工学修士, 電気通信大学

博士（工学）, 電気通信大学

Manufacturing technology (mechanical, electrical/electronic, chemical engineering), Control and systems engineering

Manufacturing technology (mechanical, electrical/electronic, chemical engineering), Measurement engineering

Informatics, Mechanics and mechatronics

Informatics, Robotics and intelligent systems

01 Apr. 2021
国立大学法人電気通信大学, 大学院情報理工学研究科機械知能システム学専攻, 教授

01 Apr. 2016 - 31 Mar. 2021
国立大学法人電気通信大学, 大学院情報理工学研究科機械知能システム学専攻, 准教授

01 Apr. 2010 - 31 Mar. 2016
国立大学法人電気通信大学, 大学院情報理工学研究科知能機械工学専攻, 准教授

01 Apr. 2007 - 31 Mar. 2010
国立大学法人電気通信大学, 電気通信学部知能機械工学科, 准教授

Apr. 2005 - 31 Mar. 2007
国立大学法人電気通信大学, 電気通信学部知能機械工学科, 助教授

Apr. 2004 - Mar. 2005
国立大学法人電気通信大学, 電気通信学部知能機械工学科, 助手

Apr. 1999 - Mar. 2004
電気通信大学, 電気通信学部知能機械工学科, 助手

Apr. 1991 - Mar. 1999
電気通信大学, 電気通信学部機械制御工学科, 助手

Mar. 1991
The University of Electro-Communications, Graduate School, Division of Electro Communications, 機械制御工学専攻

Mar. 1989
The University of Electro-Communications, Graduate School, Division of Electro Communications, 機械工学第二専攻

Mar. 1987
The University of Electro-Communications, Faculty of Electro Communications, 機械工学第二学科

Apr. 1980 - Mar. 1983
東京学芸大学附属高等学校

12 Feb. 2020 - 30 Nov. 2020
オーガナイズドセッション C-3 Robotics and mechatronics オーガナイザー, Society

01 Apr. 2017 - 31 Mar. 2019
商議員, 日本機械学会東京ブロック, Society

24 Jan. 2018 - 30 Nov. 2018
オーガナイズドセッションRobotics and mechatronics オーガナイザー, Society

15 Jan. 2018 - 31 Aug. 2018
Program Committee member of IEEE ICMA 2018, Reviewer, the Program Committee of 2018 IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2018), Society

13 Aug. 2017 - Apr. 2018
幹事、オーガナイザ, 日本機械学会関東支部第24期関東支部総会・講演会と第57回学生員卒業研究発表講演会 実行委員会, Society

14 Oct. 2016 - 15 Jan. 2018
実行委員, 第60回自動制御連合講演会実行委員会, Society

21 Feb. 2017 - 13 Oct. 2017
Program Committee member of IEEE ICMA 2017, Reviewer, the Program Committee of 2017 IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2017), Society

Mar. 2015 - Sep. 2015
Program Committee member of IEEE ICMA 2015, the Program Committee of 2015 IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2015), Society

Oct. 2014
精密工学会，学術講演会，ロボティクスセッション オーガナイザー, 精密工学会，学術講演会，ロボティクスセッション オーガナイザー, Society

1995 - 1998
事業部会事業企画委員, 精密工学会, Society

1997 - 1997
ロボティック・メカトロニクス講演会97実行委員, 日本機械学会, Society

1995 - 1995
ロボティック・メカトロニクス部門広報委員, 日本機械学会, Society

Dec. 2021
公益社団法人精密工学会
惣菜盛付作業自動化に関する研究（第２報）－コーン盛付ハンドの開発－
2021年精密工学会秋季大会学術講演会ベストプレゼンテーション賞, 池谷友佑;金森哉吏;橋田浩一;天野光明
Japan society

Mar. 2019
公益社団法人精密工学会
2D-LRF を用いた歩行者認識法に関する研究
2019年精密工学会春季大会学術講演会ベストプレゼンテーション賞, 岡和則;金森哉吏
Japan society

Dec. 2018
TSME-ICoME 2018 Committee Department of Mechanical Engineering
Phuket, Thailand
Best Paper Award in the field of Dynamic Systems, Robotics and Controls at The 9th TSME International Conference on Mechanical Engineering, K.Tobita;K.Matsumoto;S.Yotsuyaku;C.Kanamori
International society

Apr. 2018
日本機械学会関東支部
周辺環境認識機能を加えた作業計画ナビゲーションの高度化
日本機械学会関東支部第２４期講演会若手優秀講演賞, 松本効己;大学院生;受賞者;四役勝輝;金森哉吏
Japan society, Japan

Oct. 2014
Institute of Control, Robotics and Systems (ICROS), 2014 14th International Conference on Control, Automation and Systems (ICCAS 2014),pp.267-271,Oct. 22□25, 2014 in KINTEX, Gyeonggi-do, Korea.
Gyeonggi-do, Korea.
the best presentation award, Sungwan Bokusuwan;Taworn Benjanarasuth;Chisato Kanamori;Hsayuki Aoyama
International society

Aug. 2010
IEEE-ICMA
China
IEEE ICMA AWARD for ICMA 2010 Best Paper Nomination Finalist
China

Apr. 2003
JSME Education Award
Japan

Jun. 1997
(社)日本機械学会 ロボティクス・メカトロニクス部門ROBOMEC賞

Path Planning for Deformable Object Assembly Based on Image Recognition
Chun-Wei Wu; Chisato Kanamori; Ching-Chang Wong
Proceedings of SICE International Symposium on Control Systems 2024 (ISCS2024), 1M1-3,, Mar. 2024, Peer-reviwed
International conference proceedings, English

Development of Spherical Shell Robot With Rolling and Legged Locomotion
Ryo Abe; Chisato Kanamori
Last, Journal of Robotics and Mechatronics, Fuji Technology Press Ltd., 35, 2, 483-491, 20 Apr. 2023, Peer-reviwed, True
Scientific journal, English

Principle and Robotic Applications of Conical Scanning Method
K. Tobita; K.Matsumoto; S.Yotsuyaku; C.Kanamori
IOP Conference Series: Materials Science and Engineering, Volume 501, Number 1, 012047, (2019), IOP Publishing Ltd., 501, 1, 012047, 17 Apr. 2019, Peer-reviwed, We have proposed a surrounding environmental recognition method using conical scanning distance measurement for mobile robots. The conical scanning method has a high robustness against ambient light noise and its calculation cost is low. This report describes the principle of this method and the two implementations. The first application is the quadrupedal wheeled robot. The robot can recognize a stair in sight, approach to it and climb. A second application is the indoor-outdoor wheeled mobile robot. The robot can recognize its position and obstacles on floor from information of a laser range finder and a 3D ToF camera. The validity of this method was confirmed by these robotic applications.
Scientific journal, English

Principle and Robotic Applications of Conical Scanning Method
K. Tobita; K.Matsumoto; S.Yotsuyaku; C.Kanamori
Proceedings of The 9th TSME International Conference on Mechanical Engineering, TSME-ICoME 2018 Committee Department of Mechanical Engineering, ICOME-2018-0223, DRC0007, 11 Dec. 2018, Peer-reviwed
International conference proceedings, English

Targets Development of a Precise Positioner with Differential Micro Flows
Jean-Charles Pelletier; Hisayuki Aoyama; Yuka Irie; Chisato Kanamori; Nadine Piat
Proceedings of 2018 ICPE International Conference on Precision Engineering, ICPE International Conference on Precision Engineering, Paper No.00169, 12 Nov. 2018, Peer-reviwed
International conference proceedings, English

Development of a Micro-Manipulator for Bio-Targets Using Micro Flows
Jean-Charles Pelletier; Hisayuki Aoyama; Yuka Irie; Chisato Kanamori; Nadine Piat
Journal of Robotics and Mechatronics, Fuji Technology Press Ltd., 30, 4, 638-649, 20 Aug. 2018, Peer-reviwed, In the field of bio-engineering, there is a need for a specialized manipulator that protect targets from hard physical contact. The solution proposed in this paper is a system that controls micro flows to manipulate a micro-sized bio-target. The manipulation principle and system structure are presented. In addition, a simple model that uses physically observable parameters is constructed to capture the flow-target interactions following a chemically assisted flow visualization. The experimental results of a prototype are presented, and the feasibility is discussed. The purpose of this paper is to prove the feasibility of this manipulation method. Further developments are introduced, highlighting the full potential of the prototype.
Scientific journal, English

Chemically assisted visualization for fluidic micro manipulation
Pelletier Jean-Charles; Yuuka Irie; Chisato Kanamori; Hisayuki Aoyama; Nadine Piat
2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017, Institute of Electrical and Electronics Engineers Inc., ICMA2017-141, 799-804, 23 Aug. 2017, Peer-reviwed, Researchers and industrials from various fields are looking for reliable manipulators in a liquid environment. In this paper a tool for flow vitalization using chemicals to check the flows around the manipulated as well as a configuration for micro-manipulation are presented. Our research is bio-engineering oriented since we aim at manipulating a bio-target
a cell. It is challenging since these targets can be damaged easily through direct contact and are highly deformable. The successful manipulation would make the observation, selection or alteration of such targets easier, leading to great improvement in the medical and pharmaceutical fields. This paper discuss the primary challenges we face to achieve our goals. As a first step in a bigger project a first prototype was built, tested and analyzed.
International conference proceedings, English

High Performance Periodical Paths Tracking of Two -dimensional Handheld Micromanipulator using Explicit Model Predictive Control
Sungwan Boksuwan; Chisato Kanamori; Hisayuki Aoyama; Sumit Panaudomsup; Thepjit Cheypoca; Abdulhafiz Chesof; Techin Siritechavong
2017 8th International Conference on Mechatronics and Manufacturing (ICMM 2017), Organized by The Japan Siciety for Precision Engineering, M58, 20 Jan. 2017, Peer-reviwed
International conference proceedings, English

Development of micro manipulator system driven by parallel wires under tension force control
Taketo SENDA; Chisato KANAMORI; Hisayuki AOYAMA
16th International Conference on Precision Engineering(ICPE2016), The Japan Siciety for Precision Engineering, P27-8248, 14 Nov. 2016, Peer-reviwed
International conference proceedings, English

Portable ECG real time signal monitoring device
Boonchana Purahong; Somsin Tongkraira; Vanvisa Chutchavong; Hideyuki Nomura; Chisato Kanamori; Hisayuki Aoyama
Proceedings of 2016 the 6th International Workshop on Computer Science and Engineering, WCSE, 2016
International conference proceedings

Approximation of Linear Gain Slope Equalizer using Bernstein-Stancu Polynomials
Vanvisa Chutchavong; Kanok Janchitrapongvej; Hideyuki Nomura; Chisato Kanamori; Hisayuki Aoyama
PROCEEDINGS OF THE 2016 IEEE REGION 10 CONFERENCE (TENCON), IEEE, 3344-3348, 2016, Peer-reviwed, This paper presents a design of linear gain slope equalizer for correcting the linear gain distortion. It is based on the Bernstein-Stancu polynomials, where the well-known and readily available approximated of the desired transfer function are applied. As it is known that the Bernstein-Stancu polynomials have the several advantages. For example, there is a flexible parameter as a that can be used to adjust the magnitude response for the best result. If the parameter a equals to zero, it becomes to the classical Bernstein polynomial. In addition, the phase response is linear. As the results, the proposed method is capable of designing linear gain slope equalizer which is also shown to be efficient performance without degrading its phase characteristics. The stability of the approximated of the transfer function can guarantee with Mihailov's criterion.
International conference proceedings, English

Micro-fabrication using laser beam lithography application to the micro implants
Hiroaki Minato; Hisayuki Aoyama; Chisato kanamori; Ahang Qin
Automation 2015 - The 13th International Conference on Automation Technology, E-004, 13 Nov. 2015, Peer-reviwed
International conference proceedings, English

Micro manipulation by micro flows
Yoshihiro Tanabe; Jean-Charles Pelletier; Chisato Kanamori; Hisayuki Aoyama
Automation 2015 - The 13th International Conference on Automation Technology, E-005, 13 Nov. 2015, Peer-reviwed
International conference proceedings, English

Impact Piezo-Driven Micro Dispenser and Precise Miniature XY Stage
Yuuka Irie; Shinnosuke Hirata; Chisato Kanamori; Hisayuki Aoyama
Journal of Robotics and Mechatronics, FUJI TECHNOLOGY PRESS LTD, 27, 3, 259-266, 20 Jun. 2015, Peer-reviwed, Recently, micro-droplet dispensation has been required in printed-electronics (PE) technology. Devices with micro dispensing mechanism are of key importance in achieving a higher performance with these products. In fact, it is very difficult for the conventional dispenser to squeeze highly viscous liquid with picoliter resolution. This paper describes the development of a dispensing mechanism comprising a dispensing device and XY stage, both driven by the piezo impulsive force. The dispensing device is mainly composed of a pipette and a taper needle that is driven by a piezoelectric element. When the needle passes through the pipette, a droplet of the liquid adheres to the needle-tip end. A micro droplet can be transcribed to a target surface by bringing the droplet at the needle-tip end in contact with the target surface. On the contrary, in the XY stage, the small tables on the V-shaped grooves can be driven by the impulsive force generated by the mass connected to the piezoelectric element. The X stage is stacked on the Y stage, which allows fine positioning in the plane. In the experiment, an array of a small amount of 0.2-picoliter droplets was successfully developed on the glass plate.
Scientific journal, English

Tremor suppression for handheld micromanipulator using robust hybrid control
Sungwan Boksuwan; Taworn Benjanarasuth; Chisato Kanamori; Hisayuki Aoyama
International Conference on Control, Automation and Systems, IEEE Computer Society, 267-271, 16 Dec. 2014, Peer-reviwed, This paper proposes a suppression of tremor effects, fluctuations caused by a user's hand, on a handheld micromanipulator by means of a robust hybrid control scheme. The proposed control scheme is a combination between an explicit model predictive control and a PID controller. The advantage of the PID controller is a robustness. It is suitable for handling the holding angle changes. The explicit model predictive control provides the excellent tracking performance. In addition, the robust hybrid control can handle tremor effects successfully. The control objective is to achieve robust tracking performance, to dampen the vibration of the mechanism and to suppress a disturbance, a tremor. The experimental results are used to investigate the effectiveness of the proposed method.
International conference proceedings, English

Path Planning and Obstacle Avoidance Method Design for Mobile Robot
Ming-Hua HSEIH(TKU; Cheng-Yao Ho(TK; Chisato KANAMORI(UEC; Hisayuki AOYAMA(UEC; Shih-An LI(TKU; Ching-ChangWONG(TK
SICE Annual Conference 2014, Paper FrAT2.2, 09 Sep. 2014, Peer-reviwed, In this paper, a new weight evaluate method in a modified A* algorithm for the path planning and a Vector Filed Histogram algorithm (VFH*) for the obstacle avoidance are proposed. In the path planning part, robot don't need to build the grid map and set the weight of obstacles before the robot running. It uses a new way to evaluate the weight of obstacle and the heuristic value. Then adjust the scale between cost value and heuristic value to get a best path. In the obstacle avoidance part, Vector Filed Histogram which modified using sprit of A* algorithm (VFH* algorithm) is be used. Mobile robot needs the ability to avoid dynamic obstacles and the robot also needs the ability that it can compare with the original map to know the map is changed now. Then, the robot can decide a best way to avoid obstacles. When the robot decides the path to the goal position and detects one obstacle on the planning path, it can autonomous avoid the obstacle and then move back to the planning path. Finally, two situations are presented to illustrate the effectiveness of the proposed method.
International conference proceedings, English

Robust Hybrid Control for Two-dimensional Handheld Micromanipulator
Sungwan Boksuwan; Taworn Benjanarasuth; Chisato Kanamori; Hisayuki Aoyama
Journal of Robotics and Mechatronics, Fuji Technology Press, 26, 3, 331-340, 01 Jun. 2014, Peer-reviwed
Scientific journal, English

アーチェリーロボットの開発
金森哉吏
SHD Newsletter N0.4, 日本機械学会スポーツ・アンド・ヒューマン・ダイナミクス専門会議(SHD), 2-2, 31 Mar. 2014, Invited
Research society, Japanese

Tremor Suppression for Handheld Micromanipulator using Robust Hybrid Control
Sungwan Boksuwan; Taworn Benjanarasuth; Chisato Kanamori; Hisayuki Aoyama
2014 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2014), IEEE, 267-271, 2014, Peer-reviwed, This paper proposes a suppression of tremor effects, fluctuations caused by a user's hand, on a handheld micromanipulator by means of a robust hybrid control scheme. The proposed control scheme is a combination between an explicit model predictive control and a PID controller. The advantage of the PID controller is a robustness. It is suitable for handling the holding angle changes. The explicit model predictive control provides the excellent tracking performance. In addition, the robust hybrid control can handle tremor effects successfully. The control objective is to achieve robust tracking performance, to dampen the vibration of the mechanism and to suppress a disturbance, a tremor. The experimental results are used to investigate the effectiveness of the proposed method.
International conference proceedings, English

Tremor Suppression for Handheld Micromanipulator using Robust Hybrid Control
Sungwan Boksuwan; Taworn Benjanarasuth; Chisato Kanamori; Hisayuki Aoyama
2014 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2014), IEEE, 267-271, 2014, Peer-reviwed, This paper proposes a suppression of tremor effects, fluctuations caused by a user's hand, on a handheld micromanipulator by means of a robust hybrid control scheme. The proposed control scheme is a combination between an explicit model predictive control and a PID controller. The advantage of the PID controller is a robustness. It is suitable for handling the holding angle changes. The explicit model predictive control provides the excellent tracking performance. In addition, the robust hybrid control can handle tremor effects successfully. The control objective is to achieve robust tracking performance, to dampen the vibration of the mechanism and to suppress a disturbance, a tremor. The experimental results are used to investigate the effectiveness of the proposed method.
International conference proceedings, English

Internet based crossover robot remote control competition among Asian countries
C. Xu; A. Ming; C. Kanamori; H. Aoyama; H. Li; L. Xu; X. Li; T. Benjanarasuth; S. Nundralwang; B. Purahong; C. -C. Wong
MECHATRONICS, PERGAMON-ELSEVIER SCIENCE LTD, 23, 8, 933-941, Dec. 2013, Peer-reviwed, We introduce an internet based crossover robot remote control competition project that is an international cooperative program based in Japan, China, Thailand, and Taiwan. This competition is an important component of a long-term higher education reform project aiming to develop a practice based innovative educational methodology jointly promoted by the Ministry of Education, Culture, Sports, Science & Technology of Japan and the University of Electro-Communications. The competition project includes two subjects: the competition itself and the communication and cooperation between students in two countries. The basic mode of the competition is a locally controlled robot and a remotely controlled robot cooperate with each other to complete some tasks. As a unique feature of the project, the student-student communication and cooperation are increased through a specially designed team organization structure that each team consists of two groups from different universities in different countries and the team members are required to cooperate through the internet to complete the competition. The competition has been successfully held four times and the results show it greatly benefits the students, and is expected to promote the development of the practice based educational methodology in the near future. (C) 2013 Elsevier Ltd. All rights reserved.
Scientific journal, English

An optimal steering of a two-dimensional handheld micromanipulator using real-time model predictive control
Sungwan Boksuwan; Ryo Kikuchi; Hisayuki AOYAMA; Chisato Kanamori
ASPEN2013, 1145, 84-84, 13 Nov. 2013, Peer-reviwed
International conference proceedings, English

Micro dispensing mechanism with vibrated taper needle and pipette
YUUKA IRIE; Chisato Kanamori; Hisayuki AOYAMA; Shinnosuke Hirata
5th International Conference of Asian Society for Precision Engineering and Nanotechnology (ASPEN2013), 1208, 84-84, 13 Nov. 2013, Peer-reviwed
International conference proceedings, English

Development of microscopic hardness and stiffness investigation system with microrobot 2nd report, Vision based precise navigation.
Montree Pakkratoke; Shinnosuke Hirata; Chisato Kanamori; Hisayuki Aoyama
Journal of Robotics and Mechatronics, Fuji Technology Press Ltd., 25, 1, 97-105, Feb. 2013, Peer-reviwed, A microsurface measurement system that is composed of the microrobot with the indenter and a vision based navigation system is proposed for investigating hardness and stiffness of such microparts. Here the tiny robot with the electromagnetic legs and the piezo elements incorporates with an electromagnetic driven microforce generator. This force generator can provide small forces up to 17 mN with 50 µN resolutions and push down the microindenter to the surface. The displacement of the indenter head can be also measured by the Linear Valuable Differential Transformer (LVDT) on machine. Thus, this mechanism can generate the small force and monitor the depth behaviour of the indenter during whole dwell time. Since the overall size of this mechanism is small enough to implement on the piezo-driven microrobot, the tiny robot with the microindenter is capable tomove precisely step by step with 1 µm per step so that the microindenter could be penetrated anywhere on the sample surface. With the help of an image processing technique, the vision based coordination system with the local close-up view and the overall global view has been developed to identify the locations of small robot and the indenter precisely within ±3 µm accuracy over the working range. In the experimental results, several results that the indentation load-depth characteristics of the unhealthy human tooth are measured automatically at the specified point are discussed.
Scientific journal, English

Development of Microscopic Hardness and Stiffness Investigation System with MicroRobot
Montree Pakkratoke; Shinnosuke Hirata; Chisato Kanamori; Hisayuki Aoyama
Journal of Robotics and Mechatronics, 24, 1, 123-132, Feb. 2012, Peer-reviwed
Scientific journal, English

Internet based crossover robot remote control competition among Asian countries - Development of practice based innovative education methodology, Phase V
C. Xu; A. Ming; C. Kanamori; H. Aoyama; H. Li; L. Xu; X. Li; T. Benjanarasuth; S. Nundrakwang; B. Purahong; C. C. Wong
2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012, 463-468, 2012, Peer-reviwed, We introduce 2011's progress and achievements of an internet based crossover robot remote control competition between Japan and China, Thailand, and Taiwan respectively. The competition project has two subjects: the competition itself and the student-student communication and cooperation. The basic competition mode is a remotely controlled robot via the internet cooperates with a locally controlled robot to finish a specified task and, as a unique feature of the project, the studentstudent communication and cooperation is trained through a crossover team organization style that each team is organized by two groups from different universities and the team members required to cooperate with each other via the internet to make robots and deal with competition affairs. Our experience shows the competition benefits not only students' technical skills but also their various no-technical skills and is expected to promote the development of a practice based university education methodology in the future. © 2012 IEEE.
International conference proceedings, English

圧電素子を用いた小型半球チルトステージの開発
平田慎之介; 滝澤将人; 白取寛章; 入江優花; 金森哉吏; 青山尚之
精密工学会誌, Japan Society for Precision Engineering, 78, 1, 92-97, Jan. 2012, Peer-reviwed
Scientific journal, Japanese

Localization of Mobile Robots Based on Omni-Directional Ultrasonic Sensing,
Chen-Chien Hsu; Chien-Yu Lai; Chisato Kanamori; Hisayuki Aoyama; Ching-Chang Wong
Proc. of SICE2011(50th Annual Conference of the Society of Instrument and Control Engineers of Japan), FrC02-04, Sep. 2011, Peer-reviwed
International conference proceedings, English

Internet Based Crossover Robot Remote Competition in Asian Countries
C. Xu; A. Ming; C. Kanamori; H. Aoyama; H. Li; L. Xu; X. Li; T. Benjanarasuth; S.Nundrakwang; B. Purahong; C.-C. Wong
Proceedings of the 2011 IEEE International Conference on Mechatronics and Automation, 1792-1797, Aug. 2011, Peer-reviwed
International conference proceedings, English

超高精度歯車測定機の開発―直接駆動方式実験機の試作とその基本性能確認―
田口 哲也; 明 愛国; 下条 誠; 金森 哉吏; 梶谷 誠; 竹田 龍平
精密工学会誌, The Japan Society for Precision Engineering, 77, 3, 327-332, Mar. 2011, Peer-reviwed, The quality of gears is classified according to deviations measured by a gear measuring machine by ISO 1328-1, and recently a system to evaluate gear measuring machines is to be established with the requirements of high precision gears. The purpose of our research is to develop an ultrahigh precision gear measuring machine with small uncertainty of measured values and repeatability less than 1 micro meter. To reduce the transmission errors caused by the mechanism in conventional gear measuring machines, the experimental instrument consisting of two direct drive axes, linear axis and rotary axis, has been developed and its performance has been verified by authors. The mechanism, control and fundamental performance of the experimental instrument are described in this paper.
Scientific journal, Japanese

Development of the shaking camera for domestic service robots
Uchida Yutaro; Kanamori Chisato
Proceedings of JSPE Semestrial Meeting, The Japan Society for Precision Engineering, 2011, 914-915, 2011, 近年，ロボットが人間の生活空間へ進出し始めている．その際，ロボットの外界認識センサとして安価かつ多機能なものが必要となる．本研究では，子供程のサイズ，人が歩く程の移動速度，物を運ぶことを主な仕事とする家事を手伝うサービスロボットが使用することを想定した外界認識センサの開発を目的としている．本講演では，時系列ステレオ法を基本とする物体位置測定法の原理を説明し，製作した装置の概要と，実験による評価結果について報告する．

Micro diagnostic by micro robot with stiffness indenter for BIO materials
P. Montree; N. T. Nguyen; S. Hirata; C. Kanamori; H. Aoyama
2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, 644-649, 2011, Peer-reviwed, The development of the instrumented indentation testing robot for bio materials with micro surface hardness and stiffness test is described. This micro surface measurement system is composed of the piezo-driven micro-robot with the indenter that can move to the measurement area precisely step by step with 1 μm per step on a metal plate and camera base coordinate measurement instruments. The position of the small robot can be controlled precisely by vision base navigation system. With the help of image processing technique, the coordination of the small robot can be identified precisely within ±10 μm resolution. Since the performance of micro hardness sensing is compared with the hardness standard block to certify its ability, the sensing head is implemented on a micro-robot. In the experiment results, the elasticity investigation with human tooth is successfully checked by the indentation load-depth characteristics. © 2011 IEEE.
International conference proceedings, English

Development of micro hardness and stiffness testing system by micro robot for biomaterials
Montree Pakkratoke; SMG. Iroshana; Chisato Kanamori; Hisayuki Aoyama
Proceedings of the 4th Asia International Symposium on Mechatronics (AISM 2010), pp.206-212, Dec. 2010, Peer-reviwed
International conference proceedings, English

Mechatronics Education in Japan - Creative Mechatronics Education at UEC -
Aiguo Ming; Chisato Kanamori; Kazuo Tanaka; Hisayuki Aoyama; Makoto Shimojo
Proc. of MECATRONICS2010-Yokohama - the 8th edition of France-Japan and 6th Europe-Asia Congress on Mechatronics, YF-003247, Nov. 2010, Peer-reviwed
International conference proceedings, English

Internet based crossover robot remote control competition among Asian countries: Development of practice based innovative education methodology, phase III
C. Xu; A. Ming; C. Kanamori; H. Aoyama; H. Li; L. Xu; X. Li; T. Benjanarasuth; S. Nundrakwang; S. Panya; B. Purahong; C. C. Wong
2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010, 428-433, 2010, Peer-reviwed, We report the 3rd year's progress of an internet based crossover robot remote control competition which is an international cooperative educational project among Japan, China, Thailand, and Taiwan. In 2009 we proposed a new competition model called "Cargo loading via internet based cooperation" in which a locally controlled humanoid robot and a wheeled mobile robot under remote control cooperate with each other to search for and find some cargos, then load them on the mobile robot or put them into a cargo box. The unique of the project is that everything concerned with the competition, e.g. the competition rules, the detailed technical problems, etc., are discussed and solved by students themselves from different partner universities via the internet based cooperation. The demonstration of the proposed competition between UEC and partner universities proves the project helps to improve students' practical ability, creative thinking, good teamwork spirit, and communication skills in English, etc. © 2010 IEEE.
International conference proceedings, English

Internet based crossover robot remote control competition among Asian countries: Development of practice based innovative education methodology, phase III
C. Xu; A. Ming; C. Kanamori; H. Aoyama; H. Li; L. Xu; X. Li; T. Benjanarasuth; S. Nundrakwang; S. Panya; B. Purahong; C. C. Wong
2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010, 428-433, 2010, Peer-reviwed, We report the 3rd year's progress of an internet based crossover robot remote control competition which is an international cooperative educational project among Japan, China, Thailand, and Taiwan. In 2009 we proposed a new competition model called "Cargo loading via internet based cooperation" in which a locally controlled humanoid robot and a wheeled mobile robot under remote control cooperate with each other to search for and find some cargos, then load them on the mobile robot or put them into a cargo box. The unique of the project is that everything concerned with the competition, e.g. the competition rules, the detailed technical problems, etc., are discussed and solved by students themselves from different partner universities via the internet based cooperation. The demonstration of the proposed competition between UEC and partner universities proves the project helps to improve students' practical ability, creative thinking, good teamwork spirit, and communication skills in English, etc. © 2010 IEEE.
International conference proceedings, English

Internet Based Crossover Robot Remote Control Competition in Asian Countries-Development of practice based innovative education methodology, Phase II
C. Xu; A. Ming; C. Kanamori; H. Aoyama; H. Li; L. Xu; X. Li; T. Benjanarasuth; S. Nundrakwang; S. Panya; B. Purahong; C-C Wong
2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS, IEEE, 2771-+, 2009, Peer-reviwed, This paper reports the up-to-date progress of an internet based crossover robot remote control competition which is an international cooperation project of UEC of Japan, UESTC of China, KMITL of Thailand, and TKU of Taiwan. We propose a new competition style called "cargo relay transportation by a locally controlled humanoid robot and a remotely controlled robotic vehicle" in which a locally controlled humanoid robot picks up an object from source, walks to a midway area and hands over the object to a robotic vehicle before it moves to destination and put the object into a box under the remote control via the internet. The robots are developed by students via the internet-based collaboration. The demonstration of the proposed competition between UEC and partner universities proves the project has unique benefits to students in term of improving students' practical ability, creative thinking, good teamwork spirit and communication skills in English, etc.
International conference proceedings, English

Internet Based Crossover Robot Remote Control Competition in Asian Countries-Development of practice based innovative education methodology, Phase II
C. Xu; A. Ming; C. Kanamori; H. Aoyama; H. Li; L. Xu; X. Li; T. Benjanarasuth; S. Nundrakwang; S. Panya; B. Purahong; C-C Wong
2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS, IEEE, 2771-+, 2009, Peer-reviwed, This paper reports the up-to-date progress of an internet based crossover robot remote control competition which is an international cooperation project of UEC of Japan, UESTC of China, KMITL of Thailand, and TKU of Taiwan. We propose a new competition style called "cargo relay transportation by a locally controlled humanoid robot and a remotely controlled robotic vehicle" in which a locally controlled humanoid robot picks up an object from source, walks to a midway area and hands over the object to a robotic vehicle before it moves to destination and put the object into a box under the remote control via the internet. The robots are developed by students via the internet-based collaboration. The demonstration of the proposed competition between UEC and partner universities proves the project has unique benefits to students in term of improving students' practical ability, creative thinking, good teamwork spirit and communication skills in English, etc.
International conference proceedings, English

Internet Based Crossover Robot Remote Control Competition in Asian Countries-Development of practice based innovative education methodology, Phase II
C. Xu; A. Ming; C. Kanamori; H. Aoyama; H. Li; L. Xu; X. Li; T. Benjanarasuth; S. Nundrakwang; S. Panya; B. Purahong; C-C Wong
2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS, IEEE, 2771-+, 2009, Peer-reviwed, This paper reports the up-to-date progress of an internet based crossover robot remote control competition which is an international cooperation project of UEC of Japan, UESTC of China, KMITL of Thailand, and TKU of Taiwan. We propose a new competition style called "cargo relay transportation by a locally controlled humanoid robot and a remotely controlled robotic vehicle" in which a locally controlled humanoid robot picks up an object from source, walks to a midway area and hands over the object to a robotic vehicle before it moves to destination and put the object into a box under the remote control via the internet. The robots are developed by students via the internet-based collaboration. The demonstration of the proposed competition between UEC and partner universities proves the project has unique benefits to students in term of improving students' practical ability, creative thinking, good teamwork spirit and communication skills in English, etc.
International conference proceedings, English

Development of Intelligent Encoder
Jun Kitawaki; Chisato Kanamori
Proceedings of The Twenty-third Annual Meeting of The American Society for Precision Engineering and the Twelfth ICPE, #2639(4p), Oct. 2008, Peer-reviwed
International conference proceedings, English

Internet based robot remote control competition in asian countries
C. Xu; A. Ming; C. Kanamori; H. Aoyama
Proc. of IEEE Int. Conf. Robotics, Automation & Mechatronics (RAM2008), 982-987, Sep. 2008
International conference proceedings, English

Crossover IT mechatronics remote control: innovative education methodology development
T. Benjanarasuth; S. Nundrakwang; J. Ngamwiwit; C. Xu; A. Ming; C.Kanamori; H. Aoyama
Proc. of 3rd Asian Int. Sym. Mechatronics (AISM’08), pp. 198-203, Aug. 2008, Peer-reviwed
International conference proceedings, English

Internet Based Crossover Robot Remote Control Competition in Asian Countries -Development of practice based innovative education methodology-
Chunquan Xu; Aiguo Ming; Chisato Kanamori; Hisayuki Aoyama
2008 IEEE CONFERENCE ON ROBOTICS, AUTOMATION, AND MECHATRONICS, VOLS 1 AND 2, IEEE, 560-565, 2008, Peer-reviwed, Over the past decade, the internet has become more and more popular in human society which brings significant convenient to researchers and engineers in the joint development of highly complicated products such as robotic/mechatronic systems. Simultaneously, more and more opportunities are being given to students to attend robot competitions in universities. However, it is still very difficult for the students to collaborate with each other via the internet although the communication has become so advanced. This paper introduced an internet based crossover robot remote control competition project. We established a general platform for students to jointly develop robotic/mechatronic systems and hold competitions with the counterparts at oversea universities. The hardware and software of the systems are developed at two universities respectively during which the students of both universities negotiate with each other via the internet to exchange the design idea, unify the hardware/software interface, etc. The competition is implemented between the two systems whose hardware and software are cross-developed at the two universities. The demonstration of the preliminary competition between UEC and KMITL proves this project has unique benefits to students, such as the training of the internet based robot control technologies, the communication skills for collaboration with foreign member, and so on.
International conference proceedings, English

Vibration Suppression of Ship-Mounted Antennas Using a Nonlinear Passive Vibration Isolator
Takuya Shiozumi; Aiguo Ming; Takashi Kida; Chisato Kanamori; Yusuke Kobayashi; Motoo Satoh
Proceedings of 2007 IEEE International Conference on Integration Technology(ICIT 2007), 568-573, Mar. 2007, Peer-reviwed
International conference proceedings, English

A research for advanced Magnet-optical encorder (4th report): Development of Dual Direction Multi Spot Pickup
Aoki Ryosuke; Ishibashi Tohru; Konishi Tetsuya; Tobita Kazuteru; Kanamori Chisato
Proceedings of JSPE Semestrial Meeting, The Japan Society for Precision Engineering, 2007A, 663-664, 2007, In this paper, we report the results of MO encoder performance evaluation experiment with Multi-Spot Pickup. The MO encoder is a new kind of rotary encoder based on a magneto-optical storage method. We develop Dual Direction Multi-Spot Pickup and realize the high-Accuracy MO encoder by using Multi-Spot Pickup.

衛星通信用船舶搭載型トラッキングアンテナの高精度化
山岡天平; 明 愛国; 木田 隆; 金森哉吏; 佐藤基夫
日本機械学会論文集Ｃ編, The Japan Society of Mechanical Engineers, 73, 725, 170-176, Jan. 2007, Peer-reviwed, Recently, data traffic for satellite communications is increasing rapidly, due to the various new purposes besides the conventional voice phone and facsimile. For the reason, it is necessary to realize high frequency communications, which is assured by high accuracy of tracking control of an antenna. This paper aims at the accuracy improvement of conventional tracking antennas by introducing H-infinity control. In this paper, the basic characteristics of tracking antenna are investigated by experiments and the model of the antenna for controller design is established. Based on the model, a H-infinity controller is designed and implemented to the antenna. Experimental results show that the tracking accuracy can be improved to ±0.25 [deg], which is four times higher than that by the conventional controller.
Scientific journal, Japanese

Development of the orthogonal micro robot for accurate microscopic operations
Ohmi Fuchiwaki; Chisato Kanomori; Hisayuki Aoyama; Daigo Misaki
2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS, IEEE, 416-+, 2007, Peer-reviwed, In this paper, we describe development of an orthogonal micro robot for accurate microscopic operations. In order to provide microscopic operation, the simple locomotion mechanism which is composed of one piezoelectric actuator and two U-shaped electromagnets is proposed. Here two U-shaped electromagnets guided by a pair of v-grooves are connected by a piezoelectric actuator so that it can move in one axis precisely. This simple one-axis micro robot moves like inchworm with less than 100nm resolution. We attach permanent magnets on the electromagnets so that this robot can fix itself on a steel surface even if we do not apply the current to electromagnets. In order to provide XY orthogonal positioning, we connect one micro robot to another micro robot orthogonally. In order to realize cell-processing, we attach the three orthogonal micro robots on an inverted microscope. Here we attach a micro pump to a left micro robot to hold biological samples such as an egg cell. We attach another micro pump to a right micro robot to inject to biological samples. We arrange another micro robot between other two micro robots to position samples. The whole cell-processing device is very small, so we can easily attach the whole device to micro processing instruments. We have developed the special control software with visual feedback control so that each motion could be controlled. by a simple mouse click on a PC or joysticks. In experiments, we demonstrated to hold an egg cell whose diameter is 100 mu m and inject the pipette whose diameter is 5 mu m to the egg cell under the collaboration of these orthogonal micro robots. We have confirmed that this unique micro robotic device has much of potential for actual use to various micro manipulation, such as artificial insemination and positioning of miniscule parts of portable devices. The design procedure, basic performance and collaboration with versatile micro robots are also discussed to open the new field for micro-robotics in precision region.
International conference proceedings, English

基礎加振を利用した実験モーダル解析(船外装置の振動解析)
篠原 隆; 小林勇介; 明 愛国; 木田 隆; 飯塚 進; 金森哉吏
日本機械学会論文集, 71, 712, 3388-3395, Dec. 2005, Peer-reviwed
Scientific journal, Japanese

Accuracy Improvement of Ship Mounted Tracking Antenna for Satellite Communications
Aiguo Ming; Tempei Yamaoka; Takashi Kida; Chisato Kanamori; Motoo Satoh
Proceedings of the IEEE International Conference on Mechatronics & Automation(ICMA2005), 1369-1374, Jul. 2005, Peer-reviwed
International conference proceedings, English

A Rotary Encoder Based on Magneto-Optical Storage
Kazuteru Tobita; Takayuki Ohira; Makoto Kajitani; Chisato Kanamori; Makoto Shimojo; Aiguo Ming
IEEE/ASME TRANSACTIONS ON MECHATRONICS, 10, 1, Jan. 2005, Peer-reviwed
Scientific journal, English

Development of 3-D Coordinate Measuring System Using Laser Plane Scanners
Chisato Kanamori; Makoto Kajitani; Makoto Shimojo
First Asia International Symposium on Mechatronics(AISM2004), Sep. 2004
International conference proceedings, English

A research for advanced Magnet-optical encorder (3rd report)-Upgrade of MO encorder with Multi-Track Pickup-
Konishi Tetsuya; Kajitani Makoto; Shimojo Makoto; Kanamori Chisato; Tobita Kazuteru; Ikeda Shunichi
Proceedings of JSPE Semestrial Meeting, The Japan Society for Precision Engineering, 2004A, 583-583, 2004, 本研究では,光磁気記録方式を用いたロータリエンコーダ(MOエンコーダ)の高分解能化とアブソリュート化を目的として,複数の目盛記録トラックを同時に再生することが可能となるマルチトラックピックアップMOエンコーダ(MTP)の開発を行ってきた.本報では,基礎実験と光学系シミュレーションの結果に基づくMTPの設計と試作,MTPの性能を確認するために行った実験の結果について報告する.

Magneto-optical rotary encoder with a multiple reading pickup
Kazuteru TOBITA; Satoki KAWAMOTO; Makoto KAJITANI; Chisato KANAMORI; Aiguo MING; Makoto SHIMOJO
Proceedings of 2nd Japan-China Workshop on Multidisciplinary Researches in Engineering, 171-176, Nov. 2003
International conference proceedings, English

レーザ光平面による位置計測法（第４報）－三次元位置計測システムの開発－
金森哉吏; 梶谷 誠
精密工学会誌, The Japan Society for Precision Engineering, 69, 11, 1159-1563, Nov. 2003, Peer-reviwed, This paper describes a new trial system and experimental results for the three-dimensional position measurement. The principle is based on the well-known mathematical and geometric fact. It is possible to regard one point in three-dimensional space as an intersection of three planes. Then, the coordinates of it can be obtained by solving simultaneous equations of three planes. The system consists of three laser scanners, a laser detector on the target point and a computer. Each scanner is used to rotate the linearly spread laser beam called laser plane. When the detector is on the plane, each scanner to decide the equation of the plane measures the rotation angle. Ball type detector and hole type detector are developed in order to decrease the error by the incident angle. As a result of the experiment, following fact clarified. The detection range of incident angle in using the ball type is ± 36 degrees. The range in using the hole type is ±60 degrees. The measurement accuracies of ±0.22 mm in the small space (160mm height, 160mm width, 400mm depth) and ± 0.69 mm in the large space (600mm height, 600mm width, 800mm depth) are achieved. Main error factor is the coordinate error of standard point given for the calibration.
Scientific journal, Japanese

Development of a High Precision Mounting Robotic System -Positioning experiments by Optical Fiber Sensor
Kazuteru Tobita; Satoki Kawamoto; Kajitani; Makoto; Chisato Kanamori; Makoto Shimojo; Aiguo Ming
Proceedings of 6th Japan-France Congress on Mechatronics & 4th Asia-Europe Congress on Mechatronics, 157-162, Sep. 2003
International conference proceedings, English

天井面墨出しロボットの開発（第３報，レーザポイントシステムによる自己位置計測法）
田中幸悦; 梶谷誠; 金森哉吏; 阿部靖則
日本機械学会論文集（Ｃ編）, 69, 679, 120-126, Mar. 2003, Peer-reviwed
Scientific journal, Japanese

A research for advanced Magnet-optical encorder (1st report) -Upgrade of MO encorder with multi spot pickup-
Konishi Tetsuya; Tobita Kazuteru; Ikeda Shunichi; Kajitani Makoto; Kanamori Chisato; Shimojo Makoto; Kawamoto Satoki
Proceedings of JSPE Semestrial Meeting, The Japan Society for Precision Engineering, 2003A, 535-535, 2003, 本研究では，光磁気記録方式を用いた高精度なロータリエンコーダ(MOエンコーダ)の開発を目的として，複数の目盛の再生信号を加算平均化し，誤差のランダム成分を軽減するマルチスポットピックアップMOエンコーダ（MSP）を試作してきた．
本報では，光学系シミュレーションに基づく試作MSPの問題点の解明と改良，基礎実験によるMSP改良の有効性の検証について報告する．

A research for advanced Magnet-optical encorder (2nd report)-An investigation of Multi-Track Playback method-
Ikeda Shunichi; Tobita Kazuteru; Konishi Tetsuya; Kajitani Makoto; Kanamori Chisato; Shimojo Makoto; Kawamoto Satoki
Proceedings of JSPE Semestrial Meeting, The Japan Society for Precision Engineering, 2003A, 536-536, 2003, 各種メカトロニクス機器の回転制御に広く用いられているロータリエンコーダには,高精度かつ低コスト,高分解能,高速応答,そして小型化が望まれている.本研究ではこれらの要求を満たす新しいエンコーダとして光磁気記録技術を応用したロータリエンコーダを開発している．本報では,複数トラックの同時再生に関する基礎的な実験を行い,その結果から得られた高分解能化やアブソリュート化のための指針を報告する．

High Accuracy Optical Fiber Positioning Sensor for Precise Assembly of Electronic Components
Aiguo Ming; Yuhki Makita; Goushi Koike; Makoto Kajitani; Chisato Kanamori; Xiaodong Wang; Norio Kurakane; Shozo Tazoe; Noboru Yamada
6th International Conference on Mechatronics Technology, Kitakyushu, Fukuoka, JAPAN, A17, 140, Sep. 2002
International conference proceedings, English

Automatic insertion of a long-pipe by a mobile manipulator with exchangeable active/passive joints
A Ming; M Satou; T Kamimura; Y Hasegawa; T Jinnai; C Kanamori; M Kajitani
2001 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5, IEEE, 359-364, 2002, manipulator, a new mobile manipulator with exchangeable active/passive joints has been developed by authors. In the mobile manipulator, passive joints play an important role in absorbing the mobile positioning error and reducing the internal force passively. By utilizing the exchangeable active/passive joints, a control algorithm for automatic insertion of a long pipe based only on the angular information of the passive joints is proposed. By implementing the algorithm to the mobile manipulator, the insertion task was performed successfully. The proposed control algorithm is described and the experimental results are shown in this paper.
International conference proceedings, English

Development of a maintenance robot system for the road lighting equipment
AG Ming; Y Ishikawa; N Hasegawa; K Shibasaki; Y Ye; M Kajitani; C Kanamori; M Shitnojo; Y Aizawa
PROCEEDINGS OF THE 3RD CHINA-JAPAN SYMPOSIUM ON MECHATRONICS, CHINESE INSTITUTE ELECTRONICS, 161-166, 2002, To realize the automization of maintenance work for the road lighting equipment, a robot system has been developed. It consists of an elevating unit and an exchanging unit including a newly designed illumination equipment. As the elevating unit, an autonomous elevating robot has been developed. By the exchanging mechanism with the new illumination unit, install and removal of the illumination unit can be done automatically just by the elevating motion of the robot. By integrating all units, an overall experiment for a sequence of task has been done and the feasibility of the developed system is confirmed by the results. In this paper, basic concept and configuration of the system are described. The detailed design and fabrication of each unit are given also.
International conference proceedings, English

A rotary encoder based on magneto-optical storage method
K Tobita; T Ohira; M Kajitani; C Kanamori; A Ming; M Shimojo; S Kawamoto
PROCEEDINGS OF THE 3RD CHINA-JAPAN SYMPOSIUM ON MECHATRONICS, CHINESE INSTITUTE ELECTRONICS, 128-133, 2002, We propose a new kind of rotary encoder based on a magneto-optical storage method. By using this method, a rotary encoder with small size, high precision and response can be realized. High precision can be achieved with the ability for re-recording by using the transfer recording with error correction method. The method is as follows. Firstly, an initial recording is made directly from the reference encoder and angle position errors of MO encoder are measured. Correcting values to cancel errors are calculated based on Fourier analysis. Finally, MO encoder is re-recorded with the correcting values after erasing. The following issues are described: (1) A device for recording, playback and evaluation of MO encoder has been developed. (2) MO encoder made for trial purposes was recorded by 2250 p/r (pulses/revolution) directly from the referential encoder. Accuracy of about 2.5" and reproducibility of 0.079" were achieved. (3) As a result of experiments for transfer recording with error correction, an accuracy of 1.3" for 2250 p/r and 1.7" for 9000 p/r was achieved.
International conference proceedings, English

光磁気記録を応用したロータリエンコーダの試作 (第2報） －光磁気記録式ロータリエンコーダの補正転写記録－
飛田和輝; 大平貴之; 梶谷誠; 金森哉吏; 明愛国
精密工学会誌, 67, 12, 1976-1980, Dec. 2001
Scientific journal, Japanese

Measurement of transmission error including backlash in angle transmission mechanisms for mechatronic systems
A Ming; M Kajitani; C Kanamori; J Ishikawa
JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING, JAPAN SOC MECHANICAL ENGINEERS, 44, 1, 196-202, Mar. 2001, The characteristics of angle transmission mechanisms exert a great influence on the servo performance in the robotic or mechatronic mechanism. Especially, the backlash of angle transmission mechanism is preferable the small amount. Recently some new types of gear reducers with non-backlash have been developed for robots. However, the measurement and evaluation method of the backlash of gear trains has not been considered except old methods which can statically measure at only several meshing points of gears. This paper proposes an overall performance testing method of angle transmission mechanisms for the mechatronic systems. This method can measure the angle transmission error both clockwise and counterclockwise. In addition the backlash can be continuously measured in all meshing positions automatically. This system has been applied to the testing process in the production line of gear reducers for robots, and it has been effective for reducing the backlash of the gear trains.
Scientific journal, English

線状レーザ光を用いた空間座標位置計測（第21報）-基準円入力ツールを用いたキャリブレーション実験（2）-
金森哉吏; 小泉岳大; 明 愛国; 梶谷 誠
2001年度精密工学会春季大会学術講演会論文集, M17, 461, Mar. 2001
Japanese

光磁気記録を応用したロータリエンコーダの開発（第6報）-目盛本数についての実験的考察-
飛田和輝; 趙 志宇; 中里威晴; 梶谷 誠; 金森哉吏; 明 愛国; 大平貴之
2001年度精密工学会春季大会学術講演会講演論文集, R75, 637, Mar. 2001
Japanese

複数光ファイバを用いた位置合わせ用センサの試作
小池剛史; 金森哉吏; 明 愛国; 梶谷 誠; 田副彰三; 倉兼則夫
2001年度精密工学会春季大会学術講演会講演論文集, 635, Mar. 2001
Japanese

Fabrication of a New Rotary Encoder based on Magneto-Optical Strage Method (2nd report)-Error Corrected recording Method for Magneto-Optical Rotary Encoder -
Kazuteru Tobita; Takayuki Ohira; Makoto Kajitani; Chisato Kanamori; Aiguo Ming
Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering, 67, 12, 1976-1980, 2001, The feasibility for fabricating a magneto-optical rotary encoder (MO encoder) has been shown in our previous paper. In this paper, an error corrected recording method to improve accuracy of the MO encoder is described. The recording method utilizes one feature of MO encoder, that is, ability for re-recording. First, an initial recording is made directly from referential encoder to MO encoder and angular errors of the MO encoder are measured. According to the errors, correcting values for canceling the errors are calculated based on Fourier components analysis. Finally, the MO encoder is re-recorded by the correcting values after erasing the initial recording. As the result of experiments, an accuracy of 1.3" for 2250 pulse/rev. and 1.7" for 9000 pulse/rev. was achieved by using the error corrected recording method. © 2001, The Japan Society for Precision Engineering. All rights reserved.
Scientific journal

Fabrication of a New Rotary Encoder based on Magneto-Optical Storage Method
Kazuteru Tobita; Takayuki Ohira; Makoto Kajitani; Chisato Kanamori; Aiguo Ming
Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering, 67, 1, 96-100, 2001, In this paper, a new kind of rotary encoder based on magneto-optical storage method is proposed. By using this method, a rotary encoder with small size, high accuracy and high response can be realized. MO encoder is more advantageous than a magnetic scale and optical encoder according to its high response and its high accuracy, respectively. High accuracy can be achieved by rerecording, therefore the error is corrected. Following issues are described: (1) A device for record, playback and evaluation of accuracy of MO encoder has been developed. (2) A necessary condition for record and playback for MO encoder was experimentally derived. (3) The MO encoder made for trial purposes was recorded by 2250 pulses per revolution directly from the referential encoder, as a result, accuracy of 2.5" and reproducibility of 0.079" were achieved. © 2001, The Japan Society for Precision Engineering. All rights reserved.
Scientific journal

Measurement of transmission error including backlash in angle transmission mechanisms for mechatronic systems
Aiguo Ming; Makoto Kajitani; Chisato Kanamori; Jiro Ishikawa
JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing, 44, 1, 196-202, 2001, Peer-reviwed, The characteristics of angle transmission mechanisms exert a great influence on the servo performance in the robotic or mechatronic mechanism. Especially, the backlash of angle transmission mechanism is preferable the small amount. Recently, some new types of gear reducers with non-backlash have been developed for robots. However, the measurement and evaluation method of the backlash of gear trains has not been considered except old methods which can statically measure at only several meshing points of gears. This paper proposes an overall performance testing method of angle transmission mechanisms for the mechatronic systems. This method can measure the angle transmission error both clockwise and counterclockwise. In addition the backlash can be continuously measured in all meshing positions automatically. This system has been applied to the testing process in the production line of gear reducers for robots, and it has been effective for reducing the backlash of the gear trains.
Scientific journal, English

光磁気記録を応用したロータリエンコーダの試作
飛田和輝; 大平貴之; 梶谷 誠; 金森哉吏; 明 愛国
精密工学会誌, 67, 1, 96-100, Jan. 2001
Japanese

Development of a high precision mounting robot system with fine motion mechanism (3rd report) -Positioning experiments of SCARA robot with fine mechanism
Abdelhafid Omari; Aiguo Ming; Ghaylen Limam; Chisato Kanamori; Makoto Kajitani; Shuji Nakamura
Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering, Japan Society for Precision Engineering, 67, 7, 1101-1107, 2001, In our previous work, robust control structure based on disturbance observer for a fast and precise fine motion mechanism has been proposed. The functionality of the controller was verified using one axis of precise X-Y table combined with-one axis fine motion mechanism. As a further step in this paper, the approach is extended to two-axes fine motion mechanism with a SCARA robot as a real system to realize the final purpose, that is, the development of high-precision mounting robot. First, the paper introduces a high performance robot system based on a SCARA robot coupled with a fine motion mechanism which was developed in our laboratory. Second, the paper presents a control scheme that enables correction of possible offsets of the end-effector relative to the target and compensation of the oscillations at the end-point. Finally, experimental results show significant improvements in end-point accuracy and settling time achieved by the novel configuration of the coarse/fine robotic system. As a result, a repeatability (3σ) less than 2 μm and the CP positioning error (3σ) less than 4.0 μm were achieved by the coarse/fine robotic system.
Scientific journal, Japanese

Development of High Precision Mounting Robot with Fine Motion Mechanism: Design and Control of the Fine Motion Mechanism
A.Omari; A.Ming; S. Nakamura; S. Masuda; C.Kanamori; M.Kajitani; A.Nakamura
Human Friendly Mechatronics (Monograph), 333-338, 2001
English

線状レーザ光を用いた空間座標位置計測（第20報）-基準円入力ツールを用いたキャリブレーション実験-
金森哉吏; 梶谷 誠; 小泉岳大
2000年度精密工学会秋季大会学術講演会論文集, B19, 63, Oct. 2000
Japanese

光磁気記録を応用したロータリエンコーダの開発（第5報）-補正転写記録の補正量と誤差-
飛田和輝; 趙 志宇; 中里威晴; 梶谷 誠; 金森哉吏; 明 愛国; 大平貴之
2000年度精密工学会秋季大会学術講演会講演論文集, L25, 517, 517, Oct. 2000
Japanese

Development of High Precision Mounting Robot with Fine Motion Mechanism: Design and Control of the Fine Motion Mechanism
A.Omari; A.Ming; S. Nakamura; S. Masuda; C.Kanamori; M.Kajitani; A.Nakamura
Proceedings of The International Conference on Machine Automation(ICMA2000), 147-152, Sep. 2000, Peer-reviwed
International conference proceedings, English

Human-Robot Cooperation Using a Mobile Manipulator with Exchangeable Active/Passive Joints
A. Ming; M. Satou; Y. Hasegawa; M.Kajitani; C. Kanamori
Int. Workshop on Modern Science and Technology（Haerbin）, 20-29, Sep. 2000
English

高速道路照明設備メンテナンスロボットCLIMBERの開発-ポール昇降システムの開発-
長谷川敬晃; 柴崎航也; 菊池 新; 梶谷 誠; 明 愛国; 金森哉吏
第18回日本ロボット学会学術講演会予稿集, 3D16, 1059-1060, Sep. 2000
Japanese

受動／能動切り替え関節を有する移動マニピュレータによるパイプの挿入実験
上村拓人; 佐藤雅一; 長谷川陽一; 梶谷 誠; 明 愛国; 金森哉吏
第18回日本ロボット学会学術講演会予稿集, 1N36, 527-528, Sep. 2000
Japanese

ゴミ収集ロボットシステム（CAMPUS）の開発～機能追加による実用性の向上～
堀井啓介; 中坊貴亨; 木作佳史; 美馬一博; 金森哉吏; 明 愛国; 梶谷 誠
第18回日本ロボット学会学術講演会予稿集, 1O14, 18th, 539-540, Sep. 2000
Japanese

楽器演奏ロボットに関する研究（ヴァイオリンMUBOTの運指機構の開発）
中内 淳; 中西有美; 梶谷誠; 明 愛国; 金森哉吏
日本機械学会ロボティクス・メカトロニクス講演会'00講演論文集, 2A1-25-026, 一般社団法人日本機械学会, 2000, 64-64, May 2000, 当研究室では「楽器にはいっさい手を加えない」という前提のもと数台のMUBOTを製作, 改良してきた。本稿では, ヴァイオリンMUBOTがより自由な演奏が行えるよう, 独立した4本の指を用いて弦押さえ可能な運指機構を設計, 製作し, その性能を実験的に確認した結果について報告する。
Japanese

レーザポインタによる移動ロボットの自己位置検出システム-移動位置決め実験-
田中幸悦; 梶谷 誠; 金森哉吏; 西村秀峰
日本機械学会ロボティクス・メカトロニクス講演会'00講演論文集, 1A1-01-006, 一般社団法人日本機械学会, 2000, 31-31, May 2000, 本研究は, ビル建築現場内で作業する天井墨出しロボットの開発に関するものである。昨年, レーザスポットにより目標位置を指示するシステムについて報告した。本報告では, このシステムを用い移動ロボットの位置決め実験を行った結果について述べる。
Japanese

能動／受動切り替え関節を有する移動マニピュレータと人との協調作業実験
長谷川陽一; 佐藤雅一; 上村拓人; 守田克彰; 明 愛国; 梶谷 誠; 金森哉吏
日本機械学会ロボティクス・メカトロニクス講演会'00講演論文集, 1A1-58-088, 一般社団法人日本機械学会, 2000, 41-41, May 2000, 能動/受動切り替え関節を有する移動マニピュレータと人間との共同作業の実験を行った。対象物の取り外し, 搬送, 取り付けといった一連の作業における, 移動マニピュレータと人間とが協力し, 作業を行った結果について報告する。
Japanese

ゴミ収集ロボットシステムCAMPUSの開発～実用化にむけた改良～
中坊貴亨; 堀井啓介; 木作佳史; 美馬一博; 金森哉吏; 明 愛国; 梶谷 誠
日本機械学会ロボティクス・メカトロニクス講演会'00講演論文集, 1A1-26-023, 2000, Pt.1, May 2000
Japanese

光磁気記録を応用したロータリ-エンコーダの開発(第4報)-補正転写記録について-(共著)
飛田和輝; 梶谷 誠; 金森哉吏; 明 愛国; 大平貴之
2000年度精密工学会春季大会学術講演会講演論文集, M63, 2000, 1, 612-612, Mar. 2000
Japanese

線状レーザ光を用いた空間座標位置計測(第19報)-基準円入力方式によるキャリブレーション方法(2)-(共著)
黄 媛; 金森哉吏; 梶谷 誠
2000年度精密工学会春季大会学術講演会講演論文集, M64, 2000, 1, 613-613, Mar. 2000
Japanese

Development of the Fine Positioning Mechanism Attached to the End-Effector of a Mounting Robot (4th Report)-Control of the fine positioner considering a disturbance from coarse mechanism-(jointly authored)
Abdelhafid OMARI; 明 愛国; 中村周至; 金森哉吏; 梶谷 誠
2000年度精密工学会春季大会学術講演会講演論文集, I64, 431, Mar. 2000
English

自律移動ロボットによるオフィスビル内搬送作業システムの開発-自動給電システムの開発-(共著)
木作佳史; 美馬一博; 金森哉吏; 明 愛国; 梶谷 誠
日本機械学会関東学生会第39回学生員卒業研究発表会講演前刷集, 233-234, Mar. 2000
Japanese

同時駆動方式ソナーリングを用いた移動ロボットの障害物検出と回避(共著)
梶原一宏; 梶谷 誠; 明 愛国; 金森哉吏; Vlastmil Masek
日本機械学会関東学生会第39回学生員卒業研究発表会講演前刷集, 237-238, Mar. 2000
Japanese

バックラッシを有する回転伝達機構に関する研究-負荷による影響について-(共著)
林田健児; 渡部右近; 明 愛国; 梶谷 誠; 金森哉吏
2000年度精密工学会春季大会第7回学生会員卒業研究発表講演会, O-18, Mar. 2000
Japanese

ロータリエンコーダ校正システムのための自動心出しシステム(共著)
久保田 禅; 大堀友也; 梶谷 誠; 明 愛国; 金森哉吏
2000年度精密工学会春季大会第7回学生会員卒業研究発表講演会, O-19, Mar. 2000
Japanese

光磁気記録を応用したロータリエンコーダの開発-精度向上のための実験的研究-(共著)
中里威晴; 飛田和輝; 梶谷 誠; 明 愛国; 金森哉吏; 大平貴之
2000年度精密工学会春季大会第7回学生会員卒業研究発表講演会, O-20, Mar. 2000
Japanese

粗微動高精度実装ロボットの開発(第1報)-2軸微動機構の開発-
増田修一; 明愛国; オマーリ アブデルハフィト; 梶谷誠; 金森哉吏
精密工学会誌, 66, 1, 117-121, Jan. 2000, Peer-reviwed
Scientific journal, Japanese

Development of a high precision mounting robot with fine motion mechanism (2nd report) - Control of the fine mechanism considering dynamic response and disturbance from coarse mechanism
Abdelhafid Omari; Aiguo Ming; Shuji Nakamura; Chisato Kanamori; Makoto Kajitani
Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering, Japan Society for Precision Engineering, 66, 10, 1583-1589, 2000, This paper presents a controller structure for a fast and precise fine positioner which can be attached to the end-effector of a classical industrial robot for assembly tasks. The overall control system consists of three elements: a position loop feedback controller, a feedforward controller, and a disturbance observer for the position loop. A useful method for compensating for the asymmetry and non-linearities of the piezoelectric based system is used as the first step in the design process. The robust feedback controller based on the disturbance observer compensates for external disturbances mainly from the coarse positioner. Precise tracking is achieved by the feedforward controller. Experimental results are presented to demonstrate performance improvement obtained by each element in the proposed robust structure.
Scientific journal, Japanese

線状レーザ光を用いた空間座標位置計測(第18報)-基準円入力方式によるキャリブレーション方法-(共著)
黄 媛; 金森哉吏; 梶谷 誠
1999年度精密工学会秋季大会学術講演会講演論文集, J07, 1999, 2, 392-392, Sep. 1999
Japanese

ロータリエンコーダ校正システムのための自動心出しシステム(共著)
大堀友也; 箕浦賢一; 梶谷 誠; 金森哉吏; 明 愛国
1999年度精密工学会秋季大会学術講演会講演論文集, P14, 1999, 2, 630-630, Sep. 1999
Japanese

光磁気記録を応用したロータリエンコーダの開発(第3報)-面振れによる誤差について-(共著)
飛田和輝; 梶谷誠; 金森哉吏; 明 愛国; 大平貴之
1999年度精密工学会秋季大会学術講演会講演論文集, P15, 1999, 2, 631-631, Sep. 1999
Japanese

Development of the Fine Positioning Mechanism Attachecl to the End-Effector of a Mounting Robot(3rd report)-Improvement of the Response Characteristics-(jointly authored)
Abdelhafid OMARI; 中村周至; 梶谷 誠; 明 愛国; 金森哉吏
1999年度精密工学会秋季大会学術講演会講演論文集, B62, 1999, 2, 72-72, Sep. 1999
English

バックラッシを有する回転伝達機構に関する研究(第4報)-一段歯車減速の計測例-(共著)
渡部右近; 藤本貴幸; 梶谷 誠; 金森哉吏; 明 愛国
1999年度精密工学会秋季大会学術講演会講演論文集, B74, 1999, 2, 80-80, Sep. 1999
Japanese

オフィスビルにおける搬送作業移動ロボットシステム(共著)
梶谷 誠; 美馬一博; 金森哉吏; 明 愛国
JSME Annual Conference on Robotics and Mechatronics(ROBOMEC'99), 1999, Pt.1, Jun. 1999
Japanese

レーザポインターによる移動ロボットの自己位置検出システム(共著)
高野賢大朗; 梶谷 誠; 金森哉吏; 田中幸悦
JSME Annual Conference on Robotics and Mechatronics(ROBOMEC'99), 一般社団法人日本機械学会, 2000, 31-31, Jun. 1999, 本研究は, ビル建築現場内で作業する天井墨出しロボットの開発に関するものである。昨年, レーザスポットにより目標位置を指示するシステムについて報告した。本報告では, このシステムを用い移動ロボットの位置決め実験を行った結果について述べる。
Research society, Japanese

ゴミ収集ロボットシステムCAMPUSの開発-運用管理システム-(共著)
中坊貴亨; 美馬一博; 金森哉吏; 明 愛国; 梶谷 誠
JSME Annual Conference on Robotics and Mechatronics(ROBOMEC'99), 17th, Jun. 1999
Japanese

2台の移動マニピュレータによる協調作業に関する研究-能動/受動切り替え関節を有する移動マニピュレータの基礎実験-(共著)
佐藤雅一; 長谷川陽一; 佐藤太郎; 明 愛国; 梶谷 誠; 金森哉吏
JSME Annual Conference on Robotics and Mechatronics(ROBOMEC'99), Jun. 1999
Japanese

非円錐テーパを用いた物体取り付け装置に関する研究(共著)
石川喜彦; 会沢雄二; 長谷川敬晃; 梶谷 誠; 明 愛国; 金森哉吏
JSME Annual Conference on Robotics and Mechatronics(ROBOMEC'99), Jun. 1999
Japanese

ゴミ収集ロボットシステムCAMPUSの開発-運用管理システム-(共著)
中坊貴亨; 美馬一博; 金森哉吏; 明 愛国; 梶谷 誠
JSME Annual Conference on Robotics and Mechatronics(ROBOMEC'99), 17th, 65-66, Jun. 1999
Japanese

楽器演奏ロボットに関する研究-ヴァイオリンMUBOTの運指機構の開発-(共著)
中内 淳; 中西有美; 梶谷 誠; 明 愛国; 金森哉吏
JSME Annual Conference on Robotics and Mechatronics(ROBOMEC'99), 一般社団法人日本機械学会, 2000, 64-64, Jun. 1999, 当研究室では「楽器にはいっさい手を加えない」という前提のもと数台のMUBOTを製作, 改良してきた。本稿では, ヴァイオリンMUBOTがより自由な演奏が行えるよう, 独立した4本の指を用いて弦押さえ可能な運指機構を設計, 製作し, その性能を実験的に確認した結果について報告する。
Japanese

ゴミ収集ロボットシステムの開発(共著)
美馬一博; 中坊貴亨; 長谷川敬晃; 金森哉吏; 明 愛国; 梶谷 誠
1999年度精密工学会春季大会学術講演会講演論文集, 1999, 85, Mar. 1999
Japanese

線状レーザ光を用いた空間座標位置計測(第16報)-三次元位置計測実験における誤差-
金森哉吏; 梶谷 誠; 穴倉琢仁
1999年度精密工学会春季大会学術講演会講演論文集, 457, Mar. 1999
Japanese

線状レーザ光を用いた空間座標位置計測(第17報)-三次元位置計測実験(2)-
穴倉琢仁; 金森哉吏; 梶谷 誠
1999年度精密工学会春季大会学術講演会講演論文集, 458, Mar. 1999
Japanese

High Accuracy Optical Fiber Positioning Sensor for Flip-Chip Mounting -Operation Principle & Analysis of Modulation Properties(joinly authored)
王 暁東; 梶谷 誠; 明 愛国; 金森哉吏; 山田 登
1999年度精密工学会春季大会学術講演会講演論文集, 1999, 1, 565-565, Mar. 1999
English

光磁気記録を応用したロータリエンコーダの開発(第2報)-誤差要因について-(共著)
飛田和輝; 大平貴之; 梶谷 誠; 金森哉吏; 明 愛国
1999年度精密工学会春季大会学術講演会講演論文集, 511, Mar. 1999
Japanese

自律移動ロボットによるオフィスビル内搬送作業システムの開発-自律移動ロボットの状態遠隔監視システムの開発-(共著)
堀井啓介; 美馬一博; 梶谷 誠; 明 愛国; 金森哉吏
日本機械学会関東学生会第38回学生員卒業研究発表会, 227-228, Mar. 1999
Japanese

ソナーリングを用いた超音波同時発射方式の障害物検知システムの開発(共著)
上村拓人; マシェックブラスティミル; 梶谷 誠; 明 愛国; 金森哉吏
日本機械学会関東学生会第38回学生員卒業研究発表会, 237-238, Mar. 1999
Japanese

楽器演奏ロボット(チェロ)に関する研究-チェロMUBOTのヴィブラート機構の改良-(共著)
中西有美; 中内 淳; 梶谷 誠; 明 愛国; 金森哉吏
日本機械学会関東学生会第38回学生員卒業研究発表会, 219-220, Mar. 1999
Japanese

Development of Mobile Robot Elevator Utility System(Joinly authored)
Kazuhiro Mima; Masahiro Endou; Aiguo Ming; Chisato Kanamori; Makoto Kajitani
Journal of Robotics and Mechatronics, 11, 1, 78-85, Jan. 1999
Scientific journal, English

Development of the automatic garbage depot for garbage collocting system using AMR(jointly authored)
美馬一博; 長谷川敬晃; 中坊貴亨; 金森哉吏; 梶谷 誠; 明 愛国
Journal of the Robotics Society of Japan, 17, 7, 69-78, 1999
Scientific journal, English

Development of a Construction Robot for Marking on Ceiling Boards(2nd Report, Drawing a Long Straight Line on the Ceiling)
田中幸悦; 高野賢大朗; 梶谷 誠; 金森哉吏
日本機械学会論文集(C編), 65, 634, 2398-2404, 1999
Scientific journal, English

2台の移動マニピュレータによる協調作業に関する研究-能動/受動切り替え機能を用いた移動マニピュレータの基礎実験-(共著)
佐藤雅一; 長谷川陽一; 上村拓人; 明 愛国; 梶谷 誠; 金森哉吏
第17回日本ロボット学会学術講演会予稿集, 1L11, 365-366, 1999
Japanese

Stmultaneous Sonar Firing System for Rapid Odstacle Aroidance(jointly authored)
Vlastimil Masek; 梶谷誠; 明 愛国; 金森哉吏
第17回日本ロボット学会学術講演会予稿集, 1B34, 47-48, 1999
English

Development of the Automatic Garbage Collecting System using AMR for Office Building(joinly authored)
Kazuhiro Mima; Chisato Kanamori; Aiguo Ming; Makoto Kajitani
The Fifth International Conference on Control, Automation, Robotics and Vision(ICARCV '98), Singapore, 454-459, Dec. 1998
English

A Coordinate Measuring Method Using Laser Plane Scanners -The measurement of a three-dimensional coordinate-
Chisato KANAMORI; Makoto KAJITANI
Proceedings of the 4th JAPAN-FRANCE CONGRESS & 2nd ASIA-EUROPE CONGRESS on MECHATRONICS, Kitakyusyu, Fukuoka, Japan, 1, 186-191, Oct. 1998
English

タイル剥離有無の自動識別方法に関する検討(共著)
堂山敦弘; 菱河恭一; 縄岡好人; 梶谷 誠; 明 愛国; 金森哉吏
日本建築学会大会学術講演梗概集, 515-516, Sep. 1998
Japanese

組立ロボットのエンドエフェクタ用微動機構に関する研究(第2報)-2次元位置決め特性-(共著)
増田修一; 安倍重敏; A. Omari; 梶谷 誠; 明 愛国; 金森哉吏
1998年度精密工学会秋季大会学術講演会講演論文集, 1998, 2, 566-566, Sep. 1998
Japanese

光磁気記録を応用したロータリエンコーダの開発(第1報)-原理と基礎実験-(共著)
飛田和輝; 大平貴之; 梶谷 誠; 金森哉吏; 明 愛国
1998年度精密工学会秋季大会学術講演会講演論文集, 1998, 2, 519-519, Sep. 1998
Japanese

線状レーザ光を用いた空間座標位置計測(第15報)-三次元位置計測実験-
梶谷 誠; 金森哉吏; 穴倉琢仁
1998年度精密工学会秋季大会学術講演会講演論文集, 1998, 2, 88-88, Sep. 1998
Japanese

レーザ光平面による位置計測法(第3報)-三次元位置計測のための誤差解析-
金森哉吏; 梶谷 誠
Journal of the Japan Society for Precision Engineering, 64, 8, 1143-1147, Aug. 1998, Peer-reviwed
Scientific journal, Japanese

ゴミ収集ロボットシステムCAMPUSの開発～ゴミ集積所自動化システムの開発と実用化実験～(共著)
美馬一博; 長谷川敬晃; 金森哉吏; 明 愛国; 梶谷 誠
JSME Annual Conference on Robotics and Mechatronics(ROBOMEC '98), 1998, Pt.4, Jun. 1998
Japanese

建設作業用墨出しロボットの開発-レーザ誘導による直線墨出し走行制御-(共著)
高野賢太郎; 梶谷 誠; 金森哉吏; 田中幸悦
JSME Annual Conference on Robotics and Mechatronics(ROBOMEC '98), Jun. 1998
Japanese

2台の移動マニピュレータによる協調作業に関する研究-能動/受動切替え関節を有するマニピュレーター(共著)
佐藤雅一; 明 愛国; 梶谷 誠; 金 哉吏
日本機械学会ロボティクス・メカトロニクス講演会'98講演論文集, 2CI-3, Jun. 1998
Japanese

Development of landmark system using polarizing film for autonomous mobile robot(jointly authored)
美馬一博; 金森哉吏; 梶谷 誠; 明愛国
Journal of the Robotics Society of Japan, 16, 4, 94-102, May 1998
Scientific journal, English

A Position Measuring Method Using Linear Laser Scanner(13th Report)Improvement of the measurement system for 3-d(jointly authored)
Proceedings of Spring Bulletin, Japan Society for Precision Engineering(JSPE), 444, 1998
English

A Position Measuring Method Using Linear Laser Scanner(14th Report)Fundamental experiment for 3-d measurement(jointly authored)
Proceedings of Spring BullEtin, Japan Society for Precision Engineering(JSPE), 445, 1998
English

バックラッシを有する回転伝達機構に関する研究(第3報)シミュレーションによる振動解析(共著)
Proceedings of Spring Bulletin, Japan Socity for Precision Engineering(JSPE), 644, 1998
Japanese

ゴミ収集ロボットシステムCAMPUSの開発-ゴミ集積所自動化システムの開発と実用化-(共著)
長谷川敬晃; 美馬一弘; 金森哉吏; 明 愛国; 梶谷 誠
第16回日本ロボット学会学術講演会予稿集, 1998, Pt.4, 393-394, 1998
Japanese

2台の移動マニピュレータによる協調作業に関する研究-能動/受動切替え関節を有するマニピュレータの基本性能-(共著)
長谷川陽一; 佐藤雅一; 明 愛国; 梶谷 誠; 金森哉吏
第16回日本ロボット学会学術講演会予稿集, 681-682, 1998
Japanese

A Coordinate Measuring Method Using Laser Plane Scanners (2nd Report)-2-D Measurement-
金森哉吏; 梶谷 誠; 益田 正
Journal of the Japan Society for Precision Engineering, 63, 1, 119-123, 1997, Peer-reviwed
Scientific journal, Japanese

Development of a Construction Robot for Marking on Ceiling Boards(jointly authored)
Journal of Robotics and Mechatronics), 9, 4, 293, 1997
Scientific journal, English

A coordinate measuring method using laser plane scanners - Simulation on 3-D measurements
C Kanamori; M Kajitani
PROCEEDINGS OF THE 2ND CHINA-JAPAN SYMPOSIUM ON MECHATRONICS, CHINESE INSTITUTE ELECTRONICS, 315-320, 1997, A new measuring method is proposed for estimation of robot positioning accuracy. The principle of the method depends on the well-known mathematical fact that one point in 3-dimensional space can be regarded as an intersecting point of three intersecting planes. The coordinates of it can be obtained by solving simultaneous equations of the three planes. The results on simulation show that the 3-dimensional measuring accuracy is +/-0.15 mm and the standard deviation of it is 30 micro meters within a space of 1000 mm x 1000 mm x 1000 mm at the distance of 1600 mm from the scanners.
International conference proceedings, English

制御対象のモデル化(分担)
教育セミナー「メカトロニクス技術の基礎」精密工学会, 20, 1997
Japanese

Development of landmark System Using Polarizing Film for Autonomous Mobile Robot-An improvement of landmark Reading System-(jointly authored)
美馬一博; 金森哉吏; 明愛国; 梶谷誠
JSME Annual Conference on Robotics and Mechatronics(ROBOMEC'97), 1997, Vol.B, 777, 1997
English

Development of Clean AMenity Protection Utility System(CAMPUS-I)-Development of multiform object manipuration hand-(jointly authored)
JSME Annual Conference on Robotics and Mechatronics(ROBOMEC'97), 233, 1997
English

Development of Clean AMenity Protection Utility System(CAMPUS-I)-Concept of the System with the aim of coexistence with human(jointly authored)
JSME Annual Conference on Robotics and Mechatronics(ROBOMEC'97), 65, 1997
English

Mapping of Mobile Robot's Local Environment by using Multipleu Ultrasonic Range Sensors
JSME Annual Conference on Robotics and Mechatronics(ROBOMEC'97), 1117, 1997
English

Development of Self-position Measuring System using a Marker and a Laser Reflection Sensor-(jointly authored)
JSME Annual Conference on Robotics and Mechatronics(ROBOMEC'97), 5, 1997
English

Cooperative Operation by Two Mobile Manipulators-1st Report Conceptual design of the system(jointly authored)
Proceedings of the 15th Annual Conference of the Robotics Society of Japan., 281, 1997
English

Development of Marking Robot in the Construction sites-Motion Control for Straight-line Marking by the Laser Navigation-(jointly authored)
Proceedings of the 15th Annual Conference of the Robotics Society of Japan, 281, 1997
English

Development of Clean AMenity Protection Utility System (CAMPUS)-Development of Automatic Garbage Collection Point System-(jointly authored)
美馬一博; 中坊貴亨; 石川喜彦; MING A; 金森哉吏; 梶谷誠
Proceeding of the 15th Annual Conference of the Robotics Society of Japan., 15th, 935, 1997
English

A Position Measuring Method Using Linear Laser Scanner(11th Report)Scanner layoutII for 3-dimensional measurement. (jointly authored)
Proceedings of Autumn Bulletin Japan Society for Precision Engineering(JSPE), 437, 1997
English

A Position Measuring Method Using Linear Laser Scamer(12th Report)Improvement of the detector performance by an amplitudo modulation of a laser power(jointly authored)
内野 武男; 金森 哉吏; 梶谷 誠; 塩屋 浩司; 宍倉 琢仁
Proceedings of autumn Bulletin, Japan Society for Precision Engineering(JSPE), 1997, 2, 438-438, 1997
English

バックラッシを有する回転伝達機構に関する研究(第1報)測定システムの開発(共著)
Proceedings of Autumn Bulletin, Japan Society for Precision Engineering(JSPE), 375, 1997
Japanese

バックラッシを有する回転伝達機構に関する研究(第2報)カップリングモデルによる検討(共著)
有水
Proceedings of Autumn Bulletin, Japan Society for Precision Engineering(JSPE), 376, 376, 1997
Japanese

Mapping Mobile Robots' Local Environment by using Multiple Ultrasonic Range Sensors(jointly authored)
MASEK V.
Proceedings of the 2nd Workshop on Intelligent Mechatronics, 1001, 166, 1997
English

Study on fine motion mechanism attached to the end effector of the robot(1st Report)the characteristic of one dimension positioning mechanism(jointly authored)
Proceedings of Autumn Bulletin, Japan Society for Precision Engineering(JSPE), 598, 1997
English

Cooperative Operation of Two Mobile Robots
A.Ming; V.Masek; C.Kanamori; M.Kajitani
Proceedings of DARS, 339, Oct. 1996, Peer-reviwed
Research society, English

A Coordinate Measuring Method Using Laser Plane Scanners -Fundamental Principle and Experiments on 1-D and 2-D measurements-
Proceedings of : 3rd International Symposium on Measurement Technology and Intelligent Instruments (ISMTII'96), 272, 1996
English

Measurement of Transmission Error in Gear Reducers for Mechatronic Systems. (jointly authored).
Proceedings of 3rd France-Japan Congress and 1st Europe-Asia congress on Mechatronics., 436, 1996
English

Self-Position Measuring Method for Moving Robot Working at Construction Sites (2nd Report, Improvement of Pillar-Detecting Algorithm)(jotntly authored)
伊藤
Transactions of the Japan Society of Mechanical Engineers, 62-593, C, 209-214, 1995
Scientific journal, English

Development of a Construction Robot for Marking on Ceiling Boards (jointly authored)
Transactions of the Japan Society of Mechanical Engineers, 62-594, C, 658, 1995
Scientific journal, English

Development of Marking Robot working at Building site (joinly authored)
Proceedings of 12th International Symposium on Automation and Robotics in Construction (ISARC'95), 235, 1995
English

Development of a Construction Robot Marking on the Ceiling Board (joinly authored).
Proceedings of 2nd International Conference on Mechatronics and Machine Vision in Practice (M2V1P'95), 119, 1995
English

A Coordinate Measuring Method Using Laser Plane Scanners (1st Report) -A Fundamental Principle and Experiments on 1-D Measurement-
金森哉吏; 梶谷 誠; 益田 正
精密工学会誌, 60, 12, 1766-1770, 1994, Peer-reviwed
Scientific journal, Japanese

Self-Psition Measuring Method for Mouing Robot Working at Construction Sites
Kajitani Makoto; Abe Yasunori; Kotani Tadashi; Kanamori Chisato; Tanaka Kouetsu; Tanaka Yoshio
日本機械学会論文集(C編), The Japan Society of Mechanical Engineers, 60, 580, 216-4228, 1994, Peer-reviwed, Recently, the demand for moving robots working at construction sites is increasing, and research activities are in progress. Unlike industrial robots working in factories, construction robots must meet more functional requirements because they must handle a variety of complicated jobs at construction sites. The robots must also be able to locate themselves. This requires a technique that enables the robot to measure coordinates indicating its position. This paper describes a new method to enable robots working at large building sites to precisely locate themselves and describes the principle of this system and experimental results.
Scientific journal, Japanese

Self-Position Measuring System for Mobile Robot Working at Building Sites
Proceedings of 2nd JAPAN-FRANCE CONGRESS on MECHATRONICS, 2, 436, 1994
English

1A1-A09 Mobile environment recognition method using conical scanning distance measurement (Part3) : Recognition of the stairs and around(3D Measurement/Sensor Fusion(1))
OKUBO Yuto; KANAMORI Chisato; TOBITA Kazuteru; OGAWA Hironori
Corresponding, This paper describes a three-dimensional environment recognition method for 3-D mobile robot that can walk up and down stairs. The recognition method using conical scanning distance measurement can measure environment shape, location, and posture. The procedures are as follows. 1) Setting up the direction of the scanning area. 2) Measuring distance that follows the conical generating line. 3) The extraction of the planar feature quantity. In this report, the experimental device was built using the TOF range imaging sensor. We applied this method, and recognition experiments that boundary between the stairs and the wall were carried out., 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, "1A1-A09(1)"-"1A1-A09(4)", Japanese, Summary national conference, 110009907218, AA11902933

1P1-E08 Recognition of the stairs by multiple-region conical-scanning(3D Measurement/Sensor Fusion)
TOBITA Kazuteru; KANAMORI Chisato; OKUBO Yuto; OGAWA Hironori; SUGITA Sumio
We have proposed a new three dimensional environment recognition method using conical scanning distance measurement for 3-D mobile robot that can walk up and down the stairs. This report describes the method to recognize the stair by applying the conical scanning method. The procedures are as follows. 1) Recognizing the positions and postures of multiple regions on 3D-TOF-camera. 2) Linking neighboring regions by using image processing. 3) Extracting the step based on height information. 4) Calculating the position, direction and width of the stair. We devised the algorithm, implemented, and experiments were carried out., The Japan Society of Mechanical Engineers, 26 May 2011, ロボティクス・メカトロニクス講演会講演概要集, 2011, "1P1-E08(1)"-"1P1-E08(4)", Japanese, 110009690879, AA11902933

1P1-D09 Mobile environment recognition method using conical scanning distance measurement(Part2) : Improvement of parameter identification method and experiment on two plane recognition(3D Measurement/Sensor Fusion)
OKUBO Yuto; KANAMORI Chisato; TOBITA Kazuteru; OGAWA Hironori
This paper describes a three-dimensional environment recognition method for 3-D mobile robot that can walk up and down stairs. The recognition method using conical scanning distance measurement can measure environment shape, location, and posture. The procedures are as follows. 1) Setting up the direction of the scanning area. 2) Measuring distance that follow the conical generating line. 3) The extraction of the planar feature quantity. In this report, the experimental device was built using the TOF range imaging sensor. The measuring experiments about a wall (one plane) and stairs (two planes), and the evaluation of recognition accuracy were carried out., The Japan Society of Mechanical Engineers, 26 May 2011, ロボティクス・メカトロニクス講演会講演概要集, 2011, "1P1-D09(1)"-"1P1-D09(4)", Japanese, 110009690870, AA11902933

1P1-E04 Mobile Environment Recognition Method using Conical Scanning Distance Measurement
TOBITA Kazuteru; KANAMORI Chisato; YAMAZAKI Akira; OGAWA Hironori; TSUKAMOTO Takuya
This paper describes a new three dimensional environment recognition method using conical scanning distance measurement for 3-D mobile robot that can walk up and down the stairs. According to this method, robots can recognize object shape, location, and posture. The procedures are as follows. 1) Setting up the direction of the scanning area. 2) Measuring distance that follows the cone generating line. 3) The extraction of the planar feature quantity that noteworthy area. In this report, we apply this method to the 3D-TOF-camera. We report on the outcome of an experiment that it goes to the wall and the stairs used by this method., The Japan Society of Mechanical Engineers, 2010, ロボティクス・メカトロニクス講演会講演概要集, 2010, "1P1-E04(1)"-"1P1-E04(4)", Japanese, 110008741571, AA11902933

1P1-E06 The mobile environment recognizing method using vertical and horizontal scanning type range finding
TSUKAMOTO Takuya; KANAMORI Chisato; TOBITA Kazuteru; OGAWA Hironori
This paper describes a three-dimensional environment recognition method using vertical and horizontal scanning distance measurement for 3-D mobile robot that can walk up stairs. This method can recognize environment shape, location, and posture. The procedures are as follows .1) Getting the distance data from the TOF range imaging sensor. 2) The extraction of the feature quantity of the vertical scanning lines. 3) The extraction of the horizontal feature quantity concerning multiple scanning lines. 4) The recognition of the environment according to the consolidation of the information. When the sensor finds stairs, it can measure the relative location between the sensor and the stairs and the geometries of the stairs., The Japan Society of Mechanical Engineers, 2010, ロボティクス・メカトロニクス講演会講演概要集, 2010, "1P1-E06(1)"-"1P1-E06(4)", Japanese, 110008741573, AA11902933

2P1-G19 Mobile Environment Recognition Method using 3-D Laser Scanner : Fundamental Principle and Recognition Experiments
YAMAZAKI Akira; KANAMORI Chisato; TOBITA Kazuteru; SAGAYAMA Katsuyuki; OGAWA Hironori
This paper describes a new three-dimensional environment recognition method for 3-D mobile robot that can walk up and down the stairs. The prototype system named MEROS (Mobile Environment Recognition Sensor) was developed. The system consists of two-dimensional scanning laser range finder (URG), Z-axis revolving mechanism and a computer. The URG measures the distance of every angle interval in a scan plane. The revolving mechanism makes the sensor rotate and it is positioned in the uniformly space. The computer processes the sensor direction, the scan angle and the measurement distance. The procedures are as follows. 1) The extraction of the feature quantity of the vertical scanning plane. 2) The extraction of the horizontal feature quantity concerning multiple scanning planes. 3) The recognition of the environment according to the consolidation of the information. When the system finds stairs, it can measure the relative location between the sensor and the stairs and the geometries of the stairs., The Japan Society of Mechanical Engineers, 06 Jun. 2008, ロボティクス・メカトロニクス講演会講演概要集, 2008, "2P1-G19(1)"-"2P1-G19(4)", Japanese, 110008696571, AA11902933

1P2-N-080 Development of 3-D Coordinate Measuring System Using Laser Plane Scanners(Three Dimension Measurement/Sensor Fusion 3,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)
KANAMRI Chisato; KAJITANI Makoto; SHIMOJO Makoto; MING Aiguo
The Japan Society of Mechanical Engineers, 09 Jun. 2005, ロボティクス・メカトロニクス講演会講演概要集, 2005, 108-108, Japanese, 110006210230, AA11902933

Development of the robot hand for playing the violin : Analysis of human motion playing the violin and required specifications of the robot hand
Saruta M; Miyai T; Ming A; Kanamori C; Shimojo M
The Japan Society of Mechanical Engineers, 18 Jun. 2004, ロボティクス・メカトロニクス講演会講演概要集, 2004, 174-174, Japanese, 110004070047, AA11902933

光磁気式ロータリエンコーダに関する研究 (第20回センシングフォーラム 資料--センシング技術の新たな展開と融合) -- (セッション1B2 位置・長さ・形状計測(1))
飛田 和輝; 下条 誠; 金森 哉吏
〔計測自動制御学会〕, 16 Sep. 2003, センシングフォ-ラム資料, 20, 163-168, Japanese, 1343-7631, 40006223977, AA11461587

光磁気式ロータリエンコーダに関する研究
飛田和輝; 下条誠; 金森哉吏; 梶谷誠; 大平貴之; 河本聡紀
16 Sep. 2003, センシングフォーラム資料, 20th, 163-168, Japanese, 200902235205873561

Vibration Analysis and Simulation for ADE
SHINOHARA Takashi; KOBAYASHI Yusuke; MING Aiguo; KIDA Takashi; IIZUKA Susumu; KANAMORI Chisato
For ADE on a ship, it is necessary to perform experimental modal analysis (EMA) by base excitation. Existing EMA tools are designed to perform curve-fitting on the frequency response function of displacement or acceleration at measuring point to an excitation force. However, in case of experiment by base excitation, transmissibility of acceleration, that is, the ratio of accelerations between measuring point and base is to be used for modal analysis. A method, which makes modal analysis for base excitation possible by performing curve-fitting on the transmissibility of acceleration using existing EMA tools, is proposed in this paper., The Japan Society of Mechanical Engineers, 15 Sep. 2003, Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D, 2003, 140-140, Japanese, 1348-0235, 110002483239, AA11901770

超高精度歯車測定機の精度向上に関する研究--不確かさの要因となる機構的誤差の解明とシミュレーションを用いた不確かさ推定 (第8回知能メカトロニクスワークショップ講演論文集) -- (S7. ロボットとメカトロニクスの基礎)
金森 哉吏; 韓 慧森; 下条 誠
〔精密工学会〕, 21 Aug. 2003, 知能メカトロニクスワークショップ講演論文集, 8, 141-146, Japanese, 40005932514

(1)ロボット・メカトロニクスに対する創造性教育と社会貢献の実践(教育)(日本機械学会賞〔2002年度(平成14年度)審査経過報告〕)
石川 晴雄; 前川 博; 明 愛国; 金森 哉吏; 田中 孝之
一般社団法人日本機械学会, 05 May 2003, 日本機械学會誌, 106, 1014, Japanese, 0021-4728, 110002475806

A Study on Material Sensing Device with Vibrator Array : Material sensing device based on characteristic change caused by contacting object
Abiko N.; Lim H. C.; Kanamori C.; Ming A.; Shimojo M.
PZT型バイモルフは, 曲げにより電圧を生じることからアクチュエータのみならずセンサとして利用できるという報告がされている。今回, このセンサとしての特性を用いた材質のセンシングへの利用について研究を行った。, The Japan Society of Mechanical Engineers, 2003, ロボティクス・メカトロニクス講演会講演概要集, 2003, 21-21, Japanese, 110002506020, AA11902933

3D Form Tactile Sensor was Developed by using Liquid Pressure-conductive Rubber
Shimojo M.; Kanamori K.; Ming A.; Kanamori C.; Ishikawa M.
本報告では, 液状感圧ゴムに電極部を浸すディッピング手法により, 自由曲面上に感圧ゴム膜を作ることによって触覚センサを構築した例について報告する。, The Japan Society of Mechanical Engineers, 2003, ロボティクス・メカトロニクス講演会講演概要集, 2003, 25-25, Japanese, 110002506041, AA11902933

An Application by Mobile Manipulator with Active/passive Switchable Joints : Drawing experiment of a curved surface
Jinnai T.; Takemura R.; Zou T.; Satou M.; Ming A.; Shimojo M.; Kanamori C.
本報では, 第2関節以外の全ての関節に能動/動切り替え機構を持つ5自由度垂直多関節型マニピュレータ部と2輪駆動の移動部を持つ移動マニピュレータの部分的拘束を受ける作業への応用を取り上げる。具体的には, 受動関節の角度に基づき状態を推定し, ある曲面内で描画作業を行うことを目的とする。, The Japan Society of Mechanical Engineers, 2003, ロボティクス・メカトロニクス講演会講演概要集, 2003, 64-64, Japanese, 110002506256, AA11902933

光磁気記録を応用したロータリエンコーダの開発(第9報) : 試作マルチスポットピックアップの評価
飛田 和輝; 梶谷 誠; 金森 哉吏; 明 愛国; 下条 誠; 大平 貴之
01 Oct. 2002, 精密工学会大会学術講演会講演論文集, 2002, 2, 214-214, Japanese, 10009984298, AN1018673X

線状レーザ光を用いた空間座標位置計測(第24報) : 基準円入力ツールの設置条件がパラメータ同定に及ぼす影響について(2)
金森 哉吏; 梶谷 誠; 下条 誠; 明 愛国
01 Oct. 2002, 精密工学会大会学術講演会講演論文集, 2002, 2, 543-543, Japanese, 80015811008, AN1018673X

超高精度歯車測定機の精度向上に関する研究:歯形誤差測定における測定誤差の原因解明
久保田 禅; 下条 誠; 明 愛国; 金森 哉吏; 梶谷 誠; 竹田 龍平
01 Mar. 2002, 精密工学会大会学術講演会講演論文集, 2002, 1, 707-707, Japanese, 10008501446, AN1018673X

線状レーザ光を用いた空間座標位置計測(第23報):キャリブレーションのための基準円入力作業の自動化
金森 哉吏; 梶谷 誠; 下条 誠; 明 愛国
01 Mar. 2002, 精密工学会大会学術講演会講演論文集, 2002, 1, 701-701, Japanese, 10008501434, AN1018673X

光磁気記録を応用したロータリエンコーダの開発(第8報):マルチスポットピックアップの試作
中里 威晴; 飛田 和輝; 梶谷 誠; 金森 哉吏; 明 愛国; 下条 誠; 大平 貴之
01 Mar. 2002, 精密工学会大会学術講演会講演論文集, 2002, 1, 675-675, Japanese, 10008501364, AN1018673X

A study on the tactile displying method for high spatial resolution tactile presentation
Shimojo M.; Abiko N.; Shinohara M.; Ming A.; Kanamori C.
より高い空間解像度を有する触覚像の掲示方式の開発を目的とした研究である。触覚提示部としては, 視覚障害者用触覚提示装置として定評のあるOptaconeの振動周波数, 振幅を可変となるように改造したものを用い, 触覚パターンの提はニ特性の計測と人間の機械受容器特性との関係を考察した。, The Japan Society of Mechanical Engineers, 2002, 日本機械学会ロボティクス メカトロニクス講演会'02論文集, 111-111, Japanese, 110002505835, AA11902933

A high speed sensing and obstacle avoidance using sonar ring for mobile : Dealing with problems about high speed sensing and high speed avoidance
Kajihara K.; Sato H.; Ming A.; Kanamori T.; Kajitani M.; Shimojo M.
本研究では障害物の高速センシングを目的として複数ソナーの同時駆動方式を用いたセンシングシステムを開発し, 移動ロボットに適用してきた.これまでの研究で同時駆動によるクロストークの除去におおむね成功している.しかし高速センシングによる新たな問題がおこった.高速移動の際にリアルタイムで回避を行う必要があるという問題である.本報では, これらの問題をクリアするための新たな回避アルゴリズムと, それを実装した際の実験結果について報告する., The Japan Society of Mechanical Engineers, 2002, ロボティクス・メカトロニクス講演会講演概要集, 2002, 75-75, Japanese, 110002505418, AA11902933

Development of CLIMBER (Clean Light Illumination Maintained by ElevatingRobots). Development of Exchanging System for Illumination Unit.
YE Y; 柴崎航也; 伊藤忠; 金森哉吏; 美馬一博; MING A; 梶谷誠; 小林哲; 会沢雄二
2002, 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, 2002, Pt.1, 200902136250801247

光磁気記録を応用したロータリエンコーダの開発(第7 報) : マルチスポットピックアップの検討
中里 威春; 飛田 和輝; 梶谷 誠; 金森 哉吏; 明 愛国; 下条 誠; 大平 貴之
01 Sep. 2001, 精密工学会大会学術講演会講演論文集, 2001, 2, 551-551, Japanese, 10009889394, AN1018673X

線状レーザ光を用いた空間座標位置計測(第22報) : 基準円入力ツールの設置条件がパラメータ同定に及ぼす影響について
金森 哉吏; 梶谷 誠; 下条 誠; 明 愛国
01 Sep. 2001, 精密工学会大会学術講演会講演論文集, 2001, 2, 645-645, Japanese, 10009889677, AN1018673X

1P1-B5 Pipe insertion experiments using mobile manipulator with exchangeable active/passive joints : Algorithm improvement of insertion control
Kamimura T.; Satou M.; Jinnai T.; Ming A.; Kajitani M.; Kanamori C.
The Japan Society of Mechanical Engineers, 08 Jun. 2001, ロボティクス・メカトロニクス講演会講演概要集, 2001, 20-20, Japanese, 110002502369, AA11902933

205 Development of Evaluation System for Gear Measuring Instruments (2^ report) : Experimental Evaluation of Prototype Machines
Minoura Ken-ichi; Ming Aiguo; Kanamori Tisato; Kajitani Makoto; Sato Takashi; Yuzaki Masatoshi
This report describes results of experiment on prototype instruments reported in 1st report. Possibility of calibrating a standard artifact (involute master) was verified by the results of experimental investigations., The Japan Society of Mechanical Engineers, 2001, The Machine Design and Tribology Division meeting in JSME, 59-62, Japanese, 1348-3919, 110002480535, AA11901260

Development of a Transport System Using Autonomous Mobile Robot. Development of Navigation System and Management System for Outdoor Use.
堀井啓介; 松川宗太; 美馬一博; 金森哉吏; MING A; 梶谷誠
2001, 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, 2001, Pt.1, 200902148297462333

Development of Musician Robots. Development of Ensemble System.
中西有美; 梶谷誠; MING A; 金森哉吏; 美馬一博
2001, 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, 2001, Pt.1, 200902185652226347

Design and Control of The Fine Mechanism in a Coarse-Fine System
MING Aiguo; ABDELHAFID Omari; GHAYLEN Limam; NAKAMURA Shyuji; KANAMORI Chisato; KAJITANI Makoto
29 Jun. 2000, シンポジウム電磁力関連のダイナミックス講演論文集, 12, 521-526, Japanese, 10015611939, AA11282431

機械部品の自動スケッチ法に関する研究(第2報) -画像処理と寸法計測の相互補完-
大塚 充子; 梶谷 誠; 金森 哉吏; 明 愛国
01 Mar. 1997, 精密工学会大会学術講演会講演論文集, 1997, 1, 777-778, Japanese, 10002869522, AN1018673X

線状レーザ光を用いた空間座標位置計測(第10報) -三次元位置計測のためのスキャナレイアウト-
金森 哉吏; 梶谷 誠; 塩屋 浩司
01 Mar. 1997, 精密工学会大会学術講演会講演論文集, 1997, 1, 771-772, Japanese, 10002869510, AN1018673X

線状レーザ光を用いた三次元位置計測システムのためのレーザディテクタの開発(第2報) -ボールレンズ型ディテクタの開発-
塩屋 浩司; 金森 哉吏; 梶谷 誠
01 Mar. 1997, 精密工学会大会学術講演会講演論文集, 1997, 1, 767-768, Japanese, 10002869504, AN1018673X

線状レーザ光を用いた空間座標位置計測(第9報)-三次元位置計測におけるキャリブレーションの高精度化-
金森 哉吏; 梶谷 誠
01 Sep. 1996, 精密工学会大会学術講演会講演論文集, 1996, 2, 157-158, Japanese, 10002807769, AN1018673X

線状レーザ光を用いた空間座標位置計測(第8報)-二次元位置計測におけるキャリブレーションの高精度化-
金森 哉吏; 梶谷 誠
01 Mar. 1996, 精密工学会大会学術講演会講演論文集, 1996, 1, 759-760, Japanese, 10002806833, AN1018673X

Development of Clean AMenity Protection Utility System(CAMPUS-I). Self-Position Measuring System.
美馬一博; 村田勇二; 金森哉吏; MING A; 梶谷誠
1996, 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, 1996, Vol B, 200902158952680972

Development of Clean AMenity Protection Utility System(CAMPUS-I). Performance Estimation of Self-Position Measuring System.
美馬一博; 梶谷誠; MING A; 金森哉吏
1996, 日本ロボット学会学術講演会予稿集, 14th, 3, 200902196396946258

綿状レーザ光を用いた三次元位置計測システムのためのレーザディテクタの開発
塩屋 浩司; 金森 哉吏; 梶谷 誠
01 Sep. 1995, 精密工学会大会学術講演会講演論文集, 1995, 2, 839-840, Japanese, 10002805434, AN1018673X

Development of Clean AMenity Protection Utility System(CAMPUS-I). Self-Position Measuirng System.
美馬一博; 梶谷誠; MING A; 金森哉吏
1995, 日本ロボット学会学術講演会予稿集, 13th, 3, 200902134956217650

複数台の移動ロボットのための通信方式
金森哉吏
1992, 第10回日本ロボット学会学術講演会予稿集, 287-290, 10006720291, AN10266384

ロボット制御学ハンドブック
編集 松野文俊; 大須賀公一; 松原 仁; 野田五十樹; 稲見昌彦; 執筆者 多数
Dictionary or encycropedia, Japanese, Contributor, 第3章センサ・アクチュエータ系のモデリング、3.4 内界センサ、3.4.1 位置・回転角センサ(pp.28-34), 近代科学社, 13 Dec. 2017, 9784764904736, 日本では従来からロボットの研究開発が盛んであったが、その進歩は、ともすれば部品や材料・機械設計・コンピュータソフトによるものと捉えられ、ロボットに必須の「制御技術」が見逃されがちである。そこで、ロボットを思いどおりに動かすために必要な制御技術を知り、ロボットを使えるようにするために、ロボットの制御に特化した領域を「ロボット制御学」と名づけ、本書のの出版を企画した。本書は、なぜロボットに制御が必要なのか？ から始まり、モデリング→設計→実装まで一連の流れを理解し、実践できるようになることを目的とする。

Development of High Precision Mounting Robot with Fine Motion Mechanism
A.Omari; A.Ming; G. Liman; C.Kanamori; M.Kajitani; A.Nakamura
English, Design and Control of the Fine Motion Mechanism, Human Friendly Mechatronics (Monograph), 2001

Development of High Precision Mounting Robot with Fine Motion Mechanism: Design and Control of the Fine Motion Mechanism
A.Omari; A.Ming; S. Nakamura; S. Masuda; C.Kanamori; M.Kajitani; A.Nakamura
English, Human Friendly Mechatronics, ELESEVIER, 2001

Cooperative Operation of Two Mobile Robots (jointly authored)
English, Springer, Distributed Autonomous Robotic Systems 2., 1996

Research on steering support and travel control technology for boarding type mobility robots (2nd Report) Evaluation during long-distance continuous driving in a real environment
劉正朋; 池谷友佑; 金森哉吏
Poster presentation, Japanese, ROBOMECH2023inNAGOYA,2P2-G21
30 Jun. 2023
28 Jun. 2023- 01 Jul. 2023

ホルン音高制御のための膜形状人工唇張力変化型演奏装置の開発
稲田理沙, 金森哉吏
Oral presentation, Japanese, 2023年度精密工学会春季大会学術講演会講演論文集, 公益社団法人 精密工学会, 東京理科大学葛飾キャンパス
16 Mar. 2023
14 Mar. 2023- 16 Mar. 2023

搭乗型移動ロボットの操縦支援・走行制御技術に関する研究ー周辺環境・走行スタイルに基づく走行モード選択機能ー
池谷友佑, 金森哉吏
Oral presentation, Japanese, 2023年度精密工学会春季大会学術講演会講演論文集, 公益社団法人 精密工学会, 東京理科大学葛飾キャンパス
15 Mar. 2023
14 Mar. 2023- 16 Mar. 2023

楽器演奏ロボットに関する研究ーホルン吹鳴装置の試作ー
稲田理沙; 金森哉吏
Oral presentation, Japanese, 2022年度精密工学会春季大会学術講演会講演論文集, 精密工学会, 東京工業大学（オンライン・リアルタイム開催）, Domestic conference
17 Mar. 2022

惣菜盛付作業自動化に関する研究（第２報）－コーン盛付ハンドの開発－
池谷友佑; 金森哉吏; 橋田浩一; 天野光明
Oral presentation, Japanese, 2021年度精密工学会春季大会学術講演会講演論文集, 精密工学会, 神戸大学（オンライン開催）, Domestic conference
21 Sep. 2021

食品工場用自動搬送装置に関する研究－荷台の試作と牽引搬送実験－
川端唯人; 金森哉吏; 橋田浩一; 天野光明
Oral presentation, Japanese, 2021年度精密工学会春季大会学術講演会講演論文集, 精密工学会, 神戸大学（オンライン開催）, Domestic conference
21 Sep. 2021

転動形態と脚式移動形態に可逆的に変形可能な球殻ロボットの開発（第2報）
阿部涼; 金森哉吏
Oral presentation, Japanese, 第39回日本ロボット学会学術講演会論文集, 日本ロボット学会, 信州大学（オンライン開催）, Domestic conference
08 Sep. 2021

洗濯作業支援ロボットにおける対象物検知機能の実装とそれを用いた取り出し動作の研究
井出裕二; 金森哉吏
Oral presentation, Japanese, 2021年度精密工学会春季大会学術講演会講演論文集，C0303, 公益社団法人精密工学会, Domestic conference
16 Mar. 2021

回り階段も移動可能な直交４脚車輪ロボットの開発－自律移動機能の実装と評価－
森瑞貴; 金森哉吏
Oral presentation, Japanese, 2021年度精密工学会春季大会学術講演会講演論文集，C0323, 公益社団法人精密工学会, 電気通信大学、調布市, Domestic conference
16 Mar. 2021

転動形態と脚式移動形態に可逆的に変形可能な球殻ロボットの開発
阿部涼; 金森哉吏
Oral presentation, Japanese, 2021年度精密工学会春季大会学術講演会講演論文集，C0325, 公益社団法人精密工学会, 電気通信大学，調布市, Domestic conference
16 Mar. 2021

電動車椅子の自車両と周囲の状況を考慮した安全機能に関する研究
岩田雄治; 金森哉吏
Oral presentation, Japanese, 2021年度精密工学会春季大会学術講演会講演論文集，C0327, 公益社団法人精密工学会, 電気通信大学、調布市, Domestic conference
16 Mar. 2021

２D-LRF を用いた歩行者認識法に関する研究－隠れ足の脚座標補完処理の開発－
小原博樹; 金森哉吏
Oral presentation, Japanese, 2021年度精密工学会春季大会学術講演会講演論文集，C0328, 公益社団法人精密工学会, 電気通信大学，調布市, Domestic conference
16 Mar. 2021

商業施設等を対象とする安心・安全センサの開発（第２報）－忘れ物分類機能の実装－
江原紫隼; 金森哉吏; 木村朝映
Oral presentation, Japanese, 2021年度精密工学会春季大会学術講演会講演論文集，D0304, 公益社団法人精密工学会, 電気通信大学，調布市, Domestic conference
16 Mar. 2021

惣菜盛付作業自動化に関する研究—6軸多関節ロボットを用いたコーン盛付システムの開発—
清水康平; 金森哉吏; 西村忠男; 天野光明; 橋田浩一
Oral presentation, Japanese, 2020年度精密工学会春季大会学術講演会講演論文集,F41, 公益社団法人精密工学会, 東京農工大学小金井キャンパス,(2020/03/17-19)., Domestic conference
01 Mar. 2020

アーチェリーロボットを用いた弓具評価システムの開発
宮下裕之; 小原博樹; 金森哉吏; 芹野厚志; 長谷川俊成; 宮嵜武; 西川喜久; 栗林善行
Oral presentation, Japanese, 2020年度精密工学会春季大会学術講演会講演論文集,F42, 公益社団法人精密工学会, 東京農工大学小金井キャンパス,(2020/03/17-19)., Domestic conference
01 Mar. 2020

移動ロボットのための路面特徴量の抽出・分類に関する研究 －芝生領域抽出機能の開発－
四役勝輝; 金森哉吏
Oral presentation, Japanese, 第62回自動制御連合講演会, 日本機械学会, 札幌コンベンションセンター, Domestic conference
08 Nov. 2019

回り階段も移動可能な直交4脚車輪ロボットの開発(階段移動アルゴリズムの考案とシミュレーション)
大越光一; 森 瑞貴; 金森哉吏
Oral presentation, Japanese, 第62回自動制御連合講演会, 日本機械学会, 札幌コンベンションセンター, Domestic conference
08 Nov. 2019

2D-LRF を用いた歩行者認識法に関する研究
岡和則; 金森哉吏
Oral presentation, Japanese, 2019年度精密工学会春季大会学術講演会講演論文集, 社団法人 精密工学会, 東京電機大学北千住キャンパス, Domestic conference
14 Mar. 2019

商業施設等を対象とする安心・安全センサの開発に関する研究
谷明翰; 金森哉吏; 木村朝映
Oral presentation, Japanese, 2019年度精密工学会春季大会学術講演会講演論文集, 社団法人 精密工学会, 東京電機大学北千住キャンパス, Domestic conference
13 Mar. 2019

食品加工作業支援ロボットに関する研究 ―食品トレー供給システムの開発―
清水康平; 金森哉吏; 西村忠男; 天野光明; 橋田浩一
Oral presentation, Japanese, 2018年度精密工学会秋季大会学術講演会講演論文集, 精密工学会, 函館アリーナ, Domestic conference
05 Sep. 2018

回り階段も移動可能な直交4脚車輪ロボットの開発
滝島 慶悟; 金森 哉吏
Oral presentation, Japanese, [No.180-1]一般社団法人日本機械学会関東支部第24期総会・講演会講演論文集, 一般社団法人日本機械学会関東支部, 東京都調布市, Domestic conference
17 Mar. 2018

家庭用サービスロボットの研究（洗濯物取出しの実装）
小林 来実; 金森 哉吏
Oral presentation, Japanese, [No.180-1]一般社団法人日本機械学会関東支部第24期総会・講演会講演論文集, 一般社団法人日本機械学会関東支部, 東京都調布市, Domestic conference
17 Mar. 2018

屋内外をシームレスに走行が可能なロボット及びナビゲーションシステムに関する研究
松本効己; 金森哉吏
Oral presentation, Japanese, [No.180-1]一般社団法人日本機械学会関東支部第24期総会・講演会講演論文集, Domestic conference
17 Mar. 2018

屋内外をシームレスに走行が可能なロボット及びナビゲーションシステムに関する研究
松本効己; 金森哉吏
Oral presentation, Japanese, 一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門ロボティクス・メカトロニクス講演会2017 ROBOMECH2017 in Fukushima, 2P2-E01, (2017.05.10-12)., 一般社団法人 日本機械学会, 福島アリーナ, Domestic conference
10 May 2017

レーザ光平面を用いた三次元位置姿勢計測システムの開発̶新しいキャリブレーション方法の提案̶
塩地功太; 金森哉吏
Oral presentation, Japanese, 2017年度精密工学会春季大会学術講演会講演論文集,G04,慶応大学（2017.3.13-15）., 精密工学会, 慶応大学, Domestic conference
13 Mar. 2017

楽器演奏ロボットに関する研究̶エレキベースMUBOT の開発̶
松本 怜; 金森哉吏
Oral presentation, Japanese, 2017年度精密工学会春季大会学術講演会講演論文集,L45,慶応大学（2017.3.13-15）., 精密工学会, 慶応大学, Domestic conference
13 Mar. 2017

アーチェリーロボットの開発ーピッチ角可変弓把持部と準静的指開放機構を用いた飛翔実験
若田部 淳; 金森哉吏; 安藤龍; 松本樹昌; 宮嵜 武
Poster presentation, Japanese, 一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門ロボティクス・メカトロニクス講演会2016 ROBOMECH2016 in Yokohama, 一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門, 横浜市, Domestic conference
08 Jun. 2016

屋内外をシームレスにナビゲート可能なセンサ統合システムの開発
松村周平; 金森哉吏; 四條亮太; 松本効己
Oral presentation, Japanese, 2016年度精密工学会春季大会学術講演会講演論文集,P18, 精密工学会, 東京理科大学（野田キャンパス）, Domestic conference
15 Mar. 2016

3本の微流動を用いたマイクロマニピュレータ
田邉幸大; 金森哉吏; 青山尚之
Oral presentation, Japanese, 2015年度精密工学会秋季大会学術講演会講演論文集,M07, 精密工学会, 東北大学, Domestic conference
04 Sep. 2015

マイクロ光造形機を用いた微細3D加工による微小インプラントの製作
湊裕紀; 青山尚之; 金森哉吏
Oral presentation, Japanese, 2015年度精密工学会秋季大会学術講演会講演論文集,M08, 精密工学会, 東北大学, Domestic conference
04 Sep. 2015

環境センサの統合と作業計画ナビゲーションに関する研究
松村周平; 田附雄一; 金森哉吏
Poster presentation, Japanese, ロボティクス・メカトロニクス講演会2015 in Kyoto, 一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門, 京都みやこメッセ, Domestic conference
17 May 2015

アーチェリーロボットの開発-たわみ振動を制御可能な指機構の開発-
若田部淳; 金森哉吏; 安藤 龍; 宮嵜 武
Poster presentation, Japanese, ロボティクス・メカトロニクス講演会2015 in Kyoto, 一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門, 京都みやこメッセ, Domestic conference
17 May 2015

圧電チルティングステージを用いた金属破断面のSEM観察
田中啓裕; 入江優花; 金森哉吏; 青山尚之
Oral presentation, Japanese, 第27回「電磁力関連のダイナミクス」シンポジウム(SEAD27), Domestic conference
14 May 2015

回り階段も移動可能な直交四脚車輪ロボットの開発
近藤怜史; 金森哉吏
Oral presentation, Japanese, 2015年度精密工学会春季大会学術講演会, 精密工学会, 東洋大学白山キャンパス, Domestic conference
17 Mar. 2015

楽器演奏ロボットに関する研究-バイオリンMUBOTの運指機構の開発-
伊藤優馬; 金森哉吏
Oral presentation, Japanese, 2015年度精密工学会春季大会学術講演会, 精密工学会, 東洋大学白山キャンパス, Domestic conference
17 Mar. 2015

楽器演奏ロボットに関する研究-バイオリンMUBOTの運指機構の開発
伊藤優馬; 金森哉吏
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(SI2014), 計測自動制御学会システムインテグレーション部門, 東京ビッグサイト, Domestic conference
15 Dec. 2014

移動サービスロボット向け屋内外位置情報サービスに関する研究
田附雄一; 松村周平; 金森哉吏
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(SI2014), 計測自動制御学会システムインテグレーション部門, 東京ビッグサイト, Domestic conference
15 Dec. 2014

家庭用サービスロボットの開発
佐藤正隆; 高瀬竣也; 金森哉
Oral presentation, Japanese, 2014年度精密工学会春季大会学術講演会，東京大学本郷キャンパス, C63, (2014/03/18-20)., 精密工学会, 東京大学本郷キャンパス, Domestic conference
19 Mar. 2014

トピックス：アーチェリーロボットの開発
Others, Japanese, 日本機械学会スポーツ・アンド・ヒューマン・ダイナミクス専門会議(SHD)，SHD Newsletter N0.4, Invited, Domestic conference
Mar. 2014

アーチェリーロボットの開発
篠崎高彰; 金森哉吏; 大川恭平; 宮嵜武
Oral presentation, Japanese, SI2013 in Kobe 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, 計測自動制御学会 システムインテグレーション部門, 神戸国際会議場, Domestic conference
18 Dec. 2013

IMESを用いた移動ロボットナビゲーションに関する研究
松本和己; 田附雄一; 金森哉吏
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 ROBOMEC2012 in TSUKUBA，1P1-I02,(2013/05/22-25).,日本機械学会ロボティクス・メカトロニクス講演会 ROBOMEC2012 in TSUKUBA，1P1-I02,(2013/05/22-25).
May 2013

回り階段も移動可能な直交四脚車輪ロボットの開発
渡部 聡; 近藤怜史; 金森哉吏
Oral presentation, Japanese, 2013年度精密工学会春季大会学術講演会，東京工業大学大岡山キャンパス, T16, (2013/03/13-15).,2013年度精密工学会春季大会学術講演会，東京工業大学大岡山キャンパス, T16, (2013/03/13-15).
Mar. 2013

投影パターンを用いた安全センサに関する研究（第３報）－速度情報の検出と速度計測実験－
神保陽平; 金森哉吏; 岡野宗徳
Oral presentation, Japanese, 2012年度精密工学会秋季大会学術講演会，九州工業大学工学部（戸畑キャンパス）,G17,(2012/09/14-16).,2012年度精密工学会秋季大会学術講演会，九州工業大学工学部（戸畑キャンパス）,G17,(2012/09/14-16).
Sep. 2012

アーチェリーロボットの開発
宇土沢直幾; 篠崎高彰; 金森哉吏; 向山桂太; 宮嵜武
Oral presentation, Japanese, 第30回日本ロボット学会学術講演会，札幌コンベンションセンター， ,4L2-2,(2012/09/17-20).,第30回日本ロボット学会学術講演会，札幌コンベンションセンター， ,4L2-2,(2012/09/17-20).
Sep. 2012

円錐走査式距離測定を用いた移動環境認識法に関する研究(第4報)
大久保祐人; 金森哉吏; 飛田和輝; 小川博教
Oral presentation, Japanese, 第30回日本ロボット学会学術講演会，札幌コンベンションセンター， 4I2-7,(2012/09/17-20).,第30回日本ロボット学会学術講演会，札幌コンベンションセンター， 4I2-7,(2012/09/17-20).
Sep. 2012

円錐走査式距離測定を用いた移動環境認識法に関する研究(第3報)
大久保祐人; 金森哉吏; 飛田和輝; 小川博教
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講演論文集,日本機械学会ロボティクス・メカトロニクス講演会ROBOMEC2012 in HAMAMATSU，1A1-A09,(2012/05/27-29)
May 2012

“Precise Navigation Based on Double Vision Images for Microrobot with Surface Sensor.”
Montree Pakkratoke; Ngoc Tu Nguyen; Shinnosuke Hirata; Chisato Kanamori; Hisayuki Aoyama(U
Oral presentation, English, ROBOMEC2012 in HAMAMATSU，2P1-R04,(2012/05/27-29).
May 2012

関節で知覚するロボットフィンガに関する研究（第２報）－ロボットフィンガの関節トルクと押し込み力－
宮澤正一郎; 金森哉吏
Oral presentation, Japanese, 2012年度精密工学会春季大会学術講演会，首都大学東京,H46,(2012/03/14-16),2012年度精密工学会春季大会学術講演会，首都大学東京,H46
Mar. 2012

洗濯物のハンドリングロボットに関する研究
新井美幸; 金森哉吏
Oral presentation, Japanese, 2012年度精密工学会春季大会学術講演会，首都大学東京,H47,(2012/03/14-16).,2012年度精密工学会春季大会学術講演会，首都大学東京,H47
Mar. 2012

家庭内サービスロボット用カメラ揺動型センサの開発
内田雄太郎; 金森哉吏
Oral presentation, Japanese, 2011年度精密工学会秋季大会学術講演会講演論文集，O15，pp.914-915, 金沢大学(2011/09/20-22),2011年度精密工学会秋季大会学術講演会
Sep. 2011

円錐走査式距離測定を用いた移動環境認識法に関する研究（第２報）パラメータ同定法の改良と２平面認識実験
大久保祐人; 金森哉吏; 飛田和輝; 小川博教
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 ROBOMEC2011 in OKAYAMA，講演論文集1P1-D09,日本機械学会ロボティクス・メカトロニクス講演会 ROBOMEC2011 in OKAYAMA，1P1-D09,(2011/05/26-28).
May 2011

複数領域円錐走査による階段認識
飛田和輝; 金森哉吏; 大久保祐人; 小川博教; 杉田澄雄
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，ROBOMEC2011 in OKAYAMA，講演論文集1P1-E08
May 2011

垂直水平走査式距離測定を用いた移動環境認識法に関する研究
塚本 卓也; 金森 哉吏; 飛田 和輝; 小川 博教
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2010（ROBOMEC2010)講演論文集
Jun. 2010

円錐走査式距離測定を用いた移動環境認識法に関する研究
飛田 和輝; 金森 哉吏; 山﨑 暁; 小川 博教; 塚本 卓也
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2010（ROBOMEC2010)講演論文集
Jun. 2010

関節で知覚するロボットフィンガに関する研究
滝 直也; 金森 哉吏
Oral presentation, Japanese, 精密工学会,2010年度精密工学会春季大会学術講演会
Mar. 2010

円錐走査式距離測定を用いた物体認識法
山﨑暁; 金森哉吏; 飛田和輝; 小川博教
Oral presentation, Japanese, 日本ロボット学会,第27回日本ロボット学会学術講演会
Sep. 2009

廻り階段も昇降可能な直交４脚車輪ロボットとその移動法
大友隆行; 金森哉吏
Oral presentation, Japanese, 日本ロボット学会,第27回日本ロボット学会学術講演会
Sep. 2009

四脚車輪型自律移動ロボットNR003の開発（第４報：腰関節を有する脚車輪型ロボットの試作）
飛田和輝; 嵯峨山功幸; 小川博教; 金森哉吏
Oral presentation, Japanese, 日本ロボット学会,第27回日本ロボット学会学術講演会
Sep. 2009

投影パターンを用いた安全センサに関する研究（第２報）－奥行き情報の検出と３次元測定実験－
上村敦史; 岡野宗徳; 金森哉吏
Oral presentation, Japanese, 2009年度精密工学会春季大会学術講演会論文集CD,2009年度精密工学会春季大会学術講演会
Mar. 2009

機械的外乱によるロータリエンコーダの誤差について実験的考察
杉村英俊; 金森哉吏
Oral presentation, Japanese, 2009年度精密工学会春季大会学術講演会論文集CD,2009年度精密工学会春季大会学術講演会
Mar. 2009

レーザ光平面を用いた三次元位置姿勢計測システムの開発－姿勢計測アルゴリズムの検討－
鱒渕祥司; 金森哉吏
Oral presentation, Japanese, 2008年度精密工学会秋季大会学術講演会論文集(CD-ROM),2008年度精密工学会秋季大会学術講演会
Sep. 2008

四脚車輪型自律移動ロボットNR002の開発(第３報：車輪走行時の軌道生成に関する一考察）
飛田和輝; 嵯峨山功幸; 小川博教; 金森哉吏
Oral presentation, Japanese, 第26回日本ロボット学会学術講演会講演論文集,第26回日本ロボット学会学術講演会
Sep. 2008

三次元レーザスキャナを用いた移動環境認識法
山﨑暁; 金森哉吏; 飛田和輝; 嵯峨山功幸; 小川博教
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2008（ROBOMEC08)講演論文集,日本機械学会ロボティクス・メカトロニクス講演会2008（ROBOMEC08)
Jun. 2008

ねずみ型掃除ロボットの開発
上村敦史; 金森哉吏
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2008（ROBOMEC08)講演論文集,日本機械学会ロボティクス・メカトロニクス講演会2008（ROBOMEC08)
Jun. 2008

エンコーダの知能化に関する研究（第１報）－円形膜打撃装置の開発－
北脇潤; 金森哉吏
Oral presentation, Japanese, 2008年度精密工学会春季大会学術講演会
Mar. 2008

補助手すりを利用した移動ロボットに関する研究
関口 篤; 金森哉吏
Oral presentation, Japanese, 2008年度精密工学会春季大会学術講演会
Mar. 2008

架線移動小型機構と搬送システムの開発（第１報，ねずみ車式移動機構の開発）
半澤編理; 青山尚之; 金森哉吏; 小泉寿王; 北脇潤
Oral presentation, Japanese, 2008年度精密工学会春季大会学術講演会
Mar. 2008

架線移動小型機構と搬送システムの開発（第１報，架線移動ユニットの開発および探索への応用）
半澤編理; 青山尚之; 金森哉吏; 小泉寿王; 北脇潤
Oral presentation, Japanese, 2008年度精密工学会春季大会学術講演会
Mar. 2008

光磁気式エンコーダの高度化に関する研究（第4報）―デュアルディレクションマルチスポットピックアップ（DDMSP）の開発―
青木嶺典; 石橋 達; 小西哲也; 飛田和輝; 金森哉吏
Oral presentation, Japanese, 2007年度精密工学会秋季大会学術講演会
Sep. 2007

投影パターンを用いた安全センサに関する研究（第１報）－基本原理と撮影実験－
茂木俊輔; 岡野宗徳; 金森哉吏
Oral presentation, Japanese, 2007年度精密工学会秋季大会学術講演会
Sep. 2007

四脚車輪型自律移動ロボットNR002の開発（第二報：基本構成と階段昇降）
飛田和輝; 嵯峨山功幸; 小川博教; 金森哉吏
Oral presentation, Japanese, 2007年度日本ロボット学会学術講演会
Sep. 2007

球状フォトダイオードを用いた位置姿勢センサに関する研究（第２報）－検出回路の改良と複数点同時計測用ディテクタの試作－
藤原光太; 金森哉吏
Oral presentation, Japanese, 2007年度精密工学会秋季大会学術講演会
Mar. 2007

直接駆動方式超高精度歯車測定機の開発（第４報）－測定精度向上の取り組み－
田口哲也; 杉村英俊; 竹田龍平; 明愛国; 下条誠; 金森哉吏
Oral presentation, Japanese, 精密工学会,2007年度精密工学会春季大会学術講演会
Mar. 2007

四脚車輪型自律移動ロボットNR001の開発
飛田和輝; 嵯峨山功幸; 金森哉吏
Oral presentation, Japanese, 2006年度日本ロボット学会学術講演会
Sep. 2006

直接駆動方式超高精度歯車測定機の開発（第３報）－アーティファクト測定－
田口哲也; 青木朗子; 高橋直樹; 明愛国; 下条誠; 金森哉吏; 竹田龍平
Oral presentation, Japanese, 精密工学会,2006年度精密工学会春季大会学術講演会
Mar. 2006

直接駆動方式超高精度歯車測定機の開発（第２報）－制御方法と駆動実験－
青木朗子; 福家佐和; 田口哲也; 明愛国; 下条誠; 金森哉吏; 竹田龍平
Oral presentation, Japanese, 精密工学会,2005年度精密工学会秋季大会学術講演会
Sep. 2005

直接駆動方式超高精度歯車測定機の開発（第１報）－基本構想と機構構成－
田口哲也; 青木朗子; 穂刈吉宏; 斉藤大輔; 明愛国; 下条誠; 梶谷誠; 金森哉吏; 竹田龍平
Oral presentation, Japanese, 精密工学会,2005年度精密工学会秋季大会学術講演会
Sep. 2005

球状フォトダイオードを用いた位置姿勢センサに関する研究
金森哉吏; 梶谷 誠; 下条 誠; 明 愛国
Oral presentation, Japanese, 2004年度精密工学会秋季大会学術講演会
Oct. 2004

光磁気式エンコーダの高度化に関する研究（第３報）―複数トラック同時再生方式によるＭＯエンコーダの性能向上―
小西哲也; 池田俊一; 梶谷 誠; 下条 誠; 金森哉吏; 飛田和輝
Oral presentation, Japanese, 2004年度精密工学会秋季大会学術講演会
Oct. 2004

ヴァイオリン演奏ロボットハンドの運指機構に関する研究-人間の演奏動作解析とハンドの要求仕様-
猿田正博; 宮井隆雄; 明愛国; 金森哉吏; 下条 誠
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'04(ROBOMEC04)
Jun. 2004

液状感圧ゴムを用いた自由曲面型触覚センサの開発
下条 誠; 金森克彦; 明愛国; 金森哉吏; 石川正俊
Oral presentation, Japanese, 第20回日本ロボット学会創立20周年記念学術講演会CD-ROM，1G24
Oct. 2002

能動/受動切り替え関節を有する移動マニピュレータの応用に関する研究
陳内鉄生; 竹村 亮; 佐藤雅一; 明 愛国; 下条 誠; 金森哉吏
Oral presentation, Japanese, 第20回日本ロボット学会創立20周年記念学術講演会CD-ROM，2F17
Oct. 2002

線状レーザ光を用いた空間座標位置計測（第24報）-基準円入力ツールの設置条件がパラメータ同定に及ぼす影響について（半径）-
金森哉吏; 梶谷 誠; 下条 誠; 明 愛国
Oral presentation, Japanese, 2002年度精密工学会秋季大会学術講演会講演論文集, M07
Oct. 2002

光磁気記録を応用したロータリエンコーダの開発（第9報）-試作マルチスポットピックアップの評価-
飛田和輝; 大平貴之; 梶谷 誠; 金森哉吏; 明 愛国; 下条 誠
Oral presentation, Japanese, 2002年度精密工学会秋季大会学術講演会講演論文集, F04
Oct. 2002

高速道路用照明設備メンテナンスロボットCLIMBERの開発－照明ユニット交換システムの開発
叶 燁; 柴崎航也; 伊藤 忠; 金森哉吏; 美馬一博; 明 愛国; 下条 誠; 梶谷 誠; 小林 哲; 会沢雄二
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'02(ROBOMEC02)CD-ROM,1A1-J06
Jun. 2002

同時駆動方式ソナーリングを用いた移動ロボットの高速障害物検出と回避
梶原一宏; 佐藤治男; 明 愛国; 金森哉吏; 梶谷 誠; 下条 誠
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'02(ROBOMEC02)CD-ROM，2A1-I07
Jun. 2002

高空間分解能な触覚提示を目指した触覚提示方式の研究
下条 誠; 安彦成泰; 篠原正美; 金森哉吏; 明 愛国
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'02(ROBOMEC02)CD-ROM，2P2-E09
Jun. 2002

光磁気記録を応用したロータリエンコーダの開発 (第8報） －マルチスポットピックアップの試作－
中里威晴; 飛田和輝; 梶谷誠; 金森哉吏; 明愛国; 下条誠; 大平貴之
Oral presentation, Japanese, 2002年度精密工学会春季大会学術講演会論文集, O19
Mar. 2002

線状レーザ光を用いた空間座標位置計測（第２３報） －キャリブレーションのための基準円入力作業の自動化－
金森哉吏; 梶谷誠; 下条誠; 明愛国
Oral presentation, Japanese, 2002年度精密工学会春季大会学術講演会論文集，O74
Mar. 2002

超高精度歯車測定機の精度向上に関する研究 －歯形誤差測定における測定誤差の原因解明－
久保田禅; 下条誠; 明愛国; 金森哉吏; 梶谷誠; 竹田龍平
Oral presentation, Japanese, 2002年度精密工学会春季大会学術講演会論文集，O81
Mar. 2002

能動／受動関節を有する移動マニピュレータによるパイプの挿入作業に関する研究
陳内鉄生; 上村拓人; 佐藤雅一; 明愛国; 金森哉吏; 梶谷誠
Oral presentation, Japanese, Domestic conference
01 Sep. 2001

同時駆動方式ソナーリングを用いた移動ロボットの障害物検出と回避 - 高速センシングシステムの試作-
梶原一宏; セナラス ゴダクンブラ; 明愛国; 金森哉吏; 梶谷誠
Oral presentation, Japanese, 第19回日本ロボット学会学術講演会予稿集，3F12
Sep. 2001

線状レーザ光を用いた空間座標位置計測(第22報) －基準円入力ツールの設置条件がパラメータ同定に及ぼす影響について－
金森哉吏; 梶谷誠; 下条誠; 明愛国
Oral presentation, Japanese, 2001年度精密工学会秋季大会学術講演会論文集，N22
Sep. 2001

光磁気記録を応用したロータリエンコーダの開発 (第7報)－マルチスポットピックアップの検討－
中里威晴; 飛田和輝; 梶谷誠; 金森哉吏; 明愛国; 下条誠; 大平貴之
Oral presentation, Japanese, 2001年度精密工学会秋季大会学術講演会講演論文集, L34
Sep. 2001

自律移動ロボットによる搬送作業システムの開発（屋外でのナビゲーション方法及び運用管理システムの開発）
堀井啓介; 松川宗太; 美馬一博; 金森吏哉; 明愛国; 梶谷誠
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'01講演論文集， 1A1-B4
Jun. 2001

楽器演奏ロボットに関する研究（合奏システムの開発）
中西有美; 梶谷誠; 明愛国; 金森哉吏; 美馬一博
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'01講演論文集，1A1-G3
Jun. 2001

高速道路用照明設備メンテナンスロボットCLIMBERの開発（ポール昇降システムの実験による性能評価）
柴崎航也; 菊地新,イエイエ; 梶谷誠; 明愛国; 金森更哉; 会沢雄二; 小林哲
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'01講演論文集，1A1-M3
Jun. 2001

能動/受動切り替え関節を有する移動マニピュレータによるパイプの挿入実験（挿入制御アルゴリズムの改善）
上村拓人; 佐藤雅一; 陳内鉄生; 明愛国; 梶谷誠; 金森哉吏
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'01講演論文集， 1P1-B5
Jun. 2001

歯車測定機の精度評価システムに関する研究（第２報）―試作機の性能―
箕浦賢一; 明 愛国; 金森哉吏; 梶谷 誠; 佐藤 孝; 勇崎正年
Oral presentation, Japanese, 日本機械学会第1回機素潤滑設計部門講演会
Apr. 2001

Developement of a High Precision Mounting Robot System with Fine Motion Mechanism（5th report）- Positioning Experiments of SCARA Robot with two-axes Fine MotionMechanism -
Ghaylen Limam; Abdelhafid Omari; Aiguo Ming; Chisato Kanamori; Makoto Kajitani; Shuji Nakamura
Oral presentation, English, 2001年度精密工学会春季大会学術講演会講演論文集, Domestic conference
01 Mar. 2001

Graduate International Jointly Offered Academic Training ⅠⅠ
The University of Electro-Communications

大学院国際協働学術研修（長期）
電気通信大学

Graduate International Jointly Offered Academic Training Ⅰ
The University of Electro-Communications

大学院国際協働学術研修
電気通信大学

サマートレーニング（学部）（集中）
電気通信大学

Summer Training
The University of Electro-Communications

サマートレーニング（学域）（集中）
電気通信大学

Advanced Robotics & Mechatronics Engineering
The University of Electro-Communications

メカトロニクス基礎実験B
The University of Electro-Communications

メカトロニクス基礎実験A
The University of Electro-Communications

メカトロニクス基礎実験B
The University of Electro-Communications

メカトロニクス基礎実験B
電気通信大学

メカトロニクス基礎実験A
The University of Electro-Communications

メカトロニクス基礎実験A
電気通信大学

Advanced Robotics & Mechatronics Engineering
The University of Electro-Communications

Advanced Robotics & Mechatronics Engineering
電気通信大学

機構要素設計
The University of Electro-Communications

基礎プログラミングおよび演習
The University of Electro-Communications

メカトロニクス特論
The University of Electro-Communications

知能機械工学基礎実験
The University of Electro-Communications

メカトロニクス特論
The University of Electro-Communications

メカトロニクス特論
電気通信大学

物理学概論第二
The University of Electro-Communications

物理学概論第二
電気通信大学

基礎プログラミングおよび演習
The University of Electro-Communications

基礎プログラミングおよび演習
電気通信大学

Machine Mechanism Design
The University of Electro-Communications

知能機械工学基礎実験
The University of Electro-Communications

知能機械工学基礎実験
電気通信大学

機構要素設計
The University of Electro-Communications

機構要素設計
電気通信大学

日本機械学会

精密工学会

日本ロボット学会

IMESコンソーシアム

Obstacle avoidance of the transporting System using two mobile robots.
1994 - 1994

Development of Marking Robot in the Construction Sites.
1994 - 1994

On the Automatic Sketching of Mechancal parts
1994 - 1994

線状レーザ光を用いた空間座標位置計測
1994 - 1994

オフィスビル内巡回ロボットの開発
1994 - 1994

A Position Measuring Method Using Linear Beem Scanners (Calibration method )
1993 - 1993

Cooperative motion of autonomous mobile robots
1993 - 1993

Development of Construction Mobile robot in the Building Site
1993 - 1993

Communication Network for Multiple Autonomous Mobile Robots (Mamoro Net )
1992 - 1992

Cooperative Transport of a Long Pipe by Two Autonomous Mobile Robots
1992 - 1992

A Position Measuring Method Using Linear Laser Beem Scanners
1991 - 1991

食品加工作業支援システムに関する研究
Principal investigator
May 2023 - Apr. 2024

商業施設等を対象とする安全・安心センサーに関する研究
Principal investigator
Jan. 2023 - Dec. 2023

自動ハンドリングロボットの開発
金森哉吏
Principal investigator
25 Dec. 2013

Cooperation Among Distributed Autonomous Robots
KAJITANI Makoto; KANAMORI Chisato; MING Aiguo; AOYAMA Hisayuki
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, The University of Electro-Communications, Grant-in-Aid for Scientific Research (B)., This project is a fundamental research on cooperation among multiple distributed autonomous mobile robots. The purpose is to develop cooperative control algorithms, sensor systems and several prototypes of mobile robot and mobile manipulator and to demonstrate the availability of developed systems by experiments. The basic concept of intelligent distributed autonomous robot system has been discussed and experiments by newly developed robots have been done by researchers at both University of Electro-Communications and Griffith University. The results obtained are as follows. 1) Several methods of obstacle detection and obstacle avoidance have been developed by using characteristics of multiple infrared sensor and ultrasonic sensor cooperatively. 2) As a case study, cooperation among multiple autonomous robots in intelligent vehicles and trans-portation systems is considered. Algorithm for road intersection crossing, front-vehicle tracking, overtaking, lane following, obstacle avoidance, front-vehicle distance control, narrow bridge crossing and formation driving have been developed and implemented to the robot system. 3) A new method, that is, rapid obstacle sensing using mobile robot sonar (ROSUM), for treating the crosstalk data of a so-called sonar ring, while employing a simultaneous firing regime has been proposed. It is shown by experiments that the robot with ROSUM sonar ring can avoide obstacles quickly and smoothly in complicated environment. 4) A new prototype of mobile manipulator with exchangeable active/passive joints has been developed in order to solve various problems in performing a cooperated task, in which a long pipe is to be moved out from a restrained location, transferred to an assigned position and set to a new restrained location. Experiments on proposed task by the cooperation of human and the mobile manipulator have been performed. The task was performed successfully by the simple control method. Cooperation for the task by two mobile manipulators will be done in the next work., 10044141
1998 - 1999

Development of a composite transmission characteristics measurement system for angle transmission mechanisms
KAJITANI Makoto; KANAMORI Chisato; MING Aiguo
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, The University of Electro-Communications, Grant-in-Aid for Scientific Research (B), Angle transmission error, backlash and stiffness of an angle transmission mechanism exert a great influence on the servo performance in the mechatronic mechanisms. The purpose of this research is to investigate the relation between the characteristics of angle transmission mechanism and the control performance quantitatively. A composite transmission characteristics measurement system for angle transmission mechanisms has been developed and its capability has been evaluated by measurement experiments on typical angle transmission mechanisms. 1) Various angle transmission mechanisms, e.g. gear reducers, traction drive, timing belt can be measured by the developed system. Experimental conditions including inertial loads, torque load, input pattern of velocity, parameters of control system can be changed easily. Transmission error, backlash, stiffness and control performance (control errors of position and velocity, step response, stability) can be measured and evaluated on display or output to printer by this system. 2) This system can realize all functions of conventional angle transmission test system. Besides those functions, it can measure backlash continuously and measure dynamic transmission characteristics. The differences of transmission error due to the different polishing methods of teeth face can be observed also. 3) In the experiments of dynamic transmission on simple coupling mechanism with backlash and gear reducers, complicated vibration of transmission mechanism including contacting, collision (one side, two sides) and free states between driving and driven sides due to the existence of backlash was observed 4) A simulation model has been established for our system including dynamic model of mechanism and model of control system. Similar results can be obtained by simulation using this model. It will be useful for the controller design of a system with backlash., 09555054
1997 - 1999

アームを有する2台の移動ロボットによる協調作業に関する研究
梶谷 誠; 金森 哉吏; 明 愛国
日本学術振興会, 科学研究費助成事業, 電気通信大学, 基盤研究(B), 1台のロボットでできない作業は複数のロボットで協調して行う必要がある.本研究は,2台の移動ロボットにより長尺パイプを設置された状態から取り外し,所定の経路を通って指定の場所まで搬送し,指定された位置に取り付けるという一連の具体的作業を設定し,その実現に必要なさまざまな問題を解決することを目的とし,以下の結果を得ている. (1) 2台の移動ロボットにより一連の作業(取り外し,搬送と取り付け)を行うシステムの概念設計を行った.まず一連の作業について解析を行い,2台の移動ロボットによる協調作業を前提としたマニピュレーション機能,移動機能を検討した.そして,各機能を実現でき,かつ簡単なシステムとして2輪独立駆動式の移動部と能動/受動切り替え可能な関節を有するマニピュレータからなる移動マニピュレータシステムを提案し,協調制御を考慮してマニピュレータの自由度の数と関節配置方法を決めた. (2) 5自由度の能動/受動切り替え可能な関節を有するマニピュレータと2輪独立駆動式の移動部からなる移動マニピュレータを設計し,試作した.能動/受動切り替え関節において,電磁クラッチを用いて切り替えを行い,受動時にも各関節の各位置を知るために関節軸にエンコーダも取り付けている. (3) 開発した1台の移動マニピュレータと人間の協調により,本研究で設定した一連の作業実験を行った.新たに開発した運動計画ソフトウエアにより移動マニピュレータの軌道を生成し,これらの作業を行う.受動関節により各作業中の位置誤差を吸収し,受動関節の変位に基づき移動マニピュレータの軌道修正を行う制御アルゴリズムを提案した.これらにより,人間との協調によりこの一連の作業を簡単な制御方法で成功させた. 今後,以上の成果に基づき2台の移動マニピュレータによる作業実験を行っていく予定である., 08455120
1996 - 1998

セキュリティ管理システム
Patent right, 木村 朝映, 金森 哉吏, 特願2021-150913, Date applied: 16 Sep. 2021, 株式会社木村技研、国立大学法人電気通信大学, 特開2022-2401, Date announced: 06 Jan. 2022, 特許7193095, Date registered: 12 Dec. 2022, Date issued: 20 Dec. 2022

小片物の吸着移送装置
Patent right, 天野光明, 金森哉吏, 清水康平, 池谷友佑, 特願2021-9935, Date applied: 25 Jan. 2021, アルトリスト株式会社, 特開2022-113601, Date announced: 04 Aug. 2022

セキュリティ管理システム
Patent right, 木村 朝映, 金森 哉吏, 特願2016-159391, Date applied: 15 Aug. 2016, 株式会社木村技研、国立大学法人電気通信大学, 特開2018-029237, Date announced: 22 Feb. 2018, 特許6954522, Date issued: 04 Oct. 2021

歩行者認識装置、歩行者認識方法及びプログラム
Patent right, 金森哉吏, 岡 和則, 特願2017-212095, Date applied: 01 Nov. 2017, The University of Electro-Communications, 特開2019-83857, Date announced: 06 Jun. 2019, 特許第6892685号, Date issued: 01 Jun. 2021

セキュリティ管理システム
Patent right, 木村 朝映, 金森 哉吏, 谷 明翰, 特願2017-150177, Date applied: 02 Aug. 2017, 株式会社木村技研、国立大学法人電気通信大学, 特開2019-28890, Date announced: 21 Feb. 2019

移動環境認識装置及び方法
Patent right, 飛田和輝, 金森哉吏, 大久保祐人, 小川博教, 特願2011-116269, Date applied: 24 May 2011, 日本精工株式会社、国立大学法人電気通信大学, 特開2012-242368, Date announced: 10 Dec. 2012, 特許5742052, Date issued: 15 May 2015

移動環境認識装置及び方法
Patent right, 金森哉吏, 飛田和輝, 山﨑暁, 小川博教, 2009-212086, Date applied: 14 Sep. 2009, The University of Electro-Communications, 2011-59071, Date announced: 24 Mar. 2011, 特許5499355, Date issued: 20 Mar. 2014

ターゲットセンサ
Patent right, 明 愛国, 金森 哉吏, 梶谷 誠, 田副 彰三, 倉兼 則夫, 2001-297988, Date applied: 27 Sep. 2001, 明 愛国 、日本無線株式会社, 2003-050105, Date announced: 21 Feb. 2003, 特許5060693, Date issued: 10 Aug. 2012

物体検出装置とそれを適用したゲート装置
Patent right, 金森哉吏, 茂木俊輔, 岡野宗徳, 2007-151300, Date applied: 07 Jun. 2007, The University of Electro-Communications, 特許4859879, Date issued: 25 Nov. 2011

移動環境認識装置及び方法
Patent right, 金森哉吏, 飛田和輝, 特願2007-62118, Date applied: 12 Mar. 2007, The University of Electro-Communications, 特開2008-224380, Date announced: 25 Sep. 2008

移動ロボットの誘導方法と誘導システム
Patent right, 梶谷 誠, 金森 哉吏, 美馬 一博, 田中 幸悦, -, Date applied: 27 Oct. 1995, 新菱冷熱工業株式会社 、梶谷 誠, 平09-128041, Date announced: 16 May 1997, 特許3340606, Date issued: 16 Aug. 2002

出張講義「ロボットは何からできている？～ロボット要素工学概論～」
Lecturer, 東京都調布南高等学校「大学出張講義」, Visiting lecture
04 Oct. 2023 - 04 Oct. 2023

出張講義「ロボットは何からできている？～ロボット要素工学概論～」
Appearance, 静岡県立磐田南高等学校, 「ロボットは何からできている？～ロボット要素工学概論～」, 静岡県磐田市, 高校生
16 Sep. 2022

匠ガールプロジェクト2022「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推進室, 講演「楽器演奏ロボット解体新書２０２２」および研究室公開、実験体験, 本学, 女子中高生(21名）およびその保護者
16 Jul. 2022

2023 IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2023)
Peer review etc, Peer review, 01 Mar. 2023 - 09 Aug. 2023

The 19th International Conference on Precision Engineering (ICPE2022) in Nara, Nov.28-Dec.2, 2022, Japan
Peer review etc, Peer review, 01 Jun. 2022 - 31 Dec. 2022, オーガナイズドセッション C-3 Robotics and mechatronics オーガナイザー、レビュワー

Journal of Robotics and Mechatronics
Peer review etc, Peer review, 01 Apr. 2022 - 31 Dec. 2022