Motoyasu TANAKA
| Department of Mechanical and Intelligent Systems Engineering | Professor |
| Cluster II (Emerging Multi-interdisciplinary Engineering) | Professor |
Researcher Information
Degree
Career
- 01 Apr. 2020
The University of Electro-Communications, Professor - 01 Apr. 2017 - 31 Mar. 2020
The University of Electro-Communications, Associate Professor - 01 Apr. 2012 - 31 Mar. 2017
The University of Electro-Communications, Assistant Professor - 01 Apr. 2009 - 31 Mar. 2012
Canon Inc. - 01 Apr. 2007 - 31 Mar. 2009
Japan Society for the Promotion of Science, Research Fellow
Educational Background
- Apr. 2007 - Mar. 2009
The University of Electro-Communications, Graduate School, Division of Electro Communications, Dept. of Mechanical Engineering and Intelligent Systems - Apr. 2005 - Mar. 2007
The University of Electro-Communications, Graduate School, Division of Electro Communications, Dept. of Mechanical Engineering and Intelligent Systems - Apr. 2001 - Mar. 2005
The University of Electro-Communications, Faculty of Electro Communications, Dept. of Mechanical Engineering and Intelligent Systems - 01 Apr. 1998 - 31 Mar. 2001
東京都立国立高等学校
Member History
- Jan. 2024 - Present
会誌編集委員会, 計測自動制御学会, Society - Jan. 2024 - Present
SI部門技術委員会 副委員長, 計測自動制御学会, Society - Jan. 2024 - Present
IROS2024 Associate Editor, Society - Apr. 2023 - Present
Advanced Robotics Paper Awards選考小委員会 委員, 日本ロボット学会, Society - Jan. 2023 - Present
SICE FA財団論文賞推薦選考委員会, 計測自動制御学会, Society - Jan. 2023 - Present
Associate Editor, IEEE Transactions on Robotics Editorial Board, Society - Apr. 2021 - Present
委員, 日本消防検定協会 消防機器等評価委員会, Society - Jan. 2024 - Dec. 2024
SI部門 表彰委員会 委員, 計測自動制御学会, Society - Jan. 2024 - Sep. 2024
Executive committee, SWARM2024 - Jan. 2023 - Jan. 2024
International Program Committee, AROB-ISBC-SWARM 2024, Society - 2023 - 2024
副主査, 計測自動制御学会 SI ロボティクス部会, Society - 2023
Associate Editor, IROS2023, Society - 12 Nov. 2021 - 31 Mar. 2022
アドバイザー, 消防を取り巻く変化を踏まえた消防防災行政研究会, Government - 2021 - 2022
幹事, 計測自動制御学会 SI ロボティクス部会, Society - 2021
Registration committee, DARS/SWARM2021, Society - 01 Apr. 2019 - 31 Mar. 2020
委員, 計測自動制御学会 SI ロボティクス部会, Society - 2019
Program Committee, SWARM2019, Society - 2017
Program Committee, SWARM2017, Society - 01 Apr. 2013 - 31 Mar. 2016
査読小委員会, 日本ロボット学会, Society - 01 Apr. 2014 - 31 Mar. 2015
ロボティクス・メカトロニクス部門 広報委員会, 日本機械学会, Society - 01 Apr. 2013 - 31 Mar. 2015
電子化情報小委員会, 日本ロボット学会, Society - 01 Apr. 2013 - 31 Mar. 2015
学会誌編集委員会, 日本ロボット学会, Society - 01 Mar. 2014 - 28 Feb. 2015
ロボティクス・メカトロニクス部門 技術委員会, 日本機械学会, Society
Research Activity Information
Award
- Dec. 2023
国際レスキューシステム研究機構
ヘビ型ロボットの障害物利用推進における２平面間移動シミュレーション
第19回競基弘賞 2023年レスキュー工学奨励賞最終候補, 吉田悠人
Japan society - Mar. 2023
計測自動制御学会, 「本会では計測自動制御奨学のため、SICE優秀学生賞を2021年度に制定し、 毎年大学院博士前期課程(修士課程)修了者、4年生大学学科卒業者、2年生短期 大学学科学生卒業者、ならびに工業高等専門学校学科および専攻科卒業者で人格・学業ともに 優秀な学生を表彰することといたしました。」
SICE優秀学生賞, 高梨拓朗
Japan society - Dec. 2022
計測自動制御学会, 賞状の記述：「貴殿の講演は優秀であったことを認めここに表彰します」
賞の説明：「システムインテグレーション部門講演会において発表された全ての発表を対象として審査を行い、講演会実行委員会が優秀講演賞を選出します。 受賞者には表彰状を贈呈します。」
負圧発生機構を用いた壁面登攀が可能な多連結移動ロボットの開発
SI2022優秀講演賞, 岩井隆人,田中基康
Japan society - Dec. 2022
計測自動制御学会, 「部門若手奨励賞は、システムインテグレーション部門が主催・共催する講演会にて評価の高い研究発表を行った35歳以下(発表時年齢)の個人に対して、原則5名に贈られます。 」
区分的螺旋形状によるヘビ型ロボットの障害物利用推進
SI部門 若手奨励賞, 高梨拓朗
Japan society - 2022
国際レスキューシステム研究機構，計測自動制御学会, 「貴殿がSI2022講演会において発表した論文はレスキューシステムの研究としてその学術性・有効性が評価され第十八回競基弘賞２０２２年レスキュー工学奨励賞の最終候補として選考されたことを証明いたします」
【「レスキューロボットコンテスト」「計測自動制御学会SI部門講演会」参加学生を対象に「奨励賞」の選考と授賞を行っています。】
負圧発生機構を用いた壁面登攀が可能な多連結移動ロボットの開発
第1８回競基弘賞 2022年レスキュー工学奨励賞最終候補, 岩井隆人
Japan society - 2022
IEEE Robotics and Automation Society Japan Joint Chapter, 「IEEE Robotics and Automation Society (RAS) Japan Joint Chapter では，IEEE Japan CouncilよりChapter支援費の補助を受け，Young Awardを贈賞しております． 表彰の目的は，日本国内の大学院や大学等に在学する優秀な若手研究者を育成し，ロボットとオートメーションに関する国際会議（ICRA）を活性化することです．」
Obstacle-Aided Locomotion of a Snake Robot Using Piecewise Helixes
2022 IEEE Robotics and Automation Society Japan Joint Chapter Young Award, Takuro Takanashi
International society - 2022
SICE, 「計測自動制御学会（SICE）は，国際的に存在感のある計測・制御・システムインテグレーション分野の中心的な学会を目指しており，国際化に向けて関連団体との連携や支援を強化しています．また，次世代を担う若手育成にも重点的に取り組んでいます．そこで，若手研究者の学問技術の研究を奨励し，その国際活動を支援することを目的とし，SICE International Young Authors Award (以降，SIYA)を設置しました．」
Obstacle-Aided Locomotion of a Snake Robot Using Piecewise Helixes
SICE International Young Authors Award 2022 (SIYA-IROS2022), Takuro Takanashi
International society - Dec. 2021
計測自動制御学会, 部門若手奨励賞は、システムインテグレーション部門が主催・共催する講演会にて評価の高い研究発表を行った35歳以下(発表時年齢)の個人に対して、原則5名に贈られます。
ロープ変形による物体支持の研究
計測自動制御学会システムインテグレーション部門 若手奨励賞, 渡部亮太
Japan society - Dec. 2021
国際レスキューシステム研究機構，計測自動制御学会, 「レスキューロボットコンテスト」「計測自動制御学会SI部門講演会」参加学生を対象に「奨励賞」の選考と授賞を行っています。
区分的螺旋形状によるヘビ型ロボットの障害物利用推進
競基弘賞2021年レスキュー工学奨励賞, 高梨拓朗
Japan society - Dec. 2021
計測自動制御学会, 賞状の記述：「貴殿の講演は優秀であったことを認めここに表彰します」
賞の説明：「システムインテグレーション部門講演会において発表された全ての発表を対象として審査を行い、講演会実行委員会が優秀講演賞を選出します。 受賞者には表彰状を贈呈します。」
区分的螺旋形状によるヘビ型ロボットの障害物利用推進
SI2021優秀講演賞, 高梨拓朗;中島瑞;田中基康
Japan society - Oct. 2021
IEEE Robotics and Automation Society Japan Joint Chapter
Hoop-Passing Motion for a Snake Robot to Realize Motion Transition Across Different Environments
IEEE Robotics and Automation Society Japan Joint Chapter Student Author Award, 2021 T-RO with IROS presentation, Tatsuya Takemori - Oct. 2021
WRS2020プラント災害予防チャレンジ 審査員特別賞（研究賞）, UEC-Snake
Others - 2021
SICE
Hoop-Passing Motion for a Snake Robot to Realize Motion Transition Across Different Environments
SICE International Young Authors Award 2021 (SIYA-IROS2021), Tatsuya Takemori - Dec. 2020
国際レスキューシステム研究機構，計測自動制御学会
ロープ変形による物体支持の研究
競基弘賞2020年レスキュー工学奨励賞, 渡部亮太
Japan society - Dec. 2020
計測自動制御学会
伸縮と屈曲が可能なヘビ型ロボットの段差昇降制御
SI2020優秀講演賞, 田中基康;中島瑞;有泉亮
Japan society - Dec. 2020
計測自動制御学会
多連結移動ロボットのスタックからの復帰制御 制御領域と制御目標の自動決定
SI2020優秀講演賞, 福村信之介;田中基康;田中一男
Japan society - Dec. 2020
計測自動制御学会
ロープ変形による物体支持の研究
SI2020優秀講演賞, 渡部亮太;田中基康
Japan society - May 2020
日本機械学会
伸縮機構をもつヘビ型ロボットのモデリングと制御
日本機械学会 若手優秀講演フェロー賞, 澤部英壮;田中基康;田中一男
Japan society - Jan. 2020
国際レスキューシステム研究機構
競基弘賞 学術業績賞, 田中基康 - Dec. 2016
計測自動制御学会
ヘビ型ロボットの複雑環境における運動設計と制御
SI2016優秀講演賞, 竹森達也;田中基康;松野文俊
Japan society - Oct. 2015
Best Poster Award at SWARM 2015: The First International Symposium on Swarm Behavior and Bio-Inspired Robotics, Motoyasu Tanaka;Kazuo Tanaka
International society - May 2014
SICE, クローラ型ロボットが大部分を占めるロボカップレスキューリーグにおいて，
ヘビ型ロボットによるガレキ内探索に適する新しい推進方式を導入した点，
複数・異種ロボットによる協調探査という今後のレスキューロボット開発の
方向性を示す新しい技術である点が評価された．
SICE SI Award, 田中基康;根和幸;中島瑞
Japan society - Dec. 2013
Best Paper Finalist at 2013 International Conference on Fuzzy Theory and Its Applications (iFUZZY2013)
International society - Nov. 2013
Best Paper Award at 2013 IEEE International Conference on Control System, Computing and Engineering (ICCSCE 2013)
International society - Nov. 2012
電動パラグライダーのモデルパラメータ同定と安定化制御器の設計
第55回自動制御連合講演会 優秀発表賞, 倉持信行;河合大志;田中基康;田中一男
Japan society - Mar. 2007
日本機械学会
日本機械学会三浦賞 - May 2006
IEEE
IEEE Robotics and Automation Society Japan Chapter Young Award - Mar. 2005
日本機械学会
日本機械学会畠山賞
Paper
- Excavating by Snake Robots with Fins and a Drill
Hiromu Yoshida; Taro Yamazaki; Mizuki Nakajima; Motoyasu Tanaka
Advanced Robotics, Accepted, 2023 - Local Hump-shape Transformation for an Articulated Mobile Robot by Changing the Approximation Range on an Upward Bending Curve
Ching Wen Chin; Motoyasu Tanaka
Jan. 2023 - Step Climbing Control of Snake Robot with Prismatic Joints
Yuta Iguchi; Mizuki Nakajima; Ryo Ariizumi; Motoyasu Tanaka
Sensors, MDPI AG, 22, 13, 4920-4920, 29 Jun. 2022, The ultimate goal of this research study is to perform continuous rather than sequential movements of prismatic joints for effective motion of a snake robot with prismatic joints in a complex terrain. We present herein a control method for robotic step climbing. This method is composed of two parts: the first involves the shift reference generator that generates the joint motion for climbing a step, and the other is use of the trajectory tracking controller, which generates the joint motion for the head to track the target trajectory. In this method, prismatic joints are divided into those that are directly controlled for climbing a step and those that are represented as redundancies. By directly controlling the link length, it is possible to prevent the trailing part from back motion when climbing a step, and to avoid a singular configuration in the parts represented as redundancies. A snake robot that has rotational and prismatic joints and can move in three-dimensions was developed, and the effectiveness of the proposed method was demonstrated by experiments using this robot. In the experiment, it was confirmed that the proposed method realizes the step climbing, and the link length limitation using the sigmoid function works effectively. - Investigation of the gliding performance by the cross-sectional shape of the flying snake
NAKAJIMA Riina; FUJIKAWA Taro; TANAKA Motoyasu; FUJISAWA Ryusuke
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), The Japan Society of Mechanical Engineers, 2022, 2A1-G08, 2022, Flying snake has no limbs or wings, but it can glide by deforming its body into a flat shape and making it undulate. By implementing this gliding behavior in the search robot, I thought that it would be possible to make it glide. In this study, I investigate the effects of the cross-sectional shape of the body and the gliding posture of the snake on the gliding performance by using a three-dimensional model of the snake. The research includes the analysis of lift and drag coefficients using five different rectangular angles of attack and models of the cross-sectional shape of the flying snake. A comparison of the analysis results shows that the angle of attack has the effect of increasing the lift coefficient and lift-drag ratio and decreasing the drag coefficient as the snake deforms its body during gliding. - Shape control of a snake robot to reduce damage from rollover accidents on step climbing
Mizuki Nakajima; Masahiro Honda; Motoyasu Tanaka
The 5th International Symposium on Swarm Behavior and Bio-Inspired Robotics, 1751-1755, 2022 - Serret-Frenet Frame-based Path Tracking Stabilization of a Powered Paraglider Type UAV with Input Constraints
Yutoku Takahashi; Motoyasu Tanaka; Kazuo Tanaka
2021 International Conference on Fuzzy Theory and Its Applications (iFUZZY 2021), 23-28, 2021 - Development and Control of an Articulated Mobile Robot with a Long Folding Arm
Mizuki Nakajima; Nobutaka Matsumoto; Motoyasu Tanaka
International Symposium on Socially and Technically Symbiotic Systems 2021, STSS-26, 2021 - Path-Following Based Design for Guaranteed Cost Control of Polynomial Fuzzy Systems
Kai-Yi Wong; Motoyasu Tanaka; Kazuo Tanaka
International Journal of Fuzzy Systems, 23, 1-12, 2021 - Hoop-passing Motion for a Snake Robot to Realize Motion Transition across Different Environments
Tatsuya Takemori; Motoyasu Tanaka; Fumitoshi Matsuno
IEEE Transactions on Robotics, IEEE, 37, 5, 1696-1711, 2021, A snake robot performs diverse motions. To realize a wide range functions in a complex environment, it is necessary to transition between various motions suited to each environment. In this article, we propose a method of transitioning the motion of a snake robot across different environments to expand the application environment of the robot. We first find that the motion at the connection point between two motions must coincide with the tangential movement during motion transition across different environments. We then design a gait called the circular pedal wave. This circular pedal wave allows a hoop-passing motion in which the whole body moves as if it is passing through a virtual hoop fixed in space in sequence from its head through combination with a proposed shift part. The hoop-passing motion allows motion transition across different environments. We propose three application examples of this hoop-passing motion, namely passing through a hole in a wall, entering an underfloor, and attaching to a ladder. We report on experiments conducted to verify the effectiveness of the proposed method and to realize the described motions.
source:https://doi.org/10.1109/TRO.2021.3063438 - Control of a snake robot for passing through a self-closing door
Mizuki Nakajima; Motoyasu Tanaka; Kazuo Tanaka
Advanced Robotics, 35, 10, 635-647, 2021 - Unified Approach to the Motion Design for a Snake Robot Negotiating Complicated Pipe Structures
Mariko Inazawa; Tatsuya Takemori; Motoyasu Tanaka; Fumitoshi Matsuno
Frontiers in Robotics and AI, FRONTIERS MEDIA SA, 8, 1-18, 2021, A unified method for designing the motion of a snake robot negotiating complicated pipe structures is presented. Such robots moving inside pipes must deal with various "obstacles," such as junctions, bends, diameter changes, shears, and blockages. To surmount these obstacles, we propose a method that enables the robot to adapt to multiple pipe structures in a unified way. This method also applies to motion that is necessary to pass between the inside and the outside of a pipe. We designed the target form of the snake robot using two helices connected by an arbitrary shape. This method can be applied to various obstacles by designing a part of the target form specifically for given obstacles. The robot negotiates obstacles under shift control by employing a rolling motion. Considering the slip between the robot and the pipe, the model expands the method to cover cases where two helices have different properties. We demonstrated the effectiveness of the proposed method in various experiments. - Gait of a Snake Robot Using Spiral Stairs Function on a Pipe with Branches
Mizuki Nakajima; Qi Cheng; Motoyasu Tanaka
The 4th International Symposium on Swarm Behavior and Bio-Inspired Robotics, 526-534, 2021 - Head Trajectory Tracking Control of a Snake-like Robot with Prismatic Joints
Koki Harada; Ryo, Ariizumi; Motoyasu Tanaka; Toru Asai; Shun-ichi Azuma
The 4th International Symposium on Swarm Behavior and Bio-Inspired Robotics, 559-567, 2021 - Relaxed Stabilization and Disturbance Attenuation Control Synthesis Conditions for Polynomial Fuzzy Systems
Jairo Moreno Saenz; Motoyasu Tanaka; Kazuo Tanaka
IEEE Transactions on Cybernetics, 51, 4, 2093-2106, 2021 - A Novel Path-Following-Method-Based Polynomial Fuzzy Control Design
Ying-Jen Chen; Kazuo Tanaka; Motoyasu Tanaka; Shun-Hung Tsai; Hua O. Wang
IEEE Transactions on Cybernetics, 51, 6, 2993-3993, 2021 - A Descriptor System Approach for Polynomial Fuzzy-Model-Based Control Design
Fan-Nong Yu; Ying Jen Chen; Kazuo Tanaka; Motoyasu Tanaka; Shun-Hung Tsai
Proc. 2020 International Conference on System Science and Engineering, 7-12, 2020 - A Rational Polynomial Tracking Control Approach to a Common System Representation for Unmanned Aerial Vehicles
Kazuo Tanaka; Motoyasu Tanaka; Arimasa Iwase; Hua O. Wang
IEEE/ASME Transactions on Mechatronics, 25, 2, 919-930, 2020 - Three-dimensional Steering for an Articulated Mobile Robot with Prismatic Joints with consideration of hardware limitations
Motoyasu Tanaka; Mizuki Nakajima; Ryo Ariizumi; Kazuo Tanaka
Advanced Robotics, 34, 11, 767-779, 2020 - Passive Joint Control of a Snake Robot by Rolling Motion
Ryo Ariizumi; Kentaro Koshio; Motoyasu Tanaka; Fumitoshi Matsuno
Artificial Life and Robotics, 25, 503-512, 2020 - Development of a folding arm on an articulated mobile robot for plant disaster prevention.
Nobutaka Matsumoto; Motoyasu Tanaka; Mizuki Nakajima; Masahiro Fujita; Kenjiro Tadakuma
Advanced Robotics, 34, 2, 89-103, 2020 - Development and field test of the articulated mobile robot T2 Snake-4 for plant disaster prevention.
Motoyasu Tanaka; Kazuyuki Kon; Mizuki Nakajima; Nobutaka Matsumoto; Shinnosuke Fukumura; Kosuke Fukui; Hidemasa Sawabe; Masahiro Fujita; Kenjiro Tadakuma
Advanced Robotics, 34, 2, 70-88, 2020 - Development and field test of the articulated mobile robot T2 Snake-4 for plant disaster prevention.
Motoyasu Tanaka; Kazuyuki Kon; Mizuki Nakajima; Nobutaka Matsumoto; Shinnosuke Fukumura; Kosuke Fukui; Hidemasa Sawabe; Masahiro Fujita; Kenjiro Tadakuma
Advanced Robotics, 34, 2, 70-88, 2020 - Simultaneous Control of Two Points for Snake Robot and Its Application to Transportation.
Mizuki Nakajima; Motoyasu Tanaka; Kazuo Tanaka
IEEE Robotics Autom. Lett., 5, 1, 111-118, 2020 - Longitudinal Fuzzy Model Construction of a Flying-Wing Unmanned Aerial Vehicle and a Nonlinear Guaranteed Cost Control Approach to Altitude Stabilization
Kai-Yi Wong; Nana Kariya; Motoyasu Tanaka; Kazuo Tanaka
Proc. 2019 International Conference on Fuzzy Theory and Its Applications (iFUZZY 2019), Accepted, 151-157, Nov. 2019 - A Polynomial Fuzzy Descriptor System Approach for Rational Fuzzy Control Design
Fan-Nong Yu; Ying Jen Chen; Kazuo Tanaka; Motoyasu Tanaka
Proc. 2019 International Conference on Fuzzy Theory and Its Applications (iFUZZY 2019), Accepted, 114-116, Nov. 2019 - Development and experiment of flat serpentine glideing model
SANO Yuta; TANAKA Motoyasu; FUJIKAWA Taro; FUJISAWA Ryusuke
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), The Japan Society of Mechanical Engineers, 2019, 2A2-R08, 2019, Flying snakes uses their entire body as a wing to glide through the air. During the glide, they use unique cross-sectional shape, which act as generating lift and undulates their entire body. Elucidation of the gliding principle of flying snake widens the range of application of snake robot. In this paper, we aim to understand the aerodynamic property of undulating shape of flying snake. We developed flat serpentine gliding model that is based on flying snake. In the experiment of gliding model we change angle of attack by changing position of the center of mass. Results of experiment is good agreement with simulation. - Development of Tough Snake Robot Systems.
Fumitoshi Matsuno; Tetsushi Kamegawa; Wei Qi; Tatsuya Takemori; Motoyasu Tanaka; Mizuki Nakajima; Kenjiro Tadakuma; Masahiro Fujita; Yosuke Suzuki; Katsutoshi Itoyama; Hiroshi G. Okuno; Yoshiaki Bando; Tomofumi Fujiwara; Satoshi Tadokoro
Disaster Robotics - Results from the ImPACT Tough Robotics Challenge, Springer, 267-326, 2019 - Practical Model Construction and Stable Control of an Unmanned Aerial Vehicle with Parafoil Type Wing
Motoyasu Tanaka; Kazuo Tanaka; Hua O. Wang
IEEE Transactions on Systems, Man and Cybernetics: Systems, 49, 6, 1291-1297, 2019 - Task-Space Control of Articulated Mobile Robots With a Soft Gripper for Operations.
Motoyasu Tanaka; Kenjiro Tadakuma; Mizuki Nakajima; Masahiro Fujita
IEEE Trans. Robotics, 35, 1, 135-146, 2019 - Control of an articulated wheeled mobile robot in pipes.
Hidemasa Sawabe; Mizuki Nakajima; Motoyasu Tanaka; Kazuo Tanaka; Fumitoshi Matsuno
Advanced Robotics, 33, 20, 1072-1086, 2019 - 3D Flight Path Tracking Control for Unmanned Aerial Vehicles under Wind Environments
Kazuo Tanaka; Motoyasu Tanaka; Yutoku Takahashi; Arimasa Iwase; Hua O. Wang
IEEE Transactions on Vehicular Technology, 68, 12, 11621-11634, 2019 - Control of a Passive Joint in a Snake Robot Using Rolling Motion
Ryo Ariizumi; Kentaro Koshio; Motoyasu Tanaka; Fumitoshi Matsuno
SWARM2019: The Third International Symposium on Swarm Behavior and Bio-Inspired Robotics, 161-166, 2019 - Motion design of a snake robot to pass through a door
Mizuki Nakajima; Motoyasu Tanaka; Kazuo Tanaka
SWARM2019: The Third International Symposium on Swarm Behavior and Bio-Inspired Robotics, 205-207, 2019 - Development of an experimental system for a snake-like gliding model
Ryusuke Fujisawa; Motoyasu Tanaka; Taro Fujikawa
Artificial Life and Robotics, 23, 4, 571-576, 01 Dec. 2018, © 2018, ISAROB. A snake, which has a simple shape without limbs, can move over rough terrain, climb a wall or tree, swim, and glide through the air. It is difficult to understand the gliding flight of a snake in aerodynamics assuming a static model, because a snake undulates its body trunk and turns in air. This paper presents an experimental system for investigation of the relationship between the shape of the gliding snake model and gliding characteristics. Results of a gliding experiment confirm a sufficiently high reproducibility of the experiment. - Control Synthesis for Polynomial Fuzzy Systems using Line-Integral Polynomial Fuzzy Lyapunov Function
Jairo Moreno Saenz; Motoyasu Tanaka; Kazuo Tanaka
Proc. IEEE International Conference on Systems, Man, and Cybernetics (IEEE SMC), 2925-2930, 10 Oct. 2018 - A New Nonconvex Design Algorithm for Optimal Polynomial Fuzzy Control
Kai-Yi Wong; Motoyasu Tanaka; Kazuo Tanaka; Tsu-Tian Lee
Proc. IEEE International Conference on Systems, Man, and Cybernetics (IEEE SMC), 2937-2942, 10 Oct. 2018 - A practical SSVEP-based algorithm for perceptual dominance estimation in binocular rivalry
Kazuo Tanaka; Motoyasu Tanaka; Toshiya Kajiwara; Hua O. Wang
IEEE Transactions on Cognitive and Developmental Systems, Institute of Electrical and Electronics Engineers Inc., 10, 2, 476-482, 01 Jun. 2018, This paper presents a practical algorithm for perceptual dominance estimation in binocular rivalry. The algorithm using steady state visual evoked potentials (SSVEP) effectively realizes a real-time estimation of perceptual dominance in binocular rivalry from electroencephalogram (EEG) signals. For accuracy of estimation, the algorithm utilizes the EEG spectrogram obtained via the short-time Fourier transformation with a short time analysis window. More importantly, the algorithm focuses on the acceleration (second-order time differential) of the spectrogram difference between SSVEP of left-eye stimulus and that of right-eye stimulus, where the left-eye stimulus and the right-eye stimulus are separately displayed for left-eye and right-eye, respectively, with different-flashing-frequency visual stimuli of dissimilar images. Experimental results demonstrate the utility of the algorithm, particularly, the importance of introducing the acceleration of the spectrogram difference. With the simplicity of the algorithm, it is in fact suitable to accurately measure binocular rivalry without verbal communications in real-time environments. - A Waypoint Following Control Design for a Paraglider Model with Aerodynamic Uncertainty
Kazuo Tanaka; Motoyasu Tanaka; Yutoku Takahashi; Hua O. Wang
IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers Inc., 23, 2, 518-523, 01 Apr. 2018, This paper presents a waypoint following control design for a powered paraglider (PPG) model. After constructing a dynamic model with six degrees of freedom of the PPG, a dynamical lateral model around a trim equilibrium in the steady-state flight is obtained. Unknown parameters, such as the moment of inertia, the drag coefficient, etc., in the lateral model are optimized by real flight experimental data. The model output with the optimized parameters agrees with the real flight experimental data. Since the aerodynamics-related parameter, i.e., the drag coefficient, might be slightly changed even near the considered trim equilibrium, this paper considers its uncertainty in the constructed lateral model. A nonlinear controller to stabilize the lateral model (with the aerodynamic uncertainty) on a considered operation domain is designed by solving robust controller design conditions expressed in terms of linear matrix inequality. The experimental results including automatic landing demonstrate the effectiveness of the control system design framework, i.e., the model construction and the robust stable control, considering the model uncertainty. - Development and Control of Articulated Mobile Robot for Climbing Steep Stairs
Motoyasu Tanaka; Mizuki Nakajima; Yosuke Suzuki; Kazuo Tanaka
IEEE-ASME TRANSACTIONS ON MECHATRONICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 23, 2, 531-541, Apr. 2018, In this paper, we develop an articulated mobile robot that can climb stairs, and also move in narrow spaces and on 3-D terrain. This paper presents two control methods for this robot. The first is a 3-D steering method that is used to adapt the robot to the surrounding terrain. In this method, the robot relaxes its joints, allowing it to adapt to the terrain using its own weight, and then, resumes its motion employing the follow-the-leader method. The second control method is the semi-autonomous stair climbing method. In this method, the robot connects with the treads of the stairs using a body called a connecting part, and then shifts the connecting part from its head to its tail. The robot then uses the sensor information to shift the connecting part with appropriate timing. The robot can climb stairs using this method even if the stairs are steep, and the sizes of the riser and the tread of the stairs are unknown. Experiments are performed to demonstrate the effectiveness of the proposed methods and the developed robot. - Ladder Climbing with a Snake Robot
Tatsuya Takemori; Motoyasu Tanaka; Fumitoshi Matsuno
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), IEEE, 8140-8145, 2018, This paper presents a method that allows a snake robot to climb a ladder. We propose a ladder climbing method for a snake robot that has a smooth surface shape. We design a novel gait for the snake using a gait design method that configures the target form of the snake robot by connecting simple shapes. The climbing motion is executed via shift control and the corresponding motion required to catch the next step on the ladder. In addition, we developed a snake robot that has a smooth exterior body surface through construction of pectinate-shaped parts of the links. We demonstrated the effectiveness of both the proposed gait and the design of the snake robot experimentally. - Development of a wheeled snake-like robot with prismatic joints:-Development of a joint unit with active wheels-
NAKAJIMA Mizuki; TANAKA Motoyasu; TANAKA Kazuo
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), The Japan Society of Mechanical Engineers, 2018, 0, 2P1-J02, 2018,In this paper, we present a new joint unit which is the main component of a wheeled snake-like robot. The main purpose of this research is to develop a wheeled snake-like robot with prismatic joints. The proposed joint unit is composed of three parts: rotary joint parts, prismatic joint parts and active wheel parts. The length of the robot's link can be changed by the prismatic joints. In order to verify the performance of the proposed joint unit, we have developed a robot formed by three units. Experimental results show the effectiveness of the proposed joint unit.
- Stabilization and Robust Stabilization of Polynomial Fuzzy Systems: A Piecewise Polynomial Lyapunov Function Approach
Alissa Ully Ashar; Motoyasu Tanaka; Kazuo Tanaka
International Journal of Fuzzy Systems, 20, 5, 1423-1438, 2018 - Gait Design for a Snake Robot by Connecting Curve Segments and Experimental demonstration
Tatsuya Takemori; Motoyasu Tanaka; Fumitoshi Matsuno
IEEE Transactions on Robotics, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 34, 5, 1384-1391, 2018, This paper presents a method for designing the gait of a snake robot that moves in a complicated environment. We propose a method for expressing the target form of a snake robot by connecting curve segments whose curvature and torsion are already known. Because the characteristics of each combined shape arc clear. we can design the target form intuitively and approximate a snake robot configuration to this form with low computational cost. In addition, we propose two novel gaits for the snake robot as a design example of the proposed method. The first gait is aimed at moving over a flange on a pipe. while the other is the crawler gait aimed at moving over rough terrain. We demonstrated the effectiveness of the two gaits on a pipe and rough terrain in experiments. - Gait Design for a Snake Robot to Climb a Ladder
Tatsuya Takemori; Motoyasu Tanaka; Fumitoshi Matsuno
SWARM2017: The Second International Symposium on Swarm Behavior and Bio-Inspired Robotics, 89-92, Oct. 2017 - Diagnosing Fault Status in Snake-robot Using Current Data
Ryo Ariizumi; Takahiro Watanabe; Motoyasu Tanaka; Toru Asai
SWARM2017: The Second International Symposium on Swarm Behavior and Bio-Inspired Robotics, The Japan Society of Mechanical Engineers, 2017, 184-189, Oct. 2017,In the last few decades, much effort has been devoted to the research of robots that can complete dangerous tasks on behalf of a human. Among these robots, snake robots have been developed actively because of their potential flexibility and robustness. However, there has been little research on how to handle a fault in a snake robot. To continue the task under failure, we must know the detail of the failure, and then, based on this knowledge, remake the model of the robot. This paper, as the first step, proposes a method to diagnose the fault status using the current data of a test motion, when malfunctioning of an actuator is detected. As a typical situation for a snake robot, we consider when the robot is rolling itself around a pipe. In spite of rather limited movement of the robot in the situation, experimental results show that our strategy works successfully to diagnose the failure status.
- Development of Experimental System for a Snake-like Gliding Model
Ryusuke Fujisawa; Motoyasu Tanaka; Taro Fujikawa
SWARM2017: The Second International Symposium on Swarm Behavior and Bio-Inspired Robotics, 101-104, Oct. 2017 - Development of a Two-link Underwater Snake Robot in a 2D Plane Using Screw-Drive Mechanism
Toru Takano; Xiaoyu Wang; Baris Suatac; Motoyasu Tanaka; Fumitoshi Matsuno
SWARM2017: The Second International Symposium on Swarm Behavior and Bio-Inspired Robotics, 163-164, Oct. 2017 - An SOS-Based Control Lyapunov Function Design for Polynomial Fuzzy Control of Nonlinear Systems
Radian Furqon; Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka; Hua O. Wang
IEEE TRANSACTIONS ON FUZZY SYSTEMS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 25, 4, 775-787, Aug. 2017, This paper deals with a sum-of-squares (SOS)-based control Lyapunov function (CLF) design for polynomial fuzzy control of nonlinear systems. The design starts with exactly replacing (smooth) nonlinear systems dynamics with polynomial fuzzy models, which are known as universal approximators. Next, global stabilization conditions represented in terms of SOS are provided in the framework of the CLF design, i.e., a stabilizing controller with nonparallel distributed compensation form is explicitly designed by applying Sontag's control law, once a CLF for a given nonlinear system is constructed. Furthermore, semiglobal stabilization conditions on operation domains are derived in the same fashion as in the global stabilization conditions. Both global and semiglobal stabilization problems are formulated as SOS optimization problems, which reduce to numerical feasibility problems. Five design examples are given to show the effectiveness of our proposed approach over the existing linear matrix inequality and SOS approaches. - Shape Control of a Snake Robot With Joint Limit and Self-Collision Avoidance
Motoyasu Tanaka; Kazuo Tanaka
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 25, 4, 1441-1448, Jul. 2017, This paper proposes a shape control method for a snake robot, which maintains head position and orientation, and avoids joint limits and self-collision. We used a passive wheeled snake robot that can switch the grounded/lifted status of its wheels. We derived a kinematic model of the robot that represents its redundancy as both joint angles [the shape controllable points (SCPs)] and the null space of the control input. In the control method, the shape is changed by sequential control of the SCPs, and the null space of the control input is used for joint limit and self-collision avoidance. Jumps in control input do not occur, although the controlled variable and the model are switched. Simulations and an experiment were used to demonstrate the effectiveness of the proposed method. - Positivstellensatz Relaxation for Sum-of-Squares Stabilization Conditions of Polynomial Fuzzy Systems
Alissa Ully Ashar; Motoyasu Tanaka; Kazuo Tanaka
Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems, -, Jun. 2017 - Stability Analysis for Polynomial Fuzzy Systems Based on Line-Integral Fuzzy Lyapunov Function: A Copositive Relaxation Approach
Jairo Moreno Saenz; Motoyasu Tanaka; Kazuo Tanaka
Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems, -, Jun. 2017 - DEVELOPMENT, BRIDGE INSPECTION AND OPERATION OF ARANEUS - WINCH WIRING ROBOT SYSTEM
FUJISAWA Ryusuke; UMEMOTO Kazuki; TANAKA Motoyasu; SATO Noritaka; NAGAYA Naohisa; KATSUYAMA Masanori
Journal of Japan Society of Civil Engineers, Ser. F4 (Construction and Management), Japan Society of Civil Engineers, 73, 1, 26-37, 2017, There are more than seven hundred thousand bridges in Japan, and there are a lot of unprobed bridges. Bridge administrators are suffering from lacking of budget and engineers. Thus, we developed winch wiring robot system, named as ARANEUS. The ARANEUS has eight independent controlled winches and hanged by eight wire under a bridge. And, The ARANEUS equips gyro sensor, network camera. We describe a system configuration of the robot, and experiment for verification on a real bridge. - Singularity Analysis of a Snake Robot and an Articulated Mobile Robot With Unconstrained Links
Motoyasu Tanaka; Kazuo Tanaka
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 24, 6, 2070-2081, Nov. 2016, In this paper, we analyze the conditions related to singular configurations with unconstrained links and present related theorems and lemmas for a snake robot and an articulated mobile robot. A snake robot and an articulated mobile robot have links that have passive or active wheels and the links are serially connected by active joints. The singular configuration should be avoided if the robots are automatically controlled because they cannot execute intended motion when they are in the singular configuration. We derive a novel necessary and sufficient condition for the singular configurations of the snake robot; this removes some limitations of the traditional condition for a snake robot without unconstrained links. We also derive the necessary and sufficient conditions for the singular configurations of the articulated mobile robot, and the structural conditions under which a real articulated mobile robot does not have a singular configuration. These conditions are proved by analyzing the elements of matrices included in the kinematic model and considering the geometrical meaning of the elements. In addition, we propose evaluation indices representing the distance from the singular configurations of a snake robot. We verify the effectiveness of these indices through simulations. - Analysis and heading control of continuum planar snake robot based on kinematics and a general solution thereof
Ryo Ariizumi; Motoyasu Tanaka; Fumitoshi Matsuno
ADVANCED ROBOTICS, TAYLOR & FRANCIS LTD, 30, 5, 301-314, Mar. 2016, This paper presents a kinematic calculation and control method for an inextensible continuum planar snake robot. The snake robot is assumed to move without side slipping; this constraint makes it easy to construct its kinematic model based on which we can analyze the movement of the robot. The kinematic model is expressed as a semi-linear partial differential equation (PDE). We discuss the general solution of the PDE and a calculation method based on it. However, the constraint also raises the problem of singular posture. The problem of singularities has been addressed for a snake robot with a serial link structure; however, for a continuum snake robot, much less research has been carried out. In this paper, we propose a method for controlling the direction of movement while avoiding singularities. The validity of our method is tested through simulations and experiments. - A New Sum-of-Squares Design Framework for Robust Control of Polynomial Fuzzy Systems With Uncertainties
Kazuo Tanaka; Motoyasu Tanaka; Ying-Jen Chen; Hua O. Wang
IEEE TRANSACTIONS ON FUZZY SYSTEMS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 24, 1, 94-110, Feb. 2016, This paper presents a new sum-of-squares (SOS, for brevity) design framework for robust control of polynomial fuzzy systems with uncertainties. Two kinds of robust stabilization conditions are derived in terms of SOS. One is global SOS robust stabilization conditions that guarantee the global and asymptotical stability of polynomial fuzzy control systems. The other is semiglobal SOS robust stabilization conditions. The latter is available for very complicated systems that are difficult to guarantee the global and asymptotical stability of polynomial fuzzy control systems. The main feature of all the SOS robust stabilization conditions derived in this paper are to be expressed as nonconvex formulations with respect to polynomial Lyapunov function parameters and polynomial feedback gains. Since a typical transformation from nonconvex SOS design conditions to convex SOS design conditions often results in some conservative issues, the new design framework presented in this paper gives key ideas to avoid the conservative issues. The first key idea is that we directly solve nonconvex SOS design conditions without applying the typical transformation. The second key idea is that we bring a so-called copositivity concept. These ideas provide some advantages in addition to relaxations. To solve our SOS robust stabilization conditions efficiently, we introduce a gradient algorithm formulated as a minimizing optimization problem of the upper bound of the time derivative of an SOS polynomial that can be regarded as a candidate of polynomial Lyapunov functions. Three design examples are provided to illustrate the validity and applicability of the proposed design framework. The examples demonstrate advantages of our new SOS design framework for the existing linear matrix inequality approaches and the existing convex SOS approach. - A Simple Passive Attitude Stabilizer for Palm-Size Aerial Vehicles
Motoyasu Tanaka; Ying Jen Chen; Kazuo Tanaka; Hua O. Wang
IEEE-ASME TRANSACTIONS ON MECHATRONICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 21, 1, 591-597, Feb. 2016, This paper presents a simple passive attitude stabilizer ( PAS) for vision-based stabilization of palm-size aerial vehicles. First, a mathematical dynamic model of a palm-size aerial vehicle with the proposed PAS is constructed. Stability analysis for the dynamics is carried out in terms of Lyapunov stability theory. The analysis results show that the proposed stabilizer guarantees passive stabilizing behavior, i.e., passive attitude recovering, of the aerial vehicle for small perturbations from a stability theory point of view. Experimental results demonstrate the utility of the proposed PAS for the aerial vehicle. - Sound-based Online Localization for an In-pipe Snake Robot
Yoshiaki Bando; Hiroki Suhara; Motoyasu Tanaka; Tetsushi Kamegawa; Katsutoshi Itoyama; Kazuyoshi Yoshii; Fumitoshi Matsuno; Hiroshi G. Okuno
2016 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR), IEEE, 207-213, 2016, This paper presents a sound-based online localization method for an in-pipe snake robot with an inertial measurement unit (IMU). In-pipe robots, in particular, snake robots need online localization for autonomous inspection and for remote operator supports. The GPS is denied in a pipeline, and conventional odometry-based localization may deteriorate due to slippage and sudden unintended movements. By putting a microphone on the robot and a loudspeaker at the entrance of the pipeline, their distance can be estimated by measuring the time of flight (ToF) of a reference sound emitted from the loudspeaker. Since the sound propagation path in the pipeline is necessary for estimating the robot location, the proposed sound-based online localization method simultaneously estimates the robot location and the pipeline map by combining the distance obtained by the ToF and orientation estimated by the IMU. The experimental results showed that the error of the distance estimation was less than 7% and the accuracy of the pipeline map was more than 68.0%. - Gait Design of a Snake Robot by Connecting Simple Shapes
Tatsuya Takemori; Motoyasu Tanaka; Fumitoshi Matsuno
2016 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR), IEEE, 189-194, 2016, This paper presents a method for expressing the target form of a snake robot by connecting simple shapes. Because the characteristics of each combined shapes are clear, we can intuitively design the target form and fit a snake robot to this form. In addition, we propose two novel gaits for the snake robot as a design example of the proposed method. The first gait is for pipe climbing to move over a flange on the pipe, while the other is the "Crawler-Gait" aimed at moving at high speed over uneven terrain. We demonstrate the effectiveness of each gait on a pipe, step, and set of stairs in a physical simulation. - Mixed Integer Programming-Based Semiautonomous Step Climbing of a Snake Robot Considering Sensing Strategy
Kazuyuki Kon; Motoyasu Tanaka; Kazuo Tanaka
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 24, 1, 252-264, Jan. 2016, We propose a control method for semiautonomous step climbing by a snake robot. Our method is based on mixed integer quadratic programming to generate the reference trajectory of the head of the snake robot online. One of the features of the method is that it determines suitable positions and time duration in which to sense the surroundings before approaching the step. Furthermore, constraints on velocity and acceleration are taken into account, so that the snake robot can securely follow the generated trajectory. Our method was applied to a snake robot equipped with a laser range finder, which is used for step detection. Experiments were performed to verify the efficacy of the method. - Smooth control of an articulated mobile robot with switching constraints
Motoyasu Tanaka; Mizuki Nakajima; Kazuo Tanaka
ADVANCED ROBOTICS, TAYLOR & FRANCIS LTD, 30, 1, 29-40, Jan. 2016, The paper describes a smooth controller of an articulated mobile robot with switching constraints. The use of switching constraints associated with grounded/lifted wheels is an effective method of controlling various motions; e.g. the avoidance of a moving obstacle. A model of an articulated mobile robot that has active and passive wheels and active joints with switching constraints is derived. A controller that accomplishes the trajectory tracking of the robot's head and subtasks using smooth joint input is proposed on the basis of the model. Simulations and experiments are presented to show the effectiveness of the proposed controller. - Shape Control for a Snake Robot via Sequential Switching
Motoyasu Tanaka; Kazuo Tanaka
SWARM 2015: The First International Symposium on Swarm Behavior and Bio-Inspired Robotics, P2-3, 200-202, Oct. 2015 - Range-Sensor-Based Semiautonomous Whole-Body Collision Avoidance of a Snake Robot
Motoyasu Tanaka; Kazuyuki Kon; Kazuo Tanaka
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 23, 5, 1927-1934, Sep. 2015, This brief presents a control system for a snake robot based on range sensor data that semiautonomously aids the robot in avoiding collisions with obstacles. In the proposed system, an operator indicates the desired velocity of the first link of the robot using a joystick, and the joint input which accomplishes both the desired velocity of the first link and collision avoidance between subsequent links and obstacles is automatically calculated by the controller, which selects the links needed to be grounded and exploits redundancy. The controller uses real-time data from range sensors for obstacle positions. The experimental system, which has range sensors and the function generating environmental map using simultaneous localization and mapping, was developed with decreasing calculation cost, and experiments were performed to verify the effectiveness of the proposed system in unknown environments.
English - Stability Analysis and Region-of- Attraction Estimation Using Piecewise Polynomial Lyapunov Functions: Polynomial Fuzzy Model Approach
Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka; Hua O. Wang
IEEE TRANSACTIONS ON FUZZY SYSTEMS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 23, 4, 1314-1322, Aug. 2015, Peer-reviwed, This paper proposes sum-of-squares (SOS) methodologies for stability analysis and region-of-attraction (ROA) estimation for nonlinear systems represented by polynomial fuzzy models via piecewise polynomial Lyapunov functions (PPLFs). At first, two SOS-based global stability criteria are proposed by applying maximum-type and minimum-type PPLFs, respectively. It is known that less-conservative results can be obtained by reducing global stability to local stability, since it is usually the case for nonlinear systems that the stability cannot be reached globally. Therefore, based on the two types of PPLFs, two local stability criteria are further proposed with the algorithms that enlarge the estimated ROA as much as possible. The constraints for checking (global and local) stability and enlarging the estimated ROA are represented in terms of bilinear SOS problems. Hence, the path-following method is applied to solve the bilinear SOS problems in the proposed methodologies. Finally, some examples are provided to illustrate the utility of the proposed methodologies.
Scientific journal, English - Approximate Path-Tracking Control of Snake Robot Joints With Switching Constraints
Motoyasu Tanaka; Kazuo Tanaka; Fumitoshi Matsuno
IEEE-ASME TRANSACTIONS ON MECHATRONICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 20, 4, 1633-1641, Aug. 2015, Peer-reviwed, This paper presents an approximate path-tracking control method for all joints of a snake robot, along with the verification of this method by simulations and experiments. We consider a wheeled snake robot that has passive wheels and active joints. The robot can switch the wheels that touch the ground by lifting the required parts of its body. The model of the robot becomes a kinematically redundant system if certain wheels are lifted. Using this kinematic redundancy, and selecting the appropriate lifted parts, we design a controller for approximate path tracking. Simulations and experimental results show that the proposed controller effectively reduces the path-tracking error for all joints of the snake robot.
Scientific journal, English - Control of a Snake Robot for Ascending and Descending Steps
Motoyasu Tanaka; Kazuo Tanaka
IEEE TRANSACTIONS ON ROBOTICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 31, 2, 511-520, Apr. 2015, Peer-reviwed, This paper proposes control method for a snake robot to ascend and descend steps. In a multiplane step environment, it is necessary for locomotion to transfer from one plane to another. When a snake robot moves, it touches several planes as its body is long and thin. In this paper, we propose a control method to track the trajectory of a snake robot in a step environment. We decomposed the 3-D motion of the robot into two simple models by introducing an assumption that simplifies the model and controller, and derive a model of the robot as a hybrid system with switching. The control method consists of a tracking controller, a method for shifting the robot's part connecting the planes, and active lifting to control the shape of the robot. Ascent and descent experiments confirm the effectiveness of the proposed controller and the method for shifting the connecting part of the robot's body.
Scientific journal, English - Stair Climbing of an Articulated Mobile Robot via Sequential Shift
Motoyasu Tanaka; Kazuo Tanaka
2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), IEEE, SuE1.3, 877-881, 2015, Peer-reviwed, This paper presents a sequential stair climbing method for an articulated mobile robot. The robot has active wheeled links connected by active rotational joints. In the method, some parts of the robot's body defined as a connecting part are used to step over risers in stairs, and the robot climbs up stairs by shifting the connecting parts from forward to backward. A condition on which the robot can climb stairs by the proposed method is presented. Simulation results confirm the effectiveness of the proposed method.
International conference proceedings, English - 冗長シリアルリンクロボットの多点接触における衝突回避制御
田中基康; 佐藤順亮; 田中一男; 松野文俊
計測自動制御学会論文集, 51, 4, 226-232, 2015, Peer-reviwed
Scientific journal, Japanese - A nonmonotonically decreasing relaxation approach of Lyapunov functions to guaranteed cost control for discrete fuzzy systems
Ying-Jen Chen; Motoyasu Tanaka; Kohei Inoue; Hiroshi Ohtake; Kazuo Tanaka; Thierry Marie Guerra; Alexandre Kruszewski; Hua O. Wang
IET CONTROL THEORY AND APPLICATIONS, INST ENGINEERING TECHNOLOGY-IET, 8, 16, 1716-1722, Nov. 2014, Peer-reviwed, This study presents a nonmonotonically decreasing relaxation approach of Lyapunov functions to guaranteed cost control for discrete Takagi-Sugeno (T-S) fuzzy systems. First, the authors summarise the previous results on a relaxation of nonmonotonically decreasing of Lyapunov functions, and newly derive one lemma based on the previous results. Based on the newly derived lemma, they propose guaranteed cost control design for discrete T-S fuzzy systems. The design conditions can be represented in terms of linear matrix inequalities and provide more relaxed results than the existing approach. A design example is included to demonstrate the relaxation effectiveness of the proposed approach in guaranteed cost control.
Scientific journal, English - Stability region analysis for polynomial fuzzy systems by polynomial Lyapunov functions
Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka; Hua O. Wang
IEEE International Conference on Fuzzy Systems, Institute of Electrical and Electronics Engineers Inc., 2091-2095, 04 Sep. 2014, Peer-reviwed, This paper presents a sum-of-squares (SOS) based methodology to obtain inner bounds on the region-of-attraction (ROA) for nonlinear systems represented by polynomial fuzzy systems. The methodology searches a polynomial Lyapunov function to guarantee the local stability and the invariant subset of the ROA is presented as the level set of the polynomial Lyapunov function. At first the methodology checks whether the considered system can be guaranteed to be locally asymptotically stable. After confirming that the system is guaranteed to be locally asymptotically stable, the methodology enlarges the invariant subset of the ROA as much as possible. The constraints for both of checking stability and enlarging contractively invariant set are represented in terms of bilinear SOS optimization problems. The path-following method is applied to solve the bilinear SOS optimization problems in the methodology.
International conference proceedings, English - Stabilization analysis of single-input polynomial fuzzy systems using control Lyapunov functions
Radian Furqon; Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka; Hua O. Wang
IEEE International Conference on Fuzzy Systems, Institute of Electrical and Electronics Engineers Inc., 907-912, 04 Sep. 2014, Peer-reviwed, This paper presents a novel method for stabilization analysis of the single-input polynomial fuzzy systems using a sum of squares (SOS) approach to construct control Lyapunov functions (CLFs) for the systems. First, we represent a nonlinear system as a polynomial fuzzy system. Then, sufficient conditions in SOS terms for a positive definite function to become a CLF is presented. We solve the sufficient conditions using SOS optimization technique to construct the CLF. Finally, after a CLF is constructed, the controller for the system is designed using Sontag's formula. To illustrate the validity of the proposed approach, a design example is provided.
International conference proceedings, English - Modeling and Control of Head Raising Snake Robots by Using Kinematic Redundancy
Motoyasu Tanaka; Fumitoshi Matsuno
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, SPRINGER, 75, 1, 53-69, Jul. 2014, Peer-reviwed, In this paper, we consider trajectory tracking control of a head raising snake robot on a flat plane by using kinematic redundancy. We discuss the motion control requirements to accomplish trajectory tracking and other tasks, such as singular configuration avoidance and obstacle avoidance, for the snake robot. The features of the internal motion caused by kinematic redundancy are considered, and a kinematic model and a dynamic model of the snake robot are derived by introducing two types of shape controllable point. The first is the head shape controllable point, and the other is the base shape controllable point. We analyzed the features of the two kinds of shape controllable point and proposed a controller to accomplish the trajectory tracking of the robot's head as its main task along with several sub-tasks by using redundancy. The proposed method to accomplish several sub-tasks is useful for both the kinematic model and the dynamic model. Experimental results using a head raising snake robot which can control the angular velocity of its joints show the effectiveness of the proposed controller.
Scientific journal, English - Nonlinear Control of F16 Aircraft via Multiple Nonlinear Model Generation for Any Trimmed Equilibriums
Motoyasu Tanaka; Ken Yamaguchi; Daisuke Ogura; Ying-Jen Chen; Kazuo Tanaka
INTERNATIONAL JOURNAL OF FUZZY SYSTEMS, TAIWAN FUZZY SYSTEMS ASSOC, 16, 2, 140-152, Jun. 2014, Peer-reviwed, This paper presents a practical approach of nonlinear control of the F16 aircraft via multiple nonlinear model generation for any trimmed equilibriums. The approach is realized using the framework of a Takagi-Sugeno (T-S) fuzzy modeling and control. The nonlinear control algorithm consists of three parts. The first part determines a trimmed equilibrium of the F16 dynamics for a given desired flight condition. The second part generates a T-S fuzzy model from the F16 dynamics around the trimmed equilibrium determined in the first part. In the third part, a linear matrix inequality based design is carried out to automatically design a T-S fuzzy controller satisfying some kinds of performance from the T-S fuzzy model generated in the second part. Since there are an infinite number of trimmed equilibriums in the F16 dynamics and the trimmed equilibriums widely change according to different flight conditions, T-S fuzzy models are multiply re-generated according to widely change of the trimmed equilibriums. T-S fuzzy controllers are also re-designed from re-generated T-S fuzzy models whenever different desired flight conditions are selected. Control performance of the proposed control is tested for the original dynamics (not T-S fuzzy models). The testing results demonstrate the utility of the proposed approach of nonlinear control of the F16 aircraft via multiple nonlinear model generation for any trimmed equilibriums.
Scientific journal, English - Jumping Control of Snake Robots with Considering Reaction Force at Grounding Part
Motoyasu Tanaka; Keiichi Hoshino; Hiroaki Fukushima; Fumitoshi Matsuno
Journal of the Robotics Society of Japan, 32, 4, 386-394, May 2014, Peer-reviwed
Scientific journal, Japanese - Control of snake robots with switching constraints: trajectory tracking with moving obstacle
Motoyasu Tanaka; Fumitoshi Matsuno
ADVANCED ROBOTICS, TAYLOR & FRANCIS LTD, 28, 6, 415-429, Mar. 2014, Peer-reviwed, We propose control of a snake robot that can switch lifting parts dynamically according to kinematics. Snakes lift parts of their body and dynamically switch lifting parts during locomotion: e.g. sinus-lifting and sidewinding motions. These characteristic types of snake locomotion are used for rapid and efficient movement across a sandy surface. However, optimal motion of a robot would not necessarily be the same as that of a real snake as the features of a robot's body are different from those of a real snake. We derived a mathematical model and designed a controller for the three-dimensional motion of a snake robot on a two-dimensional plane. Our aim was to accomplish effective locomotion by selecting parts of the body to be lifted and parts to remain in contact with the ground. We derived the kinematic model with switching constraints by introducing a discrete mode number. Next, we proposed a control strategy for trajectory tracking with switching constraints to decrease cost function, and to satisfy the conditions of static stability. In this paper, we introduced a cost function related to avoidance of the singularity and the moving obstacle. Simulations and experiments demonstrated the effectiveness of the proposed controller and switching constraints.
Scientific journal, English - Discrete polynomial fuzzy systems control
Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka; Hiroshi Ohtake; Hua O. Wang
IET CONTROL THEORY AND APPLICATIONS, INST ENGINEERING TECHNOLOGY-IET, 8, 4, 288-296, Mar. 2014, Peer-reviwed, This study presents a sum-of-squares (SOS) approach to stable control and guaranteed cost control of discrete polynomial fuzzy systems. The SOS framework presented in this paper offers a new paradigm over the existing linear matrix inequality (LMI) approaches to discrete Takagi-Sugeno (T-S) fuzzy models. At first, this study, newly introduces a discrete polynomial fuzzy model that is more general and effective than the well-known discrete T-S fuzzy model. With considering the operating domain, stable control design conditions are then derived based on state-dependent Lyapunov functions that contain quadratic Lyapunov functions as a special case. Hence, the design approach discussed in this study could be more general than the LMI design approaches based on quadratic Lyapunov functions. Moreover, this study also discusses a guaranteed cost control design which is carried out by minimising the upper bound of a given performance function. All the design conditions derived in this study can be represented in terms of SOS and are symbolically and numerically solved via the SOSOPT and the SeDuMi, respectively. Finally, the ball-and-beam system is provided as an example to illustrate the utility of the proposed SOS-based design approach.
Scientific journal, English - A Study on Sinus-Lifting Motion of a Snake Robot With Sequential Optimization of a Hybrid System
Satoshi Toyoshima; Motoyasu Tanaka; Fumitoshi Matsuno
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 11, 1, 139-144, Jan. 2014, Peer-reviwed, In this paper, we consider "sinus-lifting motion" of a living snake, in which a snake lifts up some parts of its body from the ground, and switches the lifted parts dynamically. It is not clear whether imitating the sinus-lifting motion is the best locomotion or not for a snake like robot. The aim of this paper is to propose an appropriate motion pattern to a snake like robot considering the optimality of the sinus-lifting motion. We introduce two physical parameters, constraint forces and energy efficiency, as cost functions to optimize and propose switching strategies for generating optimal motion patterns of a snake like robot.
Note to Practitioners-The biologically inspired robots have been researched and developed intensely. Many researchers expect that the locomotion of living things has high locomotion performance in the natural world, because they have survived by natural selection. However, when we consider the effectiveness of imitating the biological locomotion, it is important that we clarify not only the kinematical and dynamical features of the locomotion but also the principle of the locomotion, which means the reason why a living thing achieved the locomotion. We expect that the knowledge regarding the principle of the locomotion suggests a more effective motion pattern which is specific to mechanical robots. In this study, we focus on the creeping locomotion of a living snake. Practically the great ability of movement of a living snake is useful, for example, search and rescue missions at disaster sites, so snake-like robots have been developed. Based on the hybrid model, we discuss the optimal locomotion of the snake robot with comparing locomotion of a living snake.
Scientific journal, English - Stability Region Analysis for Polynomial Fuzzy Systems by Polynomial Lyapunov Functions
Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka; Hua O. Wang
2014 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE), IEEE, 2091-2095, 2014, Peer-reviwed, This paper presents a sum-of-squares (SOS) based methodology to obtain inner bounds on the region-of-attraction (ROA) for nonlinear systems represented by polynomial fuzzy systems. The methodology searches a polynomial Lyapunov function to guarantee the local stability and the invariant subset of the ROA is presented as the level set of the polynomial Lyapunov function. At first the methodology checks whether the considered system can be guaranteed to be locally asymptotically stable. After confirming that the system is guaranteed to be locally asymptotically stable, the methodology enlarges the invariant subset of the ROA as much as possible. The constraints for both of checking stability and enlarging contractively invariant set are represented in terms of bilinear SOS optimization problems. The path-following method is applied to solve the bilinear SOS optimization problems in the methodology.
International conference proceedings, English - Stabilization Analysis of Single-Input Polynomial Fuzzy Systems using Control Lyapunov Functions
Radian Furqon; Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka; Hua O. Wang
2014 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE), IEEE, 907-912, 2014, Peer-reviwed, This paper presents a novel method for stabilization analysis of the single-input polynomial fuzzy systems using a sum of squares (SOS) approach to construct control Lyapunov functions (CLFs) for the systems. First, we represent a nonlinear system as a polynomial fuzzy system. Then, sufficient conditions in SOS terms for a positive definite function to become a CLF is presented. We solve the sufficient conditions using SOS optimization technique to construct the CLF. Finally, after a CLF is constructed, the controller for the system is designed using Sontag's formula. To illustrate the validity of the proposed approach, a design example is provided.
International conference proceedings, English - Nonconvex stabilization criterion for polynomial fuzzy systems
Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka; Hua O. Wang
Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., 7415-7419, 2013, Peer-reviwed, This paper presents a nonconvex criterion represented in terms of bilinear sum of squares (SOS) conditions for the stabilization of polynomial fuzzy systems. In the existing literature dealing with the stabilization of polynomial fuzzy control systems, the construction of Lyapunov function candidates is restricted in order to transform the nonconvex SOS conditions into convex SOS conditions. Moreover, the transformation from nonconvex conditions into convex conditions itself also induces some conservativeness for the stabilization of polynomial fuzzy control systems. This study proposes a stabilization criterion for polynomial fuzzy control systems remaining in the nonconvex form of bilinear SOS conditions. Therefore, the proposed nonconvex SOS stabilization criterion, in some way, can provide more relaxed results than the existing convex SOS stabilization criteria. Moreover, the restriction on the construction of Lyapunov function candidates in literature does not exist in the proposed nonconvex stabilization criterion. An iterative algorithm is utilized to obtain solutions of the nonconvex stabilization criterion represented in terms of bilinear SOS conditions. The iterative algorithm does not guarantee either to obtain the global optimum of the nonconvex criterion or even to converge. However, this algorithm is easy to implement and can yield feasible solutions efficiently in the design example of this work. © 2013 IEEE.
International conference proceedings, English - Development of an Autonomous Flying Robot and Its Verification via Flight Control Experiment
Motoyasu Tanaka; Hiroshi Kawai; Kazuo Tanaka; Hua O. Wang
2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 4439-4444, 2013, Peer-reviwed, This paper presents development of an autonomous flying robot (unmanned aerial vehicle) and its verification via flight control experiment. The autonomous flying robot has a global positioning system (GPS) sensor to control its altitude and also a wireless camera to gather visual information from the air. First, we construct a longitudinal model of the autonomous flying robot to design a stable controller using a common Lyapunov approach. The longitudinal model has three degree of freedom, i.e., the altitude, the horizontal position and the pitch angle. A stable controller is designed so as to guarantee the stability of the trajectory tracking control system for the three-degree-of-freedom model. The experimental result demonstrates the viability of the stable trajectory tracking control.
International conference proceedings, English - Climbing and Descending Control of a Snake Robot on Step Environments based on Kinematics
Motoyasu Tanaka; Kazuo Tanaka
2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), IEEE, 3285-3290, 2013, Peer-reviwed, This paper proposes a snake robot control method for climbing and descending a step. On a multi-plane step environment, it is necessary for locomotion to transfer from one plane to another. A snake robot can move with touching several planes as its body is long and thin. In this paper, we propose a control method for accomplishing trajectory tracking of a snake robot on a step environment. The control method consists of the tracking controller, the shifting method of the robot's part connecting between the planes, and the active lifting for controlling the shape of the robot. Simulations and experiments demonstrated the effectiveness of the proposed controller and the shifting method of the connecting part of the robot's body.
International conference proceedings, English - Piecewise polynomial lyapunov functions based stability analysis for polynomial fuzzy systems
Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka; Hua O. Wang
Proceedings - 2013 IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2013, 34-39, 2013, Peer-reviwed, This paper proposes two stability criteria for polynomial fuzzy systems by applying minimum-type and maximum-type piecewise polynomial Lyapunov functions (PPLFs) respectively. Piecewise Lyapunov functions and polynomial Lyapunov functions (PLFs) have been utilized to the stability analysis for fuzzy-model-based (FMB) control systems to obtain relaxed results in literature. However, the minimum-type and maximum-type PPLFs have not been employed to analyze the stability of FMB control systems. Therefore, this paper applies the minimum-type and maximum-type PPLFs to the stability analysis of polynomial FMB control systems. Two relaxed stability criteria represented in terms of bilinear sum-of-squares (SOS) conditions are proposed. The proposed stability criteria are represented in terms of bilinear SOS conditions that cannot be directly solved by the mathematical tools of solving SOS optimization problem (e.g. SOSTOOLS and SOSOPT). Therefore, the path-following method that has been shown to be effective for the nonconvex bilinear matrix inequality problem is employed for solving the bilinear SOS problem of the proposed stability criteria. A numerical example is provided to demonstrate the relaxation of the proposed stability criteria. © 2013 IEEE.
International conference proceedings, English - Nonconvex Stabilization Criterion for Polynomial Fuzzy Systems
Yin-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka; Hua O. Wang
2013 IEEE 52ND ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), IEEE, 7415-7419, 2013, Peer-reviwed, This paper presents a nonconvex criterion represented in terms of bilinear sum of squares (SOS) conditions for the stabilization of polynomial fuzzy systems. In the existing literature dealing with the stabilization of polynomial fuzzy control systems, the construction of Lyapunov function candidates is restricted in order to transform the nonconvex SOS conditions into convex SOS conditions. Moreover, the transformation from nonconvex conditions into convex conditions itself also induces some conservativeness for the stabilization of polynomial fuzzy control systems. This study proposes a stabilization criterion for polynomial fuzzy control systems remaining in the nonconvex form of bilinear SOS conditions. Therefore, the proposed nonconvex SOS stabilization criterion, in some way, can provide more relaxed results than the existing convex SOS stabilization criteria. Moreover, the restriction on the construction of Lyapunov function candidates in literature does not exist in the proposed nonconvex stabilization criterion. An iterative algorithm is utilized to obtain solutions of the nonconvex stabilization criterion represented in terms of bilinear SOS conditions. The iterative algorithm does not guarantee either to obtain the global optimum of the nonconvex criterion or even to converge. However, this algorithm is easy to implement and can yield feasible solutions efficiently in the design example of this work.
International conference proceedings, English - A practical design approach to automatic model construction and controller design for F16 aircraft
Daisuke Ogura; Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka
iFUZZY 2013 - 2013 International Conference on Fuzzy Theory and Its Applications, IEEE Computer Society, 177-182, 2013, Peer-reviwed, This paper presents a practical design approach to automatic model construction and controller design for the F16 aircraft. The automatic model construction and controller design are realized using the framework of a Takagi-Sugeno (T-S) fuzzy modeling and control. Any trimmed equilibriums in addition to the complicated dynamics describing in an F16 aircraft simulator are considered and automatically converted to T-S fuzzy models around any trimmed equilibriums. A linear matrix inequality based design is carried out to automatically obtain stable nonlinear T-S fuzzy controllers according to the considered trimmed equilibriums. Control performance of the designed controllers are tested for the original dynamics (not T-S fuzzy models). The testing results demonstrate the utility of the practical design approach to automatic model construction and controller design. © 2013 IEEE.
International conference proceedings, English - Transformation control to an inverted pendulum for a mobile robot with wheel-arms using partial linearization and polytopic model set
H. Fukushima; M. Kakue; K. Kon; F. Matsuno
IEEE Transactions on Robotics, 48, 10, 664-673, 31 Oct. 2012, Peer-reviwed
Japanese - Polynomial Fuzzy Observer Designs: A Sum-of-Squares Approach
Kazuo Tanaka; Hiroshi Ohtake; Toshiaki Seo; Motoyasu Tanaka; Hua O. Wang
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 42, 5, 1330-1342, Oct. 2012, Peer-reviwed, This paper presents a sum-of-squares (SOS) approach to polynomial fuzzy observer designs for three classes of polynomial fuzzy systems. The proposed SOS-based framework provides a number of innovations and improvements over the existing linear matrix inequality (LMI)-based approaches to Takagi-Sugeno (T-S) fuzzy controller and observer designs. First, we briefly summarize previous results with respect to a polynomial fuzzy system that is a more general representation of the well-known T-S fuzzy system. Next, we propose polynomial fuzzy observers to estimate states in three classes of polynomial fuzzy systems and derive SOS conditions to design polynomial fuzzy controllers and observers. A remarkable feature of the SOS design conditions for the first two classes (Classes I and II) is that they realize the so-called separation principle, i.e., the polynomial fuzzy controller and observer for each class can be separately designed without lack of guaranteeing the stability of the overall control system in addition to converging state-estimation error (via the observer) to zero. Although, for the last class (Class III), the separation principle does not hold, we propose an algorithm to design polynomial fuzzy controller and observer satisfying the stability of the overall control system in addition to converging state-estimation error (via the observer) to zero. All the design conditions in the proposed approach can be represented in terms of SOS and are symbolically and numerically solved via the recently developed SOSTOOLS and a semidefinite-program solver, respectively. To illustrate the validity and applicability of the proposed approach, three design examples are provided. The examples demonstrate the advantages of the SOS-based approaches for the existing LMI approaches to T-S fuzzy observer designs.
Scientific journal, English - Modeling and Control of a Snake-Like Robot Using the Screw-Drive Mechanism
Hiroaki Fukushima; Shogo Satomura; Toru Kawai; Motoyasu Tanaka; Tetsushi Kamegawa; Fumitoshi Matsuno
IEEE TRANSACTIONS ON ROBOTICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 28, 3, 541-554, Jun. 2012, Peer-reviwed, In this paper, we develop a new type of snake-like robot using screw-drive units that are connected by active joints. The screw-drive units enable the robot to generate propulsion on any side of the body in contact with environments. Another feature of this robot is the omnidirectional mobility by combinations of screws' angular velocities. We also derive a kinematic model and apply it to trajectory tracking control. Furthermore, we design a front-unit-following controller, which is suitable for manual operations. In this control system, operators are required to command only one unit in the front; then, commands for the rest of the units are automatically calculated to track the path of the preceding units. Asymptotic convergence of the tracking error of the front-unit-following controller is analyzed based on a Lyapunov approach for the case of constant curvature. The effectiveness of the control method is demonstrated by numerical examples and experiments.
Scientific journal, English - Wireless Vision-Based Stabilization of Indoor Microhelicopter
Kazuo Tanaka; Hiroshi Ohtake; Motoyasu Tanaka; Hua O. Wang
IEEE-ASME TRANSACTIONS ON MECHATRONICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 17, 3, 519-524, Jun. 2012, Peer-reviwed, This paper presents wireless vision-based stabilization of an indoor microhelicopter via visual simultaneous localization and mapping. The so-called parallel tracking and mapping (PTAM) technique using a small single wireless camera on the helicopter is utilized to detect the position and attitude of the helicopter. We construct the measurement system that is able to calibrate the mapping between local coordinate system in the PTAM and world coordinate system and is able to realize noise detection and elimination. In addition, we design the guaranteed cost (stable) controller for the dynamics of the helicopter via a linear matrix inequality approach. Although path tracking control only via the small single wireless vision sensor is a quite difficult task, the control results demonstrate the utility of our approach.
Scientific journal, English - Shared Nonlinear Control in Wireless-Based Remote Stabilization: A Theoretical Approach
Kazuo Tanaka; Motoyasu Tanaka; Hiroshi Ohtake; Hua O. Wang
IEEE-ASME TRANSACTIONS ON MECHATRONICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 17, 3, 443-453, Jun. 2012, Peer-reviwed, This paper proposes shared control in wireless-based remote stabilization for nonlinear systems. Shared control that is newly named in this paper can be regarded as simultaneous stabilization of plural nonlinear systems (in different places) by a single (common) controller. This paper consists of two parts. The first part addresses the basis of wireless-based remote stabilization for a single nonlinear system with time-varying delay. We derive a delay-dependent sufficient condition for ensuring the stability of Takagi-Sugeno (T-S) fuzzy models with time-varying delays that are globally (or semiglobally at least) equivalent to nonlinear systems with wireless communication time delays. A feature of the derived condition is to be able to obtain the maximum time delay for ensuring the stability of wireless-based remote control system for given feedback gains. The second part presents shared control of plural nonlinear systems via a single controller. To design a (common) shared controller to stabilize plural nonlinear systems, we derive also a shared control version of the stability condition for T-S fuzzy models with time-varying delays. Design examples demonstrate the utility of this proposed design approach.
Scientific journal, English - A Takagi-Sugeno fuzzy model approach to vision-based control of a micro helicopter
Kazuo Tanaka; Hiroshi Ohtake; Motoyasu Tanaka; Hua O. Wang
Proceedings of the IEEE Conference on Decision and Control, 6217-6222, 2012, Peer-reviwed, This paper presents hovering control of an indoor micro helicopter only using single visual sensor feedback. The control technique is based on the parallel tracking and mapping (PTAM), a kind of visual simultaneous localization and mapping, using a small single wireless camera on the helicopter. The six degree of freedom of the helicopter is detected via the PTAM. The nonlinear dynamics of the helicopter is converted to a Takagi-Sugeno fuzzy model. To design the guaranteed cost (stable) controller, a Takagi-Sugeno fuzzy model-based design is carried out via a linear matrix inequality approach. The hovering control results demonstrate the utility of our approach even though single wireless vision sensor based stabilization is extremely a difficult task in practice. © 2012 IEEE.
International conference proceedings, English - A Takagi-Sugeno Fuzzy Model Approach to Vision-based Control of a Micro Helicopter
Kazuo Tanaka; Hiroshi Ohtake; Motoyasu Tanaka; Hua O. Wang
2012 IEEE 51ST ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), IEEE, 6217-6222, 2012, Peer-reviwed, This paper presents hovering control of an indoor micro helicopter only using single visual sensor feedback. The control technique is based on the parallel tracking and mapping (PTAM), a kind of visual simultaneous localization and mapping, using a small single wireless camera on the helicopter. The six degree of freedom of the helicopter is detected via the PTAM. The nonlinear dynamics of the helicopter is converted to a Takagi-Sugeno fuzzy model. To design the guaranteed cost (stable) controller, a Takagi-Sugeno fuzzy model-based design is carried out via a linear matrix inequality approach. The hovering control results demonstrate the utility of our approach even though single wireless vision sensor based stabilization is extremely a difficult task in practice.
International conference proceedings, English - Trajectory Tracking Control of a Snake Robot on Cylindrical Surface with Considering Avoidance of Sliding Down
Motoyasu Tanaka; Hiroaki Tsukano; Fumitoshi Matsuno
計測自動制御学会論文集, 48, 10, 664-673, 2012, Peer-reviwed
Scientific journal, Japanese - Optimal Shape of a Snake Robot for Jumping
Keiichi Hoshino; Motoyasu Tanaka; Fumitoshi Matsuno
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 697-702, 2010, Peer-reviwed, In this paper, we discuss an optimal shape of the grounded part of a snake robot with passive wheels for jumping. First, we derive a relationship between constraint forces for the wheels and necessary friction forces, and propose a constraint force ellipse. Next, we introduce an evaluation index for the optimal shape of the grounded part (base part) of a snake robot using the constraint force ellipse. Finally, in order to demonstrate the validity of the optimal shape that minimizes the evolution index, simulations have been carried out.
International conference proceedings, English - Front-Unit-Following Control of a Snake-like Robot Using Screw Drive Mechanism
Hiroaki Fukushima; Motoyasu Tanaka; Tetsushi Kamegawa; Fumitoshi Matsuno
Journal of the Robotics Society of Japan, The Robotics Society of Japan, 28, 6, 707-714, 2010, Peer-reviwed, This paper presents a front-unit-following control method for a snake-like robot using screw drive mechanism. The operators are required to command only one unit in the head, then commands for the rest of the units are automatically calculated to track the path of the preceding units. Asymptotic tracking error is investigated based on a Lyapunov approach for the case of a constant curvature. Furthermore, the effectiveness of the proposed method is investigated by computer simulations and laboratory experiments.
Scientific journal, Japanese - Control of a Snake Robot on a Cylindrical Surface Based on a Kinematic Model
Hiroaki Tsukano; Motoyasu Tanaka; Fumitoshi Matsuno
9th IFAC Symposium on Robot Control, 9, 1, Sep. 2009, Peer-reviwed
International conference proceedings, English - Control of a snake robot on a cylindrical surface based on a kinematic model
Hiroaki Tsukano; Motoyasu Tanaka; Fumitoshi Matsuno
IFAC Proceedings Volumes (IFAC-PapersOnline), IFAC Secretariat, 42, 16, 699-704, 2009, Peer-reviwed, In this paper, we propose a trajectory tracking control law for snake robots on a cylindrical surface, which have passive wheels and active joints. Snake robots have kinematic redundancy with introduction of wheelless links. First, we derive a kinematic model of the robot based on non-holonomic constraints that wheels do not sideslip and holonomic constrains that wheels remain in contact with a cylindrical surface at all times. It is necessary to avoid the singular configuration of the snake robot to achieve trajectory tracking. We indicate the conditions under which the robot becomes a singular configuration by analyzing the kinematic model, and design a trajectory tracking controller that can avoid the singular configuration using kinematic redundancy. Simulation results show the validity of the proposed controller.
International conference proceedings, English - A Study on Sinus-lifting Motion of a Snake Robot with Switching Constraints
Motoyasu Tanaka; Fumitoshi Matsuno
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, IEEE, 167-172, 2009, Peer-reviwed, In this paper, we consider "sinus-lifting motion" which is the effective motion of a snake for rapid movement consisting of lifting some parts of its body off the ground, and switching the lifted and grounded parts dynamically. This motion is analyzed based on control theory. We focus on the constraint force of passive wheels and switching of grounded parts of the snake robot to minimize the constraint force. Simulations show that the motion that minimizes the constraint force of the snake robot is similar to the sinus-lifting motion in appropriate amplitudes and periods of the body shape.
International conference proceedings, English - Control of 3-dimensional snake robots by using redundancy
Motoyasu Tanaka; Fumitoshi Matsuno
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, IEEE, 1156-1161, 2008, Peer-reviwed, In this paper, we consider the trajectory tracking control of a 3-dimensional (3D) snake robot by using redundancy. We discuss the motion control which accomplishes the trajectory tracking and other tasks, for example singular configuration avoidance, obstacle avoidance, etc., for the 3D snake robot. Features of the internal motion caused by the kinematic redundancy are considered and the dynamic model of the 3D snake robot is derived by introducing shape controllable points. By utilizing redundancy, we propose the controller which accomplishes the trajectory tracking as the main-task and several sub-tasks. Simulation results show the effectiveness of the proposed controller.
International conference proceedings, English - Singular Configuration Avoidance of a Snake-like Robot with Screw Drive Units
Yong Gao; Motoyasu Tanaka; Hiroaki Fukushima; Fumitoshi Matsuno
2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7, IEEE, 2964-2969, 2008, Peer-reviwed, In this paper, we propose a control method for a snake-like robot with screw drive units, which aims to achieve singular configuration avoidance as well as tracking control of the head position and orientation. A cost function measuring nonsingularity is introduced, and a control input is chosen such that the cost function is increased by using redundant degrees of freedom. The effectiveness of the proposed control law is investigated by simulations and experiments using a 4-link snake-like robot with screw drive units.
International conference proceedings, English - Modeling and Control of a Snake Robot with Switching Constraints
Motoyasu Tanaka; Fumitoshi Matsuno
2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7, IEEE, 2960-2963, 2008, Peer-reviwed, This paper describes modeling and control of a snake robot which can switch grounded parts dynamically. A snake lifts up some parts of its body and dynamically switches grounded parts during locomotion, for example, sinus-lifting and sidewinding motion. We model the lifting up 3D motion of the snake as a switching constraints system in 2D motion and propose the control strategy for the trajectory tracking with switching conditions for the static stability. Simulations show that the decrease of the input norm is accomplished by switching constraints.
International conference proceedings, English - Path-Tracking Control of a Snake-like Robot Using Screw Drive Mechanism
Hiroaki Fukushima; Motoyasu Tanaka; Tetsushi Kamegawa; Fumitoshi Matsuno
2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS, IEEE, 1624-+, 2008, Peer-reviwed, This paper presents a path-tracking control method for a snake-like robot using screw drive mechanism. The operators are required to command only one unit in the head, then commands for the rest of the units are automaticatly calculated to track the path of the preceding units. Although the velocity commands for exact path tracking can be calculated using past command signals due to the omni-directional property of the robot, a simpler control law without using past signals is adopted from the implementation viewpoint. Asymptotic tracking error is investigated based on a Lyapunov approach for the case of a constant curvature. Furthermore, the effectiveness of the proposed method is investigated by computer simulations and laboratory experiments.
International conference proceedings, English - Cooperative Control of 3-Dimensional Snake Robots Moving on a Flat Surface
Motoyasu Tanaka; Fumitoshi Matsuno
Journal of the Robotics Society of Japan, The Robotics Society of Japan, 26, 6, 493-501, 2008, Peer-reviwed, This paper proposes a controller for the cooperative task of 3-dimensional (3D) snake robots which have wheeled links with no side slip. We assume that the snake robot moves on a flat surface. First, we consider features of the kinematic redundancy caused by introducing wheelless links and derive a dynamic model of a 3D snake robot with introducing the shape controllable points for parameterizing its kinematic redundancy. Next, we extend it to the model for the cooperative transportation task of the robots and propose a controller which accomplishes this task by controlling internal forces and utilizing the redundancy. Simulation results show the validity of the proposed controller.
Scientific journal, Japanese - Control of 3-dimensional Snake Robots by Using Redundancy
Motoyasu Tanaka; Fumitoshi Matsuno
Transactions of the Society of Instrument and Control Engineers, The Society of Instrument and Control Engineers, 44, 12, 970-978, 2008, Peer-reviwed, We consider the trajectory tracking control of a 3-dimensional (3D) snake robot by using redundancy. We discuss the motion control which accomplishes the trajectory tracking and other tasks, for example singular configuration avoidance, obstacle avoidance, etc., for the 3D snake robot. Features of the internal motion caused by introducing the kinematic redundancy are considered and the dynamic model of the 3D snake robot is derived by introducing shape controllable points. By utilizing the redundancy, we propose the controller which accomplishes the trajectory tracking as the main-task and other several sub-tasks. Simulation results show the effectiveness of the proposed controller.
Scientific journal, Japanese - Experimental study of redundant snake robot based on kinematic model
Motoyasu Tanaka; Fumitoshi Matsuno
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, IEEE, 2990-+, 2007, Peer-reviwed, In this paper we consider modeling and control of a redundant snake robot with wheeled link mechanism based on kinematic model. We derive a kinematic model of a snake robot with introducing links without wheels and shape controllable points in the snake robot's body in order to make the system redundancy controllable. By using redundancy, it becomes possible to accomplish the main objective of controlling the position and the attitude of the snake robot head and the shape of the snake robot, and the sub-objective of the singular configuration avoidance. Simulations and experimental results show the validity of the control law and how snake robots move at the neighborhood of the singular configuration.
International conference proceedings, English - Cooperative control of two snake robots
Motoyasu Tanaka; Fumitoshi Matsuno
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, IEEE, 400-+, 2006, Peer-reviwed, In this paper, we derive a dynamic model and a control law for cooperative task of two snake robots which have wheeled links and demonstrate the validity of proposed controller by simulation and experiment. First, we derive a dynamic model of single snake robot with redundancy by introducing the shape controllable points. Next, we extend it to the model for the cooperative task of two redundant snake robots and propose a control law to accomplish this task. Finally, in order to demonstrate the validity of the derived model and effectiveness of the proposed control law, simulation and experiment are carried out.
International conference proceedings, English - Cooperative control of three snake robots
Motoyasu Tanaka; Fumitoshi Matsuno
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, IEEE, 3688-+, 2006, Peer-reviwed, In this paper, we derive a dynamic model and a control law for cooperative task of three snake robots which have wheeled links and demonstrate the validity of proposed controller by simulation. First, we derive a dynamic model of single snake robot with redundancy by introducing the shape controllable points. Next, we extend it to the model for the cooperative task of three redundant snake robots and propose a control law to accomplish this task. Finally, in order to demonstrate the validity of the derived model and effectiveness of the proposed control law, simulation is carried out.
International conference proceedings, English - Trajectory Tracking Control of Snake Robots Based on Dynamic Model
Hiroki Sato; Motoyasu Tanaka; Fumitoshi Matsuno
Transactions of the Society of Instrument and Control Engineers, The Society of Instrument and Control Engineers, 42, 6, 651-658, 2006, Peer-reviwed, In this paper, we derive a dynamic model and a trajectory tracking control law for snake robots, which have passive wheels and active joints. We remove passive wheels of some links, and introduce shape controllable points in the snake robot's body. For a trajectory tracking control of snake robots, it is one of the important problem to avoid the singular configuration like a straight line. Using input-ouput linearization for only the head position of snake robots based on dynamic model, we can control the head position by PD feedback, but the robot will converge to the singular configuration. In order to solve this problem, we propose a control law for shape controllable points, based on an index related to the singular configuration. Using the proposed control law, the robot can accomplish trajectory tracking of the head position without converging to the singular configuration. Simulation results show the effectiveness of the proposed control law.
Scientific journal, Japanese - Cooperative Control of Two Snake-like Robots
Motoyasu Tanaka; Masato Yoshikawa; Fumitoshi Matsuno
Journal of the Robotics Society of Japan, The Robotics Society of Japan, 24, 3, 400-407, 2005, Peer-reviwed, In this paper, we derive a dynamic model and a control law for cooperative task of two snake-like robots which have wheeled links and demonstrate the validity of proposed controller by simulation and experiment. First, we derive a dynamic model of single snake-like robot with redundancy by introducing the shape controllable points. Next, we extend it to the model for the cooperative task of two redundant snake-like robots and propose a control law to accomplish this task. Finally, in order to demonstrate the validity of the derived model and effectiveness of the proposed control law, simulation and experiment are carried out.
Scientific journal, Japanese
MISC
- 環境変形を利用したヘビ型ロボットのロープ昇降
田中基康
Lead, Jan. 2024, ロボット, 276, 50-52, Invited, Introduction other - 車輪型索状ロボットの制御とその応用
田中基康
May 2022, 日本ロボット学会誌, 40, 4, 294-299, Japanese, Peer-reviwed, Invited, Introduction scientific journal - 故障関節を有するヘビ型ロボットの環境との相互作用を考慮した配管移動制御—Control of a snake robot with a failed joint for moving on a pipe considering the interaction with a pipe
稲澤 真里子; 竹森 達也; 田中 基康; 松野 文俊
システム制御情報学会, May 2021, システム制御情報学会研究発表講演会講演論文集, 65, 828-835, Japanese, Summary national conference, 40022586515, AN10257408 - Modelling and glide control of longitudinal movement of flying snakes focus on changing angle of incidence of wings
佐野優太; 藤川太郎; 藤澤隆介; 田中基康
2020, 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(CD-ROM), 21st, 202102261247579229 - 複雑な形状の配管内を移動するヘビ型ロボットの制御—Control of a snake robot moving inside of pipes with complicated shapes
稲澤 真里子; 竹森 達也; 田中 基康; 松野 文俊
システム制御情報学会, May 2019, システム制御情報学会研究発表講演会講演論文集, 63, 808-815, Japanese, 40021911519, AN10257408 - 梯子へ取りつくヘビ型ロボットの歩容遷移制御—Gait transition control of a snake robot to attach itself to a ladder
竹森 達也; 田中 基康; 松野 文俊
システム制御情報学会, May 2019, システム制御情報学会研究発表講演会講演論文集, 63, 816-823, Japanese, 40021911532, AN10257408 - 平板索状滑空体の開発と滑空実験
佐野優太; 田中基康; 藤川太郎; 藤澤隆介
2019, 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(CD-ROM), 2019, 2424-3124, 201902233879451599 - Development and Future Extension of Snake-like Robots on ImPACT TRC Project
MATSUNO Fumitosgi; OKUNO Hiroshi; FUJIWARA Tomofumi; DATE Hisashi; Ariizumi Ryo; KAMEGAWA Tetsushi; TAKEMORI Tatsuya; TANAKA Motoyasu; TADAKUMA Kenjiro; FUJITA Masahiro; SUZUKI Yosuke; BANDO Yoshiaki; ITOYAMA Katsutoshi
<p>We have developed wheel-less snake robots and snake robots with active wheels in ImPACT TRC project. Applications of them are plant inspection and disaster response. In this paper development and future extension of snake-like robots are presented.</p>, 一般社団法人 日本機械学会, 01 Jun. 2018, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2018, 0, 2A2-K04, Japanese, 2424-3124, 201802211773555603, 130007551801, AN10257408 - Control of two points for a snake robot
中島 瑞; 田中 基康; 田中 一男
システム制御情報学会, 16 May 2018, システム制御情報学会研究発表講演会講演論文集, 62, 5p, Japanese, 40021550408, AN10257408 - 垂直配管を昇降するヘビ型ロボットの滑落検知—Falling Detection of a Snake Robot Moving on a Vertical Cylinder
下郷 慎之介; 有泉 亮; 竹森 達也; 田中 基康; 浅井 徹; 東 俊一
システム制御情報学会, May 2018, システム制御情報学会研究発表講演会講演論文集, 62, 5p, Japanese, 40021551976, AN10257408 - ヘビ型ロボットによる垂直はしご登りの歩容設計と実験—Gait Design of Vertical Ladder Climbing by Snake Robot and Experimental Demonstration
竹森 達也; 田中 基康; 松野 文俊
システム制御情報学会, May 2018, システム制御情報学会研究発表講演会講演論文集, 62, 4p, Japanese, 40021551915, AN10257408 - 設備点検向けヘビ型ロボットの開発と制御
田中基康
日本工業出版, Dec. 2017, 配管技術, 59, 14, 23-26, Japanese, Invited, Introduction commerce magazine, 0385-9894, 40021401483, AN0020399X - ImPACT TRC 太索状ロボットの研究開発の現状と展望
松野文俊; 亀川哲志; 竹森達也; 田中基康; 多田隈建二郎; 鈴木陽介; 坂東宜昭; 糸山克寿; 奥乃博; 藤原始史
The Robotics Society of Japan, Dec. 2017, 日本ロボット学会誌, 35, 10, 26-32, Japanese, Invited, Introduction scientific journal, 0289-1824, 130006855121 - Development of Cord-like Robots in ImPACT TRC Project
松野文俊; 亀川哲志; 田中基康; 奥乃博; 多田隈建二郎; 伊達央; 有泉亮; 伊藤一之; 大道武生; 芦澤怜史; 鈴木陽介; 糸山克寿; 藤原始史; 坂東宜明; 竹森達也; 藤田政宏
In ImPACT TRC (Tough Robot Challenge) project we have developed cord-like robots for not only daily maintenance/inspection of plants but also disaster response. In this paper overview of development of the cord-like robots is introduced and future progress is discussed., 横断型基幹科学技術研究団体連合（横幹連合）, 2017, 横幹連合コンファレンス(CD-ROM), 8th, 0, ROMBUNNO.C‐3‐1-3-1, Japanese, 201802273368720107, 130006371447 - 1P2-R07 Development and Control of an Articulated Mobile Robot for Cleaning on Steps and Narrow Paths
TANAKA Motoyasu; SUZUKI Kengo; TANAKA Kazuo; MATSUNO Fumitoshi
In this paper, we develop an articulated mobile robot for cleaning on steps and narrow paths. The robot consists of links which has a cleaning unit, wheels for propulsion, a pitch joint for three-dimensional motion, and sensors for collision detection, and the links are serially connected by a yaw joint. A control method which the robot effectively cleans a plane floor is proposed, and simulations and experiments were carried out to demonstrate the effectiveness of it. Furthermore, experiments were performed to test feasibility of climbing a step., The Japan Society of Mechanical Engineers, 17 May 2015, ロボティクス・メカトロニクス講演会講演概要集, 2015, "1P2-R07(1)"-"1P2-R07(4)", Japanese, 110010055072, AA11902933 - 2A1-E09 Robust Stabilization of a Powered Paraglider and Its Application to Aerial Shooting Experiments
TAKAHASHI Yutoku; TANAKA Motoyasu; TANAKA Kazuo
This paper presents robust stabilization of a powered paraglider and its application to aerial shooting experiments. By considering uncertainties for aero-dynamics of a canopy, we construct two kinds of nonlinear models that correspond to the longitudinal and lateral motions. Two robust controllers for the longitudinal and lateral motions with the uncertainties are separately designed using a linear matrix inequality based design. The designed controllers guarantee the stability of the closed loop systems for the longitudinal and lateral motions with the uncertainties. The experimental results demonstrate the utility of the robust controller design and realization of the aerial shooting tasks., The Japan Society of Mechanical Engineers, 17 May 2015, ロボティクス・メカトロニクス講演会講演概要集, 2015, "2A1-E09(1)"-"2A1-E09(4)", Japanese, 110010055168, AA11902933 - 2A1-A01 Realization of Automatic Take-off and Landing Control of Powered Paraglider(Aerial Robot and Mechatronics (1))
ITO Yui; TANAKA Motoyasu; TANAKA Kazuo
This paper presents automatic take-off and landing control of powered paraglider (PPG). In our previous paper, two stable controllers for altitude and direction were designed and worked well in flight experiments. These controllers are utilized for automatic landing control without any modification. Automatic landing control is carried out by setting gradually lower altitudes (as target altitudes) along a target landing line. Automatic take-off control is based on feed-forward control that reflects the manual take-off operation by a skilled person. The experimental results demonstrate the viability of the automatic take-off and landing control designed in this paper., The Japan Society of Mechanical Engineers, 24 May 2014, ロボティクス・メカトロニクス講演会講演概要集, 2014, "2A1-A01(1)"-"2A1-A01(4)", Japanese, 110009966838, AA11902933 - 3P2-P01 Development of a Head Mounted Display based Brain Machine Interface and Micro Helicopter Control via Steady State Visual Evoked Potentials(Neurorobotics & Cognitive Robotics)
KAJIWARA Toshiya; Inoue Reo; KIKUSHIMA Tatsuya; FURQON Radian; TANAKA Motoyasu; TANAKA Kazuo
This paper presents development of a head mounted display based brain machine interface (BMI) and its application to micro helicopter control via steady state visual evoked potentials (SSVEP). The head mounted display based BMI system developed in this paper brings us the possibility of being easy to use due to its portability and no training requirements. We demonstrate that a micro helicopter is well controlled using our BMI system, that is, using brain signals, although helicopter control is very difficult due to nonlinear coupling in addition to instability., The Japan Society of Mechanical Engineers, 24 May 2014, ロボティクス・メカトロニクス講演会講演概要集, 2014, "3P2-P01(1)"-"3P2-P01(4)", Japanese, 110009967413, AA11902933 - A simple, natural and effective framework of nonlinear systems control and its application to aerial robots
Motoyasu Tanaka; Hiroshi Ohtake; Kazuo Tanaka
This paper presents a simple, natural and effective framework of nonlinear systems control and its application to aerial robots. First, we present a framework of Takagi-Sugeno fuzzy model-based control and also discuss its feature. Next, a number of design problems for the control framework are formulated as numerically feasibility problems of representing in terms of linear matrix inequalities. Finally, we provide two applications of the control framework to aerial robots. The control results of aerial robots show the utility of the control framework., Fuji Technology Press, 2014, Journal of Robotics and Mechatronics, 26, 2, 140-147, English, Peer-reviwed, Book review, 1883-8049, 84899792053 - 1A2-B02 Approximate Path Tracking Control of Snake Robot Joints with Switching Constraints(Bio-Mimetics and Bio-Mechatronics (2))
TANAKA Motoyasu; TANAKA Kazuo; MATSUNO Fumitoshi
This paper presents approximate path tracking control method of all joints of a snake robot and its verification by simulations. We use a wheeled snake robot which has passive wheels and active joints. The robot can switch the wheels which touch the ground and the lifting wheels by lifting up some parts of its body. The model of the robot becomes kinematically redundant system if it lifts up some wheels. We design a controller for approximate path tracking by using the kinematic redundancy and the selection of the lifting parts. Simulation results show that the proposed controller is effective for decreasing the path tracking error., The Japan Society of Mechanical Engineers, 22 May 2013, ロボティクス・メカトロニクス講演会講演概要集, 2013, "1A2-B02(1)"-"1A2-B02(4)", Japanese, 110009963777, AA11902933 - 2P1-J06 Development and Control of a Massage System Using a Redundant Multi-link Robot(New Control Theory and Motion Control)
SATO Junsuke; TANAKA Motoyasu; TANAKA Kazuo; MATSUNO Fumitoshi
This paper introduces a newly developed massage system using the redundant multi-link robot. The position of the wheel is designed to be easy to control of the position of the contact points, and the position controller to make multiple contacts with the subject is proposed. The controller can accomplish the collision avoidance between the subject and the body except the controlled contact points by using redundancy. Simulations and experimental results show the effectiveness of the proposed robot and controller., The Japan Society of Mechanical Engineers, 22 May 2013, ロボティクス・メカトロニクス講演会講演概要集, 2013, "2P1-J06(1)"-"2P1-J06(4)", Japanese, 110009963464, AA11902933 - 1A2-F07 Development of a HILS System for Flying Robot Control and Its Application to Control System Design(Aerial Robot and Mechatronics (2))
SEKI Yasufumi; KAWAI Hiroshi; KURAMOCHI Nobuyuki; TANAKA Motoyasu; OHTAKE Hiroshi; TANAKA Kazuo
This paper presents development of a HILS (Hardware in the Loop Simulation) system for flying robot (a powered paraglider (PPG)) control and its application to control system design. The HILS system consists of three dimensional six degree of freedom model, aerodynamic model, sensor/actuator model, etc., of the PPG in the computer and the control unit including sensors, i.e., a global positioning system (GPS), a three-axis gyroscope, a geomagnetism sensor and a CCD camera. Controllers for altitude and direction are designed and tested on the HILS environment. The HILS result demonstrates the viability of the altitude and direction control., The Japan Society of Mechanical Engineers, 22 May 2013, ロボティクス・メカトロニクス講演会講演概要集, 2013, "1A2-F07(1)"-"1A2-F07(4)", Japanese, 110009963803, AA11902933 - 2A2-K09 Trajectory Tracking Control of a Flying Robot and Its Verification by Experiments(Aerial Robot and Mechatronics(2))
KAWAI Hiroshi; KURAMOCHI Nobuyuki; TANAKA Motoyasu; OHTAKE Hiroshi; TANAKA Kazuo
This paper presents trajectory tracking control of a kind of flying robots (a powered paraglider (PPG)) and its verification by experiments. The PPG has a GPS sensor to control its 3D position and a wireless camera to gather information from the air. We update the autonomous flight system (constructed in our previous paper) by adding the function of real-time monitoring on 3D positions and control inputs. In addition, we design a stable controller to guarantee the stability of the trajectory tracking control system for the simplified three-degree-of-freedom dynamics of the PPG. Experimental results show that altitude control is perfectly realized via the stable controller and circular flight control is also demonstrated., The Japan Society of Mechanical Engineers, 27 May 2012, ロボティクス・メカトロニクス講演会講演概要集, 2012, "2A2-K09(1)"-"2A2-K09(4)", Japanese, 110009908865, AA11902933 - 2A2-K10 Modeling of a Magnus Effect based Aerial Vehicle and Its Verification by Experiments(Aerial Robot and Mechatronics(2))
IWAKURA Yuya; OZAWA Koji; TANAKA Motoyasu; OHTAKE Hiroshi; TANAKA Kazuo
This paper discusses modeling of the Magnus effect based aerial vehicle presented in our previous paper and its verification by experiments. To realize both low-speed flying and short-distance takeoff in rescue mission purpose, the developed vehicle has a set of (rotationa1) cylindrical wings that is located at the both side (lift and right sides) of the main body of the aerial vehicle. First, we improve the simulation model (constructed in our previous paper) for calculating lift force so as to reduce the errors between the simulation model and experimental data. Next, a three-degree-of-freedom model for the roll angle and x-z positions is constructed and is employed to optimize the dihedral angle of the cylindrical wings. Finally, we demonstrate in experiments that the Magnus effect based aerial vehicle developed in this paper realizes both low-speed flying and short-distance takeoff., The Japan Society of Mechanical Engineers, 27 May 2012, ロボティクス・メカトロニクス講演会講演概要集, 2012, "2A2-K10(1)"-"2A2-K10(4)", Japanese, 110009908866, AA11902933 - 非ホロノミック機械システムの制御
松野文俊; 田中基康
2006, 計測と制御, 45, 7, 626-631, Japanese, Introduction other
Books and other publications
- 不整地移動ロボティクス
永谷, 圭司; 石上, 玄也; 遠藤, 大輔 (工学); 永岡, 健司; 遠藤, 玄; 程島, 竜一; 亀川, 哲志; 田中, 基康
vi, 214p, コロナ社, Dec. 2023, 9784339046861 - プラントのDX化による生産性の向上、保全の高度化
田中基康; 上野翔太郎
第５章 第６節 ヘビ型ロボットのプラント点検への応用, 技術情報協会, 28 Apr. 2022 - Disaster Robotics –Results from the ImPACT Tough Robotics Challenge
Fumitoshi Matsuno; Tetsushi Kamegawa; Wei Qi; Tatsuya Takemori; Motoyasu Tanaka; Mizuki Nakajima; Kenjiro Tadakuma; Masahiro Fujita; Yosuke Suzuki; Katsutoshi Itoyama; Hiroshi G. Okuno; Yoshiaki Bando; Tomofumi Fujiwara; Satoshi Tadokoro
Development of Tough Snake Robot Systems, Springer, Jan. 2019, 9783030053208 - ロボット制御学ハンドブック
田中基康
第１６章ヘビ型ロボット（１６．２：運動学モデルと制御，１６．３：動力学モデルと制御，１６．４：ハイブリッドモデルと多様な滑走形態）, 近代科学社, 13 Dec. 2017, 9784764904736 - パワーアシスト・ロボットに関する材料，電子機器，制御と実用化，その最新技術
田中基康; 田中一男
◇第４章 パワーアシスト／ロボット分野におけるモータ，電力，制御技術とその材料，今後の展望◇ 第9節 ヘビ型ロボットの段差昇降制御, 技術情報協会, 10 Apr. 2015, 9784861045752
Lectures, oral presentations, etc.
- ヘビ型ロボットの障害物利用推進における２平面間移動シミュレーション
吉田悠人; 田中基康
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
14 Dec. 2023 - 角度加算を用いた複数節自重補償機構の開発
大場翔太; Chin Ching Wen; 田中基康
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
14 Dec. 2023 - トビヘビの蛇行形状を円弧近似する多重四節リンク機構の開発
吉住要; 宮下凱充; 田中基康; 藤澤隆介; 藤川太郎
日本設計工学会2023年度秋季研究発表講演会
23 Sep. 2023 - トビヘビの滑空動作を再現したCFD解析システムの開発
中島里衣菜; 藤川太郎; 田中基康; 藤澤隆介
第41回日本ロボット学会学術講演会
12 Sep. 2023 - 網目への進入を考慮したヘビ型ロボットの網登りの歩容設計
吉田航大; 田中基康
日本機械学会ロボティクス・メカトロニクス講演会2023
30 Jun. 2023 - フィンとドリルを有するヘビ型ロボットの掘削動作
吉田寛夢; 山﨑太郎; 中島瑞; 田中基康
第28回ロボティクスシンポジア, Peer-reviewed
16 Mar. 2023 - 負圧発生機構を用いた壁面登攀が可能な多連結移動ロボットの開発
岩井隆人; 田中基康
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
14 Dec. 2022 - トビヘビの断面形状がもたらす滑空性能の調査
中島里衣菜; 藤川太郎; 田中基康; 藤澤隆介
日本機械学会ロボティクス・メカトロニクス講演会2022
03 Jun. 2022 - ヘビ型ロボットのハーフヒッチによる結び動作シミュレーション
石河優樹; 中島瑞; 田中基康
日本機械学会ロボティクス・メカトロニクス講演会2022
03 Jun. 2022 - ２平面間推進におけるヘビ型ロボットの復帰制御
須山舜太; 中島瑞; 田中基康
日本機械学会ロボティクス・メカトロニクス講演会2022
03 Jun. 2022 - エレボン操舵のみを有する Flying-wing 型無人航空機に対する入力飽和を考慮した縦方向・横方向ダイナミクスの同時安定化
槌谷航平; 高橋佑徳; 田中基康; 田中一男
日本機械学会ロボティクス・メカトロニクス講演会2022
02 Jun. 2022 - 区分的螺旋形状によるヘビ型ロボットの障害物利用推進
高梨拓朗; 中島瑞; 田中基康
第22 回計測自動制御学会システムインテグレーション部門講演会
Dec. 2021 - 多連結移動ロボットを用いた階段清掃のための歩容設計
木村優太郎; 中島瑞; 田中基康
第39回日本ロボット学会学術講演会
10 Sep. 2021 - 2つの螺旋を連結した管内清掃用ヘビ型ロボットの滑り解析
谷平晴紀; 中島瑞; 田中基康
第39回日本ロボット学会学術講演会
10 Sep. 2021 - 風環境下で飛行するパラフォイール型ロボットの複雑経路追従の実現
高橋佑徳; 田中基康; 田中一男
第39回日本ロボット学会学術講演会
09 Sep. 2021 - 磁性体曲壁面を移動する多連結移動ロボットの開発
上野翔太朗; 中島瑞; 田中基康
日本機械学会2021年度年次大会
07 Sep. 2021 - 環境との拘束を利用した無反力バルブ操作装置の開発
チン チンウェン; 田中基康
日本機械学会ロボティクス・メカトロニクス講演会2021
08 Jun. 2021 - スタック検知が可能な多連結移動ロボットの開発
古池晃樹; 中島瑞; 田中基康
日本機械学会ロボティクス・メカトロニクス講演会2021
08 Jun. 2021 - 大径車輪を有する防水型多連結移動ロボットの開発
中島瑞; 田中基康
日本機械学会ロボティクス・メカトロニクス講演会2021
08 Jun. 2021 - 伸縮と屈曲が可能なヘビ型ロボットの段差昇降制御
田中基康; 中島瑞; 有泉亮
第21 回計測自動制御学会システムインテグレーション部門講演会
Dec. 2020 - 多連結移動ロボットのスタックからの復帰制御：制御領域と制御目標の自動決定
福村信之介; 田中基康; 田中一男
第21 回計測自動制御学会システムインテグレーション部門講演会
Dec. 2020 - ロープ変形による物体支持の研究
渡部亮太; 田中基康
第21 回計測自動制御学会システムインテグレーション部門講演会
Dec. 2020 - 翼の取付角変化に着目したパラダイストビヘビの縦運動のモデル化と滑空制御
佐野優太; 藤川太郎; 藤澤隆介; 田中基康
第21 回計測自動制御学会システムインテグレーション部門講演会
Dec. 2020 - ヘビ型ロボットによる動作遷移を伴う異環境を跨いだ移動制御
竹森達也; 田中基康; 松野文俊
第３８回日本ロボット学会学術講演会
Oct. 2020 - 全翼機の縦方向非線形モデル構築と高度安定化および着陸制御の実機実験による検証
苅谷奈々; 田中基康; 田中一男
日本機械学会ロボティクス・メカトロニクス講演会2020
May 2020 - 部分把持によるヘビ型ロボットの配管外歩容設計
小西良芽; 田中基康; 田中一男; 松野文俊
日本機械学会ロボティクス・メカトロニクス講演会2020
May 2020 - 障害物との接触の維持と回避を併用したヘビ型ロボットの移動制御
臼井尭彬; 田中基康; 田中一男
日本機械学会ロボティクス・メカトロニクス講演会2020
May 2020 - 直動関節をもつヘビ型ロボットの頭部軌道追従制御
原田航季; 有泉亮; 田中基康; 浅井徹; 東俊一
第7回制御部門マルチシンポジウム
Mar. 2020 - 多連結移動ロボットのための３次元局所体形変化システム
福村信之介; 田中基康; 田中一男; 松野文俊
日本機械学会ロボティクス・メカトロニクス講演会2019
Jun. 2019 - 伸縮機構を持つヘビ型ロボットのモデリングと制御
澤部英壮; 田中基康; 田中一男
日本機械学会ロボティクス・メカトロニクス講演会2019
Jun. 2019 - 平板索状滑空体の開発と滑空実験
佐野優太; 田中基康; 藤川太郎; 藤澤隆介
日本機械学会ロボティクス・メカトロニクス講演会2019
Jun. 2019 - 全翼機の縦方向非線形モデル構築と高度安定化および着陸制御の実現
苅谷奈々; 田中基康; 田中一男
日本機械学会ロボティクス・メカトロニクス講演会2019
Jun. 2019 - 複雑な形状の配管内を移動するヘビ型ロボットの制御
稲澤真里子; 竹森達也; 田中基康; 松野文俊
第63回システム制御情報学会研究発表講演会 (SCI’19)
May 2019 - 梯子へ取りつくヘビ型ロボットの歩容遷移制御
竹森達也; 田中基康; 松野文俊
第63回システム制御情報学会研究発表講演会 (SCI’19)
May 2019 - 有理多項式ファジィ制御による無人航空機の経路追従安定化制御
岩瀬惟真; 田中基康; 田中一男
FSS2018 第34回ファジィシステムシンポジウム
Sep. 2018 - ヘビ型ロボットの多様な運動制御とその応用
田中基康
平成３０年度警察政策学会警備業研究部会 第1回研究部会, 警察政策学会警備業研究部会, グランドアーク半蔵門５Ｆ シンフォニー
10 Jul. 2018 - 体幹に分散的収納が可能な多連結移動ロボット用アームの開発
松本修尚; 田中基康; 田中一男; 松野文俊; 多田隈建二郎
日本機械学会ロボティクス・メカトロニクス講演会2018
Jun. 2018 - 伸縮関節をもつ車輪型索状ロボットの開発‐能動車輪つき関節ユニットの開発‐
中島瑞; 田中基康; 田中一男
日本機械学会ロボティクス・メカトロニクス講演会2018
Jun. 2018 - 部分的電源喪失時における多連結移動ロボットの操舵制御
田中基康; 中島瑞; 田中一男
日本機械学会ロボティクス・メカトロニクス講演会2018
Jun. 2018 - ImPACT TRC 太索状ロボットの研究開発の現状と展望
松野文俊; 亀川哲志; 竹森達也; 田中基康; 多田隈建二郎; 藤田政宏; 鈴木陽介; 坂東宜昭; 糸山克寿; 奥乃博; 藤原始史; 伊達央; 有泉亮
日本機械学会ロボティクス・メカトロニクス講演会2018
Jun. 2018 - ImPACT TRC 太索状ロボットの研究開発の現状と展望
松野文俊; 亀川哲志; 竹森達也; 田中基康; 多田隈建二郎; 藤田政宏; 鈴木陽介; 坂東宜昭; 糸山克寿; 奥乃博; 藤原始史; 伊達央; 有泉亮
第62回システム制御情報学会研究発表講演会 (SCI’18)
May 2018 - ヘビ型ロボットの2制御点同時制御
中島瑞; 田中基康; 田中一男
第62回システム制御情報学会研究発表講演会 (SCI’18)
May 2018 - Horizontal Path Following Control of 2-link Underwater Snake Robot with Screw Drive Mechanism Contsidering Uncertainties
Baris Suatac; Xiaoyu Wang; Toru Takano; Masahiro Katsumoto; Motoyasu Tanaka; Fumitoshi Matsuno
第62回システム制御情報学会研究発表講演会 (SCI’18)
May 2018 - ヘビ型ロボットによる垂直はしご登りの歩容設計と実験
竹森達也; 田中基康; 松野文俊
第62回システム制御情報学会研究発表講演会 (SCI’18)
May 2018 - 垂直配管を昇降するヘビ型ロボットの滑落検知
下郷慎之介; 有泉亮; 竹森達也; 田中基康; 浅井徹; 東俊一
第62回システム制御情報学会研究発表講演会 (SCI’18)
May 2018 - ImPACT TRC太索状ロボット研究開発の現状と将来展望
松野文俊; 亀川哲志; 田中基康; 奥乃博; 多田隈建二郎; 伊達央; 有泉亮; 伊藤一之; 大道武生; 坂東宜明; 竹森達也; 藤田政宏
第8回横幹連合コンファレンス
Dec. 2017 - ImPACT TRC車輪型索状ロボットの開発と制御
田中基康; 中島瑞; 田中一男
第8回横幹連合コンファレンス
Dec. 2017 - 複雑環境を移動するImPACT TRCヘビ型ロボットの開発と制御
竹森達也; 田中基康; 松野文俊
第8回横幹連合コンファレンス
Dec. 2017 - ImPACT TRCにおける太径索状ロボットのアクチュエータ故障診断
有泉亮; 渡邉孝裕; 田中基康; 浅井徹
第8回横幹連合コンファレンス
Dec. 2017 - 多項式システム記述に基づく飛行ロボットの経路追従制御系設計と実験による検証
岩瀬惟真; 田中基康; 田中一男
第１８ 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, 仙台国際センター
Dec. 2017 - 能動車輪型多連結移動ロボットの管内走行制御’
澤部英壮; 田中基康; 田中一男; 松野文俊
第１８ 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, 仙台国際センター
Dec. 2017 - Stabilization Conditions for a Class of Nonlinear Systems via Line-Integral Fuzzy Lyapunov Function
Jairo Moreno Saenz; Motoyasu Tanaka; Kazuo Tanaka
第60回自動制御連合講演会
Nov. 2017 - 防災・減災のためのロボット・ドローンの利活用と今後の展望
亀川哲志; 田中基康; 三好啓介; 高田亮平
危機管理セミナー＠危機管理産業展2017(RISCON Tokyo 2017), UECアライアンスセンター, 電気通信大学
12 Oct. 2017 - ヘビ型ロボットの制御とその応用
田中基康
第２回UECアライアンスセンターICTワークショップ, UECアライアンスセンター, 電気通信大学
26 Jul. 2017 - パラフォイール型飛行ロボットの最適２次コスト保証制御
岩瀬惟真; Kai-Yi Wong; 田中基康; 田中一男
日本機械学会ロボティクス・メカトロニクス講演会2017
May 2017 - 風外乱を許容するUnmanned Aerial Vehicleの３次元経路追従制御系設計
高橋佑徳; 岩瀬惟真; 田中基康; 田中一男
日本機械学会ロボティクス・メカトロニクス講演会2017
May 2017 - Flying-wing型飛行ロボットのモデル構築と飛行安定化制御
尾鷲真士; 田中基康; 田中一男
日本機械学会ロボティクス・メカトロニクス講演会2017
May 2017 - 電流値を用いたヘビ型ロボットの故障種別診断
有泉亮; 渡邉孝裕; 田中基康; 浅井徹
日本機械学会ロボティクス・メカトロニクス講演会2017
May 2017 - 階段昇降可能な車輪型索状ロボットの開発
田中基康; 中島瑞; 田中一男
日本機械学会ロボティクス・メカトロニクス講演会2017
May 2017 - ImPACT TRC 太索状ロボットのシステム統合化と評価実験
松野文俊; 伊藤一之; 亀川哲志; 田中基康; 有泉亮; 奥乃博; 大道武生; 芦澤怜史; 鈴木陽介; 多田隈建二郎; 伊達央; 藤原始史; 竹森達也; 坂東宜昭
Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2017
May 2017 - ヘビ型ロボットの複雑環境における運動設計と制御
竹森達也; 田中基康; 松野文俊
Japanese, 第１７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, 札幌コンベンションセンター
Dec. 2016 - 障害物環境下における多連結清掃ロボットの机上清掃制御
木村康太; 田中基康; 田中一男; 松野文俊
Japanese, 第１７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, 札幌コンベンションセンター
Dec. 2016 - ImPACT TRC太索状ロボット研究開発の現状
松野文俊; 伊藤一之; 亀川哲志; 田中基康; 有泉亮; 奥乃博; 大道武生; 鈴木陽介; 岡谷貴之; 多田隈建二郎
Oral presentation, Japanese, 第３４回日本ロボット学会学術講演会, Domestic conference
Sep. 2016 - 多連結清掃ロボットの開発と机上清掃制御
木村康太; 田中基康; 田中一男; 松野文俊
Poster presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2016, Domestic conference
Jun. 2016 - 多連結移動ロボットのためのタフな通信システムの開発
田中基康; 中島瑞; 田中一男
Poster presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2016, Domestic conference
Jun. 2016 - 能動車輪型多連結ロボットの開発と手動環境適応推進
田中基康; 中島瑞; 田中一男
Poster presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2016, Domestic conference
Jun. 2016 - 単純形状の連結によるヘビ型ロボットの歩容設計
竹森達也; 田中基康; 松野文俊
Poster presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2016, Domestic conference
Jun. 2016 - パラフォイール型飛行ロボットの特性を考慮した風向/風速推定
高橋佑徳; 田中基康; 田中一男
Poster presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2016, Domestic conference
Jun. 2016 - Flying-wing型UAVの制御系設計と飛行実験による検証
伊藤唯; 遠藤祐甫; 田中基康; 田中一男
Poster presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2016, Domestic conference
Jun. 2016 - ヘビ型ロボットの多様な運動制御とその応用
田中基康
Public discourse, Japanese, 信州ロボット研究会特別講演会, Invited, 日本機械学会北陸信越支部，信州ロボット研究会, 信州大学工学部・長野キャンパス, http://www.jsme.or.jp/event/detail.php?id=4151
24 Nov. 2015 - 不確かさと入力制限を持つ多項式ファジィシステムの準大域ロバスト制御器設計
小倉大介; Ying-Jen Chen; 田中基康; 田中一男
Oral presentation, Japanese, FSS2015 第31回ファジィシステムシンポジウム, Domestic conference
Sep. 2015 - パラフォイールタイプ翼をもつUnmanned Aerial Vehicleのファジィ制御
高橋佑徳; 田中基康; 田中一男
Oral presentation, Japanese, FSS2015 第31回ファジィシステムシンポジウム, Domestic conference
Sep. 2015 - 流体力を考慮した水中ねじ推進ユニットのモデリ ング
高野徹; 有泉亮; 渡邉優介; 松野文俊; 田中基康; 平田宏一; 市川泰久; 関口秀紀
Oral presentation, Japanese, 第３３回日本ロボット学会学術講演会, Domestic conference
Sep. 2015 - 冗長多リンクマッサージロボットの開発と楕円螺旋を用いた擦り制御
佐藤順亮; 田中基康; 田中一男; 松野文俊; 田中悠也
Oral presentation, Japanese, 第３３回日本ロボット学会学術講演会, Domestic conference
Sep. 2015 - 接地点の切換えを考慮したヘビ型ロボットの多様な運動制御
田中基康
Public discourse, Japanese, 平成２７年度東京都立産業技術研究センター研究成果発表会, Invited, 東京都立産業技術研究センター, 東京都立産業技術研究センター
25 Jun. 2015 - ヘビ型ロボットの制御とその応用
田中基康
Public discourse, Japanese, 第２回UECアライアンスセンターICTワークショップ, Invited, 産学官連携センターUECアライアンスセンター運営支援室, 100周年記念ホール（UECアライアンスセンター1階）
25 Jun. 2015 - 狭所・段差の清掃が可能な多連結掃除ロボットの開発と制御
田中基康; 鈴木兼悟; 田中一男; 松野文俊
Poster presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会’15, Domestic conference
May 2015 - 電動パラグライダー飛行制御系のロバスト安定性保証と空中からの映像撮影実験
高橋佑徳; 田中基康; 田中一男
Poster presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会’15, Domestic conference
May 2015 - 相対姿勢情報を用いたヘビ型ロボットの斜面進入
中島瑞; 田中基康; 田中一男
Oral presentation, Japanese, 第１５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, Domestic conference
Dec. 2014 - Control Lyapunov FunctionsによるPolynomialファジィシステムの制御系設計
Radian Furqon; Ying-Jen Chen; 田中基康; 田中一男; H. O. Wang
Oral presentation, Japanese, FSS2014 第30回ファジィシステムシンポジウム, Domestic conference
Sep. 2014 - 接地点切換えを用いた能動車輪型多連結ロボットの移動障害物回避
田中基康; 中島瑞; 田中一男
Oral presentation, Japanese, 第３２回日本ロボット学会学術講演会, Domestic conference
Sep. 2014 - 電動パラグライダーの自動離着陸制御の実現
伊藤唯; 田中基康; 田中一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会’14
May 2014 - スライダリンク機構を用いた曲面に適応可能なヘビ型ロボットのユニット開発
中島瑞; 田中基康; 田中一男; 松野文俊
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会’14
May 2014 - ヘッドマウントディスプレイベースドBMIの構築と定常状態視覚誘発電位によるマイクロヘリコプタ操作
梶原俊也; 井上玲於; 菊島達也; フルコンラディアン; 田中基康; 田中一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会’14
May 2014 - 接地情報を用いたヘビ型ロボットの段差昇降制御
田中基康; 中島瑞; 田中一男
Oral presentation, Japanese, 第１４回計測自動制御学会システムインテグレーション部門講演会
Dec. 2013 - モデルベースト制御によるヘビ型ロボットの多彩な動作の実現
田中基康
Public discourse, Japanese, 日本機械学会ロボティクス・メカトロニクス部門，平成25年度第1地区特別講演会, Invited, 日本機械学会ロボティクス・メカトロニクス部門, 東北大学
26 Nov. 2013 - モデルパラメータに不確かさを含む非線形システムのSOSロバスト制御
遠藤隆弘; Ying-Jen Chen; 田中基康; 田中一男
Oral presentation, Japanese, FSS2013 第29回ファジィシステムシンポジウム
Sep. 2013 - Stability Analysis for Polynomial Fuzzy Systems by Piecewise Polynomial Lyapunov Functions
Ying-Jen Chen; Motoyasu Tanaka; Kazuo Tanaka
Oral presentation, Japanese, FSS2013 第29回ファジィシステムシンポジウム
Sep. 2013 - 冗長多リンクロボットを用いたマッサージシステムの力制御
佐藤順亮; 田中基康; 田中一男; 松野文俊
Oral presentation, Japanese, 第３１回日本ロボット学会学術講演会
Sep. 2013 - 電動パラグライダーの自律制御と情報収集
伊藤唯; 田中基康; 田中一男
Oral presentation, Japanese, 第３１回日本ロボット学会学術講演会
Sep. 2013 - 拘束変化を利用したヘビ型ロボット関節の近似経路追従制御
田中基康; 田中一男; 松野文俊
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会’13
May 2013 - 冗長多リンクロボットを用いたマッサージシステムの開発と制御
佐藤順亮; 田中基康; 田中一男; 松野文俊
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会’13
May 2013 - 飛行ロボット制御用HILSシステムの開発とその制御系設計への適用
關靖史; 河合大志; 倉持信行; 田中基康; 大竹博; 田中一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会’13
May 2013 - 飛行ロボットの軌道追従制御系設計と飛行実験による検証
河合大志; 倉持信行; 田中基康; 大竹博; 田中一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会’12
2012 - マグナス翼飛行移動体のモデル化と飛行実験による検証
岩倉裕也; 小澤晃司; 田中基康; 大竹博; 田中一男
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会’12,
2012 - ヘビ型ロボットの段差降り制御
田中基康; 田中一男
Oral presentation, Japanese, 第３０回日本ロボット学会学術講演会
2012 - T-S Fuzzy Modeling and PDC Approach to Control of Nonlinear F16 Aircraft
Ken Yamaguchi; Takahiro Endou; Motoyasu Tanaka; Hiroshi Ohtake; Kazuo Tanaka
Oral presentation, Japanese, FSS2012 第28回ファジィシステムシンポジウム
2012 - 多項式ファジィシステムのロバスト設計条件の導出
遠藤隆弘; 田中基康; 大竹博; 田中一男
Oral presentation, Japanese, FSS2012 第28回ファジィシステムシンポジウム
2012 - 電動パラグライダーのモデルパラメータ同定と安定化制御器の設計
倉持信行; 河合大志; 田中基康; 田中一男
Oral presentation, Japanese, 第５５回自動制御連合講演会
2012 - ヘビ型ロボットの跳躍におけるベース部の形状評価
星野恵一; 田中基康; 松野文俊
Oral presentation, Japanese, 第２７回日本ロボット学会学術講演会
2009 - 拘束可変機能をもつヘビ型ロボットによるsinus-lifting滑走に関する一考察
田中基康; 松野文俊
Oral presentation, Japanese, 第２６回日本ロボット学会学術講演会
2008 - 運動学モデルに基づくヘビ型ロボットの軌道制御実験
田中基康; 松野文俊
Oral presentation, Japanese, 第７回計測制御学会制御部門大会
2007 - ３次元ヘビ型ロボットの協調制御
田中基康; 松野文俊
Oral presentation, Japanese, 第２５回日本ロボット学会学術講演会
2007 - ３次元ヘビ型ロボットの冗長性を利用した制御
田中基康; 松野文俊
Oral presentation, Japanese, 第８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
2007 - 円柱曲面上における蛇型ロボットの運動学に基づく制御
塚野洋章; 田中基康; 福島宏明; 松野文俊
Oral presentation, Japanese, 第８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
2007 - ヘビ型ロボットの協調制御
田中基康; 松野文俊
Oral presentation, Japanese, 第２４回日本ロボット学会学術講演会
2006 - ２台のヘビ型ロボットの協調制御
田中基康; 松野文俊
Oral presentation, Japanese, 第２３回日本ロボット学会学術講演会
2005
Courses
- ロボット応用工学特論
The University of Electro-Communications - 大学院技術英語
The University of Electro-Communications - メカトロニクス基礎実験B・知能機械工学基礎実験第二
The University of Electro-Communications - メカトロニクス基礎実験A・知能機械工学基礎実験第一
The University of Electro-Communications - 知能機械工学基礎実験Ⅱ
The University of Electro-Communications - 技術英語
The University of Electro-Communications - 知能機械工学基礎実験Ⅰ
The University of Electro-Communications - コンピュータリテラシー
The University of Electro-Communications
Affiliated academic society
Research Themes
- 可変環境への適応と改変を利用したヘビ型ロボットの超冗長制御
田中 基康; 中島 瑞; 鈴木 陽介; 有泉 亮; 有田 輝
日本学術振興会, 科学研究費助成事業 基盤研究(B), 電気通信大学, 基盤研究(B), Principal investigator, (1)可変環境を分類し，モデル化の検討を開始：可変環境のうち，複数の移動可能な剛体が存在する環境を考え，剛体の移動や利用についての検討を行った．ある一定以上の力を加えると動きだす剛体と接触しているヘビ型ロボットの運動を考え，その運動方程式を導出したほか，所望の運動を達成するための制御則について考察を行った． (2)移動剛体環境における環境適応制御の検討を開始：未知の２平面環境を対象に，近接覚センサを用いた環境適応制御手法を提案した．センサ情報をもとに制御が行われるため，ロボットの位置姿勢を外部センサによって検出する必要がない．また，移動中にロボットと環境との適切な接触を保つため，センサ情報をもとに復帰動作を行うことができる．成果は次年度に学会発表予定である． (3)環境を紐に限定した移動柔軟環境における環境改変制御を提案：紐の昇降制御を提案した．紐の形状を巧みに利用し滑落を回避できる．提案手法は論文投稿中である． (4)環境変化を読み取るための近接覚センサの開発を開始：前述(2)に適する近接覚センサとして，ヘビ型ロボットの形状を著しく変更せずに実装でき，ロボットの近傍にある平面の情報を取得可能なセンサを開発した．未知環境での使用を想定しているため，対象の材質の影響を受けにくいものとした．さらに，検出範囲を簡単に調整可能であるため，使用環境，および方法に適切な検出範囲の検討を短期間で実施することができる． (5)前述(3)の検証実験：ヘビ型ロボットを開発して紐の昇降制御の検証実験を行い，提案制御則の有効性を確認した．検証結果は論文投稿中である．, 21H01285
Apr. 2021 - Mar. 2025 - Modeling and Control of a Small Unmanned Aircraft
Tanaka Kazuo
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), The University of Electro-Communications, Grant-in-Aid for Scientific Research (C), Coinvestigator, This report deals with modeling and control of a small unmanned aircraft. First, a nonlinear dynamical model is constructed from the equations of motion of a considered small unmanned aircraft and the aerodynamic characteristics generated by its wings. Furthermore, we develop a new design framework to stabilize the small unmanned aircraft. In addition, a rational polynomial fuzzy controller, which is an extension of the polynomial fuzzy controller, is also proposed, and control system design methods using these controllers are proposed. After verifying the effectiveness of the proposed design methods through simulations, flight experiments are conducted using the actual small unmanned aerial vehicle., 19K12134
Apr. 2019 - Mar. 2022 - Hyper-redundant control of cord-like mechanical systems with flexion and extension degrees of freedom in complicated terrain
Tanaka Motoyasu
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), The University of Electro-Communications, Grant-in-Aid for Scientific Research (C), Principal investigator, We proposed a hyper-redundant control method for the cord-like mechanical system which can bend and stretch. In the method, the change of the constrained condition with the surrounding terrain is represented as the change of the system matrices, and we can use a redundancy caused by bending and stretching of the robot. The effectiveness of the method was verified by simulations and experiments. As for the consideration of the locomotion intelligence of a living snake, we discussed the ascending and descending motions of a snake-like robot while clinging to the surface of a cylinder, using its undulating motion., 18K04011
Apr. 2018 - Mar. 2021 - トビヘビに学ぶ索状体の滑空原理解明と索状飛行ロボットへの応用
田中基康
積水インテグレーテッドリサーチ, 研究助成, Principal investigator
Oct. 2018 - Sep. 2019 - Development of a wired robot for inspection of old bridges
Hasegawa Akira
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B), Hachinohe Institute of Technology, Grant-in-Aid for Scientific Research (B), Coinvestigator, This study addresses the development of a robot for inspection of old bridges. By suspending the robot with a wire and controlling the wire length, the movement of the robot is realized. The robot mounts a high-definition camera and aims to detect cracks on the concrete surface of the bridge using this camera. An inspection method using an unmanned aerial vehicle (UAV) has been proposed. Compared to the method using an unmanned aerial vehicle, the wire-suspended robot system has the advantage of insensitivity to wind and ability to carry heavy equipment. This makes it possible to install a high-definition camera and a cleaning function to find cracks that are difficult to detect due to dirt., 16H03138
Apr. 2016 - Mar. 2019 - Analysis and Control for Complicated Nonlinear Systems and Its Application to Flying Robots
Tanaka Kazuo; Ohtake hiroshi; WANG hua
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), The University of Electro-Communications, Grant-in-Aid for Scientific Research (C), Coinvestigator, This reports mainly presents three new results with respect to nonlinear control for a flying robot that is a kind of fixed-wing type unmanned aerial vehicles. The first result is a nonlinear model construction including the aerodynamics and actuators dynamics. The second result is a guaranteed cost control design for the constructed nonlinear model. The controller is designed by minimizing the upper bound of a given quadratic performance function. Hence, the design can be regarded as a nonlinear optimal control design. The third result is that the utility of our modeling and control is demonstrated through real flight experiments., 16K00327
Apr. 2016 - Mar. 2019 - 総合科学技術・イノベーション会議 革新的研究開発推進プログラム（ImPACT）“タフ・ロボティクス・チャレンジ”
田所 諭
Oct. 2014 - Mar. 2019 - Control of a snake robot on uneven terrain
Tanaka Motoyasu
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Young Scientists (B), The University of Electro-Communications, Grant-in-Aid for Young Scientists (B), Principal investigator, In this study, to propose a control method moving on uneven terrain for a snake robot, we consider following four main topics. (1) Obstacle avoidance of whole body of a snake robot through a multiple obstacle environment. (2) Trajectory tracking on curved surface and multiple planes. (3) Terrain following method by using the robot's own weight on uneven terrain. (4) As application (1)-(3), cleaning control of an articulated cleaning robot on a narrow path and a step and stair climbing control of an articulated mobile robot., 26870198
Apr. 2014 - Mar. 2017 - Development and Control of Smart UAVs
Kazuo Tanaka; OHTAKE Hiroshi; WANG Hua
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), The University of Electro-Communications, Grant-in-Aid for Scientific Research (C), Coinvestigator, This report presents a framework for development and control of a smart unmanned aerial vehicle (UAV). The framework provides a smart and feasible way of automatic landing control and wind direction/velocity estimation. To achieve the automatic landing control, we construct a nonlinear dynamical model and design a stable altitude controller based on the nonlinear dynamics. In addition, a nonlinear observer is designed to estimate wind direction/velocity during flight of the small UAV. Several long flight experiments have been carried out in an aerospace field, Japan. The experimental results show the capabilities of the framework for development and control of a smart UAV in realizing rescue missions., 25420215
Apr. 2013 - Mar. 2017 - 多連結ロボットによる３次元環境の高速精密測定制御
田中基康
公益財団法人精密測定技術振興財団, 研究助成, Principal investigator
Apr. 2015 - Mar. 2016 - 可変拘束機能をもつ超冗長系のダイナミクスベースト制御
田中 基康
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, Principal investigator, 本年度は,可変拘束機能をもつ超冗長機械システムに関する研究における第2年度に当たり,非ホロノミック拘束をもつ超冗長機械システムであるヘビ型ロボットを対象として,非接地部の導入および非接地部の動的変化を考慮した可変拘束機能をもつヘビ型ロボットの制御について研究を行った.まず拘束条件の変化を考慮したヘビ型ロボットのモデリングを行なった.体幹の持ち上げをロボット体幹と環境の間の速度拘束式の有無に置き換えることで3次元運動を2次元運動として扱った.本年度は,車輪と環境との間に存在する速度拘束の有無が動的に変化するような,拘束可変機能をもつヘビ型ロボットのモデリングを行なった.この際,接地部分の動的変化を新たな冗長性である「モード選択」という自由度として表現することでロボットをハイブリッドシステムとして定式化している.導出したモデルに対して,まずは非接地部を導入した場合に生じる冗長性の特徴の解析とそれを利用することで推進時に生じる諸問題を解決するような制御則を提案した.この際,ヘビ型ロボットの実機を製作し,実機を用いた実験によって制御則の有効性を検証した.次に接地点,すなわち車輪と環境との間に存在する速度拘束の有無が動的に変化するような,拘束可変機能をもつヘビ型ロボットの制御について研究を行った.拘束の動的な変化によって生じる新たな冗長性である「モード選択」を利用した制御方策を提案し,モード選択によって評価関数の最小化が実現できることをシミュレーションによって示した.さらに,体形曲線を生物規範であるserpenoid曲線,モード選択の評価関数を車輪の拘束力とした場合の推進形態について,生物のsinus-lifting滑走との比較を行なった.その結果,生物のヘビのsinus-lifting滑走は拘束力だけでなく,他の要因も考慮した適応推進である可能性があることがわかった., 07J12014
2007 - 2009
Industrial Property Rights
- 空間内の床の溝をまたいで自律移動する移動体およびプログラム
Patent right, 戸澤浩則, 田中基康, 高津茂明, 特願2023-084240, Date applied: 23 May 2023 - バルブ開閉装置及びロボット
Patent right, チンチンウェン, 田中基康, 特願2021-034169, Date applied: 04 Mar. 2021 - ロボット制御装置、ロボット、ロボットシステム、及びプログラム
Patent right, 田中基康, 特願2017-213274, Date applied: 2017 - ロボット制御装置、ロボット、ロボットシステム、及びプログラム
Patent right, 田中基康, 特願2017-222214, Date applied: 2017 - ロボットの制御装置、ロボット及びそのプログラム
Patent right, 特願2012-031872, Date applied: 2012, 特開2013-166224, Date announced: 29 Aug. 2013, 第05921248号, Date issued: 22 Apr. 2016 - ロボット制御装置，及びロボット制御方法
Patent right, 特願2012-151732, Date applied: 2012, 特開2014-14875, Date announced: 2014 - Control apparatus of robot, robot, and program thereof
Patent right, PCT/JP2013/053163, Date applied: 2014 - ハイブリッド車両の制御システム及びハイブリッド車両の制御方法
Patent right, 田中一男, 田中基康, 田中雄, 安井博文, 石坂宏幸, 特願2013-250318, Date applied: 2013
Social Contribution Activities
- 地域支援等への参画 調布市科学センター講座「最先端ヘビ型レスキューロボット操縦体験」
Lecturer, Others
18 Nov. 2023 - 18 Nov. 2023 - 模擬講義＠電通大，大宮開成高等学校向け
Appearance, Visiting lecture
21 Jun. 2023 - 21 Jun. 2023 - 研究成果の公開 CSPI-EXPO 建設・測量生産性向上展のアクティオブースにて，地下ピット点検用ヘビ型ロボットの動作デモンストレーション
Demonstrator
22 May 2023 - 24 May 2023 - 出張講義（千葉県立柏高等学校）
Appearance, 千葉県立柏高等学校, Visiting lecture, 高校２年生 9:50-11:20，対面
21 Dec. 2022 - 地域支援等への参画 調布市科学センター講座「最先端ヘビ型レスキューロボット操縦体験」
Lecturer, Others, 小学５・６年生向けのヘビ型ロボットの操縦体験会
05 Nov. 2022 - 05 Nov. 2022 - 匠ガール「電通大ラボ体験2022」
Appearance, 電気通信大学男女共同参画・ダイバーシティ戦略室, 電気通信大学, 女子中高生
30 Aug. 2022 - 研究成果の公開 科学技術館 夏休み特別展「学ぼう！気象⇔防災」にて，車輪型索状ロボットの展示と動作デモンストレーション(場所：科学技術館）
Demonstrator
06 Aug. 2022 - 21 Aug. 2022 - 科学技術館ワークショップ「ヘビ型ロボットの開発」
Appearance, 科学技術館, Seminar, 小学校高学年とその保護者 11:00-11:30, 14:00-14:30, 定員各24名，対面
20 Aug. 2022 - 匠ガール「あつまれ女子中高生！夏休みこそ 匠ガールで ものづくり2022」
Appearance, 電気通信大学男女共同参画・ダイバーシティ戦略室, 電気通信大学, 女子中高生
02 Aug. 2022 - 匠ガール「音楽を科学する」
Appearance, 電気通信大学男女共同参画・ダイバーシティ戦略室, 電気通信大学, 女子中高生
16 Jul. 2022 - 地域支援等への参画 調布市科学センター講座「最先端ヘビ型レスキューロボット操縦体験」
Organizing member, 小学５・６年生向けのヘビ型ロボットの操縦体験会
04 Dec. 2021 - 04 Dec. 2021 - 調布市科学センター講座「最先端ヘビ型レスキューロボット操縦体験」
Appearance, 調布市, 小学５，６年生 13:30-15:30, 対面
04 Dec. 2021 - 出張講義（千葉県立長生高等学校）
Appearance, 千葉県立長生高等学校, 高校１，２年生 13:30-15:00, オンライン
11 Nov. 2021 - 出張講義（静岡雙葉高等学校）
Appearance, 静岡雙葉高等学校, 高校１，２年生 13:20-14:50, オンライン
28 Oct. 2020 - 夢ナビライブ2020
Appearance, フロムページ, 生物を超越するヘビ型ロボットを目指して, オンライン, 高校１，２年生 動画を撮影しオンデマンド配信． さらに，リアルタイム質疑応答30分×３回．
2020 - 出張講義（山梨県立甲府東高等学校）
Appearance, 山梨県立甲府東高等学校, 山梨県立甲府東高等学校, 高校１，２年生 14:15-15:45, 途中でロボットのデモンストレーションや操作体験も．
07 Oct. 2019 - 研究成果の公開 危機管理産業展2019にて車輪型索状ロボットの動作デモンストレーション（場所：東京ビッグサイト）
Others
02 Oct. 2019 - 04 Oct. 2019 - その他社会活動の実績 匠ガール体験合宿2019 ラボ体験「段差も超えちゃう！うねうねヘビ型ロボ操縦体験」
Others, 研究説明とロボット操縦体験．①14:10-15:10，②15:20-16:20，計14名（①7名，②7名），（男女共同参画・ダイバーシティ戦略室 由良副学長からの依頼）
02 Aug. 2019 - 02 Aug. 2019 - 匠ガール 体験合宿2019 ラボ体験
Appearance, 電気通信大学男女共同参画・ダイバーシティ戦略室, 段差も超えちゃう！うねうねヘビ型ロボ操縦体験, 電気通信大学, 女子中高生 ①14:10-15:10，②15:20-16:20，計14名（①7名，②7名），（男女共同参画・ダイバーシティ戦略室 由良副学長からの依頼）
02 Aug. 2019 - 出張講義（千葉県立佐原高等学校）
Appearance, 千葉県立佐原高等学校, 千葉県立佐原高等学校, 高校２年生 計２回．①10:45-12:15, ②13:15-14:45．途中でロボットのデモンストレーションや操作体験も．
17 Jul. 2019 - その他社会活動の実績 [1] 令和元年鯖江市総合防災訓練にて，ヘビ型ロボットによる負傷者探索実験（場所：鯖江市河和田公民館）
Others, 研究内容の公開と展示．（産学官連携センター，鯖江市から依頼）
14 Jul. 2019 - 14 Jul. 2019 - 出張講義（東京電機大学高等学校）
Appearance, 東京電機大学高等学校, 東京電機大学高等学校, 高校２年生 計２回．①9:50-10:40, ②10:50-11:40, ①24名+②27名=51名, 高２． 途中でロボットのデモンストレーションや操作体験も．
20 Dec. 2018 - 研究成果の公開 フィールド評価会で車輪型索状ロボットの動作デモンストレーション（場所：福島ロボットテストフィールド）
Others
02 Nov. 2018 - 02 Nov. 2018 - その他社会活動の実績 電通大展にて車輪型索状ロボットの動作デモンストレーション（場所：調布市市民会館たづくり）
Others, 研究内容の公開と展示，ロボットの操縦体験．（中野理事からの依頼）
07 Oct. 2018 - 09 Oct. 2018 - その他社会活動の実績 豊川高等学校向けの研究室見学および模擬講義対応
Others, 研究説明とロボットの動作デモンストレーション
23 Aug. 2018 - 23 Aug. 2018 - 豊川高等学校向け模擬講義
Appearance, 豊川高等学校, ロボットの制御～賢い動きをどう実現する？～, 電気通信大学, 高校生 40分の模擬授業を２回．豊川高等学校からの依頼．
23 Aug. 2018 - その他社会活動の実績 匠ガール体験合宿2018 ラボ体験「うねうね動くヘビ型ロボットを組み立てて動かす！」
Others, 研究説明とロボット組立＆制御の体験学習．①10:00-11:30，②13:00-14:30，計12名（①6名，②6名），（男女共同参画・ダイバーシティ戦略室 由良副学長からの依頼）
02 Aug. 2018 - 02 Aug. 2018 - 匠ガール 体験合宿2018 ラボ体験
Appearance, 電気通信大学男女共同参画・ダイバーシティ戦略室, うねうね動くヘビ型ロボットを組み立てて動かす！, 電気通信大学, 女子中高生 ①10:00-11:30，②13:00-14:30，計12名（①6名，②6名）（男女共同参画・ダイバーシティ戦略室 由良副学長からの依頼）
02 Aug. 2018 - 出張講義（千葉県立佐原高等学校）
Appearance, 千葉県立佐原高等学校, 千葉県立佐原高等学校, 高校２年生 計２回．①10:45-12:15, ②13:15-14:45．途中でロボットのデモンストレーションや操作体験も．
18 Jul. 2018 - オープンキャンパス Ⅱ類（融合系）模擬講義
Appearance, 電気通信大学, ロボットの制御～賢い動きをどう実現する？～, 電気通信大学, 高校生，受験生 40分で模擬授業．総務課広報係からの依頼．（出張講義・大学見学等での高校からのリクエスト実績に基づき選出を行い，オープンキャンパス実施担当者連絡会で提案を行い，承認を経て依頼されるもの）
15 Jul. 2018 - 出張講義（東京都立豊多摩高等学校）
Appearance, 東京都立豊多摩高等学校, 東京都立豊多摩高等学校, 高校２年生 14：20-15：10 の講義．途中でロボットのデモンストレーションや操作体験も．
20 Jun. 2018 - 研究成果の公開 フィールド評価会で車輪型索状ロボットの動作デモンストレーション（場所：福島ロボットテストフィールド）
Others
14 Jun. 2018 - 14 Jun. 2018 - 研究成果の公開 東京国際消防防災展2018にて車輪型索状ロボットの動作デモンストレーション（場所：東京ビッグサイト）
Others
31 May 2018 - 03 Jun. 2018 - 研究成果の公開 「ImPACTシンポジウム～ハイリスク・ハイインパクト研究のダイナミズム～」にて，車輪型索状ロボットの動作デモンストレーション（場所：品川インターシティホール）
Others
27 Feb. 2018 - 27 Feb. 2018 - 研究成果の公開 「サイエンスアゴラin福岡 このロボットがすごい！」にて，車輪型索状ロボットの動作デモンストレーション（場所：福岡市科学館）
Others
03 Feb. 2018 - 04 Feb. 2018 - サイエンスカフェChofu in 電気通信大学
Appearance, 調布市，電気通信大学, ロボットの制御～賢い動きをどう実現する？～, 電気通信大学１００周年キャンパス UECアライアンスセンター１Ｆ １００周年記念ホール, 一般市民（高校生以上） 社会連携センターからの依頼 14:00-15:30
16 Dec. 2017 - 研究成果の公開 国際ロボット展2017にて，車輪型索状ロボットの動作デモンストレーション（場所：東京ビッグサイト）
Others
29 Nov. 2017 - 02 Dec. 2017 - 出張講義（千葉県立船橋高等学校）
Appearance, 千葉県立船橋高等学校, 千葉県立船橋高等学校, 高校１年生・高校２年生 ①13：30-14：35 ②14：50-15：55で，65分×２の講義．途中でロボットのデモンストレーションや操作体験も．
16 Nov. 2017 - 研究成果の公開 フィールド評価会で車輪型索状ロボットの動作デモンストレーション（場所：東北大学）
Others
10 Nov. 2017 - 11 Nov. 2017 - 研究成果の公開 危機管理産業展2017にて，車輪型索状ロボットの動作デモンストレーション（場所：東京ビッグサイト）
Others
10 Oct. 2017 - 13 Oct. 2017 - 出張講義（東京都立調布南高等学校）
Appearance, 東京都立調布南高等学校, 東京都立調布南高等学校, 高校１年生 13:20-14:10, 14:20-15:10で，50分×２の講義．途中でロボットのデモンストレーションや操作体験も．
04 Oct. 2017 - 「高校生・受験生のための模擬授業～都民の日に「3つの類」の授業を体験しよう～ Ⅱ類（融合系）模擬講義
Appearance, 電気通信大学 アドミッションセンター, ロボットの制御～ヘビ型ロボットの賢い動きとその応用～, 電気通信大学, 高校生，受験生 50分で授業とグループワークを実施．アドミッションセンターからの依頼．
01 Oct. 2017 - 研究成果の公開 JSTフェアにて，車輪型索状ロボットの動作デモンストレーション（場所：東京ビッグサイト）
Others
31 Aug. 2017 - 01 Sep. 2017 - 研究成果の公開 内閣府こども霞ヶ関見学デーにて，車輪型索状ロボットの動作デモンストレーション（場所：内閣府）
Others
02 Aug. 2017 - 03 Aug. 2017 - 研究成果の公開 ロボカップ世界大会WRSフィールドにて，車輪型索状ロボットの動作デモンストレーション（場所：名古屋市国際展示場）
Others
29 Jul. 2017 - 29 Jul. 2017 - その他社会活動の実績 都立昭和高校向けの研究室見学対応
Others, 研究説明とロボットの動作デモンストレーション
19 Jul. 2017 - 19 Jul. 2017 - 出張講義（東京都立国分寺高等学校）
Appearance, 東京都立国分寺高等学校, 東京都立国分寺高等学校, 高校２年生
21 Jun. 2017 - 研究成果の公開 フィールド評価会で車輪型索状ロボットの動作デモンストレーション（場所：東北大学）
Others
19 Jun. 2017 - 20 Jun. 2017 - 研究成果の公開 ロボカップジャパンオープンWRSフィールドにて，車輪型索状ロボットの動作デモンストレーション（場所：愛知工業大学）
Others
06 May 2017 - 06 May 2017 - 出張講座「ロボットの制御～ヘビ型ロボットの賢い動作とその応用～」
Appearance, 甑葉プラザネット, 山形県立村山産業高校, 高校生，教職員，市民
08 Feb. 2017 - 研究成果の公開 フィールド評価会で車輪型索状ロボットの動作デモンストレーション（場所：東北大学）
Others
11 Nov. 2016 - 12 Nov. 2016 - 出張講義（東京都立南多摩中等教育学校）
Appearance, 東京都立南多摩中等教育学校, 東京都立南多摩中等教育学校, 高校１年生，２年生
19 Oct. 2016 - 出張講義（東京都立武蔵野北高等学校）
Appearance, 東京都立武蔵野北高等学校, 東京都立武蔵野北高等学校, 高校２年生
07 Jul. 2016 - 研究成果の公開 フィールド評価会で車輪型索状ロボットの動作デモンストレーション（場所：東北大学）
Others
01 Jun. 2016 - 02 Jun. 2016 - 出張講義（桜美林高等学校）
Appearance, 桜美林高等学校, 桜美林高等学校, 高校２年生
30 Apr. 2016 - 研究成果の公開 米国エネルギー庁視察団に対し，多連結移動ロボットの動作デモンストレーション（場所:京都大学桂キャンパス）
Others, 多連結移動ロボットの動作デモンストレーション
07 Apr. 2016 - 07 Apr. 2016 - 出張講義（東京学芸大学附属国際中等教育学校）
Appearance, 東京学芸大学附属国際中等教育学校, ロボットの制御～賢い動作をどう実現する？～, 東京都練馬区東大泉５－２２－１, 高校１，２年生 同一内容で2回講義（①13：20-14：10 ②14：20-15：10）
15 Dec. 2015 - 出張講義（群馬県立桐生高等学校）
Appearance, 群馬県立桐生高等学校, ロボットの制御～賢い動作をどう実現する？～, 群馬県桐生市美原町１－３９, 2年生 同一内容で2回講義希望（①13：30-14：35 ②14：50-15：55）
09 Dec. 2015 - 出張講義（千葉県立船橋芝山高等学校）
Appearance, 千葉県立船橋芝山高等学校, ロボットの制御～賢い動作をどう実現する？～, 千葉県船橋市芝山７－３９－１, 2年生
25 Nov. 2015 - 地域支援等への参画 社会連携シンポシオン2015「災害ボランティアの育成と防災におけるICTの利活用の推進」におけるロボットの動作デモンストレーション
Organizing member, ヘビ型ロボット及び多連結ロボットの動作デモンストレーション．社会連携センターからの依頼．
21 Nov. 2015 - 21 Nov. 2015 - 研究成果の公開 フィールド評価会でヘビ型ロボットの動作デモンストレーション（場所：東北大学）
Others
13 Nov. 2015 - 14 Nov. 2015 - 出張講義（青森県立青森高等学校）
Appearance, 青森県立青森高等学校, ロボットの制御～賢い動作をどう実現する？～, 青森県青森市桜川８－１－２, 2年生
05 Nov. 2015 - 出張講義（相模原女子大学高等部）
Appearance, 相模原女子大学高等部, ロボットの制御～賢い動作をどう実現する？～, 神奈川県相模原市南区文京２－１－１, １年生 10:40-12:00 (80分), 口頭での講義，ロボットの動作デモンストレーション，ロボットの操作体験など．
24 Oct. 2015 - 「中学生のための電気通信大学体験入学」Ⅱ類（融合系）模擬講義
Appearance, 調布市, ロボットの制御～賢い動作をどう実現する？～, 電気通信大学, 市内在住・在学の中学生 30分の講義後に，ロボットの動作デモンストレーション，ロボットの操作体験などを実施．
17 Oct. 2015 - 研究成果の公開 東京都立産業技術研究センター INNOVESTA!2015におけるヘビ型ロボットの動作デモンストレーション
Others, ヘビ型ロボットの動作デモンストレーション．産学官連携センターからの依頼．
12 Sep. 2015 - 12 Sep. 2015 - 研究成果の公開 平成２７年度東京都立産業技術研究センター研究成果発表会におけるヘビ型ロボットの動作デモンストレーション
Others, ヘビ型ロボットの動作デモンストレーション．産学官連携センターからの依頼．
25 Jun. 2015 - 25 Jun. 2015 - 産学連携DAYパラレルセッション「知能・産業ロボット」
Appearance, 電気通信大学, ヘビ型ロボットの多様な運動制御とその応用, 電気通信大学
04 Jun. 2015 - 生涯学習支援等への貢献 小中学生ロボットアイデアコンテスト 審査員
Lecturer, 11/23 調布市小中学生 ロボットコンテストの審査員
23 Nov. 2014 - 23 Nov. 2014 - 研究成果の公開 武蔵野エリア産業フェスタにおける研究成果の展示
Others, ヘビ型ロボットの動作デモンストレーション．研究推進機構からの依頼．
12 Nov. 2014 - 12 Nov. 2014 - 生涯学習支援等への貢献 小中学生ロボットアイデアコンテスト
Lecturer, 11/25 調布市小中学生 ロボットコンテストの審査員
25 Nov. 2012 - 25 Nov. 2012 - 生涯学習支援等への貢献 夏休み小中学生福祉体験学習「福祉・夢の近未来アイテム」
Lecturer, 8/3 西伊豆町社会福祉協議会 研究室見学，デモ 生徒20名と付添職員2名
2012 - 2012
Media Coverage
- 蛇のように動く最先端ロボット
Other than myself, 集英社, 鬼滅の刃 キメツ学園！全集中ドリル 蛇の呼吸編, p.62-63, Others
Sep. 2023 - Technology pioneer develops robot snakes
Other than myself, CBS, CBS Saturday Morning, Media report, https://www.youtube.com/watch?v=1ACoY9AQFK0
08 Jul. 2023 - 「アクティオブースで発見 地下ピット自律点検用ヘビ型ロボ」
Other than myself, 東京スポーツ, ３面, Paper
02 Jun. 2023 - ロボット化する建機たちで「建設DX」を目指す展示会「建設・測量生産性向上天2023(CSPI-EXPO)」レポート
Other than myself, ロボスタ, Internet
26 May 2023 - 「ヘビ型新ロボに期待」
電気新聞, Paper, １１面
Mar. 2023 - 「じゅん散歩」で田中基康研究室（機械知能システム学専攻）および梶本研究室（情報学専攻）で紹介
テレビ朝日, Media report, 【番組】テレビ朝日「じゅん散歩」 【日時】2023年１月16日（月）午前９時55分から10時25分
Jan. 2023 - 「科学とみらい 担い手不足ロボットが埋める 建設現場DX」
朝日新聞, Paper
Jan. 2023 - 「地下ピット無人点検ヘビ型ロボット」
積算資料, Pr, p.前文2
Dec. 2022 - 「建設現場地下ピット無人点検ヘビ型ロボットの開発」
月刊建築技術 2023年1月号, Pr, p.49
Dec. 2022 - 「大末建設 地下ピット点検用ロボを開発」
建通新聞, Paper, ３面
Oct. 2022 - 「地下空間点検でヘビ型ロボ開発」
電気新聞, Paper, 7面
Oct. 2022 - 「原子力発電所廃炉ロボット」
電気新聞, Paper, 8ページ
Oct. 2022 - J:COMチャンネル「ジモト応援！東京つながるNews」にて「電通大ラボ体験2022」でのヘビロボ操縦体験の様子や田中基康のインタビューが放映．
J:COM, Media report
Sep. 2022 - 「安全、生産性に効果/地下ピット点検ヘビ型ロボ開発/大末建設と電通大」
建設通信新聞, Paper, ３面
Sep. 2022 - ヘビ型ロボ 地下ピット無人点検 大末建・電通大 酸欠事故防ぐ
日刊工業新聞, Paper, 23面
Sep. 2022 - 「地下ピット点検自動化 大末建設、電気通信大 ヘビ型ロボットが自律走行」
建設工業新聞, Paper, ３面
Sep. 2022 - 「電気通信大学・田中基康教授「やりやすかった」」
日刊工業新聞, Paper
Sep. 2022 - news FLAGの「都内各地で自由研究向けイベントが開催」にて，科学技術館で開催中の「学ぼう！気象⇔防災」で展示および動作デモンストレーションを実施している田中基康研のヘビ型ロボットが紹介された．
TOKYO MXテレビ, Media report, https://s.mxtv.jp/mxnews/kiji.html?date=1l147vurbeu3psp6o
Aug. 2022 - This snake robot could be the future of search and rescue”
WTMZ-TV(channel 69) ペンシルベニア州のテレビ局, Media report
Jul. 2022 - “This Snake Robot Could Be the Future of Slithering Search and Rescue”
FOX61 (WTIC-TV), コネチカット州のローカルTV局, Media report
Jul. 2022 - "Snake robot designed to find disaster survivors"
Al Jazeera, Internet, https://t.co/TZwhx16MnA
Jul. 2022 - "The snake-like robot that could help disaster rescue teams"
South China Morning Post（香港）, Internet, https://youtu.be/L9j52vjhb18
Jul. 2022 - "Snake-like robot could soon help rescue teams find victims after disasters"
WDRB（ケンタッキー州のローカルTV局）, Media report
Jul. 2022 - রোবট সাপ উদ্ধার করবে মানুষকে! জাপানি গবেষকদের সফলতা | Snake Robot
Jamuna TV（バングラデッシュのテレビ局）, Media report
Jul. 2022 - “Robosnake may soon come to the rescue in disaster areas” Deutsche Welle（ドイツの国際放送事業体「ドイチェ・ヴィレ」）
Deutsche Welle（ドイツの国際放送事業体「ドイチェ・ヴィレ」）, Internet, https://www.dw.com/en/robosnake-may-soon-come-to-the-rescue-in-disaster-areas/av-62700066
Jul. 2022 - 田中基康研究室（機械知能システム学専攻）が小学生向け調布市科学センター講座「最先端ヘビ型レスキューロボット操縦体験」として実施したヘビ型ロボットの操作体験の様子が「ちょうふの教育」に掲載
ちょうふの教育, Others
Mar. 2022 - 「開発が進むヘビ型ロボットの可能性～災害対応から生活分野まで～」としてpp.44-45に掲載．
国立大学で工学を学ぼう vol.2, Others
Jan. 2022 - 経営ひと言 電気通信大学・田中基康教授「制御の技生きる」
日刊工業新聞電子版, Others, https://www.nikkan.co.jp/articles/view/617463
Nov. 2021 - 「制御の技生きる」
日刊工業新聞, Paper
Nov. 2021 - 「磁力で壁登るヘビ型ロボ」
日刊工業新聞, Paper, 23ページ
Oct. 2021 - 「電通大、磁力で壁登るヘビ型ロボ プラント点検の自動化提案」
日刊工業新聞電子版, Others, https://www.nikkan.co.jp/articles/view/00614968
Oct. 2021 - 「磁力で壁をグングン登る！電通大の蛇型ロボが面白い」 https://newswitch.jp/p/29217
ニュースイッチ, Others
Oct. 2021 - 「WRS福島大会 技術育む競技会（４）細長い腕でも手先器用に」
日刊工業新聞電子版, Others, https://www.nikkan.co.jp/articles/view/616744
Oct. 2021 - 「WRS福島大会 技術育む競技会 細長い腕でも手先器用に 活躍の場 仕事で広げる」
日刊工業新聞, Paper
Oct. 2021 - 「無反力でバルブ開閉 電通大、点検ロボ向けハンド開発」 https://www.nikkan.co.jp/articles/view/00603938
日刊工業新聞電子版, Others
Jul. 2021 - 「無反力でバルブ開閉 電通大 点検ロボ向けハンド」
日刊工業新聞, Paper, 21面
Jul. 2021 - 「経営ひと言／電気通信大学・田中基康教授「最高に『楽』」 https://www.nikkan.co.jp/articles/view/00605470
日刊工業新聞電子版, Others
Jul. 2021 - 「最高に『楽』」
日刊工業新聞, Paper, 29ページ
Jul. 2021 - 「バイオミメティクス」のページにてヘビ型ロボットと田中基康の写真が掲載．
小学館「ニュース探偵コナン3」, Others
Apr. 2021 - Pic-Labo～写真と動画で科学をのぞく～，「生物を超越するヘビ型ロボットと災害対応」 https://www.mirai-kougaku.jp/pictlabo/pages/210108_02.php
国立大学56工学系学部ホームページ, Others
Jan. 2021 - 電通大紹介ページにて，ヘビ型ロボットの写真が掲載． https://www.city.chofu.tokyo.jp/www/contents/1593676793846/index.html
市報ちょうふ, Others
Jul. 2020 - 開発が進むヘビ型ロボットの可能性～災害対応から生活分野まで～ https://yumenavi.info/lecture.aspx?GNKCD=g010348
テレメール進学サイト「夢ナビ」, Others
May 2020 - 「ドラえもんみたいな人を癒すロボットを 想いを継ぐ、第１５回競基弘賞授賞式」，競基弘賞受賞の様子が掲載． https://blog.goo.ne.jp/kobe_u_media/e/beb54b8a487c68a8598f5dc5c7b8a5ce
神戸大学メディア研ウェブ, Others
Jan. 2020 - 「レスキュー工学に貢献 競基弘賞に６個人３団体」，田中基康准教授が競基弘賞を受賞する様子が掲載．
神戸新聞, Paper
Jan. 2020 - 「鯖江で防災訓練，身の守り方学ぶ」 https://www.fukuishimbun.co.jp/articles/-/894718
福井新聞D刊, Others
Jul. 2019 - 「訓練通じ対応力向上 ヘビ型ロボ探査も」 福井県鯖江市にて行われた防災訓練にて，ヘビ型ロボットが瓦礫を模擬したフィールドを走破する様子が掲載．
福井新聞, Paper
Jul. 2019 - 「丹南のニュース」，鯖江市の防災訓練におけるヘビ型ロボットによる負傷者探索実験の様子が放映．
丹南ケーブルテレビ, Media report, http://news-portal.t-catv.co.jp/0714%e9%af%96%e6%b1%9f%e5%b8%82%e7%b7%8f%e5%90%88%e9%98%b2%e7%81%bd%e8%a8%93%e7%b7%b4/?doing_wp_cron=1565322923.1956329345703125000000 https://youtu.be/T2ocVXeRE8s
Jul. 2019 - 「ヘビ型ロボ，災害活躍へ鯖江で実験」 https://www.fukuishimbun.co.jp/articles/-/809972
福井新聞D刊, Others
Mar. 2019 - 「おかえりなさい」，ヘビ型ロボットの実証実験の様子が放映．
福井テレビ, Media report
Mar. 2019 - 朝刊23面，「災害時 ヘビ型ロボが力」，鯖江市の消防施設で行ったヘビ型ロボットの実証実験の様子を紹介． https://www.fukuishimbun.co.jp/articles/-/810944
福井新聞, Paper
Mar. 2019 - ""震災8年‐ ヘビ型ロボ、救助に威力"" 田中基康准教授（機械知能システム学専攻）の開発したヘビ型ロボットについて、鯖江・丹生消防組合の訓練施設での実証実験の様子を消防隊員の声とともに紹介
読売新聞オンライン, Others
Mar. 2019 - ""震災8年‐ ヘビ型ロボ、救助に威力"" 田中基康准教授（機械知能システム学専攻）の開発したヘビ型ロボットについて、鯖江・丹生消防組合の訓練施設での実証実験の様子を消防隊員の声とともに紹介
読売新聞, Paper
Mar. 2019 - 「たん９」にて，ヘビ型ロボットの実証実験の様子が放映．2019/3/16～22（一日４度放送，8:00，13:00，18:00，22:00※時間は日により違う場合あり）
丹南ケーブルテレビ, Media report
Mar. 2019 - 「日々研究、ヘビ型ロボット！」に開発しているヘビ型ロボットとインタビュー内容が掲載．
汐文社「最先端! 救命の技術と装備 (いのちを救いたい 救急救命24時)」, Others
Mar. 2019 - 「粉体グリッパーに子供部屋片付け、トイレ掃除も～WRS2018レポートダイジェスト（1/3）」 WRS2018に参加した際のヘビ型ロボットの様子が紹介． http://monoist.atmarkit.co.jp/mn/articles/1812/26/news023.html
MONOist, Others
Dec. 2018 - 電通大100周年記念「電通大展 in たづくり」 J:COMチャンネル東京「テレビ広報ちょうふ」で、先日たづくりで開催された電通大100周年記念イベントの様子を紹介．ヘビ型ロボットT2 Snake-3や田中基康および所属学生のインタビューが放映． 【番組】J:COMチャンネル東京「テレビ広報ちょうふ」 【日時】2018年11月13日(火) 20時00分～20時30分 より2週間
J:COM, Media report
Nov. 2018 - 「Ladder-Climbing Snake Robot, and More」 IROS2018にて発表したはしごを登るヘビ型ロボットがIEEE SPECTRUM Video Fridayのトップで紹介． https://spectrum.ieee.org/automaton/robotics/humanoids/video-friday-ladder-climbing-snake-robot
IEEE SPECTRUM Video Friday, Others, トップで紹介
Oct. 2018 - ""This Ladder-Climbing Robot Snake Freaks Me Out Even More Than the Real Thing"" はしごを登るヘビ型ロボットが紹介． https://gizmodo.com/this-ladder-climbing-robot-snake-freaks-me-out-even-mor-1829651642
GIZMODO, Others
Oct. 2018 - TBS ニュース２３， WRSに出場している災害対応ロボットとして，田中基康研究室のヘビロボが紹介．
TBS, Media report
Oct. 2018 - 「日本で生まれた蛇のようにハシゴを登るロボットが本物より恐いけどすごい」 はしごを登るヘビ型ロボットが紹介． https://www.gizmodo.jp/2018/10/ladder-climbing-robot-snake-freaks.html
GIZMODO, Others
Oct. 2018 - 「熱戦！ワールド・ロボット・サミット 世界のロボ競演」 https://www.nikkan.co.jp/articles/view/00492450?isReadConfirmed=true/
日刊工業新聞電子版, Others
Oct. 2018 - 「熱戦！ワールド・ロボット・サミット」
日刊工業新聞, Paper, 一面
Oct. 2018 - 「経営ひと言／電気通信大学・田中基康准教授「ヘビ型ロボ」」 https://www.nikkan.co.jp/articles/view/00493372?isReadConfirmed=true
日刊工業新聞電子版, Others
Oct. 2018 - 経営ひと言／電気通信大学・田中基康准教授「ヘビ型ロボ」
日刊工業新聞, Paper
Oct. 2018 - 「モーニングサテライト」のコーナー「ものづくりファンディング」にて，ヘビ型ロボットT2 Snake-3が紹介．
テレビ東京, Media report
Sep. 2018 - 一部電源喪失も走行 電通大，”ヘビ型”ロボ
日刊工業新聞, Paper, １面
Jun. 2018 - 一部電源喪失も走行する”ヘビ型”ロボ 電通大が開発 https://www.nikkan.co.jp/articles/view/00478491
日刊工業新聞電子版, Others, １面
Jun. 2018 - 「電気通信大学 新技術説明会」開催 柔軟物操作ロボットとヘビ型ロボットが研究成果実用化を目指してプレゼン https://robotstart.info/2018/05/11/moriyama_mikata-no50.html
ロボスタ -ロボット情報WEBマガジン-, Others
May 2018 - 「マーサ＆ハニー」のコーナー「ビッグサイトマン」にて，ヘビ型ロボットT2 Snake-3が紹介．
テレビ東京, Media report
Nov. 2017 - 「災害時役立つロボット」にヘビ型ロボットT2 Snake-3が掲載
読売新聞, Paper
Aug. 2017 - 「タフ・ロボティクス・チャレンジの目指す”タフ”なロボットとは？」 http://news.mynavi.jp/articles/2017/07/07/impact_trc/
マイナビニュース, Others
Jul. 2017 - 「コカトピ！」の「１ｍの段差を登り降りできるヘビ型ロボット」にヘビ型ロボットT2 Snake-3が掲載
誠文堂新光社「子供の科学７月号」, Others
Jun. 2017 - NHK東北ニュース845「災害現場で救助などで活躍 大学・企業がロボット開発」
NHK, Media report
Jun. 2017 - 「災害現場用ロボットの展示会」 http://www3.nhk.or.jp/tohoku-news/20170619/4186911.html
NHK NEWS WEB, Others
Jun. 2017 - 「動物型ロボット！」にヘビ型ロボットT2 Snake-3が掲載
学研「最強！はたらくスーパーマシンのひみつ１００」, Others
Jun. 2017 - 首都圏ニュース845「最先端「ヘビ型ロボット」公開」
NHK総合, Media report
Apr. 2017 - ニュースチェック11「最先端「ヘビ型ロボット」公開」
NHK総合, Media report
Apr. 2017 - ヘビ型ロボット開発 １メートルの段差越え、階段はう 金大グループ 工場見回り、点検に
北國新聞, Paper
Apr. 2017 - ヘビ型最先端ロボット公開 災害現場での実用化目指す http://www3.nhk.or.jp/news/html/20170404/k10010936871000.html
NHK NEWS WEB, Others
Apr. 2017 - 1メートルの段差も登れるヘビ型ロボット 工場の点検に活用へ 電気通信大など http://www.itmedia.co.jp/news/articles/1704/04/news123.html
ITmedia NEWS, Others
Apr. 2017 - 1メートルの段差も登れるヘビ型ロボット 工場の点検に活用へ 電気通信大など https://news.yahoo.co.jp/pickup/6235498
Yahooニュース, Others
Apr. 2017 - 1メートルの段差も登れるヘビ型ロボット 工場の点検に活用へ 電気通信大など http://news.mixi.jp/view_news.pl?id=4511588&media_id=32
mixiニュース, Others
Apr. 2017 - ヘビ型ロボット 急傾斜の階段を上下 電気通信大など開発 https://mainichi.jp/articles/20170405/k00/00m/040/081000c
毎日新聞ウェブ版, Others
Apr. 2017 - ヘビ型ロボット 急傾斜の階段を上下 電気通信大など開発 https://news.goo.ne.jp/article/mainichi/nation/mainichi-20170405k0000m040081000c.html
gooニュース, Others
Apr. 2017 - 段差１メートルでも移動＝ヘビ型ロボ開発-電通大・金沢大 http://www.jiji.com/jc/article?k=2017040401113&g=soc
時事通信ニュース, Others
Apr. 2017 - 段差１メートルでも移動＝ヘビ型ロボ開発-電通大・金沢大 http://www.excite.co.jp/News/society_g/20170404/Jiji_20170404X577.html
エキサイトニュース, Others
Apr. 2017 - 段差も移動できるヘビ型ロボット http://www.jiji.com/jc/pm?id=20170405123146y
時事ドットコムニュース, Others
Apr. 2017 - 机に登るヘビ型ロボット http://www.jiji.com/jc/p?id=20170404195509-0023678472
時事ドットコムニュース, Others
Apr. 2017 - 電通大と金沢大のヘビ型ロボット http://www.jiji.com/jc/p?id=20170404195509-0023678465
時事ドットコムニュース, Others
Apr. 2017 - 机に上るヘビ型ロボット https://news.biglobe.ne.jp/domestic/0404/jjp_170404_3298290104.html
BIGLOBEニュース, Others
Apr. 2017 - 電通大と金沢大、１ｍの段差や階段を上り下りできる""ヘビ型ロボット""～無線操縦によるプラント内の巡回点検に活用～ http://pc.watch.impress.co.jp/docs/news/1053138.html
PC Watch, Others
Apr. 2017 - 段差も平気！ヘビ型ロボット https://youtu.be/aEtw0k4NDd8
ニュース映像センター時事通信, Others
Apr. 2017 - 設備点検向けヘビ型ロボ、電通大と金沢大が開発 https://youtu.be/XGiySpd79XE
日刊工業ビデオニュース, Others
Apr. 2017 - NHKニュースおはよう日本「最先端「ヘビ型ロボット」公開」
NHK総合, Media report
Apr. 2017 - NHKニュースおはよう日本「最先端「ヘビ型ロボット」公開」
NHK総合大阪, Media report
Apr. 2017 - ヘビ型 段差もなんの 工場内の点検用
読売新聞, Paper
Apr. 2017 - 段差１メートル、ヘビ型スイスイ 災害活用目指す 電気通信大など
毎日新聞, Paper
Apr. 2017 - ヘビ型ロボット開発、電通大など、プラント点検想定。
日経産業新聞, Paper
Apr. 2017 - 設備点検向けヘビ型ロボ、電通大と金沢大が開発
日刊工業新聞, Paper
Apr. 2017 - 段差１メートルでもスイスイ 金大など ヘビ型ロボ開発
北國新聞, Paper
Apr. 2017 - すごいのは、ネコ型だけじゃない ゆけ、くねくねロボ ヘビ型 金沢大と電通大
北陸中日新聞, Paper
Apr. 2017 - 設備点検向けヘビ型ロボ、電通大と金沢大が開発（動画あり） http://www.nikkan.co.jp/articles/view/00423482
日刊工業新聞電子版, Others
Apr. 2017 - 高さ1mの段差や階段を上れるヘビ型ロボットを開発－ゲームパッドで操作 http://news.mynavi.jp/news/2017/04/05/062/
マイナビニュース, Others
Apr. 2017 - 高さ1mの段差や階段を上れるヘビ型ロボットを開発－ゲームパッドで操作 https://news.biglobe.ne.jp/it/0405/mnn_170405_3638797290.html
BIGLOBEニュース, Others
Apr. 2017 - 段差や階段を登って移動できるヘビ型のロボットが開発 http://www.zaikei.co.jp/article/20170405/362194.html
財経新聞, Others
Apr. 2017 - 段差や階段を登って移動できるヘビ型のロボットが開発 https://news.nifty.com/article/technology/techall/12214-362194/
@niftyニュース, Others
Apr. 2017 - 段差や階段を登って移動できるヘビ型のロボットが開発 https://news.biglobe.ne.jp/it/0405/zks_170405_1311619838.html
BIGLOBEニュース, Others
Apr. 2017 - １ｍの段差を登るヘビ型ロボット、電通大と金沢大らが開発 http://techon.nikkeibp.co.jp/atcl/news/16/040607056/
日経テクノロジーonline, Others
Apr. 2017 - Snake-like robot that can climb stairs unveiled at university in Tokyo https://mainichi.jp/english/articles/20170405/p2a/00m/0na/010000c
The Mainichi, Others
Apr. 2017 - １ｍの段差を上ることができるプラント巡回用ヘビ型ロボットを開発 電気通信大学など https://fabcross.jp/news/2017/20170406_t2-snake-3.html
fabcross, Others
Apr. 2017 - １ｍの段差を上ることができるプラント巡回用ヘビ型ロボットを開発 電気通信大学など http://engineer.fabcross.jp/archeive/170405_jst_t2snake.html
fabcross for エンジニア, Others
Apr. 2017 - ヘビ型ロボで巡回/段差1m登って点検/電気通信大など https://www.kensetsunews.com/archives/42977
建設通信新聞DIGITAL, Others
Apr. 2017 - １ｍの段差を登るヘビ型ロボット 電通大と金沢大が開発 http://www.nikkei.com/article/DGXMZO14986650W7A400C1000000/
日本経済新聞, Others
Apr. 2017 - １メートル段差越え、引き出し開けて…電通大のヘビロボはオモチャを超えた http://www.sankei.com/life/news/170409/lif1704090003-n1.html
産経新聞, Paper
Apr. 2017 - 災難救助應用-類蛇形機器人報導(使用 ROBOTIS 的智能馬達) http://idminer.com.tw/2017/04/13/%E7%81%BD%E9%9B%A3%E6%95%91%E5%8A%A9%E6%87%89%E7%94%A8-%E9%A1%9E%E8%9B%87%E5%BD%A2%E6%A9%9F%E5%99%A8%E4%BA%BA%E5%A0%B1%E5%B0%8E/
採智科技股□有限公司, Others
Apr. 2017 - 工場の巡回点検用に１メートルの段差上るヘビ型ロボ 電通大など開発 http://www.sankei.com/life/news/170424/lif1704240019-n1.html
産経ニュース, Others
Apr. 2017 - Japan develops snakelike robot to check underwater equipment http://asia.nikkei.com/Japan-Update/Japan-develops-snakelike-robot-to-check-underwater-equipment
NIKKEI ASIAN REVIEW, Others, 京大の名前しか載っていないが，共同研究者
Mar. 2017 - 水中くねくね、ヘビ型ロボ 京大が開発 http://www.nikkei.com/article/DGXLASGG28H02_Y7A320C1MM0000/
日本経済新聞 電子版, Others, 京大の名前しか載っていないが，共同研究者
Mar. 2017 - 水中くねくね、ヘビ型ロボ 京大が開発 http://www.nikkei.com/article/DGXLASGG28H02_Y7A320C1MM0000/
日本経済新聞, Paper, 京大の名前しか載っていないが，共同研究者
Mar. 2017 - 「ヘビ型に興味深々－村山産業高でロボット講座」
山形新聞, Paper
Feb. 2017 - 「生きものをまねた かがくパワー」
小学二年生 １２月号, Others
Nov. 2016 - 「『宙』が好きな人の進学事情」
北海道大樹町マガジン「ソラユメ」, Paper, 飛行ロボット実験に参加した学生の進路や夢についてのインタビューを掲載
Aug. 2016 - 「階段登れるヘビ型ロボット－電通大，災害調査・設備保守用に開発」
日刊工業新聞, Paper
Jun. 2016 - 「階段登れるヘビ型ロボット－電通大，災害調査・設備保守用に開発」 https://www.nikkan.co.jp/articles/view/00389813
日刊工業新聞ウェブ版, Others
Jun. 2016 - 「災害対応ロボット花盛り。今度は階段を登れるヘビ型」 http://newswitch.jp/p/5119 http://headlines.yahoo.co.jp/hl?a=20160624-00010003-newswitch-sctch
ニュースイッチ, Others
Jun. 2016 - 「風を計算 無人飛行成功 大樹・電通大実験」http://kachimai.jp/article/index.php?no=345357
十勝毎日新聞電子版, Others
May 2016 - 「空撮ロボ 実用化へ前進」
十勝毎日新聞, Paper, 飛行ロボットによる空からの情報収集効率が9倍向上し，様々な空撮ミッションの実現可能性について紹介．
May 2015 - NHK札幌放送局「おはよう北海道」
NHK, Media report
May 2015 - 新カメラの撮影範囲の広さ確認 電通大飛行ロボット実験
WEB TOKACHI 十勝毎日新聞社, Others, http://kachimai.jp/article/index.php?no=296145
May 2015 - 「Nスタ」「天才ロボット＆念力 透明人間も実現可能！？ 驚きの研究開発に潜入」
TBS, Media report
Mar. 2014 - 本研究室で開発した脳波で動かすヘリコプタがロボコンマガジンに紹介されました．
ロボコンマガジン, Others
2014 - モーニングバード「アカデミヨシズミ」企画「人類の進歩と調和…アカデミ博覧会Z！」
テレビ朝日, Media report
Jun. 2013 - 「災害時空撮用飛行ロボ，スマホ活用で実験」
十勝毎日新聞, Paper
May 2013 - ニュース少年探偵団 「探偵団は見た これは欲(ほ)しい… 科学(かがく)がつくる夢(ゆめ)の近未来(きんみらい)アイテムを体験(たいけん)」
BS-TBS, Media report
Jun. 2012 - 【災害用飛行ロボットの開発実験】 田中一男教授（知能機械工学専攻）らの研究チームが4月27日から5月7日に北海道大樹町多目的航空公園（JAXA関連施設）で飛行ロボットによる災害レスキューミッション実験を実施
WEB TOKACHI 十勝毎日新聞社, Others, http://www.tokachi.co.jp/news/201205/20120502-0012465.php
May 2012 - 【災害用飛行ロボットの開発実験】
十勝毎日新聞, Paper
May 2012