明 愛国
| 機械知能システム学専攻 | 教授 |
| Ⅱ類（融合系） | 教授 |
| 先端工学基礎課程（夜間主課程） | 教授 |
- プロフィール:
ロボットなどを対象に、その機構と制御法を中心に、実際のロボットおよびシステムの研究と開発を行ってきた。研究内容は下記のように大きく分けられる。
(1) 平面SCARAロボットの運動制御
(2) 球面SCARAロボットの研究開発
(3) ワイヤパラレルメカニズムの研究
(4) 高速・高精度粗微動実装ロボットシステムの研究開発
(1)は、世界でも有名な平面SCARAロボットの機構、軌跡、運動、制御系を総合的に設計し、軌跡制御の高速化と精度向上を実現した。(2)は、平面SCARAロボットを三次元空間へ発展させた球面SCARAロボットの特性解析を行った上、ロボットを開発し、その有用性、特に工芸品の加工における実用性を実験により確認できた。(3)は、新しいワイヤ駆動パラレルメカニズムについて理論解析と実験の両方からアプローチし、この機構の一般概念、機構と制御系の設計法を提案した。(4)は、SCARAロボットに微動機構を搭載し、作業の高精度化と高速化を図るための微動機構と新しい光ファイバー位置決めセンサの開発と粗微動協調制御の研究を行った。
研究者情報
学位
研究キーワード
- 近接センサを用いたロボットハンド
- 生物模倣ソフトロボティクス
- 生物模倣四脚ロボット
- Underwater robot
- Flapping robot
- Vibration analysis and contro
- Tracking antenna for satellite Communication
- Dynamic Manipulation Golf swing robot
- Cooperated control of multiple robos
- Mobile manipulator
- Mobile robot systems
- Precision Mounting Robot
- Manipulator
- Design of control system
- Dynamics
- Mechanism
- Mechatrnics
- Robotics
- 水中ロボット
- 羽ばたきロボット
- 振動の解析と制御
- 衛星トラッキングアンテナ
- ゴルフスイングロボット
- ダイナミックマニピュレーション
- 協調制御
- 移動マニピュレータ
- 移動ロボットシステム
- 精密組立ロボット
- マニピュレータ
- 制御システムの設計
- 動力学
- 機構
- メカトロニクス
- ロボット
学歴
研究活動情報
受賞
- 受賞日 2024年12月
計測自動制御学会 システムインテグレーション部門
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
SI2024 優秀講演, 小林 潤平;佐藤 隆紀;有田 輝;明 愛国 - 受賞日 2023年09月
Mecatronics & AISM 2023
Motion Planning of a Quadruped Robot with Joint Stop Mechanism on an Active Spine Joint
Best Paper of Mecatronics & AISM 2023, Samuel Samak;Julie Morini;Ryuki Sato;Regis Plateaux;Jean-Yves CHOLEY;Aiguo Ming - 受賞日 2019年07月
IEEE ICARM 2019
Japan
Finalist for the Best Paper Award of IEEE ICARM 2019, Zewen He;Fei Meng;Xuxiao Fan;Ru Kang;shengkai Liu;Huaxin Liu;Zhangguo YU;Mingyue Qin;Aiguo Ming;Qiang Huang
国際学会・会議・シンポジウム等の賞, 日本国 - 受賞日 2019年03月
公益社団法人計測自動制御学会システムインテグレーション部門
半径可変円弧足と足裏近接覚センサを用いた高効率・高踏破性二足歩行の研究 円弧足の変形を考慮した足裏近接覚センサの設計
SI2018優秀講演賞, 古田崇人;有田輝;明愛国
国内学会・会議・シンポジウム等の賞 - 受賞日 2018年12月
IEEE ROBIO 2018
Malaysia
Best Paper in Biomimetics Award of IEEE ROBIO 2018, Lei Wang;Fei Meng;Huaxin Liu;Xuxiao Fan;Ryuki Sato;Aiguo Ming;Qiang Huang
国際学会・会議・シンポジウム等の賞, マレーシア - 受賞日 2017年10月
IEEE ICCBS 2017
Electromagnetic Design of a High Torque Density Permanent Magnet Motor for Biomimetic Robot
Finalist for Best Paper Award of IEEE ICCBS 2017
国際学会・会議・シンポジウム等の賞, 中華人民共和国 - 受賞日 2017年05月
日本機械学会
生物模倣型ソフト水中ロボットの研究開発-上下鰭条を有する柔軟な尾 鰭機構の導入による推進性能の向上-
日本機械学会若手優秀講演フェロー賞, 久松 和樹
国内学会・会議・シンポジウム等の賞 - 受賞日 2016年12月
公益社団法人計測自動制御学会システムインテグレーション部門
移動ロボット搭載型マニピュレータでの近接覚センサを用いたプリグラスプ制御
SI2016優秀講演賞
国内学会・会議・シンポジウム等の賞 - 受賞日 2016年09月
社団法人 日本ロボット学会
指先に近接覚センサを備えたロボットハンドによるプリグラスプ制御
日本ロボット学会 第30回学会誌論文賞受賞
学会誌・学術雑誌による顕彰, 日本国 - 受賞日 2015年12月
IEEE ROBIO 2015
Development of A Small Quadruped Robot with Bi-articular Muscle-tendon Complex
Best Paper in Biomimetics Award of IEEE ROBIO 2015
国際学会・会議・シンポジウム等の賞, 中華人民共和国 - 受賞日 2015年12月
公益社団法人計測自動制御学会システムインテグレーション部門
ネット状近接覚センサを用いた非接触型インタフェースの開発-空間的なインタラクションのためのセンサ設計-
SI2015優秀講演賞
国内学会・会議・シンポジウム等の賞 - 受賞日 2015年08月
IEEE ICIA 2015
Development of Robot Leg Composed of Parallel Linkage and Elastic Spring for Dynamic Locomotion
Best Paper in Robotics Award of IEEE ICIA 2015
国際学会・会議・シンポジウム等の賞, 中華人民共和国 - 受賞日 2015年03月
精密工学会
インライン型歯車測定システムの開発
ベストプレゼンテーション賞, 鈴木真樹
国内学会・会議・シンポジウム等の賞 - 受賞日 2014年12月
公益社団法人計測自動制御学会システムインテグレーション部門
SI2014優秀講演賞 - 受賞日 2013年12月
財団法人FA財団
平成24・25年度「論文賞」
出版社・新聞社・財団等の賞 - 受賞日 2013年08月
IEEE ICIA & ICAL 2013
China
IEEE ICIA & ICAL 2013 Best Conference Paper of ICAL 2013
中華人民共和国 - 受賞日 2012年12月
計測自動制御学会
計測自動制御学会SI2012優秀講演賞 - 受賞日 2012年12月
ロボットビジネス推進協議会,（社）計測自動制御学会 システムインテグレーション部門,産業技術総合研究所 知能システム研究部門
日本ロボット工業会賞 - 受賞日 2012年12月
ロボットビジネス推進協議会,（社）計測自動制御学会 システムインテグレーション部門,（独）産業技術総合研究所 知能システム研究部門
グローバルアシスト賞 - 受賞日 2011年12月
公益社団法人計測自動制御学会システムインテグレーション部門
SI2011優秀講演賞 - 受賞日 2010年09月
JSME
Finalist of Best Paper for The 5th International Conference on the Advanced Mechatronics(ICAM2010) - 受賞日 2010年08月
the 2010 IEEE International Conference on Mechatronics and Automation
China
IEEE ICMA AWARD for ICMA 2010 Toshio Fukuda Best Paper in Mechatronics Nomination Finalist
中華人民共和国 - 受賞日 2010年08月
the 2010 IEEE International Conference on Mechatronics and Automation
China
IEEE ICMA AWARD for ICMA 2010 Best Paper Nomination Finalist
中華人民共和国 - 受賞日 2010年03月
第10回（社）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
SI2009優秀講演賞 - 受賞日 2008年12月
第9回（社）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
SI2008優秀講演賞 - 受賞日 2007年10月
RSJ/IEEE IROS 2007
USA
IROS 2007 Best Paper Nomination Finalist
アメリカ合衆国 - 受賞日 2006年06月
IEEE CIS-RAM 2006
Thailand
Finalist for Best Student Paper Award
タイ王国 - 受賞日 1997年06月
日本機械学会ロボティクス・メカトロニクス部門ROBOMEC賞
論文
- 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
ラスト(シニア)オーサー, Sensors, 2025, 25(2)巻, 470号, 掲載ページ 1-18, 出版日 2025年01月, 査読付 - Development of DEA Underwater Robot Mimicking Fish White Muscle Structure
Kansei Yamaguchi; Taro Hitomi; Toi Nishimura; Ryuki Sato; Aiguo Ming
ラスト(シニア)オーサー, Proceedings of 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO), 掲載ページ 687-692, 出版日 2024年12月, 査読付 - A Proposal for Using Joint Stops for Hyper Dynamic Robots
AIGUO MING
Invited Talk at 2024 IEEE International Conference on Cyborg and Bionic Systems (CBS), 出版日 2024年11月, 招待 - Development of a new gear profile measuring machine with five-link closed-loop mechanism
Naoki Hashimoto; Ryuki Sato; Aiguo Ming
ラスト(シニア)オーサー, Precision Engineering, Elsevier BV, 91巻, 掲載ページ 739-751, 出版日 2024年10月, 査読付
研究論文（学術雑誌） - 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
ラスト(シニア)オーサー, Proceedings of Mecatronics & AISM2023, 出版日 2023年09月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - 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巻, 2号, 掲載ページ 133-133, 出版日 2023年03月24日, 査読付, 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.
研究論文（学術雑誌） - Development of Soft Underwater Robot that Mimics Red Muscle and Tendon Structure of Fish
Daisuke Aragaki; Toi Nishimura; Aiguo Ming
Proceedings of the 2022 IEEE International Conference on Robotics and Biomimetics, 掲載ページ 2361-2366, 出版日 2022年12月, 査読付 - Development of One-legged Robot with Structural Joint Stops
Hikari Miyazaki; Ryuki Sato; Aiguo Ming
2022 IEEE International Conference on Robotics and Biomimetics (ROBIO), 掲載ページ 1892-1897, 出版日 2022年12月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Development of Bendable Elliptical Cone Dielectric Elastomer Actuator
Kenshiro Ogawa; Toi Nishimura; Aiguo Ming
Proceedings of 2022 IEEE International Conference on Mechatronics and Automation (ICMA), 掲載ページ 1233-1238, 出版日 2022年08月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - 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巻, 20号, 掲載ページ 6885-6885, 出版日 2021年10月17日, 査読付, 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.
研究論文（学術雑誌） - 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
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE), 6巻, 4号, 掲載ページ 7572-7579, 出版日 2021年10月, 査読付
研究論文（学術雑誌） - 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巻, 10号, 掲載ページ 1189-1189, 出版日 2021年09月30日, 査読付, 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.
研究論文（学術雑誌） - Online Locomotion Planner For Wheeled Quadrupedal Robot Using Deviation Based Scheduler
Zhihao Zhang; Fei Meng; Lei Wang; Ru Kang; Sai Gu; Botao Liu; Xuxiao Fan; Aiguo Ming; Qiang Huang
Proceedings of 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, 掲載ページ 735-740, 出版日 2021年07月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - 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, 11巻, 1421号, 掲載ページ 1-16, 出版日 2021年04月, 査読付
研究論文（学術雑誌）, 英語 - Development of Knee Joint Mechanism with Variable Transmission and Joint Stop for Bipedal Robot Inspired by Human Structure
K. Ueki; R. Sato; A. Ming; M. Shimojo; M. Hammadi; J; Y. Choley
Proceedings of 2020 21st International Conference on Research and Education in Mechatronics (REM), IEEE, 掲載ページ 1-6, 出版日 2020年12月09日, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Structural Design and Crawling Pattern Generator of a Planar Quadruped Robot for High-Payload Locomotion
Ru Kang; Fei Meng; Xuechao Chen; Zhangguo Yu; Xuxiao Fan; Aiguo Ming; Qiang Huang
Sensors, MDPI, 20巻, 20号, 掲載ページ 1-21, 出版日 2020年11月, 査読付
研究論文（学術雑誌）, 英語 - 近接覚センサを用いた多指ハンドとアームによる物体の遠隔把持
一村リサ; 梶本裕之; 下条 誠; 明愛国
日本ロボット学会誌, 38巻, 8号, 掲載ページ 737-745, 出版日 2020年10月, 査読付
研究論文（学術雑誌）, 日本語 - A Novel Foot Contact Probability Estimator for Biped Robot State Estimation
Mingyue Qin; Zhangguo Yu; Xuechao Chen; Qiang Huang; Chenglong Fu; Aiguo Ming; Chunjing Tao
Proceedings of 2020 IEEE International Conference on Mechatronics and Automation (ICMA), 掲載ページ 1901-1906, 出版日 2020年10月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Gait Transition Method for Quadruped Robot Based on CPG Network and Impedance Control
Sai Gu; Fei Meng; Botao Liu; Zewen He; Xuxiao Fan; Aiguo Ming; Qiang Huang
Proceedings of 2020 5th International Conference on Advanced Robotics and Mechatronics (ICARM), 掲載ページ 387-391, 出版日 2020年07月03日, 査読付
研究論文（国際会議プロシーディングス）, 英語 - 足裏近接覚情報を用いて傾斜変化に対応する2足歩行軌道計画
有田 輝; 明 愛国
日本ロボット学会誌, 38巻, 4号, 掲載ページ 401-408, 出版日 2020年05月, 査読付
研究論文（学術雑誌）, 日本語 - 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
佐藤 隆紀; 明 愛国
日本ロボット学会誌, 38巻, 3号, 掲載ページ 279-286, 出版日 2020年04月, 査読付
研究論文（学術雑誌）, 日本語 - Integrated control of a multiple-degree-of-freedom hand and arm using a reactive architecture based on high-speed proximity sensing
Keisuke Koyama; Makoto Shimojo; Aiguo Ming; Masatoshi Ishikawa
The International Journal of Robotics Research, SAGE Publications, 38巻, 14号, 掲載ページ 1717-1750, 出版日 2019年09月25日, 査読付
研究論文（学術雑誌）, 英語 - Integrated control of a multiple-degree-of-freedom hand and arm using a reactive architecture based on high-speed proximity sensing
Keisuke Koyama; Makoto Shimojo; Aiguo Ming; Masatoshi Ishikawa
The International Journal of Robotics Research, SAGE Publications, 2019巻, 9号, 掲載ページ https://doi.org/10.1177/027836, 出版日 2019年09月25日, 査読付
研究論文（学術雑誌）, 英語 - Development of A Parallel-elastic Robot Leg for Loaded Jumping
Zewen He; Fei Meng; Xuxiao Fan; Ru Kang; Shengkai Liu; Huaxin Liu; Zhangguo Yu; Mingyue Qin; Aiguo Ming; Qiang Huang
Proceedings of 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM), 掲載ページ 420-425, 出版日 2019年07月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Application and Analysis of an Ionic Liquid Gel in a Soft Robot
Chenghong Zhang; Bin He; Zhipeng Wang; Yanmin Zhou; Aiguo Ming
Advances in Materials Science and Engineering, 2019巻, 掲載ページ 1-14, 出版日 2019年05月, 査読付
研究論文（学術雑誌）, 英語 - 生物模倣型ソフト水中ロボットの研究開発 —駆動システムを内蔵した立体魚型ロボットの開発—
谷口 貴耶; 西村 冬威; Moncef Hammadi; Jean-Yves Choley; 明 愛国; 下条 誠
計測自動制御学会論文集, 55巻, 4号, 掲載ページ 252-259, 出版日 2019年04月, 査読付
研究論文（学術雑誌）, 日本語 - Soft Underwater Robots Imitating Manta Actuated by Dielectric-Elastomer Minimum-Energy Structures
Eiji Hasegawa; Moncef Hammadi; Jean-Yves Choley; Aiguo Ming
Proceedings of the 8th Conference on Design and Modeling of Mechanical Systems, CMSM'2019, 掲載ページ 1-10, 出版日 2019年03月18日, 査読付
研究論文（国際会議プロシーディングス）, 英語 - 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
CISM International Centre for Mechanical Sciences, Courses and Lectures, Springer International Publishing, 584巻, 掲載ページ 323-330, 出版日 2019年, In the field of robotics, small cat-like robots, due to its small size, good flexibility, low energy consumption, has become a research trend. Elastic four-bar linkage mechanism (EFLM) with programmable trajectory, good stability, and certain buffer performance, is an excellent choice for driver design of small quadruped robot. We designed a novel miniature cat-like robot, Og-cat, which is optimized in structural features and special parameters compared with other similar quadruped robots. Moreover, we developed a method that can make leg trajectory implement accurately for robots using EFLM. A trajectory realization function is obtained through MATLAB fitting so that the trajectory can be executed precisely. The proposed method has been confirmed on our small quadruped robot Og-cat.
論文集(書籍)内論文, 英語 - 任意の指先位置で把持可能なロボットハンド用近接覚センサの開発
中山 卓海; 古田 崇人; 有田 輝; 明 愛国
ロボティクス・メカトロニクス講演会講演概要集, 一般社団法人 日本機械学会, 2019巻, 掲載ページ 2A2-G07, 出版日 2019年, We are developing robot hands with proximity sensors capable of acquiring information on the vicinity of an object. Up to now, a grasp posture at which the fingertip is facing directly to the object is considered and network structure proximity sensors have been designed for the grasping. By using the proximity sensors, it is difficult to realize a grasping at an arbitrary position of the fingertip, which is necessary for complicated grasping tasks. In this paper, a network structure proximity sensor is designed to meet the need and basic characteristics are investigated by experiments using a prototype of the sensor.
日本語 - Design of Robot Leg with Variable Reduction Ratio Crossed Four-bar Linkage Mechanism.
Kohei Tomishiro; Qiang Huang; Ryuki Sato; Yasuji Harada; Aiguo Ming; Fei Meng; Huaxin Liu; Xuxiao Fan; Xuechao Chen; Zhangguo Yu
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), IEEE, 掲載ページ 4333-4338, 出版日 2019年, 査読付
研究論文（国際会議プロシーディングス） - Energy Efficiency and Speed Optimization by Squad-Unit Genetic Algorithm for Bipedal Walking
Runming Zhang; Huaxin Liu; Fei Meng; Ru Kang; Zhangguo Yu; Aiguo Ming; Qiang Huang
Proceedings of IEEE ROBIO 2018, 掲載ページ 661-667, 出版日 2018年12月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Motion planning method of bipedal walking using partial-circular feet imitating wheel motion
Hikaru Arita; Aiguo Ming
Proceedings of IEEE ROBIO 2018, 掲載ページ 2386-2393, 出版日 2018年12月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - An Overload Protector Inspired by Joint Dislocation and Reduction for Shoulder of Humanoid Robot
Ru Kang; Huaxin Liu; Fei Meng; Runming Zhang; Xiaoshuai Ma; Botao Liu; Aiguo Ming; Qiang Huang
Proceedings of IEEE ROBIO 2018, 掲載ページ 2019-2024, 出版日 2018年12月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Cylindrical Inverted Pendulum Model for Three Dimensional Bipedal Walking
Runming Zhang; Huaxin Liu; Fei Meng; Aiguo Ming; Qiang Huang
Proceedings of 2018 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), 掲載ページ 1010-1016, 出版日 2018年10月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Introduction of Toe Mechanism with Bi-articular Tendon into Legged Robot
K. Kurokawa; R. Sato; S. Hiasa; A. Ming; F. Meng; H. Liu; X. Fan; X. Chen; Z. Yu; Q. Huang
Proceedings of the 2018 IEEE International Conference on Mechatronics and Automation, 掲載ページ 1597-1602, 出版日 2018年08月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Development of a Bio-inspired Flexible Tail System
Benjamin Simon; Ryuki Sato; Jean-Yves Choley; Aiguo Ming
PROCEEDINGS 2018 12TH FRANCE-JAPAN AND 10TH EUROPE-ASIA CONGRESS ON MECHATRONICS, IEEE, 掲載ページ 230-235, 出版日 2018年, 査読付, In the animal kingdom, many mammals are using their tails to assure their stability while running, jumping, falling, etc. Researches have been performed in order to add tails on wheeled or legged robots in order to improve their stability. However, those tails are often far from the biological structure and resumed to a simple rigid tube with a mass on the extremity. On the other hand the biological tail is composed of many bones moving one on the other and actuated with an important number of muscles. Therefore replicating this structure would result in big and heavy systems using many actuators that would reduce the physical performances of the robot. In this paper, we developed a new bio-inspired cable-driven tail system capable of swinging a flexible tail from base to tip around the pitching axis using a single actuator. First we designed a new flexible tail mimicking the structure of the animal tail. Then we developed a new actuation system using the combination of cams and drive wheels to realize the actuation of 8 cables using a single actuator. Finally, we measured the efforts generated by the swinging motion of the tail and perform experiments to observe its effects on the jumping motion.
研究論文（国際会議プロシーディングス）, 英語 - Robotic Grasping Using Proximity Sensors for Detecting both Target Object and Support Surface
Sasaki, Koichi; Koyama, Keisuke; Ming, Aiguo; Shimojo, Makoto; Plateaux, Regis; Choley, Jean-Yves
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), IEEE, 掲載ページ 2925-2932, 出版日 2018年, 査読付, The robustness of the positioning and posturing of robot hands relative to target object and support surface is an important issue for autonomous grasping. For example, to perform a grasping action such as picking up thin objects from a table top, the position and posture of the hand must be controlled to keep adequate relative posture and distance to the support surface besides those between the hand and the target object. Because slight errors in the posture and position are enough to cause grasping failure, the positioning and posturing of the hand must be precise enough, specially when the hand is close to the target object and support surface. To improve the robustness of robotic grasping, in this paper we present a method by grasping control based on the relative posture and position between hand and support surface besides those between hand and target object, using proximity sensors. Proximity sensors are newly installed on fingernails besides on the fingertips. As the fingernail sensor, an integration of Time-of-Flight (TOF) sensor and photo-reflector is designed to realize long range detection, as well as with precise and high-speed detection regardless of the reflectance of support surfaces when approaching the support surface. By the sensors, the hand can approach the object and support surface coarsely first, and then can be controlled fast and precisely to realize adequate grasping motion along the support surface but without contact with the support face. The method has been implemented to a manipulator system, and successful grasping experiments have demonstrated the effectiveness of the proposed method.
研究論文（国際会議プロシーディングス）, 英語 - 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
2018 IEEE INTERNATIONAL CONFERENCE ON CYBORG AND BIONIC SYSTEMS (CBS), IEEE, 掲載ページ 391-396, 出版日 2018年, 査読付, In this paper, a new leg mechanism that mimics the function of the musculoskeletal structures of the thigh of the mammals is proposed. The bi-articular muscle-tendon complex of the thigh makes it possible to drive the hip and the knee joints as well as store and release the elastic energy, and it contributes to extension of the leg at the jumping and swinging of the leg during running. A mechanism with the function is introduced to a bipedal robot that mimics the hind limbs of mammals. In order to verify the effect of the mechanism, motion planning for the vertical jumping is performed for the models with and without the mechanism by a nonlinear optimization simulation. The motion trajectory is optimized to maximize the jumping height and the derived results show that the jumping height can be improved by the mechanism. Through the experiments, it is confirmed that the jumping height by the bipedal robot with the proposed mechanism was improved and the effectiveness of the proposed mechanism is shown.
研究論文（国際会議プロシーディングス）, 英語 - Development of High-Performance Soft Robotic Fish by Numerical Coupling Analysis
Zhao, Wenjing; Ming, Aiguo; Shimojo, Makoto
APPLIED BIONICS AND BIOMECHANICS, HINDAWI LTD, 2018巻, 掲載ページ 1-12, 出版日 2018年, 査読付, To design a soft robotic fish with high performance by a biomimetic method, we are developing a soft robotic fish using piezoelectric fiber composite (PFC) as a flexible actuator. Compared with the conventional rigid robotic fish, the design and control of a soft robotic fish are difficult due to large deformation of flexible structure and complicated coupling dynamics with fluid. That is why the design and control method of soft robotic fish have not been established and they motivate us to make a further study by considering the interaction between flexible structure and surrounding fluid. In this paper, acoustic fluid-structural coupling analysis is applied to consider the fluid effect and predict the dynamic responses of soft robotic fish in the fluid. Basic governing equations of soft robotic fish in the fluid are firstly described. The numerical coupling analysis is then carried out based on different structural parameters of soft robotic fish. Through the numerical analysis, a new soft robotic fish is finally designed, and experimental evaluation is performed. It is confirmed that the larger swimming velocity and better fishlike swimming performance are obtained from the new soft robotic fish. The new soft robotic fish is developed successfully for high performance.
研究論文（学術雑誌）, 英語 - 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
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), IEEE, 掲載ページ 287-292, 出版日 2018年, 査読付, This paper presents a robot with pseudo direct drive and multi-springs inspired from structure of a cat. Combining spring and cable pulley, the passive flexible mechanical structure is realized by two parts: an elastic four-bar linkage crossing the knee and ankle joints; a sprung cable crossing the hip, knee and ankle joint. The structure can make full use of robot's gravitational energy and motor power to store more energy in landing, and then release energy in jumping, which enhances dynamic jump ability. Besides, the robot can maintain a standing state stably under static condition balance with the help of spring which avoids overheating of the motor and improve energy efficiency. Simulation and experiments demonstrated that the multi-springs can reduce the load of knee joint motor and the jumping height of the robot with the springs was 42 mm higher, which show an obvious effectiveness in jumping function.
研究論文（国際会議プロシーディングス）, 英語 - 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
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), IEEE, 掲載ページ 1226-1231, 出版日 2018年, 査読付, The extraordinary jumping ability of quadrupedal animals, is greatly attributed to appropriate jumping motion strategy with elastic element in legs. This paper introduces an optimization process of the robot jumping to a maximum horizontal distance from a static state, and verifies it on a small quadrupedal robot using elastic four-bar linkage mechanism. Two steps of optimization, with simplified stick models built to depict the dynamic characteristics of real robot, was set to search a best jump motion. Moreover, experiments of real robot validate the effectiveness of the mechanism and optimizing jumping method, while the robot could achieve a maximum horizontal jumping distance of 250 mm (78% of body length).
研究論文（国際会議プロシーディングス）, 英語 - Grasp Optimization with Constraint of Contact Points Number for a Humanoid Hand
Dacheng Yu; Zhangguo Yu; Qinqin Zhou; Xuechao Chen; Junjie Zhong; Weimin Zhang; Mingyue Qin; Min Zhu; Aiguo Ming; Qiang Huang
Proceedings of IEEE ROBIO 2017, 掲載ページ 2205-2211, 出版日 2017年12月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Electromagnetic Design of a High Torque Density Permanent Magnet Motor for Biomimetic Robot
Wu Zhang; Zhangguo Yu; Xuechao Chen; Qiang Huang; Junyao Gao; Weimin Zhang; Aiguo Ming; Min Zhu
Proceedings of IEEE International Conference on Cyborg and Bionic Systems 2017, 掲載ページ 140-144, 出版日 2017年10月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Trajectory optimization of humanoid robots swinging leg
Zhou Luo; Xuechao Chen; Zhangguo Yu; Qiang Huang; Libo Meng; Qingqing Li; Weimin Zhang; Wenjuan Guo; Aiguo Ming
Proceedings of 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), 掲載ページ 359-364, 出版日 2017年10月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Bioinspired Control of Walking With Toe-Off, Heel-Strike, and Disturbance Rejection for a Biped Robot
Xuechao Chen; Zhangguo Yu; Weimin Zhang; Yu Zheng; Qiang Huang; Aiguo Ming
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 64巻, 10号, 掲載ページ 7962-7971, 出版日 2017年10月, 査読付, Human-like features, like toe-off, heel-strike, and disturbance rejection, can enhance the performance of bipedal robots. However, the required control strategies for these motions influence each other, and few studies have considered them simultaneously. Humans can walk stably with toe-off and heel-strike even after experiencing disturbances. Thus, we can study human control strategies, and then, apply them to a bipedal robot. This paper proposes a bioinspired control method to realize stable walking with toe-off and heel-strike for a bipedal robot even after disturbances. First, we analyze human walking and obtain some control strategies. Then, we propose a pattern generator and a walking controller to mimic these strategies. The pattern generator can predefine the zero-moment-point to plan the center of mass trajectory and determine appropriate foot placement. The controller adjusts torso acceleration to make the support leg compliant with the external disturbances. The controller also achieves toe-off and heel-strike in cooperation with the pattern generator. Finally, the validity of the proposed method is confirmed through simulations and experiments.
研究論文（学術雑誌）, 英語 - Design of a Rigid Mechanism for a Knee Joint with Continuously Variable Reduction Ratio
Ning Sun; Weimin Zhang; Zhangguo Yu; Xuechao Chen; Lianqiang Han; Huaxin Liu; Hongbai Chen; Aiguo Ming; Qiang Huang
2017 2nd International Conference on Advanced Robotics and Mechatronics (ICARM), 掲載ページ 252-257, 出版日 2017年08月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - ネット状近接覚センサを用いた非接触手探り動作による未知物体把持の研究
鈴木 陽介; 瀬戸川 将夫; 明 愛国; 下条 誠
日本ロボット学会誌, 35巻, 2号, 掲載ページ 135-142, 出版日 2017年02月, 査読付
研究論文（学術雑誌）, 日本語 - 対象物と周辺環境情報を検出可能な近接覚を備えたロボットハンドによる物体把持
佐々木 航一; 小山 佳祐; 明 愛国; 下条 誠
ロボティクス・メカトロニクス講演会講演概要集, 一般社団法人 日本機械学会, 2017巻, 掲載ページ 2P1-B11, 出版日 2017年,Grasping thin objects on the table is difficult because a slight angular error of the robot hand causes grasping failure. Besides, unintended contact with surface of the table causes not only grasping failure but also malfunction of the robot hand. Therefore, In the grasping, posture adaptation between hand and environment is important for successful grasping. In this paper we present a grasping method for thin object using finger pad and nail proximity sensor which can detect both object and surrounding environment. Because the nail proximity sensor is consisted of photo reflector and TOF proximity sensor, angular and distance error between the hand and the surrounding environment can be detected and corrected during approach to the object. As an experimental result, we show that the proposed method has robustness for environment and can grasp thin object on the table even if angular error exists.
日本語 - 近接覚を備えた遠隔操作型ロボットハンドにおける操作者への物体面情報の提示
一村 リサ; 小山 佳祐; 下条 誠; 明 愛国
ロボティクス・メカトロニクス講演会講演概要集, 一般社団法人 日本機械学会, 2017巻, 掲載ページ 2P1-B10, 出版日 2017年,We verified the effectiveness of presentation method of the object plane information by electrotactile stimulation based on proximity sensor outputs. The proximity sensor is able to obtain distance and posture information between the sensor and the object at the area near the object, and mounted on a robot fingertip. If the proximity information is transmitted to the operator, it is useful for the operator to grasp the object in teleoperation robot. Especially, we focused on posture presentation in this paper, by which operator can make the robot fingertip confront the object. The experiment all results show the possibility that the proposed method enables the operator to adjust the grasping posture.
日本語 - 近接覚センサと RC サーボモータを用いた高機能・多自由度ハンドの開発
石関 峻一; 小山 佳祐; 明 愛国; 下条 誠
ロボティクス・メカトロニクス講演会講演概要集, 一般社団法人 日本機械学会, 2017巻, 掲載ページ 2P1-B09, 出版日 2017年,In industrial field and home service field, there is required to grasp various objects with one type of a hand. Since fingertips of multi-D.O.F hand have a wide movable range, it is suitable for grasping objects with various shape and size. In our laboratory, we have developed the hand equipped with proximity sensors. And we realized a pre-grasp motion which adjusts distance and posture between the fingertip and an object without touching it. However, the hand used is expensive custom-made items, and there is problems that a controller is large and expensive. In this research, we develop a low-cost robot hand equipped with the proximity sensor. This robot hand consists of RC servo motors, which has advantages of easy maintenance, easy installation and low-cost.
日本語 - Compliance Control with Vector Decomposer Using One-Dimensional Pressure Sensor for Robotic Hand
Yu, Dacheng; Yu, Zhangguo; Chen, Xuechao; Huang, Qiang; Shi, Yongliang; Zhu, Min; Zhang, Weimin; Ming, Aiguo; Shimojo, Makoto
2017 CHINESE AUTOMATION CONGRESS (CAC), IEEE, 掲載ページ 445-450, 出版日 2017年, 査読付, Compliance control using tactile sensor for robotic hands have been one of the major research topics. Most researchers use a variety of multi-dimensional force sensors with compliance control. In this paper, we replace traditional multi-dimensional force/torque sensor with one-dimensional pressure sensor. In order to achieve the effect of multi-dimensional sensor, we also propose a vector decomposer to calculate the three-axes position error vector from one-dimensional position signal and make it works in position based impedance control. Finally, the performance of the vector decompose algorithm and compliance grasping are verified in simulation and experiment.
研究論文（国際会議プロシーディングス）, 英語 - Reuse of SysML Model to Support Innovation in Mechatronic Systems Design
Mizuki Shinozaki; Faida Mhenni; Jean-Yves Choley; Aiguo Ming
2017 11TH ANNUAL IEEE INTERNATIONAL SYSTEMS CONFERENCE (SYSCON), IEEE, 掲載ページ 50-55, 出版日 2017年, 査読付, Mechatronic systems are inherently complex as they are multidisciplinary, integrating both hardware (electronical, mechanical) and software components. A huge effort is needed in the early design stages to take into account the requirements and constraints of the different stakeholders. A system model is needed to facilitate the communication between the collaborators from different domains. These efforts may be considered as a time loss by several companies. However, when a system model is available (i.e. electrical actuator for aircraft industry), it seems obvious that designing a new variant of the system with a modification of a set of requirements requires much less human effort, as it profits from the reuse and change of the already existing models of the previous system. In this paper, we propose to show the usefulness of the capitalization and reuse of system models by showing how a SysML model of an E-Taxiing (Electric Taxiing) aircraft system can be reused in order to design a new innovative HEPS (Hybrid Electric Propulsion System).
研究論文（国際会議プロシーディングス）, 英語 - 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
Proceedings of IEEE ROBIO 2017, 掲載ページ 2605-2610, 出版日 2017年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - 2足歩行安定性を向上する足裏実装型非接触センサの開発
有田 輝; 米田 将允; 鈴木 陽介; 下条 誠; 明 愛国
日本ロボット学会誌, 一般社団法人 日本ロボット学会, 35巻, 9号, 掲載ページ 669-680, 出版日 2017年, 査読付, For bipedal robots walking on uneven terrain, lack of information about a terrain may cause serious reduction of the stability. To solve the problem, the purpose of this paper is to develop a sensor which can be mounted on robot's soles and propose methods which can increase the stability of bipedal walk with the sensor. The sensor should detect information including relative posture and relative distance between the sole of the swing leg and the floor, when the robot execute the walk by ZMP-based control. In this paper, the sensor has been designed based on Net-Structure Proximity Sensor (NSPS) and a prototype has been developed. The developed sensor is with thin structure, light weight, less wirings (four wires only) and fast response (<1[ms]). Experimental results show that the sensor can output necessary relative posture and positon between the sole and the floor for walk control. Besides, the sensor has been mounted to the soles of a hobby robot and its feasibility is shown by controlling robot so that its sole can land on a tilted floor with maximum contacting area to improve the stability.
研究論文（学術雑誌）, 日本語 - Design of biomimetic soft underwater robots
Aiguo Ming; Wenjing Zhao
Mechatronic Futures: Challenges and Solutions for Mechatronic Systems and Their Designers, Springer International Publishing, 掲載ページ 91-111, 出版日 2016年01月01日, 査読付, The evolution process for creatures is very, very long, and contains many useful secrets and rationality mostly hidden in their structure, motion and configuration. Biomimetic mechatronic design is a useful approach for future mechatronic innovation, which can significantly enhance the performance of mechatronic systems. As an important issue for biomimetic mechatronic design, it is necessary to make a robot as soft as a natural creature to achieve more efficient, high-performance and creature-like motions. Compared to a conventional rigid robot, the design and control of a soft robot is difficult because the coupling between the flexible structure and surrounding environment should be considered, which is very difficult to resolve due to the large deformations and complicated and coupled dynamics. This is the main reason why design methods for soft robots has not been established, despite the many trial developments of soft robots that have been undertaken to date. The challenges for the design of biomimetic soft underwater robots based on numerical simulation considering the coupling between the flexible structure and surrounding fluid as well as control technologies are described in this chapter.
論文集(書籍)内論文, 英語 - 指先に光学式近接覚センサを備えた多指ハンドによる同時接触での把持 (物体表面の反射率推定とセンサ出力の補正)
小山佳祐; 鈴木陽介; 明愛国; 下条誠
日本機械学会論文集, The Japan Society of Mechanical Engineers, 82巻, 833号, 掲載ページ transjsme.15-00366-00366-15-00366, 出版日 2016年01月, 査読付, In grasping of a robot hand, a contact timing of each finger has a influence on grasp success. In order to eliminate the gap and grasp an object quickly, proximity sensing from the robot surface is effective way. The sensor detects the object posture and distance in a several tens of millimeters from the robot surface. It enables that the robot adjusts postures and distance between the object and fingertips along the object surface. In this paper, we demonstrate a quick grasp with contacting each finger simultaneously by proximity sensors on fingertips. In order to realize the grasp by optical proximity sensors, we introduce our reflectance estimation of the object surface and calibration of the sensor output. This approach uses only the proximity sensor output and a relative moving distance of the fingertip. It is unnecessary to add extra equipment or sensor for estimation and calibration. It is possible to achieve the grasp regardless of the reflectance of the object surface. In the experiment, we confirmed that the approach can be applied to surface with different reflection characteristics (iron plate, aluminum plate, paper: cylinder and plane ), and the hand can grasp a object with various reflectance surfaces (31.9∼76.1%) quickly with contacting each fingertip within 0.056s.
研究論文（学術雑誌）, 日本語 - Integrated Control of a Multi-fingered Hand and Arm using Proximity Sensors on the Fingertips
Keisuke Koyama; Yosuke Suzuki; Aiguo Ming; Makoto Shimojo
2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 掲載ページ 4282-4288, 出版日 2016年, 査読付, In this study, we propose integrated control of a robotic hand and arm using only proximity sensing from the fingertips. An integrated control scheme for the fingers and for the arm enables quick control of the position and posture of the arm by placing the fingertips adjacent to the surface of an object to be grasped. The arm control scheme enables adjustments based on errors in hand position and posture that would be impossible to achieve by finger motions alone, thus allowing the fingers to grasp an object in a laterally symmetric grasp. This can prevent grasp failures such as a finger pushing the object out of the hand or knocking the object over. Proposed control of the arm and hand allowed correction of position errors on the order of several centimeters. For example, an object on a workbench that is in an uncertain positional relation with the robot, with an inexpensive optical sensor such as a Kinect, which only provides coarse image data, would be sufficient for grasping an object.
研究論文（国際会議プロシーディングス）, 英語 - Disturbance Rejection Controller for Biped Walking Using Real-Time ZMP Regulation
Zhangguo Yu; Maoxing Zheng; Qinqin Zhou; Xuechao Chen; Libo Meng; Weimin Zhang; Aiguo Ming; Qiang Huang
ROMANSY 21 - ROBOT DESIGN, DYNAMICS AND CONTROL, SPRINGER INT PUBLISHING AG, 569巻, 掲載ページ 179-188, 出版日 2016年, 査読付, This paper proposes a disturbance rejection controller using real-time ZMP (Zero Moment Point) regulation which could maintain the stable walk of a humanoid robot when the robot is subjected to external disturbances. The controller detects the disturbance by an accelerometer, and computes the ZMP increment to overcome disturbance to ensure stability, and then calculate the increment of trajectory of center of mass according to ZMP increment using preview control. The effectiveness of our proposed method was confirmed by simulation in ADAMS and walking experiment on an actual humanoid robot, BHR-5.
研究論文（国際会議プロシーディングス）, 英語 - Development of a Flexible Tail for Legged Robot
Ryuki Sato; Shun Hashimoto; Aiguo Ming; Makoto Shimojo
2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, IEEE, 掲載ページ 683-688, 出版日 2016年, 査読付, Some creatures can realize dynamic locomotions with a slender body by utilizing the dynamic effect by moving their whole body besides their legs. For example, some mammals moving by hopping with two legs at high speed and high efficiency have a tail as long as their body length. Their tails are composed of multi-joint and are exible. The dynamic effect by swinging their exible tails is useful for fast running and high jumping. In this paper, we develop a exible tail mechanism for two-legged robot inspired by the exibility of the animal tail. This tail is comprised of 6 linkages in series and the linkages are connected with elastic passive joints. First, the elasticity of tail joints and the motion of the tail base joint are designed by jumping simulations. To evaluate the effectiveness of the exible tail mechanism, jumping experiments have been conducted using the prototype of the two-legged robot with the exible tail as well as rigid tail. The results of these experiments show that the legged robot realized higher jumps with using the effect of swinging its exible tail.
研究論文（国際会議プロシーディングス）, 英語 - Cat-inspired Mechanical Design of Self-Adaptive Toes for a Legged Robot
Huaxin Liu; Qiang Huang; Weimin Zhang; Xuechao Chen; Zhangguo Yu; Libo Meng; Lei Bao; Aiguo Ming; Yan Huang; Kenji Hashimoto; Atsuo Takanishi
2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016), IEEE, 掲載ページ 2425-2430, 出版日 2016年, 査読付, Cats have protractible claws to fold their tips to keep them sharp. They protract claws while hunting and pawing on slippery surfaces. Protracted claws by tendons and muscles of toes can help cats anchoring themselves steady while their locomotion trends to slip and releasing the hold while they retract claws intentionally. This research proposes a kind of modularized self-adaptive toe mechanism inspired by cat claws to improve the extremities' contact performance for legged robot. The mechanism is constructed with four-bar linkage actuated by contact reaction force and retracted by applied spring tension. A feasible mechanical design based on several essential parameters is introduced and an integrated Sole-Toe prototype is built for experimental evaluation. Mechanical self-adaption and actual contact performance on specific surface have been evaluated respectively on a biped walking platform and a bench-top mechanical testing.
研究論文（国際会議プロシーディングス）, 英語 - Development of A Flexible Coupled Spine Mechanism For A Small Quadruped Robot
Ryosuke Kawasaki; Ryuki Sato; Eiki Kazama; Aiguo Ming; Makoto Shimojo
2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), IEEE, 掲載ページ 71-76, 出版日 2016年, 査読付, Quadruped animals realize dynamic motions such as fast running and high and long jumping with the utilization of the flexibility of their bodies. It is known that the motions of their front and rear legs couple with the flexion and extension of their spine when running or jumping. In recent years, quadruped robots inspired by cats and cheetahs have been developed. In our group, a small quadruped robot has been developed with leg mechanisms which consist of spring and damper systems inspired by bi-articular muscle-tendon complexes of animals. The robot is able to perform various motions such as walking, running and jumping. In this paper, flexibility features as in animal bodies are to be introduced to make the robot run fast and jump long (or high) by coupling the motions of their spine and legs. In our design, the flexion and extension of the spine are realized by a spine joint with a torsion spring, and the coupling to the front and rear legs has been realized by cables. Driving the scapula or hip joints causes flexion of the spine and stores the elastic energy in the spring. The extension of the spine with the spring assists in driving the scapula or hip joints. As a result, in the jump experiment, the robot with a flexible spine can realize longer jump distance than that by a robot with a rigid spine.
研究論文（国際会議プロシーディングス）, 英語 - ネット状近接覚センサを用いた非接触手探り動作による未知物体把持の研究
鈴木陽介; 瀬戸川将夫; 明愛国; 下条誠
日本ロボット学会誌, 35巻, 2号, 掲載ページ 49-56, 出版日 2016年, 査読付
研究論文（学術雑誌）, 日本語 - Mechanism Design of Underactuated Robotic Hand
Yanjiang Huang; Xianmin Zhang; Jinying Zhang; Chihao Huang
2016 INTERNATIONAL CONFERENCE ON MANIPULATION, AUTOMATION AND ROBOTICS AT SMALL SCALES (MARSS), IEEE, 掲載ページ 724-729, 出版日 2016年, 査読付, In this paper, we designed a new underactuated multi-finger robotic hand. First, we designed the number of fingers, the layout and the driving method. And then, we built the static force model of the multi-finger robotic hand, and analyzed the relationship between the grasping force of the finger, the joint angle and the size of grasped object, especial in grasping some classical objects. Finally, we printed the first prototype of the underactuated robotic hand through 3D printer, and conducted an experiment. The experiment results showed that the designed underactuated multi-finger robotic hand could grasp different objects, and performed well.
研究論文（国際会議プロシーディングス）, 英語 - 指先に近接覚センサを備えたロボットハンドによるプリグラスプ制御
小山佳祐; 鈴木陽介; 明愛国; 下条誠
日本ロボット学会誌, 33巻, 9号, 掲載ページ 712-722, 出版日 2015年11月, 査読付
研究論文（学術雑誌）, 日本語 - Net-Structure Proximity Sensor: High-Speed and Free-Form Sensor With Analog Computing Circuit
Hiroaki Hasegawa; Yosuke Suzuki; Aiguo Ming; Keisuke Koyama; Masatoshi Ishikawa; Makoto Shimojo
IEEE/ASME Transactions on Mechatronics, 20巻, 6号, 掲載ページ 933-941, 出版日 2015年10月, 査読付
研究論文（学術雑誌）, 英語 - 圧電繊維複合材料を用いた生物模倣型ソフト水中ロボットの研究開発-立体魚型ソフト水中ロボットの開発ｰ
西村冬威; 明愛国; 下条誠
日本ロボット学会誌, 日本ロボット学会, 33巻, 7号, 掲載ページ 524-530, 出版日 2015年09月01日, 査読付
研究論文（学術雑誌）, 日本語 - 圧電繊維複合材料を用いた生物模倣型ソフト水中ロボットの研究開発 ― 立体魚型ソフト水中ロボットの開発 ―
西村冬威; 明 愛国; 下条 誠; Jean-Yves Choley; Moncef Hammadi
日本ロボット学会誌, 33巻, 7号, 掲載ページ 44-50, 出版日 2015年09月, 査読付
研究論文（学術雑誌）, 日本語 - Grasping Strategy for Moving Object using Net-Structure Proximity Sensor and Vision Sensor
Yosuke Suzuki; Keisuke Koyama; Aiguo Ming; Makoto Shimojo
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE COMPUTER SOC, 掲載ページ 1403-1409, 出版日 2015年, 査読付, This study presents a robot-hand-arm system with high robustness and responsiveness by using a "Net-Structure Proximity Sensor." The sensor, which we have developed and specially designed for a robot hand, directly detects an object being to be grasped and outputs analog voltage signals according to the position/posture error between the robot hand and the object. It has been confirmed that the robot hand is able to quickly adjust to and grasp an unknown object by applying a feed-back control method based on the sensor signals. This paper focuses on the integration of the proximity-based feedback control to a commonly-used vision-based control. These sensors work in complementary manner: a vision sensor is available for planning an approaching path of a robot hand by detecting large area, and a Net-Structure Proximity Sensor enables the robot hand to adjust the approaching error before grasping and to improve the certainty of the grasping. Two objective velocities are derived independently by the sensors. By adding the velocities with considering the reliability of the sensor information, the robot hand becomes to be able to perform approaching and adjustment to the target object simultaneously. Experimental results showed that the robot hand grasped a moving object with high success rate even in conditions where it was difficult to predict the trajectory of the object accurately.
研究論文（国際会議プロシーディングス）, 英語 - Development of Leg Mechanism Using a Knee Joint with Continuously Variable Reduction Ratio Adaptive to Load
Takuma Uchida; Ryuki Sato; Aiguo Ming; Makoto Shimojo
2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, IEEE, 掲載ページ 1199-1203, 出版日 2015年, 査読付, The realization of human-like dynamic motions by bipedal robots is still a challenge. One reason for this is that joints of bipedal robots are actuated with low backdrivability. In this paper, to improve backdrivability of the joints in a bipedal robot, a new mechanism of knee joint with continuously variable reduction ratio adaptive to load is proposed and a control method is also proposed according to the characteristic of the mechanism. A prototype of the bipedal robot using the designed knee joint with continuously variable reduction ratio adaptive to load has been developed. The effectiveness of the mechanism is shown by experimental results using the prototype.
研究論文（国際会議プロシーディングス）, 英語 - 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
2015 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, IEEE, 掲載ページ 38-43, 出版日 2015年, 査読付, Musculoskeletal structures in many animals are flexible, which are very important to achieve dynamic locomotion such as running and jumping. For this reason, in recent research of robotics, elastic element is introduced in robot structure in order to improve dynamic performance of robots. In this paper, we propose a robot leg composed of parallel linkage and elastic tension spring. A prototype of the leg has been developed and it is evaluated by jumping simulations and experiments. As results of the experiments, higher and more efficient jumping is realized by the proposed leg comparing to the leg without elastic spring.
研究論文（国際会議プロシーディングス）, 英語 - Development of Robot Legs Inspired by Bi-articular Muscle-tendon Complex of Cats
Ryuki Sato; Ichiro Miyamoto; Keigo Sato; Aiguo Ming; Makoto Shimojo
2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), IEEE, 掲載ページ 1552-1557, 出版日 2015年, 査読付, Within the limbs of typical animals, there exist bi-articular muscles crossing two joints. It is known that the bi-articular muscles of the felid play an important role in the locomotion. Also the muscle-tendon complex, composed of the gastrocnemius muscle and the Achilles' tendon that cross the knee joint and the ankle joint contributes much to the movements such as running and jumping particularly. Besides, because the muscle-tendon complex has the function for absorbing shocking, it is utilized for soft landing from high places. To achieve high performance for jumping and landing motion like cats, we are developing robot legs inspired by the bi-articular muscle-tendon complex of cats. The leg consists of hip, knee and ankle joints. For the knee and ankle joints, a four-bar linkage mechanism with one elastic linkage, in which the knee joint is driven by an electric rotary motor and the ankle joint is passive, is applied. By this mechanism, basic functions of the bi-articular muscle-tendon complex of felids like cats can be realized and the performance for jumping and landing can be improved. In this paper, the new leg mechanism is described. Moreover, a prototype of a pair of the hind legs of the quadruped robot using the new mechanism has been developed. The results of jumping and landing experiments are shown to validate the effectiveness of the mechanism.
研究論文（国際会議プロシーディングス）, 英語 - Grasping Control Based on Time-To-Contact Method for a Robot Hand Equipped with Proximity Sensors on Fingertips
Keisuke Koyama; Yosuke Suzuki; Aiguo Ming; Makoto Shimojo
2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), IEEE, 掲載ページ 504-510, 出版日 2015年, 査読付, Quick motion and soft touch control are important for autonomous grasping. To perform a grasping action, a hand must adjust its fingertips to match the object shape. It is also necessary to reduce the fingertip velocity on contact with the object. We propose a method of fingertip velocity control for fast approach and slow contact using proximity sensors installed on fingertips. The proposed control reduces the fingertip velocity at contact, decreasing the change of impulse force and thus making it appropriate for grasping soft or fragile objects. The proposed control uses time-to-contact (TTC), which is converted from sensor output. It is known that many animals, including humans, use TTC for collision avoidance. TTC represents the remaining time until collision considering the rate change of a control variable. We carried out grasping tests on various common objects using TTC. Experimental results show that the proposed control realizes fingertip alignment perpendicular to unknown shapes and surface objects and lowers the velocity at contact.
研究論文（国際会議プロシーディングス）, 英語 - Development of A Small Quadruped Robot with Bi-articular Muscle-tendon Complex
Eiki Kazama; Ryuki Sato; Ichiro Miyamoto; Aiguo Ming; Makoto Shimojo
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), IEEE, 掲載ページ 1059-1064, 出版日 2015年, 査読付, Hydraulic and pneumatic actuators are used as actuators of robots. They have large capabilities of instantaneous output, but with problems of increase in size and mass, and difficulty for precise control. In contrast, electromagnetic motors have better controllability, lower cost, and smaller size. However, in order to actuate robots, they are usually used with reducers which have high reduction ratio, and it is difficult to realize creature-like dynamic motions such as fast running and high jumping, due to low backdrivability of joints. To solve the problem, we have developed leg mechanisms, which consist of a spring and a damper inspired by bi-articular muscle-tendon complex of animals. The final target is to develop a quadruped robot which can walk, run fast and jump highly like a cat. A cat mainly uses its hind legs in jumping and front legs in landing. It implies that the hind legs play an important role in jumping, and that the front legs do in landing. For this reason, it is necessary to design different leg structures for front and hind legs. In this paper, we develop a new front leg mechanism suitable to a hind leg mechanism which was already made by our group, and make a small quadruped robot. As the result of experiments for dynamic motions, stable running trot at a speed of 3.5 kilometers per hour and forward jumping of 1 body length per jump have been realized by the robot.
研究論文（国際会議プロシーディングス）, 英語 - Fluid-Structure Interaction Analysis of a Soft Robotic Fish Using Piezoelectric Fiber Composite
Wenjing Zhao; Aiguo Ming; Makoto Shimojo; Yohei Inoue; Hiroshi Maekawa
Journal of Robotics and Mechatronics, Fuji Technology Press, 26巻, 5号, 掲載ページ 638-648, 出版日 2014年10月, 査読付
研究論文（学術雑誌）, 英語 - Dynamic Analysis and Optimization of Soft Robotic Fish Using Fluid-Structural Coupling Method
Wenjing Zhao; Aiguo Ming; Makoto Shimojo
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 掲載ページ 1474-1479, 出版日 2014年, 査読付, Aiming to design a soft robotic fish with more natural, more flexible and high-performance movements through biomimetic method, we are developing a soft robotic fish with body/caudal fin (BCF) propulsion by using piezoelectric fiber composite (PFC) as actuator. Compared with conventional rigid robotic fish, the design and control of the soft robotic fish are difficult and hard to reveal its dynamic performances due to the large deformation of flexible structure and complicated coupling dynamics with fluid. That's why the design and control method of the soft robotic fish has not been established, and we need to study it by considering the interaction between flexible structure and fluid. In this paper, fluid-structural coupling analysis based on acoustics method is applied to consider the fluid effect and predict the dynamic responses of soft robotic fish using PFC in fluid. Basic driving and governing equations of soft robotic fish in the fluid are firstly described. Then the numerical acoustics coupling analysis is performed. The calculated results are congruent well with experiments on dynamic responses. Finally, based on this coupling method, a new prototype of soft robotic fish is proposed by optimization for improvement.
研究論文（国際会議プロシーディングス）, 英語 - Development of a Novel Leg Mechanism in the Shape of Backward Convex with a Mechanical Joint Stop for bipedal robot
Aiguo Ming; Toshinori Tahata; Kimitake Ueki; Makoto Shimojo
2014 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2014), IEEE, 掲載ページ 107-112, 出版日 2014年, 査読付, The realization of natural, fast and versatile motions for bipedal robots is still a challenge topic. As one approach to enhance the performance of bipedal robots, actuation with high backdrivability, high power-to-weight ratio as well as high torque is necessary. In this paper, a novel mechanism of leg in the shape of backward convex with a mechanical joint stop is proposed to reduce the necessary torque by the actuator in knee joint and then to improve the actuation capability of knee joint and reduce the consuming energy by the actuator while by a light structure. The design method including simulation for the mechanism is described. A prototype of the leg robot has been developed and the basic feasibility of the mechanism is shown by experimental results.
研究論文（国際会議プロシーディングス）, 英語 - Development of an Entertainment Robot System using Kinect
Aiguo Ming; Kazuya Enomoto; Mizuki Shinozaki; Ryuki Sato; Makoto Shimojo
2014 10TH FRANCE-JAPAN/ 8TH EUROPE-ASIA CONGRESS ON MECATRONICS (MECATRONICS), IEEE, 掲載ページ 127-132, 出版日 2014年, 査読付, As one of home services by a mobile manipulator system, we are aiming at the realization of the assist for elderly people. The purpose of this work is to develop a robot system that provides mental support for elderly people as one part of the home services. We have developed a rock-paper-scissors-Atchimuitehoi gaming system as entertainment robot system by using Kinect v2 as human robot interface. In this paper, the configuration of the developed system is described. And the basic algorithms for recognition of human action as well as voice are proposed and implemented. Finally the feasibility of the system is shown by the experimental results using the developed prototype.
研究論文（国際会議プロシーディングス）, 英語 - Development of a Sea Snake-like Underwater Robot
Aiguo Ming; Takahiro Ichikawa; Wenjing Zhao; Makoto Shimojo
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014, IEEE, 掲載ページ 761-766, 出版日 2014年, 査読付, Developing soft fish robots by biomimetic approach is a useful way to achieve high efficiency, high performance and fish-like motions. Comparing to the conventional rigid fish robots, the design and control of soft fish robots are difficult, because the coupling between the flexible structure and fluid should be considered. But the coupling problem is very difficult to be solved due to large deformation and complicated dynamics. This is main reason why the design method for soft fish robots has not been established while many trial developments of soft fish robots have been done up to now. It motivates us to realize the design and control of soft fish robots based on the analytical simulation, by considering the coupling between flexible structure and fluid. In this paper, development of a sea snake-like underwater robot using piezoelectric fiber composite is described. First, the propulsion mechanism of sea snakes is discussed to provide hints for design and control of soft sea snake-like underwater robots. Next, a sea snake-like underwater robot is designed based on the modal analysis of the robots structure in the fluid and a prototype is made. Finally, the performance of the prototype is investigated by experiments.
研究論文（国際会議プロシーディングス）, 英語 - Characteristic Equations and Gravity Effects on Virtual Passive Bipedal Walking
Chunquan Xu; Aiguo Ming; Qijun Chen
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014, IEEE, 掲載ページ 1296-1301, 出版日 2014年, 査読付, An in-depth understanding of passive bipedal walking is expected to contribute to the design of energy-efficient bipedal gaits and passivity-mimicking control laws. In this paper we investigate virtual passive bipedal walking in terms of generalized force and kinetic energy, and derive three characteristic equations which describe some essential mechanism of virtual passive bipedal walking and can be used to design a control law for completely passive bipedal walking on a level. We also show by simulation that the step length of passive bipedal walking is independent of the gravity, the step period is inversely proportional to the one-second power of the gravity, and the average speed of progression is proportional to the one-second power of the gravity.
研究論文（国際会議プロシーディングス）, 英語 - Internet based crossover robot remote control competition among Asian countries
C. Xu; A. Ming; C. Kanamori; H. Aoyama; H. Li; L. Xu; X. Li; T. Benjanarasuth; S. Nundralwang; B. Purahong; C. -C. Wong
MECHATRONICS, PERGAMON-ELSEVIER SCIENCE LTD, 23巻, 8号, 掲載ページ 933-941, 出版日 2013年12月, 査読付, We introduce an internet based crossover robot remote control competition project that is an international cooperative program based in Japan, China, Thailand, and Taiwan. This competition is an important component of a long-term higher education reform project aiming to develop a practice based innovative educational methodology jointly promoted by the Ministry of Education, Culture, Sports, Science & Technology of Japan and the University of Electro-Communications. The competition project includes two subjects: the competition itself and the communication and cooperation between students in two countries. The basic mode of the competition is a locally controlled robot and a remotely controlled robot cooperate with each other to complete some tasks. As a unique feature of the project, the student-student communication and cooperation are increased through a specially designed team organization structure that each team consists of two groups from different universities in different countries and the team members are required to cooperate through the internet to complete the competition. The competition has been successfully held four times and the results show it greatly benefits the students, and is expected to promote the development of the practice based educational methodology in the near future. (C) 2013 Elsevier Ltd. All rights reserved.
研究論文（学術雑誌）, 英語 - Mechanism of linear load-sensitive continuously variable transmission with spherical driving unit
Kenjiro Tadakuma; Riichiro Tadakuma; Kazuki Terada; Aiguo Ming; Makoto Shimojo
Journal of Robotics and Mechatronics, Fuji Technology Press, 25巻, 6号, 掲載ページ 1079-1087, 出版日 2013年, 査読付, This paper describes a linear load-sensitive continuously variable transmission (CVT) with a spherical driving unit. This CVTmechanismconsists of a spherical drive, drive axis, motor housing, fixed bracket, and a linear sliding plate. It continuously changes the reduction ratio by changing the inclination angle of the active rotational axis. Additionally, this linear mechanism ensures load-sensitive functioning by changing the inclination of the active rotational axis in response to the load. We have developed a linear load-sensitive CVT and confirmed the effectiveness of the proposed mechanism.
研究論文（学術雑誌）, 英語 - Performance Improvement for Posture Estimation using a 3D Range Camera for Standing-Up Motion Assist Robot
Aiguo Ming; Kazuya Ogura; Makoto Shimojo
2013 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (ICIA), IEEE, 掲載ページ 350-355, 出版日 2013年, 査読付, As one of the home services by a mobile manipulator system, we are aiming at the realization of the motion assist for elderly people. The purpose of the work is to realize safe assist by real time feedback control based on the fused information from a high speed tactile sensor and a 3D range camera. The algorithm for posture estimation of human using a 3D range camera and initial experimental results have been reported in our previous paper. This paper describes the improvement on the estimation method to realize stable and accurate detection. The experimental results show the effectiveness of the improved method for posture estimation for standing-up motion.
研究論文（国際会議プロシーディングス）, 英語 - Fundamental Analysis for Design and Control of Soft Fish Robots using Piezoelectric Fiber Composite
Aiguo Ming; Kazunori Hashimoto; Wenjing Zhao; Makoto Shimojo
2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA), IEEE, 掲載ページ 219-224, 出版日 2013年, 査読付, Developing fish robots by biomimetic approach is a useful way to achieve more efficient, high-performance and fish-like motions. And it is very important to make the fish robots as soft as fishes. For this purpose, we are developing soft fish robots using flexible piezoelectric fiber composite (PFC) as actuators together with soft body structure. Comparing to the conventional rigid fish robot, the design and control of soft fish robots are difficult, because the coupling between the flexible continuum and fluid should be considered, which is very difficult to be solved due to large deformation and complicated dynamics. This is main reason why the design method for soft fish robots has not been established while many trial developments of soft fish robots have been done up to now. It motivates us to challenge the design and control problem of soft fish robots based on the analytical simulation with considering the coupling between flexible structure and fluid. In this paper, fundamental analysis for the design and control of soft fish robots using PFC is described. First, modeling of driving from input voltage of PFC to the displacement output of robot in the air is established and improved by comparing experimental results with simulation results. Next the method for structural design of fish robot is performed by modal analysis in the fluid. Finally, a new design of fish robot by the method is shown.
研究論文（国際会議プロシーディングス）, 英語 - Design and Implementation of Common Platform for Small Humanoid Robots
Ryuki Sato; Hiroaki Matsuda; Motoyuki Fujieda; Hajime Hata; Aiguo Ming
2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA), IEEE, 掲載ページ 855-860, 出版日 2013年, 査読付, This paper proposes a design of common platform for small humanoid robots. There are many kinds of small humanoid robots for hobby or research. These humanoid robots are operated in different platforms developed by different developers. For this reason, the current development method is very inefficient. To solve the problem, it is necessary to develop common platform for all small humanoid robots. For this purpose, we are making a common platform for small humanoid robots on RT-Middleware which is used to build intelligent robotic systems. In this paper, first we investigated the requirements of the system to control motion-based humanoid robots. Then we designed a common platform and applied this platform to three different types of humanoid robots. As a result of this, the usefulness of this common platform was demonstrated.
研究論文（国際会議プロシーディングス）, 英語 - Pre-shaping for various objects by the robot hand equipped with resistor network structure proximity sensors
Keisuke Koyama; Hiroaki Hasegawa; Yosuke Suzuki; Aiguo Ming; Makoto Shimojo
IEEE International Conference on Intelligent Robots and Systems, 掲載ページ 4027-4033, 出版日 2013年, 査読付, In this paper, we demonstrate a preliminary motion before grasping by a robot hand, for adjusting the object-fingertip distance and 2-axis postures simultaneously, using a Resistor Network Structure Proximity sensor (RNSP sensor). Through this motion (called 'pre-shaping') and the grasping of an object, the surface of each fingertip is brought into contact with the object surface so that in the next stage grasping can be undertaken. In the next stage, a force can be applied from the fingertips onto the object surface directly. The pre-shaping enhances the reliability of the feedback control for the after-contact tactile sensors. To realize the pre-shaping, we use fingertips equipped with RNSP sensors, which can detect the distance between the fingertip and the object, to determine the relative position between fingertips and an object. The RNSP sensor has a fast response (<
1 [ms]) and simple connectivity (only 6 wires), and can be mounted easily. Additionally, a characteristics of the RNSP sensor output can be designed by the arrangement of the sensor elements. To perform the pre-shaping by simple sensor feedback control based on the configuration between the fingertip and object, we designed the RNSP sensor so that it had the appropriate characteristics for the pre-shaping. © 2013 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - 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
2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), IEEE, 掲載ページ 1574-1579, 出版日 2013年, 査読付, The realization of natural, fast and versatile motions for bipedal robots is still a challenge. As one approach to enhance the performance of bipedal robots, actuation with high backdrivability, high power-to-weight ratio as well as high torque is required. In this paper, a new mechanism of knee joint with variable reduction ratio adaptive to load is proposed to improve the capability of actuation while in light structure. The design method including simulation for the mechanism is described. A prototype of the leg robot has been developed and the basic feasibility of the mechanism is shown by experimental results.
研究論文（国際会議プロシーディングス）, 英語 - Basic Study of Touchless Human Interface Using Net Structure Proximity Sensors
Ichiro Miyamoto; Yosuke Suzuki; Aiguo Ming; Masatoshi Ishikawa; Makoto Shimojo
Journal of Robotics and Mechatronics, 25巻, 3号, 掲載ページ 1-6, 出版日 2013年, 査読付
研究論文（学術雑誌）, 英語 - Experimental discussion of occurrence of high-frequency component on slip sensor output using pressure conductive rubber
Yosuke Suzuki; Seiichi Teshigawara; Mitsuhiro Chiba; Takumi Shimada; Aiguo Ming; Makoto Shimojo
Journal of Robotics and Mechatronics, Fuji Technology Press, 25巻, 2号, 掲載ページ 316-323, 出版日 2013年, 査読付, We have presented a slip sensor that uses pressure-conductive rubber to detect initial slip, but have not revealed the principle of high-frequency wave occurrence that is used by this detection. The wave-occurrence principle should be clarified in optimized slip sensor design, especially the properties of pressure-conductive rubber and the detector shape and for reducing individual differences in detection characteristics of the slip sensor. This paper discusses the wave-occurrence principle through a series of experiments and shows that localized fixing and peeling between pressure-conductive rubber and electrodes in the slip sensor configuration have important relation to the principle.
研究論文（学術雑誌）, 英語 - ロボットハンド指先に付与したネット状近接覚センサ情報に基づく把持姿勢の決定
鈴木健治; 鈴木陽介; 長谷川浩章; 明愛国; 石川正俊; 下条誠
計測自動制御学会論文集, 計測自動制御学会, 48巻, 4号, 掲載ページ 232-240, 出版日 2012年04月, 査読付
研究論文（学術雑誌）, 日本語 - Motion planning of a golf swing robot
Chunquan Xu; Zhizhen Yang; Aiguo Ming; Makoto Shimojo
MECHATRONICS, PERGAMON-ELSEVIER SCIENCE LTD, 22巻, 1号, 掲載ページ 13-23, 出版日 2012年02月, 査読付, We report our studies of a new motion planning method for a two-link golf swing robot. We introduce two fundamental properties of manipulator dynamics: the time-reversal symmetry property and the pendulum property. The former is used to reverse the rest-to-point pre-impact swing (backswing and downswing) into a symmetric point-to-rest swing in time, and the latter is used to design a proportional-derivative plus gravity, joint and coupling torque compensation control algorithm to plan the reversed pre-impact swing and the point-to-rest follow-through swing. By using this method, accurate impact position and hitting speed control of the golf swing and low computational cost are achieved. The introduced properties hold true for general multi-revolute-joint planar manipulators and the proposed motion planning algorithm can be implemented on them too. (C) 2011 Elsevier Ltd. All rights reserved.
研究論文（学術雑誌）, 英語 - 歯車測定機の精度向上に関する研究（第1報）:測定力変化の影響
田口 哲也; 新竹 純; 明 愛国; 下条 誠
精密工学会学術講演会講演論文集, 公益社団法人 精密工学会, 2012巻, 掲載ページ 931-932, 出版日 2012年, 近年，高精度な歯車の要求に伴い，その品質を評価する歯車測定機の高精度化に取り組んできた．その計測値を保証するシステムも確立されつつあり，更に精度を向上させるために検出器の特性を改善させる必要性が明確になった．本論文では単純形状基準器を用いて大きな変位が生じる場合の誤差要因を分析し，その影響を小さくするために測定力を一定にする制御方法について検証し，その有効性を確認できた．
日本語 - A Unified Framework for Virtual Passive Bipedal Gait Generation
C. Xu; A. Ming; M. Shimojo
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 掲載ページ 3141-3146, 出版日 2012年, 査読付, It is well known a fine tuned unpowered biped machine can passively walk down a gentle slope. The in-depth understanding of the passivity is helpful to design more efficient bipedal gaits. In this paper, we investigate the principle mechanism of passive dynamic walking and propose a unified framework for virtual passive bipedal gait generation. The framework shows the physical system's kinetic energy varies inversely proportional to the imitated virtual system's potential energy. Based on this property we propose a kinetic energy tracking control law to realize virtual passive dynamic walking on any slopes in any virtual gravity fields. Numerical simulations are given to support our proposal.
研究論文（国際会議プロシーディングス）, 英語 - Development of flapping robots using piezoelectric fiber composites - Improvement of flapping mechanism inspired from insects with indirect flight muscle
Aiguo Ming; Natchapon Luekiatphaisan; Makoto Shimojo
2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012, 掲載ページ 1880-1885, 出版日 2012年, 査読付, Recently, many challenges are being made toward the realization of flight motions like insects, birds and so on. The purpose of this work is to develop flapping robots using a new type of piezoelectric material, that is, piezoelectric fiber composites. By using the composites, actuating as well as energy-harvesting fibers and sensing fibers can be embedded in the structure and it makes flapping robots with compact and light structure. This paper proposes a new flapping mechanism for the flapping robots using piezoelectric fiber composites to improve the performance of the robot developed in our previous work, which is inspired from insects with indirect flight muscle. A prototype of flapping robot using the new flapping mechanism has been made and experimental results show the improvement of the performance. © 2012 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Internet based crossover robot remote control competition among Asian countries — Development of practice based innovative education methodology, phase V
Xu, C; Ming, A; Kanamori, C; Aoyama, H; Li, H; Xu, L; Li, X; Benjanarasuth, T; Nundrakwang, S; Purahong, B; Wong, C.-C
Proceedings of the 2012 IEEE International Conference on Mechatronics and Automation, 掲載ページ 463-468, 出版日 2012年, 査読付, We introduce 2011's progress and achievements of an internet based crossover robot remote control competition between Japan and China, Thailand, and Taiwan respectively. The competition project has two subjects: the competition itself and the student-student communication and cooperation. The basic competition mode is a remotely controlled robot via the internet cooperates with a locally controlled robot to finish a specified task and, as a unique feature of the project, the studentstudent communication and cooperation is trained through a crossover team organization style that each team is organized by two groups from different universities and the team members required to cooperate with each other via the internet to make robots and deal with competition affairs. Our experience shows the competition benefits not only students' technical skills but also their various no-technical skills and is expected to promote the development of a practice based university education methodology in the future. © 2012 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Structural Design and Dynamic Analysis of Robotic Fish with Piezoelectric Fiber Composite
Wenjing Zhao; Aiguo Ming; Makoto Shimojo; Jun Shintake
MECATRONICS REM 2012, IEEE, 掲載ページ 161-168, 出版日 2012年, 査読付, Robotic fishes using artificial muscle as actuators have been described recently. The purpose of this work is to develop a flexible robotic fish using the piezoelectric fiber composite (PFC). To achieve the good flexibility and mobility of the robotic fish, we proposed a simple and compact structure. The load simulation method of piezoelectric actuator was employed to improve the fish's movement performance and swimming efficiency. By the analysis of the driving characteristics of the PFC, the robot structure with symmetrical distribution was designed based on the caudal fin propulsion mode. This structure was verified reasonable in the theoretical and simulation method. The dynamic characteristics of this underwater robot were both analyzed through the experiments and numerical analysis of Finite Element Method (FEM). The calculated results were congruent well with the experiment measurements of the prototype. Relatively high swimming speed was achieved during the experimental tests for a prototype. This indicated the numerical methods can be applied in the structural optimization and dynamic analysis of the robotic fish. More information will be available for the fluid-structure interaction analysis in future.
研究論文（国際会議プロシーディングス）, 英語 - Posture Estimation using a 3D Range Camera for Standing-Up Motion Assist Robot
Natsumi Tsukada; Kazuya Ogura; Aiguo Ming; Makoto Shimojo
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012), IEEE, 掲載ページ 968-973, 出版日 2012年, 査読付, As one of the home services by a mobile manipulator system, we are aiming at the realization of the motion assist for elderly people. The purpose of the work is to realize a safe assist by real time feedback control based on the information from a high speed tactile sensor and a 3D range camera. This paper describes the posture estimation of human using a 3D range camera. A method for posture estimation from the 3D range data is proposed. The method is implemented and experimental results show the availability of the 3D range camera for posture estimation.
研究論文（国際会議プロシーディングス）, 英語 - Posture Estimation using a 3D Range Camera for Standing-Up Motion Assist Robot
Natsumi Tsukada; Kazuya Ogura; Aiguo Ming; Makoto Shimojo
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012), IEEE, 掲載ページ 350-355, 出版日 2012年, 査読付, As one of the home services by a mobile manipulator system, we are aiming at the realization of the motion assist for elderly people. The purpose of the work is to realize a safe assist by real time feedback control based on the information from a high speed tactile sensor and a 3D range camera. This paper describes the posture estimation of human using a 3D range camera. A method for posture estimation from the 3D range data is proposed. The method is implemented and experimental results show the availability of the 3D range camera for posture estimation.
研究論文（国際会議プロシーディングス）, 英語 - 全方位検出・高速応答可能なネット状近接覚センサの開発
寺田一貴; 鈴木陽介; 長谷川浩章; 曽根聡史; 明愛国; 石川正俊; 下条誠
日本ロボット学会誌, 29巻, 8号, 掲載ページ 683-693, 出版日 2011年10月, 査読付
研究論文（学術雑誌）, 日本語 - Internet Based Crossover Robot Remote Competition in Asian Countries
C. Xu; A. Ming; C. Kanamori; H. Aoyama; H. Li; L. Xu; X. Li; T. Benjanarasuth; S.Nundrakwang; B. Purahong; C.-C. Wong
Proceedings of the 2011 IEEE International Conference on Mechatronics and Automation, 掲載ページ 1792-1797, 出版日 2011年08月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - 全方向包み込み式なじみグリッパ機構“Omni-Gripper”の研究 ― Hot-Ice現象を活用した液・固相変化式 把持メカニズム ―
多田隈建二郎; 田中大貴; 寺田一貴; 大石千種; 長谷川浩章; 勅使河原誠一; 明愛国; 下条誠; 高山俊男; 小俣透; 東森充; 金子真
第16回 ロボティクスシンポジア, 出版日 2011年03月14日, 査読付
研究論文（その他学術会議資料等）, 日本語 - 超高精度歯車測定機の開発－直接駆動方式実験機の試作とその基本性能確認－
田口哲也; 明愛国; 下条誠; 金森哉吏; 梶谷誠; 竹田龍平
精密工学会誌, 公益社団法人 精密工学会, 77巻, 3号, 掲載ページ 327-332, 出版日 2011年03月, 査読付, The quality of gears is classified according to deviations measured by a gear measuring machine by ISO 1328-1, and recently a system to evaluate gear measuring machines is to be established with the requirements of high precision gears. The purpose of our research is to develop an ultrahigh precision gear measuring machine with small uncertainty of measured values and repeatability less than 1 micro meter. To reduce the transmission errors caused by the mechanism in conventional gear measuring machines, the experimental instrument consisting of two direct drive axes, linear axis and rotary axis, has been developed and its performance has been verified by authors. The mechanism, control and fundamental performance of the experimental instrument are described in this paper.
研究論文（学術雑誌）, 日本語 - Highly Sensitive Sensor for Detection of Initial Slip and Its Application in a Multi-fingered Robot Hand
Seiichi Teshigawara; Takahiro Tsutsumi; Satoru Shimizu; Yosuke Suzuki; Aiguo Ming; Masatoshi Ishikawa; Makoto Shimojo
2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 掲載ページ 1097-1102, 出版日 2011年, 査読付, Tactile sensors for slip detection are essential for implementing human-like gripping in a robot hand. In previous studies, we proposed flexible, thin and lightweight slip detection sensors utilizing the characteristics of pressure-sensitive conductive rubber. This was achieved by using the high-frequency vibration component generated in the process of slipping of the gripped object in order to distinguish between slipping of the object and changes in the normal force. In this paper, we design a slip detection sensor for a multi-fingered robot hand and examine the influence of noise caused by the operation of such a hand. Finally, we describe an experiment focusing on the adjustment of the gripping force of a multi-fingered robot hand equipped with the developed sensors.
研究論文（国際会議プロシーディングス）, 英語 - "Omni-Paddle": Amphibious Spherical Rotary Paddle Mechanism
Kenjiro Tadakuma; Riichiro Tadakuma; Ming Aigo; Makoto Shimojo; Mitsuru Higashimori; Makoto Kaneko
2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 掲載ページ 5056-5062, 出版日 2011年, 査読付, This paper describes a combination mechanism of a wheeground a paddle to realize an effective movement on the border of ground and water. For the conventional mobile mechanisms on water or on ground the combination of the mechanism to the body of the robot separately, and each one can be the interruption to the other in each field. In this research, we propose a hybrid mechanism of a wheeground a paddle as drive mechanism itself to realize an effective movement on the border such as a coast with debris after a disaster like a seismic sea wave or a tanker grounding accident. A prototype robot has been built and basic experiments on its motion have been conducted.
研究論文（国際会議プロシーディングス）, 英語 - Robot hand whose fingertip covered with net-shape proximity sensor: Moving object tracking using proximity sensing
Hiroaki Hasegawa; Yosuke Suzuki; Aiguo Ming; Masatoshi Ishikawa; Makoto Shimojo
Journal of Robotics and Mechatronics, Fuji Technology Press, 23巻, 3号, 掲載ページ 328-337, 出版日 2011年, 査読付, Occlusion in several millimeters from an object to be grasped made it difficult for a vision-sensor-based approach to detect relative positioning between this object and robot fingers joint grasping. The proximity sensor we proposed detects the object at a near range very effectively. We developed a thin proximity sensor sheet to cover the 3 fingers of a robot hand. Integrating sensors and hand control, we implemented an objecttracking controller. Using proximity sensory signals, the controller coordinates wrist positioning based on palm proximity sensors and grasping from fingertip sensors, enabling us to track and capture moving objects.
研究論文（学術雑誌）, 英語 - Motion planning for a dynamically-coupled hyper-dynamic manipulator by reinforcement learning
Masahiro Wada; Aiguo Ming; Makoto Shimojo
2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, 掲載ページ 1822-1827, 出版日 2011年, 査読付, This paper proposes a new motion planning method for a hyper-dynamic robot which aims at realizing the motion control skills exhibited by professional golfers by a dexterous robot. The robot has similar distribution of actuators' capability to that of human, which is compact but requires dynamically-coupled driving for high speed motion. For such a robot with strong coupling and nonlinearity, to realize a motion including multi-boundary conditions, motion planning is very difficult. As a new method for the motion planning, the motion planning method using reinforcement learning is proposed in this paper. Simulation results show the effectiveness of the proposed motion planning method. © 2011 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Internet based crossover robot remote control competition among Asian countries - Development of practice based innovative education methodology, phase IV
C. Xu; A. Ming; C. Kanamori; H. Aoyama; H. Li; L. Xu; X. Li; T. Benjanarasuth; S. Nundrakwang; B. Purahong; C. C. Wong
2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, 掲載ページ 1792-1797, 出版日 2011年, 査読付, We report the up-to-date progress of an internet based crossover robot remote control competition project starting from 2007, which is an international cooperative education program among Japan, China, Thailand, and Taiwan. The project contains two sub-subjects: the robot competition and the student-student cooperation among the participating universities. The competition is designed to be remotely controlling a robot via the internet to cooperate/compete with a locally controlled robot to finish some specified tasks where both robots are made by the students. The unique feature of the project is that everything concerned with the competition, e.g. the competition rules, the detailed technical problems, etc., are discussed and solved by the students themselves via the internet based cooperation. The demonstration of the competition between UEC and each of the partner universities proves the project helps to improve students' practical ability, innovative skills, good teamwork spirit, and communication skills, etc. © 2011 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Development of Omni-Directional and Fast-Responsive Net-Structure Proximity Sensor
Kazuki Terada; Yosuke Suzuki; Hiroaki Hasegawa; Satoshi Sone; Aiguo Ming; Masatoshi Ishikawa; Makoto Shimojo
2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE, 掲載ページ 1954-1961, 出版日 2011年, 査読付, This paper presents a proximity sensor for recognizing an object in 360 degrees all around with response time only 1[ms]. The sensor applies an unique design of analog net-structure circuit, which enables all-face mounting on various peripheries and fast-response/simplification of information processing. Thus, the sensor is especially available for avoiding sudden contact with rapidly approaching objects for mobile robots, robot arms, robot hands, and other robotic systems. In this paper, the structure and the detecting principle of the sensor are firstly described, then, its detection property is tested by experiments. The result shows that the sensor recognizes the angle of the nearby object with accuracy of 3[deg]. Furthermore, as practical use of the sensor, a large size model is produced for a mobile robot to achieve omni-directional sensing. By using the application model, two detection methods are discussed on situations where the number or the positions of the nearby objects differs.
研究論文（国際会議プロシーディングス）, 英語 - A Novel Propulsion Method of Flexible Underwater Robots
Jun Shintake; Aiguo Ming; Makoto Shimojo
2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE, 掲載ページ 4735-4740, 出版日 2011年, 査読付, This paper aims at mobility enhancement of flexible underwater robots. For this purpose, a novel propulsion method utilizing both static and dynamic deformation of a flexible planar structure is proposed. By actuating the planar structure in two dimensions, various propulsive motions can be generated and the realization of various robotic movements can be expected. Two prototypes of such kind of robots with square and circular shape driven by two pieces of piezoelectric fiber composites has been developed. As the experimental results, the movements with multiple DOFs, holonomic and non-holonomic movements have been realized by the robots. The motion mechanism for the movements are discussed by simulation results.
研究論文（国際会議プロシーディングス）, 英語 - The Mechanism of the Linear Load-Sensitive Continuously Variable Transmission with the Spherical Driving Unit
Kenjiro Tadakuma; Riichiro Tadakuma; Kazuki Terada; Aiguo Ming; Makoto Shimojo; Mitsuru Higashimori; Makoto Kaneko
2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE, 掲載ページ 4048-4053, 出版日 2011年, 査読付, This paper describes linear load-sensitive continuously variable transmission with the spherical driving unit. This CVT mechanism consists of spherical drive, drive axis, motor housing, fixed bracket and linear sliding plate. It changes the reduction ratio continuously by inclination angle of active rotational axis. Additionally, this linear mechanism has a load-sensitive function by changing inclination of active rotational axis in response to the load. We have developed a linear load-sensitive continuously variable transmission and confirmed the effectiveness of the proposed mechanism.
研究論文（国際会議プロシーディングス）, 英語 - Development of a soft underwater robot mimicking cow-nosed ray
Wenjing Zhao; Takuma Osaka; Aiguo Ming; Makoto Shimojo
2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, 掲載ページ 1724-1729, 出版日 2011年, 査読付, This paper aims at design and enhancement of the performance for soft biomimetic cow-nosed ray based on piezoelectric fiber composite. Macro fiber composite (MFC), a typical piezoelectric fiber composite is used. A new structure of the soft robotic fish is proposed through structural optimization based on the bionics and structural dynamics analysis with the Finite Element Method (FEM). According to this structure, the track of the flapping motion for pectoral fins is described by the simulation analysis. Meantime, experiment of the prototype is presented. The displacement results of the track for pectoral fin in simulation and experiment are compared during a normal period. The simulation results march the experimental results well. Finally, the track of pectoral fin and speed performance of the soft robotic fish in the water is described. The speed can reach 200mm/s when 10Hz rectangular input signal is used. © 2011 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Development of high precision gear measuring machine
Tetsuya Taguchi; Aiguo Ming; Makoto Shimojo
International Journal of Mechatronics and Automation, 1巻, 3-4号, 掲載ページ 181-189, 出版日 2011年, 査読付, The high precision gears are strongly required for advanced motion and power transmission. And the improved evaluation technology for the precision gears is becoming indispensable. Moreover, the reliability of the measured value became important when the accuracy of the gear becomes high, and the establishment of the traceability system has been needed. For the establishment of the traceability system, the higher precision gear measuring machine (GMM) with lower uncertainty is expected to contribute to improve gear calibration uncertainty. For the purpose, a new concept of the high precision GMM was proposed from analysing the problems of the conventional GMM. A prototype of the high precision GMM using the direct drive mechanism has been developed. And the high measurement capability of the developed GMM was verified by the evaluation method using the standard deviation of the measured form deviation. © 2011 Inderscience Enterprises Ltd.
研究論文（学術雑誌）, 英語 - Stand-Up Motion Support By A Mobile Manipulator System with High Speed Tactile Sensors
Zhaoxian Xie; Manabu Yamashiro; Hisashi Yamaguchii; Masahito Tsukano; Aiguo Ming; Makoto Shimojo
International Journal of Information Acquisition, 8巻, 3号, 掲載ページ 181-195, 出版日 2011年, 査読付
研究論文（学術雑誌）, 英語 - A New Leg Mechanism for Humanoid Robot
Akira Maruyama; Chunquan Xu; Naoki Kajiwara; Chigusa Ohishi; Aiguo Ming; Makoto Shimojo
Proceedings of the 14th International Conference on Mechatronics Technology, 掲載ページ 389-394, 出版日 2010年11月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - 近接・触・すべり覚を統合したインテリジェントロボットハンドの開発
溝口善智; 多田隈建二郎; 長谷川浩章; 明愛国; 石川正俊; 下条誠
計測自動制御学会論文集, 46巻, 10号, 掲載ページ 632-640, 出版日 2010年10月, 査読付
研究論文（学術雑誌）, 日本語 - Development of Underwater Robots using Piezoelectric Fiber Composite -Diversification of Propulsion Movement by Single Fin Structure-
Jun Shintake; Aiguo Ming; Makoto
Proceedings of The 5th International Conference on the Advanced Mechatronics(ICAM2010), 一般社団法人日本機械学会, 2010巻, 掲載ページ 124-128, 出版日 2010年09月, 査読付, Fish type underwater robots have a lot of possibilities such as good mobility and high efficiency. Most of the fish type robots developed up to now have complicated mechanisms with complicated motion control. It results in that the structure and the movement of robots are different from those of fishes. The purpose of our work is to develop creaturelike flexible underwater robots by using piezoelectric fiber composite. Compared with conventional artificial muscular underwater robots, powerful underwater robots with a very simple structure can be composed by the piezoelectric fiber composite. This paper describes the development of a flexible underwater robot with pectoral fin propulsion like ray and mode shape propulsion of structural vibration, which can generate various movements.
研究論文（国際会議プロシーディングス）, 英語 - Development of A Mobile Manipulator System With RFID-Based Sensor Fusion For Home Service： A Case Study on Mobile Manipulation of Chairs
Zhaoxian Xie; Manabu Yamashiro; Hisashi Yamaguchi; Aiguo Ming; Makoto Shimojo
International Journal of Information Acquisition, 7巻, 1号, 掲載ページ 1-13, 出版日 2010年06月, 査読付
研究論文（学術雑誌）, 英語 - A High-Speed Mesh of Tactile Sensors Fitting Arbitrary Surfaces
Makoto Shimojo; Takuma Araki; Aigou Ming; Masatoshi Ishikawa
IEEE SENSORS JOURNAL, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 10巻, 4号, 掲載ページ 822-830, 出版日 2010年04月, 査読付, A tactile sensor is developed with the aim of covering a robot's entire structure, while reducing wiring requirement and ensuring high-speed response. The sensor detects the center point of load distribution on 2-D surfaces as well as the overall load. There are only four signal wires from the sensor. The sensor response time is nearly constant (within 1 ms) regardless of the number of detection elements, their placements or sensor areas. In this paper, the principles behind the operation of this sensor and the results of experiments using the sensor are described.
研究論文（学術雑誌）, 英語 - 水陸境界上移動体のための球状回転パドル機構“Omni-Paddle”の開発
多田隈建二郎; 光田裕一; 多田隈理一郎; 曽根聡史; 明愛国; 下条誠; 東森充; 金子真
第15回 ロボティクスシンポジア, 出版日 2010年03月15日, 査読付
研究論文（その他学術会議資料等）, 日本語 - Development of Intelligent Robot Hand using Proximity, Contact and Slip sensing
Hiroaki Hasegawa; Yoshitomo Mizoguchi; Kenjiro Tadakuma; Aiguo Ming; Masatoshi Ishikawa; Makoto Shimojo
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 掲載ページ 777-784, 出版日 2010年, 査読付, To achieve the skillful task like the human, many researchers have been working on robot hand. An interaction with vision and tactile information are indispensable for realization of skillful tasks. In the existing research, the method using a camera to get the vision information is often found. But, in the boundary area of a non-contact phase and a contact phase, there are problem that lack of sensor information because the influence of occlusion comes up to surface. We devise to introduce the proximity sensor in this area. And we call the robot hand which is equipped with proximity, tactile and slip sensor "intelligent robot hand".
In this research, we show the constitution example of the intelligent robot hand and propose the method to realize Pick&Place as concrete task.
研究論文（国際会議プロシーディングス）, 英語 - High Sensitivity Initial Slip Sensor for Dexterous Grasp
Seiichi Teshigawara; Kenjiro Tadakuma; Aiguo Ming; Masatoshi Ishikawa; Makoto Shimojo
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 掲載ページ 4867-4872, 出版日 2010年, 査読付, Slip-detecting tactile sensors are essential for achieving human-like gripping motion with a robot hand. In previous research, we developed a flexible, thin and lightweight slip sensor that exploits the characteristics of pressure conductive rubber. However, using this sensor, it was difficult to distinguish between object slip and a change in the normal force. Therefore, in the present research, we investigated a method for identifying object slip by analyzing the frequency components of the output signal from the sensor. As a result, we found that high-frequency components of 1 kHz or more are included in the complex voltage signal generated by object slip. Therefore, by using this high-frequency component, we developed a simple sensor that distinguished between both contact and initial slip with high sensitivity.
研究論文（国際会議プロシーディングス）, 英語 - Human assist by a mobile manipulator with high speed tactile sensor
Hisashi Yamaguchi; Zhaoxian Xie; Aiguo Ming; Makoto Shimojo
2010 IEEE International Conference on Information and Automation, ICIA 2010, 掲載ページ 765-770, 出版日 2010年, 査読付, As one of the home services by a mobile manipulator system, we are aiming at the realization of the motion assist for elderly people. The purpose of the work is to realize a safe assist by real time feedback control based on the information from a high speed tactile sensor for detecting the force and its center between the assisted people and robot arm. This paper introduces the design of the tactile sensor as well as initial experimental results to show the feasibility of the proposed system and the control methods about basic movement necessary for stand-up movement support according to the tactile information. ©2010 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Development of flapping robots using piezoelectric fiber composites - Development of driving module inspired by insects with indirect flight muscle
Yuichi Fukushima; Kentaro Minagawa; Aiguo Ming; Makoto Shimojo
2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010, 掲載ページ 77-82, 出版日 2010年, 査読付, Recently, flapping robots are noticed by many researchers, and many challenges are being made toward the realization of flight motions like insects, birds and so on. The purpose of this work is to develop flapping robots using a new type of piezoelectric material, that is, piezoelectric fiber composites. By using the composites, actuating as well as energy-harvesting fibers and sensing fibers can be embedded in the structure and it makes flapping robots with compact and light structure. This paper proposes a new driving mechanism for the flapping robots using piezoelectric fiber composites. The driving mechanism is inspired from insects with indirect flight muscle. A prototype of flapping robot using the new driving mechanism has been designed and experimental results show the feasibility of the proposed mechanism. © 2010 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Development of Flexible Underwater Robots with Caudal Fin Propulsion
Jun Shintake; Aiguo Ming; Makoto Shimojo
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), IEEE, 掲載ページ 940-945, 出版日 2010年, 査読付, Fish type underwater robots has a lot of possibilities such as good mobility and high efficiency. Most of the fish type robots developed up to now have complicated mechanisms with complicated motion control. It results in that the structure and the movement of robots are different from that of fishes. The purpose of our work is to develop creature-like flexible underwater robots by using piezoelectric fiber composite. Compared with conventional artificial muscular underwater robots, powerful underwater robots with a very simple structure can be composed. This paper describes the development of a flexible underwater robot with caudal fin propulsion, which can generate large propulsive force and move at high speed. Besides, by utilizing the large propulsive force, pitch and roll motions are realized by attaching two pectoral fins to the robot.
研究論文（国際会議プロシーディングス）, 英語 - Development of Flapping Robots using Piezoelectric Fiber Composites - Performance Enhancement by Unique Structure and Drive Control
Kentaro Minagawa; Yuichi Fukushima; Aiguo Ming; Makoto Shimojo
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), IEEE, 掲載ページ 1624-1629, 出版日 2010年, 査読付, Recently, flapping robots are noticed by many researchers, and the realization of flight motion like insects, birds and so on has many challenges. The purpose of this work is to develop flapping robots using a new type of piezoelectric material, that is, piezoelectric fiber composites. By using the composites, actuating as well as energy harvesting and sensing fibers can be embedded into the wing as part of the structure, which makes the robot flap while remaining compact and light. This paper describes the performance enhancement of the flapping robots capable of flapping and feathering motions using piezoelectric fiber composites. A unique mechanism with different stiffness for up-stroke and down-stroke and a new drive control using saturated sine wave are proposed in this paper. By introducing the mechanism and drive control, the performance about lift and thrust force has been improved remarkably.
研究論文（国際会議プロシーディングス）, 英語 - Mechanical Design of the Wheel-Leg Hybrid Mobile Robot to Realize a Large Wheel Diameter
Kenjiro Tadakuma; Riichiro Tadakuma; Akira Maruyama; Eric Rohmer; Keiji Nagatani; Kazuya Yoshida; Aigo Ming; Makoto Shimojo; Mitsuru Higashimori; Makoto Kaneko
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), IEEE, 掲載ページ 3358-3365, 出版日 2010年, 査読付, In this paper, a new category of the wheel-leg hybrid robot is presented. The proposed mechanism can compose large wheel diameter compared with the previous hybrid robot to realize a greater ability to climb obstacles. A prototype model of one Wheel-Leg module of the proposed robot mechanism has been developed to illustrate the concept. Actual design and mode changing experiment with a test mechanical module is also presented. Basic movement tests and a test of the basic properties of the rotational fingertip are also shown. The Basic configurations of wheel-leg retractable is considered well. The integrated mode is also described.
研究論文（国際会議プロシーディングス）, 英語 - Connected Tracked Robot with Offset Joint Mechanism for Multiple Configurations
Kenjiro Tadakuma; Chigusa Ohishi; Akira Maruyama; Riichiro Tadakuma; Keiji Nagatani; Kazuya Yoshida; Aiguo Ming; Makoto Shimojo
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), IEEE, 掲載ページ 3366-3371, 出版日 2010年, 査読付, This paper describes various configurations of two connected unit crawlers. By changing the relative position of the two connected vehicle units, the overall robot comprising such a mechanism can automatically adapt to surface obstacles on the field, including complicated structures such as disaster-generated debris.
In addition, we analyzed the effect of axis arrangements in order to simplify the realization of the switching function so as to achieve the four basic configurations.
研究論文（国際会議プロシーディングス）, 英語 - Motion planning for vertical jumping by a small humanoid with structural joint stops
Yuichi Hasegawa; Chigusa Ohishi; Masato Fukumori; Chunquan Xu; Aiguo Ming; Makoto Shimojo
2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010, 掲載ページ 691-696, 出版日 2010年, 査読付, To realize hyper dynamic manipulations such as jumping, authors propose the utilization of dynamically-coupled driving and joint stop mechanisms in a small commercial humanoid. To realize difficult dynamic actions such as vertical jumping by utilizing joint stop mechanisms, the motion planning for jumping has been performed based on a model with joint stop mechanisms into the legs. The modeling, motion planning method and simulation results are shown in this paper. © 2010 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - High Sensitivity Slip Sensor Using Pressure Conductive Rubber for Dexterous Grasp and Manipulation
Seiichi Teshigawara; Satoru Shimizu; Takahiro Tsutsumi; Yosuke Suzuki; Aiguo Ming; Makoto Shimojo; Masatoshi Ishikawa
2010 IEEE SENSORS, IEEE, 掲載ページ 570-574, 出版日 2010年, 査読付, Slip-detecting tactile sensors are essential for achieving human-like gripping motion with a robot hand. In previous research, we developed a flexible, thin and lightweight slip sensor that exploits a resistance change of the pressure conductive rubber. This sensor distinguishes between both contact and initial slip by using a complicated resistance change just before slippage of object is generated. In this study, we evaluate the stability of the output in the case of differing initial normal forces and changing surface properties of an object. Finally, we describe an experiment on adjustment of the gripping force by a multi-fingered robot hand.
研究論文（国際会議プロシーディングス）, 英語 - Motion Control of a Golf Swing Robot
Chunquan Xu; Aiguo Ming; Takeharu Nagaoka; Makoto Shimojo
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, SPRINGER, 56巻, 3号, 掲載ページ 277-299, 出版日 2009年10月, 査読付, In this paper we discuss our simulation and empirical study of a golf swing motion controller for a two-link golf swing robot. We distinguish two variants of the whole golf swing termed as hitting problem and stopping problem. For the hitting problem arising from backswing and downswing, we map the task into the output of a target dynamic system-a harmonic oscillator-under energy control. For the stopping problem that arises from follow-through, we propose a Proportional plus Gravity and Coupling Torque Compensation (PGCTC) feedback controller. Preliminary simulation study shows the proposed controllers solve the hitting problem and the stopping problem respectively. The controllers are implemented on a physical robot. Experimental results indicate the robot is able to perform desired golf swing-backswing, downswing, and follow-through. We also give a preliminary analysis on the proposed method to understand its merits and weaknesses.
研究論文（学術雑誌）, 英語 - Crawler Vehicle with Circular Cross-Section to Realize Sideways Motion
Kenjiro Tadakuma; Riichiro Tadakuma; Keiji Nagatani; Kazuya Yoshida; Martin Udengaard; Karl Iagnemma; Aiguo Ming; Makoto Shimojo
Video Proc. of the IEEE International Conference on Robotics and Automation, 2009, 出版日 2009年05月12日, 査読付
研究論文（国際会議プロシーディングス）, 英語 - 形態可変機能を有する2車体連結クローラ
大石千種; 多田隈建二郎; 多田隈理一郎; 永谷圭司; 吉田和哉; 明愛国; 下条誠
日本機械学会 ロボティクス・メカトロニクス講演会 ROBOMEC2009， 1A2-G18, 出版日 2009年05月, 査読付
研究論文（学術雑誌）, 日本語 - 大車輪径を構成可能な脚車輪可変モジュール
多田隈建二郎; 丸山央; エリックロメール; 永谷圭司; 吉田和哉; 明愛国; 下条誠
日本機械学会ロボティクス・メカトロニクス講演会 ROBOMEC2009， 2P1-D19, 出版日 2009年05月, 査読付
研究論文（学術雑誌）, 日本語 - High Speed and High Sensitivity Slip Sensor Utilizing Characteristics of Conductive Rubber Relationship Between Shear Deformation of Conductive Rubber and Resistance Change
Seiichi Teshigawara; Kenjiro Tadakuma; Aiguo Ming; Masatoshi Ishikawa; Makoto Shimojo
Journal of Robotics and Mechatronics, 21巻, 2号, 掲載ページ 200-208, 出版日 2009年04月, 査読付
研究論文（学術雑誌）, 英語 - 横方向への移動を特徴とする円形断面クローラロボットの開発 第２報： 円弧状地形および軟弱地での基本走行試験
多田隈建二郎; 多田隈理一郎; 永谷圭司; 吉田和哉; 明愛国; 下条誠
第14回 ロボティクスシンポジア予稿集, 出版日 2009年03月, 査読付
研究論文（その他学術会議資料等）, 日本語 - Armadillo-Inspired Wheel-Leg Retractable Module
Tadakuma, Kenjiro; Tadakuma, Riichiro; Maruyama, Akira; Rohmer, Eric; Nagatani, Keiji; Yoshida, Kazuya; Ming, Aiguo; Makoto, Shimojo; Higashimori, Mitsuru; Kaneko, Makoto
2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4, IEEE, 掲載ページ 610-+, 出版日 2009年, 査読付, In this paper, a new category of wheel-leg hybrid robot inspired by retracting configuration of the armadillo is presented. The proposed mechanism can compose large wheel diameter compared with the previous hybrid robot to realize high ability to climb obstacles. A prototype model of one Wheel-Leg module of the proposed robot mechanism has been developed to illustrate the concept. Actual design and mode changing experiment with a test mechanical module is also presented. Basic movement tests and the test to see the basic property of the rotational fingertip are also shown.
研究論文（国際会議プロシーディングス）, 英語 - Development of an Active Flapping Wing using Piezoelectric Fiber Composites
Aiguo Ming; Yawen Huang; Yuichi Fukushima; Makoto Shimojo
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4, IEEE, 掲載ページ 2144-2149, 出版日 2009年, Recently, flapping robots are noticed by many researchers, and many challenges are being made toward the realization of flight motions like insects, birds and so on. The purpose of this work is to develop napping robots using a new type of piezoelectric material, that is, piezoelectric fiber composites. By using the composites, actuating fibers and sensing fibers can be embedded into a wing as part of the structure and it makes flapping robots with compact and light structure. A prototype of flapping robot capable of flapping and feathering motions has been developed. The design and driving method of the robot as well as experimental results about thrust and lift force are shown in this paper.
研究論文（国際会議プロシーディングス）, 英語 - Development of Underwater Robots using Piezoelectric Fiber Composite
Aiguo Ming; Seokyong Park; Yoshinori Nagata; Makoto Shimojo
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, IEEE, 掲載ページ 3435-3440, 出版日 2009年, 査読付, Underwater robot using piezoelectric fiber composite with the merits of being soft and capable of large displacement, is proposed in this paper. By pasting the thin and flexible composite on to a structure, meandering motion observed in underwater creatures such as fish can be realized by generating propagation wave for propulsive force. Hence, a compact, effective and powerful robot capable of underwater movement can be realized. This paper describes the mechanism design and control method of the robot using piezoelectric fiber composite based on the principle of underwater creatures and shows the feasibility of the proposal by the experimental results of two developed prototypes.
研究論文（国際会議プロシーディングス）, 英語 - Motion Planning for a Golf Swing Robot Based on Reverse Time Symmetry and PGCTC Control
C. Xu; A. Ming; M. Shimojo
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, IEEE, 掲載ページ 69-74, 出版日 2009年, 査読付, A new golf swing robot performing high-speed golf swings has been developed by the authors. This paper deals with the motion planning problem of the golf swing. At first, the reverse time symmetry and single pendulum inherences in manipulator dynamics are introduced. Then, by utilizing the first inherence, the Rest-to-Point motion planning problem for the backswing and downswing is transformed into a reverse time symmetric Point-to-Rest motion planning problem. Finally, based on the second inherence, a Proportional plus Gravity and Coupling Torque Compensation (PGCTC) control scheme is developed to solve both the reverse time symmetric Point-to-Rest motion planning problem for the backswing and downswing and the forward time Point-to-Rest problem for the follow-through. Simulation shows the effect of the proposed method.
研究論文（国際会議プロシーディングス）, 英語 - Development of High-Sensitivity Slip Sensor Using Special Characteristics of Pressure Conductive Rubber
Seiichi Teshigawara; Kenjiro Tadakuma; Aiguo Ming; Masatoshi Ishikawa; Makcoto Shimojo
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, IEEE, 掲載ページ 1311-+, 出版日 2009年, 査読付, Even with the eyes closed, humans are able to grip an object with minimal force without such information as the coefficient of friction or the weight. Tactile sensors capable of detecting slippage are necessary for this gripping action to be realized in a robot hand. Heretofore, many slip sensors were developed and produced, but there was not a slip sensor of simple structure practical for installation on fingertips of a robot hand. Therefore, we propose a low-profile/lightweight slip sensor of simple structure. The special properties of pressure conductive rubber are utilized as a detection device in this sensor. In this paper, we discuss the results of trial manufacture and of slip detection property testing of this sensor. Moreover, we will report the results of slip prevention experiments by this prototype slip sensor, and indicate that the pressure conductive rubber is promising as a material of slip sensor.
研究論文（国際会議プロシーディングス）, 英語 - Development of a Small Tracking Camera System for Mobile Platforms
Tomohisa Aruga; Naoyuki Wada; Aiguo Ming; Norio Kurakane; Motoo Satoh; Hideyuki Takeuchi; Syouzou Tazoe
ICIA: 2009 INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, VOLS 1-3, IEEE, 掲載ページ 918-+, 出版日 2009年, 査読付, Recently, there are many needs for small tracking camera systems to be mounted on mobile platforms, such as bikes, cars, etc., to tracking some targets stably in a perturbation environment. To meet the needs, a small tracking camera system has been developed by authors. The purpose of the tracking camera system is both to stabilize the camera and to track the target simultaneously. The system consists of three axes driven by DC motors with encoders, to form velocity and position control loop. Outside the loop, another position control loop is composed based on the integration of both rate gyro and inclinometer by a designed filter, to stabilize the camera. And besides the two loops, another position compensation loop is formed by introducing the camera position information, to track the target. This paper describes the system configuration, the design of controller as well as sensor systems, and the experimental results on the tracking performance.
研究論文（国際会議プロシーディングス）, 英語 - Home Service by a Mobile Manipulator System -Mobile Manipulation of Chairs-
Manabu Yamashiro; Zhaoxian Xie; Hisashi Yamaguchi; Aiguo Ming; Makoto Shimojo
2009 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS ( ICAL 2009), VOLS 1-3, IEEE, 掲載ページ 295-300, 出版日 2009年, 査読付, A mobile manipulator system as a versatile platform for home service has been developed by authors. The mobile system has two features. One is the efficient and easy recognition of environment and objects about geometrical, physical and additional information by a sensor fusion system consisting of RFID, camera and laser range sensor. The other is such geometrical, physical and additional information-based mobile manipulation for various objects. In this paper, mobile manipulation of various chairs for home service is described. The methods for recognition and mobile manipulation are proposed and experimental results are given to show the feasibility of the proposed methods.
研究論文（国際会議プロシーディングス）, 英語 - Internet Based Crossover Robot Remote Control Competition in Asian Countries-Development of practice based innovative education methodology, Phase II
C. Xu; A. Ming; C. Kanamori; H. Aoyama; H. Li; L. Xu; X. Li; T. Benjanarasuth; S. Nundrakwang; S. Panya; B. Purahong; C-C Wong
2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS, IEEE, 掲載ページ 2771-+, 出版日 2009年, 査読付, This paper reports the up-to-date progress of an internet based crossover robot remote control competition which is an international cooperation project of UEC of Japan, UESTC of China, KMITL of Thailand, and TKU of Taiwan. We propose a new competition style called "cargo relay transportation by a locally controlled humanoid robot and a remotely controlled robotic vehicle" in which a locally controlled humanoid robot picks up an object from source, walks to a midway area and hands over the object to a robotic vehicle before it moves to destination and put the object into a box under the remote control via the internet. The robots are developed by students via the internet-based collaboration. The demonstration of the proposed competition between UEC and partner universities proves the project has unique benefits to students in term of improving students' practical ability, creative thinking, good teamwork spirit and communication skills in English, etc.
研究論文（国際会議プロシーディングス）, 英語 - Cooperative Control of Two Mobile Manipulators Transporting Objects on the Slope
Chao Tang; Chunquan Xu; Aiguo Ming; Makoto Shimojo
2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS, IEEE, 掲載ページ 2805-2810, 出版日 2009年, 査読付, This paper reports our recent results on the motion control of cooperative transportation by two mobile manipulators following a reference trajectory on the slope. We propose a cooperative control algorithm which is divided into two steps. In the first step, the mobile manipulators regulate their postures to keep themselves away from falling using their redundant Degree-Of-Freedom. If the robots still cannot keep stable, then in the second step, both robots adjust their forces acting on the transported object to avoid falling. Simulation results are given to validate the proposed method.
研究論文（国際会議プロシーディングス）, 英語 - Motion Planning for a High-speed Manipulator with Mechanical Joint Stops based on Target Dynamics and PCH System
S. Sakai; C. Xu; A. Ming; M. Shimojo
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE, 掲載ページ 279-284, 出版日 2009年, 査読付, This paper reports a motion planning scheme for a high performance robot aiming to realize the motion control skills exhibited by professional golfers. The robot has a dexterous mechanism with similar distribution of actuators' capability and a pair of mechanical joint stops like human beings. The proposed motion planning method combines target dynamics together with port-controlled Hamiltonian (PCH) system theory resulting in an energy controller which not only takes the mechanical joint stops into account but also realizes torque compensation from a high-power actuator to a low-power actuator. Simulation and experimental results prove the proposed method can generate the golf swings with specified hitting speed and finish position for our specially designed robot.
研究論文（国際会議プロシーディングス）, 英語 - Basic Running Test of the Cylindrical Tracked Vehicle with Sideways Mobility
Kenjiro Tadakuma; Riichiro Tadakuma; Keiji Nagatani; Kazuya Yoshida; Aigo Mingi; Makoto Shimojoi; Karl Iagnemma
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE, 掲載ページ 1679-1684, 出版日 2009年, 査読付, In this paper, the basic running performance of the cylindrical tracked vehicle with sideways mobility is presented. The crawler mechanism is of circular cross-section and has active rolling axes at the center of the circles. Conventional crawler mechanisms can support massive loads, but cannot produce sideways motion. Additionally, previous crawler edges sink undesirably on soft ground, particularly when the vehicle body is subject to a sideways tilt. The proposed design solves these drawbacks by adopting a circular cross-section crawler. A prototype. Basic motion experiments with confirm the novel properties of this mechanism: sideways motion and robustness against edge-sink.
研究論文（国際会議プロシーディングス）, 英語 - Throwable Tetrahedral Robot with Transformation Capability
Kenjiro Tadakuma; Riichiro Tadakuma; Keiji Nagatani; Kazuya Yoshida; Ming Aigo; Makoto Shimojo; Karl Iagnemma
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE, 掲載ページ 2801-2808, 出版日 2009年, 査読付, In this paper, a tetrahedral mobile robot with central axis for transformation to the flat vehicle is presented. The throwable robot with the function of going into narrow spaces when its in the flat-vehicle mode is explained in detail. A prototype has been developed to illustrate the concept. Motion experiments confirm the novel properties of this mechanism: mode changing function and omnidirectional motion. Basic Motion experiments, with a test vehicle are also presented. Keywords: Search and Rescue, Throwable, Tetrahedral Shaped, Omni-Ball, Transformation, Mechanical Design
研究論文（国際会議プロシーディングス）, 英語 - High Sensitivity Slip Sensor Using Pressure Conductive Rubber
Seiichi Teshigawara; Satoru Shimizu; Kenjiro Tadakuma; Ming Aiguo; Makoto Shimojo; Masatoshi Ishikawa
2009 IEEE SENSORS, VOLS 1-3, IEEE, 掲載ページ 988-988, 出版日 2009年, 査読付, Slip detecting tactile sensors are essential to achieve a human-like gripping motion with a robot hand. In previous researches, we have proposed flexible, thin and lightweight slip sensor utilizing characteristics of pressure conductive rubber. However, It was hard for this sensor to distinguish between the object slip and the normal force change. Therefore, we consider the separative method using high frequency elements generated by object slipping. In this paper, we design the information processing method and developed the sensor detecting both contact and initial slip in high sensitivity and a simple composition.
研究論文（国際会議プロシーディングス）, 英語 - Internet Based Crossover Robot Remote Control Competition Among Asian Countries –Development of practice based innovative education methodology, Phase III–
C. Xu; A. Ming; C. Kanamori; H. Aoyama; H. Li; L. Xu; X. Li; T. Benjanarasuth; S. Nundrakwang; S.Panya; B. Purahong; C. –C. Wong
Proceedings of the 2010 IEEE International Conference on Mechatronics and Automation, IEEE, 掲載ページ 2771-+, 出版日 2009年, 査読付, This paper reports the up-to-date progress of an internet based crossover robot remote control competition which is an international cooperation project of UEC of Japan, UESTC of China, KMITL of Thailand, and TKU of Taiwan. We propose a new competition style called "cargo relay transportation by a locally controlled humanoid robot and a remotely controlled robotic vehicle" in which a locally controlled humanoid robot picks up an object from source, walks to a midway area and hands over the object to a robotic vehicle before it moves to destination and put the object into a box under the remote control via the internet. The robots are developed by students via the internet-based collaboration. The demonstration of the proposed competition between UEC and partner universities proves the project has unique benefits to students in term of improving students' practical ability, creative thinking, good teamwork spirit and communication skills in English, etc.
研究論文（国際会議プロシーディングス）, 英語 - A net-structure tactile sensor covering freeform surface with reduced wiring
Shimojo, M; Arakil, T; Teranishi, M; Aigou Ming; Ishikawa, M
SICE 2008 - 47th Annual Conference of the Society of Instrument and Control Engineers of Japan, 掲載ページ 904-9, 出版日 2008年08月
研究論文（国際会議プロシーディングス）, 英語 - Trajectory Generation for Motions with Via-Point Conditions through Controller Optimization by Genetic Algorithm
Kent Ho-Ming Mak; Aiguo Ming
Proceedings of Third Asia International Symposium on Mechatronics, 掲載ページ TP2-2(4), 出版日 2008年08月
研究論文（国際会議プロシーディングス）, 英語 - Crossover IT Mechatronics Remote Control: Innovative Education Methodology Development
Taworn Benjanarasuth; Songmoung Nundrakwang; Jongkol Ngamwiwit; Chunquan Xu; Aiguo Ming; Chisato Kanamori; Hisayuki Aoyama
Proceedings of Third Asia International Symposium on Mechatronics, 掲載ページ 198-203, 出版日 2008年08月
研究論文（国際会議プロシーディングス）, 英語 - Internet Based Crossover Robot Remote Control Competition in Asian Countries -Development of practice based innovative education methodology-
Chunquan Xu; Aiguo Ming; Chisato Kanamori; Hisayuki Aoyama
2008 IEEE CONFERENCE ON ROBOTICS, AUTOMATION, AND MECHATRONICS, VOLS 1 AND 2, IEEE, 掲載ページ 560-565, 出版日 2008年, 査読付, Over the past decade, the internet has become more and more popular in human society which brings significant convenient to researchers and engineers in the joint development of highly complicated products such as robotic/mechatronic systems. Simultaneously, more and more opportunities are being given to students to attend robot competitions in universities. However, it is still very difficult for the students to collaborate with each other via the internet although the communication has become so advanced. This paper introduced an internet based crossover robot remote control competition project. We established a general platform for students to jointly develop robotic/mechatronic systems and hold competitions with the counterparts at oversea universities. The hardware and software of the systems are developed at two universities respectively during which the students of both universities negotiate with each other via the internet to exchange the design idea, unify the hardware/software interface, etc. The competition is implemented between the two systems whose hardware and software are cross-developed at the two universities. The demonstration of the preliminary competition between UEC and KMITL proves this project has unique benefits to students, such as the training of the internet based robot control technologies, the communication skills for collaboration with foreign member, and so on.
研究論文（国際会議プロシーディングス）, 英語 - Grasping Force Control of Multi-fingered Robot Hand based on Slip Detection Using Tactile Sensor
Daisuke Gunji; Yoshitomo Mizoguchi; Seiichi Teshigawara; Aiguo Ming; Akio Namiki; Masatoshi Ishikawa; Makoto Shimojo
2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7, IEEE, 掲載ページ 858-863, 出版日 2008年, 査読付, To achieve a human like grasping with a multi-fingered robot hand, the grasping force should be controlled without using information from the grasped object such as its weight and friction coefficient. In this study, we propose a method for detecting the slip of a grasped object using the force output of Center of Pressure (CoP) tactile sensors. CoP sensors can measure the center position of a distributed load and the total load applied on the surface of the sensor, within 1 ms. These sensors are arranged on the fingers of the robot hand, and their effectiveness as slip detecting sensors is confirmed in tests of slip detection during grasping. Finally, we propose a method for controlling grasping force to resist tangential force applied to the grasped object using a feedback control system with the CoP sensor force output.
研究論文（国際会議プロシーディングス）, 英語 - The dynamic characteristic of a golf club shaft
M. Shinozaki; Y. Takenoshita; A. Ogawa; A. Ming; N. Hirose; S. Saitou
IMPACT OF TECHNOLOGY ON SPORTS II, TAYLOR & FRANCIS LTD, 掲載ページ 241-+, 出版日 2008年, 査読付, Jerk, time derivative of acceleration, is a physical value which evaluates feeling by human. Toward the quantitative evaluation of dynamic characteristic of four axes golf clubs, jerk is proposed as a new performance index in this paper. The comparison between the four axes club and conventional club on jerk value and transfer function are investigated by experiments. Experimental results show that there exists difference between the four axes club and conventional club.
研究論文（国際会議プロシーディングス）, 英語 - Simultaneously firing sonar ring based high-speed navigation for non-holonomic mobile robots in unstructured environment
Zhijun Li; Zhaoxian Xie; Aiguo Ming
International Journal of Vehicle Autonomous Systems, 6巻, 1-2号, 掲載ページ 172-185, 出版日 2008年, 査読付, To achieve high-speed navigation in narrow, cluttered, dynamic, unstructured environments, a sensing system using a sonar ring for a mobile robot capable of rapid detection and avoidance of obstacles has been developed and a prototype of the sensing system with 24 sonar sensors is fabricated. A composite method of firing all ultrasonic sensors simultaneously with the scanning rate up to 66 Hz of panoramic detection and Dynamic Window Approach (DWA) is presented. The experimental results show that a rapid navigation of the mobile robot in the unstructured environment becomes possible. © 2008 Inderscience Enterprises Ltd.
研究論文（学術雑誌）, 英語 - Grasping force control of multi-fingered robot hand based on slip detection using tactile sensor
Daisuke Gunji; Yoshitorno Mizoguchi; Seiichi Teshigawara; Aiguo Ming; Akio Namiki; Masatoshi Ishikawaand; Makoto Shimojo
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, IEEE, 掲載ページ 2605-2610, 出版日 2008年, 査読付, To achieve a human like grasping with a multi-fingered robot hand, the grasping force should be controlled without using information from the grasped object such as its weight and friction coefficient. In this study, we propose a method for detecting the slip of a grasped object using the force output of Center of Pressure (CoP) tactile sensors. CoP sensors can measure the center position of a distributed load and the total load applied on the surface of the sensor, within 1 ms. These sensors are arranged on the fingers of the robot hand, and their effectiveness as slip detecting sensors is confirmed in tests of slip detection during grasping. Finally, we propose a method for controlling grasping force to resist tangential force applied to the grasped object using a feedback control system with the CoP sensor force output.
研究論文（国際会議プロシーディングス）, 英語 - Home Service by a Mobile Manipulator System - System Configuration and Basic Experiments
Aiguo Ming; Zhaoxian Xie; Takuya Yoshida; Manabu Yamashiro; Chao Tang; Makoto Shimojo
2008 INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, VOLS 1-4, IEEE, 掲載ページ 464-469, 出版日 2008年, 査読付, This paper describes a mobile manipulator system as a versatile platform for home service. Two key technologies are addressed in the paper. One is the efficient and easy recognition of environment about geometrical, physical and additional information by a sensor fusion system consisting of RFID, stereo camera and laser range sensor. The other is such geometrical, physical and additional information-based manipulation including mobile manipulation for the heavy objects cannot be handled up by the mobile manipulator. The system configuration is described and basic experiments show its effectiveness.
研究論文（国際会議プロシーディングス）, 英語 - Development of Underwater Robot using Macro Fiber Composite
Yoshinori Nagata; Seokyong Park; Aiguo Ming; Makoto Shimojo
2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3, IEEE, 掲載ページ 955-960, 出版日 2008年, 査読付, We developed several underwater robots by using Macro Fiber Composite(MFC), a new type of piezo-electric actuator with the merits of being soft and capable of large displacement, developed by NASA recently. MFC is made by processing PZT into a fiber-like state, hence yielding better flexibility, and structural actuation is possible by pasting it to thin structures since it is covered by polyimide film. Utilizing MFC's characteristics of being thin and flexible, meandering motion observed in underwater creatures such as fish is possible by generating progressive waves for propulsive force. Hence, a space-saving, effective mechanism capable of underwater movement can be achieved. Furthermore, in addition to forward locomotion, whirling motion and locomotion direction switching by using multiple MFCs actuators has been realized also.
研究論文（国際会議プロシーディングス）, 英語 - Internet based crossover robot remote control competition in Asian Countries-development of practice based innovative education methodology-
Chunquan Xu; Aiguo Ming; Chisato Kanamori; Hisayuki Aoyama
2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008, 掲載ページ 982-987, 出版日 2008年, Over the past decade, the internet has become more and more popular in human society which brings significant convenient to researchers and engineers in the joint development of highly complicated products such as robotic/mechatronic systems. Simultaneously, more and more opportunities are being given to students to attend robot competitions in universities. However, it is still very difficult for the students to collaborate with each other via the internet although the communication has become so advanced. This paper introduced an internet based crossover robot remote control competition project. We established a general platform for students to jointly develop robotic/mechatronic systems and hold competitions with the counterparts at oversea universities. The hardware and software of the systems are developed at two universities respectively during which the students of both universities negotiate with each other via the internet to exchange the design idea, unify the hardware/software interface, etc. The competition is implemented between the two systems whose hardware and software are crossdeveloped at the two universities. The demonstration of the preliminary competition between UEC and KMITL proves this project has unique benefits to students, such as the training of the internet based robot control technologies, the communication skills for collaboration with foreign member, and so on. © 2008 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Robust motion/force control of nonholonomic mobile manipulators using hybrid joints
Zhijun Li; Chenguang Yang; Jun Luo; Zhuping Wang; Aiguo Ming
ADVANCED ROBOTICS, VSP BV, 21巻, 11号, 掲載ページ 1231-1252, 出版日 2007年11月, 査読付, In this paper, robust force/motion control strategies are presented for mobile manipulators under both holonomic and non-holonomic constraints in the presence of uncertainties and disturbances. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance and constraint force control is developed using the passivity of hybrid joints rather than force feedback control. Experiment results validate that not only the states of the system asymptotically converge to the desired trajectory, but also the constraint force asymptotically converges to the desired force.
研究論文（学術雑誌）, 英語 - Motion generation for hyper dynamic manipulation
C. Xu; A. Ming; T. Maruyama; M. Shimojo
Int. J. Mechatronics, 18巻, 8号, 掲載ページ 405-416, 出版日 2007年10月, 査読付
研究論文（学術雑誌）, 英語 - 触覚センサによる滑り検出に基づく多指ハンドの把持力制御
郡司大輔; 荒木拓真; 並木明夫; 明愛国; 下条誠
日本ロボット学会誌, 一般社団法人 日本ロボット学会, 25巻, 6号, 掲載ページ 970-978, 出版日 2007年08月, 査読付, To achieve a human like grasping by the multi-fingered robot hand, grasping force should be controlled without information of the grasping object such as the weight and the friction coefficient. In this study, we propose a method for detecting the slip of grasping object by force output of the Center of Pressure (CoP) tactile sensor. CoP sensor can measure center position of distributed load and total load which is applied on the surface of the sensor within 1 [ms] . This sensor is arranged on finger of the robot hand, and the effectiveness as slip detecting sensor is confirmed by experiment of slip detection on grasping. Finally, we propose a method for controlling grasping force resist the tangential force added to the grasping object by feedback control system of the CoP sensor force output.
研究論文（学術雑誌）, 日本語 - Adaptive robust motion/force control of holonomic-constrained nonholonomic mobile manipulators
Zhijun Li; Shuzhi Sam Ge; Aiguo Ming
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 37巻, 3号, 掲載ページ 607-616, 出版日 2007年06月, 査読付, In this paper, adaptive robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. The proposed control is robust not only to parameter uncertainties such as mass variations but also to external ones such as disturbances. The stability of the closed-loop system and the boundedness of tracking errors are proved using Lyapunov stability synthesis. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance and the bounded constraint force. Simulation results validate that the motion of the system converges to the desired trajectory, and the constraint force converges to the desired force.
研究論文（学術雑誌）, 英語 - Navigation system for mobile robot based on simultaneous-firing sonar ring
Xie Zhao-xian; Huang Da-gui; Ming Ai-guo; Li Zhi-jun; Shimojo, M
Journal of University of Electronic Science and Technology of China vol.36 Issue: 2 Pages: 309-11, 321 Published: April 2007, 36巻, 2号, 掲載ページ 309-311, 出版日 2007年04月, 査読付
研究論文（学術雑誌）, 英語 - Development and control of compliant hybrid joints for human-symbiotic mobile manipulators
Zhijun Li; Jun Luo; Hing Xi; Aiguo Ming
International Journal of Advanced Robotic Systems, InTech Europe, 4巻, 1号, 掲載ページ 27-34, 出版日 2007年, In this paper, we develop a robot with the ability to secure human safety in human-robot collisions arising in our living and working environments. The human-symbiotic service robot using compliant hybrid joints realizes human safety, absorbs impact force, and fulfills task. In unexpected or expected collisions with human, the arising impulse force is attenuated effectively by the proposed physical model. Owing to the displacement of the links, several recovery controls have been developed for the end-effector to maintain its desired task position after the collision. The force attenuation property has been verified through collision simulations and experiments in that the capability of the proposed passive arm in overcoming the limitations of active compliance control has been demonstrated.
研究論文（学術雑誌）, 英語 - 衛星通信用船舶搭載型トラッキングアンテナの高精度化
山岡天平; 明愛国; 木田隆; 金森哉吏; 佐藤基夫
日本機械学会論文集（C編）, 一般社団法人日本機械学会, 73巻, 725号, 掲載ページ 170-176, 出版日 2007年01月, 査読付, Recently, data traffic for satellite communications is increasing rapidly, due to the various new purposes besides the conventional voice phone and facsimile. For the reason, it is necessary to realize high frequency communications, which is assured by high accuracy of tracking control of an antenna. This paper aims at the accuracy improvement of conventional tracking antennas by introducing H-infinity control. In this paper, the basic characteristics of tracking antenna are investigated by experiments and the model of the antenna for controller design is established. Based on the model, a H-infinity controller is designed and implemented to the antenna. Experimental results show that the tracking accuracy can be improved to ±0.25 [deg], which is four times higher than that by the conventional controller.
研究論文（学術雑誌）, 日本語 - Vibration suppression of ship-mounted antennas using a nonlinear passive vibration isolator
Takuya Shiozumi; Aiguo Ming; Takashi Kida; Chisato Kanamon; Yusuke Kobayashi; Motoo Satoh
2007 IEEE INTERNATIONAL CONFERENCE ON INTEGRATION TECHNOLOGY, PROCEEDINGS, IEEE, 掲載ページ 568-+, 出版日 2007年, 査読付, We are aiming to improve the performance of a passive vibration isolator for ship-mounted antennas by designing the parameters of the isolator including nonlinear springs and dampers. It is known that a passive isolator has an inevitable problem, trade-off between minimizing the magnification of resonance and suppressing the magnifications in the region of high-frequency into lower levels. To solve this problem, we introduce a nonlinear model with more design parameters and adopt an optimization method, that is, minimizing the evaluation function consisting of two terms which indicate effects on resonant magnification and vibration isolation. By, this approach, several available solutions, which can improve vibration isolation performance while with reduced magnification of resonance, are obtained.
研究論文（国際会議プロシーディングス）, 英語 - Adaptive robust trajectory and force tracking control of constrained mobile manipulators
Zhaoxian Xie; Aiguo Ming; Zhijun Li
2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS, IEEE, 掲載ページ 1351-1355, 出版日 2007年, 査読付, This paper studies the simultaneous trajectory and force control problem of mobile manipulators subject to holonomic and nonholonomic constraints with uncertainties and external disturbances. The main feature of this paper is that 1) adaptive robust control strategies, which avoid complex regressor matrix, are presented based on a suitable reduced dynamic model, the defined references signals and the mixed tracking errors; 2) the proposed control schemes guarantee the states of the system asymptotically converge to the desired trajectory, and ensure the boundedness of the constrained force with controllable bounds at the same time; and 3) asymptotic stability in the Lyapunov sense is acquired and rigorously proven. A numerical example is presented to illustrate the developed method.
研究論文（国際会議プロシーディングス）, 英語 - A net-structure tactile sensor covering free-form surface and ensuring high-speed response
Makoto Shimojo; Takuma Araki; Seiichi Teshigawara; Aigou Ming; Masatoshi Ishikawa
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, IEEE, 掲載ページ 676-+, 出版日 2007年, 査読付, A tactile sensor is developed with the aim of covering a robot's entire structure, while reducing wiring requirement and ensuring high-speed response. The sensor detects the center point of load distribution on 2-dimensional surfaces as well as the overall load. There are only 4 signal wires from the sensor. The sensor response time is nearly constant (within 1ms) regardless of the number of detection elements, their placements or sensor areas. In this paper, the principles behind the operation of this sensor and the results of experiments using the sensor are described. Further, a developed tactile element composed of pressure-sensitive materials and chip-resistors is described.
研究論文（国際会議プロシーディングス）, 英語 - Design for high dynamic performance robot based on dynamically coupled driving and joint stops
C. Xu; A. Ming; K. Mak; M. Shimojo
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, ACTA PRESS, 22巻, 4号, 掲載ページ 281-293, 出版日 2007年, 査読付, A new design approach is proposed for high dynamic performance robots, such as robots performing high-speed dynamic motions. This method is based on the utilization of dynamically coupled driving and joint stops. In the method, the dynamic performance index (DPI) formulated by the desired maximum motion specifications and the boundary conditions on initial/final configurations are combined to form a design index (DI) first. Then a dexterous mechanism consisting of very light actuators and links is initially designed under an assumption of utilizing dynamically coupled driving and joint stops. By increasing the load capabilities of the actuators step by step, an iterative process of searching for the solution of DI=0 with minimal torque needs is implemented to validate and improve the initial design. This process yields a robot that is lighter than conventional robots and capable of performing dynamic motions more efficiently by utilizing dynamically coupled driving and joint stops. Based on the method, a two-link golf swing robot performing high-speed swings is designed. Simulation results indicate the method can reduce the needs for the torque and power as compared with conventional design methods. The experiment clearly illustrates the merits of the method.
研究論文（学術雑誌）, 英語 - Motion control of a manipulator with mechanical joint stops
Yuichi Kamata; Aiguo Ming; Makoto Shimojo
2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5, IEEE, 掲載ページ 1451-1456, 出版日 2007年, 査読付, A new golf swing robot to simulate human's motion has been developed by !authors. As a characteristic of the robot, joint stops limiting range of!movement at wrist joint give strong force of constraint and contribute largely to the acceleration of a golf club. However, how to control a manipulator with joint stops for high speed motions is a problem to be solved. In this paper, a new model of joint stop with considering visco-elastic characteristics and contact force is established and the model is used for motion control. And as a method for contact control of joint stop, reflex control is introduce and applied to the process of following swing process. Experimental results show the effectiveness of the proposed methods.
研究論文（国際会議プロシーディングス）, 英語 - Learning Control for a Dynamic System using Recurrent Neural Network
Teppei Sato; Kent Ho-Ming Mak; Aiguo Ming
Proceedings of Asia International Symposium on Mechatrnoics (AISM2006), 掲載ページ A4-01, 出版日 2006年12月
研究論文（国際会議プロシーディングス）, 英語 - Development of a Xero Moment Point Sensor for a Walking Robot
Makoto Shimojo; Takuma Araki; Takaaki Nishino; Aigou Ming; Masatoshi Ishikawa
Proceedings of Asia International Symposium on Mechatrnoics (AISM2006), 掲載ページ A1-06, 出版日 2006年12月
研究論文（国際会議プロシーディングス）, 英語 - The development of a violin musician robot
H. Kuwabara; H. Seki; Y. Sasada; M. Aiguo; M. Shimojo
IEEE/RSJ Int. Conf. Intelligent Robos and systems, 2006., CD-ROM巻, 出版日 2006年10月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Motion Control of Ultra-High-Speed Manipulator with a Flexible Link Based on Dynamically Coupled Driving
Tomoari Maruyama; Chunquan Xu; Aiguo Ming; Makoto Shimojo
Journal of Robotics and Mechatronics, 18巻, 5号, 掲載ページ 598-607, 出版日 2006年10月, 査読付
研究論文（学術雑誌）, 英語 - A new golf swing robot to simulate human skill - Learning control based on direct dynamics model using recurrent ANN
Aiguo Ming; Shinya Furukawa; Teppei Teshima; Makoto Shimojo; Makoto Kajitani
MECHATRONICS, PERGAMON-ELSEVIER SCIENCE LTD, 16巻, 7号, 掲載ページ 443-449, 出版日 2006年09月, 査読付, The motion control skill in human hyper dynamic motions, especially in ultra high speed motions, is being investigated by the authors toward a realization of hyper dynamic manipulation by robots. As a case study, a new golf swing robot, consisting of an actuated joint and a passive joint with a mechanical stopper, has been developed by us. To improve the accuracy of the motion, learning control using ANN is introduced to shadow swing motion and the swing motion of hitting a ball, and its effectiveness has been shown by experiments. Since the model used in the method depends on the swing conditions, it is difficult to adapt the same model to all conditions. To improve the versatility of the learning control method, a recurrent ANN as a model with versatility is adopted to derive the model of direct dynamics of such strongly coupled, non-linear, non-holonomic and hybrid system. And a control method based on learning and motion generation by using the model is proposed and implemented to the golf swing robot prototype. In this paper, the method for adopting the recurrent ANN and implementing the learning control is described, and experimental results are shown. (C) 2006 Elsevier Ltd. All rights reserved.
研究論文（学術雑誌）, 英語 - Development of a Nonholonomic Mobile Manipulator with Hybrid Joints
Aiguo Ming; Zhaoxian Xie; Sheng Miao; Zhijun Li; Makoto Shimojo
Proceedings of The 2006 International Symposium on Advanced ICT (AICT2006), 掲載ページ 353-362, 出版日 2006年08月
研究論文（国際会議プロシーディングス）, 英語 - Study on Smart Hyper-Dynamic Manipulation
Aiguo Ming; Chunquan Xu; Makoto Shimojo
Proceedings of The International Workshop on Modern Science and Technology, 掲載ページ 244-249, 出版日 2006年05月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - ゴルフスイングロボットの実打運動制御
逸見昌伸; 明愛国; 許春権; 下条 誠
日本機械学会論文集（C編）, 72巻, 714号, 掲載ページ 253-560, 出版日 2006年02月, 査読付
研究論文（学術雑誌）, 日本語 - Robust Motion/Force control of holonomic constrainted nonholonomic mobile manipulators using hybrid joints
Jun Luo; Zhijun Li; Aiguo Ming; Shuzhi Sam Ge
WCICA 2006: SIXTH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-12, CONFERENCE PROCEEDINGS, IEEE, 掲載ページ 408-+, 出版日 2006年, 査読付, In this paper, robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. Robust controls are proposed based on a simplified dynamic model, the defined reference signals and the mixed tracking errors. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance. Constraint force control is developed, which does not utilize force feedback control but is based on the passivity of hybrid joint. Experiment results validate not only the states of the system asymptotically converge to the desired trajectory but also the constraint force asymptotically converges to the desired force.
研究論文（国際会議プロシーディングス）, 英語 - Motion control of golf swing robot based on dynamically-coupled driving
Tomoari Maruyama; Chunquan Xu; Aiguo Ming; Makoto Shimojo
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, IEEE, 掲載ページ 77-+, 出版日 2006年, 査読付, A new golf swing robot to simulate human's motion has been developed by authors. The basic design concept of the robot is to realize high speed swing motion while by a smart structure, just like human. By the concept, the robot consists of a shoulder joint with powerful direct-drive motor and a wrist joint with small direct-drive motor. And for the reason, swing motion at high speed should be realized by a skill of motion control, so called dynamically-coupled driving, to compensate the lack of driving capability in the wrist joint. This paper deals with the motion control of the robot. First, a new model of golf swing robot with considering the flexibility of golf club is established and all parameters are identified by experiments. According to the new model, trajectories for different criteria are generated and implemented to the robot. Experimental results show high accuracy of the motion control.
研究論文（国際会議プロシーディングス）, 英語 - A ZMP sensor for a biped robot
Makoto Shimjo; Takuma Araki; Aigou Ming; Masatoshi Ishikawa
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, IEEE, 掲載ページ 1200-1205, 出版日 2006年, 査読付, A sensor attached to the sole of the foot of a biped robot to detect a Zero Moment Point (ZMP) is proposed and basic experimental results are presented. The sensor simultaneously detects the center position of a two-dimensional distributed load on the surface of the sensor and the total load of the distribution.The sensor is sheet-like in form, lightweight (0.2g/cm(2)), offers a high-speed response (within 1 ms), and needs a little wiring (four wires). In the present paper, the principle of the above-described sensor and its characteristics are described, and the ZMP locus is shown for a walking biped robot with the attached sensors.
研究論文（国際会議プロシーディングス）, 英語 - Motion control of nonholonomic mobile underactuated manipulator
Zhijun Li; Aiguo Ming; Ning Xi; Makoto Shimojo
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, IEEE, 掲載ページ 3512-+, 出版日 2006年, 査読付, Motion control is investigated for a nonholonomic mobile manipulator using hybrid joints, which could be switched to either active (actuated) or passive (underactuated) mode. The mobile platform is driven with two independent wheels and the arm has hybrid joints in the horizontal plane. The dynamic constraints are shown to be a first-order nonholonomic for the mobile base and a second-order nonholonomic for the link when one of hybrid joints is underactuated. Two Different motion control methods for mobile underactuated manipulator with one passive joint are proposed. Simulation and experimental studies show the effectiveness of the proposed methods.
研究論文（国際会議プロシーディングス）, 英語 - Dynamic performance enhancement design of robot based on dynamically-coupled driving and joint stop
Chunquan Xu; Aiguo Ming; Makoto Shimojo
2006 IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS, VOLS 1 AND 2, IEEE, 掲載ページ 659-+, 出版日 2006年, 査読付, A new design method based on the utilization of dynamically-coupled driving and joint stops is proposed for high dynamic performance robots, such as the robot performing highspeed dynamic motions. In the method, the desired dynamic performance and the boundary conditions of the dynamic motion are combined to be a design index (DI) first. Then the robot is initially designed by selecting light actuators and links under an assumption of utilizing dynamically-coupled driving and joint stops. By increasing the actuator capabilities step by step, an iterative process of minimizing DI is implemented to yield a robot that is lighter than conventional robots and capable of performing dynamic motions more efficiently by utilizing dynamically-coupled driving and joint stops. Based on the method, a two-link golf swing robot performing high-speed swings is designed. Simulation results indicate the method can reduce the needs for the torque and power as compared with conventional design methods. The experiment illustrates the dynamically-coupled driving and the joint stops can be used.
研究論文（国際会議プロシーディングス）, 英語 - Development of an active wing for flight machines using macro fiber composites
Kil seong Ha; Ya-Wen Huang; Yoshinori Nagata; Aiguo Ming
IEEE ICMA 2006: PROCEEDING OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, IEEE, 掲載ページ 261-+, 出版日 2006年, 査読付, Macro Fiber Composites (MFC) is a new type of piezoelectric material with softness and big displacement, developed by NASA recently. It can be used for actuating, sensing and power generating. The purpose of our work is to develop a new and intelligent flight machine by utilizing the features of the MFC. In this paper, the concept of such flight machine and the driving method of a MFC-combined structure are proposed. The feasibility of flight by using the MFC-combined structure is discussed by simulations. Based on the simulation results, an active wing capable of flapping and feathering motions has been developed. The elementary performance of the wing is investigated by an aerodynamics experiment.
研究論文（国際会議プロシーディングス）, 英語 - Motion control of golf swing robot based on target dynamics
Chunquan Xu; Takeharu Nagaoka; Aiguo Ming; Makoto Shimojo
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, IEEE, 掲載ページ 2545-+, 出版日 2006年, 査読付, A new golf swing robot performing high-speed golf swings has been developed by the authors. This paper deals with the motion planning problem of the golf swing. A target dynamics based control scheme is proposed. This control scheme maps the robot to a harmonic oscillator (target dynamical system). Based on the target system, energy control is adopted to realize a specified hitting speed at a specified impact position in the swing. After the swing passed through the impact position, PD control and PD plus gravity, joint torque and coupling torque compensation control are adopted to smoothly slow down and stop the swing at a specified finish position. Simulation and experimental results show the effect of the proposed method.
研究論文（国際会議プロシーディングス）, 英語 - Structural sensing and actuation utilizing macro fiber composite
Yoshinori Nagata; Seokyong Park; Aiguo Ming
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3, IEEE, 掲載ページ 1275-+, 出版日 2006年, 査読付, Macro Fiber Composite (MFC) is a new type of piezoelectric material with softness and big displacement, developed by NASA recently. It can be used for actuating, sensing and power generating, The purpose of our work is to develop new and intelligent mechatronic devices utilizing MFC. In this paper, the basic characteristic of MFC for sensing and actuating is investigated. Sensing ability of MFC is investigated. In addition, as application of MFC, active damping of the cantilever beam with MFC and the cushion made of the leaf spring with MFC are experimented. The application possibility of MFC as the structural sensor and actuator is confirmed.
研究論文（国際会議プロシーディングス）, 英語 - Intelligent compliant force/motion control of nonholonomic mobilemanipulator working on the nonrigid surface
Z. Li; J. Gu; A. Ming; C.Xu; M. Shimojo
Journal of Neural Computing & Applications, s00521巻, 005号, 掲載ページ 0021, 出版日 2005年12月, 査読付
研究論文（学術雑誌）, 英語 - 基礎加振を利用した実験モーダル解析(船外装置の振動解析)
篠原 隆; 小林 勇介; 明 愛 国; 木田 隆; 飯塚 進; 金森 哉吏
日本機械学会論文集, 71巻, 712号, 掲載ページ 3388-3395, 出版日 2005年12月, 査読付
研究論文（学術雑誌）, 日本語 - A rotary encoder based on magneto-optical storage
K Tobita; T Ohira; M Kajitani; C Kanamori; M Shimojo; A Ming
IEEE-ASME TRANSACTIONS ON MECHATRONICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 10巻, 1号, 掲載ページ 87-97, 出版日 2005年02月, 査読付, A new kind of the rotary encoder based on the magneto-optical (MO) storage is proposed. Using the MO methods, a small high-precision high-response rotary encoder can be realized. High precision is achieved by a two-stage process in which the code disk is firstly written using the direct transfer recording, and then rewritten using the corrections based on the measured errors. The systems for writing to, reading from, and evaluating the MO encoder are developed, with the optimal MO encoder reading and writing parameters determined experimentally. A trial MO encoder with a resolution of 9000 pulses/revolutions is created directly from a reference encoder, delivering an accuracy of approximately 2.8 in. The maximum resolution and response frequencies achieved are 18000 p/r and 400 kHz. After the corrected transfer recording, accuracies of 1.3 in at a resolution of 2250 p/r and 1.7 in at 9000 p/r are achieved.
研究論文（学術雑誌）, 英語 - Collision-tolerant control for hybrid joint based arm of nonholonomic mobile manipulator in human-robot symbiotic environments
ZJ Li; AG Ming; N Xi; ZX Xie; JG Gu; M Shimojo
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4, IEEE, 掲載ページ 4037-4043, 出版日 2005年, 査読付, a human-symbiotic safe mobile manipulator with nonholonomic constraint is described to realize human safety, impact force absorbing and task fulfillment. The robot consists of an arm covered with soft materials and hybrid joints, which can be put into active or passive mode as needed. In an unexpected or expected collision with human, the arising impulse force is attenuated effectively by the physical model formed with the hybrid joint and the soft material. Owing to the displacement movement of the link when the joint is passive, a recovery control algorithm has been developed for the end-effector to maintain its desired task position after the collision. Simulation and experiment results confirm that the proposed physical model is suitable for robot working in the human-robot symbiotic environment and the control method are useful for robot's task fulfillment.
研究論文（国際会議プロシーディングス）, 英語 - A new motion control method for golf swing robot hitting a ball
A Ming; M Henmi; C Xu; M Shimojo
2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1 AND 2, IEEE, 掲載ページ 1517-1522, 出版日 2005年, 査読付, A new golf swing robot to simulate human motion has been developed. This paper deals with motion control of the robot for hitting a ball. For the case, it becomes important to control the motion of the robot after the impact, to avoid breaking a club. In this paper, a method for controlling the robot adaptable to various impact conditions is proposed. The motion state of the robot is estimated first by an extended Kalman filter, and a new reference trajectory is generated on-line according to the estimated state. The method has been implemented to the robot successfully.
研究論文（国際会議プロシーディングス）, 英語 - Accuracy improvement of ship mounted tracking antenna for satellite communications
Aiguo Ming; Tempei Yamaoka; Takashi Kida; Chisato Kanamori; Motoo Satoh
2005 IEEE International Conference on Mechatronics and Automations, Vols 1-4, Conference Proceedings, IEEE, 掲載ページ 1369-1374, 出版日 2005年, 査読付, Recently, data traffic for satellite communications is increasing rapidly, due to various new purposes besides the conventional voice phone and facsimile. For the reason, it is necessary to realize high frequency communications, which is to be assured by high accuracy of tracking control of an antenna. To meet the needs, this paper aims at the accuracy improvement of conventional ship mounted tracking antennas by introducing H-inrinity control. In this paper, the basic characteristics of tracking antenna are investigated by experiments and the model of the antenna for controller design is established. Based on the model, an H-infinity controller is designed and implemented to the antenna. Experimental results show that the tracking accuracy can be improved to +/- 0.3 [deg], which is five times higher than that by the conventional controller.
研究論文（国際会議プロシーディングス）, 英語 - Development of hybrid joints for the compliant arm of human-symbiotic mobile manipulator
Z Li; A Ming; N Xi; J Gu; M Shimojo
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, ACTA PRESS, 20巻, 4号, 掲載ページ 260-270, 出版日 2005年, 査読付, This paper presents a safe arm using compliant hybrid joints for human-friendly service robots, which realizes human safety, absorbs impact force, and provides task fulfillment. The robot is composed of links covered with soft materials and hybrid joints, which can be put into active or passive mode as needed. In an unexpected or expected collision with a human, the arising impulse force is attenuated effectively by the proposed physical model, which is developed with the hybrid joints and the soft covering. Owing to the displacement of the links when the joint is passive, a recovery control algorithm has been developed for the end-effector to maintain its desired task position after the collision. The force attenuation property has been verified through collision experiments in that the capability of the proposed passive arm in overcoming the limitations of active compliance control has been demonstrated. Simulation results also showed that the proposed control method is useful for robot's task fulfillment.
研究論文（学術雑誌）, 英語 - Mobile Manipulator Collision Control With Hybrid Joints in Human-robot Symbiotic Environments
Zhijun Li; Aiguo Ming; Ning Xi; Makoto Shimojo; Makoto Kajitani
Proceedings of The 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 掲載ページ 154 – 161, 出版日 2004年09月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Learning Control of a New Golf Swing Robot Based on ANN Direct Dynamics Model
Aiguo Ming; Shinya Furukawa; Teppei Teshima; Makoto Shimojo; Makoto Kajitani
Proceedings of First Asia International Symposium on Mechatronics(AISM2004), 掲載ページ 700-705, 出版日 2004年09月
研究論文（国際会議プロシーディングス）, 英語 - Development of 3-D Coordinate Measuring System Using Laser Plane Scanners
Chisato Kanamori; Makoto Kajitani; Aiguo Ming; Makoto Shimojo
Proceedings of First Asia International Symposium on Mechatronics(AISM2004), 掲載ページ 553-558, 出版日 2004年09月
研究論文（国際会議プロシーディングス）, 英語 - Velocity Field Navigation and Neuro-Fuzzy Control for Nonholonomic Mobile Robot
Zhijun Li; Aiguo Ming; Zhaoxian Xie
Proceedings of International Workshop of Modern Science and Technology, 掲載ページ 394-399, 出版日 2004年08月
研究論文（国際会議プロシーディングス）, 英語 - Simultaneously-firing sonar ring based high-speed navigation for nonholonomic mobile robots in unstructured environments
ZX Xie; ZJ Li; Y Sugiura; AG Ming; M Shimojo
PROCEEDINGS OF THE 2004 INTERNATIONAL CONFERENCE ON INTELLIGENT MECHATRONICS AND AUTOMATION, IEEE, 掲載ページ 650-655, 出版日 2004年, A sensing system using sonar ring for mobile robot capable of rapid detection and avoidance of obstacles has been developed and a prototype of the sensing system with 24 sonar sensors is fabricated. A composite method of firing all ultrasonic sensors simultaneously with the scanning rate up to 66Hz of panoramic detection and Dynamic Window Approach (DWA) is utilized to achieve high-speed-navigation in the narrower, cluttered, dynamic, unstructured environments. The experimental results show that a rapid navigation of mobile robot in the unstructured environment becomes possible.
研究論文（国際会議プロシーディングス）, 英語 - Optimal trajectory generation for manipulator with strong nonlinear constraints and multiple boundary conditions
CQ Xu; AG Ming; M Shimojo
IEEE ROBIO 2004: Proceedings of the IEEE International Conference on Robotics and Biomimetics, IEEE, 掲載ページ 192-197, 出版日 2004年, Up to now, the research work about optimal trajectory generation mainly focuses on such motion planning with boundary conditions of specified initial and final configurations. Multiple boundary conditions are seldom taken into account. This paper explores the motion planning method for hyper dynamic manipulation with multiple boundary conditions of initial, final and middle configurations and strong nonlinear constraints derived from active torque limitation and joint stop, and B-spline based optimal torque trajectory generation method is proposed by authors. By transforming the torque limitation constraints into a series of linear limitations for the coefficients of B-spline, and by using SQP optimization algorithm, optimal solutions are obtained with high convergence. Numerical experiments show the proposed method has superior numerical stability and high optimization accuracy in dealing with the optimal motion planning problem with strong nonlinear constraints and multiple boundary conditions.
研究論文（国際会議プロシーディングス）, 英語 - Trajectory Planning and Control of a Mobile Manipulator with Active/Passive Switching Joints for Partial Constrained Tasks
Aiguo Ming; Tetsuo Jinnai; Zhijun Li; Ting Zou; Makoto Shimojo; Makoto Kajitani
Proceedings of 2nd Japan-China Workshop on Multidisciplinary Researches in Engineering, 掲載ページ 76-81, 出版日 2003年11月
研究論文（国際会議プロシーディングス）, 英語 - Magneto-optical rotary encoder with a multiple reading pickup
Kazuteru TOBITA; Satoki KAWAMOTO; Makoto KAJITANI; Chisato KANAMORI; Aiguo MING; Makoto SHIMOJO
Proceedings of 2nd Japan-China Workshop on Multidisciplinary Researches in Engineering, 掲載ページ 171-176, 出版日 2003年11月
研究論文（国際会議プロシーディングス）, 英語 - A new golf swing robot to simulate human skill-accuracy improvement of swing motion by learning control
A Ming; M Kajitani
MECHATRONICS, PERGAMON-ELSEVIER SCIENCE LTD, 13巻, 8-9号, 掲載ページ 809-823, 出版日 2003年10月, 査読付, A new golf swing robot to simulate human skill of motion control with one actuated joint and one passive joint has been developed by authors. Because of the special mechanism with non-holonomic constraint of the robot and the motion of high speed, it is difficult to realize an accurate swing motion by usual feedback control. To solve the problem, this paper describes a control method using mainly feedforward control based on an approximate inverse dynamics model (IDM) close to the real system. The approximate IDM is composed of a simple IDM and a compensation IDM represented by a neural network and is to be improved by learning in doing. By this method, most part of control input is shifted from feedback control to feedforward control and an accurate swing can be realized. The method is implemented to the prototype of golf swing robot, and experimental results of shadow swing before and after learning control show the effectiveness of the proposed learning control. (C) 2003 Elsevier Science Ltd. All rights reserved.
研究論文（学術雑誌）, 英語 - Development of a High Precision Mounting Robotic System -Positioning experiments by Optical Fiber Sensor
Yuhki Makita; Aiguo Ming; Tenpei Yamaoka; Makoto Kajitani; Makoto Shimojo; Chisato Kanamori; Shozo Tazoe; Norio Kuragane
Proceedings of 6th Japan-France Congress on Mechatronics & 4th Asia-Europe Congress on Mechatronics, 掲載ページ 398-402, 出版日 2003年09月
研究論文（国際会議プロシーディングス）, 英語 - Development of a High Precision Mounting Robotic System -Positioning experiments by Optical Fiber Sensor
Kazuteru Tobita; Satoki Kawamoto; Kajitani; Makoto; Chisato Kanamori; Makoto Shimojo; Aiguo Ming
Proceedings of 6th Japan-France Congress on Mechatronics & 4th Asia-Europe Congress on Mechatronics, 掲載ページ 157-162, 出版日 2003年09月
研究論文（国際会議プロシーディングス）, 英語 - Mechanism design and control of dynamically-coupled driving based manipulator
AG Ming; CQ Xu; T Maruyama; M Shimojo; M Kajitani
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS, IEEE, 掲載ページ 1-6, 出版日 2003年, 査読付, Usually the dynamic capability of conventional manipulators is limited by heavy structure. Different from those manipulators, human can do many hyper dynamic manipulations while in a smart structure by utilizing dynamically-coupled driving between body and arms. Aiming at improving the dynamic capability of a manipulator in a large extent, a basic concept and general method on the mechanism design and control of the manipulator is proposed, just to simulate the action of human utilizing the dynamically-coupled driving. Furthermore, using joint stop in a manipulator will enhance the effect of dynamically-coupled driving. To show the feasibility of the proposal, a hyper dynamic manipulator has been fabricated and fundamental experiments have been carried out. Experimental results have shown the important role of the dynamically-coupled driving to realize an efficient hyper dynamic manipulation while in a smart structure. This paper describes the developed prototype and experimental results.
研究論文（国際会議プロシーディングス）, 英語 - Development of a hyper dynamic manipulator utilizing joint stops
A Ming; N Harada; M Shimojo; M Kajitani
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, IEEE, 掲載ページ 2084-2089, 出版日 2003年, 査読付, Usually there exist joint stops in a manipulator due to the mechanical structure of joints. In conventional manipulators, a collision between an arm and the strutural joint stop is avoided by barriers from both software and electronic hardware. Comparing to these conventional manipulators, human utilizes structural joint stops usefully in many manipulations, especially in hyper dynamic manipulations such as golf swing. A basic concept and general method to utilize the structural joint stop in a manipulator, aiming at improving the dynamic capability of the manipulator in a large extent by simple and smart structure have been given in our previous work. To show the feasibility of the proposal, a hyper dynamic manipulator utilizing joint stops has been fabricated and fundamental experiments(see video) have been carried out. Experimental results have shown the important role of the joint stop, to realize an efficient hyper dyamnic manipulation while in a smart structure. This paper describes the developed prototype and experimental results.
研究論文（国際会議プロシーディングス）, 英語 - High Accuracy Optical Fiber Positioning Sensor for Precise Assembly of Electronic Components
A. Ming; Y. Makita; G. Koike; M. Kajitani; C. Kanamori; X. Wang; N. Kurakane; S. Tazoe; N. Yamada
Proceedings of 6th International Conference on Mechatronics Technology, 掲載ページ 140-145, 出版日 2002年10月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Generation and Realization of Optimal Trajectory for Under-Actuated Robot
N. Luan; A. Ming; X. Zhao; J. Chen
Journal of Shanghai JiaoTong University, 36巻, 10号, 掲載ページ 1422-1425, 出版日 2002年10月, 査読付
研究論文（学術雑誌） - Motion Control of a New Golf Swing Robot for Hitting a Ball
A. Ming; T. Teshima; T. Takayama; M. Kajitani; M. Shimojo
Proceedings of 4th International Conference on the Engineering of Sport, 掲載ページ 456-462, 出版日 2002年09月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Learning control for robot with unactuated joints
N. Luan; A. Ming; X. Zhao; J. Chen
Robot, 24巻, 2号, 掲載ページ 144-148, 出版日 2002年03月, 査読付
研究論文（学術雑誌） - Automatic insertion of a long-pipe by a mobile manipulator with exchangeable active/passive joints
A Ming; M Satou; T Kamimura; Y Hasegawa; T Jinnai; C Kanamori; M Kajitani
2001 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5, IEEE, 掲載ページ 359-364, 出版日 2002年, manipulator, a new mobile manipulator with exchangeable active/passive joints has been developed by authors. In the mobile manipulator, passive joints play an important role in absorbing the mobile positioning error and reducing the internal force passively. By utilizing the exchangeable active/passive joints, a control algorithm for automatic insertion of a long pipe based only on the angular information of the passive joints is proposed. By implementing the algorithm to the mobile manipulator, the insertion task was performed successfully. The proposed control algorithm is described and the experimental results are shown in this paper.
研究論文（国際会議プロシーディングス）, 英語 - Control of Golf Swing Robot by Learning –Generation of Optimal Trajectory for Real System-
A.Ming; Nan Luan; M.Kajitani
Enabling Society with Information Technology, SPRINGER-VERLAG TOKYO, 掲載ページ 143-152, 出版日 2002年, 査読付, A golf swing robot consisting of an actuated joint and a passive joint with stopper has been developed to simulate the motion control skill in human swing. This paper describes a topic of control by learning, that is, how to achieve an optimal trajectory for the real system though learning. To realize the purpose, a method by repeating swing, model improvement by learning and optimal motion generation is proposed. Method, implementation and experimental results of the control are described in this paper.
研究論文（国際会議プロシーディングス）, 英語 - A proposal for utilizing structural joint stop in a manipulator
A Ming; M Kajitani; M Shimojo
2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, IEEE, 掲載ページ 3649-3654, 出版日 2002年, 査読付, Usually the revolute joint of a manipulator can't rotate all around, that is, in a range larger than 360 degree and it is limited by a mechanical element so called "joint stop". In conventional manipulators, a collision between an arm and the joint stop is avoided by barriers from both software and electronic hardware. Comparing to those conventional manipulators, human utilizes structural joint stop usefully in many manipulations, especially in hyper dynamic manipulations. In this paper, we propose a general utilization of structural joint stop in a manipulator to improve the capability of the manipulator in a large extent by simple modification of the structure of joint. This paper gives the basic idea for utilizing structural joint stop in a manipulator, expected effects of the proposal, the method how to utilize the joint stop and simulation results.
研究論文（国際会議プロシーディングス）, 英語 - Development of a rapid obstacle sensing system using sonar ring for mobile robot
A Ming; K Kajihara; M Kajitani; M Shimojo
2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, IEEE, 掲載ページ 3068-3073, 出版日 2002年, 査読付, A sensing system using sonar ring for mobile robot capable of rapid detection and avoidance of obstacles has been developed. In the system, a method of firing all ultrasonic sensors. on a sonar ring simultaneously is used. And to eliminate error data due to crosstalks in the simultaneous firing, a filtering method based on pattern matching using neural network is used. To show the advantage of this method, a prototype of sensing system with 24 sonar sensors is fabricated. By installing the system to mobile robot, a scanning rate up to 50Hz of panoramic detection is achieved. The experimental results showed that a rapid navigation of mobile robot in a real environment becomes possible. This paper describes the basic concept, the method for sensing and avoidance of obstacles, configuration of the developed sensor system and experimental results of obstacle detection and avoidance.
研究論文（国際会議プロシーディングス）, 英語 - High accuracy optical fiber positioning sensor for measurement of metal track edge
XD Wang; HX Song; M Kajitani; AG Ming
PROCEEDINGS OF THE SECOND INTERNATIONAL SYMPOSIUM ON INSTRUMENTATION SCIENCE AND TECHNOLOGY, VOL 3, HARBIN INSTITUTE TECHNOLOGY PUBLISHERS, 掲載ページ 244-252, 出版日 2002年, Instead of using CCD camera as a solution, optical fiber is chosen, for its "probe" can be attached to the end of a nozzle (sucker for holding a chip and heater for welding, e.g. in flip-chip mounting), in case the available installation space is narrow and limited. The operational principle of the sensor is reflective intensity based modulation. Different reflection patterns have been considered, and the analyses of the modulation characteristics on specular reflection and diffuse reflection assumption are carried out, keeping in mind that the modulation properties of a real sensor lie between those of the two types of reflection patterns. A prototype sensor has been developed and preliminary experiment has been done. The results show that the sensor is feasible for application and valuable for further development.
研究論文（国際会議プロシーディングス）, 英語 - Development of a maintenance robot system for the road lighting equipment
AG Ming; Y Ishikawa; N Hasegawa; K Shibasaki; Y Ye; M Kajitani; C Kanamori; M Shitnojo; Y Aizawa
PROCEEDINGS OF THE 3RD CHINA-JAPAN SYMPOSIUM ON MECHATRONICS, CHINESE INSTITUTE ELECTRONICS, 掲載ページ 161-166, 出版日 2002年, To realize the automization of maintenance work for the road lighting equipment, a robot system has been developed. It consists of an elevating unit and an exchanging unit including a newly designed illumination equipment. As the elevating unit, an autonomous elevating robot has been developed. By the exchanging mechanism with the new illumination unit, install and removal of the illumination unit can be done automatically just by the elevating motion of the robot. By integrating all units, an overall experiment for a sequence of task has been done and the feasibility of the developed system is confirmed by the results. In this paper, basic concept and configuration of the system are described. The detailed design and fabrication of each unit are given also.
研究論文（国際会議プロシーディングス）, 英語 - A rotary encoder based on magneto-optical storage method
K Tobita; T Ohira; M Kajitani; C Kanamori; A Ming; M Shimojo; S Kawamoto
PROCEEDINGS OF THE 3RD CHINA-JAPAN SYMPOSIUM ON MECHATRONICS, CHINESE INSTITUTE ELECTRONICS, 掲載ページ 128-133, 出版日 2002年, We propose a new kind of rotary encoder based on a magneto-optical storage method. By using this method, a rotary encoder with small size, high precision and response can be realized. High precision can be achieved with the ability for re-recording by using the transfer recording with error correction method. The method is as follows. Firstly, an initial recording is made directly from the reference encoder and angle position errors of MO encoder are measured. Correcting values to cancel errors are calculated based on Fourier analysis. Finally, MO encoder is re-recorded with the correcting values after erasing. The following issues are described: (1) A device for recording, playback and evaluation of MO encoder has been developed. (2) MO encoder made for trial purposes was recorded by 2250 p/r (pulses/revolution) directly from the referential encoder. Accuracy of about 2.5" and reproducibility of 0.079" were achieved. (3) As a result of experiments for transfer recording with error correction, an accuracy of 1.3" for 2250 p/r and 1.7" for 9000 p/r was achieved.
研究論文（国際会議プロシーディングス）, 英語 - 光磁気記録を応用したロータリエンコーダの試作（第２報）-光磁気記録式ロータリエンコーダの補正転写記録-
飛田和輝; 大平貴之; 梶谷誠; 金森哉吏; 明愛国
精密工学会誌, 67巻, 12号, 掲載ページ 1976-1980, 出版日 2001年12月, 査読付
研究論文（学術雑誌）, 日本語 - Control of a New Golf Swing Robot with Considering Hitting a Ball
A. Ming; T. Teshima; T. Takayama; M.Kajitani
Proceedings of 2001 IEEE International Conference on Systems, Man & Cybernetics, Tsuson, 掲載ページ 365-370, 出版日 2001年10月
研究論文（国際会議プロシーディングス）, 英語 - Measurement of transmission error including backlash in angle transmission mechanisms for mechatronic systems
A Ming; M Kajitani; C Kanamori; J Ishikawa
JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING, JAPAN SOC MECHANICAL ENGINEERS, 44巻, 1号, 掲載ページ 196-202, 出版日 2001年03月, 査読付, The characteristics of angle transmission mechanisms exert a great influence on the servo performance in the robotic or mechatronic mechanism. Especially, the backlash of angle transmission mechanism is preferable the small amount. Recently some new types of gear reducers with non-backlash have been developed for robots. However, the measurement and evaluation method of the backlash of gear trains has not been considered except old methods which can statically measure at only several meshing points of gears. This paper proposes an overall performance testing method of angle transmission mechanisms for the mechatronic systems. This method can measure the angle transmission error both clockwise and counterclockwise. In addition the backlash can be continuously measured in all meshing positions automatically. This system has been applied to the testing process in the production line of gear reducers for robots, and it has been effective for reducing the backlash of the gear trains.
研究論文（学術雑誌）, 英語 - Automatic insertion of a long-pipe by a mobile manipulator with exchangeable active/passive joints
Aiguo Ming; Masakazu Satou; Takuto Kamimura; Youichi Hasegawa; Tetsuo Jinnai; Chisato Kanamori; Makoto Kajitani
Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 1巻, 掲載ページ 359-364, 出版日 2001年, To construct a practical system using a mobile manipulator, a new mobile manipulator with exchangeable active/passive joints has been developed by authors. In the mobile manipulator, passive joints play an important role in absorbing the mobile positioning error and reducing the internal force passively. By utilizing the exchangeable active/passive joints, a control algorithm for automatic insertion of a long pipe based only on the angular information of the passive joints is proposed. By implementing the algorithm to the mobile manipulator, the insertion task was performed successfully. The proposed control algorithm is described and the experimental results are shown in this paper.
研究論文（国際会議プロシーディングス）, 英語 - Fabrication of a New Rotary Encoder based on Magneto-Optical Strage Method (2nd report)-Error Corrected recording Method for Magneto-Optical Rotary Encoder -
Kazuteru Tobita; Takayuki Ohira; Makoto Kajitani; Chisato Kanamori; Aiguo Ming
Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering, 67巻, 12号, 掲載ページ 1976-1980, 出版日 2001年, The feasibility for fabricating a magneto-optical rotary encoder (MO encoder) has been shown in our previous paper. In this paper, an error corrected recording method to improve accuracy of the MO encoder is described. The recording method utilizes one feature of MO encoder, that is, ability for re-recording. First, an initial recording is made directly from referential encoder to MO encoder and angular errors of the MO encoder are measured. According to the errors, correcting values for canceling the errors are calculated based on Fourier components analysis. Finally, the MO encoder is re-recorded by the correcting values after erasing the initial recording. As the result of experiments, an accuracy of 1.3" for 2250 pulse/rev. and 1.7" for 9000 pulse/rev. was achieved by using the error corrected recording method. © 2001, The Japan Society for Precision Engineering. All rights reserved.
研究論文（学術雑誌） - Fabrication of a New Rotary Encoder based on Magneto-Optical Storage Method
Kazuteru Tobita; Takayuki Ohira; Makoto Kajitani; Chisato Kanamori; Aiguo Ming
Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering, 67巻, 1号, 掲載ページ 96-100, 出版日 2001年, In this paper, a new kind of rotary encoder based on magneto-optical storage method is proposed. By using this method, a rotary encoder with small size, high accuracy and high response can be realized. MO encoder is more advantageous than a magnetic scale and optical encoder according to its high response and its high accuracy, respectively. High accuracy can be achieved by rerecording, therefore the error is corrected. Following issues are described: (1) A device for record, playback and evaluation of accuracy of MO encoder has been developed. (2) A necessary condition for record and playback for MO encoder was experimentally derived. (3) The MO encoder made for trial purposes was recorded by 2250 pulses per revolution directly from the referential encoder, as a result, accuracy of 2.5" and reproducibility of 0.079" were achieved. © 2001, The Japan Society for Precision Engineering. All rights reserved.
研究論文（学術雑誌） - Measurement of transmission error including backlash in angle transmission mechanisms for mechatronic systems
Aiguo Ming; Makoto Kajitani; Chisato Kanamori; Jiro Ishikawa
JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing, 44巻, 1号, 掲載ページ 196-202, 出版日 2001年, 査読付, The characteristics of angle transmission mechanisms exert a great influence on the servo performance in the robotic or mechatronic mechanism. Especially, the backlash of angle transmission mechanism is preferable the small amount. Recently, some new types of gear reducers with non-backlash have been developed for robots. However, the measurement and evaluation method of the backlash of gear trains has not been considered except old methods which can statically measure at only several meshing points of gears. This paper proposes an overall performance testing method of angle transmission mechanisms for the mechatronic systems. This method can measure the angle transmission error both clockwise and counterclockwise. In addition the backlash can be continuously measured in all meshing positions automatically. This system has been applied to the testing process in the production line of gear reducers for robots, and it has been effective for reducing the backlash of the gear trains.
研究論文（学術雑誌）, 英語 - 光磁気記録を応用したロータリエンコーダの試作
飛田和輝; 大平貴之; 梶谷 誠; 金森哉吏; 明 愛国
精密工学会誌, 67巻, 1号, 掲載ページ 96-100, 出版日 2001年01月, 査読付
研究論文（学術雑誌）, 日本語 - Generation of optimal trajectory for real system of an under-actuated manipulator
N Luan; A Ming; M Kajitani
2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, IEEE, 掲載ページ 3308-3313, 出版日 2001年, 査読付, Trajectory of an under-actuated manipulator is usually generated according to both kinematics and dynamics of the manipulator, different to that of conventional manipulator. For this reason, another important problem in trajectory generation for the real system of an under-actuated manipulator is the realizablity of trajectory. That is, the real trajectory by real system may differ greatly from the trajectory generated from the dynamics model because there always exist errors in dynamic model and feedback control is less effective in under-actuated manipulator. A method for generation of optimal trajectory for real system of an under-actuated manipulator with non-holonomic constraint is proposed in this paper, By this method, dynamics model of real system can be improved by learning and optimal trajectory is generated according to the model improved sequentially. The effectiveness of the method has been confirmed by experiment with a golf swing robot. Method, implementation and experimental results of the control method are described in this paper.
研究論文（国際会議プロシーディングス）, 英語 - Development of a high precision mounting robot system with fine motion mechanism (3rd report) -Positioning experiments of SCARA robot with fine mechanism
Abdelhafid Omari; Aiguo Ming; Ghaylen Limam; Chisato Kanamori; Makoto Kajitani; Shuji Nakamura
Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering, Japan Society for Precision Engineering, 67巻, 7号, 掲載ページ 1101-1107, 出版日 2001年, 査読付, In our previous work, robust control structure based on disturbance observer for a fast and precise fine motion mechanism has been proposed. The functionality of the controller was verified using one axis of precise X-Y table combined with-one axis fine motion mechanism. As a further step in this paper, the approach is extended to two-axes fine motion mechanism with a SCARA robot as a real system to realize the final purpose, that is, the development of high-precision mounting robot. First, the paper introduces a high performance robot system based on a SCARA robot coupled with a fine motion mechanism which was developed in our laboratory. Second, the paper presents a control scheme that enables correction of possible offsets of the end-effector relative to the target and compensation of the oscillations at the end-point. Finally, experimental results show significant improvements in end-point accuracy and settling time achieved by the novel configuration of the coarse/fine robotic system. As a result, a repeatability (3σ) less than 2 μm and the CP positioning error (3σ) less than 4.0 μm were achieved by the coarse/fine robotic system.
研究論文（学術雑誌）, 日本語 - Motion control skill in human hyper dynamic manipulation - An investigation on the golf swing by simulation
A Ming; T Mita; S Dhlamini; M Kajitani
2001 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, IEEE, 掲載ページ 47-52, 出版日 2001年, 査読付, Human hyper dynamic manipulations are defined hear as those in which hyper skill is needed to execute a dynamic manipulation by human, e.g. golf swing. This paper discusses the motion control skill in the human golf swing. The optimization of the swing motion according to a simplified model of human is described. By comparing generated optimal swing motions corresponding to various cost functions, with human swing motions, some useful hints on human motion control skill are obtained.
研究論文（国際会議プロシーディングス）, 英語 - Development of High Precision Mounting Robot with Fine Motion Mechanism: Design and Control of the Fine Motion Mechanism
A.Omari; A.Ming; S. Nakamura; S. Masuda; C.Kanamori; M.Kajitani; A.Nakamura
Human Friendly Mechatronics, 掲載ページ .333-338, 出版日 2001年, 査読付
研究論文（その他学術会議資料等）, 英語 - Control of Golf Swing Robot by Learning -Generation of Optimal Trajectory for Real System-
A. Ming; N. Luan; M. Kajitani
Proceedings of 2000 International Conference on Information Society in the 21st Century（IS2000），Aizu, 掲載ページ 302-307, 出版日 2000年11月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Human-Robot Cooperation Using a Mobile Manipulator with Exchangeable Active/Passive Joints
A. Ming; M. Satou; Y. Hasegawa; M.Kajitani; C. Kanamori
Int. Workshop on Modern Science and Technology（Haerbin）, 掲載ページ 20-29, 出版日 2000年09月
研究論文（国際会議プロシーディングス）, 英語 - Development of High Precision Mounting Robot with Fine Motion Mechanism: Design and Control of the Fine Motion Mechanism
A.Omari; A.Ming; S. Nakamura; S. Masuda; C.Kanamori; M.Kajitani; A.Nakamura
Proceedings of The International Conference on Machine Automation(ICMA2000), 掲載ページ 147-152, 出版日 2000年09月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Human dynamic skill in high speed actions and its realization by robot
A.Ming; M.Kajitani
Journal of Robotics and Mechatronics, 12巻, 3号, 掲載ページ 318-324, 出版日 2000年06月, 査読付
研究論文（学術雑誌）, 英語 - Development of a golf swing robot to simulate human skill
A.Ming; M.Kajitani
Journal of Robotics and Mechatronics, 12巻, 3号, 掲載ページ 325-332, 出版日 2000年06月, 査読付
研究論文（学術雑誌）, 英語 - Motion planning for a new golf swing robot
Aiguo Ming; Makoto Kajitani
Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, IEEE, 5巻, 掲載ページ 3282-3287, 出版日 2000年, A new golf swing robot to simulate human skill of motion control in golf swing has been developed by authors. It consists of one actuated joint and one passive joint with mechanical stopper. In this paper, optimal motion planning of the robot to satisfy the boundary conditions and non-holonomic constraint introduced by the stopper under different cost functions is discussed. A general method for motion planning of such kind of system is described and the results of motion planning for the golf swing robot are shown.
研究論文（国際会議プロシーディングス）, 英語 - 粗微動高精度実装ロボットの開発(第1報)-2軸微動機構の開発-
増田修一; 明愛国; オマーリ アブデルハフィト; 梶谷誠; 金森哉吏
精密工学会誌, 公益社団法人精密工学会, 66巻, 1号, 掲載ページ 117-121, 出版日 2000年01月, 査読付, A high precision mounting robot system consisting of SCARA robot and fine motion mechanism attached to the end effector of the robot is being developed by authors, This paper introduces basic concept and design specification of the system, and describes the design and capability of developed X-Y axes fine motion mechanism for this purpose in details. Developed fine motion mechanism is composed of piezo-electric actuator and displacement magnifying mechanism with elastic hinge. Detailed structure of the mechanism is designed by simulation based on FEM. Experimental results of positioning show the effectiveness of developed fine motion mechanism.
研究論文（学術雑誌）, 日本語 - Rapid obstacle sensing using mobile robot sonar
V. Masek; M. Kajitani; A. Ming; L. V. Vlacić
Mechatronics, 10巻, 1-2号, 掲載ページ 191-213, 出版日 2000年, 査読付, This paper introduces rapid obstacle sensing using mobile robot sonar (ROSUM) a new method of applying simultaneous ultrasonic firing in environmental scanning. ROSUM focuses on treating undesirable crosstalk data with a heuristic pattern classification technique. In addition, least square curve fitting is applied to estimate bearing angles to the echoes' reflecting points which partially eliminates the problem of sonar's poor directionality. ROSUM enables full panorama scanning to be performed more rapidly then error eliminating rapid ultrasonic firing (EERUF), currently the most rapid method available. This makes ROSUM suitable for fast mobile robots navigating in dynamic environments since the system can detect obstacles which suddenly appear in the robot's path, and which may not be detected by the low-frequency scans in time for the robot to safely avoid them. Criteria for sonar ring design enabling multi-wave superposition to attain a quasi-homogenous sonar beam intensity pattern are also outlined. ROSUM has been implemented and tested in a specular office-like environment using a mobile robot. As a result, obstacle detection was performed not only faster, but also more accurately in comparison to conventional methods.
研究論文（学術雑誌）, 英語 - Development of a High Precision Mounting Robot with Fine Motion Mechanism（2nd Report）-Control of the fine mechanism considering dynamic response and disturbancefrom coarse mechanism -
A.Omari; A.Ming; A.Nakamura; C.Kanamori; M.Kajitani
精密工学会誌, Japan Society for Precision Engineering, 66巻, 10号, 掲載ページ 1583-1589, 出版日 2000年, 査読付, This paper presents a controller structure for a fast and precise fine positioner which can be attached to the end-effector of a classical industrial robot for assembly tasks. The overall control system consists of three elements: a position loop feedback controller, a feedforward controller, and a disturbance observer for the position loop. A useful method for compensating for the asymmetry and non-linearities of the piezoelectric based system is used as the first step in the design process. The robust feedback controller based on the disturbance observer compensates for external disturbances mainly from the coarse positioner. Precise tracking is achieved by the feedforward controller. Experimental results are presented to demonstrate performance improvement obtained by each element in the proposed robust structure.
研究論文（学術雑誌）, 日本語 - Motion planning for a new golf swing robot
A Ming; M Kajitani
SMC 2000 CONFERENCE PROCEEDINGS: 2000 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN & CYBERNETICS, VOL 1-5, IEEE, 掲載ページ 3282-3287, 出版日 2000年, A new golf swing robot to simulate human skill of motion control in golf swing has been developed by authors. It consists of one actuated joint and one passive joint with mechanical stopper. In this paper, optimal motion planning of the robot to satisfy the boundary conditions and non-holonomic constraint introduced by the stopper under different cost functions is discussed. A. general method for motion planning of such kind of system is described and the results of motion planning for the golf swing robot are shown.
研究論文（国際会議プロシーディングス）, 英語 - A New Method to Improve Obstacle Detection Accuracy Using Simultaneous Fifing of Sonar Ring Sensors
Y. Masek; M. Kajitani; A. Ming; L. Vlacic
Int. Journal of JSPE, 33巻, 1号, 掲載ページ 49-54, 出版日 1999年01月, 査読付
研究論文（学術雑誌）, 英語 - Development of Mobile Robot Elevator Utility System
Kazuhiro Mima; Masahiro Endou; Aiguo Ming; Chisato Kanamori; Makoto Kajitani
Journal of Robotics and Mechatronics, 11巻, 1号, 掲載ページ 78-85, 出版日 1999年01月, 査読付
研究論文（学術雑誌）, 英語 - ゴミ収集ロボットのためのゴミ集積所の自動化
美馬一博; 長谷川敬晃; 中坊貴亨; 金森哉吏; 梶谷 誠; 明 愛国
日本ロボット学会誌, 17巻, 7号, 掲載ページ 69-78, 出版日 1999年, 査読付
研究論文（学術雑誌）, 日本語 - Rapid obstacle sensing using sonar array
V.Masek; M.Kajitani; A.Ming; L.Vlacic
Proceedings of the 4th International Workshop on Electronics, Control, Measurement and Signals（ECMS '99），Liberec（Czech Republic）, 掲載ページ 25-30, 出版日 1999年
研究論文（国際会議プロシーディングス）, 英語 - Development of the Automatic Garbage Collecting System using AMR for Office Building
Kazuhiro Mima; Chisato Kanamori; Aiguo Ming; Makoto Kajitani
The Fifth International Conference on Control Automation Robotics and Vision（ICARCV '98），Singapore, 掲載ページ 454-459, 出版日 1998年12月
研究論文（国際会議プロシーディングス）, 英語 - Cooperative Operation by Two Mmbile Manipulators-Basic concept and system configuration-
Masakazu Satou; Aiguo Ming; Makoto Kajitani; Ljubo Vlacic
Proceedings of the 4th JAPAN-FRANCE CONGRESS & 2nd ASIA-EUROPE CONGRESS on MECHATRONICS, Kitakyusyu, Fukuoka, JAPAN, 掲載ページ 296-299, 出版日 1998年10月
研究論文（国際会議プロシーディングス）, 英語 - Fast Sonar Ring Scannig
Vlastimil MASEK; Makoto KAJITANI; AIguo MING; Ljubisa VLACIC
Proceedings of the 4th JAPAN-FRANCE CONGRESS & 2nd ASIA-EUROPE CONGRESS on MECHATRONICS, Kitakyusyu, Fukuoka, JAPAN, 掲載ページ 509-514, 出版日 1998年10月
研究論文（国際会議プロシーディングス）, 英語 - Fast mobile robot obstacle detection using simultaneous firing of sonar ring sensors
Masek, V; M Kajitani; A Ming; L Vlacic
INTERNATIONAL JOURNAL OF THE JAPAN SOCIETY FOR PRECISION ENGINEERING, JAPAN SOC PRECISION ENG, 32巻, 3号, 掲載ページ 207-212, 出版日 1998年09月, 査読付, This paper describes a new method of scheduling multiple Ultrasonic Range Sensors (URSs) mounted on a sonar ring designed for fast mobile robot obstacle detection. This method employs simultaneous firing of all on-board URSs operating on the same frequency where false range data caused by interference among multiple URSs are consequently rejected from scan data on the basis of crosstalk modeling. This task is performed by simulating a simple backpropagation neural network. The new method allows full panorama scanning six to ten times faster than those customary in conventional applications so that mobile robot can detect obstacles which appear in its path suddenly, and which may not be detected by the low-frequency scans in time for the robot to safely avoid them. The presented experimental results show the fundamental functionality of the new method.
研究論文（学術雑誌）, 英語 - A golf Swing robot to Simulate human Skill-the interoduction of Learning Control-
A. Ming; T. Kawano; B. Xu; M. Kajitani
2nd International Conference on The Engineering of Sport-Desingn and Development-, Sheffield, UK, 掲載ページ 283-290, 出版日 1998年07月
研究論文（国際会議プロシーディングス）, 英語 - 偏光フィルムを用いた移動ロボット用ランドマークシステムの開発
美馬一博; 金森哉吏; 梶谷 誠; 明愛国
日本ロボット学会誌, 16巻, 4号, 掲載ページ 94-102, 出版日 1998年05月, 査読付
日本語 - Development of Golf Swing Robot
A.Ming; M.Kajitani
Proceedings of 3rd Asian Conference on Robotics and Its Applications, 掲載ページ 41-46, 出版日 1997年10月
研究論文（国際会議プロシーディングス）, 英語 - Study on golf swing robot
A Ming; M Kajitani
PROCEEDINGS OF THE 2ND CHINA-JAPAN SYMPOSIUM ON MECHATRONICS, CHINESE INSTITUTE ELECTRONICS, 掲載ページ 138-143, 出版日 1997年, 査読付, A golf swing robot to realize the skill of motion control in human swing action has been proposed anti developed by authors. Human swing action is simplified as a motion of two-steps acceleration, realized by dynamic coupling driving of equivalent shoulder joint and wrist joint. According to the simplified model, a manipulator with one actuated joint and one passive joint with mechanical stopper is proposed as the mechanism of golf swing robot. A small prototype of the golf swing robot to swing a club for junior has been developed. This paper describes the basic concept of golf swing robot, mechanism and control system of developed prototype, and the experimental results of shadow swing by the robot.
研究論文（国際会議プロシーディングス）, 英語 - 2台の移動ロボットによる協調作業
A.Ming; V.Masek; C.Kanamori; M.Kajitani
Proceedings of DARS, 掲載ページ 339, 出版日 1996年10月, 査読付
研究論文（その他学術会議資料等）, 英語 - Human Skill and Ultra High Speed Maripulator
A.Ming; M.Kajitani
Proceedings of 3rd France-Japan Congress and 1st Europe-Asia corgress on Mechatronics, 掲載ページ 436-441, 出版日 1996年10月
研究論文（国際会議プロシーディングス）, 英語 - On the design of wire parallel mechanism
A Ming; M Kajitani; T Higuchi
INTERNATIONAL JOURNAL OF THE JAPAN SOCIETY FOR PRECISION ENGINEERING, JAPAN SOC PRECISION ENG, 29巻, 4号, 掲載ページ 337-342, 出版日 1995年12月, The wire parallel mechanism is the parallel mechanism in which wires are used as legs instead of links. In our previous work, wire parallel mechanisms had been classified into CRPM (completely restrained positioning mechanism) and IRPM (incompletely restrained positioning mechanism), and basic design conditions for CRPM were given. Besides the basic design conditions, the simplification of direct kinematics, which is a common problem of the parallel mechanism, stiffness and workspace problems, which are major problems of the wire parallel mechanism, must be considered when designing the mechanism. In this paper, first the concept of the positioning mechanism using wires is extended to a wire parallel mechanism. Then the simplification of direct kinematics using the features of the wire parallel mechanism is discussed. Moreover, stiffness of the mechanism is investigated to provide hints for the design of the wire parallel mechanism.
研究論文（学術雑誌）, 英語 - Study on Multiple Degree-of-Freedom Positioning Mechanism Using Wires (Part2) -Development of a Planar Completely Restrained Positioning Mechanism-(共著)
A. Ming; T. Higuchi
International Journal of Japan Society for Precision Engineering, JAPAN SOC PRECISION ENG, 28巻, 3号, 掲載ページ 235-242, 出版日 1994年09月, In our first paper, a general, systematic discussion about the properties, design, control of positioning mechanism using wires has been given. As an application of the obtained results for mechanism design and proposed control scheme, we developed a prototype of planar Completely Restrained Positioning Mechanism using wires, in which four wires are used to realize three D.O.F.(two translational and one rotatory) positioning in a plane. To control this prototype, we constructed a practical controller by software servo with optimal tension compensation. As the results of experiments for positioning capability, the PTP repeatability accuracy of +/-0.07mm with maximum velocity of about 1m/s, and the path(circle) accuracy of +/-0.44mm are obtained. Those results show that the mechanism is available in practice.
研究論文（学術雑誌）, 英語 - Study on Multiple Degree-of-Freedom Positioning Mechanism Using Wires (Part 1) -Concept, Design and Control-(共著)
A. MING; T. Higuchi
International Journal of Japan Society for Precision Engineering, JAPAN SOC PRECISION ENG, 28巻, 2号, 掲載ページ 131-138, 出版日 1994年06月, 査読付, Recently it becomes more and more important to use very light elements in a mechanism, such as flexible arm in space robot, to reduce the energy consumed by the elements themselves. This paper deals with the multiple degree-of-freedom (D.O.F.) positioning mechanism directly driven by thin, light wires. In which the positioning object is manipulated by multiple wires and positioned by controlling the length of each wire. Because of the flexibility of wire, the mechanism design and control are different from any other mechanisms driven by rigid element. In this paper, a general, systematic discussion about the properties, design, control and purpose of such mechanism will be given. First, the characteristics of positioning by wire are described, then two necessary conditions for positioning by wire are given. On the basis of the two necessary conditions, the design conditions, including the number of necessary wires and the disposition condition of wires, are obtained from analysis of kinematics and dynamics of the mechanism. Further, a control algorithm adaptable to the mechanism with using optimal tension distribution is proposed.
研究論文（学術雑誌）, 英語 - ６） 王樹華，明愛国，牧野洋，清水晃
王樹華; 明愛国; 牧野洋; 清水晃
精密工学会誌, 60巻, 4号, 掲載ページ 544-548, 出版日 1994年04月
研究論文（学術雑誌）, 日本語 - Development of Robot Machining System for Industrial Art Objects
A.Ming; H.Makino
Proceedings of 2nd Asian Conference on Robotics and Its Application, 掲載ページ 20-25, 出版日 1994年
研究論文（国際会議プロシーディングス）, 英語 - 工芸品のロボット加工システムに関する研究 (共著)
明愛国; 清水晃; 牧野洋
精密工学会誌, 60巻, 1号, 掲載ページ 91-91, 出版日 1994年
研究論文（学術雑誌）, 日本語 - カム曲線による歯付きベルトコンベアの運動制御(共著)
明愛国; 前田剛伸; 牧野洋
精密工学会誌, 公益社団法人精密工学会, 59巻, 10号, 掲載ページ 1631-1636, 出版日 1993年, The "free-pallet" index conveyor system has been developed by the authors. This paper deals with one-axis toothed belt conveyor used as positioning mechanism in the system. A prototype of one-axis conveyor system has been developed to investigate positioning capability. To construct a flexible system which can easily change stroke, duration, velocity, and acceleration for different purposes, the conveyor is driven by a DC servo motor and controlled by a personal computer. Motion control using cam curves is applied to realize high accuracy and high speed conveying. Positioning accuracy, velocity characteristics, and residual vibration of the conveyor are also tested by experiments, and the results show that the developed conveyor system is effective as the positioning mechanism in the free-pallet index conveyor system.
研究論文（学術雑誌）, 日本語 - 高速度高精度平面軌跡制御用小型ロボットの開発(共著)
明愛国; 伊藤忠司; 牧野洋
精密工学会誌, 公益社団法人精密工学会, 59巻, 11号, 掲載ページ 1865-1870, 出版日 1993年, A small SCARA robot for planar continuous path control has been developed. To realize high-speed and high-precision continuous path control, the robot was carefully designed by considering path planning, motion design, mechanism design, control system design, and teaching method design. The absolute accuracy performed by the robot is ±0.4mm in the standard working area(about A4 paper size), and the maximum speed of 500mm/s is obtained under reasonable accuracy. The accuracy is regarded as small as one tenth(1/10) of that performed by the conventional CP robots. The design policy is described and the experimental results are reported in this paper.
研究論文（その他学術会議資料等）, 日本語 - Development of Teaching Robot with Ridundant Degree-of-Freedom (共著)
Proceedings of the Third International Symposium or Measurement and Control in Robotics, 出版日 1993年
英語 - Study on Multiple Degree-of-Freedom Positioning Mechanism Lising Wires(共著)
HIGUCHI T.
Proceedings of the Asian Conference on Robotics and its Application, 101巻, 出版日 1991年
英語 - 球面SCARAロボットの開発研究(第2報)-試作機の構成と仕様及び制御-(共著)
明愛国; 張同庄; 山本唯司; 古屋信幸; 村田誠; 牧野洋
精密工学会誌, 公益社団法人精密工学会, 55巻, 9号, 掲載ページ 1615-1620-1620, 出版日 1989年, The spherical SCARA robot is a newly developed robot for the operation on curved surface, especially on a sphere. In the previous report the basic concepts and characteristics are analysed. In this report the construction and specification of the prototype of the spherical SCARA robot are discussed. Then the hardware and software for controlling the prototype are considered. An arbitrary motion curve can be used to move arms and three axes are driven synchronously by the softwared DDA to obtain smooth movement. The methods to obtain large circle path and straight line path on the sphere are shown. It is possible to obtain any other paths by the method, as an example the stitching curve of the baseball is obtained.
研究論文（学術雑誌）, 日本語 - 球面SCARAロボットの開発研究(第1報)-基本構想及び特性解析-(共著)
明愛国; 古屋信幸; 牧野洋
精密工学会誌, 公益社団法人精密工学会, 54巻, 7号, 掲載ページ 1265-1271-1271, 出版日 1988年, A new type robot called "Spherical SCARA (Spherical Selective Compliance Assembly Robot Arm) Robot" for the use of operations on a spherical plane has been developed. The robot has basically three joints (two rotational and one translational). It has the characteristic construction of "selective compliance", that means, the compliance in the normal direction to the working sphere is small, and which in the tangent plane and for momental force are large. With this construction the robot is adaptable to assembly operations, especially for insertion. In this report basic concepts on the robot are given, and several characteristics (coordinates transformation, singularity, compliance, positioning resolution, dynamics) are discussed.
研究論文（学術雑誌）, 日本語 - Application of Multi-Dimensional Wire Cranes in Construction
HIGUCHI T.
Proceedings of the 5th International Symposium on Robotics in Construction, 661巻, 出版日 1988年
英語 - Development of the Spherical SCARA Robot (共著)
Proceedings of the 5th Int. Conference on Assembly Automation, 掲載ページ 215, 出版日 1988年
英語
MISC
- 1P2-N02 近接覚センサを搭載したマニピュレータの遠隔操作方式の研究 : 近接覚センサ出力に基づく操作者への力覚フィードバック手法の検討
佐々井 亮太; 鈴木 陽介; 明 愛国; 下条 誠
We propose haptic feedback methods based on proximity sensor output in teleoperation. Composed of four distance measurement sensors, the proximity sensors are mounted on the palm of the robot hand. When the palm of the robot hand faces an object, a plane of the object can be estimated. The operator Ls given a reaction force based on a model of virtual spring. The amplitude is determined by the distance to the estimated plane, and the direction is determined by the normal vector of the plane. In this paper, especially we propose three methods how the amplitude is determined by the distance, and we verify the differences of the operator perceiving the reaction force by each method., 一般社団法人日本機械学会, 出版日 2015年05月17日, ロボティクス・メカトロニクス講演会講演概要集, 2015巻, 掲載ページ "1P2-N02(1)"-"1P2-N02(4)", 日本語, 110010055029, AA11902933 - 1P2-N08 指先近接覚センサを用いた未知形状物体にならうRCサーボを用いたモジュール型ロボットハンド
久松 和樹; 小山 圭祐; 鈴木 陽介; 明 愛国; 下条 誠
In this paper, we propose a modular robot hand composed of RC servo motors which follows unknown shapes of objects using fingertip proximity sensors. The fingertip proximity sensor has been proved to enable the finger to keep constant distance and run parallel to an object by sensor feedback. The feedback control is simple and robust, and so it can be operated even using microcomputers and RC servo motors. High expandability is one of advantages of RC servo motors. By making the most of its characteristics, the robot hand can be changed degree-of- freedom (DOF) easily. The robot hand will be a variously deformable robot hand according to various purposes., 一般社団法人日本機械学会, 出版日 2015年05月17日, ロボティクス・メカトロニクス講演会講演概要集, 2015巻, 掲載ページ "1P2-N08(1)"-"1P2-N08(4)", 日本語, 110010055035, AA11902933 - 1P2-N07 近接覚センサを用いたロボットハンドの遠隔操作システムの研究 : 操作者入力と自律制御の統合システムの提案
石関 峻一; 鈴木 陽介; 明 愛国; 下条 誠
Generally, teleoperation of a robot hand with a monocular camera has problems of lack of depth information and the occlusion occur. The operator misrecognizes the position and posture of the object, and the robot hand cannot grasp the object. In the paper, to solve this problem, we use a proximity sensor, which we have developed, attached to the palm of the robot hand. The operator is able to recognize the position and posture of the object by using the proximity sensor. In addition, autonomy control based on the sensor enables to adjust the position and posture of the robot hand. We integrate operator control with autonomy control. The number of success of grasping the object increases and an operation burden decreases., 一般社団法人日本機械学会, 出版日 2015年05月17日, ロボティクス・メカトロニクス講演会講演概要集, 2015巻, 掲載ページ "1P2-N07(1)"-"1P2-N07(4)", 日本語, 110010055034, AA11902933 - 1P2-N09 触・近接覚による操りのための接触状態変化の検出
岡部 信吾; 鈴木 陽介; 明 愛国; 下条 誠
We have developed a non-contact sensor called "net-structure proximity sensor" and a contact sensor called "slip sensor. " Both sensors are mounted on fingertips of our robot hand for object manipulation. The net-structure proximity sensor detects position and posture of an object, not only in non-contact but also in contact. The slip sensor detects pressure and slippage between an object in contact. In this paper, we investigate the outputs of these sensors under contact-state-transition between fingertips and an object, such as rapidly touch and forced posture change., 一般社団法人日本機械学会, 出版日 2015年05月17日, ロボティクス・メカトロニクス講演会講演概要集, 2015巻, 掲載ページ "1P2-N09(1)"-"1P2-N09(4)", 日本語, 110010055036, AA11902933 - 2A2-W04 導電性ペーストを用いた荷重分布中心位置(CoP)検出触覚センサの構成方法に関する検討
鈴木 陽介; 明 愛国; 下条 誠
This paper proposes a construction method for a Center of Pressure (CoP) tactile sensor using electrically-conductive paste and adhesion bond. The advantages are cost reduction and implement ability on various surface, because the conductive paste is able to draw electric circuits, for example, by pen-shaped tools, without using hot welding. A prototype sensor was implemented on a polypropylene sheet. It was confirmed that the sensor worked correctly and detected the position and amplitude of the applied force. This paper also discusses the noise reduction, an easier construction method, difference in materials of implementation surfaces, and the durability., 一般社団法人日本機械学会, 出版日 2015年05月17日, ロボティクス・メカトロニクス講演会講演概要集, 2015巻, 掲載ページ "2A2-W04(1)"-"2A2-W04(3)", 日本語, 110010055677, AA11902933 - 2A2-S10 らせん状磁石を用いた結合・変形機構を備えたモジュラーロボットの開発
筒井 悠平; 鈴木 陽介; 明 愛国; 下条 誠
In this paper, we propose a lattice modular robot which is able to perform both binding and transformation on 2D plane using helical magnets. A helical magnet has a cylindrical shape with helically-arranged magnetic poles on its surface. Modules have a square shape when viewed from the top. Helical magnets are arranged on each sides of square. Modules can bind each other by attraction of each of helical magnets. In addition, helical magnets work as a linear actuator by rotating it. This enables a module sliding transformation from its neighbor modules to further its adjacent modules. There are problems of existing modular robots that unable binding and unable transformation because of mechanical interference and lack of space. This proposed modular robot realizes various self-reconfigurations through overcoming those problems., 一般社団法人日本機械学会, 出版日 2015年05月17日, ロボティクス・メカトロニクス講演会講演概要集, 2015巻, 掲載ページ "2A2-S10(1)"-"2A2-S10(4)", 日本語, 110010055646, AA11902933 - 2A2-P10 動物の筋腱複合体を規範とする小型四脚ロボットの研究開発
風間 英気; 明 愛国; 下条 誠
Electromagnetic motors are useful actuators for robots due to good controllability and low cost. But, usually electromagnetic motors together with reducers of high reduction ratio are used to actuate robots. It is difficult to realize creature-like dynamic motions such as fast running, high jumping, by the robots due to low backdrivability of joints. To solve the problem, a robot with leg mechanisms consisting of spring and damper inspired by bi-articular muscle-tendon complex of animals, has been developed. As the result of experiments for dynamic motion, trot running at a speed of 3.5 kilometers per hour and forward jump about 1 body length per jump have been realized by the robot., 一般社団法人日本機械学会, 出版日 2015年05月17日, ロボティクス・メカトロニクス講演会講演概要集, 2015巻, 掲載ページ "2A2-P10(1)"-"2A2-P10(4)", 日本語, 110010055617, AA11902933 - 1A1-L03 非接触型ヒューマンインタフェースデバイスの開発 : 自由曲面配置可能なネット状近接覚センサのウェアラブルデバイスへの応用
栃木 紫帆; 鈴木 陽介; 明 愛国; 下條 誠
For 3D interaction of computer, many researchers often use vision sensor. However, some of them focus on the interface using proximity sensors. We also try to produce 3D interface using net-structure proximity sensors. This sensors use infrared radiation, and can get position and distance of object. Non-touch human interface that we developed can get user's motion, and identify multi-point in 3D. Net-structure proximity sensors can fit their form to various surfaces. We think this sensor's feature can use for "wearable devise". In this paper, we try to propose new interaction for wearable devise using net-structure proximity sensors. We design new net-structure proximity sensors to combine head mounted display., 一般社団法人日本機械学会, 出版日 2015年05月17日, ロボティクス・メカトロニクス講演会講演概要集, 2015巻, 掲載ページ "1A1-L03(1)"-"1A1-L03(4)", 日本語, 110010052976, AA11902933 - 多点識別を用いた非接触3次元入力手法の考案
栃木 紫帆; 鈴木 陽介; 明 愛国
[日本バーチャルリアリティ学会], 出版日 2014年09月17日, 日本バーチャルリアリティ学会大会論文集 Proceedings of the Virtual Reality Society of Japan, Annual Conference, 19巻, 掲載ページ 191-194, 日本語, 1349-5062, 40020338263 - 2A2-L01 非接触型ヒューマンインタフェースデバイスの開発 : 独立多点センシング方式の導入とモジュール化(VR・ARとインタフェース)
栃木 紫帆; 有田 輝; 鈴木 陽介; 明 愛国; 下条 誠
Recently, the devices called "3D interface", which get gesture including Kinect and Leap Motion, attract people. Most of them use vision sensors for detecting human motion. However, we try to produce a new 3D interface without vision sensor, focusing on the net-structure proximity sensor our lab developed by. In some previous studies, it was made known that the interface used this sensor can get not only gesture but also identify multi-point. In this paper, we developed a new non-touch human interface device by using modularized net-structure proximity sensor, and proposed new wiring technique. This device can get four points identified positions (four fingers) in wide area., 一般社団法人日本機械学会, 出版日 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014巻, 掲載ページ "2A2-L01(1)"-"2A2-L01(4)", 日本語, 110009966986, AA11902933 - 3P2-S02 近接覚フィードバック制御に基づくロボットハンドの知能化に関する研究 : 反射行動を生成するアナログフィードバック回路(ロボットハンドの機構と把持戦略(2))
小山 佳祐; 鈴木 陽介; 明 愛国; 下条 誠
In this paper, we introduce an analog feedback system: constructed by several analog circuits and our proximity sensor, for generating a pre-shaping motion of a robot hand. The pre-shaping means adjustment of the fingertip-object distance and fingertip postures simultaneously. Through this motion, each fingertip surface contacts with object surface on target posture. So fingertip force can be applied to the object surface directly. Moreover, the pre-shaping advantages feedback control using tactile sensors after contact improving the reliability of the object grasping. By introducing the analog feedback system, it is possible to construct the system of the robot in a compact configuration as a whole., 一般社団法人日本機械学会, 出版日 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014巻, 掲載ページ "3P2-S02(1)"-"3P2-S02(4)", 日本語, 110009967432, AA11902933 - 3P2-R06 近接覚を付与したロボットハンドによる移動物体の把持に関する研究(ロボットハンドの機構と把持戦略(2))
岡部 信吾; 小山 佳祐; 鈴木 陽介; 明 愛国; 下条 誠
We have developed a non-contact sensor called "proximity sensor" that detects position and posture of an object in a short-range. The proximity sensors are mounted on a palm and fingertips of a robot hand. With the sensor on a palm, the palm center position and an object center position are matched. And with the sensor on a fingertip, the fingertip surface and an object surface face each other and keep constant distance. The combination of them realizes grasping a static object that has unknown shape by a robot hand. But we have not focused on grasping a moving object. In this paper, we focus on grasping a moving object. So we investigate grasping an moving object that moves unknown speed by the robot hand with the proximity sensors., 一般社団法人日本機械学会, 出版日 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014巻, 掲載ページ "3P2-R06(1)"-"3P2-R06(4)", 日本語, 110009967430, AA11902933 - 1A1-W06 光を用いて動作生成を行うモジュラーロボットシステムの開発 : 光の伝搬による連鎖行動生成手法の提案(自律分散型ロボットシステム)
望月 康平; 鈴木 陽介; 明 愛国; 下条 誠
In this paper, we propose a modular robot system generating actions based on photo-detection. We particularly propose the chain action generation by propagating light. Many of the modules consist of non-identical modules, easily replaced and connected. We make up autonomous decentralized control system by generating motivations of the modules to transform local structure with LED and photo transistor. In the first, by communicating light between the electrically-independent modules, the modular robot acts meandering motion without microcomputer. Herewith, the modular robot is downsized, power saving, low-cost, excellent environment adaptability and under simple control. In the future, the modular robot will snake narrow and winding road by proximity sensor., 一般社団法人日本機械学会, 出版日 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014巻, 掲載ページ "1A1-W06(1)"-"1A1-W06(3)", 日本語, 110009966670, AA11902933 - 1A1-W05 光学式近接覚センサ情報を用いた自律分散型モジュラーロボットの行動規範(自律分散型ロボットシステム)
米田 将允; 鈴木 陽介; 明 愛国; 下条 誠
In this paper, we propose an autonomous distributed control method for modular robots that operates based on only local communications. The robot's task is self-reconfiguration to mimic the shape of the nearby object detected by proximitysensors (mounted on the modules). Each module decides in only local communications the need for action and the direction of movement, and create meaningful operations for the system. We designed a two-dimensional lattice type modules of three-layer structure. Deformation mechanism uses a slide mechanism. The communication among neighboring modules uses the optical communication of the phototransistor and LED. The availability of the rule is demonstrated by simulations., 一般社団法人日本機械学会, 出版日 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014巻, 掲載ページ "1A1-W05(1)"-"1A1-W05(4)", 日本語, 110009966669, AA11902933 - 1A1-S03 二足歩行ロボットの運動性能の向上に関する研究 : 変減速交差リンクとストッパの併用による膝関節の開発(脚移動ロボット)
植木 公威; 田畑 利憲; HAMMADI Moncef; 明 愛国; CHOLEY Jean-Yves; 下条 誠
In this paper, we propose a joint stop mechanism in addition to the cross link mechanism in our previous research. This mechanism consisting of the joint stop, torsional spring and spacer is introduced into the knee joint of our bipedal robot. The aim of this research is to address the reduction of power consumption in walking by the proposed mechanism. The function of joint stop mechanism is to temporarily fix the knee joint to a certain angle when performing extension walking. As a result, we succeeded to cut down energy consumption by assisting torques to actuators by the joint stop., 一般社団法人日本機械学会, 出版日 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014巻, 掲載ページ "1A1-S03(1)"-"1A1-S03(4)", 日本語, 110009966655, AA11902933 - 2A2-L03 触・近接覚統合型ヒューマンインターフェース用入力デバイスの開発(VR・ARとインタフェース)
前田 宗; 有田 輝; 鈴木 陽介; 明 愛国; 下条 誠
In previous study, we developed a CoP sensor with pressure conductive sensor and a net-structure proximity sensor with optical detection elements. CoP sensor is a contact sensor that detects the strength and the center position of the load. Net-like Proximity sensor is a sensor for acquiring distance and the center position of the object in non-contact with the reflected light of the object. Since the circuit configuration is very similar, integration of the these sensors is easy. In this paper, we develop an interface that can be input in both contact and non-contact. By integrating the non-contact interface and the contact interface, it is expected to expand the diversity of the operation., 一般社団法人日本機械学会, 出版日 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014巻, 掲載ページ "2A2-L03(1)"-"2A2-L03(3)", 日本語, 110009968932, AA11902933 - 1P1-E05 圧電繊維複合材料を用いた生物模倣型ソフト水中ロボットの研究開発 : ウミヘビ型ロボットの試作(水中ロボット・メカトロニクス(2))
市川 貴大; 趙 文静; 明 愛国; 下条 誠
Aimming to design a soft robotic fish for more flexible and efficient fish-like motion by biomimetic method, we are developing a snake-like robot with body undulating propulsion using the piezoelectric fiber composite (PFC) as soft actuator by mimicking the sea snake. Due to the large deformation of flexible structure and complicated dynamics with fluid, the design method for soft fish robots has not been established, and we need to study it by considering the coupling between them. In this paper, the sea snake-like robot using PFC is developed by the analytical simulation with considering the coupling between flexible structure and fluid. The efficient body undulating propulsion based on meandering motion is realized successfully from the prototype, and its swimming efficiency is similar to the real sea snake's., 一般社団法人日本機械学会, 出版日 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014巻, 掲載ページ "1P1-E05(1)"-"1P1-E05(4)", 日本語, 110009968697, AA11902933 - ネット状近接覚センサと視覚センサの統合による未知形状物体把持に関する研究
瀬戸川将夫; 小山佳祐; 鈴木陽介; 明愛国; 下条誠
出版日 2014年, 日本ロボット学会学術講演会予稿集(CD-ROM), 32nd巻, 201402221178113907 - ネット状近接覚センサとビジョンセンサを統合したロボットハンドシステムによる把持戦略に関する研究
鈴木陽介; 瀬戸川将夫; 小山佳祐; 明愛国; 下条誠
出版日 2014年, 日本ロボット学会学術講演会予稿集(CD-ROM), 32nd巻, 201402261770428572 - 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オームの開発 : グローバルアシスト賞, 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
出版日 2013年09月10日, 計測と制御 = Journal of the Society of Instrument and Control Engineers, 52巻, 9号, 掲載ページ 798-798, 日本語, 0453-4662, 10031200027, AN00072406 - 2A2-M07 圧電繊維複合材料を用いた生物模倣型ソフト水中ロボットの研究開発 : 中空構造のマス型水中ロボットの試作(水中ロボット・メカトロニクス)
西村 冬威; 明 愛国; 下条 誠
Mimetic soft underwater robots using piezoelectric fiber composites are being developed by us. High speed and efficiency motions have been realized by the robots up to now. However, the robots are with simple shape of flat plate. To realize stream-line shape and embed electric components inside the robots, it is necessary to prepare interior space inside the robots. This paper describes the trial to develop a trout-like underwater robot with interior space., 一般社団法人日本機械学会, 出版日 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013巻, 掲載ページ "2A2-M07(1)"-"2A2-M07(3)", 日本語, 110009963343, AA11902933 - 2P1-A06 二足歩行ロボットの運動性能の向上に関する研究 : 変減速交差リンク機構を用いた膝関節の開発(ヒューマノイド)
植木 公威; 明 愛国; 下条 誠
In this paper, we propose a cross link mechanism with variable reduction ratio. This mechanism, which consists of the crossed links with different lengths, is used to drive a knee joint of two-legged robots. We can get variable reduction ratio by using it. We use the parameters that give high reduction ratio when a knee joint is flexed. Then this cross link mechanism can reduce static torque necessary for two-legged robot's flexion and extension. As a result, reduction ratio of the actuator is reduced, and the performance for motion is improved., 一般社団法人日本機械学会, 出版日 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013巻, 掲載ページ "2P1-A06(1)"-"2P1-A06(4)", 日本語, 110009963381, AA11902933 - 2A1-A12 高速・高感度すべり覚センサの開発 : ネット状センサ構造によるすべり位置・方向の検出(触覚と力覚(1))
蔡 孝棟; 鈴木 陽介; 明 愛国; 下条 誠
In our research group, we are developing a High-Speed High-Sensitivity Slip Sensor composed of a piece of pressure sensitive conductive rubber. It's useful for griping object in most suitable force. As the next step, We focus our research on how to deliver object on suitable timing. We propose a method to determine the suitable timing witch detects slip direction by a Netted-Structure circuit. This paper reports that we succeed in detecting the slip position and direction by the Netted-Structure., 一般社団法人日本機械学会, 出版日 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013巻, 掲載ページ "2A1-A12(1)"-"2A1-A12(4)", 日本語, 110009963193, AA11902933 - 2A1-N08 近接センサを用いて適応変形を行うモジュラーロボットシステムの開発(自律分散型ロボットシステム)
望月 康平; 鈴木 陽介; 明 愛国; 下条 誠
In this paper, we propose a modular robot system adaptively transforming a mechanical structure with applying proximity sensors. A proximity sensor is consist of LED and a photo transistor. The modular robot is composed of nonidentical modules, easily replaced and connected. We make up autonomous decentralized control system by generating motivations of the modules to transform local structure with using proximity sensor output. In the first,we form a shapechangeable plane by connecting modules which have servomotors and proximity sensors. A module can estimate the distance between the module and objects by its proximity sensor. By equalizing the distance among neighboring modules, the modular robot system transforms along the shape of objects., 一般社団法人日本機械学会, 出版日 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013巻, 掲載ページ "2A1-N08(1)"-"2A1-N08(4)", 日本語, 110009963250, AA11902933 - 1A1-P14 動物の筋腱複合体を規範とする脚機構の研究開発(脚移動ロボット(1))
宮本 一郎; 野澤 峻平; 明 愛国; 下条 誠
The robot is performed by the motor drive. However, human force is generated using the muscle. The major difference between robot and human skeletal muscle is the presence of Bi-articular muscle. Bi-articular muscle ganged operation with two joint. As a result, human are highly movement possible like jumping and running. In this paper, we examine the effect of link similar to Bi-articular muscle of humans using the simulation., 一般社団法人日本機械学会, 出版日 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013巻, 掲載ページ "1A1-P14(1)"-"1A1-P14(4)", 日本語, 110009962860, AA11902933 - 1A1-K07 触覚・近接覚センサを搭載したロボットハンドによる物体把持の研究 : 接触状態における近接覚センサの出力利用に関する検討(ロボットハンドの機構と把持戦略(1))
小山 佳祐; 鈴木 陽介; 明 愛国; 下条 誠
Various sensor can be introduced into the robot hand such as proximity sensor; detecting an object position in non-contact using reflection of an electric field or light. Introducing tactile and proximity sensor into robot hand, it can obtain great sensory ability compared with human. On the bases of this concept, we developed "Slip and Proximity Integrated Fingertip Sensor" which has Net-Structure Proximity Sensor and Slip Sensor. In this paper, we focus on Net-Structure Proximity Sensor output in a contact state. We discuss a possibility that object stiffness can be distinguished by Proximity Sensor output in a contact state., 一般社団法人日本機械学会, 出版日 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013巻, 掲載ページ "1A1-K07(1)"-"1A1-K07(4)", 日本語, 110009962846, AA11902933 - 1A1-K08 視覚・近接覚を統合したロボットハンドによる対象物把持に関する研究 : 近接フィードバックを活用するための視覚情報の検討(ロボットハンドの機構と把持戦略(1))
瀬戸川 将夫; 小山 佳祐; 鈴木 陽介; 明 愛国; 下条 誠
We have developed a sensor to detect position and posture of an object in a short-range, called a "proximity sensor". The proximity sensors are mounted on fingertips of a robot hand, and it is realized that the fingertip surface and an object surface face each other before contact in grasping process by the robot. We call such postural adjustment "preshaping". When grasping an object by a robot hand system with the combination of the proximity sensor and a visual sensor, the visual sensor has only to guide the robot hand so that the proximity sensor detects the object and pre-shaping is performed appropriately. In this paper, we investigate the information which the visual sensor should acquire to perform pre-shaping appropriately., 一般社団法人日本機械学会, 出版日 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013巻, 掲載ページ "1A1-K08(1)"-"1A1-K08(4)", 日本語, 110009962847, AA11902933 - 2P1-B11 移動マニピュレータによるホームサービスに関する研究 : Kinectによる立ち上がり動作の姿勢推定(福祉ロボティクス・メカトロニクス(3))
篠崎 瑞生; 明 愛国; 下条 誠
As one of the home services by a mobile manipulator system, we are aiming at the realization of the motion assist for elderly people. The purpose of the work is to realize a safe assist by feedback control based on the information from a high speed tactile sensor and Kinect. This paper describes the skeleton data accuracy estimated by Kinect and the classification of standing-up motion phases using Kinect. A method for classification from Kinect skeleton data is proposed. The method is implemented and experimental results show the availability of Kinect for the classification., 一般社団法人日本機械学会, 出版日 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013巻, 掲載ページ "2P1-B11(1)"-"2P1-B11(4)", 日本語, 110009964045, AA11902933 - ネット状近接覚センサを搭載したロボットハンドによる指先同時接触のための距離推定手法
小山佳祐; 鈴木陽介; 明愛国; 下条誠
出版日 2013年, 日本ロボット学会学術講演会予稿集(CD-ROM), 31st巻, 201302298291519931 - 近接覚を有するインテリジェントロボットハンドの研究
鈴木陽介; 叶沙; 小山佳祐; 瀬戸川将夫; 明愛国; 下条誠
出版日 2013年, 日本ロボット学会学術講演会予稿集(CD-ROM), 31st巻, 201302240271688259 - 2A2-V01 負荷感応無段変速機構を膝関節に搭載した脚機構の開発(脚移動ロボット(2))
野澤 峻平; 明 愛国; 下条 誠
In this paper, we introduce Load-Sensitive Continuously Variable Transmission used for knee joints of the two-legged robot. Among the joints of the two-legged robot, the variation of the torque necessary for the actuator is especially large in knee joint. In walking motion, two phases, swing phase and stance phase exist. In these two phases, the torque necessary for the knee joint actuators changes greatly. But reduction ratio of the actuators used for joints of the robot is generally constant. To solve the problem, we introduce a Load-Sensitive Continuously Variable Transmission in the knee joints, to adapt to the variation and then to achieve efficient walking motion., 一般社団法人日本機械学会, 出版日 2012年05月27日, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 掲載ページ "2A2-V01(1)"-"2A2-V01(3)", 日本語, 110009909281, AA11902933 - 2A2-G10 胴体屈曲推進型水中ロボットのPTP制御に関する研究(水中ロボット・メカトロニクス(1))
小松 優祐; 大阪 拓真; 橋本 一慶; 趙 文静; 明 愛国; 下条 誠
Using piezo-electric fiber composite as actuators suitable for soft robotics, we have constructed a prototype trunk flexion prpulsion type underwater robot. Macro Fiber Composite is a new piezoelectric fiber composite material. In addition to the basic characteristics of a conventional piezoelectric material, it has excellent flexibility and impact resistance. In this paper, a control method to reach the target pose from the initial pose(PTP), is proposed and its effectiveness was verified by experiments., 一般社団法人日本機械学会, 出版日 2012年05月27日, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 掲載ページ "2A2-G10(1)"-"2A2-G10(4)", 日本語, 110009908823, AA11902933 - 2A2-K01 3次元距離測定カメラを用いた立ち上がり動作支援ロボットのための姿勢推定法:推定方法の改善による性能向上(ロボットビジョン(1))
小倉 和也; 塚田 夏美; 明 愛国; 下条 誠
Currently in many countries, the number of senior citizens who need help in daily life is increasing. We are developing a robotic system for assisting standing-up motions of the citizens from a chair by using a mobile manipulator. A standing-up posture estimation method has been proposed in our previous work, but the accuracy and processing time need to be improved. In this paper, we aim to improve the estimation performance to realize standing-up motion assist, by introducing the vote principle of Combinatorial Hough Transform (CHT) in LMedS Hough Transform. As the result, we confirmed the reduction of the estimated processing time by reducing wasted votes., 一般社団法人日本機械学会, 出版日 2012年05月27日, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 掲載ページ "2A2-K01(1)"-"2A2-K01(3)", 日本語, 110009908857, AA11902933 - 高速高感度型すべり覚センサの研究開発―荷重分布中心位置を用いたすべり方向の検出―
勅使河原誠一; 鈴木陽介; MING Aiguo; 石川正俊; 下条誠
出版日 2012年03月13日, ロボティクスシンポジア予稿集, 17th巻, 掲載ページ 122-127, 日本語, 1881-7300, 201302253573455894 - 1P1-I03 すべり・近接覚を統合したロボットハンドによるハンドリングに関する研究 : 人間との物体受け渡し動作について(ロボットハンドの機構と把持戦略(3))
小山 佳祐; 向山 由宇; 叶 沙; 鈴木 陽介; 明 愛国; 下条 誠
In object grasping using vision sensors, occlusion occurs when a robot hand approaches around several millimeters from a grasping object. One solution of this problem is to introduce proximity sensors which detect the object position and distance in the near range area. Furthermore, when the weight of the grasping object is unidentified, slip sensors are required to grasp the object. This research focuses on pre-shaping using (net-structure) proximity sensors and integration of proximity sensors and slip sensors, in object passing and release tasks between a human and a robot hand. The posture of the object which the human holds out is detected by the proximity sensing, and the contact between the human and the grasping object is detected by the slip sensing., 一般社団法人 日本機械学会, 出版日 2012年, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 0号, 掲載ページ _1P1-I03_1-_1P1-I03_4, 日本語, 110009908391 - 1P1-A05 高速すべり覚情報処理システムの開発 : すべり検出確度の向上(触覚と力覚(3))
蔡 孝棟; 勅使河原; 誠一; 鈴木 陽介; 明 愛国; 下条 誠
In our research group, we are developing a signal processing system for a compact sized and high speed slip detective sensor.We found that it is difficult to tell initial slipping from shaped normal force charging with the traditional processing method by DWT(db2). But the raw signal of initial slipping is obviously different from the signal of a shaped normal force charging. So we differentiated the slip detection sensor's output to determine either the shaped normal force is charging or the tangential force is charging. As a result, we improved the accuracy of slip detection. I will report about that in this paper., 一般社団法人 日本機械学会, 出版日 2012年, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 0号, 掲載ページ _1P1-A05_1-_1P1-A05_4, 日本語, 110009908319 - 1A1-C02 感圧導電性ゴムを用いたすべり覚センサの検出原理となる高周波信号成分の発生機序に関する実験的検討(触覚と力覚(1))
鈴木 陽介; 勅使河原; 誠一; 知場 充洋; 島田 匠; 明 愛国; 下条 誠
We have presented the availability of our slip sensor using pressure conductive rubber for detecting initial slip, however, we have not revealed the principle of high-frequency wave occurrence which takes the detection method. Clarification of the principle is required for optimized design of the slip sensor, especially the property of the pressure conductive rubber and the shape of the detecting part, and for reduction of individual difference of detection characteristic of the slip sensor. This paper discusses the principle through a series of experiments and finally shows that localized fixing and peeling between pressure conductive rubber and electrodes in the slip sensor configuration has influence with the principle., 一般社団法人 日本機械学会, 出版日 2012年, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 0号, 掲載ページ _1A1-C02_1-_1A1-C02_4, 日本語, 110009907233 - 1A1-C01 全方位センシング可能なネット状近接覚センサの開発 : 素子角度差を用いた反射率・形状・姿勢によらない距離検出手法(触覚と力覚(1))
金 彰海; 向山 由宇; 鈴木 陽介; 明 愛国; 下条 誠
In this paper, we propose a method for measuring distance independent of reflectance, shape and attitude by optical reflective sensors. This method uses two sensor layers: one layer has the sensor elements mounted in straight direction and the other has in tilt direction. The two sensor layer outputs have difference due to optical path length. By calculating the proportion of two sensor outputs, we can reject effect of reflectance, shape and attitude of object. We apply to multistage ring sensor for evaluate the availability of this method. Then, we examine distance measuring property of sensor for different object by experiments., 一般社団法人 日本機械学会, 出版日 2012年, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 0号, 掲載ページ _1A1-C01_1-_1A1-C01_4, 日本語, 110009907232 - 1A1-B02 分布する赤外光反射型近接覚での情報処理方式の研究 : 近接情報への側抑制モデル適用によるエッジ検出手法(触覚と力覚(1))
国府田 直人; 鈴木 陽介; 明 愛国; 下条 誠
Lateral inhibition mechanism in human vision and tactile has effect on the edge enhancement. This mechanism is the structuring of a network so that neurons inhibit some of their neighbors. An analog circuit emulated this neuron network achieve the High-speed response. In this paper, we propose an edge detection method for an infrared proximity array with the lateral inhibition. In our approach, we first apply the photocurrent distribution obtained from that sensor to the lateral inhibition model. We then detect edge points from an edge enhancement: lateral inhibition output using zero-cross detection. Simulation and Experiments of our algorithms using that sensor are performed and favorable results are obtained., 一般社団法人 日本機械学会, 出版日 2012年, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 0号, 掲載ページ _1A1-B02_1-_1A1-B02_4, 日本語, 110009907222 - 1A1-L01 近接覚を用いた把持物体の位置・姿勢・動きに応じた把持手法(ロボットハンドの機構と把持戦略(1))
叶 沙; 鈴木 陽介; 明 愛国; 石川 正俊; 下条 誠
The purpose of this paper is to consider the strategy of grasping a moving object robustly using the Net Structure Proximity Sensor which has fast response (1 ms) and detects the object position and distance in near field. In general, a temporary lack of sensory information due to occlusion occurs when using vision sensor to grasp object. In this strategy, we integrate the object following motion and the pre-shaping motion corresponding to the object posture together to grasp the object which moves randomly without any concern for occlusion using the proximity sensor. Specifically, the example of following the object from heights of 50mm makes it clear that it is possible to follow the object in maximum 30m/s in speculation., 一般社団法人 日本機械学会, 出版日 2012年, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 0号, 掲載ページ _1A1-L01_1-_1A1-L01_4, 日本語, 110009907323 - 2P1-P02 フォトアレイとLEDを用いた多点位置計測方式の提案(VRとインタフェース)
森 明日見; 鈴木 陽介; 明 愛国; 石川 正俊; 下条 誠
In this paper, we propose the multi-point position measurement using a photo array and infrared LED which can be applied to three-dimensional user interface. In recent years, the digital terminal which manages and operates information is tended to multiply functions. Thus, the handleability of its interface decline relatively, and it is necessary to become skilled in operation. Accordingly, a touch panel which enables sensuous operation became widely used. These lead to the situation where user cannot make full use of function and the digital divide. Because an input and an output of a touch panel are seamless, the operation with the gesture input realizes a direct and intuitive interaction and improves the operability of digital terminal. An improvement in the handleability by an intuitive operation depended on the flexibility of the interface. Therefore, an improvement of the handleability is expected by expanding an input range from two-dimensions to three-dimensions., 一般社団法人 日本機械学会, 出版日 2012年, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 0号, 掲載ページ _2P1-P02_1-_2P1-P02_2, 日本語, 110009909434 - 2P1-P03 ネット状近接覚センサを用いたヒューマンインタフェースに関する基礎的検討(VRとインタフェース)
宮本 一郎; 鈴木 陽介; 明 愛国; 石川 正俊; 下条 誠
In this paper, we examined the availability of the touchless human interface using net structure proximity sensors. Recently, touchless human interface including kinect at Microsoft is studied actively. We were developing net structure proximity sensors with the feature High-speed response, touchless, and freely arrangement in the past. It is thought that an intuitive input is attained by using human interface of High-speed response proximity sensors. We considered the sensor output of the interface use using simulation, and examined that possibility distinction of gesture performed using sensor made as an experiment., 一般社団法人 日本機械学会, 出版日 2012年, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 0号, 掲載ページ _2P1-P03_1-_2P1-P03_3, 日本語, 110009909435 - すべり覚センサのための高速情報処理システム
勅使河原誠一; 知場充洋; 鈴木陽介; MING Aiguo; 下条誠
出版日 2011年09月10日, 日本機械学会年次大会講演論文集(CD-ROM), 2011巻, 掲載ページ ROMBUNNO.S153011, 日本語, 201202269317418945 - 10μsの応答を実現するフォトダイオード型ネット状近接覚センサ
長谷川浩章; 鈴木陽介; 明愛国; 下条誠
出版日 2011年09月07日, 日本ロボット学会学術講演会予稿集(CD-ROM), 29th巻, 掲載ページ ROMBUNNO.2L2-1, 日本語, 201102272762408430 - 1A1-J02 ネット状近接覚センサを用いた物体姿勢検出手法による把持動作(ロボットハンドの機構と把持戦略)
鈴木 健治; 叶 沙; 長谷川 浩章; 鈴木 陽介; 明 愛国; 石川 正俊; 下条 誠
The objective of this research is to detect posture of an object using the Net Structure Proximity Sensor applied to the fingertip of robot hand for reliable grasping. In object grasping and object sensing, occlusion occurs when using the vision sensor around several millimeters from grasping object. The solution of this problem is to introduce the proximity sensor which detects the object position and distance in near range area. The posture detection uses the sensor position output which takes zero not being affected by the distance whenever the surface of object and the surface of the sensor are parallel position. This detection technique is introduced to manage the object grasping successfully in adjusting the robot hand posture in two axes to appropriate grasping position., 一般社団法人 日本機械学会, 出版日 2011年, ロボティクス・メカトロニクス講演会講演概要集, 2011巻, 0号, 掲載ページ _1A1-J02_1-_1A1-J02_4, 日本語, 110009690609 - 2A2-O03 高速すべり覚情報処理システムの開発 : 信号処理手法の検討(触覚と力覚(1))
勅使河原; 誠一; 秋本 直哉; 清水 智; 鈴木 陽介; 明 愛国; 石川 正俊; 下条 誠
Slip detecting tactile sensors are essential to achieving a human-like gripping motion with a robot hand. Up until now, we have proposed flexible, thin and lightweight slip sensor utilizing characteristics of pressure conductive rubber. This sensor can distinguish between condition of the object slip and the normal force change using a frequency component. In previous research, it was considered that the separation of these conditions was very difficult, but we managed to achieve it. We had suggested the separate algorithm by using Discrete Wavelet Transform signal processing. In this paper, we will discuss about the filtering method in the algorithm., 一般社団法人 日本機械学会, 出版日 2011年, ロボティクス・メカトロニクス講演会講演概要集, 2011巻, 0号, 掲載ページ _2A2-O03_1-_2A2-O03_3, 日本語, 110009692336 - 2A2-O04 高速・高感度型すべり覚センサの研究開発 : 高速度カメラによるすべり検出原理の解明(触覚と力覚(1))
勅使河原; 誠一; 森田 竜峰; 清水 智; 鈴木 陽介; 明 愛国; 石川 正俊; 下条 誠
Slip detecting tactile sensors are essential to achieving a human-like gripping motion with a robot hand. Up until now, we have proposed flexible, thin and lightweight slip sensor utilizing characteristics of pressure conductive rubber. When an object slides on the surface of our slip sensor, the complex output change occurs. By using this output change, this sensor can distinguish between the object slip and the normal force change. But, the mechanism of the complex voltage change is unclear. So, in this paper, we will observe the slip surface of an acrylic plate and the rubber with a high-speed camera. And, we report on the sensor output and the relation to the sensor output and the state of rubber., 一般社団法人 日本機械学会, 出版日 2011年, ロボティクス・メカトロニクス講演会講演概要集, 2011巻, 0号, 掲載ページ _2A2-O04_1-_2A2-O04_4, 日本語, 110009692337 - 2A2-P05 分布型近接覚センサからの情報処理(触覚と力覚(1))
国府田 直人; 鈴木 陽介; 明 愛国; 石川 正俊; 下条 誠
In this paper, we developed a proximity sensor which detects an adjacent object. The sensor consists of reflection photosensor array and multiplexer scanning detection elements. We carried out experiments with varying the distance between the sensor and an object in order to examine the charastic of the sensor against distance change. We tried to estimate the shape of an object and indicated the possibility. We applied information processing to the voltage distribution for useful information such as image processing methods and statistical processing methods. We can estimate distance independent the reflective characteristic of an object between the sensor and the object by using coefficient of variation., 一般社団法人 日本機械学会, 出版日 2011年, ロボティクス・メカトロニクス講演会講演概要集, 2011巻, 0号, 掲載ページ _2A2-P05_1-_2A2-P05_4, 日本語, 110009692354 - 2P1-O01 ネット状近接覚センサの抵抗値設計手法(触覚と力覚(2))
森 明日見; 寺田 一貴; 鈴木 陽介; 明 愛国; 石川 正俊; 下条 誠
In this paper, we propose a design method of resistance for Net Structure Proximity Sensor (NSPS). Generally, vision sensors and tactile sensors are used for the external world measurement. A vision sensor has the problem of occlusion and a tactile sensor cannot detect until coming in contact. Therefore, we have developed NSPS that detects the intermediate area of vision and tactile area. NSPS can detect within 1ms the center position of the approaching object and the distance to the object without contact. This sensor is composed of resistor networks connected by phototransistor. The performance of NSPS is determined by the resistance in the networks. However, there was no practical design method of the resisters because of the network circuit. Accordingly, we describe a method for designing easily arbitrary dynamic range and faster measurement speed and confirm the validity of the proposed method., 一般社団法人 日本機械学会, 出版日 2011年, ロボティクス・メカトロニクス講演会講演概要集, 2011巻, 0号, 掲載ページ _2P1-O01_1-_2P1-O01_4, 日本語, 110009711553 - 2P1-O15 赤外線反射型近接センサアレーの適切な光学素子配置に関する研究(触覚と力覚(2))
向山 由宇; 鈴木 陽介; 長谷川 浩章; 明 愛国; 石川 正俊; 下条 誠
In this paper, we considered an assessment function for effective optical elements placement of the Mesh of proximity sensor and searched a simulation result which maximizes the assessment function. Output characteristic of this sensor depends on relative placement of the optical elements. Since the placement has large amount of freedom, designing of the sensor which meets desired specification is difficult even using the optical simulator. Thus we proposed the simulator-supported method for effective element placement using Genetic Algorithm, and attempted to improve the sensor output characteristic over applying this method to the sensor design. In this article, we applied this method to the fingertip sensor which has unidirectional curvature, and confirmed the effect., 一般社団法人 日本機械学会, 出版日 2011年, ロボティクス・メカトロニクス講演会講演概要集, 2011巻, 0号, 掲載ページ _2P1-O15_1-_2P1-O15_4, 日本語, 110009711567 - 1A2-B28 2車体連結クローラの形態可変機能のための2重関節機構構成の実験的検討
大石 千種; 多田隈 建二郎; 丸山 央; 永谷 圭司; 吉田 和哉; 明 愛国; 下条 誠
This paper describes various configurations of two connected unit crawlers. By changing the relative position of the two connected vehicle units, the overall robot comprising such a mechanism can automatically adapt to surface obstacles on the field, including complicated structures such as disaster-generated debris. We examined the drive system for the roll axis of the joint mechanism that achieved four configurations. Moreover, we developed test model and experimented basic performances., 一般社団法人日本機械学会, 出版日 2010年, ロボティクス・メカトロニクス講演会講演概要集, 2010巻, 掲載ページ "1A2-B28(1)"-"1A2-B28(4)", 日本語, 110008741326, AA11902933 - 2A2-C22 指先にネット状近接覚センサを装着したロボットハンド : 近接覚情報を利用した移動物体追従動作
長谷川 浩章; 明 愛国; 石川 正俊; 下条 誠
Because of occlusion, around several millimeters from grasping object, it was difficult for the method based on vision sensor to detect relative position between grasping object and the fingers of robot hand. To solve this problem, proximity sensor which detects the object in near range is very effective. In this research, we developed thin proximity sensor sheet and covered each finger of three-fingered robot hand with it. Then integrating these sensors and hand control system, we implemented object tracking controller. Using proximity sensory signals, this controller coordinates wrist position based on palm proximity sensors, and grasping posture from fingertip sensors. Therefore we realized tracking and capturing motion of moving objects., 一般社団法人日本機械学会, 出版日 2010年, ロボティクス・メカトロニクス講演会講演概要集, 2010巻, 掲載ページ "2A2-C22(1)"-"2A2-C22(4)", 日本語, 110008741927, AA11902933 - 1A1-G06 二関節間の駆動トルクの相互利用を可能とする脚機構の提案
丸山 央; 梶原 直喜; 大石 千種; 明 愛国; 下条 誠
In the design of the leg mechanism of the conventional humanoid robot, the actuator and the reducer in each joint are selected individually to be larger than the maximum static torque exerted on the joint. For the case of humanoid, some joint, e.g. knee joint, bears large static torque due to the configuration and needs a reducer with large gear ratio. It results in heavier joint and lower mobility. To solve the problem, a leg mechanism with drive torque sharing spring and joint stop is proposed in this paper. The concept, design and simulation results are described., 一般社団法人日本機械学会, 出版日 2010年, ロボティクス・メカトロニクス講演会講演概要集, 2010巻, 掲載ページ "1A1-G06(1)"-"1A1-G06(4)", 日本語, 110008741253, AA11902933 - 1A1-D03 ネット状近接覚センサの三次元素子配置に関する研究 : 光線追跡法による光電式近接覚センサのシミュレーション
藤村 竜徳; 向山 由宇; 明 愛国; 石川 正俊; 下条 誠
The external world measurement sensor is useful so that the robot may evade the collision of man and the obstacle. However, a vision sensor has the problem of occlusion and a tactile sensor cannot be detected until coming in contact. Then, a proximity sensor that can detect the approach of the object is useful to interpolate the intermediate area of these vision and tactile area. We Study on the Mesh of Proximity Sensor that can be fitted on the free-form surface. In this paper, we simulated the sensor output by the ray-tracing method to examine the influence by having changed the arrangement of the light-emitting parts and light-receiving parts., 一般社団法人日本機械学会, 出版日 2010年, ロボティクス・メカトロニクス講演会講演概要集, 2010巻, 掲載ページ "1A1-D03(1)"-"1A1-D03(4)", 日本語, 110008741163, AA11902933 - 1A1-C16 接触部位の面積とその中心位置が計測可能なセンサの開発
曽根 聡史; 明 愛国; 石川 正俊; 下条 誠
In this paper, we propose the sensor capable of detecting the total contact area and the center of it and the characteristics of sensor are verified by trial product of the sensors. In previous studies, various walking measurement devices which is using pressure conductive element were developed, but they had several problems such as wires, responsivity, non-linearity and so on. So using we developed net structure tactile sensor, these problems were able to solve, but non-linearity problem that remains to be solved. And instead of pressure conductive rubber which have inferior repeatability, on/off switches which is quantitative and element use net structure sensor. Therefore the sensor charasteristics output is digitally and simplistically. Additionaly using switch is "double action switch" which is used in digtal camera the sensor get richer tactile information., 一般社団法人日本機械学会, 出版日 2010年, ロボティクス・メカトロニクス講演会講演概要集, 2010巻, 掲載ページ "1A1-C16(1)"-"1A1-C16(3)", 日本語, 110008741146, AA11902933 - 2A2-D08 Hot-Ice現象を活用した全方向包み込み式なじみグリッパ機構
多田隈 建二郎; 小俣 透; 東森 充; 金子 真; 田中 大貴; 寺田 一貴; 大石 千種; 長谷川 浩章; 勅使河原; 誠一; 明 愛国; 下条 誠; 高山 俊男
This paper describes the morphing omnidirectional gripper which is able to grasp various objects with low melting point alloy, functional fluid, dilatancy fluid, and so on. The deformable part of the gripper changes its shape by covering all direction of objects and makes the contacting area higher. This time, we especially focus on the "Hot Ice" phenomena to realize higher grasping motion. The basic performance of fluid of CH3COONa has been observed., 一般社団法人 日本機械学会, 出版日 2010年, ロボティクス・メカトロニクス講演会講演概要集, 2010巻, 0号, 掲載ページ _2A2-D08_1-_2A2-D08_4, 日本語, 110008741942 - 1A1-D02 高感度初期滑り検出センサの研究開発 : 感圧ゴムの種類と被覆材の検討
清水 智; 勅使河原; 誠一; 明 愛国; 石川 正俊; 下条 誠
By the recent research, we found that the electrical resistance change occurs because of the shear deformation of pressure conductive rubber. Therefore, we expect that can detect the object slippage by measuring the electrical resistance change of pressure conductive rubber when the object slips on the rubber. In this paper, we examine the difference of the output by an internal particle of pressure conductive rubber and hardness and the covering material., 一般社団法人 日本機械学会, 出版日 2010年, ロボティクス・メカトロニクス講演会講演概要集, 2010巻, 0号, 掲載ページ _1A1-D02_1-_1A1-D02_4, 日本語, 110008741162 - 全方位ネット状近接覚センサによる複数物体検出手法
寺田一貴; 長谷川浩章; 曽根聡史; 鈴木陽介; MING Aiguo; 石川正俊; 下条誠
出版日 2010年, 日本ロボット学会学術講演会予稿集(CD-ROM), 28th巻, 掲載ページ ROMBUNNO.3I3-7, 日本語, 201002242464396213 - 高速・高感度型すべり覚センサの研究開発―多指ロボットハンドへの応用―
勅使河原誠一; 堤隆弘; 清水智; 鈴木陽介; MING Aiguo; 石川正俊; 下条誠
出版日 2010年, 日本ロボット学会学術講演会予稿集(CD-ROM), 28th巻, 掲載ページ ROMBUNNO.2O1-5, 日本語, 201002208144526603 - 1C1-2 高速触覚センサと3次元カメラを搭載した移動マニピュレータによるヒューマンアシスト : 基本構想(GS1:立ち座り動作解析・支援機器の開発,一般セッション)
山口 恒; 塚田 夏美; 明 愛国; 下条 誠
As one of the home services with a mobile manipulator system, we are aiming at the realization of the motion assist for older persons. The purpose of the work is to realize a safe assist by real time feedback control based on the information of sensor fusion from a three-dimensional camera for detecting the 3-dimensional coordinate and a high speed tactile sensor for detecting the load and its center. This paper introduces our basic method for assisting standing-up motion and system configuration, the design of tactile sensor as well as initial experimental results to show the feasibility of the proposed system., 一般社団法人日本機械学会, 出版日 2009年09月23日, 福祉工学シンポジウム講演論文集, 2009巻, 掲載ページ 10-13, 日本語, 110008009533, AA11901522 - 2P1-K02 障害物回避のための同期検波を利用したネット状近接覚センサ
寺西 正裕; 高橋 陽介; 多田隈 建二郎; 明 愛国; 石川 正俊; 下条 誠
The detection range of the net-structure proximity sensor became the long range by using synchronous detection. In addition, I attached this sensor to a manipulator and performed obstacle avoidance and showed the utility of the proximity sensor., 一般社団法人日本機械学会, 出版日 2009年05月25日, ロボティクス・メカトロニクス講演会講演概要集, 2009巻, 掲載ページ "2P1-K02(1)"-"2P1-K02(4)", 日本語, 110008698561, AA11902933 - 2A2-J08 薄型ネット状近接覚センサを装着したロボットハンド指先の開発と特性評価 : 手先に対し相対的に移動する把持対象物への追従制御
長谷川 浩章; 溝口 善智; 多田隈 建二郎; 明 愛国; 石川 正俊; 下条 誠
This paper describes the fingertip of robot hand covered with network-form proximity sensor that we developed. As background, because of occlusion, around several millimeters from grasping object it was difficult for the method based on vision sensor to detect relational position between grasping object and the fingers of robot hand. Therefore, introduction of proximity sensor which senses the distance of the object is very effective. In order to realize this sort of sensor, we analyzed and designed the net structure proximity sensor when using miniature reflective sensor. Then we manufactured the fingertip covered with thin proximity sensor sheet. It has been confirmed that this prototype can realize the basic performance required for grasping of robot hand., 一般社団法人日本機械学会, 出版日 2009年05月25日, ロボティクス・メカトロニクス講演会講演概要集, 2009巻, 掲載ページ "2A2-J08(1)"-"2A2-J08(3)", 日本語, 110008698377, AA11902933 - 2A2-J04 インテリジェントロボットハンドの研究開発 : Pick and Placeの達成
溝口 善智; 堤 隆弘; 長谷川 浩章; 明 愛国; 多田隈 建二郎; 石川 正俊; 下条 誠
To achieve a skillful operation like the human being by robot hand, an interaction with the vision and the tactile sense is indispensable. To consider the safe and certain grasping operation by the robot hand, we proposed use of proximity sensor which can detect the several tens of millimeters from finger-tip surface and tactile sensor. And we call such a robot hand an "intelligent robot hand" and develop this. This time, we propose the control method of internal force based on CoP(center of pressure) tactile sensor for the achievement of grasping by three fingers and confirmed utility of the proposal method by the experiments., 一般社団法人日本機械学会, 出版日 2009年05月25日, ロボティクス・メカトロニクス講演会講演概要集, 2009巻, 掲載ページ "2A2-J04(1)"-"2A2-J04(4)", 日本語, 110008698374, AA11902933 - 2A2-K06 ネット状近接覚センサの三次元配置に関する研究 : 光線追跡法による光電式近接覚センサのシミュレーション
藤村 竜徳; 有田 浩之; 多田隈 建二郎; 明 愛国; 下条 誠
The external world measurement sensor is useful so that the robot may evade the collision of man and the obstacle. However, a vision sensor has the problem of occlusion and a tactile sensor cannot be detected until coming in contact. Then, a proximity sensor that can detect the approach of the object is useful to interpolate the intermediate area of these vision and tactile area. We Study on the Proximity Sensor Network System that can be fitted on the free-form surface. In this paper, we simulated the sensor output by the ray-tracing method to examine the influence by having changed the arrangement of the light-emitting parts and light-receiving parts., 一般社団法人日本機械学会, 出版日 2009年05月25日, ロボティクス・メカトロニクス講演会講演概要集, 2009巻, 掲載ページ "2A2-K06(1)"-"2A2-K06(4)", 日本語, 110008698389, AA11902933 - 2P1-K06 感圧導電性ゴムの特性を用いた滑り覚センサの研究開発 : 抵抗値変化の高周波成分について
勅使河原; 誠一; 清水 智; 多田隈 建二郎; 明 愛国; 石川 正俊; 下条 誠
Slip detecting tactile sensors are essential to achieving a human-like gripping motion with a robot hand. Up until now, we have proposed flexible, thin and lightweight slip sensor utilizing characteristics of pressure conductive rubber. However, this sensor was difficult to distinguish between the object slip and the normal force change. So, we consider the separative method using high frequency components generated by object slip. In this paper, we will discuss about the high frequency components., 一般社団法人 日本機械学会, 出版日 2009年, ロボティクス・メカトロニクス講演会講演概要集, 2009巻, 0号, 掲載ページ _2P1-K06_1-_2P1-K06_2, 日本語, 110008698565 - 2P1-J13 感圧導電性ゴムの特性を用いた滑り覚センサの研究開発 : 法線および接線方向変形と抵抗値変化の関係
清水 智; 綿奈部 裕之; 勅使河原; 誠一; 多田隈 建二郎; 明 愛国; 石川 正俊; 下条 誠
By the recent research, we found that the electrical resistance change occurs when the transformation of not only the transformation of the normal direction but also the shear direction occurred to the pressure conductive rubber. In this paper, we verified the characteristic to the normal force and the tangential force about various pressure conductive rubbers., 一般社団法人 日本機械学会, 出版日 2009年, ロボティクス・メカトロニクス講演会講演概要集, 2009巻, 0号, 掲載ページ _2P1-J13_1-_2P1-J13_4, 日本語, 110008698558 - 2P1-E05 球状構造を用いた負荷感応・無段変速を特徴とする直動機構
寺田 一貴; 多田隈 建二郎; 多田隈 理一郎; 明 愛国; 下条 誠
This paper describes linear load-sensitive continuously variable transmission with the spherical driving unit. This CVT mechanism consists of spherical drive, drive axis, motor housing, fixed bracket and linear sliding plate. It changes the reduction ratio continuously by inclination angle of active rotational axis. Additionally, this linear mechanism has a load-sensitive function by changing inclination of active rotational axis in response to the load. We have developed a linear load-sensitive continuously variable transmission and confirmed the effectiveness of the proposed mechanism., 一般社団法人 日本機械学会, 出版日 2009年, ロボティクス・メカトロニクス講演会講演概要集, 2009巻, 0号, 掲載ページ _2P1-E05_1-_2P1-E05_4, 日本語, 110008698492 - 2A2-B02 全方向包み込み式なじみグリッパ : 把持応答性向上を目指した各種方法
多田隈 建二郎; 下条 誠; 多田隈 理一郎; 勅使河原 誠一; 溝口 善智; 長谷川 浩章; 寺田 一貴; 高山 俊男; 小俣 透; 明 愛国
This paper describes the morphing omnidirectional gripper which is able to grasp various objects with low melting point alloy. The deformable part of the gripper changes its shape by covering all directionof objects and makes the contacting area higher. In order to keep the high grasping force, proposed gripper does not need any additional energy thanks to the solid state of the deformable part including low melting point alloy. The design of the actual prototype model with cooling mechanism is shown and built. In addition, the usage of functional fluids for the morphing part is proposed. The basic performance of the blended material of low melting point alloy and magnetic fluid has been observed., 一般社団法人 日本機械学会, 出版日 2009年, ロボティクス・メカトロニクス講演会講演概要集, 2009巻, 0号, 掲載ページ _2A2-B02_1-_2A2-B02_2, 日本語, 110008698245 - 2P1-I14 移動マニピュレータによるホームサービスシステムの研究開発 : ステレオカメラとRFIDを用いた移動マニピュレーション(ホーム&オフィスロボット)
山代 学; 吉田 卓史; 謝 昭賢; 明 愛国; 下条 誠
A versatile system for home service using a mobile manipulator and multi-sensors is being developed by authors, to realize efficient mobile manipulations of various objects in the home by sensor fusion. This paper describes the configuration of the system and mobile manipulation of chairs by utilizing stereo camera and RFID., 一般社団法人日本機械学会, 出版日 2008年06月06日, ロボティクス・メカトロニクス講演会講演概要集, 2008巻, 掲載ページ "2P1-I14(1)"-"2P1-I14(2)", 日本語, 110008696611, AA11902933 - 2A1-A07 圧電繊維複合材料を用いた水中ロボットの研究開発 : 直進・旋回可能なロボットの試作(水中ロボット・メカトロニクス)
朴 ソギョン; 福島 佑一; 明 愛国; 下条 誠
Fish type underwater robots come into use in the fishery investigation field for the purpose of exploring the appearance in the near bottom of the sea, for the sake of oceanic development. Many of the fish type robots that have been developed up to now have complex mechanisms, are bulky, and need motors combined with cranks and advanced technique for motion control. This research aims to develop an underwater robot by using MFC (Macro Fiber Composite) which is a new type of flexible piezo-electric fiber composite with film structure. Compared with conventional artificial muscular underwater robots, MFC can be used by composing underwater robots with a very simple structure. Using MFC actuator, we developed the robots capable of progress and turning motion., 一般社団法人日本機械学会, 出版日 2008年06月06日, ロボティクス・メカトロニクス講演会講演概要集, 2008巻, 掲載ページ "2A1-A07(1)"-"2A1-A07(4)", 日本語, 110008696216, AA11902933 - 1P1-I04 ロボットに全身被覆可能な近接覚・触覚融合型センサを用いた衝突回避動作に関する研究開発(触覚と力覚)
柴崎 保則; 堤 隆弘; 下条 誠; 明 愛国
The mesh structure fusion of tactile and proximity sensor is developed. The sensor can be attached to freeform surface and needs only six wires. The sensor can detect the center position of the object and total distance to the object and the center position of a distributed load and the total load of the distribution. In this paper, the structure of the sensor and the prototype of the sensor are described, and the sensor is made to be installed in the manipulator, and the collision evasion is achieved. And seamless detection operation is done by using tactile information and proximity information., 一般社団法人日本機械学会, 出版日 2008年06月06日, ロボティクス・メカトロニクス講演会講演概要集, 2008巻, 掲載ページ "1P1-I04(1)"-"1P1-I04(4)", 日本語, 110008696178, AA11902933 - 1P1-F08 圧電繊維複合材料を用いた羽ばたきロボットの研究開発 : 翼機構の改善(飛行ロボット・メカトロニクス)
福島 佑一; 朴 ソギョン; 明 愛国; 下条 誠
The purpose of the research is to develop flapping robots using piezoelectric fiber composites. By using the composites, actuating fibers and sensing fibers can be embedded into a wing as part of the structure and it makes flapping robots with compact and light structure. A prototype of flapping robot with flapping and feathering motions has been developed. The design and driving method of the robot as well as experimental results about thrust and lift are shown in this paper., 一般社団法人日本機械学会, 出版日 2008年06月06日, ロボティクス・メカトロニクス講演会講演概要集, 2008巻, 掲載ページ "1P1-F08(1)"-"1P1-F08(3)", 日本語, 110008696114, AA11902933 - 1A1-H15 同期検波を用いたネット状近接覚センサの高機能化(触覚と力覚)
寺西 正裕; 柴崎 保則; 明 愛国; 石川 正俊; 下条 誠
The net structure proximity sensor capable of being attached to over robot entire body was developed. This sensor is effective as a sensor of the intermediate level of object detection. It is necessary to plan further high function to realize a robot by higher-speed exercise. This paper analyzes the effect of the sensor at far field., 一般社団法人日本機械学会, 出版日 2008年06月06日, ロボティクス・メカトロニクス講演会講演概要集, 2008巻, 掲載ページ "1A1-H15(1)"-"1A1-H15(2)", 日本語, 110008695964, AA11902933 - 1A1-A23 ゴルフスイングロボットに関する研究 : 新しいエネルギー制御則による運動軌道の生成(動作計画と制御の新展開)
山田 心也; 酒井 優; 明 愛国; 下条 誠
A golf swing robot which has a smart structure and enables high-speed swing based on dynamic coupling drive has been developed by authors. We have reported the feasibility of an energy control method to generate the golf swing trajectory from address position to impact position by adopting target dynamics. In this paper,we apply a new energy control method to generate the whole swing trajectory and show its effectiveness through experimental results., 一般社団法人日本機械学会, 出版日 2008年06月06日, ロボティクス・メカトロニクス講演会講演概要集, 2008巻, 掲載ページ "1A1-A23(1)"-"1A1-A23(4)", 日本語, 110008695813, AA11902933 - 2P1-F13 小型ヒューマノイドによる跳躍動作の検討(ヒューマノイド)
大石 千種; 長谷川 雄一; 許 春権; 明 愛国; 下条 誠
To realize hyper dynamic manipulations such as jumping by a smart structure, authors have proposed the utilization of dynamically-coupled driving and joint stop mechanisms before. The purpose of this work is to apply the idea to humanoids to realize hyper dynamic manipulations. This paper investigates the possibility of jumping by a small commercial humanoid with newly introduced joint stop mechanisms. The motion planning for jumping has been performed with considering the capability of actuators in the humanoid and the possibility for jumping has been examined by simulation., 一般社団法人日本機械学会, 出版日 2008年06月06日, ロボティクス・メカトロニクス講演会講演概要集, 2008巻, 掲載ページ "2P1-F13(1)"-"2P1-F13(3)", 日本語, 110008696545, AA11902933 - 1P1-I07 インテリジェントロボットハンドの研究開発 : 貫通孔を有するCoPセンサによる触覚・近接覚複合センサの実現(触覚と力覚)
溝口 善智; 明 愛国; 並木 明夫; 石川 正俊; 下条 誠
To achieve a human like grasping with a multi fingered robot hand, an interaction with vision and tactile information is indispensable. The method to use the camera for the vision information acquisition of the robot hand is common. The camera is effective globally but incorrect locally because of blind spot and the shadow of robot hand itself. Therefore it is thought that acquisition of approach and contact information to the object continually is very effective for grasping by introducing the proximity sensor which is sensing distance of several centimeter from an object. This time we pro..., 一般社団法人日本機械学会, 出版日 2008年06月06日, ロボティクス・メカトロニクス講演会講演概要集, 2008巻, 0号, 掲載ページ "1P1-I07(1)"-"1P1-I07(2)", 日本語, 110008696181 - 電気通信大学電気通信学部 知能機械工学科電気通信学研究科 知能機械工学専攻下条・明 研究室
下条 誠; 明 愛国
出版日 2007年09月30日, 日本バーチャルリアリティ学会誌 = Journal of the Virtual Reality Society of Japan, 12巻, 3号, 掲載ページ 174-175, 日本語, 1342-6680, 10019957854, AA11461758 - 1P1-B10 近接覚から触覚までをシームレスにつなぐ汎触覚センサの開発(触覚と力覚)
下条 誠; 天本 晴之; 柴崎 保則; 明 愛国; 石川 正俊
A meshstructure tactile sensor series capable of attachment to freeform surfaces with reduced wiring is proposed. These wide purpose tactile sensor series sensing from proximity to contact seamlessly. The measuring principle of these sensors is the same. These sensors also feature high response speeds without requiring software processing. Regarding the wiring for multiple detection elements, internal connection is only required between adjacent detection elements. Also, sensor response speed is almost unaffected by the number, placement, or sensor surface area of the detection elements, and there are only 4 signal wires from the sensor., 一般社団法人日本機械学会, 出版日 2007年05月11日, ロボティクス・メカトロニクス講演会講演概要集, 2007巻, 掲載ページ "1P1-B10(1)"-"1P1-B10(4)", 日本語, 110008695201, AA11902933 - 1A2-B08 触覚センサを用いた多指ハンドの接触力制御 : 触覚フィードバックによる多点接触力制御(触覚と力覚)
溝口 善智; 郡司 大輔; 明 愛国; 並木 明夫; 石川 正俊; 下条 誠
Handling behavior of human can be divided into Pinching and Grasping. In multi-fingered robot hand, wrapping grasp which permits the object to contact with the finger link other than the tip of finger, or palm is called Power grasp. The interaction with the tactile sensor is indispensable for the achievement of Power grasp to and unknown object with the multi-fingered robot hand. In this study, for the achievement of Power grasp operation which doesn't depend on the grasping object wit the multi-fingered robot hand, we propose a method for multi-point contact force control in inside of the ..., 一般社団法人日本機械学会, 出版日 2007年05月11日, ロボティクス・メカトロニクス講演会講演概要集, 2007巻, 0号, 掲載ページ "1A2-B08(1)"-"1A2-B08(4)", 日本語, 110008695051 - 1A1-E17 ゴルフスイングロボットに関する研究 : エネルギー制御を導入した運動制御方法の検討
長岡 武治; 許 春権; 明 愛国; 下条 誠
A method combing target dynamics with energy control to generate golf swing trajectories is considered. The time cost of trajectory generation becomes very low by applying the method. A series of swing trajectories from address position to finish position with different boundary conditions and constraints are generated. Experiments are carried out by adopting the generated trajectories as reference inputs and PD control law. Experimental results confirmed the feasibility of the method., 一般社団法人日本機械学会, 出版日 2006年, ロボティクス・メカトロニクス講演会講演概要集, 2006巻, 掲載ページ "1A1-E17(1)"-"1A1-E17(4)", 日本語, 110008693724, AA11902933 - 1A1-E19 ゴルフスイングロボットに関する研究 : 粘弾性ストッパを利用した運動制御
鎌田 裕一; 山川 明浩; 明 愛国; 下条 誠
A golf swing robot based on dynamic coupling drive has been developed by authors, which enables high-speed swing while by a smart structure. In this paper, a new model of golf swing robot with considering the visco-elastic joint stop is established and used for motion control. The swing with using joint stop is realized successfully., 一般社団法人日本機械学会, 出版日 2006年, ロボティクス・メカトロニクス講演会講演概要集, 2006巻, 掲載ページ "1A1-E19(1)"-"1A1-E19(2)", 日本語, 110008693726, AA11902933 - Motion control for the golf swing robot hitting a ball
Masanobu HENMI; Aiguo MING; Chunquan XU; Makoto SHIMOJO
出版日 2006年, Trans. of Japan Society of Mechanical Engineers, series C, 72巻, 714号, 掲載ページ 553-560, 0387-5024 - 1P2-N-080 レーザ光平面スキャナを用いた3次元位置計測システムの開発(3次元計測/センサフュージョン3,生活を支援するロボメカ技術のメガインテグレーション)
金森 哉吏; 梶谷 誠; 下条 誠; 明 愛国
一般社団法人日本機械学会, 出版日 2005年06月09日, ロボティクス・メカトロニクス講演会講演概要集, 2005巻, 掲載ページ 108-108, 日本語, 110006210230, AA11902933 - 1A1-N-050 ゴルフスイングロボットに関する研究 : ゴルフクラブの柔軟性を考慮した連動制御(制御の新理論とモーションコントロール1,生活を支援するロボメカ技術のメガインテグレーション)
丸山 共存; 鎌田 裕一; 許 春権; 明 愛国; 下条 誠
一般社団法人日本機械学会, 出版日 2005年06月09日, ロボティクス・メカトロニクス講演会講演概要集, 2005巻, 掲載ページ 16-16, 日本語, 110006209867, AA11902933 - 1A1-N-053 ゴルフスイングロボットに関する研究 : 実打運動制御の一方法(制御の新理論とモーションコントロール1,生活を支援するロボメカ技術のメガインテグレーション)
逸見 昌伸; 佐藤 哲平; 許 春権; 明 愛国; 下条 誠
一般社団法人日本機械学会, 出版日 2005年06月09日, ロボティクス・メカトロニクス講演会講演概要集, 2005巻, 掲載ページ 17-17, 日本語, 110006209870, AA11902933 - Experimental modal analysis by base excitation (vibration analysis of ADE)
Takashi Shinohara; Yusuke Kobayashi; Aiguo Ming; Takashi Kida; Susumu Iizuka; Chisato Kanamori
For Above Deck Equipment (ADE) on a ship, it is necessary to perform experimental modal analysis (EMA) by base excitation. Existing EMA tools are designed to perform curve-fitting on the frequency response function of displacement or acceleration at measuring point to an excitation force. However, in case of experiment by base excitation, transmissibility of acceleration, that is, the ratio of accelerations between measuring point and base is to be used for modal analysis. A method, which makes modal analysis for base excitation possible by performing curve-fitting on the transmissibility of acceleration using existing EMA tools, is proposed in this paper. First, the relation of transmissibility of acceleration using modal parameters in case of base excitation is derived. Based on the relation, a new method for modal analysis is given and its feasibility for one D.O.F. system is shown by numerical calculation. Finally, the method is applied to the modal analysis of an ADE, and its effectiveness is shown by comparing experimental results with simulation results using the modal parameters obtained by the method., Japan Society of Mechanical Engineers, 出版日 2005年, Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 71巻, 12号, 掲載ページ 3388-3395, 日本語, 書評論文,書評,文献紹介等, 0387-5024, 33644870089 - ゴルフスイングロボットに関する研究 : 人間の関節動作範囲の考慮有無によるスイング軌道の変化(制御の新理論とモーションコントロール1)
丸山 共存; 許 春権; 明 愛国; 下条 誠; 梶谷 誠
一般社団法人日本機械学会, 出版日 2004年06月18日, ロボティクス・メカトロニクス講演会講演概要集, 2004巻, 掲載ページ 109-109, 日本語, 110004069792, AA11902933 - ゴルフスイングロボットに関する研究 : インパクト後の運動制御(制御の新理論とモーションコントロール1)
逸見 昌伸; 明 愛国; 下条 誠; 梶谷 誠
一般社団法人日本機械学会, 出版日 2004年06月18日, ロボティクス・メカトロニクス講演会講演概要集, 2004巻, 掲載ページ 109-109, 日本語, 110004069791, AA11902933 - ヴァイオリン演奏ロボットハンドの運指機構に関する研究 : 人間の演奏動作解析とハンドの要求仕様(アミューズメントロボット・エンタテイナーロボット)
猿田 正博; 宮井 隆雄; 明 愛国; 金森 哉吏; 下条 誠
一般社団法人日本機械学会, 出版日 2004年06月18日, ロボティクス・メカトロニクス講演会講演概要集, 2004巻, 掲載ページ 174-174, 日本語, 110004070047, AA11902933 - 310 船外装置の振動解析とシミュレーション
篠原 隆; 小林 勇介; 明 愛国; 木田 隆; 飯塚 進; 金森 哉吏
For ADE on a ship, it is necessary to perform experimental modal analysis (EMA) by base excitation. Existing EMA tools are designed to perform curve-fitting on the frequency response function of displacement or acceleration at measuring point to an excitation force. However, in case of experiment by base excitation, transmissibility of acceleration, that is, the ratio of accelerations between measuring point and base is to be used for modal analysis. A method, which makes modal analysis for base excitation possible by performing curve-fitting on the transmissibility of acceleration using existing EMA tools, is proposed in this paper., 一般社団法人日本機械学会, 出版日 2003年09月15日, Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D, 2003巻, 掲載ページ 140-140, 日本語, 1348-0235, 110002483239, AA11901770 - (1)ロボット・メカトロニクスに対する創造性教育と社会貢献の実践(教育)(日本機械学会賞〔2002年度(平成14年度)審査経過報告〕)
石川 晴雄; 前川 博; 明 愛国; 金森 哉吏; 田中 孝之
一般社団法人日本機械学会, 出版日 2003年05月05日, 日本機械学會誌, 106巻, 1014号, 日本語, 0021-4728, 110002475806 - 1A1-2F-F2 振動子アレイを用いた材質のセンシングに関する研究 : 接触振動特性変化による材質のセンシングについて
安彦 成泰; リム ハトチン; 金森 哉吏; 明 愛国; 下条 誠
PZT型バイモルフは, 曲げにより電圧を生じることからアクチュエータのみならずセンサとして利用できるという報告がされている。今回, このセンサとしての特性を用いた材質のセンシングへの利用について研究を行った。, 一般社団法人日本機械学会, 出版日 2003年, ロボティクス・メカトロニクス講演会講演概要集, 2003巻, 掲載ページ 21-21, 日本語, 110002506020, AA11902933 - 1A1-3F-B3 液状感圧ゴムを用いた自由曲面型触覚センサの開発
下条 誠; 金森 克彦; 明 愛国; 金森 哉吏; 石川 正俊
本報告では, 液状感圧ゴムに電極部を浸すディッピング手法により, 自由曲面上に感圧ゴム膜を作ることによって触覚センサを構築した例について報告する。, 一般社団法人日本機械学会, 出版日 2003年, ロボティクス・メカトロニクス講演会講演概要集, 2003巻, 掲載ページ 25-25, 日本語, 110002506041, AA11902933 - ゴルフスイングロボットに関する研究-関節ストッパを使用しないスイング実験
丸山共存; 明 愛国; 下条 誠; 梶谷 誠
本研究では, 干渉駆動を用いた高速動作を実現するゴルフスイングロボットを開発し, その機構と制御法の有効性を実証してきた。本報では手首関節にストッパ無しの場合フルスイング実験を行い, その結果を報告する。, 一般社団法人日本機械学会, 出版日 2003年, 日本機械学会ロボティクス メカトロニクス講演会'03, 掲載ページ 105-105, 日本語, 110002506491, AA11902933 - 2P1-2F-F3 ゴルフスイングロボットに関する研究 : 学習制御方法の改良
古川 真也; 手島 鉄兵; 明 愛国; 下条 誠; 梶谷 誠
本研究では干渉駆動を用いたゴルフスイングロボットを開発し, その有効性を実証してきた。本報では, 巡回型NNによる順動力学モデルを用いた学習制御方法とスイング実験的結果を報告する。, 一般社団法人日本機械学会, 出版日 2003年, ロボティクス・メカトロニクス講演会講演概要集, 2003巻, 掲載ページ 105-105, 日本語, 110002506490, AA11902933 - 2A1-1F-C2 能動/受動切り替え関節を有する移動マニピュレータの応用に関する研究 : 曲面への描画作業実験
陳内 鉄生; 竹村 亮; 趨 挺; 佐藤 雅一; 明 愛国; 下条 誠; 金森 哉吏
本報では, 第2関節以外の全ての関節に能動/動切り替え機構を持つ5自由度垂直多関節型マニピュレータ部と2輪駆動の移動部を持つ移動マニピュレータの部分的拘束を受ける作業への応用を取り上げる。具体的には, 受動関節の角度に基づき状態を推定し, ある曲面内で描画作業を行うことを目的とする。, 一般社団法人日本機械学会, 出版日 2003年, ロボティクス・メカトロニクス講演会講演概要集, 2003巻, 掲載ページ 64-64, 日本語, 110002506256, AA11902933 - 光磁気記録を応用したロータリエンコーダの開発(第9報) : 試作マルチスポットピックアップの評価
飛田 和輝; 梶谷 誠; 金森 哉吏; 明 愛国; 下条 誠; 大平 貴之
出版日 2002年10月01日, 精密工学会大会学術講演会講演論文集, 2002巻, 2号, 掲載ページ 214-214, 日本語, 10009984298, AN1018673X - 線状レーザ光を用いた空間座標位置計測(第24報) : 基準円入力ツールの設置条件がパラメータ同定に及ぼす影響について(2)
金森 哉吏; 梶谷 誠; 下条 誠; 明 愛国
出版日 2002年10月01日, 精密工学会大会学術講演会講演論文集, 2002巻, 2号, 掲載ページ 543-543, 日本語, 80015811008, AN1018673X - 超高精度歯車測定機の精度向上に関する研究:歯形誤差測定における測定誤差の原因解明
久保田 禅; 下条 誠; 明 愛国; 金森 哉吏; 梶谷 誠; 竹田 龍平
出版日 2002年03月01日, 精密工学会大会学術講演会講演論文集, 2002巻, 1号, 掲載ページ 707-707, 日本語, 10008501446, AN1018673X - 線状レーザ光を用いた空間座標位置計測(第23報):キャリブレーションのための基準円入力作業の自動化
金森 哉吏; 梶谷 誠; 下条 誠; 明 愛国
出版日 2002年03月01日, 精密工学会大会学術講演会講演論文集, 2002巻, 1号, 掲載ページ 701-701, 日本語, 10008501434, AN1018673X - 光磁気記録を応用したロータリエンコーダの開発(第8報):マルチスポットピックアップの試作
中里 威晴; 飛田 和輝; 梶谷 誠; 金森 哉吏; 明 愛国; 下条 誠; 大平 貴之
出版日 2002年03月01日, 精密工学会大会学術講演会講演論文集, 2002巻, 1号, 掲載ページ 675-675, 日本語, 10008501364, AN1018673X - 高空間分解能な触覚提示を目指した触覚提示方式の研究
下条; 安彦 康成; 篠原 正美; 明 愛国; 金森 哉吏
より高い空間解像度を有する触覚像の掲示方式の開発を目的とした研究である。触覚提示部としては, 視覚障害者用触覚提示装置として定評のあるOptaconeの振動周波数, 振幅を可変となるように改造したものを用い, 触覚パターンの提はニ特性の計測と人間の機械受容器特性との関係を考察した。, 一般社団法人日本機械学会, 出版日 2002年, 日本機械学会ロボティクス メカトロニクス講演会'02論文集, 掲載ページ 111-111, 日本語, 110002505835, AA11902933 - 2A1-107 同時駆動方式ソナーリングを用いた移動ロボットの高速障害物検出と回避 : 高速センシングと高速回避の問題点への対応
梶原 一宏; 佐藤 治男; 明 愛国; 金森 哉吏; 梶谷 誠; 下条 誠
本研究では障害物の高速センシングを目的として複数ソナーの同時駆動方式を用いたセンシングシステムを開発し, 移動ロボットに適用してきた.これまでの研究で同時駆動によるクロストークの除去におおむね成功している.しかし高速センシングによる新たな問題がおこった.高速移動の際にリアルタイムで回避を行う必要があるという問題である.本報では, これらの問題をクリアするための新たな回避アルゴリズムと, それを実装した際の実験結果について報告する., 一般社団法人日本機械学会, 出版日 2002年, ロボティクス・メカトロニクス講演会講演概要集, 2002巻, 掲載ページ 75-75, 日本語, 110002505418, AA11902933 - ゴルフスイングロボットに関する研究 (新しい手首関節の試作とスイング実験)
原田望; 明 愛国; 下条 誠; 梶谷 誠
本研究では干渉駆動を用いた高速動作を実現するための機構と制御法を提案し, 今までにゴルフスイングロボットを開発し, その有効性を実証してきた。ロボットは駆動関節(等価肩関節)と非駆動関節(手首関節)の2自由度マニピュレータであった。本報では非駆動関節であった手首関節を駆動関節へと変更し, 手首関節に手首と同等な駆動力を持つDDモータ, 関節可動限界に相当する粘弾性ストッパを取り付ける改造を行った。この改造によりアドレスからフィニッシュまでを一連の動作としてスイングをを行い, その実験結果について報告する。, 一般社団法人日本機械学会, 出版日 2002年, 日本機械学会ロボティクス メカトロニクス講演会'02講演論文集, 掲載ページ 20-20, 日本語, 110002504735, AA11902933 - 1A1-J06 高速道路用照明設備メンテナンスロボット CLIMBER の開発 : 照明ユニット交換システムの開発
叶 〓; 柴崎 航也; 伊藤 忠; 梶谷 誠; 明 愛国; 下条 誠; 金森 哉吏; 美馬 一博; 会沢 雄二; 小林 哲
本研究では, 道路照明設備のメンテナンス作業自動化のためにロボットシステムCLIMBERの開発と, それに伴う新規照明設備の開発を目的とする。本システムは昇降システムと一体型照明ユニット及びその交換システムからなる。これまでに, 昇降システムの開発と性能評価について報告している。本稿では, 自動化のための照明ユニット及び照明ユニット交換システムの設計, 試作と動作実験の結果について報告する。, 一般社団法人日本機械学会, 出版日 2002年, ロボティクス・メカトロニクス講演会講演概要集, 2002巻, 掲載ページ 32-33, 日本語, 110002504887, AA11902933 - 光磁気記録を応用したロータリエンコーダの開発(第7 報) : マルチスポットピックアップの検討
中里 威春; 飛田 和輝; 梶谷 誠; 金森 哉吏; 明 愛国; 下条 誠; 大平 貴之
出版日 2001年09月01日, 精密工学会大会学術講演会講演論文集, 2001巻, 2号, 掲載ページ 551-551, 日本語, 10009889394, AN1018673X - 線状レーザ光を用いた空間座標位置計測(第22報) : 基準円入力ツールの設置条件がパラメータ同定に及ぼす影響について
金森 哉吏; 梶谷 誠; 下条 誠; 明 愛国
出版日 2001年09月01日, 精密工学会大会学術講演会講演論文集, 2001巻, 2号, 掲載ページ 645-645, 日本語, 10009889677, AN1018673X - 1A1-G3 楽器演奏ロボットに関する研究 : 合奏システムの開発(22. アミューズメントロボットII)
中西 有美; 梶谷 誠; 明 愛国; 金森 哉吏; 美馬 一博
一般社団法人日本機械学会, 出版日 2001年06月08日, ロボティクス・メカトロニクス講演会講演概要集, 2001巻, 掲載ページ 12-12, 日本語, 110002502227, AA11902933 - 1A1-F3 ゴルフスイングにおける人間の動的な運動制御機能の検討 : アドレスからインパクトまでの軌道生成(21. スポーツロボット)
三田 拓郎; 明 愛国; 梶谷 誠
一般社団法人日本機械学会, 出版日 2001年06月08日, ロボティクス・メカトロニクス講演会講演概要集, 2001巻, 掲載ページ 11-11, 日本語, 110002502219, AA11902933 - 1P1-B5 能動/受動切り替え調節を有する移動マニピュレータによるパイプの挿入実験 : 挿入制御アルゴリズムの改善(37. 車輪移動ロボット)
上村 拓人; 佐藤 雅一; 陣内 鉄生; 明 愛国; 梶谷 誠; 金森 哉吏
一般社団法人日本機械学会, 出版日 2001年06月08日, ロボティクス・メカトロニクス講演会講演概要集, 2001巻, 掲載ページ 20-20, 日本語, 110002502369, AA11902933 - 1A1-M3 高速道路用照明設備メンテナンスロボットCLIMBERの開発 : ポール昇降システムの実験による性能評価(43. アクチュエータの機構と制御)
柴崎 航也; 菊地 新; イエ イエ; 梶谷 誠; 明 愛国; 金森 更哉; 会沢 雄二; 小林 哲
一般社団法人日本機械学会, 出版日 2001年06月08日, ロボティクス・メカトロニクス講演会講演概要集, 2001巻, 掲載ページ 16-16, 日本語, 110002502300, AA11902933 - 光磁気記録を応用したロータリエンコーダの開発 (第6報) 目盛本数についての実験的考察
飛田和輝; 梶谷誠; 金森哉吏; 明愛国; ちょう志宇; 中里威晴; 大平貴之
出版日 2001年, 精密工学会大会学術講演会講演論文集, 2001巻, 200902175865594808 - 歯形測定機の精度評価システムに関する研究 (第2報) -試作機の性能-
箕浦賢一; 明 愛国; 金森 哉吏; 梶谷 誠; 佐藤 孝; 勇崎 正年
This report describes results of experiment on prototype instruments reported in 1st report. Possibility of calibrating a standard artifact (involute master) was verified by the results of experimental investigations., 一般社団法人日本機械学会, 出版日 2001年, 日本機械学会第1回機素潤滑部門講演会講演論文集, 2001, 掲載ページ 59-62, 日本語, 1348-3919, 110002480535, AA11901260 - 光磁気記録を応用したロータリエンコーダの開発(第5報) : 補正転写記録の補正量と誤差
飛田 和輝; 梶谷 誠; 金森 哉吏; 明 愛国; 趙 志宇; 中里 威晴; 大平 貴之
出版日 2000年09月01日, 精密工学会大会学術講演会講演論文集, 2000巻, 2号, 掲載ページ 517-517, 日本語, 10009887696, AN1018673X - 粗微動システムにおける微動機構の設計と制御
明 愛国; アブデルハフィド オマリ; ガイレン リマム; 中村 周至; 金森 哉吏; 梶谷 誠
出版日 2000年06月29日, シンポジウム電磁力関連のダイナミックス講演論文集, 12巻, 掲載ページ 521-526, 日本語, 10015611939, AA11282431 - 光磁気記録を応用したロータリエンコーダの開発(第4報) : 補正転写記録について
飛田 和輝; 梶谷 誠; 金森 哉吏; 明 愛国; 大平 貴之
出版日 2000年03月01日, 精密工学会大会学術講演会講演論文集, 2000巻, 1号, 掲載ページ 612-612, 日本語, 10009886155, AN1018673X - 1A1-26-023 ゴミ収集ロボットシステム (CAMPUS) の開発 : 実用化に向けた改良
中坊 貴亨; 堀井 啓介; 木作 佳史; 美馬 一博; 金森 哉吏; 明 愛国; 梶谷 誠
当研究室では94年よりオフィスビル内のゴミ収集作業を自動化するシステム「CAMPUS」の開発を行っている。これは建物内に自律移動型のゴミ収集ロボットを巡回させ, 各部屋で発生するゴミを回収した後, 屋外のゴミ集積まで運搬し, ゴミ袋を集積所に整然と並べるという一連の作業の自動化を目標としている。本講では実用化を見据え, 本システムを試験的に運用することで問題点を洗い出し, 改良を加えることで主に信頼性の向上, 親和性の向上, 使い勝手の向上の実現について発表する。, 一般社団法人日本機械学会, 出版日 2000年, ロボティクス・メカトロニクス講演会講演概要集, 2000巻, 掲載ページ 33-33, 日本語, 110002503405, AA11902933 - 2A1-25-026 楽器演奏ロボットに関する研究 : ヴァイオリン MUBOT の運指機構の開発
中内 淳; 中西 有美; 梶谷 誠; 明 愛国; 金森 哉吏
当研究室では「楽器にはいっさい手を加えない」という前提のもと数台のMUBOTを製作, 改良してきた。本稿では, ヴァイオリンMUBOTがより自由な演奏が行えるよう, 独立した4本の指を用いて弦押さえ可能な運指機構を設計, 製作し, その性能を実験的に確認した結果について報告する。, 一般社団法人日本機械学会, 出版日 2000年, ロボティクス・メカトロニクス講演会講演概要集, 2000巻, 掲載ページ 64-64, 日本語, 110002503934, AA11902933 - 1A1-58-088 能動/受動切り替え関節を有する移動マニピュレータと人との協調作業実験
長谷川 陽一; 守田 克彰; 上村 拓人; 佐藤 雅一; 金森 哉吏; 明 愛国; 梶谷 誠
能動/受動切り替え関節を有する移動マニピュレータと人間との共同作業の実験を行った。対象物の取り外し, 搬送, 取り付けといった一連の作業における, 移動マニピュレータと人間とが協力し, 作業を行った結果について報告する。, 一般社団法人日本機械学会, 出版日 2000年, ロボティクス・メカトロニクス講演会講演概要集, 2000巻, 掲載ページ 41-41, 日本語, 110002503532, AA11902933 - バックラッシを有する回転伝達機構に関する研究(第4報)-一段歯車減速の計測例-
渡辺 右近; 藤本 貴幸; 梶谷 誠; 明 愛国; 金森 哉吏
出版日 1999年09月01日, 精密工学会大会学術講演会講演論文集, 1999巻, 2号, 掲載ページ 80-80, 日本語, 10004434888, AN1018673X - Development of the Fine Positioning Mechanism Attached to the End-Effector of a Mounting Robot (3rd report) - Improvement of the Response Characteristics-
OMARI Abdelhafid; NAKAMURA Shuji; KAJITANI Makoto; MING Aiguo; KANAMORI Chisato
出版日 1999年09月01日, 精密工学会大会学術講演会講演論文集, 1999巻, 2号, 掲載ページ 72-72, 英語, 10004434868, AN1018673X - 光磁気記録を応用したロータリエンコーダの開発(第3報)-面振れによる誤差について-
飛田 和輝; 梶谷 誠; 金森 哉吏; 明 愛国; 大平 貴之
出版日 1999年09月01日, 精密工学会大会学術講演会講演論文集, 1999巻, 2号, 掲載ページ 631-631, 日本語, 10004436344, AN1018673X - ロータリエンコーダ校正システムのための自動心出しシステム
大堀 友也; 箕浦 賢一; 梶谷 誠; 明 愛国; 金森 哉吏
出版日 1999年09月01日, 精密工学会大会学術講演会講演論文集, 1999巻, 2号, 掲載ページ 630-630, 日本語, 10004436342, AN1018673X - 光磁気記録を応用したロータリエンコーダの開発(第2報) -誤差要因について-
飛田 和輝; 梶谷 誠; 金森 哉吏; 明 愛国; 大平 貴之
出版日 1999年03月05日, 精密工学会大会学術講演会講演論文集, 1999巻, 1号, 掲載ページ 511-511, 日本語, 10004628239, AN1018673X - HIGH ACCURACY OPTICAL FIBER POSITIONING SENSOR FOR FLIP-CHIP MOUNTING - Operation Principle & Analysis of Modulation Properties -
王 暁東; 梶谷 誠; 明 愛国; 金森 哉吏; 山田 登
出版日 1999年03月05日, 精密工学会大会学術講演会講演論文集, 1999巻, 1号, 掲載ページ 565-565, 英語, 10004628383, AN1018673X - ゴミ収集ロボットシステムの開発
美馬 一博; 中坊 貴享; 長谷川 敬晃; 金森 哉吏; 明 愛国; 梶谷 誠
出版日 1999年03月05日, 精密工学会大会学術講演会講演論文集, 1999巻, 1号, 掲載ページ 85-85, 日本語, 10004627024, AN1018673X - ゴルフスイングロボットの学習制御
明 愛国; 河野 高士; 梶谷 誠
日本機械学会, 出版日 1998年10月, ジョイント・シンポジウム, 98巻, 31号, 掲載ページ 126-129, 日本語, 40016172767 - 組立ロボットのエンドエフェクタ用微動機構に関する研究(第2報) -2次元位置決め特性-
増田 修一; 安部 重敏; OMARI A.; 梶谷 誠; 明 愛国; 金森 哉吏
出版日 1998年09月01日, 精密工学会大会学術講演会講演論文集, 1998巻, 2号, 掲載ページ 566-566, 日本語, 10002875791, AN1018673X - 光磁気記録を応用したロータリエンコーダの開発(第1報) -原理と基礎実験-
飛田 和輝; 梶谷 誠; 金森 哉吏; 明 愛国; 大平 貴之
出版日 1998年09月01日, 精密工学会大会学術講演会講演論文集, 1998巻, 2号, 掲載ページ 519-519, 日本語, 10002875665, AN1018673X - 1258 タイル剥離有無の自動識別方法に関する検討
堂山 敦弘; 菱河 恭一; 繩岡 好人; 梶谷 誠; 明 愛国; 金森 哉吏
一般社団法人日本建築学会, 出版日 1998年07月30日, 学術講演梗概集. A-1, 材料施工, 1998巻, 掲載ページ 515-516, 日本語, 1341-4437, 110004217186, AN10486879 - バックラッシを有する回転伝達機構に関する研究(第3報) -シミュレーションによる振動解析-
有水 大之; 梶谷 誠; 明 愛国; 金森 哉吏
出版日 1998年03月05日, 精密工学会大会学術講演会講演論文集, 1998巻, 1号, 掲載ページ 528-528, 日本語, 10002873608, AN1018673X - バックラッシを有する回転伝達機構に関する研究(第2報)-カップリングモデルによる検討-
有水 大之; 李 文斌; 明 愛国; 梶谷 誠; 金森 哉吏
出版日 1997年10月01日, 精密工学会大会学術講演会講演論文集, 1997巻, 2号, 掲載ページ 376-376, 日本語, 10002871385, AN1018673X - バックラッシを有する回転伝達機構に関する研究(第1報)-測定システムの開発-
明 愛国; 有水 大之; 梶谷 誠; 金森 哉吏; 市野 之彬
出版日 1997年10月01日, 精密工学会大会学術講演会講演論文集, 1997巻, 2号, 掲載ページ 375-375, 日本語, 10002871383, AN1018673X - 組立ロボットのエンドエフェクタ用微動機構に関する研究(第1報)-試作した1次元位置決め機構の特性-
増田 修一; 安部 重敏; 坂本 宣幸; 梶谷 誠; 明 愛国; 金森 哉吏
出版日 1997年10月01日, 精密工学会大会学術講演会講演論文集, 1997巻, 2号, 掲載ページ 598-598, 日本語, 10002872041, AN1018673X - 機械部品の自動スケッチ法に関する研究(第2報) -画像処理と寸法計測の相互補完-
大塚 充子; 梶谷 誠; 金森 哉吏; 明 愛国
出版日 1997年03月01日, 精密工学会大会学術講演会講演論文集, 1997巻, 1号, 掲載ページ 777-778, 日本語, 10002869522, AN1018673X - 偏向フィルムを用いた移動ロボット用標識システムの開発 読みとりシステムの改良
美馬一博; 金森哉吏; 明愛国; 梶谷誠
出版日 1997年, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1997巻, Vol.B号, 200902156851798104 - 球面SCARAロボットによる自由曲面上の彫刻作業
明愛国
出版日 1992年, 1992年度精密工学会秋季大会学術講演会講演論文集, 899巻, 10003570384, AN1018673X
書籍等出版物
- Design and Modeling of Mechanical Systems - IV
Eiji Hasegawa; Moncef Hammadi; Jean-Yves Choley; Aiguo Ming
学術書, 英語, 共著, Soft Underwater Robots Imitating Manta Actuated by Dielectric-Elastomer Minimum-Energy Structures, Springer, 出版日 2020年 - ソフトアクチュエータの材料・構成・応用技術
明 愛国
学術書, 日本語, 共著, 第4章第3節 圧電繊維複合材料を用いた生物模倣型ソフト水中ロボットの研究開発, S & T出版社, 出版日 2016年11月08日 - Mechatronic Futures
Aiguo Ming; Wenjing Zhao
学術書, 英語, 共著, Chapter 7: Design of Biomimetic Soft Underwater Robots, Springer, 出版日 2016年07月, ISBN 9783319321547 - Biologically Inspired Robotics
Aiguo Ming; Chunquan Xu
英語, 共著, Chapter 4: Human-Inspired Hyperdynamic Manipulation, TAYLOR & FRANCIS, 出版日 2011年12月
講演・口頭発表等
- 高速触覚センサを搭載した移動マニピュレータによる立ち上がり動作支援
安藤 健治; 塚野聖仁; 明 愛国; 下条 誠
口頭発表（一般）, 日本語, 計測自動制御学会,第12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
発表日 2011年12月 - 圧電繊維複合材料を用いた羽ばたきロボットの研究開発
Luekiatphaisan Natchapon; 明 愛国; 下条 誠
口頭発表（一般）, 日本語, 計測自動制御学会,第12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
発表日 2011年12月 - マンタの動きを模倣したソフト水中ロボットの開発
大阪拓真; 新竹純; 明愛国; 下条誠
口頭発表（一般）, 日本語, 日本IFToMM会議,第17回日本IFToMM会議シンポジウム
発表日 2011年07月 - リンク型可変減速機構を導入した脚機構の開発
野澤峻平; 丸山央; 明愛国; 下条誠
口頭発表（一般）, 日本語, 日本IFToMM会議,第17回日本IFToMM会議シンポジウム
発表日 2011年07月 - 3次元距離測定カメラを用いた立ち上がり動作支援ロボットのための姿勢推定法
塚田夏美; 安藤健治; 明愛国; 下条誠
口頭発表（一般）, 日本語, 計測自動制御学会,第11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
発表日 2010年12月 - 二関節間の駆動トルクの相互利用を可能とする脚機構の提案
丸山央; 梶原直喜; 大石千種; 明愛国; 下条誠
口頭発表（一般）, 日本語, 日本機械学会,ロボティクス・メカトロニクス講演会2010
発表日 2010年06月 - 圧電繊維複合材料を用いた水中ロボットの開発- 単一ヒレ構造による推進運動の多様化-
新竹純; 明愛国; 下条誠
口頭発表（一般）, 日本語, 日本機械学会,ロボティクス・メカトロニクス講演会2010
発表日 2010年06月 - 小型ヒューマノイドによる跳躍動作の検討-関節ストッパー機構を利用した運動の軌道生成-
長谷川 雄一; 大石 千種; 許 春権; 明 愛国; 下条 誠
口頭発表（一般）, 日本語, 計測自動制御学会,第9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
発表日 2008年12月 - ゴルフスイングロボットに関する研究～エネルギー制御の切り替えによる軌道生成～
酒井 優; 明 愛国
口頭発表（一般）, 日本語, 計測自動制御学会,第9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
発表日 2008年12月 - 小型ヒューマノイドによる跳躍動作の検討
大石千種; 長谷川雄一; 許春権; 明愛国; 下条誠
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'08
発表日 2008年06月 - ゴルフスイングロボットに関する研究-新しいエネルギー制御則による運動軌道の生成-
山田心也; 酒井優; 明愛国; 下条誠
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'08
発表日 2008年06月 - 圧電繊維複合材料を用いた羽ばたきロボットの研究開発-翼機構の改善-
福島佑一; 朴ソギョン; 明愛国; 下条誠
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'08
発表日 2008年06月 - 圧電繊維複合材料を用いた水中ロボットの研究開発-直進・旋回可能なロボットの試作-
朴ソギョン; 福島佑一; 明愛国; 下条誠
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'08
発表日 2008年06月 - 移動マニピュレータによるホームサービスシステムの研究開発-ステレオカメラとRFIDを用いた移動マニピュレーション-
山代学; 吉田卓史; 謝昭賢; 明愛国; 下条誠
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'08
発表日 2008年06月 - 圧電繊維複合材料を用いた羽ばたきロボットの開発
HuangYawen; 福島佑一; 明愛国; 下条誠
口頭発表（一般）, 日本語, 日本ロボット学会,第25回日本ロボット学会学術講演会
発表日 2007年09月 - 圧電繊維複合材料を用いた水中ロボットの開発
永田佳範; 朴ソギョン; 明愛国; 下条誠
口頭発表（一般）, 日本語, 日本ロボット学会,第25回日本ロボット学会学術講演会
発表日 2007年09月 - ゴルフスイングロ ボットに関する研究～反射的な回避行動によるストッパの接触制御～
鎌田裕一; 山田心也; 明愛国
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'07講演論文集
発表日 2007年05月 - ゴルフスイングロボットに関する研究～改善したストッパモデルによる運動制御～
鎌田裕一; 山田心也; 明愛国
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'07講演論文集
発表日 2007年05月 - ゴルフスイングロボットに関する研究～エネルギー制御を用いた運動軌道の生成～
山田心也; 許春権; 長谷川雄一; 明愛国
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'07講演論文集
発表日 2007年05月 - 圧電繊維複合材料を用いた水中ロボットの開発
永田佳範; 朴ソギョン,明愛国
口頭発表（一般）, 日本語, 日本機械学会,第19回「電磁力関連のダイナミクス」シンポジウム
発表日 2007年05月 - 圧電繊維複合材料を用いた振動制御の基礎研究
朴ソギョン; 永田佳範; 明愛国
口頭発表（一般）, 日本語, 日本機械学会,第19回「電磁力関連のダイナミクス」シンポジウム
発表日 2007年05月 - ゴルフシャフトの特性評価に関する研究
篠崎正男; 竹ノ下雄史; 小川綾子; 明愛国
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会スポーツ工学シンポジウム2006講演論文集
発表日 2006年11月 - ゴルフスイングロボットに関する研究 －粘弾性ストッパを利用した運動制御－
鎌田裕一; 山川明浩; 明愛国; 下条誠
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'06講演論文集
発表日 2006年05月 - ゴルフスイングロボットに関する研究～エネルギー制御を導入した運動制御方法の検討～
長岡武治; 許春権; 明愛国; 下条誠
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'06講演論文集
発表日 2006年05月 - 直接駆動方式超高精度歯車測定機の開発（第３報） －アーティファクト測定－
田口哲也; 青木朗子; 高橋直樹; 竹田龍平; 明愛国; 下条誠; 金森哉吏
口頭発表（一般）, 日本語, 精密工学会,2006年度精密工学会春季大会学術講演会論文集
発表日 2006年03月 - ゴルフスイングロボットに関する研究 -リカレントネットワークを用いた学習制御-
佐藤哲平; 明愛国; 下条誠
口頭発表（一般）, 日本語, 計測自動制御学会,第48回自動制御連合講演会
発表日 2005年11月 - ゴルフスイングロボットに関する研究 -エネルギー制御を導入した運動軌道の生成-
長岡武治; 許春権; 明愛国; 下条誠
口頭発表（一般）, 日本語, 計測自動制御学会,第48回自動制御連合講演会
発表日 2005年11月 - 直接駆動方式超高精度歯車測定機の開発(第1報) -基本構想とシステム構成-
田口哲也; 青木朗子; 穂苅吉宏; 斎藤大輔; 竹田龍平; 明愛国; 下条誠; 梶谷誠; 金森哉吏
口頭発表（一般）, 日本語, 精密工学会,2005年度精密工学会秋季大会学術講演会論文集
発表日 2005年10月 - 直接駆動方式超高精度歯車測定機の開発(第2報) -制御方法と駆動実験-
青木朗子; 福家佐和; 田口哲也; 竹田龍平; 明愛国; 下条誠; 金森哉吏
口頭発表（一般）, 日本語, 精密工学会,2005年度精密工学会秋季大会学術講演会論文集
発表日 2005年10月 - 船外装置の振動制御に関する研究 -非線形ばね・ダンパを有する免振装置のパラメータ設計-
明愛国; 木田隆; 金森哉吏; 塩住拓也; 佐藤基夫; 小林勇介
口頭発表（一般）, 日本語, 精密工学会,2005年度精密工学会秋季大会学術講演会論文集
発表日 2005年10月 - ゴルフスイングロボットに関する研究 -ゴルフクラブの柔軟性を考慮した運動制御-
丸山共存; 鎌田裕一; 許春権; 明愛国; 下条誠
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'05講演論文集
発表日 2005年06月 - ゴルフスイングロボットに関する研究 -実打運動制御の一方法-
逸見昌伸; 佐藤哲平; 許春権; 明愛国; 下条誠
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'05講演論文集
発表日 2005年06月 - 球状フォトダイオードを用いた位置姿勢センサに関する研究
金森哉吏; 梶谷 誠; 下条 誠; 明 愛国
口頭発表（一般）, 日本語, 精密工学会,2004年度精密工学会秋季大会学術講演会論文集
発表日 2004年10月 - ヴァイオリン演奏ロボットハンドの運指機構に関する研究： 人間の演奏動作解析とハンドの要求仕様
猿田正博; 宮井隆雄; 明愛国; 金森哉吏; 下条 誠
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'04講演論文集
発表日 2004年06月 - ゴルフスイングロボットに関する研究-インパクト後の運動制御-
逸見 昌伸; 明 愛国; 下条 誠; 梶谷 誠
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'04講演論文集
発表日 2004年06月 - ゴルフスイングロボットに関する研究 -人間の関節動作範囲の考慮有無によるスイング軌道の変化-
丸山共存; 許 春権; 明 愛国; 下条 誠; 梶谷 誠
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'04講演論文集
発表日 2004年06月 - Study on Golf Swing Robot-an improvement on the method for motion generation-
Chunquan Xu; Tomoari Maruyama; Aiguo Ming; Makoto Shimojo; Makoto Kajitani
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'04講演論文集
発表日 2004年06月 - 線状レーザ光を用いた空間座標位置計測（第25報） －球状センサを用いたディテクタの基本性能－
金森哉吏; 梶谷誠; 下条誠; 明愛国
口頭発表（一般）, 日本語, 精密工学会,2003年度精密工学会秋季大会学術講演会論文集
発表日 2003年10月 - Study on Hyper Dynamic Manipulation -An investigation on the effect of dynamically-coupled driving-
許 春権; 明 愛国; 丸山共存; 下条 誠; 梶谷 誠
口頭発表（一般）, 日本語, 日本ロボット学会,第２1回日本ロボット学会学術講演会予稿集
発表日 2003年09月 - ゴルフスイングロボットに関する研究 －巡回型ANN順動力学モデルを用いた学習制御の適用－
古川真也; 明 愛国; 下条 誠; 梶谷 誠
口頭発表（一般）, 日本語, 日本ロボット学会,第２1回日本ロボット学会学術講演会予稿集
発表日 2003年09月 - 液状感圧ゴムを用いた自由曲面型触覚センサの開発
下条 誠; 金森克彦; 明 愛国; 金森哉吏; 石川正俊
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'03講演論文集
発表日 2003年05月 - 振動子アレイを用いた材質のセンシングに関する研究 -接触振動特性変化による材質のセンシングについて-
安彦成泰; リム ハトチン; 明 愛国; 下条 誠; 金森 哉吏
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'03講演論文集
発表日 2003年05月 - ゴルフスイングロボットに関する研究－学習制御方法の改良－
古川真也; 手島鉄兵; 明 愛国; 下条 誠; 梶谷 誠
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'03講演論文集
発表日 2003年05月 - 能動/受動切り替え関節を有する移動マニピュレータの応用に関する研究 －曲面への描画作業実験－
鄒 挺; 陳内鉄生; 竹村 亮; 佐藤雅一; 明 愛国; 下条 誠; 金森哉吏
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'03講演論文集
発表日 2003年05月 - ゴルフスイングロボットに関する研究 -関節ストッパを使用しないスイング実験-
丸山共存; 明 愛国; 下条 誠; 梶谷 誠
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'03講演論文集
発表日 2003年05月 - 能動/受動切り替え関節を有する移動マニピュレータの応用に関する研究－部分的拘束を受ける作業の場合－
陳内鉄生; 竹村 亮; 佐藤 雅一; 明 愛国; 下条 誠; 金森 哉吏
口頭発表（一般）, 日本語, 第２０回日本ロボット学会学術講演会予稿集
発表日 2002年09月 - 関節ストッパーを利用したマニピュレーションの提案
明愛国; 原田望; 下条 誠; 梶谷誠
口頭発表（一般）, 日本語, 第２０回日本ロボット学会学術講演会予稿集
発表日 2002年09月 - ゴルフスイングロボットに関する研究－新しい手首関節の試作とスイング実験－
原田望; 明愛国; 下条誠; 梶谷 誠
口頭発表（一般）, 日本語, 日本機械学会ロボティクス・メカトロニクス講演会'02講演論文集
発表日 2002年06月 - 高速道路用照明設備メンテナンスロボット CLIMBER の開発－照明ユニット交換システムの開発－
叶燁; 柴崎航也; 伊藤忠; 金森哉吏; 美馬一博; 明愛国; 下条誠; 梶谷 誠; 小林 哲; 会沢雄二
口頭発表（一般）, 日本語, 日本機械学会ロボティクス・メカトロニクス講演会'02講演論文集
発表日 2002年06月 - 同時駆動方式ソナーリングを用いた移動ロボットの高速障害物検出と回避-高速センシングと高速回避の問題点への対応-
梶原一宏; 佐藤治男; 明愛国; 金森哉吏; 下条誠; 梶谷 誠
口頭発表（一般）, 日本語, 日本機械学会ロボティクス・メカトロニクス講演会'02講演論文集
発表日 2002年06月 - 光磁気記録を応用したロータリエンコーダの試作 (第2報） －光磁気記録式ロータリエンコーダの補正転写記録－
飛田和輝; 大平貴之; 梶谷誠; 金森哉吏; 明愛国
口頭発表（一般）, 日本語, 2002年度精密工学会春季大会学術講演会論文集
発表日 2002年03月 - 線状レーザ光を用いた空間座標位置計測（第２３報） －キャリブレーションのための基準円入力作業の自動化－
金森哉吏; 梶谷誠; 下条誠; 明愛国
口頭発表（一般）, 日本語, 2002年度精密工学会春季大会学術講演会論文集
発表日 2002年03月 - 超高精度歯車測定機の精度向上に関する研究－歯形誤差測定における測定誤差の原因解明－
久保田禅; 下条誠; 明愛国; 金森哉吏; 梶谷誠; 竹田龍平
口頭発表（一般）, 日本語, 2002年度精密工学会春季大会学術講演会論文集
発表日 2002年03月 - ゴルフスイングロボットに関する研究 -実打におけるロボットの運動制御-
高山拓也; 手島鉄兵; 明愛国; 梶谷誠
口頭発表（一般）, 日本語, 第19回日本ロボット学会学術講演会予稿集，2I17
発表日 2001年09月 - 同時駆動方式ソナーリングを用いた移動ロボットの障害物検出と回避 - 高速センシングシステムの試作-
梶原一宏; セナラス ゴダクンブラ; 明愛国; 金森哉吏; 梶谷誠
口頭発表（一般）, 日本語, 第19回日本ロボット学会学術講演会予稿集，3F12
発表日 2001年09月 - 能動／受動関節を有する移動マニピュレータによるパイプの挿入作業に関する研究
陳内鉄生; 上村拓人; 佐藤雅一; 明愛国; 金森哉吏; 梶谷誠
口頭発表（一般）, 日本語, 第19回日本ロボット学会学術講演会予稿集，3I18
発表日 2001年09月 - 自律移動ロボットによる搬送作業システムの開発（屋外でのナビゲーション方法及び運用管理システムの開発）
堀井啓介; 松川宗太; 美馬一博; 金森吏哉; 明愛国; 梶谷誠
口頭発表（一般）, 日本語, 日本機械学会ロボティクス・メカトロニクス講演会'01講演論文集1A1-B4
発表日 2001年06月 - ゴルフスイングにおける人間の動的な運動制御技能の検討（アドレスからインパクトまでの軌道生成）
三田拓郎; 明愛国; 梶谷誠
口頭発表（一般）, 日本語, 日本機械学会ロボティクス・メカトロニクス講演会'01講演論文集
発表日 2001年06月 - 楽器演奏ロボットに関する研究（合奏システムの開発）
中西有美; 梶谷誠; 明愛国; 金森哉吏; 美馬一博
口頭発表（一般）, 日本語, 日本機械学会ロボティクス・メカトロニクス講演会'01講演論文集
発表日 2001年06月 - 高速道路用照明設備メンテナンスロボットCLIMBERの開発（ポール昇降システムの実験による性能評価）
柴崎航也; 菊地新,イエイエ; 梶谷誠; 明愛国; 金森更哉; 会沢雄二; 小林哲
口頭発表（一般）, 日本語, 日本機械学会ロボティクス・メカトロニクス講演会'01講演論文集
発表日 2001年06月 - 能動/受動切り替え関節を有する移動マニピュレータによるパイプの挿入実験（挿入制御アルゴリズムの改善）
上村拓人; 佐藤雅一; 陳内鉄生; 明愛国; 梶谷誠; 金森哉吏
口頭発表（一般）, 日本語, 日本機械学会ロボティクス・メカトロニクス講演会'01講演論文集
発表日 2001年06月 - 歯車測定機の精度評価システムに関する研究（第２報）―試作機の性能―
箕浦賢一; 明 愛国; 金森哉吏; 梶谷 誠; 佐藤 孝; 勇崎正年
口頭発表（一般）, 日本語, 日本機械学会第1回機素潤滑設計部門講演会
発表日 2001年04月 - 光磁気記録を応用したロータリエンコーダの開発 (第7報)－マルチスポットピックアップの検討－
中里威晴; 飛田和輝; 梶谷誠; 金森哉吏; 明愛国; 下条誠; 大平貴之
口頭発表（一般）, 日本語, 精密工学会,2001年度精密工学会秋季大会学術講演会講演論文集
発表日 2001年 - 線状レーザ光を用いた空間座標位置計測(第22報) －基準円入力ツールの設置条件がパラメータ同定に及ぼす影響について－
金森哉吏; 梶谷誠; 下条誠; 明愛国
口頭発表（一般）, 日本語, 精密工学会,2001年度精密工学会秋季大会学術講演会講演論文集
発表日 2001年 - Developement of a High Precision Mounting Robot System with Fine Motion Mechanism（5th report）- Positioning Experiments of SCARA Robot with two-axes Fine MotionMechanism -
Ghaylen Limam; Abdelhafid Omari; Aiguo Ming; Chisato Kanamori; Makoto Kajitani; Shuji Nakamura
口頭発表（一般）, 英語, 精密工学会,2001年度精密工学会春季大会学術講演会講演論文集
発表日 2001年 - 複数光ファイバを用いた位置合わせ用センサの試作
小池剛史; 金森哉吏; 明 愛国; 梶谷 誠; 田副彰三; 倉兼則夫
口頭発表（一般）, 日本語, 精密工学会,2001年度精密工学会春季大会学術講演会講演論文集
発表日 2001年 - 光磁気記録を応用したロータリエンコーダの開発（第6報）-目盛本数についての実験的考察-
飛田和輝; 趙 志宇; 中里威晴; 梶谷 誠; 金森哉吏; 明 愛国; 大平貴之
口頭発表（一般）, 日本語, 精密工学会,2001年度精密工学会春季大会学術講演会講演論文集
発表日 2001年 - 線状レーザ光を用いた空間座標位置計測（第21報）-基準円入力ツールを用いたキャリブレーション実験（2）-
金森哉吏; 小泉岳大; 明 愛国; 梶谷 誠
口頭発表（一般）, 日本語, 精密工学会,2001年度精密工学会春季大会学術講演会講演論文集
発表日 2001年 - 光磁気記録を応用したロータリエンコーダの開発（第5報）-補正転写記録の補正量と誤差-
飛田和輝; 趙 志宇; 中里威晴; 梶谷 誠; 金森哉吏; 明 愛国; 大平貴之
口頭発表（一般）, 日本語, 2000年度精密工学会秋季大会学術講演会講演論文集, L25
発表日 2000年10月 - Development of the Fine Positioning Mechanism Attached to the End-Effector of a Mounting Robot（4th report）-Control of the fine positioner considering a disturbance from coarse mechanism-
Ghaylen Limam; Abdelhafid Omari; Aiguo Ming; Chisato Kanamori; Makoto Kajitani; Shuji Nakamura
口頭発表（一般）, 英語, 精密工学会,2000年度精密工学会春季大会学術講演会講演論文集
発表日 2000年 - ゴミ収集ロボットシステム（CAMPUS）の開発～機能追加による実用性の向上～
堀井啓介; 中坊貴亨; 木作佳史; 美馬一博; 金森哉吏; 明 愛国; 梶谷 誠
口頭発表（一般）, 日本語, 日本ロボット学会,第18回日本ロボット学会学術講演会予稿集
発表日 2000年 - 受動／能動切り替え関節を有する移動マニピュレータによるパイプの挿入実験
上村拓人; 佐藤雅一; 長谷川陽一; 梶谷 誠; 明 愛国; 金森哉吏
口頭発表（一般）, 日本語, 日本ロボット学会,第18回日本ロボット学会学術講演会予稿集
発表日 2000年 - 高速道路照明設備メンテナンスロボットCLIMBERの開発-ポール昇降システムの開発-
長谷川敬晃; 柴崎航也; 菊池 新; 梶谷 誠; 明 愛国; 金森哉吏
口頭発表（一般）, 日本語, 日本ロボット学会,第18回日本ロボット学会学術講演会予稿集
発表日 2000年 - Study on Golf Swing Robot -Geneation of optimal trajectory for real system by learning-
Nan LUAN; Aiguo MING; Makoto KAJITANI
口頭発表（一般）, 日本語, 日本ロボット学会,第18回日本ロボット学会学術講演会予稿集
発表日 2000年 - ゴミ収集ロボットシステムCAMPUSの開発～実用化にむけた改良～
中坊貴亨; 堀井啓介; 木作佳史; 美馬一博; 金森哉吏; 明 愛国; 梶谷 誠
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'00講演論文集
発表日 2000年 - 能動／受動切り替え関節を有する移動マニピュレータと人との協調作業実験
長谷川陽一; 佐藤雅一; 上村拓人; 守田克彰; 明 愛国; 梶谷 誠; 金森哉吏
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'00講演論文集
発表日 2000年 - 楽器演奏ロボットに関する研究（ヴァイオリンMUBOTの運指機構の開発）
中内 淳; 中西有美; 梶谷誠; 明 愛国; 金森哉吏
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'00講演論文集
発表日 2000年 - 光磁気記録を応用したロータリエンコーダの開発-精度向上のための実験的研究-
中里威晴; 飛田和輝; 梶谷 誠; 明 愛国; 金森哉吏; 大平貴之
口頭発表（一般）, 日本語, 精密工学会,2000年度精密工学会春季大会第7回学生会員卒業研究発表講演会
発表日 2000年 - ロータリエンコーダ校正システムのための自動心出しシステム
久保田 禅; 大堀友也; 梶谷 誠; 明 愛国; 金森哉吏
口頭発表（一般）, 日本語, 精密工学会,2000年度精密工学会春季大会第7回学生会員卒業研究発表講演会
発表日 2000年 - バックラッシを有する回転伝達機構に関する研究-負荷による影響について-
林田健児; 渡部右近; 明 愛国; 梶谷 誠; 金森哉吏
口頭発表（一般）, 日本語, 精密工学会,2000年度精密工学会春季大会第7回学生会員卒業研究発表講演会
発表日 2000年 - 同時駆動方式ソナーリングを用いた移動ロボットの障害物検出と回避
梶原一宏; 梶谷 誠; 明 愛国; 金森哉吏; Vlastmil Masek
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会関東学生会第39回学生員卒業研究発表会
発表日 2000年 - ゴルフスイングロボットに関する研究（人間に近いグリップ特性を持つゴルフスイングロボットのグリッパの改良）
原田 望; 明 愛国; 梶谷 誠
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会関東学生会第39回学生員卒業研究発表会
発表日 2000年 - 自律移動ロボットによるオフィスビル内搬送作業システムの開発（自動給電システムの開発）
木作佳史; 美馬一博; 金森哉吏; 明 愛国; 梶谷 誠
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会関東学生会第39回学生員卒業研究発表会
発表日 2000年 - Development of the Fine Positioning Mechanism Attached to the End-Effector of a Mounting Robot（4th report）-Control of the fine positioner considering a disturbance from coarse mechanism-
Abdelhafid OMARI; 明 愛国; 中村周至; 金森哉吏; 梶谷 誠
口頭発表（一般）, 日本語, 精密工学会,2000年度精密工学会春季大会学術講演会講演論文集
発表日 2000年 - 光磁気記録を応用したロータリエンコーダの開発（第4報）-補正転写記録について-
飛田和輝; 梶谷 誠; 金森哉吏; 明 愛国; 大平貴之
口頭発表（一般）, 日本語, 精密工学会,2000年度精密工学会春季大会学術講演会講演論文集
発表日 2000年 - ゴミ収集ロボットシステムCAMPUSの開発-運用管理システム-
中坊貴亨; 美馬一博; 金森哉吏; 明 愛国; 梶谷 誠
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'99講演論文集
発表日 1999年 - バックラッシを有する回転伝達機構に関する研究（第4報）-一段歯車減速の計測例-
渡部右近; 藤本貴幸; 梶谷 誠; 金森哉吏; 明 愛国
口頭発表（一般）, 日本語, 精密工学会,1999年度精密工学会秋季大会学術講演会講演論文集
発表日 1999年 - Development of the Fine Positioning Mechanism Attached to the End-Effector of a Mounting Robot（3rd report）-Improvement of the Response Characteristics-
Abdelhafid OMARI; 中村周至; 梶谷 誠; 明 愛国; 金森哉吏
口頭発表（一般）, 日本語, 精密工学会,1999年度精密工学会秋季大会学術講演会講演論文集
発表日 1999年 - 光磁気記録を応用したロータリエンコーダの開発（第3報） -面振れによる誤差について-
飛田和輝; 梶谷誠; 金森哉吏; 明 愛国; 大平貴之
口頭発表（一般）, 日本語, 精密工学会,1999年度精密工学会秋季大会学術講演会講演論文集
発表日 1999年 - ロータリエンコーダ校正システムのための自動心出しシステム
大堀友也; 箕浦賢一; 梶谷 誠; 金森哉吏; 明 愛国
口頭発表（一般）, 日本語, 精密工学会,1999年度精密工学会秋季大会学術講演会講演論文集
発表日 1999年 - Simultaneous Sonar Firing System for Rapid Obstacle Avoidance
Vlastimil Masek; 梶谷誠; 明 愛国; 金森哉吏
口頭発表（一般）, 日本語, 日本ロボット学会,第17回日本ロボット学会学術講演会予稿集
発表日 1999年 - ゴルフスイングロボットに関する研究-最適軌道生成に関する基本検討-
明 愛国; 徐 濱; 梶谷 誠
口頭発表（一般）, 日本語, 日本ロボット学会,第17回日本ロボット学会学術講演会予稿集
発表日 1999年 - 2台の移動マニピュレータによる協調作業に関する研究-能動/受動切り替え機能を用いた移動マニピュレータの実験-
佐藤雅一; 長谷川陽一; 上村拓人; 明 愛国; 梶谷 誠; 金森哉吏
口頭発表（一般）, 日本語, 日本ロボット学会,第17回日本ロボット学会学術講演会予稿集
発表日 1999年 - ゴミ収集ロボットシステムCAMPUSの開発-運用管理システム-
中坊貴亨; 美馬一博; 堀井啓介; 金森哉吏; 明 愛国; 梶谷 誠
口頭発表（一般）, 日本語, 日本ロボット学会,第17回日本ロボット学会学術講演会予稿集
発表日 1999年 - 非円錐テーパを用いた物体取り付け装置に関する研究
石川喜彦; 会沢雄二; 長谷川敬晃; 梶谷 誠; 明 愛国; 金森哉吏
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'99講演論文集
発表日 1999年 - 2台の移動マニピュレータによる協調作業に関する研究-能動/受動切替え関節を有する移動マニピュレータの基礎実験-
佐藤雅一; 長谷川陽一; 佐藤太郎; 明 愛国; 梶谷 誠; 金森哉吏
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'99講演論文集
発表日 1999年 - 楽器演奏ロボットに関する研究-ヴァイオリンMUBOTの運指機構の開発-
中内 淳; 中西有美; 梶谷 誠; 明 愛国; 金森哉吏
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'99講演論文集
発表日 1999年 - オフィスビルにおける搬送作業移動ロボットシステム
梶谷 誠; 美馬一博; 金森哉吏; 明 愛国
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'99講演論文集
発表日 1999年 - 楽器演奏ロボット（チェロ）に関する研究-チェロMUBOTのヴィブラート機構の改良-
中西有美; 中内 淳; 梶谷 誠; 明 愛国; 金森哉吏
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会関東学生会第38回学生員卒業研究発表会
発表日 1999年 - ソナーリングを用いた超音波同時発射方式の障害物検知システムの開発
上村拓人; マシェックブラスティミル; 梶谷 誠; 明 愛国; 金森哉吏
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会関東学生会第38回学生員卒業研究発表会
発表日 1999年 - 自動移動ロボットによるオフィスビル内搬送作業システムの開発-自律移動ロボットの状態遠隔監視システムの開発-
堀井啓介; 美馬一博; 梶谷 誠; 明 愛国; 金森哉吏
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会関東学生会第38回学生員卒業研究発表会
発表日 1999年 - 光磁気記録を応用したロータリエンコーダの開発（第２報）-誤差要因について-
飛田和輝; 大平貴之; 梶谷 誠; 金森哉吏; 明 愛国
口頭発表（一般）, 日本語, 精密工学会,1999年度精密工学会春季大会学術講演会論文集
発表日 1999年 - High Accuracy Optocal Fiber Positoning Sensor for Flip-Chip Mounting-Operation & Analysis of Modulation Properties-
王 暁東; 梶谷 誠; 明 愛国; 金森哉吏; 山田 登
口頭発表（一般）, 日本語, 精密工学会,1999年度精密工学会春季大会学術講演会論文集
発表日 1999年 - ゴミ収集ロボットシステムの開発
美馬一博; 中坊貴亨; 長谷川敬晃; 金森哉吏; 明 愛国; 梶谷 誠
口頭発表（一般）, 日本語, 精密工学会,1999年度精密工学会春季大会学術講演会論文集
発表日 1999年 - ゴルフスイングロボットの学習制御
明 愛国; 梶谷 誠
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会スポーツ工学シンポジウム講演論文集
発表日 1999年 - 光磁気記録を応用したロータリエンコーダの開発（第1報）-原理と基礎実験-
飛田和輝; 大平貴之; 梶谷 誠; 金森哉吏; 明 愛国
口頭発表（一般）, 日本語, 精密工学会,1998年度精密工学会秋季大会学術講演会
発表日 1998年 - 組立ロボットのエンドエフェクタ用微動機構に関する研究（第2報）-2次元位置決め特性-
増田修一; 安倍重敏; A. Omari; 梶谷 誠; 明 愛国; 金森哉吏
口頭発表（一般）, 日本語, 精密工学会,1998年度精密工学会秋季大会学術講演会
発表日 1998年 - ゴルフスイングロボットに関する研究-学習制御による精度向上-
明 愛国; 梶谷 誠; 河野高士
口頭発表（一般）, 日本語, 日本ロボット学会,第16回日本ロボット学会学術講演会予稿集
発表日 1998年 - ２台の移動マニュピュレータによる協調作業に関する研究-能動／受動切替え関節を有するマニピュレーターの基本性能-
長谷川陽一; 佐藤雅一; 明 愛国; 梶谷 誠; 金森哉吏
口頭発表（一般）, 日本語, 日本ロボット学会,第16回日本ロボット学会学術講演会予稿集
発表日 1998年 - ゴミ収集ロボットシステムCAMPUSの開発-ゴミ集積所自動化システムの開発と実用化-
長谷川敬晃; 美馬一弘; 金森哉吏; 明 愛国; 梶谷 誠
口頭発表（一般）, 日本語, 日本ロボット学会,第16回日本ロボット学会学術講演会予稿集
発表日 1998年 - タイル剥離有無の自動識別方法に関する検討
堂山敦弘; 菱河恭一; 縄岡好人; 梶谷 誠; 明 愛国; 金森哉吏
口頭発表（一般）, 日本語, 日本建築学会,日本建築学会大会学術講演概要集
発表日 1998年 - ゴミ収集ロボットシステムCAMPUSの開発～ゴミ集積所自動化システムの開発と実用化実験～
美馬一博; 長谷川敬晃; 金森哉吏; 明 愛国; 梶谷 誠
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'98講演論文集
発表日 1998年 - ２台の移動マニピュレータによる協調作業に関する研究-能動／受動切替え関節を有するマニピュレーター
佐藤雅一; 明 愛国; 梶谷 誠; 金 哉吏
口頭発表（一般）, 日本語, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会'98講演論文集
発表日 1998年 - ゴルフスイングロボットに関する研究-制御方法に関する検討-(共著)
明 愛国; 梶谷 誠
口頭発表（一般）, 日本語, 日本機械学会ロボティクス・メカトロニクス'96講演論文集
発表日 1996年
担当経験のある科目_授業
- 力学
電気通信大学 - Advanced Robotics and Mechatronics Engineering
電気通信大学 - Advanced Robotics and Mechatronics Engineering
The University of Electro-Communications - Advanced Robotics and Mechatronics Engineering
電気通信大学 - 力学演習
The University of Electro-Communications - 力学演習
電気通信大学 - 力学演習
電気通信大学 - 力学
The University of Electro-Communications - 力学
電気通信大学
共同研究・競争的資金等の研究課題
- 歯車測定ロボットに関する研究
大阪精密株式会社
研究期間 2024年04月 - 2025年03月 - 関節可動限界受動機構の導入による四脚ロボットの運動性能の高度化
明 愛国
日本学術振興会, 科学研究費助成事業, 電気通信大学, 基盤研究(C), 研究代表者, 22K04009
研究期間 2022年04月 - 2025年03月 - 近接覚を用いた自律制御型ハンドの研究開発と不良視環境下での遠隔操作への応用
下条 誠
研究期間 2014年 - 2016年 - 非駆動関節とフレキシブルアームを有する超高速マニピュレータの制御
明 愛国
日本学術振興会, 科学研究費助成事業, 電気通信大学, 奨励研究(A), 本研究は,人間の運動制御技能を実現できる超高速マニピュレータとしての非駆動関節とフレキシブルアームを持つ超高速マニピュレータの制御法の研究開発を目的としている.本年度では,このようなマニピュレータについて,実モデルのための最適軌道の生成法に関する研究,高速インパクト動作を考慮した運動制御方法の考案,及びゴルフスイングロボットを用いた検証実験を行い,以下の成果を得た. 1)素振り動作について,学習による動力学モデルの改善,改善された動力モデルに基づいた最適軌道の生成,この最適軌道に基づいたフィードフォワード+フィードバック制御による運動実験を繰り返すことにより,フレキシビリティ,非駆動関節によるクラブの固定状態と自由回転状態の遷移及び動力学モデルパラメータの誤差を考慮した実モデルのための実最適軌道生成法を提案した.これをゴルフスイングロボットに実装してスイング運動の実験を行うことによって,最終的にフィードフォワードのみの制御により実モデルに合った精度の高い最適運動軌道を実現できることを確認した. 2)非駆動関節とフレキシブルアームを有する超高速マニピュレータにおけるインパクト制御問題を取り上げ,運動量保存則によるインパクト過程を定式化し,これも含んだ実モデルの運動学習,実モデルに基づいた運動軌道の最適化およびインパクト実験を繰り返すマニピュレータの運動制御方法を提案した.これをゴルフスイングロポットに実装してポールの実打実験を行い,所定のインパクトと滑らかなスイング運動の制御が実現できた., 11750202
研究期間 1999年 - 2000年 - 複数の自律分散型ロボット間の協調に関する研究
梶谷 誠; 金森 哉吏; 明 愛国; 青山 尚之; VLACIC Ljubi
日本学術振興会, 科学研究費助成事業, 電気通信大学, 基盤研究(B), 本研究は,複数の自律移動ロボット間の協調のための基礎研究として,協調制御アルゴリズムおよびそれに必要なセンサシステムの開発を行い,実システムによって,その有効性を実証することを目的としている.電気電信大学側とグリフィス大学側で,知的な自律分散システムのあり方について,その基本的な考え方を議論し,その結果に基づいて移動ロボットを用いて実験的な研究を行い,次の結果を得た. 1)複数の赤外線および超音波センサの特徴を強調的に利用した障害物検出と回避のアルゴリズムを開発し,それらを搭載した移動ロボットを用いた実験により有効性を実証した. 2)複数のロボットが道路上を走行する場合の衝突回避のために,センサと通信を用いた強調的な回避動作を行うアルゴリズムについて検討し,2台から4台のロボットを用いた実験により有効性を検証した.さらに,車線追従,前方ロボットへの追従,追従のための走行制御アルゴリズムとセンサシステムとを開発し,実験によりその有効性を確認した. 3)障害物検出の高速化と精度向上を目的とした新しいセンサシステム(同時発射方式複数超音波ソナーリング)を開発し,地図作成の有効性を実証した.また,それを移動ロボットに搭載して障害物回避実験を行い,複雑な環境においても高速に回避することができた. 4)移動マニピュレータによる協調作業問題を検討するため,能動/受動切替関節を有するアームを搭載した移動ロボットを開発した.さらに人間との協調作業実験を行い,能動/受動切替調節の特徴を生かして,パイプの取り外し,搬送,取り付けという一連の動作を簡単な制御方法で実現することができることを示した., 10044141
研究期間 1998年 - 1999年 - 回転伝達機構の総合角度伝達特性計測システムの開発
梶谷 誠; 金森 哉吏; 明 愛国
日本学術振興会, 科学研究費助成事業, 電気通信大学, 基盤研究(B), メカトロ機器において回転伝達機構の角度伝達誤差やバックラッシ,あるいは剛性などがサーボの特性に大いに影響する.本研究は回転伝達機構の特性と制御特性の関係を定量的に明らかにすることを目的とし,汎用的な回転伝達機構の総合角度伝達特性計測システムの開発を行い,開発したしシステムの性能の評価と代表的な回転伝達機構の回転特性の計測実験を行った. 1)開発した計測システムは,各種回転伝達機構(歯車減速機,摩擦伝動装置,タイミングベルト装置など)を対象にした汎用的で,負荷イナーシャ,負荷トルク,入力速度パターンなどの試験条件を簡単に設定できるシステムである.本装置を用いて,回転伝達機構の回転伝達誤差,バックラッシュ量,ねじり剛性と制御特性(速度制御誤差,位置決め誤差,ステップ応答,安定性など)を計測でき,コンピュータ上の表示やプリンタへの出力が簡単にできる. 2)剛性直結カップリング,バックラッシを有するカップリングと歯車減速機を用いて,静的な回転伝達特性の計測実験を行い,従来の歯車かみ合い試験機の性能を実現できたとともに,従来できないバックラッシの連続的な測定を高精度に測定できたことがわかった.また歯車について,歯面仕上げ方法による伝達精度への影響まで調べられることが実験により確認された. 3)バックラッシを有するカップリングと平歯車減速機の動的な計測実験を行い,バックラッシに起因する駆動側と受動側の接触,衝突(片面,両面),非接触からなる複雑な振動現象を観測することができた. 4)本システムの力学系と制御系のモデルを作成し,回転伝達の運動シミュレーションを行い,実験で観察した現象を定量的に再現することができた.これらのモデルに基づき,バックラッシを有する制御系をより適切に設計することが可能である., 09555054
研究期間 1997年 - 1999年 - アームを有する2台の移動ロボットによる協調作業に関する研究
梶谷 誠; 金森 哉吏; 明 愛国
日本学術振興会, 科学研究費助成事業, 電気通信大学, 基盤研究(B), 1台のロボットでできない作業は複数のロボットで協調して行う必要がある.本研究は,2台の移動ロボットにより長尺パイプを設置された状態から取り外し,所定の経路を通って指定の場所まで搬送し,指定された位置に取り付けるという一連の具体的作業を設定し,その実現に必要なさまざまな問題を解決することを目的とし,以下の結果を得ている. (1) 2台の移動ロボットにより一連の作業(取り外し,搬送と取り付け)を行うシステムの概念設計を行った.まず一連の作業について解析を行い,2台の移動ロボットによる協調作業を前提としたマニピュレーション機能,移動機能を検討した.そして,各機能を実現でき,かつ簡単なシステムとして2輪独立駆動式の移動部と能動/受動切り替え可能な関節を有するマニピュレータからなる移動マニピュレータシステムを提案し,協調制御を考慮してマニピュレータの自由度の数と関節配置方法を決めた. (2) 5自由度の能動/受動切り替え可能な関節を有するマニピュレータと2輪独立駆動式の移動部からなる移動マニピュレータを設計し,試作した.能動/受動切り替え関節において,電磁クラッチを用いて切り替えを行い,受動時にも各関節の各位置を知るために関節軸にエンコーダも取り付けている. (3) 開発した1台の移動マニピュレータと人間の協調により,本研究で設定した一連の作業実験を行った.新たに開発した運動計画ソフトウエアにより移動マニピュレータの軌道を生成し,これらの作業を行う.受動関節により各作業中の位置誤差を吸収し,受動関節の変位に基づき移動マニピュレータの軌道修正を行う制御アルゴリズムを提案した.これらにより,人間との協調によりこの一連の作業を簡単な制御方法で成功させた. 今後,以上の成果に基づき2台の移動マニピュレータによる作業実験を行っていく予定である., 08455120
研究期間 1996年 - 1998年
学術貢献活動
- IEEE ICMA2025 Organizing Co-Chair
企画立案・運営等, 実施期間 2024年09月 - 2025年08月 - IEEE ICMA 2024 Award Chair
審査・評価, 実施期間 2024年08月 - 2024年08月 - IEEE ICMA 2024 Organizing Co-Chair
企画立案・運営等, 実施期間 2023年10月 - 2024年08月 - IEEE ICRA2024
学会・研究会等, 企画立案・運営等, IEEE, 実施期間 2023年04月01日 - 2024年05月 - 第29回ロボティクスシンポジア・査読およびプログラム委員
査読, 実施期間 2023年11月 - 2024年03月 - Mechatronics & AISM 2023
学会・研究会等, パネル司会・セッションチェア等, Mechatronics & AISM 2023, 実施期間 2023年09月09日 - 2023年09月11日 - IEEE ICMA 2023
学会・研究会等, 企画立案・運営等, IEEE, 実施期間 2023年04月 - 2023年08月
