generation for a biped robot with knees and torso via trajectory learning and state-transition estimation", To appear in Artificial Life and Robotics, Vol.23, No.4, 2018, pp.489-497; Paper
    DOI: 10.1007/s10015-018-0476-4


  12. K. Yoshida, S. Satoh and M. Saeki:"Component-based detailed modeling of a small wheeled mobile robot with indispensable nonlinearities", SICE Journal of Control, Measurement, and System Integration , Vol.11, No.1, 2018.1, pp.72-80; Paper (J-STAGE)
    DOI: 10.9746/jcmsi.11.72


  13. S. Satoh, R. Ebimoto and M. Saeki:"A force regulation guaranteeing input-to-state stability for a robot manipulator in a potential field", IEEJ Transactions on Electrical and Electronic Engineering, Vol.12, No.S2, 2017.12, pp.S40-S48; Paper (Wiley Online Library)
    DOI: 10.1002/tee.22565


  14. M. Saeki, K. Hinokimoto, N. Wada and S. Satoh:"A data-driven design method of PID controller with noise filter", IEEJ Transactions on Electrical and Electronic Engineering, Vol.12, No.S2, 2017.12, pp.S74-S81;
    DOI: 10.1002/tee.22552


  15. S. Satoh:"Input-to-state stability of stochastic port-Hamiltonian systems using stochastic generalized canonical transformations", International Journal of Robust and Nonlinear Control; , Vol.27, No.17, 2017.11, pp.3862-3885; Paper
    DOI: 10.1002/rnc.3769


  16. S. Satoh, H. J. Kappen and M. Saeki:"An iterative method for nonlinear stochastic optimal control based on path integrals", IEEE Transactions on Automatic Control , Vol.62, No.1, 2017.1, pp.262-276; Paper
    DOI: 10.1109/TAC.2016.2547979


  17. S. Satoh, K. Fujimoto and M. Saeki:"Transition to an optimal periodic gait by simultaneous input and parameter optimization method of Hamiltonian systems", Artificial Life and Robotics, Vol.21, No.3, 2016.7, pp. 258-267; Paper
    DOI: 10.1007/s10015-016-0294-5


  18. M. Saeki, N. Wada and S. Satoh:"Stability analysis of feedback systems with dead-zone nonlinearities by circle and Popov criteria", Automatica, Vol.66, 2016.4, pp.96-100;
    DOI: 10.1016/j.automatica.2015.12.020


  19. M. Saeki, Y. Kurosaka, N. Wada and S. Satoh:"Parameter space design of a nonlinear filter by volume rendering", Transactions of the Institute of Systems, Control and Information Engineers , Vol.28, No.10, 2015.10, pp.419-425;
    DOI: 10.5687/iscie.28.419


  20. S. Satoh and M. Saeki:"Bounded stability of nonlinear stochastic systems", SICE Journal of Control, Measurement, and System Integration , Vol.8, No.2, 2015.2, pp.181-187; Paper (J-STAGE)
    DOI: 10.9746/jcmsi.8.181


  21. J. Yamauchi, S. Satoh, T. Hatanaka and M. Fujita:"Stochastic estimation performance analysis of visual motion observer", Transactions of the Institute of Systems, Control and Information Engineers , Vol.27, No.11, 2014.11, pp.443-451;
    DOI: 10.5687/iscie.27.443


  22. S. Satoh and M. Saeki:"Bounded stabilization of stochastic port-Hamiltonian systems", International Journal of Control , Vol.87, No.8, 2014.3, pp.1573-1582; Paper
    DOI: 10.1080/00207179.2014.880127


  23. M. Saeki, N. Yamanari, N. Wada and S. Satoh:"Selection of a reference model for model-matching data-driven control design", Transactions of the Institute of Systems, Control and Information Engineers , Vol.27, No.4, 2014.3, pp.73-79;
    DOI: 10.5687/iscie.27.73


  24. S. Satoh, K. Fujimoto and M. Saeki:"Optimal gait generation via trajectory learning and robot parameter tuning based on learning optimal control", Transactions of the Society of Instrument and Control Engineers , Vol.49, No.9, 2013.9, pp.846-854; Paper (in Japanese)
    DOI: 10.9746/sicetr.49.846


  25. S. Satoh, K. Fujimoto and S. Hyon:"Gait generation via unified learning optimal control of Hamiltonian systems", Robotica , Vol.31, No.5, 2013.8, pp.717-732; Paper
    DOI: http://dx.doi.org/10.1017/S0263574712000756


  26. S. Satoh and K. Fujimoto:"Passivity based control of stochastic port-Hamiltonian systems", IEEE Transactions on Automatic Control , Vol.58, No.5, 2013.5, pp.1139-1153; Paper
    DOI: 10.1109/TAC.2012.2229791


  27. T. Iwamoto, M. Saeki, S. Satoh, and N. Wada:"Speeding up of calculation for mu-synthesis of low order H-infinity controllers", SICE Journal of Control, Measurement, and System Integration , Vol.6, No.3, 2013.5, pp.202-207;
    DOI: 10.9746/jcmsi.6.202


  28. M. Saeki and N. Wada and S. Satoh :"Gain estimation with filterbank using a transient response and extension theorem", Transactions of the Society of Instrument and Control Engineers , Vol.49, No.4, 2013.4, pp.425-431;
    DOI: 10.9746/sicetr.49.425

  29. S. Satoh and M. Saeki:"On exponential stability of periodic orbits in left-continuous dynamical systems  Generalized Poincaré mapping approach", Transactions of the Society of Instrument and Control Engineers , Vol.48, No.10, 2012.10, pp.657-663; Paper (in Japanese)
    DOI: 10.9746/sicetr.48.657

  30. K. Fujimoto and S. Satoh:"Repetitive control of Hamiltonian systems based on variational symmetry", Systems & Control Letters, Vol.60, No.9, 2011.9, pp.763-770; Paper
    DOI: 10.1016/j.sysconle.2011.04.025


  31. S. Satoh, K. Fujimoto and S. Hyon:"A gait generation framework via learning optimal control considering discontinuous state transitions", Journal of the Robotics Society of Japan , Vol.29, No.2, 2011.3, pp.90-100; Paper (in Japanese)
    DOI: 10.7210/jrsj.29.212


  32. S. Satoh and K. Fujimoto:"On observer based stochastic trajectory tracking control of mechanical systems", Transactions of the Society of Instrument and Control Engineers , Vol.46, No.2, 2010.2, pp.106-113; Paper (in Japanese)
    DOI: 10.9746/sicetr.46.106

  33. S. Satoh and K. Fujimoto:"Passivity based control of stochastic port-Hamiltonian systems", Transactions of the Society of Instrument and Control Engineers , Vol.44, No.8, 2008.8, pp.670-677; Paper (in Japanese)
    DOI: 10.9746/ve.sicetr1965.44.670

  34. S. Satoh, K. Fujimoto and S. Hyon:"Optimal gait generation for a one-legged robot based on variational symmetry of Hamiltonian systems", Transactions of the Society of Instrument and Control Engineers , Vol.43, No.12, 2007.12, pp.1103-1110; Paper (in Japanese)
    DOI: 10.9746/ve.sicetr1965.43.1103

  35. S. Satoh, K. Fujimoto and S. Hyon:"Gait generation for a hopping robot via iterative learning control based on variational symmetry", Lecture Notes in Control and Information Sciences, Vol.366, 2007.8, pp.197-208; Paper


  36. K. Fujimoto and S. Satoh:"On repetitive control of Hamiltonian systems based on variational symmetry", Transactions of the Society of Instrument and Control Engineers , Vol.43, No.8, 2007.8, pp.711-713; Paper (in Japanese)
    DOI: 10.9746/ve.sicetr1965.43.711


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Refereed Conference Papers


  1. M. Ciavola, E. Capello, S. Satoh and K. Yamada:"Comparison of SDA and MPC controllers of a CMG system for the singularity problem", Proceedings of SICE 2019 Annual Conference , Hiroshima, Japan, 2019.9, pp.541-544; new!


  2. S. Satoh:"Attitude estimation for a spacecraft based on stochastic control theory", Proceedings of SICE 2019 Annual Conference , Hiroshima, Japan, 2019.9, pp.545-547; new!


  3. S. Satoh:"Introduction to an iterative solution method for nonlinear stochastic optimal control problems", Proceedings of SICE 2019 Annual Conference , Hiroshima, Japan, 2019.9, pp.1082-1084; new!


  4. N. Tasaka, S. Satoh and K. Yamada:"Stochastic systems modeling and stabilization of the attitude of a spacecraft", Proceedings of the 32nd International Symposium on Space Technology and Science (ISTS2019) , Fukui, Japan, 2019.6.15-21, 2019-d-006;


  5. T. Nishishita, S. Satoh and K. Yamada:"Stochastic bounded stability in the three-body problem with probabilistic uncertainty using port-Hamiltonian representation", Proceedings of the 32nd International Symposium on Space Technology and Science (ISTS2019) , Fukui, Japan, 2019.6.15-21, 2019-d-013;


  6. M. Iwabuchi, S. Satoh and K. Yamada:"Stabilization of a spacecraft in a halo orbit via differential dynamic programming with input saturation constraints", Proceedings of the 32nd International Symposium on Space Technology and Science (ISTS2019) , Fukui, Japan, 2019.6.15-21, 2019-d-117s; The 32nd International Symposium on Space Technology and Science Student Session Awards Finalist


  7. S. Satoh and K. Yamada:"Spacecraft attitude estimation based on stochastic kinematics modeling on SO(3)", Proceedings of the 50th ISCIE International Symposium on Stochastic Systems Theory and Its Application (SSS2018) , Kyoto, Japan, 2018.11, pp.135-136;


  8. S. Satoh, T. Tasaka and N. Wada:"Bounded stability of stochastic mechanical port-Hamiltonian systems under both deterministic and stochastic disturbances", Proceedings of SICE 2018 Annual Conference , Nara, Japan, 2018.9, pp.1418-1420;


  9. S. Satoh and K. Fujimoto:"Gait generation for a biped robot with knees and torso via trajectory learning and state-transition estimation", To appear in Proceedings of the 2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM2017), Kyoto, Japan, 2017.10.29-11.1; won the 2nd International Symposium on Swarm Behavior and Bioinspired Robotics Best Paper Award


  10. J. Yamauchi, K. Kizaki, T. Ibuki, T. Hatanaka, S. Satoh and M. Fujita: "Performance Analysis of Visual Feedback Leader-Following Pose Synchronization with Stochastic Uncertain Leader in Three Dimensions", Proceedings of the 1st IEEE Conference on Control Technology and Applications (CCTA2017) , Kohala Coast, Hawai'i, 2017.8.27-30, pp.349-354;


  11. S. Satoh, T. Kamiike and M. Saeki:"Nonlinear stochastic H-infinity control using local quadratic approximation", Proceedings of SICE International Symposium on Control Systems 2016, Nagoya, Japan, 2016.3, (USB) 2A1-5;


  12. S. Satoh, K. Fujimoto and M. Saeki:"Transition to a passive walking gait via input and parameter optimization of Hamiltonian systems", Proceedings of the First International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM2015), Kyoto, Japan, 2015.10, pp.478-482;

  13. S. Satoh, K. Fujimoto and M. Saeki:"Input and plant parameter optimization via learning optimal control of Hamiltonian systems", Proceedings of the 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC2015), Lyon, France, 2015.7, (USB) 0043 (Invited);

  14. M. Saeki, Y. Kurosaka, N. Wada and S. Satoh: A parameter space design method using simulation, Proceedings of the 10th Asian Control Conference (ASCC2015) , Sabah, Malaysia, 2015.5-6, pp. 797-802;


  15. J. Yamauchi, S. Nakano, S. Satoh, T. Hatanaka and M. Fujita: Stochastic performance analysis of visual motion observer and experimental verifications, Proceedings of the 10th Asian Control Conference (ASCC2015) , Sabah, Malaysia, 2015.5-6, won the 10th Asian Control Conference The Best Paper Award


  16. S. Satoh and M. Saeki:"A unified approach to nonlinear stochastic control based on path integral analysis", Proceedings of SICE International Symposium on Control Systems 2015, Tokyo, Japan, 2015.3, (USB) 712-1; won the SICE Control Division, Award of Annual Conference on Control Systems


  17. M. Saeki, K. Kondo, N. Wada and S. Satoh:"Data-driven online unfalsified control by using analytic center", Proceedings of 53rd IEEE Conference on Decision and Control (CDC2014) , Los Angeles, USA, 2014.12, pp.2026-2031;


  18. S. Satoh and M. Saeki:"A study of stochastic input-to-state stability of a class of stochastic port-Hamiltonian systems", Proceedings of Mathematical Theory of Networks and Systems (MTNS2014), Groningen, The Netherlands, 2014.7, pp. 1356-1359; Paper

  19. S. Satoh and M. Saeki:"Bounded stabilization of a class of stochastic port-Hamiltonian systems", Proceedings of Mathematical Theory of Networks and Systems (MTNS2012), Melbourne, Australia, 2012.7, (CD-ROM) 0150 (Invited);
    Paper (A mistake in the proof of Theorem has been fixed.)

  20. T. Iwamoto, M. Saeki and S. Satoh:"Speeding up of calculation for mu synthesis of low order H-infinity controllers", Proceedings of SICE 2011 Annual Conference , Tokyo, Japan, 2011.9, pp.1762-1767;


  21. S. Satoh, K. Fujimoto and S. Hyon:"Periodic gait generation via repetitive optimal control of Hamiltonian systems", To appear in Proceedings of the 18th IFAC World Congress (IFAC2011) , Milano, Italy, 2011.8-9, pp.6912-6917; Paper


  22. S. Satoh and K. Fujimoto:"A symmetric structure of variational and adjoint systems of stochastic Hamiltonian systems", Proceedings of 49th IEEE Conference on Decision and Control (CDC2010) , Atlanta, USA, 2010.12, pp.1423-1428; Paper


  23. S. Satoh and K. Fujimoto:"Stabilization of time-varying stochastic port-Hamiltonian systems based on stochastic passivity", Proceedings of IFAC Symposium on Nonlinear Control Systems (NOLCOS2010) , Bologna, Italy, 2010.9, pp.611-616; Paper


  24. S. Satoh, M. Ikeda, K. Fujimoto and Y. Hayakawa:"Modification of learning optimal gait generation method in considering discontinuous velocity transitions", Proceedings of SICE 2010 Annual Conference , Taipei, Taiwan, 2010.8, pp.2794-2799; Paper


  25. S. Satoh and K. Fujimoto:"Observer based stochastic trajectory tracking control of Mechanical systems", Proceedings of ICROS-SICE International Joint Conference 2009 (ICCAS-SICE2009) , Fukuoka, Japan, 2009.8, pp.1244-1248; Paper won the ICROS-SICE International Joint Conference 2009 Student Travel Grant Award


  26. S. Satoh and K. Fujimoto:"On passivity based control of stochastic port-Hamiltonian systems", Proceedings of 47th IEEE Conference on Decision and Control (CDC2008) , Cancun, Mexico, 2008.12, pp.4951-4956; Paper


  27. S. Satoh, K. Fujimoto and S. Hyon:"A framework for optimal gait generation via learning optimal control using virtual constraint", Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2008) , Nice, France, 2008.9, pp.3426-3432; Paper won the 2008 IEEE Robotics and Automation Society Japan Chapter Young Award


  28. S. Satoh, K. Fujimoto and S. Hyon:" Biped gait generation via iterative learning control including discrete state transitions ", Proceedings of the 17th IFAC World Congress (IFAC2008) , Seoul, Korea, 2008.7, pp.1729-1734; Paper


  29. S. Satoh, K. Fujimoto and S. Hyon:"Gait generation for passive running via iterative learning control", Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006) , Beijing, China, 2006.10, pp.5907-5912; Paper


  30. K. Fujimoto and S. Satoh:"On repetitive control of Hamiltonian systems based on variational symmetry", Proceedings of Mathematical Theory of Networks and Systems (MTNS2006), Kyoto, Japan, 2006.7;Paper


  31. S. Satoh, K. Fujimoto and S. Hyon:"Gait generation for a hopping robot via iterative learning control based on variational symmetry", Proceedings of the 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC2006) , Nagoya, Japan, 2006.7, pp.125-130; Paper


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Survey/ Tutorial Papers


  1. S. Satoh:"Nonlinear stochastic optimal control methods based on path integral analysis", Systems, Control and Information, Vol.62, No.5, 2018.5, pp.181-187;


  2. S. Satoh and K. Fujimoto:"Control of nonlinear stochastic systems based on the properties of dynamical systems", Measurement and Control, Vol.50, No.11, 2011.11, pp.981-986; Paper (in Japanese)


Books



Invited Talk


  1. S. Satoh:"A unified framework for nonlinear stochastic control problems based on path integral analysis", SICE International Symposium on Control Systems 2016, Nagoya, Japan, 2016.3.9; Link


  2. S. Satoh:"Nonlinear stochastic optimal control based on iterative path integral method", Neuro2013 Symposium "Reinforcement learning for high-dimensional systems based on stochastic state estimation" (Organizers: Dr. Jun Morimoto and Dr. Eiji Uchibe) , Kyoto, Japan, 2013.6.20-23; Link


Other Presentations


  1. S. Satoh:"Learning optimal control of Hamiltonian systems and its application to optimal gait generation", ATR Computational Neuroscience Labs (hosted by Dr. Jun Morimoto) , Kyoto, 2017.8.29;


  2. S. Satoh:"Iterative Path Integral Method for Nonlinear Stochastic Optimal Control", Workshop on statistical physics of inference and control theory , Granade, Spain, 2012.9.12-16;


    Video Lecture


  3. S. Satoh:"On passivity based control of stochastic port-Hamiltonian systems", Mathematics and Natural Sciences, University of groningen (hosted by Prof. Jacquelien Scherpen and Prof. Arjan van der Schaft) , Groningen, The Netherlands, 2011.11.22;


  4. S. Satoh:"Learning optimal control of deterministic and stochastic Hamiltonian systems", SNN Adaptive Intelligence, Radboud University Nijmegen (hosted by Prof. Bert Kappen) , Nijmegen, The Netherlands, 2011.9.9 and 9.23;


  5. S. Satoh:"Optimal gait generation for walking robots via optimal learning control based on a symmetric property of Hamiltonian systems", Mechanical and Aerospace Engineering, UCLA (hosted by Prof. Tsu-Chin Tsao) , Los Angeles, USA, 2009.3.13; Flyer


  6. S. Satoh, K. Fujimoto and S. Hyon:"Optimal gait generation via virtual constraint and learning optimal control", Poster presentations of IEEE International Symposium on Micromechatronics and Human Science (MHS) , Nagoya, Japan,2008.11;


Theses


  • S. Satoh:"Optimal gait generation for legged robots based on variational symmetry of Hamiltonian systems", Master Thesis, Nagoya University, 2007.3; Paper


  • S. Satoh:"Control of Deterministic and Stochastic Hamiltonian Systems Application to Optimal Gait Generation for Walking Robots", PhD Thesis, Nagoya University, 2010.3; Abstract , Paper




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Copyright(C) Satoshi Satoh