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Daisuke Yamada

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4 papers
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4

NeurIPS Conference 2025 Conference Paper

Composing Linear Layers from Irreducibles

  • Travis Pence
  • Daisuke Yamada
  • Vikas Singh

Contemporary large models often exhibit behaviors suggesting the presence of low-level primitives that compose into modules with richer functionality, but these fundamental building blocks remain poorly understood. We investigate this compositional structure in linear layers by asking: \textit{can we identify/synthesize linear transformations from a minimal set of geometric primitives? } Using Clifford algebra, we show that linear layers can be expressed as compositions of bivectors---geometric objects encoding oriented planes---and introduce a differentiable algorithm that decomposes them into products of rotors. This construction uses only $\mathcal{O}(\log^2 d)$ parameters, versus $\mathcal{O}(d^2)$ required by dense matrices. Applied to the key, query, and value projections in LLM attention layers, our rotor-based layers match the performance of strong baselines such as block-Hadamard and low-rank approximations. Our findings provide an algebraic perspective on how these geometric primitives can compose into higher-level functions within deep models.

ICRA Conference 2009 Conference Paper

Integration of impedance control and manipulability regulation for a finger-arm robot

  • Jian Huang 0008
  • Daisuke Yamada
  • Takayuki Hori
  • Masayuki Hara
  • Tetsuro Yabuta

Motion control algorithms were proposed for a 9-DOF finger-arm robot by using the finger manipulability obtained in a previous study. However, in the previous study, only methods for achieving unconstrained movement of the finger-arm robot were discussed. In this paper, the authors propose a novel method for having a finger-arm robot complete a constrained task by integrating impedance control with manipulability control of the finger. First, methods of applying the previous heuristic method to the passive impedance control and the active impedance control were developed; and experiments were performed to demonstrate the features. Then, an impedance control combined with the steepest ascent method to modulate the manipulability of the finger was proposed. The proposed method demonstrates a strong performance even when a dynamic external force is applied to the finger. By using the proposed method, the arm actively moves along a direction to effectively maintain the moving potential of the finger during both the unconstrained and the constrained tasks.

IROS Conference 2008 Conference Paper

Control of a finger-arm robot by employing the steepest ascent method to modulate the finger's manipulability

  • Jian Huang 0008
  • Minoru Harada
  • Daisuke Yamada
  • Masayuki Hara
  • Tetsuro Yabuta

Human beings usually locate their hand at the position with a higher moving potential in order to easily deal with various situations. Inspired by the human hand-arm movement, this study proposes a motion control issue for a serial-linkage finger-arm robot according to W f.

IROS Conference 2001 Conference Paper

Artificial finger skin having ridges and distributed tactile sensors used for grasp force control

  • Daisuke Yamada
  • Takashi Maeno
  • Yoji Yamada

An artificial elastic finger skin for robot fingers was developed for controlling the grasp force when the weight and friction coefficient of the grasped object are unknown. The elastic finger skin has ridges at the surface to divide the stick/slip area. It also has a pair of tactile sensors embedded per one ridge similar to human fingertips. The surface of the whole finger is curved so that the reaction force can be distributed. A finite element (FE) model of the elastic finger skin was developed to perform a dynamic contact analysis using the FE method in order to design the elastic finger skin. The elastic finger skin was then constructed. It was confirmed by calculation and experiment that the incipient slippage of the ridge that occurs near the edge of contact area can be detected. This result is useful for controlling the grasping force when the weight and friction coefficient between the elastic finger skin and grasping object are unknown.

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