佐藤 隆紀
| 機械知能システム学専攻 | 助教 |
| Ⅱ類（融合系） | 助教 |
研究者情報
経歴
学歴
研究活動情報
受賞
- 受賞日 2024年12月
第25回計測自動制御学会システムインテグレーション部門講演会(SI2024)
足先に近接覚を備えた脚ロボットの着地制御 -足先近接覚センサの試作と斜面への適応着地実験-
優秀講演賞, 小林 潤平;佐藤 隆紀;有田 輝;明 愛国
国内学会・会議・シンポジウム等の賞, 日本国 - 受賞日 2023年09月
Mecatronics&AISM2023
: Motion Planning of a Quadruped Robot with Joint Stop Mechanism on an Active Spine Joint
Best Paper Award, Samuel Samak;Julie Morini;Ryuki Sato;Regis Plateaux;Jean-Yves Choley;Aiguo Ming - 受賞日 2020年03月
通機会
田中榮賞, 佐藤隆紀 - 受賞日 2018年12月
IEEE ROBIO2018
: Design and Implementation of Jumping Robot with Multi-springs Based on the Coupling of Polyarticular
Best Paper in Biomimetics Award, Lei Wang;Fei Meng;Huaxin Liu;Xuxiao Fan;Ryuki Sato;Aiguo Ming;Qiang Huang - 受賞日 2016年03月
日本機械学会
三浦賞, 佐藤隆紀 - 受賞日 2015年12月
IEEE ROBIO2015
: Development of A Small Quadruped Robot with Bi-articular Muscle-tendon Complex
Best Biomimetics Paper Award, Eiki Kazama;Ryuki Sato;Ichiro Miyamoto;Aiguo Ming;Makoto Shimojo - 受賞日 2015年08月
IEEE ICIA2015
: Development of Robot Leg Composed of Parallel Linkage and Elastic Spring for Dynamic Locomotion
Gai Tech Best Paper in Robotics Award of IEEE ICIA 2015, Aiguo Ming;Keigo Sato;Ryuki Sato;Eiki Kazama;Ichiro Miyamoto;Makoto Shimojo - 受賞日 2012年12月
第6回RTミドルウェアコンテスト
：小型ヒューマノイドのためのRTMを用いた共通プラットフォームの開発
グローバルアシスト賞, 佐藤隆紀;松田啓明;藤枝元幸;畑元;明愛国 - 受賞日 2012年12月
第6回RTミドルウェアコンテスト
：小型ヒューマノイドのためのRTMを用いた共通プラットフォームの開発
日本ロボット工業会賞, 佐藤隆紀;松田啓明;藤枝元幸;畑元;明愛国
論文
- Analytical and Experimental Study on a Versatile Landing System with Shock Response Mechanism
Pengcheng Li; Ryuki Sato; Susumu Hara
Aerospace Science and Technology, Elsevier BV, 157巻, 109807号, 掲載ページ 1-17, 出版日 2025年02月, 査読付
研究論文（学術雑誌）, 英語 - 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
筆頭著者, Sensors, 25巻, 2号, 掲載ページ 470, 出版日 2025年01月, 査読付
研究論文（学術雑誌）, 英語 - Development of DEA Underwater Robot Mimicking Fish White Muscle Structure
Kansei Yamaguchi; Taro Hitomi; Toi Nishimura; Ryuki Sato; Aiguo Ming
Proceedings of the 2024 IEEE International Conference on Robotics and Biomimetics, 掲載ページ 687-692, 出版日 2024年12月11日, 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 new gear profile measuring machine with five-link closed-loop mechanism
Naoki Hashimoto; Ryuki Sato; Aiguo Ming
Precision Engineering, Elsevier BV, 91巻, 掲載ページ 739-751, 出版日 2024年12月, 査読付
研究論文（学術雑誌）, 英語 - Development of a Multifingered Hand with Proximity Sensors for Aerial Manipulation
Tadashi Wada; Yuki Inoue; Koichi Sasaki; Ryuki Sato; Aiguo Ming
責任著者, IEEE Sensors Journal, Institute of Electrical and Electronics Engineers (IEEE), 24巻, 21号, 掲載ページ 35664-35672, 出版日 2024年11月, 査読付
研究論文（学術雑誌）, 英語 - Development of a Novel Actuation Mechanism For a Legged Robot With Mono- and Bi-articulated Drive and Parallel Elasticity
Dan Otaki; Ryuki Sato; Aiguo Ming
2024 IEEE International Conference on Mechatronics and Automation (ICMA), IEEE, 掲載ページ 912-917, 出版日 2024年08月04日, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Operability evaluation of manual operation control for force-sensorless power-assist transport cart
Ryuki Sato; Ryuga Nishida; Susumu Hara; Hiroyuki Okuda; Mitsuru Nagatsuka; Masahiko Tsuji; Tatsuya Suzuki
筆頭著者, Mechatronics, 100巻, 掲載ページ 103189, 出版日 2024年04月, 査読付, 国際誌
研究論文（学術雑誌）, 英語 - Fundamental Study on Adaptive Shock Response Control for Emergency Landing of UAVs and Its Experimental Investigation
Pengcheng Li; Ryuki Sato; Masaki Hasegawa; Susumu Hara
IEEJ Journal of Industry Applications, Institute of Electrical Engineers of Japan (IEE Japan), 13巻, 2号, 掲載ページ 135-145, 出版日 2024年03月, 査読付
研究論文（学術雑誌）, 英語 - Elastic Force Feedback CPG-Based Gait Control for a Quadruped Robot with a Bioinspired Leg Mechanism
Saya Amioka; Ryuki Sato; Aiguo Ming
2023 IEEE International Conference on Robotics and Biomimetics, 掲載ページ 1-6, 出版日 2023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 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
責任著者, Mecatronics & AISM 2023, 出版日 2023年09月, 査読付, 国際共著論文
研究論文（国際会議プロシーディングス）, 英語 - Longitudinal and Turning Manual Operation Control for a Force Sensorless Power-Assisted Transport Cart
Ryuki Sato; Ryuga Nishida; Susumu Hara; Hiroyuki Okuda; Mitsuru Nagatsuka; Masahiko Tsuji; Tatsuya Suzuki
筆頭著者, 22nd IFAC World Congress, 56巻, 2号, 掲載ページ 1121-1126, 出版日 2023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 - 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, 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）, 英語 - Adaptive Mode-switching From Autonomous Driving Mode to Manual Operation Mode of Mobile Robot Based on Body Sway
Ryuki Sato; Shoya Hirokawa; Susumu Hara; Ryuga Nishida; Hiroyuki Okuda; Mitsuru Nagatsuka; Tatsuya Suzuki
筆頭著者, システム制御情報学会論文誌, 36巻, 3号, 掲載ページ 55-63, 出版日 2023年03月, 査読付
研究論文（学術雑誌）, 英語 - Fundamental Study on Emergency Landing System Design of UAVs
Masaki Hasegawa; Ryuki Sato; Pengcheng Li; Susumu Hara
IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, 掲載ページ 289-292, 出版日 2023年03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 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 - Mode-switching of Autonomous Mobile Robot Based on Body Sway
Ryuki Sato; Shoya Hirokawa; Susumu Hara; Ryuga Nishida; Hiroyuki Okuda; Mitsuru Nagatsuka; Tatsuya Suzuki
筆頭著者, 2022 International Symposium on Flexible Automation (ISFA2022), 掲載ページ 107-112, 出版日 2022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 - 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）, 英語 - 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
筆頭著者, 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）, 英語 - 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）, 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 AG, 11巻, 4号, 掲載ページ 1421-1421, 出版日 2021年02月, 査読付, 国際誌, 国際共著論文, Legged robots imitating animals have become versatile and applicable in more application scenarios recent years. Most of their functions rely on powerful athletic abilities, which require the robots to have remarkable actuator capacities and controllable dynamic performance. In most experimental demonstrations, continuous hopping at a desired height is a basic required motion for legged robots to verify their athletic ability. However, recent legged robots have limited ability in balance of high torque output and actuator transparency and appropriate structure size at the same time. Therefore, in our research, we developed a parallel robot leg using a brushless direct current motor combined with a harmonic driver, without extra force or torque sensor feedback, which uses virtual model control (VMC) to realize active compliance on the leg, and a whole-leg control system with dynamics modeling and parameter optimization for continuous vertical hopping at a desired height. In our experiments, the robot was able to maintain stability during vertical hopping while following a variable reference height in various ground situations.
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
Kimitake Ueki; Ryuki Sato; Aiguo Ming; Makoto Shimojo; Moncef Hammadi; Jean-Yves Choley
Proceedings of 2020 21st International Conference on Research and Education in Mechatronics (REM), IEEE, 掲載ページ 1-6, 出版日 2020年12月, 査読付, 国際共著論文, For bipedal robots, how to realize natural, versatile and dynamic motions like human is still a challenging topic. In order to achieve such high performance by bipedal robots, one useful approach is to develop joint mechanism with high back-drivability, that makes the dynamic coupling forces such as inertia force, centrifugal force available for dynamic motions and results reduction of necessary capacity for joint actuators leading to the reduction of weight of the robot. For this purpose, in this paper, we propose a novel knee joint mechanism consisting of a crossed four-bar linkage with variable transmission (CFLVT) and a joint stop inspired from human structure. CFLVT behaves as a transmission with variable reduction ratio according the knee joint angle to smooth the static torque so that the knee joint can be driven by a small actuator with low reduction ratio. In addition, a joint stop at the maximum extending angle is introduced in the knee joint which is useful for force assist just like that of a human. The characteristic and design of CFLVT and joint stop are described first. And a prototype of the bipedal robot implemented with CFLVT and joint stop is developed. The feasibility of the proposed mechanism is shown by experimental results for walking and kicking motions.
研究論文（国際会議プロシーディングス） - 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
筆頭著者, 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 - Design of Robot Leg with Variable Reduction Ratio Crossed Four-bar Linkage Mechanism
Kohei Tomishiro; Ryuki Sato; Yasuji Harada; Aiguo Ming; Fei Meng; Huaxin Liu; Xuxiao Fan; Xuechao Chen; Zhangguo Yu; Qiang Huang
Proceedings of 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 掲載ページ 4333-4338, 出版日 2019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 - Optimization of Standing Long Jump Strategy on a Small Quadruped Robot
Zewen He; Fei Meng; Huaxin Liu; Xuxiao Fan; Shengkai Liu; Ryuki Sato; Aiguo Ming; Qiang Huang
Proceedings of 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, 掲載ページ 1226-1231, 出版日 2018年12月, 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 - Design and Implementation of Jumping Robot with Multi-Springs Based on the Coupling of Polyarticular
Lei Wang; Fei Meng; Huaxin Liu; Xuxiao Fan; Ryuki Sato; Aiguo Ming; Qiang Huang
Proceedings of 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, 掲載ページ 287-292, 出版日 2018年12月, 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 - Development of a Bipedal Robot with Bi-articular Muscle-tendon Complex between Hip and Knee Joint
Shuma Hiasa; Ryuki Sato; Aiguo Ming; Fei Meng; Huaxin Liu; Xuxiao Fan; Xuechao Chen; Zhangguo Yu; Qiang Huang
Proceedings of 2018 IEEE International Conference on Cyborg and Bionic Systems (CBS), IEEE, 掲載ページ 391-396, 出版日 2018年10月, 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 a Bio-inspired Flexible Tail System
Benjamin Simon; Ryuki Sato; Jean-Yves Choley; Aiguo Ming
Proceedings of 2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, IEEE, 掲載ページ 230-235, 出版日 2018年09月, 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 - Introduction of Toe Mechanism with Bi-articular Tendon into Legged Robot
Kanako Kurokawa; Ryuki Sato; Shuma Hiasa; Aiguo Ming; Fei Meng; Huaxin Liu; Xuxiao Fan; Xuechao Chen; Zhangguo Yu; Qiang Huang
Proceedings of 2018 IEEE International Conference on Mechatronics and Automation (ICMA), 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 - Method of Design Optimization and Trajectory Implementation on a Small Cat-Like Robot
Zewen He; Fei Meng; Huaxin Liu; Lei Wang; Xin Zhu; Xuxiao Fan; Ryuki Sato; Aiguo Ming; Qiang Huang
22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control, 掲載ページ 323-330, 出版日 2018年06月, 査読付
研究論文（研究会，シンポジウム資料等）, 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
筆頭著者, Proceedings of 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, 掲載ページ 2605-2610, 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 - Development of a Flexible Tail for Legged Robot
Ryuki Sato; Shun Hashimoto; Aiguo Ming; Makoto Shimojo
筆頭著者, Proceedings of 2016 IEEE International Conference on Mechatronics and Automation (ICMA), IEEE, 掲載ページ 683-688, 出版日 2016年08月, 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 - Development of a Flexible Coupled Spine Mechanism for a Small Quadruped Robot
Ryosuke Kawasaki; Ryuki Sato; Eiki Kazama; Aiguo Ming; Makoto Shimojo
Proceedings of 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO), 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 - Development of a Small Quadruped Robot With Bi-articular Muscle-tendon Complex
Eiki Kazama; Ryuki Sato; Ichiro Miyamoto; Aiguo Ming; Makoto Shimojo
Proceedings of 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, 掲載ページ 1059-1064, 出版日 2015年12月, 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 - Development of Robot Legs Inspired by Bi-articular Muscle-tendon Complex of Cats
Ryuki Sato; Ichiro Miyamoto; Keigo Sato; Aiguo Ming; Makoto Shimojo
筆頭著者, Proceedings of 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 掲載ページ 1552-1557, 出版日 2015年10月, 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 - Development of Robot Leg Composed of Parallel Linkage and Elastic Spring for Dynamic Locomotion
Aiguo Ming; Keigo Sato; Ryuki Sato; Eiki Kazama; Ichiro Miyamoto; Makoto Shimojo
Proceedings of 2015 IEEE International Conference on Information and Automation, IEEE, 掲載ページ 38-43, 出版日 2015年08月, 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 Leg Mechanism Using a Knee Joint with Continuously Variable Reduction Ratio Adaptive to Load
Takuma Uchida; Ryuki Sato; Aiguo Ming; Makoto Shimojo
Proceedings of 2015 IEEE International Conference on Mechatronics and Automation (ICMA), IEEE, 掲載ページ 1199-1203, 出版日 2015年08月, 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 an Entertainment Robot System using Kinect
Aiguo Ming; Kazuya Enomoto; Mizuki Shinozaki; Ryuki Sato; Makoto Shimojo
2014 10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics (MECATRONICS), IEEE, 掲載ページ 127-132, 出版日 2014年11月, 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 Leg Mechanism Using a Knee Joint With Variable Reduction Ratio Adaptive to Load
Aiguo Ming; Syunpei Nozawa; Ryuki Sato; Zhangguo Yu; Makoto Shimojo
Proceedings of 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, 掲載ページ 1574-1579, 出版日 2013年12月, 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 - Design and Implementation of Common Platform for Small Humanoid Robots
Ryuki Sato; Hiroaki Matsuda; Motoyuki Fujieda; Hajime Hata; Aiguo Ming
責任著者, Proceedings of 2013 IEEE International Conference on Mechatronics and Automation (ICMA), IEEE, 掲載ページ 855-860, 出版日 2013年08月, 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
MISC
講演・口頭発表等
- 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-
小林潤平; 佐藤隆紀; 有田輝; 明愛国
ポスター発表, 日本語, 第25回計測自動制御学会システムインテグレーション部門講演会（SI2024）
発表日 2024年12月18日
開催期間 2024年12月18日- 2024年12月20日 - 動物の筋骨格構造と運動制御を規範とした脚ロボットのための駆動機構の研究開発
佐藤隆紀
口頭発表（招待・特別）, 日本語, 巧みなアクチュエーション技術に関する調査専門委員会, 招待
発表日 2024年12月13日 - 脚ロボットに用いられるモータ技術のトレンドと研究事例
佐藤隆紀
公開講演，セミナー，チュートリアル，講習，講義等, 日本語, 令和６年度 モータドライブ応用研究会総会講演会, 招待
発表日 2024年07月22日
開催期間 2024年07月22日- 2024年07月22日 - Adaptive Landing Control using a Tiptoe Proximity Sensor
Junpei Kobayashi; Ryuki Sato; Aiguo Ming
ポスター発表, 英語, ICRA 2024 Full-day Workshop "Agile Movements II: Animal Behavior, Biomechanics, and Robot Devices", 査読付
発表日 2024年05月13日
開催期間 2024年05月13日- 2024年05月13日 - 二関節間弾性機構を有する脚ロボットの軟着地制御
佐藤隆紀; 明愛国
ポスター発表, 日本語, 第24回計測自動制御学会システムインテグレーション部門講演会（SI2023）
発表日 2023年12月
開催期間 2023年12月14日- 2023年12月16日 - 足先近接覚に基づく１脚ロボットの着地衝撃緩和制御
佐藤隆紀; 有田輝; 明愛国
ポスター発表, 日本語, 第24回計測自動制御学会システムインテグレーション部門講演会（SI2023）
発表日 2023年12月
開催期間 2023年12月14日- 2023年12月16日 - Simulation Analysis of an Adaptive Shock Response Mitigation Mechanism for UAVs’ Emergency Landing Systems
Pengcheng Li; Ryuki Sato; Susumu Hara
口頭発表（一般）, 日本語, 第66回自動制御連合講演会
発表日 2023年10月
開催期間 2023年10月07日- 2023年10月08日 - 動物の筋腱複合体を規範とする脚ロボットの研究開発-上腿と下腿に二間接筋腱複合体を有するロボットの前方跳躍運動制御 -
岩本惇史; 眞嶋希; 佐藤隆紀; 明愛国
ポスター発表, 日本語, 日本機械学会ロボット・メカトロニクス講演会2023
発表日 2023年06月
開催期間 2023年06月28日- 2023年07月01日 - Introduction of Joint Stop into Legged Robot for Agile Locomotion
Ryuki Sato; Hikari Miyazaki; Aiguo Ming
ポスター発表, 英語, IEEE International Conference on Robotics and Automation, Full day workshop "Agile Movements: Animal Behavior, Biomechanics, and Robot Devices"
発表日 2023年06月
開催期間 2023年05月29日- 2023年06月02日 - 架台揺動に基づく操作力オブザーバを用いたパワーアシスト台車の複数参加者による操作性評価実験
西田 龍我; 佐藤 隆紀; 原 進; 奥田 裕之; 永塚 満; 辻 昌彦; 鈴木 達也
口頭発表（一般）, 日本語, 日本機械学会東海支部第 72 期総会・講演会
発表日 2023年03月 - 衝撃力に対して適応的に対処方法を選択できる衝撃応答制御機構
長谷川 真大; 佐藤 隆紀; 原 進
ポスター発表, 日本語, 第23回計測自動制御学会システムインテグレーション部門講演会
発表日 2022年12月 - 架台の揺れを入力として利用したパワーアシスト機能を有する搬送機器の操作特性評価
西田龍我; 原進; 佐藤隆紀; 廣川翔也
口頭発表（一般）, 日本語, 第65回自動制御連合講演会
発表日 2022年11月 - 振動する部分を直接把持して操作するパワーアシスト搬送機器の操作特性について
西田龍我; 原進; 佐藤隆紀; 廣川翔也
口頭発表（一般）, 日本語, 日本機械学会東海支部第71期総会・講演会
発表日 2022年03月 - Design and Control of Legged Robots Using Bio-inspired Mechanism
Ryuki Sato
シンポジウム・ワークショップパネル（指名）, 英語, IEEE/RSJ International Conference on Intelligent Robots and Systems, Full day workshop "Articulated Actuation Towards Human Capabilities for Robots", 招待
発表日 2019年11月
開催期間 2019年11月- 2019年11月 - 動物の筋腱複合体を規範とする小型四脚ロボット研究開発-股関節と膝関節間での駆動トルクの相互利用を可能とする脚機構の開発-
日浅崇馬; 佐藤隆紀; 風間英気; 明愛国; 下条誠
ポスター発表, 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
発表日 2017年05月
開催期間 2017年05月- 2017年05月 - 動物の筋腱複合体を規範とする小型四脚ロボット研究開発-柔軟な背骨機構の開発-
川崎涼祐; 佐藤隆紀; 風間英気; 明愛国; 下条誠
ポスター発表, 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
発表日 2016年06月 - 小型ヒューマノイドのためのRTMを用いた共通プラットフォームの開発
佐藤隆紀; 松田啓明; 藤枝元幸; 畑元; 明愛国
口頭発表（一般）, 日本語, 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 2012年12月
開催期間 2012年12月- 2012年12月
共同研究・競争的資金等の研究課題
- 生物規範脚ロボットの全身筋腱網を活用した俊敏ロコモーション制御
佐藤 隆紀
日本学術振興会, 科学研究費助成事業, 電気通信大学, 若手研究, 研究代表者, 24K17234
研究期間 2024年04月 - 2027年03月 - 多関節筋構造の活用と関節間協調制御による四脚ロボットの高運動性能化
佐藤 隆紀
日本学術振興会, 科学研究費助成事業 若手研究, 電気通信大学, 若手研究, 研究代表者, 本研究の目的は，動物の筋骨格構造に特徴的な複数の関節をまたぐ多関節筋による，身体内の力学的エネルギー遷移・伝搬のメカニズムを規範とした，脚ロボットの運動性能向上である．このメカニズムを四脚ロボットに導入することを目標とし，段階的に脚部関節間および脚-体幹間の多関節筋構造を規範とした機構および制御を開発する計画である． 本年度は，動物の肢の関節間に備わる二関節筋を規範とした脚機構の動力学解析に取り組んだ．研究代表者らはこれまでの研究で，四足動物の後肢の股-膝関節間および膝-足関節間にある二関節間筋腱複合体に着目し，関節アクチュエータに対して直列または並列に弾性要素をもつ脚機構を開発した．この生物規範型脚機構を持つ１脚ロボットの動力学モデルを作成し，垂直跳躍運動中の二関節間筋腱複合体機構を介したエネルギー伝搬および各関節での仕事率の変化を解析した．その結果，しゃがみ込みから跳躍までの一連の運動において，機構がまたがる３つの関節間を遷移するように仕事率が推移しており，生物規範機構がロボットの垂直跳躍高さの向上に貢献していることを示した．実機を用いた実験でも，シミュレーション結果に類似した効果が確認できた．この手法は脚内の関節間のみならず，体幹を含む複数の関節自由度を持つモデルに適用可能である．また，この解析では，関節の可動範囲限界での前後のリンクの接触・一体化による重心運動への影響も観測でき，関節間の動力学的な干渉性を陽に考慮した運動制御方策の検討にも発展させられる．, 21K14124
研究期間 2021年04月 - 2024年03月 - 全身に生物規範機構を搭載した四脚ロボットによる高効率ダイナミック運動の実現
佐藤 隆紀
日本学術振興会, 科学研究費助成事業 研究活動スタート支援, 電気通信大学, 研究活動スタート支援, 研究代表者, 本研究では，ネコの前肢，後肢，および体幹の特徴的な筋・腱の機能を工学的に規範とした四脚ロボットのための弾性機構を提案した．また，ロボットの瞬発的な運動においてこれらの機構の効果を活用するための運動制御手法を開発した．動力学シミュレーションおよび試作機を用いた実験によって，生物規範機構の効果による高い垂直跳躍運動を実現した．これらを統合し，全身に生物規範機構を有する小型四脚ロボットを完成させた．, 20K22389
研究期間 2020年09月 - 2022年03月 - ネコの筋骨格と運動制御を規範とした高運動性能小型四脚ロボットの研究開発
佐藤 隆紀
日本学術振興会, 科学研究費助成事業 特別研究員奨励費, 電気通信大学, 特別研究員奨励費, 研究代表者, 本研究は，ネコ科の動物の筋骨格構造と運動制御を参考とした脚式ロボットの開発を目的とする．生物の身体のしなやかさに着目したロボットの機構設計と，それを前提とした運動制御によって，従来のロボットでは困難であった俊敏な動作の実現する． 昨年度までに，ネコの後肢下腿に備わる特に重要な二関節間の筋腱複合体を搭載した脚機構を開発して，実証実験を行うための試作機を開発した．また試作機の動力学モデルに基づく運動軌道生成手法の基盤を開発した．そこで本年度はこの軌道生成手法を用いて，特に動的な運動の一例として垂直跳躍運動を取り上げて軌道の生成を行った．軌道生成にあたり受動機構やアクチュエータの動特性を含む動力学モデルを構築し，跳躍高さ最大化を目的とした最適化問題に置き換えて非線形最適化手法を用いることで，強い非線形性を有するロボットの跳躍軌道を生成することができた．この結果として得られた運動は，弾性要素を含む生物規範機構を活用した軌道になっており，開発した脚機構の効果が確認できた．また，生成された軌道を用いて，試作機で垂直跳躍実験を行った結果，シミュレーションのように生物規範機構の弾性要素が効果を発揮し，跳躍運動を実現することができた．さらに，ネコの後肢の上腿やつま先周辺の二関節間の筋腱複合体が脚のダイナミックな運動に寄与していることから，それぞれについて同様の機能を実現するワイヤ・プーリ機構と弾性要素を用いた機構を開発した．シミュレーションと実機実験を通してそれらの有用性を示した．脊椎まで含めた四脚ロボットの開発には至らなかったが，これまでに開発した生物規範型の脚機構と運動軌道生成手法を用いることで，従来のロボットを越える運動能力を持つ四脚ロボットの実現可能性が示せた．, 17J00387
研究期間 2017年04月 - 2019年03月
メディア報道
学術貢献活動
- Workshop on "Towards Agility and Robustness: Mechanical Intelligence in Robotics, Biology, and Smart Materials" at IEEE ICRA2025
学会・研究会等, 企画立案・運営等, Tianyu Wang, Ryuki Sato, Xiangyu CHU, Tony G. Chen, Elio Challita, Laura Treers, Perrin E. Schiebel, Barbara Mazzolai, K. W. Samuel Au, Robert Wood, Daniel Goldman, 実施期間 2024年09月 - 現在 - Workshop on "Agile Movements II: Animal Behavior, Biomechanics, and Robot Devices" at IEEE ICRA2024
学会・研究会等, 企画立案・運営等, Ryuki Sato; Xiangyu Chu; Tianyu Wang; Marie Janneke Schwaner; Amir Patel; Daniel Goldman; Kwok Wai Samuel Au, 実施期間 2023年08月 - 2024年05月 - Workshop on "Agile Movements: Animal Behavior, Biomechanics, and Robot Devices" at IEEE ICRA2023
学会・研究会等, 企画立案・運営等, Xiangyu Chu; Tianyu Wang; Ryuki Sato; Daniel Goldman; Kwok Wai Samuel Au, 実施期間 2022年09月 - 2023年06月
