Bio-inspired robots

Legged robot

Motion Control

Biologically Inspired mechanism

Mechanism desing

Informatics, Robotics and intelligent systems

Informatics, Mechanics and mechatronics

Informatics, Intelligent robotics

Oct. 2022 - Present
The University of Electro-Communications, Graduate School of Informatics and Engineering, School of Informatics and Engineering, "Department of Mechanical and Intelligent Systems Engineering, Cluster II （Emerging Multi-interdisciplinary Engineering）", Assistant Professor

Oct. 2022 - Mar. 2023
Nagoya University, Graduate School of Engineering Aerospace Engineering, 招へい教員

Sep. 2021 - Sep. 2022
Nagoya University, Graduate School of Engineering, Designated assistant professor

Apr. 2020 - Aug. 2021
The University of Electro-Communications, Graduate School of Informatics and Engineering Department of Mechanical and Intelligent Systems Engineering, Postdoctoral Research Fellow

Apr. 2017 - Mar. 2019
Japan Society for the Promotion of Science (JSPS), Research Fellowships for Young Scientists(DC2)

Apr. 2016 - Mar. 2020
The University of Electro-Communications, Graduate School of Informatics and Engineering, Department of Mechanical and Intelligent Systems Engineering, Japan

Apr. 2014 - Mar. 2016
The University of Electro-Communications, Graduate School of Informatics and Engineering, Department of Mechanical and Intelligent Systems Engineering, Japan

Apr. 2010 - Mar. 2014
The University of Electro-Communications, Faculty of Informatics and Engineering, Department of Mechanical and Intelligent Systems Engineering, Japan

Apr. 2023 - Present
International Union Committee, The Japan Society of Mechanical Engineers, Society

Jan. 2023 - Present
幹事, 計測自動制御学会 SI部門運営委員ロボティクス部会, Society

Sep. 2022 - Dec. 2022
Program Committee, IEEE ROBIO2022, Society

Sep. 2021 - Dec. 2021
Program Committee, IEEE ROBIO2021, Society

Sep. 2019 - Dec. 2019
Program Committee, IEEE ROBIO2019, Society

Dec. 2024
第25回計測自動制御学会システムインテグレーション部門講演会(SI2024)
足先に近接覚を備えた脚ロボットの着地制御 -足先近接覚センサの試作と斜面への適応着地実験-
優秀講演賞, 小林 潤平;佐藤 隆紀;有田 輝;明 愛国
Japan society, Japan

Sep. 2023
Mecatronics&AISM2023
: Motion Planning of a Quadruped Robot with Joint Stop Mechanism on an Active Spine Joint
Best Paper Award, Samuel Samak;Julie Morini;Ryuki Sato;Regis Plateaux;Jean-Yves Choley;Aiguo Ming

Mar. 2020
通機会
田中榮賞, 佐藤隆紀

Dec. 2018
IEEE ROBIO2018
: Design and Implementation of Jumping Robot with Multi-springs Based on the Coupling of Polyarticular
Best Paper in Biomimetics Award, Lei Wang;Fei Meng;Huaxin Liu;Xuxiao Fan;Ryuki Sato;Aiguo Ming;Qiang Huang

Mar. 2016
日本機械学会
三浦賞, 佐藤隆紀

Dec. 2015
IEEE ROBIO2015
: Development of A Small Quadruped Robot with Bi-articular Muscle-tendon Complex
Best Biomimetics Paper Award, Eiki Kazama;Ryuki Sato;Ichiro Miyamoto;Aiguo Ming;Makoto Shimojo

Aug. 2015
IEEE ICIA2015
: Development of Robot Leg Composed of Parallel Linkage and Elastic Spring for Dynamic Locomotion
Gai Tech Best Paper in Robotics Award of IEEE ICIA 2015, Aiguo Ming;Keigo Sato;Ryuki Sato;Eiki Kazama;Ichiro Miyamoto;Makoto Shimojo

Dec. 2012
第6回RTミドルウェアコンテスト
：小型ヒューマノイドのためのRTMを用いた共通プラットフォームの開発
グローバルアシスト賞, 佐藤隆紀;松田啓明;藤枝元幸;畑元;明愛国

Dec. 2012
第6回RTミドルウェアコンテスト
：小型ヒューマノイドのためのRTMを用いた共通プラットフォームの開発
日本ロボット工業会賞, 佐藤隆紀;松田啓明;藤枝元幸;畑元;明愛国

Development of an Oblique Cone Dielectric Elastomer Actuator Module-Connected Vertebrate Fish Robot
Taro Hitomi; Ryuki Sato; Aiguo Ming
Corresponding, Biomimetics, MDPI AG, 10, 6, 365-365, 04 Jun. 2025, Peer-reviwed, As a soft actuator for fish robots, an oblique cone dielectric elastomer actuator (DEA) module inspired by the structure of white muscles in fish was proposed in the authors’ previous study. However, a mathematical model of an oblique cone DEA was not established, and designing a drive module that took into account its driving characteristics and passivity for integration into a fish robot remained a challenge. The purpose of this paper is to develop a vertebrate fish robot using multiple oblique cone DEA modules to achieve fish-like bending capability. First, an oblique cone DEA module was modeled for the design of a fish robot. The relationships among bending angle, blocking torque, driving voltage, and design parameters were established and confirmed by comparing the calculated and experimental results. Based on the modeling results, we designed an oblique cone DEA module-connected vertebrate fish robot. Finally, the experimental results of the fabricated fish robot demonstrated that the model-based design enabled flexible body swinging and swimming through a multiple-module-connected vertebrate structure.
Scientific journal, English

Analytical and Experimental Study on a Versatile Landing System with Shock Response Mechanism
Pengcheng Li; Ryuki Sato; Susumu Hara
Aerospace Science and Technology, Elsevier BV, 157, 109807, 1-17, Feb. 2025, Peer-reviwed
Scientific journal, English

Development of an Aerial Manipulation System Using Onboard Cameras and a Multi-Fingered Robotic Hand with Proximity Sensors
Ryuki Sato; Etienne Marco Badard; Chaves Silva Romulo; Tadashi Wada; Aiguo Ming
Lead, Sensors, 25, 2, 470, Jan. 2025, Peer-reviwed
Scientific journal, English

Development of DEA Underwater Robot Mimicking Fish White Muscle Structure
Kansei Yamaguchi; Taro Hitomi; Toi Nishimura; Ryuki Sato; Aiguo Ming
Proceedings of the 2024 IEEE International Conference on Robotics and Biomimetics, 687-692, 11 Dec. 2024, Peer-reviwed
International conference proceedings, English

Development of a new gear profile measuring machine with five-link closed-loop mechanism
Naoki Hashimoto; Ryuki Sato; Aiguo Ming
Precision Engineering, Elsevier BV, 91, 739-751, Dec. 2024, Peer-reviwed
Scientific journal, English

Development of a Multifingered Hand with Proximity Sensors for Aerial Manipulation
Tadashi Wada; Yuki Inoue; Koichi Sasaki; Ryuki Sato; Aiguo Ming
Corresponding, IEEE Sensors Journal, Institute of Electrical and Electronics Engineers (IEEE), 24, 21, 35664-35672, Nov. 2024, Peer-reviwed
Scientific journal, English

Development of a Novel Actuation Mechanism For a Legged Robot With Mono- and Bi-articulated Drive and Parallel Elasticity
Dan Otaki; Ryuki Sato; Aiguo Ming
2024 IEEE International Conference on Mechatronics and Automation (ICMA), IEEE, 912-917, 04 Aug. 2024, Peer-reviwed
International conference proceedings, English

Operability evaluation of manual operation control for force-sensorless power-assist transport cart
Ryuki Sato; Ryuga Nishida; Susumu Hara; Hiroyuki Okuda; Mitsuru Nagatsuka; Masahiko Tsuji; Tatsuya Suzuki
Lead, Mechatronics, 100, 103189, Apr. 2024, Peer-reviwed, True
Scientific journal, English

Fundamental Study on Adaptive Shock Response Control for Emergency Landing of UAVs and Its Experimental Investigation
Pengcheng Li; Ryuki Sato; Masaki Hasegawa; Susumu Hara
IEEJ Journal of Industry Applications, Institute of Electrical Engineers of Japan (IEE Japan), 13, 2, 135-145, Mar. 2024, Peer-reviwed
Scientific journal, English

Elastic Force Feedback CPG-Based Gait Control for a Quadruped Robot with a Bioinspired Leg Mechanism
Saya Amioka; Ryuki Sato; Aiguo Ming
2023 IEEE International Conference on Robotics and Biomimetics, 1-6, Dec. 2023, Peer-reviwed
International conference proceedings, English

Introduction of the Agonist-Antagonist Elasticity Around the Knee Joint of a Bio-inspired Legged Robot
Oscar A. Guzman-Medrano; Ryuki Sato; Aiguo Ming
IFToMM WC 2023: Advances in Mechanism and Machine Science, Springer Nature Switzerland, 939-949, Nov. 2023, Peer-reviwed
In book, English

Motion Planning of a Quadruped Robot with Joint Stop Mechanism on an Active Spine Joint
Samuel Samak; Julie Morini; Ryuki Sato; Regis Plateaux; Jean-Yves Choley; Aiguo Ming
Corresponding, Mecatronics & AISM2023, Sep. 2023, Peer-reviwed, with international co-author(s)
International conference proceedings, English

Longitudinal and Turning Manual Operation Control for a Force Sensorless Power-Assisted Transport Cart
Ryuki Sato; Ryuga Nishida; Susumu Hara; Hiroyuki Okuda; Mitsuru Nagatsuka; Masahiko Tsuji; Tatsuya Suzuki
Lead, 22nd IFAC World Congress, 56, 2, 1121-1126, Jul. 2023, Peer-reviwed
International conference proceedings, English

Biomimetic Soft Underwater Robot Inspired by the Red Muscle and Tendon Structure of Fish
Daisuke Aragaki; Toi Nishimura; Ryuki Sato; Aiguo Ming
Biomimetics, MDPI AG, 8, 2, 133-133, Mar. 2023, Peer-reviwed, Underwater robots are becoming increasingly important in various fields. Fish robots are attracting attention as an alternative to the screw-type robots currently in use. We developed a compact robot with a high swimming performance by mimicking the anatomical structure of fish. In this paper, we focus on the red muscles, tendons, and vertebrae used for steady swimming of fish. A robot was fabricated by replacing the red muscle structure with shape memory alloy wires and rigid body links. In our previous work, undulation motions with various phase differences and backward quadratically increasing inter-vertebral bending angles were confirmed in the air, while the swimming performance in insulating fluid was poor. To improve the swimming performance, an improved robot was designed that mimics the muscle contractions of mackerel using a pulley mechanism, with the robot named UEC Mackerel. In swimming experiments using the improved robot, a maximum swimming speed of 25.8 mm/s (0.11 BL/s) was recorded, which is comparable to that of other soft-swimming robots. In addition, the cost of transport (COT), representing the energy consumption required for robot movement, was calculated, and a minimum COT of 0.08 was recorded, which is comparable to that of an actual fish.
Scientific journal, English

Adaptive Mode-switching From Autonomous Driving Mode to Manual Operation Mode of Mobile Robot Based on Body Sway
Ryuki Sato; Shoya Hirokawa; Susumu Hara; Ryuga Nishida; Hiroyuki Okuda; Mitsuru Nagatsuka; Tatsuya Suzuki
Lead, Transactions of the Institute of Systems, Control and Information Engineers, 36, 3, 55-63, Mar. 2023, Peer-reviwed
Scientific journal, English

Fundamental Study on Emergency Landing System Design of UAVs
Masaki Hasegawa; Ryuki Sato; Pengcheng Li; Susumu Hara
IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, 289-292, Mar. 2023, Peer-reviwed
International conference proceedings, English

Development of One-legged Robot with Structural Joint Stops
Hikari Miyazaki; Ryuki Sato; Aiguo Ming
2022 IEEE International Conference on Robotics and Biomimetics (ROBIO), 1892-1897, Dec. 2022, Peer-reviwed
International conference proceedings, English

Mode-switching of Autonomous Mobile Robot Based on Body Sway
Ryuki Sato; Shoya Hirokawa; Susumu Hara; Ryuga Nishida; Hiroyuki Okuda; Mitsuru Nagatsuka; Tatsuya Suzuki
Lead, 2022 International Symposium on Flexible Automation (ISFA2022), 107-112, Jul. 2022, Peer-reviwed
International conference proceedings, English

Pre-Landing Control for a Legged Robot Based on Tiptoe Proximity Sensor Feedback
Ryuki Sato; Hikaru Arita; Aiguo Ming
Lead, IEEE Access, Institute of Electrical and Electronics Engineers (IEEE), 10, 21619-21630, Mar. 2022, Peer-reviwed
Scientific journal, English

Motion Acquisition of Vertical Jumping by a Bio-inspired Legged Robot via Deep Reinforcement Learning
Shinji Yamaguchi; Ryuki Sato; Aiguo Ming
2021 IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, 932-937, 27 Dec. 2021, Peer-reviwed
International conference proceedings, English

Design and Implementation of Symmetric Legged Robot for Highly Dynamic Jumping and Impact Mitigation
Lei Wang; Fei Meng; Ru Kang; Ryuki Sato; Xuechao Chen; Zhangguo Yu; Aiguo Ming; Qiang Huang
Sensors, MDPI AG, 21, 20, 6885-6885, 17 Oct. 2021, Peer-reviwed, Aiming at highly dynamic locomotion and impact mitigation, this paper proposes the design and implementation of a symmetric legged robot. Based on the analysis of the three-leg topology in terms of force sensitivity, force production, and impact mitigation, the symmetric leg was designed and equipped with a high torque density actuator, which was assembled by a custom motor and two-stage planetary. Under the kinematic and dynamic constraints of the robot system, a nonlinear optimization for high jumping and impact mitigation is proposed with consideration of the peak impact force at landing. Finally, experiments revealed that the robot achieved a jump height of 1.8 m with a robust landing, and the height was equal to approximately three times the leg length.
Scientific journal, English

Vertical Jumping by a Legged Robot With Upper and Lower Leg Bi-Articular Muscle–Tendon Complexes
Ryuki Sato; Shuma Hiasa; Lei Wang; Huaxin Liu; Fei Meng; Qiang Huang; Aiguo Ming
Lead, IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE), 6, 4, 7572-7579, Oct. 2021, Peer-reviwed
Scientific journal, English

Bio-Inspired Take-Off Maneuver and Control in Vertical Jumping for Quadruped Robot with Manipulator
Ru Kang; Fei Meng; Lei Wang; Xuechao Chen; Zhangguo Yu; Xuxiao Fan; Ryuki Sato; Aiguo Ming; Qiang Huang
Micromachines, MDPI AG, 12, 10, 1189-1189, 30 Sep. 2021, Peer-reviwed, The jumping motion of legged robots is an effective way to overcome obstacles in the rugged microgravity planetary exploration environment. At the same time, a quadruped robot with a manipulator can achieve operational tasks during movement, which is more practical. However, the additional manipulator will restrict the jumping ability of the quadruped robot due to the increase in the weight of the system, and more active degrees of freedom will increase the control complexity. To improve the jumping height of a quadruped robot with a manipulator, a bio-inspired take-off maneuver based on the coordination of upper and lower limbs is proposed in this paper. The kinetic energy and potential energy of the system are increased by driving the manipulator-end (ME) to swing upward, and the torso driven by the legs will delay reaching the required peak speed due to the additional load caused by the accelerated ME. When the acceleration of ME is less than zero, it will pull the body upward, which reduces the peak power of the leg joints. Therefore, the jumping ability of the system is improved. To realize continuous and stable jumping, a control framework based on whole-body control was established, in which the quadruped robot with a manipulator was a simplified floating seven-link model, and the hierarchical optimization was used to solve the target joint torques. This method greatly simplifies the dynamic model and is convenient for calculation. Finally, the jumping simulations in different gravity environments and a 15° slope were performed. The jump heights have all been improved after adding the arm swing, which verified the superiority of the bio-inspired take-off maneuver proposed in this paper. Furthermore, the stability of the jumping control method was testified by the continuous and stable jumping.
Scientific journal, English

A Legged Robot With Thigh Bi-Articular Muscle-Tendon Complex
Shuma Hiasa; Ryuki Sato; Kanako Kurokawa; Lei Wang; Huaxin Liu; Fei Meng; Aiguo Ming
IEEE Access, Institute of Electrical and Electronics Engineers (IEEE), 9, 62285-62297, Apr. 2021, Peer-reviwed
Scientific journal, English

Controllable Height Hopping of a Parallel Legged Robot
Zewen He; Fei Meng; Xuechao Chen; Zhangguo Yu; Xuxiao Fan; Ryuki Sato; Aiguo Ming; Qiang Huang
Applied Sciences, MDPI AG, 11, 4, 1421-1421, Feb. 2021, Peer-reviwed, True, with international co-author(s), Legged robots imitating animals have become versatile and applicable in more application scenarios recent years. Most of their functions rely on powerful athletic abilities, which require the robots to have remarkable actuator capacities and controllable dynamic performance. In most experimental demonstrations, continuous hopping at a desired height is a basic required motion for legged robots to verify their athletic ability. However, recent legged robots have limited ability in balance of high torque output and actuator transparency and appropriate structure size at the same time. Therefore, in our research, we developed a parallel robot leg using a brushless direct current motor combined with a harmonic driver, without extra force or torque sensor feedback, which uses virtual model control (VMC) to realize active compliance on the leg, and a whole-leg control system with dynamics modeling and parameter optimization for continuous vertical hopping at a desired height. In our experiments, the robot was able to maintain stability during vertical hopping while following a variable reference height in various ground situations.
Scientific journal, English

Development of Knee Joint Mechanism with Variable Transmission and Joint Stop for Bipedal Robot Inspired by Human Structure
Kimitake Ueki; Ryuki Sato; Aiguo Ming; Makoto Shimojo; Moncef Hammadi; Jean-Yves Choley
Proceedings of 2020 21st International Conference on Research and Education in Mechatronics (REM), IEEE, 1-6, Dec. 2020, Peer-reviwed, with international co-author(s), For bipedal robots, how to realize natural, versatile and dynamic motions like human is still a challenging topic. In order to achieve such high performance by bipedal robots, one useful approach is to develop joint mechanism with high back-drivability, that makes the dynamic coupling forces such as inertia force, centrifugal force available for dynamic motions and results reduction of necessary capacity for joint actuators leading to the reduction of weight of the robot. For this purpose, in this paper, we propose a novel knee joint mechanism consisting of a crossed four-bar linkage with variable transmission (CFLVT) and a joint stop inspired from human structure. CFLVT behaves as a transmission with variable reduction ratio according the knee joint angle to smooth the static torque so that the knee joint can be driven by a small actuator with low reduction ratio. In addition, a joint stop at the maximum extending angle is introduced in the knee joint which is useful for force assist just like that of a human. The characteristic and design of CFLVT and joint stop are described first. And a prototype of the bipedal robot implemented with CFLVT and joint stop is developed. The feasibility of the proposed mechanism is shown by experimental results for walking and kicking motions.
International conference proceedings

生物規範機構を有する小型脚ロボットのための垂直跳躍運動制御
Ryuki Sato; Aiguo Ming
Lead, Journal of the Robotics Society of Japan, 38, 3, 279-286, Apr. 2020, Peer-reviwed
Scientific journal, Japanese

Design of Robot Leg with Variable Reduction Ratio Crossed Four-bar Linkage Mechanism
Kohei Tomishiro; Ryuki Sato; Yasuji Harada; Aiguo Ming; Fei Meng; Huaxin Liu; Xuxiao Fan; Xuechao Chen; Zhangguo Yu; Qiang Huang
Proceedings of 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 4333-4338, Nov. 2019, Peer-reviwed
International conference proceedings, English

Optimization of Standing Long Jump Strategy on a Small Quadruped Robot
Zewen He; Fei Meng; Huaxin Liu; Xuxiao Fan; Shengkai Liu; Ryuki Sato; Aiguo Ming; Qiang Huang
Proceedings of 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), 1226-1231, Dec. 2018, Peer-reviwed
International conference proceedings, English

Design and Implementation of Jumping Robot with Multi-Springs Based on the Coupling of Polyarticular
Lei Wang; Fei Meng; Huaxin Liu; Xuxiao Fan; Ryuki Sato; Aiguo Ming; Qiang Huang
Proceedings of 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), 287-292, Dec. 2018, Peer-reviwed
International conference proceedings, English

Development of a Bipedal Robot with Bi-articular Muscle-tendon Complex between Hip and Knee Joint
Shuma Hiasa; Ryuki Sato; Aiguo Ming; Fei Meng; Huaxin Liu; Xuxiao Fan; Xuechao Chen; Zhangguo Yu; Qiang Huang
Proceedings of 2018 IEEE International Conference on Cyborg and Bionic Systems (CBS), 391-396, Oct. 2018, Peer-reviwed
International conference proceedings, English

Development of a Bio-inspired Flexible Tail System
Benjamin Simon; Ryuki Sato; Jean-Yves Choley; Aiguo Ming
Proceedings of 2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, 230-235, Sep. 2018, Peer-reviwed
International conference proceedings, English

Introduction of Toe Mechanism with Bi-articular Tendon into Legged Robot
Kanako Kurokawa; Ryuki Sato; Shuma Hiasa; Aiguo Ming; Fei Meng; Huaxin Liu; Xuxiao Fan; Xuechao Chen; Zhangguo Yu; Qiang Huang
Proceedings of 2018 IEEE International Conference on Mechatronics and Automation (ICMA), 1597-1602, Aug. 2018, Peer-reviwed
International conference proceedings, English

Method of Design Optimization and Trajectory Implementation on a Small Cat-Like Robot
Zewen He; Fei Meng; Huaxin Liu; Lei Wang; Xin Zhu; Xuxiao Fan; Ryuki Sato; Aiguo Ming; Qiang Huang
22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control, 323-330, Jun. 2018, Peer-reviwed
Symposium, English

Design and Control of Robot Legs With Bi-articular Muscle-tendon Complex
Ryuki Sato; Eiki Kazama; Aiguo Ming; Makoto Shimojo; Fei Meng; Huaxin Liu; Xuxiao Fan; Xuechao Chen; Zhangguo Yu; Qiang Huang
Lead, Proceedings of 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, 2605-2610, Dec. 2017, Peer-reviwed
International conference proceedings, English

Development of a Flexible Tail for Legged Robot
Ryuki Sato; Shun Hashimoto; Aiguo Ming; Makoto Shimojo
Lead, Proceedings of 2016 IEEE International Conference on Mechatronics and Automation (ICMA), 683-688, Aug. 2016, Peer-reviwed
International conference proceedings, English

Development of a Flexible Coupled Spine Mechanism for a Small Quadruped Robot
Ryosuke Kawasaki; Ryuki Sato; Eiki Kazama; Aiguo Ming; Makoto Shimojo
Proceedings of 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO), 71-76, 2016, Peer-reviwed
International conference proceedings, English

Development of a Small Quadruped Robot With Bi-articular Muscle-tendon Complex
Eiki Kazama; Ryuki Sato; Ichiro Miyamoto; Aiguo Ming; Makoto Shimojo
Proceedings of 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), 1059-1064, Dec. 2015, Peer-reviwed
International conference proceedings, English

Development of Robot Legs Inspired by Bi-articular Muscle-tendon Complex of Cats
Ryuki Sato; Ichiro Miyamoto; Keigo Sato; Aiguo Ming; Makoto Shimojo
Lead, Proceedings of 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 1552-1557, Oct. 2015, Peer-reviwed
International conference proceedings, English

Development of Robot Leg Composed of Parallel Linkage and Elastic Spring for Dynamic Locomotion
Aiguo Ming; Keigo Sato; Ryuki Sato; Eiki Kazama; Ichiro Miyamoto; Makoto Shimojo
Proceedings of 2015 IEEE International Conference on Information and Automation, 38-43, Aug. 2015, Peer-reviwed
International conference proceedings, English

Development of Leg Mechanism Using a Knee Joint with Continuously Variable Reduction Ratio Adaptive to Load
Takuma Uchida; Ryuki Sato; Aiguo Ming; Makoto Shimojo
Proceedings of 2015 IEEE International Conference on Mechatronics and Automation (ICMA), 1199-1203, Aug. 2015, Peer-reviwed
International conference proceedings, English

Development of an Entertainment Robot System using Kinect
Aiguo Ming; Kazuya Enomoto; Mizuki Shinozaki; Ryuki Sato; Makoto Shimojo
2014 10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics (MECATRONICS), 127-132, Nov. 2014, Peer-reviwed
International conference proceedings, English

Development of Leg Mechanism Using a Knee Joint With Variable Reduction Ratio Adaptive to Load
Aiguo Ming; Syunpei Nozawa; Ryuki Sato; Zhangguo Yu; Makoto Shimojo
Proceedings of 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), 1574-1579, Dec. 2013, Peer-reviwed
International conference proceedings, English

Design and Implementation of Common Platform for Small Humanoid Robots
Ryuki Sato; Hiroaki Matsuda; Motoyuki Fujieda; Hajime Hata; Aiguo Ming
Corresponding, Proceedings of 2013 IEEE International Conference on Mechatronics and Automation (ICMA), 855-860, Aug. 2013, Peer-reviwed
International conference proceedings, English

Development of a Common Platform for Small-sized Humanoids using RTM
SATO Ryuki; MATSUDA Hiroaki; FUJIEDA Motoyuki; HATA Hajime; MING Aiguo
Lead, 10 Sep. 2013, 計測と制御 = Journal of the Society of Instrument and Control Engineers, 52, 9, 798-798, Japanese, Invited, Introduction scientific journal, 0453-4662, 10031200027, AN00072406

Landing Control for a Legged Robot Using a Tiptoe Proximity Sensor -Prototype of a Tiptoe Proximity Sensor and Adaptive Landing Experiments on a Slope-
Junpei Kobayashi; Ryuki Sato; Hikaru Arita; Aiguo Ming
Poster presentation, Japanese, 第25回計測自動制御学会システムインテグレーション部門講演会（SI2024）
18 Dec. 2024
18 Dec. 2024- 20 Dec. 2024

動物の筋骨格構造と運動制御を規範とした脚ロボットのための駆動機構の研究開発
佐藤隆紀
Invited oral presentation, Japanese, 巧みなアクチュエーション技術に関する調査専門委員会, Invited
13 Dec. 2024

Trends and case study of motor technology used in legged robots
Ryuki Sato
Public discourse, Japanese, 令和６年度 モータドライブ応用研究会総会講演会, Invited
22 Jul. 2024
22 Jul. 2024- 22 Jul. 2024

Adaptive Landing Control using a Tiptoe Proximity Sensor
Junpei Kobayashi; Ryuki Sato; Aiguo Ming
Poster presentation, English, ICRA 2024 Full-day Workshop "Agile Movements II: Animal Behavior, Biomechanics, and Robot Devices", Peer-reviewed
13 May 2024
13 May 2024- 13 May 2024

二関節間弾性機構を有する脚ロボットの軟着地制御
佐藤隆紀; 明愛国
Poster presentation, Japanese, 第24回計測自動制御学会システムインテグレーション部門講演会（SI2023）
Dec. 2023
14 Dec. 2023- 16 Dec. 2023

足先近接覚に基づく１脚ロボットの着地衝撃緩和制御
佐藤隆紀; 有田輝; 明愛国
Poster presentation, Japanese, 第24回計測自動制御学会システムインテグレーション部門講演会（SI2023）
Dec. 2023
14 Dec. 2023- 16 Dec. 2023

Simulation Analysis of an Adaptive Shock Response Mitigation Mechanism for UAVs’ Emergency Landing Systems
Pengcheng Li; Ryuki Sato; Susumu Hara
Oral presentation, Japanese, 第66回自動制御連合講演会
Oct. 2023
07 Oct. 2023- 08 Oct. 2023

Legged Robot with Bi-articular Muscle-Tendon Complex -Forward Jumping Motion Control of Legged Robot with Bi-articular Muscle Tendon Complex in the Upper and Lower Legs-
Atsushi Iwamoto; Nozomi Majima; Ryuki Sato; Aiguo Ming
Poster presentation, Japanese, Proceedings of the 2023 JSME Conference on Robotics and Mechatronics,
Jun. 2023
28 Jun. 2023- 01 Jul. 2023

Introduction of Joint Stop into Legged Robot for Agile Locomotion
Ryuki Sato; Hikari Miyazaki; Aiguo Ming
Poster presentation, English, IEEE International Conference on Robotics and Automation, Full day workshop "Agile Movements: Animal Behavior, Biomechanics, and Robot Devices"
Jun. 2023
29 May 2023- 02 Jun. 2023

架台揺動に基づく操作力オブザーバを用いたパワーアシスト台車の複数参加者による操作性評価実験
西田 龍我; 佐藤 隆紀; 原 進; 奥田 裕之; 永塚 満; 辻 昌彦; 鈴木 達也
Oral presentation, Japanese, 日本機械学会東海支部第 72 期総会・講演会
Mar. 2023

衝撃力に対して適応的に対処方法を選択できる衝撃応答制御機構
長谷川 真大; 佐藤 隆紀; 原 進
Poster presentation, Japanese, 第23回計測自動制御学会システムインテグレーション部門講演会
Dec. 2022

架台の揺れを入力として利用したパワーアシスト機能を有する搬送機器の操作特性評価
西田龍我; 原進; 佐藤隆紀; 廣川翔也
Oral presentation, Japanese, 第65回自動制御連合講演会
Nov. 2022

振動する部分を直接把持して操作するパワーアシスト搬送機器の操作特性について
西田龍我; 原進; 佐藤隆紀; 廣川翔也
Oral presentation, Japanese, 日本機械学会東海支部第71期総会・講演会
Mar. 2022

Design and Control of Legged Robots Using Bio-inspired Mechanism
Ryuki Sato
Nominated symposium, English, IEEE/RSJ International Conference on Intelligent Robots and Systems, Full day workshop "Articulated Actuation Towards Human Capabilities for Robots", Invited
Nov. 2019
Nov. 2019 Nov. 2019

Small Quadruped Robot with Bi-articular Muscle-Tendon Complex:-Development of the leg to transfer the torque between hip and knee joint-
Shuma Hiasa; Ryuki Sato; Eiki Kazama; Aiguo Ming; Makoto Shimojo
Poster presentation, Japanese, The Robotics and Mechatronics Conference
May 2017
May 2017 May 2017

Small Quadruped Robot with Bi-articular Muscle-Tendon Complex:-Development of flexible spine-
Ryosuke Kawasaki; Ryuki Sato; Eiki Kazama; Aiguo Ming; Makoto Shimojo
Poster presentation, Japanese, The Robotics and Mechatronics Conference
Jun. 2016

Development of a Common Platform for Small-sized Humanoids using RTM
Ryuki Sato; Hiroaki Matsuda; Motoyuki Fujieda; Hajime Hata; Aiguo Ming
Oral presentation, Japanese, The 13th SICE System Integration Division Annual Conference
Dec. 2012
Dec. 2012 Dec. 2012

Apr. 2016 - Present
The Japan Society of Mechanical Engineers

Apr. 2016 - Present
The Robotics Society of Japan

Oct. 2015 - Present
IEEE

生物規範脚ロボットの全身筋腱網を活用した俊敏ロコモーション制御
佐藤 隆紀
日本学術振興会, 科学研究費助成事業, 電気通信大学, 若手研究, Principal investigator, 24K17234
Apr. 2024 - Mar. 2027

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佐藤 隆紀
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Early-Career Scientists, The University of Electro-Communications, Grant-in-Aid for Early-Career Scientists, Principal investigator, 本研究の目的は，動物の筋骨格構造に特徴的な複数の関節をまたぐ多関節筋による，身体内の力学的エネルギー遷移・伝搬のメカニズムを規範とした，脚ロボットの運動性能向上である．このメカニズムを四脚ロボットに導入することを目標とし，段階的に脚部関節間および脚-体幹間の多関節筋構造を規範とした機構および制御を開発する計画である． 本年度は，動物の肢の関節間に備わる二関節筋を規範とした脚機構の動力学解析に取り組んだ．研究代表者らはこれまでの研究で，四足動物の後肢の股-膝関節間および膝-足関節間にある二関節間筋腱複合体に着目し，関節アクチュエータに対して直列または並列に弾性要素をもつ脚機構を開発した．この生物規範型脚機構を持つ１脚ロボットの動力学モデルを作成し，垂直跳躍運動中の二関節間筋腱複合体機構を介したエネルギー伝搬および各関節での仕事率の変化を解析した．その結果，しゃがみ込みから跳躍までの一連の運動において，機構がまたがる３つの関節間を遷移するように仕事率が推移しており，生物規範機構がロボットの垂直跳躍高さの向上に貢献していることを示した．実機を用いた実験でも，シミュレーション結果に類似した効果が確認できた．この手法は脚内の関節間のみならず，体幹を含む複数の関節自由度を持つモデルに適用可能である．また，この解析では，関節の可動範囲限界での前後のリンクの接触・一体化による重心運動への影響も観測でき，関節間の動力学的な干渉性を陽に考慮した運動制御方策の検討にも発展させられる．, 21K14124
Apr. 2021 - Mar. 2024

Development of a quadruped robot with bio-inspired mechanisms for highly efficient dynamic locomotion
Ryuki SATO
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, 電気通信大学, Grant-in-Aid for Research Activity Start-up, Principal investigator, In this study, we proposed the bio-inspired elastic mechanisms for a quadruped robot that mimic passive elements of muscles and tendons of the forelimb, hindlimb, and trunk of a cat. We also developed a motion control method to utilize the effects of these elastic mechanisms in the agile motions, such as jumping and running, of the robot. Dynamics simulations and experiments on a prototype robot demonstrated high vertical jumping motion due to the effect of bio-inspired mechanisms. Then, we developed a small quadruped robot with bio-inspired mechanisms in the whole body by integrating these mechanisms., 20K22389
Sep. 2020 - Mar. 2022

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佐藤 隆紀
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for JSPS Fellows, The University of Electro-Communications, Grant-in-Aid for JSPS Fellows, Principal investigator, 本研究は，ネコ科の動物の筋骨格構造と運動制御を参考とした脚式ロボットの開発を目的とする．生物の身体のしなやかさに着目したロボットの機構設計と，それを前提とした運動制御によって，従来のロボットでは困難であった俊敏な動作の実現する． 昨年度までに，ネコの後肢下腿に備わる特に重要な二関節間の筋腱複合体を搭載した脚機構を開発して，実証実験を行うための試作機を開発した．また試作機の動力学モデルに基づく運動軌道生成手法の基盤を開発した．そこで本年度はこの軌道生成手法を用いて，特に動的な運動の一例として垂直跳躍運動を取り上げて軌道の生成を行った．軌道生成にあたり受動機構やアクチュエータの動特性を含む動力学モデルを構築し，跳躍高さ最大化を目的とした最適化問題に置き換えて非線形最適化手法を用いることで，強い非線形性を有するロボットの跳躍軌道を生成することができた．この結果として得られた運動は，弾性要素を含む生物規範機構を活用した軌道になっており，開発した脚機構の効果が確認できた．また，生成された軌道を用いて，試作機で垂直跳躍実験を行った結果，シミュレーションのように生物規範機構の弾性要素が効果を発揮し，跳躍運動を実現することができた．さらに，ネコの後肢の上腿やつま先周辺の二関節間の筋腱複合体が脚のダイナミックな運動に寄与していることから，それぞれについて同様の機能を実現するワイヤ・プーリ機構と弾性要素を用いた機構を開発した．シミュレーションと実機実験を通してそれらの有用性を示した．脊椎まで含めた四脚ロボットの開発には至らなかったが，これまでに開発した生物規範型の脚機構と運動軌道生成手法を用いることで，従来のロボットを越える運動能力を持つ四脚ロボットの実現可能性が示せた．, 17J00387
Apr. 2017 - Mar. 2019

パワーアシスト台車
Patent right, 佐藤隆紀, 西田龍我, 原進, 奥田裕之, 鈴木達也, 永塚満, 辻昌彦, 特願2023-029835, Date applied: 28 Feb. 2023

Video Friday: Walking on Ceilings, Cat-Inspired Legs, and Robot Grasps Tofu
Other than myself, IEEE Spectrum, Internet
Oct. 2015

CLAWAR2025 Special Session Organizer: Bio-Inspired Robotics for Dynamic Locomotion and Manipulation in Challenging Environments
Academic society etc, Planning etc, Jan. 2025 - Present

Workshop on "Towards Agility and Robustness: Mechanical Intelligence in Robotics, Biology, and Smart Materials" at IEEE ICRA2025
Academic society etc, Planning etc, Tianyu Wang, Ryuki Sato, Xiangyu CHU, Tony G. Chen, Elio Challita, Laura Treers, Perrin E. Schiebel, Barbara Mazzolai, K. W. Samuel Au, Robert Wood, Daniel Goldman, Sep. 2024 - May 2025

Workshop on "Agile Movements II: Animal Behavior, Biomechanics, and Robot Devices" at IEEE ICRA2024
Academic society etc, Planning etc, Ryuki Sato; Xiangyu Chu; Tianyu Wang; Marie Janneke Schwaner; Amir Patel; Daniel Goldman; Kwok Wai Samuel Au, Aug. 2023 - May 2024

Workshop on "Agile Movements: Animal Behavior, Biomechanics, and Robot Devices" at IEEE ICRA2023
Academic society etc, Planning etc, Xiangyu Chu; Tianyu Wang; Ryuki Sato; Daniel Goldman; Kwok Wai Samuel Au, Sep. 2022 - Jun. 2023