IMADU Atsushi


Search Institutional Repository



Laboratory location

Sugimoto Campus

Research Areas 【 display / non-display

Dynamics/Control, Robotics/Mechatronics

Research Career 【 display / non-display

  • Study on Control of Power Assist Cart


    Keyword in research subject:  Man Machine Cordination, Power Assist Control

Association Memberships 【 display / non-display

  • The Japan Society of Mechanical Engineers

  • IEEE

  • The Robotics Society of Japan

Current Career 【 display / non-display

  • Osaka City University   Graduate School of Engineering   Mechanical and Physical Engineering Course   Lecturer  

Graduate School 【 display / non-display


    Tokyo Institute of Technology  Graduate School, Division of Science and Engineering 

Graduating School 【 display / non-display


    Tokyo Institute of Technology   Faculty of Engineering  


Published Papers 【 display / non-display

  • Optimum Cable Length for Helicopter with Cable to Ground Station

    Hirotaka Noguchi, Tadao Kawai

    SICE  52 ( 4 )  2016.04

  • Study on Flight Formation Planning to Avoid Obstacles for Multi-Helicopter Cabled to Ground Station

    Imadu Atsushi, Izuhara Shoma, Kawai Tadao

    The Robotics Society of Japan, Journal of the Robotics Society of Japan  36 ( 1 ) 78 - 85 2018.01  [Refereed]

     View Summary

    A planning method for helicopters cabled to a ground station is proposed avoiding contact between the cables and obstacles. Position of relay helicopter and length of cables are optimized in regard to total thrust required for the helicopters considering constraints with the penalty method. Example analyses of flying range with double and single helicopter systems are performed with the proposed method. Double-helicopter system has advantage compared to single-helicopter system in areas with low-ceiling and large depth or areas above convex obstacles. Experiments illustrate validity of the analyses.

    DOI CiNii

  • Control Method for Helicopters Tethered to Ground Station with Compensation for Disturbance Caused by Cable Tension

    Imadu Atsushi, Sakai Takanori, Kawai Tadao

    JOURNAL OF ROBOTICS AND MECHATRONICS  29 ( 4 ) 737 - 745 2017.08  [Refereed]

  • Optimum Cable Length for Helicopter with Cable to Ground Station

    IMADU Atsushi, NOGUCHI Hirotaka, KAWAI Tadao

    The Society of Instrument and Control Engineers, Transactions of the Society of Instrument and Control Engineers  52 ( 4 ) 220 - 227 2016  [Refereed]

     View Summary

    This paper proposes a control method for a helicopter connected to a station on the ground with power supply and signal cables. Although the helicopter has virtually unlimited flight time because of the power supply from the station, the cable applies an extra load to the helicopter. The static cable tension exerted on the helicopter is estimated on the assumption that the cable can be considered to be a catenary. We obtain the optimum cable length for each helicopter position, which minimizes the helicopter thrust needed to balance the cable tension and gravity force on the helicopter. The energy loss due to the cable load is minimized by reeling the cable in or out to maintain the optimum length, according to the helicopter position. Experiments illustrate validity of the analysis.

    DOI CiNii

  • Control of Helicopters Cabled to Ground Station

    50 ( 12 ) 821 - 828 2014.12

display all >>

Conference Activities & Talks 【 display / non-display

  • Preliminary Study on Slung Fire-fighting Helicopter


    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2017  The Japan Society of Mechanical Engineers

     View Summary

    <p>We propose a fire-fighting helicopter which is slung by a hose from a larger manned helicopter with tank. The slung helicopter approaches closer to the fire and shoots fire extinguisher while the manned helicopter is able to stay away from the fire. Experimental helicopter controlled by a simple yaw control performed water shot test to a point 7.8m away.</p>


  • Yaw control for lateral overhanging propeller


    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2017  The Japan Society of Mechanical Engineers

     View Summary

    <p>This paper suggests multicopters with lateral overhanging propellers and control for them. Conventional multicopters use reaction-torque for yaw-control. Thrust by lateral propellers are used for yaw-control and supporting lateral external force. Experiment illustrates lateral propellers reduced yaw errors.</p>


  • Development of Walking Guidance Device for the Visually Impaired

    WECC2015  2015.12 

  • Study on Design Methodology of Power-Assisted Luggage Cart with Rotational Arms for Stair Climbing

    SICE Annual conference 2011  2011.09 

  • Walking Guide Interface Mechanism and Navigation System for the Visually Impaired

    4th International Conference on Human System Interaction  2011.05