TOHOKU UNIVERSITY Researchers

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Satoshi Tadokoro

Section

Tough Cyberphysical AI Research Center

Job title

Specially Appointed Professor(Research)

Degree

博士（工学）（神戸大学）

researchmap

https://researchmap.jp/satoshi.tadokoro

Profile

Satoshi Tadokoro graduated from the University of Tokyo in 1984. He was an associate professor in Kobe University in 1993-2005, and has been a Professor of Tohoku University since 2005. He was a Vice/Deputy Dean of Graduate School of Information Sciences in 2012-14, and is the Director of Tough Cyberphysical AI Research Center since 2019 in Tohoku University. He has been the President of International Rescue System Institute since 2002, and was the President of IEEE Robotics and Automation Society in 2016-17. He served as a program manager of MEXT DDT Project on rescue robotics in 2002-07, and was a project manager of Japan Cabinet Office ImPACT Tough Robotics Challenge Project on disaster robotics in 2014-19 having 62 international PIs and 300 researchers that created Cyber Rescue Canine, Dragon Firefighter, etc. His research team in Tohoku University has developed various rescue robots, two of which called Quince and Active Scope Camera are widely-recognized for their contribution to disaster response including missions in the Fukushima-Daiichi NPP nuclear reactor buildings. IEEE Fellow, RSJ Fellow, JSME Fellow, and SICE Fellow.

Research History 7

2002 - Present

特定非営利活動法人国際レスキューシステム研究機構　会長
2006 - 2011

東北大学情報科学研究科　教授
2005 - 2009

東北大学大学院・情報科学研究科　教授
2005 - 2006

Tohoku University　Graduate School of Information Sciences
1994 - 2005

Kobe University　Faculty of Engineering
1986 - 1992

Kobe University　Faculty of Engineering
2008 -

Tohoku University　Graduate School of Information Sciences

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Education 2

The University of Tokyo　Graduate School, Division of Engineering　精密機械工学専門課程

- 1984/03/29
The University of Tokyo　Faculty of Engineering　精密機械工学科

- 1982/03/27

Committee Memberships 163

Advisory Board　Member of emergenCITY

2021 - Present
日本機械学会　理事（企画）, 部門協議会議長 , 分野連携委員会委員長

2020 - Present
復興庁、福島浜通り地域の国際教育研究拠点に関する有識者会議　委員

2019 - Present
福島イノベーションコースト構想推進機構　理事

2018 - Present
日本機械学会出版センター委員

2007 - Present
Journal of Intelligent Service Robotics　Editor

2007/01 - Present
Journal of Field Robotics　Editor

2006/04 - Present
文部科学省大都市大震災軽減化特別プロジェクト　レスキューロボット等次世代防災基盤技術の開発フィールド評価タスクフォースリーダー

2004 - Present
福岡市　ロボスクェア運営委員

2003 - Present
関西経済連合会　関西次世代ロボット推進会議幹事会・企画委員会，委員

2003 - Present
文部科学省大都市大震災軽減化特別プロジェクト　レスキューロボット等次世代防災基盤技術の開発プロジェクトマネージャ（研究代表者）

2002 - Present
特定非営利活動法人国際レスキューシステム研究機構　会長

2002 - Present
The RoboCup Federation　, RoboCupRescue Robot League Co-Chairman

2002 - Present
特定非営利活動法人ロボカップ日本委員会理事

2001 - Present
神戸市政策提言会議委員

2001 - Present
The RoboCup Federation　Executive Committee Member

2001 - Present
文部科学省科学技術・学術審議会　研究開発・評価委員会防災の研究開発に関する委員会委員

2001 - Present
日本ロボット学会　欧文誌編集委員

2001 - Present
日本ロボット学会　論文賞選考委員

1999/04 - Present
日本ロボット学会　研究奨励賞選考委員

1999/04 - Present
The RoboCup Federation　RoboCupRescue Technical Committee Chairman

1999 - Present
IEEE Technical Activity Board Strategic Planning Committee　Member

2020 - 2022
IEEE Robotics and Automation Society　Senior Past President

2020 - 2021
IEEE Robotics and Automation Society Award Committee　Chair

2020 - 2021
IEEE Technical Activity Board Nominations and Appointment Committee　Member

2018 - 2019
IEEE Technical Activity Board Award and Recognition Committee　Member

2018 - 2019
IEEE Robotics and Automation Society　Nomination Committee, Chair

2018 - 2019
IEEE Robotics and Automation Society　Junior Past President

2018 - 2019
経産省，プラントにおけるドローン活用に関する安全性調査研究会　委員

2018 - 2019
IEEE Technical Activities Board　Member

2016 - 2017
IEEE Robotics and Automation Society　President

2016 - 2017
IEEE Robotics and Automation Society　Long Range Planning Committee, Chair

2014 - 2015
IEEE TAB Strategic Planning Committee　Member

2014 - 2015
IEEE Robotics and Automation Society　President-Elect

2014 - 2015
日本機械学会　A-TS 15-21ロボティクス・メカトロニクス部門防災ロボット研究会主査

2012 - 2014
IEEE Robotics and Automation Society,　Technology Review Committee, Chair

2012 - 2014
IEEE Robotics and Automation Society　Vice President for Technical Activities

2012/01 - 2014
ICRセンサシステム研究会主査

2011 - 2012
IEEE Robotics and Automation Society　Vice President Elect for Technical Activities

2011/01 - 2011/12
The 7th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2011)　Program Co-Chair

2011/01 - 2011/12
The 8th International Conference on Field and Service Robotics (FSR 2011)　General Co-chair

2011/01 - 2011/12
IEEE Robotics and Automation Society　AdCom Member

2008/01 - 2010/12
(社）日本機械学会第87期ロボティクス・メカトロニクス部門　部門長

2009/04 - 2010/03
東北産業活性化センター　ロボット技術を活用した産業振興調査委員会委員長

2009 - 2010
神戸市，　神戸RT構想産業化検討会議委員長

2009 - 2010
文部科学省　私立大学等研究設備整備費等補助金等に係る選定委員会委員

2008 - 2010
2009 IEEE International Conference on Robotics and Automation (ICRA2009)　2009 IEEE International Conference on Robotics and Automation (ICRA2009)

2007/01 - 2009/05
(社)日本機会学会第86期出版センター　委員

2008/04 - 2009/03
(社）日本機械学会第86期機素潤滑設計部門アクチュエータシステム技術企画委員会　委員長

2008/04 - 2009/03
(社)日本機械学会 Journal of Advanced Mechanical Design, Systems, and Manufacturing編修委員会（機素潤滑設計部門)　編修委員

2008/04 - 2009/03
(社）日本機械学会第86期ロボティクス・メカトロニクス部門　副部門長

2008/04 - 2009/03
(社）日本機会学会第86期ロボティクス・メカトロニクス部門表彰委員会　委員長

2008/04 - 2009/03
計測自動制御学会　理事

2007/03 - 2009/02
文部科学省　私立大学等研究設備整備費等補助金等に係る選定委員会，委員

2005 - 2009
The RoboCup Federation　Trustee Member

2004 - 2009
2008 IEEE/SICE International Symposium on System Integration (SI International 2008)　General Vice-Chair

2007/01 - 2008/12
2008 IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR2008)　General Chair

2007/01 - 2008/11
計測自動制御学会・国際委員会　副委員長

2007/04 - 2008/03
日本機械学会ロボティクスメカトロニクス部門表彰委員会　副委員長

2007/04 - 2008/03
日本機械学会・機素潤滑設計部門・アクチュエータシステム技術企画委員会　副委員長

2007/04 - 2008/03
計測自動制御学会・国際委員会　副委員長

2007/04 - 2008/03
日本機械学会・ロボティクスメカトロニクス部門・出版委員会　委員長

2007/04 - 2008/03
2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2008)　Program Co-Chair

2007/01 - 2008/03
ロボティクス・メカトロニクス講演会2007 実行委員会　企業展示委員会委員長

2006/03 - 2008/03
神戸市政策提言会議メンバー

2006 - 2008
計測自動制御学会システムインテグレーション部門将来検討委員会　委員長

2006/04 - 2007/03
計測自動制御学会　国際委員会委員

2005/04 - 2007/03
経済産業省　「今年のロボット」大賞（表彰制度）推進委員会，委員

2006 - 2007
文部科学省RR2002大都市大震災軽減化特別プロジェクト　III.被害者救助等の災害対応戦略の最適化，4.レスキューロボット等次世代防災基盤技術の開発，プロジェクトマネージャ

2002 - 2007
SICE-ICCAS　Exhibition Chair

2005/04 - 2006/03
日本機械学会　基礎潤滑設計部門アクチュエータシステム技術企画委員会委員

2005/04 - 2006/03
ICRA2005　Program Committee Member

2004/04 - 2006/03
日本機械学会　ロボティクスメカトロニクス部門講演会2005実行委員長

2003/04 - 2006/03
IEEE Robotics and Automation Society Japan Chapter　Chair

2004/01 - 2005/12
日本ロボット工業会　ロボットプロジェクト検討会委員

2004/04 - 2005/03
日本ロボット学会　評議員

2004/04 - 2005/03
計測自動制御学会・システムインテグレーション部門財務委員会　委員長

2004/04 - 2005/03
ロボティクスシンポジア　運営委員会幹事

2004/04 - 2005/03
IEEE/RSJ International Conference on Intelligent Robots and Systems　Organized Session Chairman

2003/04 - 2005/03
システム制御情報学会　レスキューシステム工学へのロボティクスからのアプローチ研究会委員

1998/08 - 2005/03
RoboCup 2005 Osaka　Organizing Chairman

2003 - 2005
IEEE Robotics and Automation Society, Technical Committee on Safety, Security, and Rescue Robotics　Co-Chair

2001/01 - 2004/12
日本ロボット学会　欧文誌編集委員会委員長

2003/04 - 2004/03
計測自動制御学会　システムインテグレーション部門事業担当運営委員

2003/04 - 2004/03
CIRA2003 Workshop on Advanced Robots and Information Systems for Disaster Response　Co-Organizer

2003/04 - 2004/03
日本ロボット学会　欧文誌担当理事

2002/04 - 2004/03
AIM2003　現地委員長，プログラム委員

2001/04 - 2004/03
CIRA2003　現地委員長，プログラム委員

2001/04 - 2004/03
東京消防庁　消防活動ＲＴ化意見交換会委員

2003 - 2004
ＮＩＲＯ，兵庫県産学官連携ビジネスインキュベート事業レスキュー技術民生利用研究会　委員長

2003 - 2004
日本原子力研究所　防災ロボット評価専門部会委員

2003 - 2004
神奈川県，ＩＲＣ世界の救助センター具体化検討会　会長

2003 - 2004
経済産業省　次世代ロボットビジョンワーキンググループ委員

2003 - 2004
日本機械学会ロボティクス・メカトロニクス部門運営委員会　委員

2000 - 2004
計測自動制御学会　レスキュー工学部会主査

2000/01 - 2003/12
IEEE International Conference on Robotics and Automation　Program Committee Member

1998/01 - 2003/12
日本ロボット学会　電子化運営委員会委員

2002/04 - 2003/03
日本ロボット学会　国際化検討委員会委員

2002/04 - 2003/03
日本ロボット学会　表彰委員会委員

2002/04 - 2003/03
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SI2002実行委員長

2001/04 - 2003/03
IEEE Robotics and Automation Society　Japan Chapter, Vice-chairman

2002 - 2003
NHKアイデア対決ロボットコンテスト高専部門近畿大会　審査委員長

1998 - 2003
日本ロボット学会　評議員

2000/04 - 2002/03
文部科学省研究開発局防災科学技術推進室　文部科学省研究開発局防災科学技術推進室主催，防災分野の研究開発に関する懇談会委員

2001/04 - 2001/05
ロボット創造国際競技会技術部会　委員

1999/04 - 2001/03
The RoboCup Federation,　RoboCupRescue Simulation League Chairman

2000 - 2001
ロボティクスシンポジア　実行副委員長

1999/04 - 2000/03
IEEE/RSJ International Conference on Intelligent Robots and Systems　Special Session Chairman

1999/04 - 2000/03
2000 Japan-USA Symposium on Flexible Automation　Program Committee Member, Organizing Committee Member

1999/04 - 2000/03
ICMA2000　実行委員

1999/04 - 2000/03
つくば科学万博記念財団　調査・企画委員会委員

1999 - 2000
IFToMM TC Computational Kinematics　委員

1998/01 - 1999/12
ロボティクスメカトロニクス講演会99　実行委員

1998/08 - 1999/07
ロボティクスシンポジア　プログラム委員長

1998/06 - 1999/05
ロボット教育問題研究会　委員

1998/04 - 1999/03
計測自動制御学会ロボティクス部会　委員

1993/04 - 1999/03
システム制御情報学会IFA研究分科会　幹事

1992/04 - 1998/03
日本機械学会　ロボティクスメカトロニクス部門総務委員会幹事

1996/04 - 1997/03
日本機械学会　ロボティクスメカトロニクス部門運営委員会委員

1996/04 - 1997/03
IEEE/RSJ International Conference on Intelligent Robots and Systems　出版委員長

1995/04 - 1997/03
日本機械学会　ロボティクスメカトロニクス部門第5技術委員会副委員長

1995/04 - 1997/03
日本機械学会　ロボティクスメカトロニクス部門レスキューロボット機器研究会幹事

1995/10 - 1996/11
日本機械学会　ロボティクスメカトロニクス部門幹事

1995/04 - 1996/03
Japan-USA Symposiun on Flexible Automation 1996　プログラム委員

1995/04 - 1996/03
日本機械学会　ロボティクスメカトロニクス部門部門賞学会賞推薦委員会副委員長

1995/04 - 1996/03
大阪科学技術センター　熟達マシンシステム開発研究委員会幹事会委員

1994/04 - 1996/03
日本ロボット学会　会誌編集委員

1994/04 - 1996/03
精密工学会　校閲委員

1994/04 - 1996/03
日本機械学会ロボティクスメカトロニクス部門第5技術委員会　幹事

1993/04 - 1995/03
日本ロボット学会　学会誌査読委員

1992/10 - 1995/03
計測自動制御学会関西支部　幹事

1992/02 - 1995/01
日本機械学会　ロボティクス・メカトロニクス講演会'94 実行副委員長

1993/09 - 1994/08
Japan-U.S.A. Symposium on Flexible Automation　実行委員

1993/01 - 1994/06
熟達マシンシステム研究　タスクフォース委員

1993/04 - 1994/03
日本ロボット学会パラレルメカニズム研究専門委員会　委員

1991/01 - 1992/12
IMACS/SICE International Symposium on Robotics, Mechatronics and Manufacturing Systems　実行委員、会計・受付登録委員長

1991/01 - 1992/12
(財)京都高度技術研究所メカトロニクス研究会　インテリジェント・マシン・システム研究部会委員

1990/11 - 1991/10
IEEE/RSJ International Workshop on Intelligent Robots and Systems　実行委員・プログラム委員

1990/10 - 1991/09
IEEE/RSJ International Conference on Robots and Systems　Award Committee Chair

2013 -
最先端・次世代研究開発支援プログラム審査委員

2010 -
総務省（三菱総合研究所）　災害低減戦略フォーラム専門委員会（DiMS），社会・文化リスクマネジメント専門委員会，委員

2008 -
日本機械学会　船井賞選考委員

2007 -
日本学術振興会　科学研究費委員会審査委員

2007 -
石油天然ガス・金属鉱物資源機構（JOGMEC）　業際型石油天然ガス開発技術動向研究会，委員

2007 -
日本機械学会　ロボティクスメカトロニクス部門企画委員会委員

2007 -
石油天然ガス・金属鉱物資源機構（JOGMEC）　石油天然ガス探鉱開発長期技術動向研究会，委員

2006 -
特許庁（三菱総合研究所受託），　平成18年度特許出願技術動向調査（ロボット）委員会，委員

2006 -
ロボット工業会　次世代ロボット技術環境構造化調査研究専門委員会，委員

2006 -
ロボット工業会　安全・安心のためのセキュリティロボットシステムに関する調査研究専門委員会，委員

2006 -
日本国際問題研究所　化学剤による特殊災害に対応するための装備等に関する検討プロジェクト検討委員会，委員

2006 -
IEEE/RSJ International Conference on Robots and Systems, PC Co-Chair　PC Co-Chair

2006/01 -
ロボット工業会　ＲＴアーキテクチャオープン化調査研究専門委員会・アプリケーション検討ＷＧ委員

2005 -
製造科学技術センター　次世代ロボット技術戦略マップローリングワーキンググループ，特殊環境ロボット委員長

2005 -
製造科学技術センター　次世代ロボット技術戦略マップ検討委員会，委員

2004 -
神戸21世紀サロン委員

2003 -
総務省消防庁，消防・防災ロボットあり方研究会　委員

2003 -
福岡市，科学技術振興ビジョン委員会　委員

2002 -
特定非営利活動法人国際レスキューシステム研究機構　神戸ラボラトリーリーダー

2002 -
神戸市ブレインセンター研究会委員

2002 -
神奈川県，国際レスキューコンプレックス構想検討ワーキンググループ　委員長

2002 -
神奈川県，国際レスキューコンプレックス構想検討委員会　委員

2002 -
NHKアイデアロボットコンテスト　大学部門審判

1995/09 -
NHKアイデアロボットコンテスト　大学部門審判

1994/09 -

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Professional Memberships 11

日本地震工学会
日本自然災害学会
精密工学会
日本ロボット学会
計測自動制御学会
IEEE
地域安全学会
人工知能学会
日本バーチャルリアリティ学会
日本機械学会
日本災害情報学会

︎Show all ︎Show first 5

Research Interests 31

rescue robot
ロボット
ICPFアクチュエ-タ
高分子ゲルアクチュエ-タ
メカトロニクス
アクチュエータ
冗長駆動
マニピュレータ
触感ディスプレイ
ワイヤ駆動
バーチャルリアリティ
モデリング
分布駆動
機構設計
ケーブル駆動
パラレルメカニズム
ソフトメカニクス
災害救助
分布型アクチュエ-タ
超高速ロボット
能動索状体
探査ロボット
マイクロマニピュレ-ション
都市直下地震災害
制御系設計
再構成可能
振動駆動
人間
アクティブテザー
テンドン駆動
IPMC

Research Areas 4

Informatics / Mechanics and mechatronics /
Informatics / Robotics and intelligent systems /
Manufacturing technology (mechanical, electrical/electronic, chemical engineering) / Measurement engineering /
Informatics / Intelligent informatics /

Awards 80

The Robotics Society of Japan 2016 Best Parper Award

2016/09/08　The Robotics Society of Japan　Advanced Robotics Vol.29.No.1,2015に掲載された論文「Posture estimation of hose-shaped robot by using active microphone array」に対して
ICIRA2016 Best Student Paper Award

2016/08/24　The 9th International Conference on Intelligent Robotics and Applications(ICIRA 2016)　ICIRA2016で発表した「Can Haptic Feedback Improve Gesture Recognition in 3D Handwriting Systems?」に対して
SI2015優秀講演賞

2015/12/16　第16回公益社団法人計測自動制御学会システムインテグレーション部門講演会　SI2015発表論文「連結差動切り替え機構を有する球形ケーブル移動体の開発」に対して
SI2015優秀講演賞

2015/12/16　第16回公益社団法人計測自動制御学会システムインテグレーション部門講演会　SI2015発表論文「全方向なじみ変形グリッパ機構」に対して
SI2014優秀講演賞

2014/12/14　第15回公益社団法人計測自動制御学会システムインテグレーション部門講演会　「空気噴射機構を搭載した能動スコープカメラの開発」に対して
SI2014優秀講演賞

2014/12/14　第15回公益社団法人計測自動制御学会システムインテグレーション部門講演会　「歩行時の下肢に伝播する振動を用いた瞳接地とつま先離地の検出」に対して
RSJ/SICE AWARD for IROS2014 BEST PAPER Finalist

2014/09/17　IEEE/RSJ IROS 2014　IROS2014で発表した「Remote Vertical Exploration by Active Scope Camera into Collapsed Buildings」に対して
2014 IEEE Haptics Symposium Best Demo Award

2014/02/26　2014 IEEE Haptics Symposium　"Presenting Virtual Stiffness with Suction Pressure," D05, 2014 IEEE Haptics Symposium, Houston, Feb. 23-26, 2014に対して
計測自動制御学会システムインテグレーション部門賞学術業績賞

2013/12/16　計測自動制御学会システムインテグレーション部門　「災害対応ロボティクス技術の発展に対する寄与」に対して
ロボカップ世界大会レスキューロボットリーグ5位

2013/06/30　RoboCupFederation
RoboCupRescue Innovation Award

2013/06/30　RoboCupFederation
SI2012優秀講演賞

2012/12/20　計測自動制御学会　SI2012で発表した「被災建物内探査ロボットのための薄型で耐衝撃性を有する接触力センサの開発」に対して
日本ロボット学会Fellow

2012/09　日本ロボット学会
日本機械学会ロボティクスメカトロニクス部門ROBOMEC表彰

2012/05/28　日本機械学会ロボティクスメカトロニクス部門　能動スコープカメラのためのインチウォーム駆動と振動区道の走行性能評価，日本機械学会ロボティクスメカトロニクス講演会2011（ROBOMEC2011）A2-J07, に対して
第7回競基弘賞特別賞

2012/01/21　特定非営利活動法人国際レスキューシステム研究機構競基弘賞委員会
SI2011優秀講演賞

2011/12/25　計測自動制御学会システムインテグレーション部門　（第12回計測自動制御学会システムインテグレーション部門講演会発表論文「人体の振動伝播に基づくインピーダンス知覚仮説第1報：筋活動が振動伝播に及ぼす影響」に対して）
SI2011優秀講演賞

2011/12/25　計測自動制御学会システムインテグレーション部門　第12回計測自動制御学会システムインテグレーション部門講演会発表論文「振動刺激の重畳を用いた表面形状呈示」に対して
感謝状

2011/12/02　東京電力　レスキューロボットQuinceによる福島原発対応に対して
SSRR2011 Best Paper Finalist

2011/11　2011 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR2011)　Use of Remotely Operated Marine Vehicles at Minamisanriku and Rikuzentakata Japan for Disaster Recovery, 2011 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR2011),2011）に対して
SSRR2011 Best Paper Finalist

2011/11　2011 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR2011)　Robotic Control Vehicle for Measuring Radiation in Fukushima Daiichi Nuclear Power Plant, 2011 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR2011),2011）に対して
計測自動制御学会Fellow

2011/09/15　計測自動制御学会
日本ロボット学会ロボット活用社会貢献賞

2011/09/08　日本ロボット学会
日本ロボット学会研究奨励賞

2011/09　日本ロボット学会　第15回ロボティクスシンポジアで発表した「３次元環境地図を用いた自由空間観測モデルによる未知物体にロバストな自己位置推定に対して
日本機械学会ロボティクスメカトロニクス部門功績賞

2011/05/27　日本機械学会ロボティクスメカトロニクス部門
感謝状

2011/05　経済産業大臣　経済産業大臣海江田万里より，東日本大震災への災害支援に対して
日本機械学会基礎潤滑設計部門業績賞

2011/04/26　日本機械学会基礎潤滑設計部門
ロボティクスシンポジア優秀論文賞

2011/03/14　計測自動制御学会　力の錯覚：指先への振動触刺激による質量・粘性知覚のバイアス，第１６回ロボティクスシンポジアに対して
SI2009優秀講演賞

2010/12/26　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　自律と操縦に対応した移動ロボット用RTCの開発 - 第14報：屋外自律移動システムのRT-Middlewareによる分散処理-，第10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(SI2009)に対して
SII2010 Best Paper Award Finalist

2010/12/22　SICE System Integration Division, IEEE Robotics and Automation Society, IEEE Industrial Electronics Society　Vision-based localization using active scope camera - Accuracy evaluation for structure from motion in disaster environment-, Proc. 2010 IEEE/SICE International Symposium on System Integration, 2010に対して
SII2010 Best Paper Award Finalist

2010/12/22　SICE System Integration Division, IEEE Robotics and Automation Society, IEEE Industrial Electronics Society　Real-time prediction of fall and collision of tracked vehicle for remote-control support, Proc. 2010 IEEE/SICE International Symposium on System Integration, 2010に対して
Journal of Robotics and Mechatronics優秀論文賞

2010/04/26　IEEE　Takemura,Ciliary Vibration Drive Mechanism for Active Scope Cameras, Journal of Robotics and Mechatronics, Vol.20, No.3, pp. 490-499, 2009 に対して
2010インタラクティブ発表賞（Vib-Touch：指先による仮想能動触を利用した触力覚インタラクション，に対して）

2010/03/02　情報処理学会　インタラクション2010における展示発表「Vib-Touch: 指先による仮想能動触を利用した触力覚インタラクション」に対して
RTミドルウェアコンテストロボットビジネス推進協議会奨励賞ベストコンセプト賞

2009/12/24　RTミドルウェアコンテストロボットビジネス推進協議会　自律と操縦に対応した移動ロボット用RTCの開発第16報 iPhone を用いた移動ロボットの地図上ナビゲーションに対して
つくば市長賞（つくばチャレンジ完走に対して）

2009/11/21　つくば市　（つくばチャレンジ完走に対して）
SSRR2009 Best Paper Finalist

2009/11　SSRR　Rollover Avoidance Using a Stability Margin for a Tracked Vehicle with Sub-tracks, Proc. SSRR 2009, に対して
ケルン市長感謝状（ケルン公文書館倒壊事故における能動スコープカメラの出動に対して）

2009/10/16　ドイツケルン市　（ケルン公文書館倒壊事故における能動スコープカメラの出動に対して）
日本ロボット学会ロボット活用社会貢献賞

2009/09/16　日本ロボット学会
RoboCup Rescue Robot League Mobility Challenge世界優勝

2009/07　The Robocup Federation
RoboCup Rescue Robot League Autonomous Challenge世界２位

2009/07　The Robocup Federation
RoboCup Rescue Robot League総合世界２位

2009/07　The Robocup Federation
RoboCup Rescue Robot League Manipualtion Challenge世界優勝

2009/07　The Robocup Federation
日本機械学会機素潤滑設計部門優秀講演賞

2009/06/25　（社）日本機械学会機素潤滑設計部門　（第8回機素潤滑設計部門講演会における発表「単一の揺動振動機構を用いた能動索状体の駆動法」に対して）
日本機械学会ロボティクスメカトロニクス部門ロボメック表彰

2009/05/25　（社）日本機械学会　皮膚感覚提示における時間遅れの影響調査と検知限の同定，第１３回ロボティクスシンポジア，に対して
RoboCup日本大会Rescue Robot League総合３位

2009/05　ロボカップ日本委員会
American Publishers Awards for Professional and Scholary Excellence (PROSE) Award for Excellence in Physical Sciences & Mathematics

2009/02/05　Professional&Scholarly Publishing Division Assocication of American Publishers, Inc.　（Springer Handbook of Robotics, Ed. Bruno Siciliano and Oussama Khatibに対して）
American Publishers Awards for Professional and Scholary Excellence (PROSE) Award for Engineering & Technology

2009/02/05　Professional&Scholarly Publishing Division Assocication of American Publishers, Inc.　（Springer Handbook of Robotics, Ed. Bruno Siciliano and Oussama Khatibに対して）
IEEE Fellow, for leadership in the development and deployment of rescue robotics

2009/01/01　IEEE
経済産業省「今年のロボット大賞」優秀賞

2008/12/18　経済産業省　（能動スコープカメラの開発・実用化に対して、国際レスキューシステム研究機構と共同）
SI2008優秀講演賞

2008/12/07　第9回（社）計測自動制御学会システムインテグレーション部門講演会　SI2008での発表「自律と操縦に対応した移動ロボット用RTCの開発ー第8報：安全な長距離自律移動を目的とした能動的センシングシステムー」に対して
SI2008優秀講演賞

2008/12/07　第9回（社）計測自動制御学会システムインテグレーション部門講演会　SI2008での発表「能動スコープカメラの建設現場倒壊事故への適用」に対して
平成20年度建設施工と建設機械シンポジウム優秀ポスター賞

2008/10/17　社団法人日本建設機械化協会　（ポスター展示「能動スコープカメラ：狭路空間の品質検査のために」に対して）
自治体消防制度６０周年記念事業「消防防災ロボット・高度な資機材等」消防庁長官表彰最優秀賞

2008/06/27　消防庁　（能動スコープカメラの研究開発・実用事例に対して, 代表者田所諭）
THE AWARD FOR THE BEST HANDS ON DEMO AT THE EUROHAPTICS 2008 MEETING

2008/06/13　Euro Haptics 2008　（技術展示「Alternative Display of Friction Presented by Tactile Stimulation Without Tangential Force」に対して）
日本機械学会ロボティクスメカトロニクス部門ROBOMEC表彰

2008/06/06　（社）日本機械学会ロボティクス・メカトロニクス部門　（第12回ロボティクスシンポジア論文「表面波長の実時間推定に基づく粗さ感伝達システムの研究」に対して）
第13回ロボティクスシンポジア優秀論文賞

2008/03/16　（共同主催：日本ロボット学会，日本機械学会（ロボティクスメカトロニクス部門），計測自動制御学会　（発表論文「皮膚感覚呈示における時間遅れの影響調査と検知限の同定」に対して）
第三回競基弘賞学術貢献賞

2008/01/16　NPO法人国際レスキューシステム研究機構
日本バーチャルリアリティ学会論文賞

2007/09/20　日本バーチャルリアリティ学会　昆陽雅司，中本雅崇，前野隆司，田所諭，ICPFアクチュエータを用いたヒト指腹部への分布振動刺激に基づく把持力調整反射の誘発，日本バーチャルリアリティー学会論文誌11巻1号，pp. 3-10, 2006，に対して
RoboCup 2007 Atlanta Rescue Robot League Mobility Challenge Champion

2007/07/08　The RoboCup Federation
RoboCupRescue Robot League SICE International Award

2007/07/08　Society of Instrumentation and Control Engineers
RoboCup 2007 Atlanta Rescue Robot League 2nd Place

2007/07/08　The RoboCup Federation
日本機械学会ロボティクス・メカトロニクス部門一般表彰（ROBOMEC表彰）

2007/05/11　日本機械学会ロボティクスメカトロニクス部門　「人指模倣型触覚センサを用いた触感因子の実時間抽出法」, ROBOMEC2006に対して
日本機械学会船井賞

2007/03/22　日本機械学会　レスキューロボットの学術分野創成，に対して
IEEE Robotics and Automation Society and Region 10, Cetrificate of Appreciation

2007/01/01　IEEE Robotics and Automation Society　Notable services and contributions as Chair of Robotics and Automation Chapter Japan Council 2004-2005
SI2006優秀講演賞

2006/12/16　SI2006プログラム委員会　「HELIOS Carrier連結用受動関節アームの開発」に対して
計測自動制御学会システムインテグレーション部門研究奨励賞

2006/12/15　計測自動制御学会システムインテグレーション部門　前野隆司，昆陽雅司，中本雅宗，田所諭，どのような閾下分布触覚刺激がヒト指の把持力調整反射を誘発するか？，第１１回ロボティクスシンポジアに対して
日本バーチャルリアリティ学会学術奨励賞（技術展示部門）（「低周波振動刺激を用いた圧覚ディスプレイの開発」展示，に対して）

2006/12/11　日本バーチャルリアリティ学会
日本AEM学会著述賞（アクチュエータ工学，養賢堂，の執筆に対して）

2006/11/01　日本AEM学会
IEEE Senior Member

2006/08/16　IEEE
日本機械学会ロボティクスメカトロニクス部門部門貢献表彰（ロボティクス・メカトロニクス講演会'05（ROBOMEC2005）実行委員長としての貢献について）

2006/05/27　日本機械学会ロボティクスメカトロニクス部門
ロボカップジャパンオープンレスキューロボットリーグ２位

2006/05/03　ロボカップ日本委員会
第11回ロボティクスシンポジア優秀論文賞

2006/03/16　共同主催：日本ロボット学会，日本機械学会（ロボティクスメカトロニクス部門），計測自動制御学会
日本機械学会ロボティクスメカトロニクス部門学術業績賞

2005/06/10　日本機械学会　レスキューロボットの学術分野創成に対して
JSME Fellow

2005/04/01　日本機械学会　機械工学に関する業績に対して
計測自動制御学会システムインテグレーション部門貢献表彰

2003/12/20　計測自動制御学会　SI2002の実行委員長として講演会の成功（発表者，参加者数の拡大）に貢献
日本バーチャルリアリティ学会論文賞

2002/09/19　日本バーチャルリアリティ学会　高分子ゲルアクチュエータを用いた布の手触り感覚を提示する触感ディスプレイ
日本機械学会ロボティクスメカトロニクス部門ROBOMEC賞

2001/06/08　日本機械学会　第５回ロボティクスシンポジア論文「布の手触り感覚を対象とした触感ディスプレイの研究」
人工知能学会奨励賞

2000/07/04　人工知能学会　ロボカップレスキューに対して
RoboCup Japan Open 2000, JSAI賞

2000/06/25　人工知能学会　ロボカップレスキューシミュレータの研究開発に対して
第５回ロボティクスシンポジア優秀論文賞

2000/03/26　ロボティクスシンポジア　「布の手触り感覚を対象とした触感ディスプレイの研究」
油空圧技術振興財団賞

1993/07/20　油空圧技術振興財団　直動型空気圧アクチュエータのタイム・ディレイ・コントロール、油圧と空気圧, Vol. 23, No. 4

Show all ︎Show 5

Papers 664

Tube Mechanism for Positively Pressurized Variable Stiffness by Lever and Wire

Issei Onda, Masahiro Watanabe, Kenjiro Tadakuma, Kazuki Abe, Satoshi Tadokoro

IEEE Robotics and Automation Letters　10　(3)　2606-2613　2025/03
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI： 10.1109/lra.2025.3528183 　

eISSN： 2377-3766 2377-3774
Poloidal Drive: Direct-Drive Transmission Mechanism for Active Omni-Wheels With Spoke Interference Avoidance

Shunsuke Sano, Kenjiro Tadakuma, Ryotaro Kayawake, Masahiro Watanabe, Kazuki Abe, Yuto Kemmotsu, Satoshi Tadokoro

IEEE Robotics and Automation Letters　10　(2)　1824-1831　2025/02
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI： 10.1109/lra.2024.3524885 　

eISSN： 2377-3766 2377-3774
Rapid Soil Surface Reinforcement Method Using Flour for Soft Ground in Disaster Response Robotics

Shotaro Kojima, Kazunori Ohno, Takaaki Nara, Tomoaki Satomi, Hiroshi Takahashi, Satoshi Tadokoro

2024 IEEE International Symposium on Safety Security Rescue Robotics (SSRR)　237-242　2024/11/12
Publisher: IEEE
DOI： 10.1109/ssrr62954.2024.10770058 　
Region of Interest Loss for Anonymizing Learned Image Compression

Christoph Liebender, Ranulfo Bezerra, Kazunori Ohno, Satoshi Tadokoro

2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)　3569-3576　2024/08/28
Publisher: IEEE
DOI： 10.1109/case59546.2024.10711721 　
Gravity Compensation Mechanism Inspired by Sauropods’ Skeleton

Ryotaro Kayawake, Kazuki Abe, Masahiro Watanabe, Kenjiro Tadakuma, Satoshi Tadokoro

2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)　1272-1277　2024/07/15
Publisher: IEEE
DOI： 10.1109/aim55361.2024.10637138 　
Effectiveness of canine training using suit-mounted feeder

Shoichi Nezu, Kazunori Ohno, Shotaro Kojima, Ranulfo Bezerra, Miho Nagasawa, Takufumi Kikusui, Satoshi Tadokoro

Advanced Robotics　1-11　2024/07/11
Publisher: Informa UK Limited
DOI： 10.1080/01691864.2024.2365301 　

ISSN： 0169-1864

eISSN： 1568-5535
Dish-Shaped Thin Beads: A Novel Bead Shape for Wire-Driven Variable Stiffness Mechanisms Peer-reviewed

Haruto Miida, Masahiro Watanabe, Kenjiro Tadakuma, Kazuki Abe, Issei Onda, Satoshi Tadokoro

2024 IEEE 7th International Conference on Soft Robotics (RoboSoft)　629-636　2024/04/14
Publisher: IEEE
DOI： 10.1109/robosoft60065.2024.10522015 　
Stereohaptic Vibration: Out-of-Body Localization of Virtual Vibration Source Through Multiple Vibrotactile Stimuli on the Forearms.

Gen Ohara, Daiki Kikuchi, Masashi Konyo, Satoshi Tadokoro

IEEE Trans. Haptics　17　(1)　86-91　2024

DOI： 10.1109/TOH.2024.3357574 　
Representing Fine Texture of Pencil Hardness by High-Frequency Vibrotactile Equivalence Conversion Using Ultra-Thin PZT-MEMS Vibrators.

Masamune Waga, Toru Matsubara, Masashi Konyo, Toshihiro Takeshita, Yusuke Takei, Takeshi Kobayashi, Satoshi Tadokoro

IEEE Trans. Haptics　17　(1)　8-13　2024

DOI： 10.1109/TOH.2023.3349307 　
Balloon Pin-Array Gripper: Two-Step Shape Adaptation Mechanism for Stable Grasping Against Object Misalignment

Yuto Kemmotsu, Kenjiro Tadakuma, Kazuki Abe, Masahiro Watanabe, Satoshi Tadokoro

IEEE Robotics and Automation Letters　1-8　2024
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI： 10.1109/lra.2024.3455850 　

eISSN： 2377-3766 2377-3774
The Inspection System for Wall-like Infrastructures with a PRSS UAV

Zitong Han, Yoshito Okada, Kazunori Ohno, Satoshi Tadokoro

Journal of the Robotics Society of Japan　42　(1)　57-63　2024
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.42.57 　

ISSN： 0289-1824

eISSN： 1884-7145
Hyperboloidal Pneumatic Artificial Muscle with Braided Straight Fibers

Masahiro Watanabe, Kenjiro Tadakuma, Satoshi Tadokoro

IEEE Robotics and Automation Letters　1-8　2024
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI： 10.1109/lra.2024.3377565 　

eISSN： 2377-3766 2377-3774
Development of a remotely controllable 4 m long aerial-hose-type firefighting robot

Yu Yamauchi, Yukihiro Maezawa, Yuichi Ambe, Masashi Konyo, Kenjiro Tadakuma, Satoshi Tadokoro

Frontiers in Robotics and AI　10　2023/12/22
Publisher: Frontiers Media SA
DOI： 10.3389/frobt.2023.1273676 　

eISSN： 2296-9144

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In a fire outbreak, firefighters are expected to rapidly extinguish fires to stop the spread of damage and prevent secondary disasters. We proposed the concept of a dragon firefighter (DFF), which is a flying-hose-type firefighting robot. We developed a 3.6 m long DFF equipped with two nozzle units and achieved stable flight. However, the system was not yet completed because the root of the robot, which should have been operated remotely, was operated manually. In addition, the system’s reliability was insufficient to successfully repeat the demonstration several times. The development of a robot demonstration system is crucial for the practical application of such a firefighting robot. In this study, we developed a demonstration system for a remotely controllable 4 m flying firehose robot for demonstration at the World Robot Summit 2020 (WRS 2020) opening ceremony in Fukushima as a milestone. This paper focuses on the following issues: 1): installation of the remotely controllable mobile base, 2): redesign of the water channels (the sizes of nozzle outlets) to get enough thrusts to fly with a fire engine, 3): development of nozzle units with a larger movable range (1.5 times larger than the conventional nozzle) in addition to waterproofing technique to improve system reliability, and 4): redesign of a passive damping mechanism to ensure better stability. Thus, a firefighting demonstration was successfully conducted at the opening ceremony of the World Robot Summit 2020 in Fukushima, Japan, and we discuss the lessons learned through the demonstration. We found that the developed DFF system incorporating a mobile base could achieve remote fire extinguishing.
Air-Jet Levitation of Continuum Robots: Stable Head Floating by Passive Thrust Vectoring for Enhancing Mobility

Yuichi Ambe, Shuta Kamio, Yu Yamauchi, Masashi Konyo, Kenjiro Tadakuma, Shigenao Maruyama, Satoshi Tadokoro

Journal of Intelligent & Robotic Systems　109　(2)　2023/09/30
Publisher: Springer Science and Business Media LLC
DOI： 10.1007/s10846-023-01964-6 　

ISSN： 0921-0296

eISSN： 1573-0409

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Abstract Flexible, continuum-type robots can access narrow spaces in debris areas during search-and-rescue missions. However, their current problem is the lifting capability of the head, which is necessary to surmount the rubble. This study proposes a passive-thrust vectoring method to stabilize head levitation for air-jet-actuated, long, continuum robots, and thus enhance their step-climbing abilities. An air jet can generate a thrust force that is sufficient for head levitation. A critical issue in levitation involves the backward bending of the head without using any air-jet control; however, thrust control is inappropriate because of the delay caused by the long channel. Therefore, the proposed method maintains the thrust direction constant. Sufficient conditions for global stability are derived and confirmed via dynamic simulations. The proposed method is simple and can be mechanically realized with a passive head-bending mechanism, thus contributing to a lightweight design. Experiments demonstrated that the developed air-floating-type, 7-m long robot, can achieve stabilized head levitation, and that the robot can climb a step with a height of 250 mm. Robot demonstrations in rubble justify the robot’s capacity to surmount the rubble. This passive-thrust vectoring method is expected to contribute to the future enhancement of the mobility of continuum robots owing to its simplicity and practicality.
Permanent-Magnetically Amplified Robotic Gripper With Less Clamping Width Influence on Compensation Realized by a Stepless Width Adjustment Mechanism

Tori Shimizu, Kenjiro Tadakuma, Masahiro Watanabe, Kazuki Abe, Masashi Konyo, Satoshi Tadokoro

IEEE Robotics and Automation Letters　8　(2)　736-743　2023/02
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI： 10.1109/lra.2022.3224664 　

eISSN： 2377-3766 2377-3774
Anomaly Detection in LiDAR Data Using Virtual and Real Observations

Keiichiro Hattori, Ranulfo Bezerra, Shotaro Kojima, Yoshito Okada, Kazunori Ohno, Shintaro Ishihara, Kenji Sawada, Satoshi Tadokoro

2023 21st International Conference on Advanced Robotics, ICAR 2023　191-198　2023

DOI： 10.1109/ICAR58858.2023.10406443 　
Fast and Accurate Simulation of Mecanum Wheels with Passive Rollers Emulated by Fixed Joints and Anisotropic Friction

Yoshito Okada, Kazuya Oguma, Kenta Gunji, Yoshiki Yokota, Hanif Aryadi, Shotaro Kojima, Ranulfo Bezerra, Masashi Konyo, Kazunori Ohno, Satoshi Tadokoro

2023 21st International Conference on Advanced Robotics, ICAR 2023　592-598　2023

DOI： 10.1109/ICAR58858.2023.10406382 　
MoCArU: Low-Cost Wireless Portable Robot Localization System Using IoT

Rawin Assabumrungrat, Ranulfo Bezerra, Iuri Barros, Shotaro Kojima, Yoshito Okada, Masashi Konyo, Kazunori Ohno, Satoshi Tadokoro

Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics　3458-3465　2023

DOI： 10.1109/SMC53992.2023.10394661 　

ISSN： 1062-922X
Redundant Voronoi Roadmap Graph Using Imaginary Obstacles for Multi-Robot Path Planning

Hanif A. Aryadi, Ranulfo Bezerra, Kazunori Ohno, Kenta Gunji, Shotaro Kojima, Masao Kuwahara, Yoshito Okada, Masashi Konyo, Satoshi Tadokoro

Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics　1772-1779　2023

DOI： 10.1109/SMC53992.2023.10393983 　

ISSN： 1062-922X
Multi-Agent Pickup and Delivery in Transformable Production

Hanif A. Aryadi, Ranulfo Bezerra, Kazunori Ohno, Kenta Gunji, Shotaro Kojima, Masao Kuwahara, Yoshito Okada, Masashi Konyo, Satoshi Tadokoro

IEEE International Conference on Automation Science and Engineering　2023-August　2023

DOI： 10.1109/CASE56687.2023.10260587 　

ISSN： 2161-8070

eISSN： 2161-8089
LayoutSLAM++: Simultaneous Estimation of Layout and Object Map Based on Geometric Features of Object Placement

Kenta Gunji, Kazunori Ohno, Ranulfo Bezerra, Shotaro Kojima, Hanif Aryadi, Yoshito Okada, Masao Kuwahara, Masashi Konyo, Satoshi Tadokoro

IEEE International Conference on Automation Science and Engineering　2023-August　2023

DOI： 10.1109/CASE56687.2023.10260535 　

ISSN： 2161-8070

eISSN： 2161-8089
Heterogeneous Multi-Robot Task Allocation for Garment Transformable Production using Deep Reinforcement Learning

Ranulfo Bezerra, Kazunori Ohno, Shotaro Kojima, Hanif A. Aryadi, Kenta Gunji, Masao Kuwahara, Yoshito Okada, Masashi Konyo, Satoshi Tadokoro

IEEE International Conference on Automation Science and Engineering　2023-August　2023

DOI： 10.1109/CASE56687.2023.10260437 　

ISSN： 2161-8070

eISSN： 2161-8089
Wearable High-Resolution Haptic Display Using Suction Stimuli to Represent Cutaneous Contact Information on Finger Pad.

Natsumi Morita, Akio Ichijo, Masashi Konyo, Haruki Kato, Kazuya Sase, Hikaru Nagano, Satoshi Tadokoro

IEEE Transactions on Haptics　16　(4)　687-694　2023

DOI： 10.1109/TOH.2023.3280391 　
Folded, Articulated Manipulator with Inflatable Skin Enabling Bending and Extension Using a Tension Cutoff Mechanism.

Yuto Yoshimoto, Tomoya Takahashi, Kazuki Abe, Masahiro Watanabe, Kenjiro Tadakuma, Syunsuke Sano, Satoshi Tadokoro

CASE　1-8　2023

DOI： 10.1109/CASE56687.2023.10260421 　
Translational Disturbance Rejection for Jet-Actuated Flying Continuum Robots on Mobile Bases

Yukihiro Maezawa, Yuichi Ambe, Yu Yamauchi, Masashi Konyo, Kenjiro Tadakuma, Satoshi Tadokoro

IEEE Robotics and Automation Letters　1-8　2023
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI： 10.1109/lra.2023.3318189 　

eISSN： 2377-3766 2377-3774
Tube Mechanism with 3-axis Rotary Joints Structure to Achieve Variable Stiffness Using Positive Pressure

Issei Onda, Masahiro Watanabe, Kenjiro Tadakuma, Kazuki Abe, Satoshi Tadokoro

IEEE Robotics and Automation Letters　1-8　2023
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI： 10.1109/lra.2023.3234767 　

eISSN： 2377-3766 2377-3774
Consideration of the contribution of operating a firefighting robot system for large fires to prevent COVID-19 infection among firefighters

Jun Fujita, Hisanori Amano, Kazunori Ohno, Satoshi Tadokoro

Advanced Robotics　37　(8)　518-527　2022/12/15
Publisher: Informa UK Limited
DOI： 10.1080/01691864.2022.2155490 　

ISSN： 0169-1864

eISSN： 1568-5535
Development of a continuum robot enhanced with distributed sensors for search and rescue

Yu Yamauchi, Yuichi Ambe, Hikaru Nagano, Masashi Konyo, Yoshiaki Bando, Eisuke Ito, Solvi Arnold, Kimitoshi Yamazaki, Katsutoshi Itoyama, Takayuki Okatani, Hiroshi G. Okuno, Satoshi Tadokoro

ROBOMECH Journal　9　(1)　2022/12
Publisher: Springer Science and Business Media LLC
DOI： 10.1186/s40648-022-00223-x 　

eISSN： 2197-4225

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Abstract Continuum robots can enter narrow spaces and are useful for search and rescue missions in disaster sites. The exploration efficiency at disaster sites improves if the robots can simultaneously acquire several pieces of information. However, a continuum robot that can simultaneously acquire information to such an extent has not yet been designed. This is because attaching multiple sensors to the robot without compromising its body flexibility is challenging. In this study, we installed multiple small sensors in a distributed manner to develop a continuum-robot system with multiple information-gathering functions. In addition, a field experiment with the robot demonstrated that the gathered multiple information has a potential to improve the searching efficiency. Concretely, we developed an active scope camera with sensory functions, which was equipped with a total of 80 distributed sensors, such as inertial measurement units, microphones, speakers, and vibration sensors. Herein, we consider space-saving, noise reduction, and the ease of maintenance for designing the robot. The developed robot can communicate with all the attached sensors even if it is bent with a minimum bending radius of 250 mm. We also developed an operation interface that integrates search-support technologies using the information gathered via sensors. We demonstrated the survivor search procedure in a simulated rubble environment of the Fukushima Robot Test Field. We confirmed that the information provided through the operation interface is useful for searching and finding survivors. The limitations of the designed system are also discussed. The development of such a continuum robot system, with a great potential for several applications, extends the application of continuum robots to disaster management and will benefit the community at large.
Cooperative Towing by Multi-Robot System That Maintains Welding Cable in Optimized Shape

Ryota Suzuki, Yoshito Okada, Yoshiki Yokota, Tatsuyoshi Saijo, Haruhiko Eto, Yuya Sakai, Kenichi Murano, Kazunori Ohno, Kenjiro Tadakuma, Satoshi Tadokoro

IEEE Robotics and Automation Letters　7　(4)　11783-11790　2022/10
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI： 10.1109/lra.2022.3183529 　

eISSN： 2377-3766 2377-3774
Experimental Study of the Mechanical Properties of a Spherical Parallel Link Mechanism With Arc Prismatic Pairs

Naoto Saiki, Kenjiro Tadakuma, Masahiro Watanabe, Kazuki Abe, Masashi Konyo, Satoshi Tadokoro

IEEE Robotics and Automation Letters　7　(4)　11221-11227　2022/10/01

DOI： 10.1109/LRA.2022.3192760 　

eISSN： 2377-3766
Heterogeneous robots coordination for industrial plant inspection and evaluation at World Robot Summit 2020

Shotaro Kojima, Tomoya Takahashi, Ranulfo Bezerra, Takaaki Nara, Masaki Takahashi, Naoto Saiki, Kenta Gunji, Pongsakorn Songsuroj, Ryota Suzuki, Kotaro Sato, Zitong Han, Kagetora Takahashi, Yoshito Okada, Masahiro Watanabe, Kenjiro Tadakuma, Kazunori Ohno, Satoshi Tadokoro

Advanced Robotics　36　(21)　1-18　2022/08/26
Publisher: Informa UK Limited
DOI： 10.1080/01691864.2022.2111230 　

ISSN： 0169-1864

eISSN： 1568-5535
HueCode2: An Illumination-Robust Meta-Marker Overlaying Multiple Fiducial Markers using Optimal Color Scheme

Yoshiki Yokota, Daiki Fujikura, Yoshito Okada, Kazunori Ohno, Kenjiro Tadakuma, Satoshi Tadokoro

2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)　2022/08/20
Publisher: IEEE
DOI： 10.1109/case49997.2022.9926583 　
Heterogeneous Multi-Robot Task Scheduling Heuristics for Garment Mass Customization

Ranulfo Bezerra, Kazunori Ohno, Shotaro Kojima, Hanif A. Aryadi, Kenta Gunji, Masao Kuwahara, Yoshito Okada, Masashi Konyo, Satoshi Tadokoro

2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)　2022/08/20
Publisher: IEEE
DOI： 10.1109/case49997.2022.9926509 　
Novel exterior cover design for radiant heat resistance of firefighting robots in large-scale petrochemical complex fires

Jun Fujita, Yoshihiro Tamura, Hisanori Amano, Kazunori Ohno, Satoshi Tadokoro

ROBOMECH Journal　9　(1)　2022/05/26
Publisher: Springer Science and Business Media LLC
DOI： 10.1186/s40648-022-00229-5 　

eISSN： 2197-4225

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Abstract Fires in petrochemical complexes are inaccessible because of the intense radiant heat from flames. Therefore, water cannon robots require radiant heat countermeasures to perform firefighting safely. Conventional radiant heat countermeasures employ a self-spraying method, wherein the water cannon robot requires a water tank of capacity 1.5 m³ (= 1500 L) to function for 7–8 min in an environment with a 20 kW/m² radiation heat. However, the water cannon robot has size limitations because it is transported on one transport vehicle (10 t truck) to the site, and only a tank of capacity ~ 0.02 m³ can be installed on the robot. To overcome these drawbacks, this study proposes a method that utilizes a mountable radiant heat-resistant exterior cover that works with a small amount of water. The cover is made of radiant heat-shielding fireproof clothing with an aluminum coating that reflects 90% of the radiant heat on the surface and a mist nozzle that sprays water on the back surface. The remaining 10% is removed by the heat of vaporization of water sprayed on the back of the clothing and natural convection. The amount of water required for cooling was reduced to 1/80th of that compared to self-spraying because of the use of the developed cover. The proposed method of radiation reflection via vaporization and natural convection can be employed to protect firefighting robots.
Active Autorotation of Micro Aerial Vehicle with Foldable Winged Shell for Impact Mitigation during Free Fall

Quek Ching Alvin, Kazunori Ohno, Yoshito Okada, Daiki Fujikura, Satoshi Abe, Masaki Takahashi, Zitong Han, Satoshi Tadokoro

2022 International Conference on Robotics and Automation (ICRA)　2022/05/23
Publisher: IEEE
DOI： 10.1109/icra46639.2022.9812294 　
Electrocardiogram Measurement and Emotion Estimation of Working Dogs

Kazunori Ohno, Kotaro Sato, Ryunosuke Hamada, Takatomi Kubo, Kazushi Ikeda, Miho Nagasawa, Takefumi Kikusui, Sandeep Kumar Nayak, Shotaro Kojima, Satoshi Tadokoro

IEEE Robotics and Automation Letters　7　(2)　4047-4054　2022/04
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI： 10.1109/lra.2022.3145590 　

eISSN： 2377-3766 2377-3774
Highly Articulated Tube Mechanism With Variable Stiffness and Shape Restoration Using a Pneumatic Actuator

Issei Onda, Kenjiro Tadakuma, Masahiro Watanabe, Kazuki Abe, Tetsuyou Watanabe, Masashi Konyo, Satoshi Tadokoro

IEEE Robotics and Automation Letters　7　(2)　3664-3671　2022/04
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI： 10.1109/lra.2022.3147246 　

eISSN： 2377-3766 2377-3774
LayoutSLAM: Object Layout based Simultaneous Localization and Mapping for Reducing Object Map Distortion

Kenta Gunji, Kazunori Ohno, Shotaro Kojima, Ranulfo Bezerra, Yoshito Okada, Masashi Konyo, Satoshi Tadokoro

IEEE International Conference on Intelligent Robots and Systems　2022-October　2825-2832　2022

DOI： 10.1109/IROS47612.2022.9981492 　

ISSN： 2153-0858

eISSN： 2153-0866
Autonomous Human Navigation Using Wearable Multiple Laser Projection Suit

Sandeep Kumar Nayak, Kazunori Ohno, Ranulfo Bezerra, Masashi Konyo, Satoshi Tadokoro

SSRR 2022 - IEEE International Symposium on Safety, Security, and Rescue Robotics　53-60　2022

DOI： 10.1109/SSRR56537.2022.10018708 　
Analysis of sediment shape according to sediment type and unloading position using a simulator

YOKOYAMA Shigeru, SAIJO Tatsuyosi, OHNO Kazunori, KOJIMA Shotaro, AKEGAWA Tetsu, SUZUKI Taro, KOMATSU Tomohiro, MIYAMOTO Naoto, SUZUKI Takahiro, SHIBATA Yukinori, ASANO Kimitaka, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　1P1-B02　2022
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2022.1p1-b02 　

eISSN： 2424-3124

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We are trying to automate the work of unloading soil by installing retrofit equipment on large dump trucks. To automate the work, it is necessary to establish a standard for the unloading position. However, no method has been established for determining the optimal unloading position because the unloading of soil is done by the experience and feeling of the operator. To determine the best position, we considered how to unload more soil at the designated unloading location. Using simulator that can represent a variety of soil types, we investigated the relationship between different soil types, unloading position, and the amount and shape of soil piled in the virtual space.
Automatic Earth and Sand Transportation of Large-size 6-Wheel Dump Trucks with 40t Loading Capacity Using Retrofit Technologies

OHNO Kazunori, AKEGAWA Tetsu, KOJIMA Shotaro, YOKOYAMA Shigeru, SUZUKI Taro, KOMATSU Tomohiro, MIYAMOTO Naoto, SUZUKI Takahiro, SHIBATA Yukinori, Asano Kimitaka, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　1P1-B03　2022
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2022.1p1-b03 　

eISSN： 2424-3124

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Against the backdrop of a declining and aging workers and efforts to improve productivity at construction sites, there is a strong demand for automation of construction vehicles. We have developed autonomous dump trucks using retrofit technologies. This paper describes automatic earth and sand transportation of large-size 6 wheel dump trucks in cooperation with a human-operated backhoe. The automation system uses a drone to measure the 3D terrain, a retrofit driving robot and AI to control the dump truck, and sensor boxes to measure the backhoe operation. This achievement contributes to the automation of construction vehicles owned by construction company and rental companies.
Loading an Autonomous Large-Scale Dump Truck: Path Planning Based on Motion Data from Human-Operated Construction Vehicles

Tetsu Akegawa, Kazunori Ohno, Shotaro Kojima, Naoto Miyamoto, Taro Suzuki, Tomohiro Komatsu, Takahiro Suzuki, Yukinori Shibata, Kimitaka Asano, Satoshi Tadokoro

IEEE International Conference on Intelligent Robots and Systems　2022-October　6577-6584　2022

DOI： 10.1109/IROS47612.2022.9981828 　

ISSN： 2153-0858

eISSN： 2153-0866
Radio-Map-Based Flight Planning of Autonomous Repeater Drones for Bridge Inspection.

Yuichi Ambe, Yoshito Okada, Yoshiki Yokota, Satoshi Abe, Fumihide Kojima, Toshiyuki Miyachi, Hiroaki Harai, Hirokazu Sawada, Takeshi Matsumura, Kazunori Ohno, Satoshi Tadokoro

PIMRC　1-6　2022

DOI： 10.1109/PIMRC54779.2022.9977921 　
Fluid Jet Actuated Flying Continuum Robots

Yuichi Ambe, Masashi Konyo, Kenjiro Tadakuma, Satoshi Tadokoro

Journal of the Robotics Society of Japan　40　(4)　310-314　2022
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.40.310 　

ISSN： 0289-1824

eISSN： 1884-7145
Reproduction of Grasping Sensation by High-resolution Suction Tactile Display for Finger Pads–2nd Report: Identification of Two-point Discrimination Threshold by Suction Stimulation–

MORITA Natsumi, KONYO Masashi, NAGANO Hikaru, SASE Kazuya, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　2P1-N07　2022
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2022.2p1-n07 　

eISSN： 2424-3124

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This study aims to reproduce the grasping sensation with a high-resolution suction tactile display. We need a method to generate a suction pressure stimulus based on the strain energy distribution obtained by finite element simulation. In this paper, we aim to obtain information for investigating this method by determining the two-point discrimination threshold of the suction pressure stimulus. The two-point discrimination threshold was obtained by varying the sensation and pressure of the suction holes. The experimental results showed that the two-point discrimination threshold changed depending on the distance between the suction holes and the suction pressure. It was also found that the discrimination threshold was smaller with four holes than with two holes. The results will be used as a guideline for seeking a distributed suction pressure control method based on the strain energy distribution.
Stiffness Changing Spatula Mechanism with Tension-Adjustable Tip Folding Belt

TAKAHASHI Yuta, KEMMOTSU Yuto, TAKAHASHI Kagetora, SANO Syunsuke, KANEDA Yu, ARAKI Hidekazu, TOSHIMA Ryo, IKEUCHI Hiroki, ABE Kazuki, WATANABE Masahiro, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　2A2-J05　2022
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2022.2a2-j05 　

eISSN： 2424-3124

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In this paper, we propose and realize a spatula mechanism with a folded belt at the tip to scoop and hold a grasped object by bending a thin plate. In addition, a belt tension adjustment function is provided with the same input as that for the stiffness changing of the spatula. This paper discusses the principle of the mechanism, the configuration of the actual machine, and the knowledge of the scooping function obtained from experiments on the actual machine, including its basic operation.
Organic Fluid Actuator

Yuto KEMMOTSU, Kegetora TAKAHASHI, Kazuki ABE, Masahiro WATANABE, Kenjiro TADAKUMA, Masashi KONYO, Satoshi TADOKORO

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　2A2-J07　2022
Publisher: Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2022.2a2-j07 　

eISSN： 2424-3124
Fluidic Variable Resistance Mechanism that Memorizes Fluid Flow

Yuto KEMMOTSU, Kagetora TAKAHASHI, Kazuki ABE, Masahiro WATANABE, Kenjiro TADAKUMA, Masashi KONYO, Satoshi TADOKORO

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　2A2-J10　2022
Publisher: Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2022.2a2-j10 　

eISSN： 2424-3124
A Study on Estimation Methods of Spring Constants and Bending Tendency Parameters in a Pseudo Rigid Body Model of a Continuum Robot.

Yukihiro MAEZAWA, Yu YAMAUCHI, Yuichi AMBE, Masashi KONYO, Kenjiro TADAKUMA, Shigenao MARUYAMA, Satoshi TADOKORO

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　1A1-I06　2022
Publisher: Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2022.1a1-i06 　

eISSN： 2424-3124
Extreme High Step Climbing: Nonlinear Analysis of a Highly-Deformable-Tracked Robot

Yu Ozawa, Masahiro Watanabe, Kenjiro Tadakuma, Satoshi Tadokoro

IEEE/ASME Transactions on Mechatronics　1-11　2022
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI： 10.1109/tmech.2022.3216714 　

ISSN： 1083-4435

eISSN： 1941-014X
Inflated Bendable Eversion Cantilever Mechanism with Inner Skeleton for Increased Stiffness

Tomoya Takahashi, Masahiro Watanabe, Kazuki Abe, Kenjiro Tadakuma, Naoto Saiki, Masashi Konyo, Satoshi Tadokoro

IEEE Robotics and Automation Letters　1-8　2022
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI： 10.1109/lra.2022.3221340 　

eISSN： 2377-3766 2377-3774
Local Sensory Feedback Generates Various Wave Gaits in Multi-legged Robots via Embodied Sensorimotor Interaction.

Yuichi Ambe, Shinya Aoi, Masashi Konyo, Satoshi Tadokoro

ASCC　1379-1383　2022

DOI： 10.23919/ASCC56756.2022.9828259 　
Realizing Large Shape Deformations of a Flying Continuum Robot With a Passive Rotating Nozzle Unit That Enlarges Jet Directions in Three-Dimensional Space.

Yu Yamauchi, Yuichi Ambe, Masashi Konyo, Kenjiro Tadakuma, Satoshi Tadokoro

IEEE Access　10　37646-37657　2022

DOI： 10.1109/ACCESS.2022.3162835 　
An Overview and Outcome of World Robot Summit 2020 Fukushima

Tadokoro Satoshi, Kimura Tetsuya, Oogane Katsuji, Ohtsubo Yoshikazu, Okugawa Masayuki, Sato Noritaka, Shimizu Masaru, Suzuki Soichiro, Aoki Takeshi, Okada Yoshito, Chikushi Shota, Toda Yuichiro, Nagano Hikaru, Hasumi Yudai, Yamaguchi Daisuke, Murata Mika, Takahashi Mitsuru, Morita Yumi, Rooney Elena Mary

Journal of the Robotics Society of Japan　40　(6)　475-483　2022
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.40.475 　

ISSN： 0289-1824

eISSN： 1884-7145
Path Planning of the Turning Back of an Autonomous Large-Scale Six-Wheeled Dump Truck for Loading/Leaving Sediment Based on Backhoe Work

Tetsu Akegawa, Kazunori Ohno, Shotaro Kojima, Kento Yamada, Wiru Go, Taro Suzuki, Seiga Kiribayashi, Tomohiro Komatsu, Naoto Miyamoto, Takahiro Suzuki, Yukinori Shibata, Kimitaka Asano, Keiji Nagatani, Satoshi Tadokoro

2022 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII 2022)　511-518　2022

DOI： 10.1109/SII52469.2022.9708879 　
Permanent-magnetically Amplified Brake Mechanism Compensated and Stroke-Shortened by a Multistage Nonlinear Spring

Tori Shimizu, Kenjiro Tadakuma, Masahiro Watanabe, Kazuki Abe, Masashi Konyo, Satoshi Tadokoro

IEEE Robotics and Automation Letters　1-1　2022
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI： 10.1109/lra.2022.3143231 　

eISSN： 2377-3766 2377-3774
Design and Control Method of a Planar Omnidirectional Crawler Mechanism

Eri Takane, Kenjiro Tadakuma, Masahiro Watanabe, Masashi Konyo, Satoshi Tadokoro

Journal of Mechanical Design　144　(1)　2022/01/01
Publisher: ASME International
DOI： 10.1115/1.4051354 　

ISSN： 1050-0472

eISSN： 1528-9001

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Abstract Omnidirectional mobility is a popular method of moving in narrow spaces. In particular, the planar omnidirectional crawler previously developed by the authors can traverse unstable and uneven terrain with a large contact area. A novel point is that the proposed system is unique in its ability to carry heavy loads in all directions without getting stuck because of the large pressure-receiving area between the crawler and the ground. This work will facilitate omnidirectional motion, which has important implications for the use of robots in spaces such as not only factories, distribution centers, and warehouses but also soft soil in disaster sites. The objective of the present study was to establish a design and control method for an omnidirectional crawler mechanism that can conduct holonomic and two-axis cross-driving. Only two motors are set on the crawler base for translation in the X- and Y-directions, and two large crawler units are arranged for turning. We design a small crawler that has higher traversing ability with a derailment prevention mechanism and tapered track. Further, the relationship between the motor rotational speed as input and crawler velocity as output was verified for control. In addition, it was demonstrated experimentally that the proposed crawler could travel across various types of rough terrain in a target direction.
Stabilized Controller for Jet Actuated Cantilevered Pipe Using Damping Effect of an Internal Flowing Fluid

Yuichi Ambe, Yu Yamauchi, Masashi Konyo, Kenjiro Tadakuma, Satoshi Tadokoro

IEEE Access　10　5238-5249　2022
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI： 10.1109/access.2022.3140760 　

eISSN： 2169-3536
An individual prediction model of the pre-loading motion for operator and backhoe pairs

Kento Yamada, Kazunori Ohno, Ryunosuke Hamada, Ranulfo Plutarco Bezerra Neto, Naoto Miyamoto, Shotaro Kojima, Taro Suzuki, Takahiro Suzuki, Keiji Nagatani, Yukinori Shibata, Kimitaka Asano, Tomohiro Komatsu, Satoshi Tadokoro

ADVANCED ROBOTICS　35　(23)　1388-1403　2021/12

DOI： 10.1080/01691864.2021.1980101 　

ISSN： 0169-1864

eISSN： 1568-5535
Lateral Skidding Motion of Tracked Vehicles using Wall Reaction Force

Shotaro Kojima, Yuki Harata, Kazunori Ohno, Takahiro Suzuki, Yoshito Okada, Satoshi Tadokoro

2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)　2021/10/25
Publisher: IEEE
DOI： 10.1109/ssrr53300.2021.9597863 　
Two-Sheet Type Rotary-Driven Thin Bending Mechanism Realizing High Stiffness

Tomoya Takahashi, Masahiro Watanabe, Kenjiro Tadakuma, Eri Takane, Masashi Konyo, Satoshi Tadokoro

IEEE Robotics and Automation Letters　6　(4)　8333-8340　2021/10
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI： 10.1109/lra.2021.3105744 　

eISSN： 2377-3766 2377-3774
Region Recognition Based on HMM Using Primitive Motion Transitions

Ranulfo P.Bezerra Netol, Kazunori Ohno, Shotaro Kojima, Satoshi Tadokoro

IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC　2021-September　1437-1444　2021/09/19

DOI： 10.1109/ITSC48978.2021.9564906 　
Knowledge Acquisition from Pedestrian Flow Analysis using Sparse Mobile Probe Data

Ranulfo Plutarco Bezerra Neto, Kazunori Ohno, Thomas Westfechtel, Shotaro Kojima, Kento Yamada, Satoshi Tadokoro

Journal of Intelligent and Robotic Systems: Theory and Applications　102　(4)　2021/08

DOI： 10.1007/s10846-021-01419-w 　

ISSN： 0921-0296

eISSN： 1573-0409
Sensory Equivalence Conversion of High-Frequency Vibrotactile Signals using Intensity Segment Modulation Method for Enhancing Audiovisual Experience

Kosuke Yamaguchi, Masashi Konyo, Satoshi Tadokoro

2021 IEEE World Haptics Conference, WHC 2021　674-679　2021/07/06
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI： 10.1109/WHC49131.2021.9517147 　
Eversion Robotic Mechanism With Hydraulic Skeletonto Realize Steering Function

Tomoya Takahashi, Kenjiro Tadakuma, Masahiro Watanabe, Eri Takane, Natsumi Hookabe, Hiroshi Kajiahara, Takeshi Yamasaki, Masashi Konyo, Satoshi Tadokoro

IEEE ROBOTICS AND AUTOMATION LETTERS　6　(3)　5413-5420　2021/07

DOI： 10.1109/LRA.2021.3073653 　

ISSN： 2377-3766

eISSN： 2377-3766
Passive Orientation Control of Nozzle Unit With Multiple Water Jets to Expand the Net Force Direction Range for Aerial Hose-Type Robots

Yu Yamauchi, Yuichi Ambe, Masashi Konyo, Kenjiro Tadakuma, Satoshi Tadokoro

IEEE ROBOTICS AND AUTOMATION LETTERS　6　(3)　5634-5641　2021/07

DOI： 10.1109/LRA.2021.3082019 　

ISSN： 2377-3766

eISSN： 2377-3766
2-DOF Spherical Parallel Mechanism Capable of Biaxial Swing Motion with Active Arc Sliders

Naoto Saiki, Kenjiro Tadakuma, Masahiro Watanabe, Eri Takane, Masashi Nobutoki, Shintaro Suzuki, Masashi Konyo, Satoshi Tadokoro

IEEE ROBOTICS AND AUTOMATION LETTERS　6　(3)　4680-4687　2021/07

DOI： 10.1109/LRA.2021.3064187 　

ISSN： 2377-3766

eISSN： 2377-3766
Internally-Balanced Displacement-Force Converter for Stepless Control of Spring Deformation Compensated by Cam With Variable Pressure Angle

Tori Shimizu, Kenjiro Tadakuma, Masahiro Watanabe, Eri Takane, Masashi Konyo, Satoshi Tadokoro

IEEE ROBOTICS AND AUTOMATION LETTERS　6　(3)　4576-4583　2021/07

DOI： 10.1109/LRA.2021.3060383 　

ISSN： 2377-3766

eISSN： 2377-3766
HueCode: A Meta-marker Exposing Relative Pose and Additional Information in Different Colored Layers

Yoshito Okada, Daiki Fujikura, Yu Ozawa, Kenjiro Tadakuma, Kazunori Ohno, Satoshi Tadokoro

2021 IEEE International Conference on Robotics and Automation (ICRA)　2021/05/30
Publisher: IEEE
DOI： 10.1109/icra48506.2021.9561783 　
Model of human actions by a Petri net and prediction of human acts (for generation of home robots movement based on prediction of human actions)

Yasuhiro Manabe, Motofumi Hattori, Satoshi Tadokoro, Toshi Takamori

Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C　63　(609)　1693-1700　2021/05

DOI： 10.1299/kikaic.63.1693 　

ISSN： 0387-5024
Pneumatic driven hollow variable stiffness mechanism aiming non-contact insertion of telescopic guide tubes

Issei Onda, Masahiro Watanabe, Kenjiro Tadakuma, Eri Takane, Masashi Konyo, Satoshi Tadokoro

2021 IEEE 4th International Conference on Soft Robotics, RoboSoft 2021　615-621　2021/04/12
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI： 10.1109/RoboSoft51838.2021.9479293 　
Semantic Mapping of Construction Site From Multiple Daily Airborne LiDAR Data

Thomas Westfechtel, Kazunori Ohno, Tetsu Akegawa, Kento Yamada, Ranulfo Plutarco Bezerra Neto, Shotaro Kojima, Taro Suzuki, Tomohiro Komatsu, Yukinori Shibata, Kimitaka Asano, Keji Nagatani, Naoto Miyamoto, Takahiro Suzuki, Tatsuya Harada, Satoshi Tadokoro

IEEE ROBOTICS AND AUTOMATION LETTERS　6　(2)　3073-3080　2021/04

DOI： 10.1109/LRA.2021.3062606 　

ISSN： 2377-3766

eISSN： 2377-3766
Robotics Responds to the COVID-19 Outbreak

Lino Marques, Robin Murphy, Kaspar Althoefer, Satoshi Tadokoro, Cecilia Laschi

IEEE ROBOTICS & AUTOMATION MAGAZINE　28　(1)　16-17　2021/03

DOI： 10.1109/MRA.2020.3048866 　

ISSN： 1070-9932

eISSN： 1558-223X
Robotic Blood Vessel Mechanism to Realize Active Self-Healing Function:- Improvement of healing performance by liquid-absorbent surface - Invited Peer-reviewed

INOMATA Shohei, FURUKAWA Hidemitsu, KONYO Masashi, TADOKORO Satoshi, YAMAZAKI Yuta, SHIGA Fumiya, KAMEOKA Masanori, SHIBLEE MD, Nahin Islam, ONDA Issei, TAKANE Eri, WATANABE Masahiro, TADAKUMA Kenjiro

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2021　(0)　2P3-H08　2021
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2021.2P3-H08 　

eISSN： 2424-3124

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Soft robots, made of elastomers and gels tend to easily break, punctured, or torn by contact with sharp and thin objects. To deal with this problem, we had proposed a robotic blood vessel mechanism that has a self-healing function by inserting liquid-filled blood vessels in the body. their bodies themselves. The liquid flows out and is cured which makes the would heal when the body breaks. In this research, we have improved the healing performance by attaching a liquid-absorbent material on the robot surface. Through experiment, it has confirmed that the self-healing ability can be improved by attaching the absorbent material.
Causal Analysis for Understanding Vehicle Behavior Affected by Multiple Factors

Ranulfo Bezerra, Kazunori Ohno, Shotaro Kojima, Satoshi Tadokoro

2021 20th International Conference on Advanced Robotics, ICAR 2021　441-448　2021

DOI： 10.1109/ICAR53236.2021.9659455 　
Magnetic Pin-Array Gripper Mechanism that Propagates Magnetic Flux to MR Fluid in Pouches

Yuto KEMMOTSU, Yu KANEDA, Seiji NISHITANI, Ryo TOSHIMA, Eri TAKANE, Masahiro WATANABE, Kenjiro TADAKUMA, Masashi KONYO, Satoshi TADOKORO

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2021　1A1-A06　2021
Publisher: Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2021.1a1-a06 　

eISSN： 2424-3124
Establishment of Path Planning Method Suitable for Earthmoving Work of Large-scale Dump Trucks

AKEGAWA Tetsu, OHNO Kazunori, KOJIMA Shotaro, YAMADA Kento, GO Wiru, SUZUKI Taro, KIRIBAYASHI Seiga, KOMATSU Tomohiro, MIYAMOTO Naoto, SUZUKI Takahiro, SHIBATA Yukinori, ASANO Kimitaka, NAGATANI Keiji, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2021　2P1-A11　2021
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2021.2p1-a11 　

eISSN： 2424-3124

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There is an urgent need to automate earthmoving works for large-scale six-wheeled dump trucks. At actual sites, a dump truck stops at a loading position, informed by the backhoe's backet, with its bed facing the backhoe. Therefore, it is necessary to plan a path including a turning back and rapidly replan according to the goal position change. However, there is no suitable path-planning method for earthmoving works of a large-scale six-wheeled dump truck. Here we propose a path-planning method that moves the dump truck forward and then backward to the working position. According to the goal position change, it also rapidly generates a path from the turning position to the new goal position. We confirmed the proposed path resembled the trajectory of human-operated dump trucks, and the time required for replanning was shortened. We also confirmed the autonomous dump truck could do earthmoving works in cooperation with a human-operated backhoe.
Automatic stop of the large dump truck based on loading posture of the backhoe

GO Wiru, OHNO Kazunori, KOJIMA Shotaro, YAMADA Kento, AKEGAWA Tetsu, SUZUKI Taro, KIRIBAYASHI Seiga, KOMATSU Tomohiro, MIYAMOTO Naoto, SUZUKI Takahiro, SHIBATA Yukinori, ASANO Kimitaka, NAGATANI Keiji, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2021　2P3-B01　2021
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2021.2p3-b01 　

eISSN： 2424-3124

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We develop a large-size dump truck that automatically transports sediments loaded by human-operated backhoes. The dump truck is equipped with a driver robot named SAM and sensors. The driver robot can drive the dump truck remotely and autonomously. However, the difficulty of loading sediments is to decide the suitable dump truck parking location that changes according to the working position of the backhoe. Here, this paper proposes a method to decide the dump truck loading location. We proposed two ideas for obtaining the loading location. These two ideas were evaluated based on the human-operated dump truck loading data. We confirmed that the actual dump truck automatically parked the loading location based on the backhoe cabin.
Toward Enabling a Hundred Drones to Land in a Minute

Daiki Fujikura, Kenjiro Tadakuma, Masahiro Watanabe, Yoshito Okada, Kazunori Ohno, Satoshi Tadokoro

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)　2020/10/24
Publisher: IEEE
DOI： 10.1109/iros45743.2020.9341360 　
Bundled Rotary Helix Drive Mechanism Capable of Smooth Peristaltic Movement

Masahiro Watanabe, Kenjiro Tadakuma, Masashi Konyo, Satoshi Tadokoro

IEEE ROBOTICS AND AUTOMATION LETTERS　5　(4)　5537-5544　2020/10

DOI： 10.1109/LRA.2020.2986993 　

ISSN： 2377-3766

eISSN： 2377-3766
Retraction Mechanism of Soft Torus Robot With a Hydrostatic Skeleton

Tomoya Takahashi, Masahiro Watanabe, Kenjiro Tadakuma, Masashi Konyo, Satoshi Tadokoro

IEEE ROBOTICS AND AUTOMATION LETTERS　5　(4)　6900-6907　2020/10

DOI： 10.1109/LRA.2020.3019736 　

ISSN： 2377-3766

eISSN： 2377-3766
Stable Autonomous Spiral Stair Climbing of Tracked Vehicles Using Wall Reaction Force

Shotaro Kojima, Kazunori Ohno, Takahiro Suzuki, Yoshito Okada, Thomas Westfechtel, Satoshi Tadokoro

IEEE ROBOTICS AND AUTOMATION LETTERS　5　(4)　6575-6582　2020/10

DOI： 10.1109/LRA.2020.3015463 　

ISSN： 2377-3766

eISSN： 2377-3766
Radial-Layer Jamming Mechanism for String Configuration

Rio Mukaide, Masahiro Watanabe, Kenjiro Tadakuma, Yu Ozawa, Tomoya Takahashi, Masashi Konyo, Satoshi Tadokoro

IEEE ROBOTICS AND AUTOMATION LETTERS　5　(4)　5221-5228　2020/10

DOI： 10.1109/LRA.2020.2983679 　

ISSN： 2377-3766

eISSN： 2377-3766
Fire extinguishment using a 4 m long flying-hose-type robot with multiple water-jet nozzles

Hisato Ando, Yuichi Ambe, Tomoka Yamaguchi, Yu Yamauchi, Masashi Konyo, Kenjiro Tadakuma, Shigenao Maruyama, Satoshi Tadokoro

ADVANCED ROBOTICS　34　(11)　700-714　2020/06

DOI： 10.1080/01691864.2020.1769723 　

ISSN： 0169-1864

eISSN： 1568-5535
Tactile feedback system of high-frequency vibration signals for supporting delicate teleoperation of construction robots

Hikaru Nagano, Hideto Takenouchi, Nan Cao, Masashi Konyo, Satoshi Tadokoro

ADVANCED ROBOTICS　34　(11)　730-743　2020/06

DOI： 10.1080/01691864.2020.1769725 　

ISSN： 0169-1864

eISSN： 1568-5535
Cyber-enhanced canine suit with wide-view angle for three-dimensional LiDAR SLAM for indoor environments

Chayapol Beokhaimook, Kazunori Ohno, Thomas Westfechtel, Hiroyuki Nishinoma, Ryoichiro Tamura, Satoshi Tadokoro

ADVANCED ROBOTICS　34　(11)　715-729　2020/06

DOI： 10.1080/01691864.2020.1772104 　

ISSN： 0169-1864

eISSN： 1568-5535
Haptic Exploration During Fast Video Playback: Vibrotactile Support for Event Search in Robot Operation Videos

Daniel Gongora, Masashi Konyo, Hikaru Nagano, Satoshi Tadokoro

IEEE TRANSACTIONS ON HAPTICS　13　(2)　436-447　2020/04

DOI： 10.1109/TOH.2019.2957792 　

ISSN： 1939-1412

eISSN： 2329-4051
Wall Deadlock Evasion Control Based on Rotation Radius Adjustment

Shotaro Kojima, Kazunori Ohno, Takahiro Suzuki, Yoshito Okada, Thomas Westfechtel, Satoshi Tadokoro

IEEE ROBOTICS AND AUTOMATION LETTERS　5　(2)　1358-1365　2020/04

DOI： 10.1109/LRA.2020.2967332 　

ISSN： 2377-3766

eISSN： 2377-3766
Retraction Mechanism of Soft Torus Robot with a Hydrostatic Skeleton.

Tomoya Takahashi, Masahiro Watanabe, Kenjiro Tadakuma, Masashi Konyo, Satoshi Tadokoro

CoRR　abs/2003.05120　2020
Design and Control of Parallel Gripper with Linear and Curved Trajectory Consisting of Only Revolute Pairs

Tomoya Takahashi, Yoshito Okada, Shotaro Kojima, Kenjiro Tadakuma, Masahiro Watanabe, Masaki Takahashi, Satoshi Tadokoro

2020 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　557-562　2020

DOI： 10.1109/SII46433.2020.9025997 　

ISSN： 2474-2317
Attachable Sensor Boxes to Visualize Backhoe Motion

Kento Yamada, Kazunori Ohno, Naoto Miyamoto, Taro Suzuki, Shotaro Kojima, Ranulfo Plutarco Bezerra Neto, Takahiro Suzuki, Keiji Nagatani, Yukinori Shibata, Kimitaka Asano, Tomohiro Komatsu, Satoshi Tadokoro

2020 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　706-711　2020

DOI： 10.1109/SII46433.2020.9026227 　

ISSN： 2474-2317
Fire-Resistant Deformable Soft Gripper Based on Wire Jamming Mechanism

Kenjiro Tadakuma, Toshiaki Fujimoto, Masahiro Watanabe, Tori Shimizu, Eri Takane, Masashi Konyo, Satoshi Tadokoro

2020 3RD IEEE INTERNATIONAL CONFERENCE ON SOFT ROBOTICS (ROBOSOFT)　740-747　2020

DOI： 10.1109/RoboSoft48309.2020.9116036 　
Real-time Simulation of Non-Deformable Continuous Tracks with Explicit Consideration of Friction and Grouser Geometry.

Yoshito Okada, Shotaro Kojima, Kazunori Ohno, Satoshi Tadokoro

Proceedings - IEEE International Conference on Robotics and Automation　948-954　2020
Publisher: IEEE
DOI： 10.1109/ICRA40945.2020.9196776 　

ISSN： 1050-4729
Internally-Balanced Magnetic Mechanisms Using a Magnetic Spring for Producing a Large Amplified Clamping Force.

Tori Shimizu, Kenjiro Tadakuma, Masahiro Watanabe, Eri Takane, Masashi Konyo, Satoshi Tadokoro

Proceedings - IEEE International Conference on Robotics and Automation　1840-1846　2020
Publisher: IEEE
DOI： 10.1109/ICRA40945.2020.9197151 　

ISSN： 1050-4729
Prediction of Backhoe Loading Motion via the Beta-Process Hidden Markov Model.

Kento Yamada, Kazunori Ohno, Ryunosuke Hamada, Thomas Westfechtel, Ranulfo Plutarco Bezerra Neto, Naoto Miyamoto, Taro Suzuki, Takahiro Suzuki, Keiji Nagatani, Yukinori Shibata, Kimitaka Asano, Tomohiro Komatsu, Satoshi Tadokoro

IEEE International Conference on Intelligent Robots and Systems　2663-2670　2020
Publisher: IEEE
DOI： 10.1109/IROS45743.2020.9340697 　

ISSN： 2153-0858

eISSN： 2153-0866
Mono-Wheeled Flexible Track Capable of Climbing High Steps and Adapting to Rough Terrains

Yu Ozawa, Masahiro Watanabe, Kenjiro Tadakuma, Eri Takane, Giancarlo Marafioti, Satoshi Tadokoro

2020 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR 2020)　148-153　2020

DOI： 10.1109/SSRR50563.2020.9292576 　

ISSN： 2374-3247
Stable haptic feedback generation for mid-air gesture interactions: a hidden Markov model-based motion synthesis approach

Dennis Babu, Masashi Konyo, Hikaru Nagano, Ryunosuke Hamada, Satoshi Tadokoro

ROBOMECH Journal　6　(1)　2019/12/01

DOI： 10.1186/s40648-019-0130-5 　

eISSN： 2197-4225
A Mechanical Approach to Suppress the Oscillation of a Long Continuum Robot Flying With Water Jets

Tomoka Yamaguchi, Yuichi Ambe, Hisato Ando, Masashi Konyo, Kenjiro Tadakuma, Shigenao Maruyama, Satoshi Tadokoro

IEEE ROBOTICS AND AUTOMATION LETTERS　4　(4)　4346-4353　2019/10

DOI： 10.1109/LRA.2019.2932582 　

ISSN： 2377-3766

eISSN： 2377-3766
The World robot summit disaster robotics category - achievements of the 2018 preliminary competition

Satoshi Tadokoro, Tetsuya Kimura, Masayuki Okugawa, Katsuji Oogane, Hiroki Igarashi, Yoshikazu Ohtsubo, Noritaka Sato, Masaru Shimizu, Soichiro Suzuki, Tomoichi Takahashi, Shin'ichiro Nakaoka, Mika Murata, Mitsuru Takahashi, Yumi Morita, Elena Mary Rooney

ADVANCED ROBOTICS　33　(17)　854-875　2019/09

DOI： 10.1080/01691864.2019.1627244 　

ISSN： 0169-1864

eISSN： 1568-5535
Canine Motion Control Using Bright Spotlight Devices Mounted on a Suit

Hiroyuki Nishinoma, Kazunori Ohno, Takefumi Kikusui, Miho Nagasawa, Naoko Tsuchihashi, Shohei Matsushita, Tomoha Mikayama, Sakiko Tomori, Maaya Saito, Mikuru Murayama, Satoshi Tadokoro

IEEE Transactions on Medical Robotics and Bionics　1　(3)　189-198　2019/08
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI： 10.1109/tmrb.2019.2930343 　

eISSN： 2576-3202
Enhanced path smoothing based on conjugate gradient descent for firefighting robots in petrochemical complexes*

Naoki Mizuno, Kazunori Ohno, Ryunosuke Hamada, Hiroyoshi Kojima, Jun Fujita, Hisanori Amano, Thomas Westfechtel, Takahiro Suzuki, Satoshi Tadokoro

ADVANCED ROBOTICS　33　(14)　687-698　2019/07

DOI： 10.1080/01691864.2019.1632221 　

ISSN： 0169-1864

eISSN： 1568-5535
Development and Experimental Validation of Aeria Vehicle With Passive Rotating Shell on Each Rotor

Carl John Salaan, Kenjiro Tadakuma, Yoshito Okada, Yusuke Sakai, Kazunori Ohno, Satoshi Tadokoro

IEEE ROBOTICS AND AUTOMATION LETTERS　4　(3)　2568-2575　2019/07

DOI： 10.1109/LRA.2019.2894903 　

ISSN： 2377-3766

eISSN： 2377-3766
Prediction of Backhoe Loading Behavior Using Non-Parametric Bayes Hidden Markov Model

YAMADA Kento, MIYAMOTO Naoto, SUZUKI Taro, TADOKORO Satoshi, OHNO Kazunori, HAMADA Ryunosuke, MIZUNO Naoki, SHIBATA Yukinori, ASANO Kimitaka, KOMATSU Tomohiro, SUZUKI Takahiro, NAGATANI Keiji

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　1P2-D08　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.1P2-D08 　

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The objective of this paper is to model and predict the behavior of backhoe when working cooperatively with autonomous dump trucks. Specifically, this paper focuses on predicting when the backhoe operator is ready to load sand or gravel onto the dump truck. We employ Non-Parametric Bayes Hidden Markov Model to model the behavior of a human backhoe operator using data from sensors attached to the backhoe. This paper proposes a method to model the behavior of backhoe operators. Additionally, state transition of the constructed model is studied to discover a key transition that indicates that the backhoe operator is ready for loading.
Dynamic stability of the flying cantilevered pipe conveying and emitting water

AMBE Yuichi, KONYO Masashi, TADAKUMA Kenjiro, TADOKORO Satoshi

The Proceedings of the Dynamics & Design Conference　2019　621-621　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmedmc.2019.621 　

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A cantilevered pipe conveying fluid causes unsuitable motion as flow speed increases, such as fluttering and divergence because of fluid structure interactions. On the other hand, although continuum flying robots actuated by expelling fluid jets are developed by several researchers, they have not taken the interactions into account to design the controller. This study proposes controller for the cantilevered pipe to fly stably, whose tip emits water jets to gain controllable net force, by taking the fluid structure interactions into account. First, the pipe model with nozzles on the head is designed based on some assumptions. Then, the proportional derivative controller to the head position is proposed to dissipate an energy function regardless of the flow speed. If there is no gravity, the controller ensures Lyapunov stability of the system regardless of the flow speed. Finally, the simulation with the proposed controller verifies that the pipe can keep stable even when the flow speed increases. In addition, the stability analysis with various control parameters shows that the stability of the system can be improved by tuning the control parameters.
Internally-Balanced Magnetic Mechanisms Using Magnetic Spring for Producing Large Amplified Clamping Force.

Tori Shimizu, Kenjiro Tadakuma, Masahiro Watanabe, Eri Takane, Masashi Konyo, Satoshi Tadokoro

CoRR　abs/1912.01292　2019
Radial-Layer Jamming Mechanism for String Configuration.

Rio Mukaide, Kenjiro Tadakuma, Masahiro Watanabe, Yu Ozawa, Tomoya Takahashi, Masashi Konyo, Satoshi Tadokoro

CoRR　abs/1912.01291　2019
Disaster Robotics - Results from the ImPACT Tough Robotics Challenge

Disaster Robotics　128　2019
Publisher: Springer
DOI： 10.1007/978-3-030-05321-5 　
Floating Displacement-Force Conversion Mechanism as a Robotic Mechanism.

Kenjiro Tadakuma, Tori Shimizu, Sosuke Hayashi, Eri Takane, Masahiro Watanabe, Masashi Konyo, Satoshi Tadokoro

CoRR　abs/1907.09955　2019

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To attach and detach permanent magnets with an operation force smaller than their attractive force, Internally-Balanced Magnetic Unit (IB Magnet) has been developed. The unit utilizes a nonlinear spring with an inverse characteristic of magnetic attraction to produce a balancing force for canceling the internal force applied on the magnet. This paper extends the concept of shifting the equilibrium point of a system with a small operation force to linear systems such as conventional springs. Aligning a linear system and its inverse characteristic spring in series enables a mechanism to convert displacement into force generated by a spring with theoretically zero operation force. To verify the proposed principle, the authors realized a prototype model of inverse characteristic linear spring with an uncircular pulley. Experiments showed that the generating force of a linear spring can be controlled by a small and steady operation force.
Journal of Field Robotics special issue on MBZIRC 2017 Challenges in Autonomous Field Robotics

Jorge Dias, Pedro U. Lima, Lakmal Seneviratne, Oussama Khatib, Satoshi Tadokoro, Paolo Dario

JOURNAL OF FIELD ROBOTICS　36　(1)　3-5　2019/01

DOI： 10.1002/rob.21851 　

ISSN： 1556-4959

eISSN： 1556-4967
Simulator for Disaster Response Robotics.

Fumio Kanehiro, Shinichiro Nakaoka, Tomomichi Sugihara, Naoki Wakisaka, Genya Ishigami, Shingo Ozaki, Satoshi Tadokoro

Springer Tracts in Advanced Robotics　128　453-477　2019
Publisher: Springer
DOI： 10.1007/978-3-030-05321-5_9 　

ISSN： 1610-7438

eISSN： 1610-742X
WAREC-1 - A Four-Limbed Robot with Advanced Locomotion and Manipulation Capabilities.

Kenji Hashimoto, Takashi Matsuzawa, Xiao Sun 0005, Tomofumi Fujiwara, Xixun Wang, Yasuaki Konishi, Noritaka Sato, Takahiro Endo, Fumitoshi Matsuno, Naoyuki Kubota, Yuichiro Toda, Naoyuki Takesue, Kazuyoshi Wada, Tetsuya Mouri, Haruhisa Kawasaki, Akio Namiki, Yang Liu 0126, Atsuo Takanishi, Satoshi Tadokoro

Springer Tracts in Advanced Robotics　128　327-397　2019
Publisher: Springer
DOI： 10.1007/978-3-030-05321-5_7 　

ISSN： 1610-7438

eISSN： 1610-742X
User Interfaces for Human-Robot Interaction in Field Robotics.

Robin R. Murphy, Satoshi Tadokoro

Springer Tracts in Advanced Robotics　128　507-528　2019
Publisher: Springer
DOI： 10.1007/978-3-030-05321-5_11 　

ISSN： 1610-7438

eISSN： 1610-742X
Recent R&D Technologies and Future Prospective of Flying Robot in Tough Robotics Challenge.

Kenzo Nonami, Kotaro Hoshiba, Kazuhiro Nakadai, Makoto Kumon, Hiroshi G. Okuno, Yasutada Tanabe, Koichi Yonezawa, Hiroshi Tokutake, Satoshi Suzuki, Kohei Yamaguchi, Shigeru Sunada, Takeshi Takaki, Toshiyuki Nakata 0002, Ryusuke Noda, Hao Liu 0016, Satoshi Tadokoro

Springer Tracts in Advanced Robotics　128　77-142　2019
Publisher: Springer
DOI： 10.1007/978-3-030-05321-5_3 　

ISSN： 1610-7438

eISSN： 1610-742X
New Hydraulic Components for Tough Robots.

Koichi Suzumori, Hiroyuki Nabae, Ryo Sakurai, Takefumi Kanda, Sang-Ho Hyon, Tohru Ide, Kiyohiro Hioki, Kazu Ito, Kiyoshi Inoue, Yoshiharu Hirota, Akina Yamamoto, Takahiro Ukida, Ryusuke Morita, Morizo Hemmi, Shingo Ohno, Norihisa Seno, Hayato Osaki, Shoki Ofuji, Harutsugu Mizui, Yuki Taniai, Sumihito Tanimoto, Shota Asao, Ahmad Athif Mohd Faudzi, Yohta Yamamoto, Satoshi Tadokoro

Springer Tracts in Advanced Robotics　128　401-451　2019
Publisher: Springer
DOI： 10.1007/978-3-030-05321-5_8 　

ISSN： 1610-7438

eISSN： 1610-742X
Cyber-Enhanced Rescue Canine.

Kazunori Ohno, Ryunosuke Hamada, Tatsuya Hoshi, Hiroyuki Nishinoma, Shumpei Yamaguchi, Solvi Arnold, Kimitoshi Yamazaki, Takefumi Kikusui, Satoko Matsubara, Miho Nagasawa, Takatomi Kubo, Eri Nakahara, Yuki Maruno, Kazushi Ikeda, Toshitaka Yamakawa, Takeshi Tokuyama, Ayumi Shinohara, Ryo Yoshinaka, Diptarama Hendrian, Kaizaburo Chubachi, Satoshi Kobayashi, Katsuhito Nakashima, Hiroaki Naganuma, Ryu Wakimoto, Shu Ishikawa, Tatsuki Miura, Satoshi Tadokoro

Springer Tracts in Advanced Robotics　128　143-193　2019
Publisher: Springer
DOI： 10.1007/978-3-030-05321-5_4 　

ISSN： 1610-7438

eISSN： 1610-742X
Field Evaluation and Safety Management of ImPACT Tough Robotics Challenge.

Tetsuya Kimura, Toshi Takamori, Raymond Sheh, Yoshio Murao, Hiroki Igarashi, Yudai Hasumi, Toshiro Houshi, Satoshi Tadokoro

Springer Tracts in Advanced Robotics　128　481-506　2019
Publisher: Springer
DOI： 10.1007/978-3-030-05321-5_10 　

ISSN： 1610-7438

eISSN： 1610-742X
Development of Tough Snake Robot Systems.

Fumitoshi Matsuno, Tetsushi Kamegawa, Wei Qi, Tatsuya Takemori, Motoyasu Tanaka, Mizuki Nakajima, Kenjiro Tadakuma, Masahiro Fujita, Yosuke Suzuki, Katsutoshi Itoyama, Hiroshi G. Okuno, Yoshiaki Bando, Tomofumi Fujiwara, Satoshi Tadokoro

Springer Tracts in Advanced Robotics　128　267-326　2019
Publisher: Springer
DOI： 10.1007/978-3-030-05321-5_6 　

ISSN： 1610-7438

eISSN： 1610-742X
Overview of the ImPACT Tough Robotics Challenge and Strategy for Disruptive Innovation in Safety and Security.

Satoshi Tadokoro

Springer Tracts in Advanced Robotics　128　3-22　2019
Publisher: Springer
DOI： 10.1007/978-3-030-05321-5_1 　

ISSN： 1610-7438

eISSN： 1610-742X
Development of a Lightweight Cyber-enhanced Rescue Canine Suit with Heat Protection and Anti-slip Countermeasures

Hiroyuki Nishinoma, Beokhaimook Chayapol, Kazunori Ohno, Ayumi Shinohara, Satoshi Tadokoro

2019 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR)　74-80　2019

DOI： 10.1109/SSRR.2019.8848938 　

ISSN： 2374-3247
Fusion of Camera and Lidar Data for Large Scale Semantic Mapping

Thomas Westfechtel, Kazunori Ohno, Ranulfo Plutarco Bezerra Neto, Shotaro Kojima, Satoshi Tadokoro

2019 IEEE INTELLIGENT TRANSPORTATION SYSTEMS CONFERENCE (ITSC)　257-264　2019

DOI： 10.1109/ITSC.2019.8917107 　

ISSN： 2153-0009
Fire Fighting Tactics with Aerial Hose-type Robot "Dragon Firefighter"

Hisato Ando, Yuichi Ambe, Tomoka Yamaguchi, Masashi Konyo, Kenjiro Tadakuma, Shigenao Maruyama, Satoshi Tadokoro

2019 IEEE INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND ITS SOCIAL IMPACTS (ARSO)　2019-October　291-297　2019

DOI： 10.1109/ARSO46408.2019.8948716 　

ISSN： 2162-7568

eISSN： 2162-7576
Pedestrian Flow Estimation Using Sparse Observation for Autonomous Vehicles

Ranulfo P. Bezerra Neto, Kazunori Ohno, Thomas Westfechtel, Satoshi Tadokoro

2019 19TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR)　779-784　2019

DOI： 10.1109/ICAR46387.2019.8981587 　
Nemertea Proboscis Inspired Extendable Mechanism.

Kenjiro Tadakuma, Tomoya Takayashi, Natsumi Hookabe, Masahiro Watanabe, Yu Ozawa, Tori Shimizu, Eri Takane, Hiroshi Kajihara, Takeshi Yamazaki, Masashi Konyo, Satoshi Tadokoro

MHS 2019 - 30th 2019 International Symposium on Micro-NanoMechatronics and Human Science　1-4　2019
Publisher: IEEE
DOI： 10.1109/MHS48134.2019.9249086 　
Fire-Resistant Torus Gripper using One-Dimensional Variable Stiffness Mechanism Peer-reviewed

SHIMIZU Tori, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi, HAYASHI Sosuke, FUJIMOTO Toshiaki, MUKAIDE Rio, INOMATA Shouhei, MIDORIKAWA Toshiki, TETSUI Hikaru, TAKANE Eri, WATANABE Masahiro

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　(0)　2P1-E08　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2P1-E08 　

ISSN： 2424-3124

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Able to grasp objects of any shape and size, universal grippers using variable stiffness phenomenon such as granular jamming have been developed for disaster robotics application. However, as their contact interface is mainly composed of unrigid and burnable silicone rubber, conventional soft grippers are not applicable to objects with sharp sections such as broken valves and glass fragments, especially on fire. In this research, the authors proposed a new method of variable stiffness mechanism using a string of beads that can be composed of cut-resistant and incombustible metals, arrange the mechanism to form a torus gripper, and conducted experiments to show its effectiveness.
Variable Stiffness Jamming Membrane Gripper Mechanism:- The Process of Sophistication of the Structure and the Research Outline - Peer-reviewed

TADAKUMA Kenjiro, HAYASHI Sosuke, SHIMIZU Tori, TETSUI Hikaru, TAKANE Eri, WATANABE Masahiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　(0)　2P1-E07　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2P1-E07 　

ISSN： 2424-3124

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This research relates to the device and realization of tufted jamming membrane gripper and expansion of the gripper function. Our team have developed and realized jamming membrane gripper which can push a button and pick up a complex shape object. We carried out basic characteristic evaluating experiment of the gripper to confirm that the gripper can turn the valve handle and push a button. From the experiment, we confirmed the validity of the gripper mechanism. In this paper, we report the process of sophistication of the structure and the research outline.
Underactuated Gripper Mechanism: Function Extraction of Suction Feeding:- Realization of Function of Drawing Objects by Negative Pressure - Peer-reviewed

HAYASHI Sosuke, SHIMIZU Tori, TAKANE Eri, WATANABE Masahiro, GUNJI Megu, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　(0)　2A2-Q05　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2A2-Q05 　

ISSN： 2424-3124

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"Biomimetics" or "Biomimicry" that imitates the function and structure of living organisms has attracted attention. It is thought that the living organisms got a kind of optimum structure and form in natural selection. Engineering imitation of this points is an effective method for realizing things with certain ability and performance from nature.In this paper, the authors focus not on the appearance and structural imitation of living things but on the work and abilities of the structure, and pursue the engineering essence. In other words, we propose " Function Extraction " that develops into development of new mechanism by extracting functions. As an example of this research, we focus attention on Suction Feeding found in fish and whales and try to extract its function. We will utilize it for the gripper mechanism and verify the effectiveness of the function in the experiment using prototype one.
2-Dimensional Fastener Mechanism Peer-reviewed

HAYASHI Sosuke, SHIMIZU Tori, MIDORIKAWA Toshiki, TAKANE Eri, WATANABE Masahiro, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　(0)　2P1-B08　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2P1-B08 　

ISSN： 2424-3124

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Conventional fasteners can be easily bent passively, however, the connection part itself cannot draw a free curve trajectory. Recently, self-restoring materials have been studied, that the separated material can reach the same strength as the material which was not cut by contact with each other. Able to cut and restoring the material in a free curve by moving and cutting, two parts can be easily separated and connected in a two-dimensional shape. In this paper, we focused on the function to move and cut, as the 2-dimensional fastener mechanism. As the primary prototype of the mechanism, we report the effectiveness of principle devising, design and trial manufacture, and experiments.
Planar Omnidirectional Crawler Mobile Mechanism:-Reduction in the Disturbance Degree of the Ground during Switching Direction- Peer-reviewed

TAKANE Eri, SHIMIZU Tori, HAYASHI Sosuke, WATANABE Masahiro, TADAKUMA Kenjiro, KAGAMI Shingo, NAGATANI Keiji, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　(0)　2A2-D09　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2A2-D09 　

ISSN： 2424-3124

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We propose a planar omnidirectional crawler mobile mechanism for the mobile basis of search and rescue robots. One of the advantages of the planar omnidirectional crawler mechanism is that it allows the robot to move in any direction without causing large slippage on soft ground because it does not require a turning motion when the robot switches its traveling direction. This study realized a configuration with two left and right unit crawlers that enables a turning motion. By using this prototype machine, we investigated how the turning and translational motions of the crawler mechanism exert influence on the imitating soft ground by measuring the flow of sand on the horizontal surface. As a result, the translational motion was quantitatively shown to switch the travel direction with less degree of disturbance to the road surface than the turning motion.
Omnidirectional mechanism from the viewpoint of axial direction drive:- Second report: Vehicle Constitution of Wave-wheel Mechanism and Screw-type Differential Rotating Mechanism - Peer-reviewed

HAYASHI Sosuke, KONYO Masashi, TADOKORO Satoshi, SHIMIZU Tori, NOMURA Akito, NISHIMURA Ayaki, MIDORIKAWA Toshiki, TAKANE Eri, WATANABE Masahiro, TADAKUMA Kenjiro, TADAKUMA Riichiro

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　(0)　1P2-M03　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.1P2-M03 　

ISSN： 2424-3124

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The omnidirectional motion can move any direction without changing the direction of its own. The authors have developed Wave-wheel mechanism and Screw-type differential rotating mechanism. Also, the stepping performance were improved by extending the ground point from point to line. In addition, we have evaluated the motion characteristics of one unit and made high rigidity. In this paper, we examined the composition for vehiclization. In the vehicle configuration, the minimum necessary two units are arranged in parallel, and these are actually realized. We conducted experiments using actual mechanisms and confirmed that the inventive principle is also effective for vehicle construction, omnidirectional motion.
Active Omnidirectional Wheel with Dual-Rings Based on Cross Helical Gear Mechanism:– Facilitation of the Diagonal Direction Movement – Peer-reviewed

MIDORIKAWA Toshiki, HAYASHI Sosuke, SHIMIZU Tori, TAKANE Eri, WATANABE Masahiro, TADAKUMA Riichiro, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　(0)　1P2-L03　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.1P2-L03 　

ISSN： 2424-3124

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In this paper, the control method which can move in the diagonal direction for active omni-directional wheel mechanism with dual-rings is proposed. Active dual-ring wheel with high performance on step traverse had been developed. However, it was difficult for this mechanism to move in the diagonal direction because a rotation direction of the ring wheel is reversed at constant period of the wheel. Thus, the authors proposed a control method for diagonal direction movement. Next, the wheel path was simulated to confirm the validity of the proposed method. Finally, the effectiveness of proposed control method was verified by experiments.
Electropermanent Jumping Mechanism Applying Internally-Balanced Magnetic Unit with Spring Compressible by Small Control Force:- 1st Report: Basic Structure Prototyping and Verification of Motion Model - Peer-reviewed

SHIMIZU Tori, HAYASHI Sosuke, Takane Eri, WATANABE Masahiro, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　(0)　1P1-K07　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.1P1-K07 　

ISSN： 2424-3124

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Jumping mechanisms have been developed mainly for ground vehicles that need to traverse steps larger than their wheel diameter. However, as typical jumping mechanisms require a strong force to compress elastic body for jumping, conventional jumping mechanisms must load powerful actuators which tend to consume a large amount of electricity and be heavy, resulting in shorter operation time of the robot. In this research, the authors proposed a new method of compressing and releasing a spring using the Internally-Balanced Magnetic Unit, a mechanism that enables a permanent magnet to be controlled by a much smaller force than its attraction force. They realized its prototyping model and conducted experiments to show its effectiveness.
Torus Driving Mechanism with the Ability to Branch off Peer-reviewed

HAYASHI Sosuke, SHIMIZU Tori, WATANABE Masahiro, MIDORIKAWA Toshiki, TAKANE Eri, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　(0)　1P1-H04　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.1P1-H04 　

ISSN： 2424-3124

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There are behaviors on the roots and branches of plants that extend and branch the torus structure. From the viewpoint of engineering, the authors aim to realize a branched extension torus as found in proboscis of Nemertea that extends and branches at a much faster rate than the plant. In this paper, we focused on the function to move and cut, as the 2-dimensional fastener mechanism, necessary for realizing this branched extension torus. As the primary prototype of the cutting and moving mechanism, we report on the effectiveness of principle devising, design and trial manufacture, actual machine experiments.
Omnidirectional Track Mechanism Using Traveling Waves on the Crawler Belt Peer-reviewed

WATANABE Masahiro, HAYASHI Sosuke, SHIMIZU Tori, TAKANE Eri, TADAKUMA Riichiro, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　(0)　2P2-A14　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2P2-A14 　

ISSN： 2424-3124

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In this paper, we proposed a planar omnidirectional crawler mechanism for the mobile basis of search and rescue robots. Several omnidirectional mechanisms have been proposed, however, few planar omnidirectional tracks have been studied. To realize these tracks, two types of mechanisms are proposed by using a crawler belt generating traveling waves. The prototype mechanisms were fabricated, and the effectiveness of the proposed principle of the omnidirectional transmission was verified.
Basic Performance of Planar Omnidirectional Crawler during Direction Switching using Disturbance Degree of Ground Evaluation Method Peer-reviewed

Eri Takane, Kenjiro Tadakuma, Tori Shimizu, Sosuke Hayashi, Masahiro Watanabe, Shingo Kagami, Keiji Nagatani, Masashi Konyo, Satoshi Tadokoro

2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　2732-2739　2019

DOI： 10.1109/IROS40897.2019.8968507 　

ISSN： 2153-0858

eISSN： 2153-0866
Overview and Outcome of WRS Disaster Robotics Category Peer-reviewed

Tadokoro Satoshi, Takahashi Tomoichi, Nakaoka Shin'ichiro, Murata Mika, Takahashi Mitsuru, Morita Yumi, Rooney Elena Mary, Kimura Tetsuya, Okugawa Masayuki, Oogane Katsuji, Igarashi Hiroki, Ohtsubo Yoshikazu, Sato Noritaka, Shimizu Masaru, Suzuki Soichiro

Journal of the Robotics Society of Japan　37　(3)　224-234　2019
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.37.224 　

ISSN： 0289-1824

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Enhancing Haptic Experience in a Seat with Two-DoF Buttock Skin Stretch

Arata Horie, Akito Nomura, Kenjiro Tadakuma, Masashi Konyo, Hikaru Nagano, Satoshi Tadokoro

HAPTIC INTERACTION: PERCEPTION, DEVICES AND ALGORITHMS　535　134-138　2019

DOI： 10.1007/978-981-13-3194-7_30 　

ISSN： 1876-1100

eISSN： 1876-1119
Exciting but Comfortable: Applying Haptic Feedback to Stabilized Action-Cam Videos

Daniel Gongora, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

HAPTIC INTERACTION: PERCEPTION, DEVICES AND ALGORITHMS　535　287-293　2019

DOI： 10.1007/978-981-13-3194-7_64 　

ISSN： 1876-1100

eISSN： 1876-1119
Dependence of the Perceptual Discrimination of High-Frequency Vibrations on the Envelope and Intensity of Waveforms

Nan Cao, Masashi Konyo, Hikaru Nagano, Satoshi Tadokoro

IEEE ACCESS　7　20840-20849　2019

DOI： 10.1109/ACCESS.2019.2898029 　

ISSN： 2169-3536

eISSN： 2169-3536
Wearable Suction Haptic Display with Spatiotemporal Stimulus Distribution on a Finger Pad

Hikaru Nagano, Kazuya Sase, Masashi Konyo, Satoshi Tadokoro

2019 IEEE WORLD HAPTICS CONFERENCE (WHC)　389-394　2019

DOI： 10.1109/WHC.2019.8816156 　
Development of Practical Air-floating-type Active Scope Camera and User Evaluations for Urban Search and Rescue

Takumi Fujikawa, Yu Yamauchi, Yuichi Ambe, Masashi Konyo, Kenjiro Tadakuma, Satoshi Tadokoro

2019 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR)　180-187　2019

DOI： 10.1109/SSRR.2019.8848966 　

ISSN： 2374-3247
Small Swarm Search Robot System with Rigid-Bone Parachute Rapidly Deployable from Aerial Vehicles

Tori Shimizu, Sosuke Hayashi, Toshiki Midorikawa, Takumi Fujikawa, Eri Takane, Masahiro Watanabe, Kenjiro Tadakuma, Masashi Konyo, Satoshi Tadokoro

2019 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR)　88-93　2019

DOI： 10.1109/SSRR.2019.8848955 　

ISSN： 2374-3247
ImPACT-TRC Thin Serpentine Robot Platform for Urban Search and Rescue. Peer-reviewed

Masashi Konyo, Yuichi Ambe, Hikaru Nagano, Yu Yamauchi, Satoshi Tadokoro, Yoshiaki Bando, Katsutoshi Itoyama, Hiroshi G. Okuno, Takayuki Okatani, Kanta Shimizu, Eisuke Ito

Springer Tracts in Advanced Robotics　128　25-76　2019
Publisher: Springer
DOI： 10.1007/978-3-030-05321-5_2 　

ISSN： 1610-7438

eISSN： 1610-742X
Consistent map building in petrochemical complexes for firefighter robots using SLAM based on GPS and LIDAR

Abu Ubaidah Shamsudin, Kazunori Ohno, Ryunosuke Hamada, Shotaro Kojima, Thomas Westfechtel, Takahiro Suzuki, Yoshida Okada, Satoshi Tadokoro, Jun Fujita, Hisanori Amano

ROBOMECH Journal　5　(1)　2018/12/01

DOI： 10.1186/s40648-018-0104-z 　

eISSN： 2197-4225
High-speed sliding-inchworm motion mechanism with expansion-type pneumatic hollow-shaft actuators for in-pipe inspections

Tomonari Yamamoto, Masashi Konyo, Kenjiro Tadakuma, Satoshi Tadokoro

MECHATRONICS　56　101-114　2018/12

DOI： 10.1016/j.mechatronics.2018.10.010 　

ISSN： 0957-4158
ImPACTタフ・ロボティクス・チャレンジ(ImPACT-TRC)

田所諭

日立ソリューションズ東日本技報 = Hitachi Solutions East Japan technical report　(24)　2-5　2018/11
Publisher: 日立ソリューションズ東日本
ISSN： 2188-0557
Robust stairway-detection and localization method for mobile robots using a graph-based model and competing initializations

Thomas Westfechtel, Kazunori Ohno, Baerbel Mertsching, Ryunosuke Hamada, Daniel Nickchen, Shotaro Kojima, Satoshi Tadokoro

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH　37　(12)　1463-1483　2018/10

DOI： 10.1177/0278364918798039 　

ISSN： 0278-3649

eISSN： 1741-3176
Parking Spot Estimation and Mapping Method for Mobile Robots

Thomas Westfechtel, Kazunori Ohno, Naoki Mizuno, Ryunosuke Hamada, Shotaro Kojima, Satoshi Tadokoro

IEEE ROBOTICS AND AUTOMATION LETTERS　3　(4)　3371-3378　2018/10

DOI： 10.1109/LRA.2018.2849832 　

ISSN： 2377-3766

eISSN： 2377-3766
Close visual bridge inspection using a UAV with a passive rotating spherical shell

Carl John O. Salaan, Yoshito Okada, Shoma Mizutani, Takuma Ishii, Keishi Koura, Kazunori Ohno, Satoshi Tadokoro

JOURNAL OF FIELD ROBOTICS　35　(6)　850-867　2018/09

DOI： 10.1002/rob.21781 　

ISSN： 1556-4959

eISSN： 1556-4967
Introducing Whole Finger Effects in Surface Haptics: An Extended Stick- Slip Model Incorporating Finger Stiffness

Dennis Babu, Masashi Konyo, Hikaru Nagano, Satoshi Tadokoro

IEEE TRANSACTIONS ON HAPTICS　11　(3)　417-430　2018/07

DOI： 10.1109/TOH.2018.2806458 　

ISSN： 1939-1412

eISSN： 2329-4051
Aerial Hose Type Robot by Water Jet for Fire Fighting Peer-reviewed

Hisato Ando, Yuichi Ambe, Akihiro Ishii, Masashi Konyo, Kenjiro Tadakuma, Shigenao Maruyama, Satoshi Tadokoro

IEEE ROBOTICS AND AUTOMATION LETTERS　3　(2)　1128-1135　2018/04

DOI： 10.1109/LRA.2018.2792701 　

ISSN： 2377-3766

eISSN： 2377-3766
Speech Enhancement Based on Bayesian Low-Rank and Sparse Decomposition of Multichannel Magnitude Spectrograms Peer-reviewed

Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshii, Tatsuya Kawahara, Hiroshi G. Okuno

IEEE-ACM TRANSACTIONS ON AUDIO SPEECH AND LANGUAGE PROCESSING　26　(2)　215-230　2018/02

DOI： 10.1109/TASLP.2017.2772340 　

ISSN： 2329-9290
Control of Canine's Moving Direction by Using On-suit Laser Beams

Kazunori Ohno, Shumpei Yamaguchi, Hiroyuki Nishinoma, Tatsuya Hoshi, Ryunosuke Hamada, Satoko Matsubara, Miho Nagasawa, Takefumi Kikusui, Satoshi Tadokoro

2018 IEEE INTERNATIONAL CONFERENCE ON CYBORG AND BIONIC SYSTEMS (CBS)　59-64　2018

DOI： 10.1109/CBS.2018.8612258 　
Disruptive Innovation of Disaster Robots - The ImPACT Tough Robotics Challenge

Satoshi Tadokoro

2018 IEEE WORKSHOP ON ADVANCED ROBOTICS AND ITS SOCIAL IMPACTS (ARSO)　2018-September　23-24　2018

DOI： 10.1109/ARSO.2018.8625783 　

ISSN： 2162-7568

eISSN： 2162-7576
Floating Displacement-Force Conversion Mechanism:- Intensifying mechanism utilizing movement of equilibrium point - Peer-reviewed

FUJIMOTO Toshiaki, SHIMIZU Tori, FUJITA Masahiro, TAKANE Eri, KOMATSU Hirone, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　(0)　2P1-G14　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.2P1-G14 　

ISSN： 2424-3124

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To attach and detach permanent magnets with an operation force smaller than their attractive force, Internally-Balanced Magnetic Unit (IB Magnet) has been developed. The unit utilizes a nonlinear spring with an inverse characteristic of magnetic attraction to produce a balancing force for canceling the internal force applied on the magnet. This paper extends the concept of shifting the equilibrium point of a system with a small operation force to linear systems such as conventional springs. Aligning a linear system and its inverse characteristic spring in series enables a mechanism to convert displacement into force generated by a spring with theoretically zero operation force.To verify the proposed principle, the authors realized a prototype model of inverse characteristic linear spring with an uncircular pulley. Experiments showed that the generating force of a linear spring can be controlled by a small and steady operation force.
Planar Omnidirectional Crawler Mechanism:- 8^th Report : Motion Experiment on the Step and on Snow Ground by Tapered Tracks and the Configuration with Two Left and Right Unit Crawlers - Peer-reviewed

TAKANE Eri, FUJIMOTO Toshiaki, SHIMIZU Tori, FUJITA Masahiro, KOMATSU Hirone, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　(0)　2A2-L04　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.2A2-L04 　

ISSN： 2424-3124

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This research relates to "planar omnidirectional crawler mechanism" by moving to any direction holonomically without turning motion. By omnidirectional motion, it is possible to achieve a smooth movement in a narrowed road. In addition, by making the surface contact with the ground, it is possible to increase the pressure receiving area. It is a structure capable of load distribution, there is an advantage of improving the ability to move on unstable place. In this report, we designed and prototyped crawlers attached to along circumference by tapered small diameter tracks for improving performance on the step. We verified the prototype moved on the step and on snow by some experiments. Furthermore, we explain the structure for turning motion consists of two large diameter units.
Floating Displacement-Force Conversion Mechanism:- Intensifying mechanism utilizing movement of equilibrium point - Peer-reviewed

FUJIMOTO Toshiaki, SHIMIZU Tori, FUJITA Masahiro, TAKANE Eri, KOMATSU Hirone, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　(0)　1P2-I12　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.1P2-I12 　

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To attach and detach permanent magnets with an operation force smaller than their attractive force, Internally-Balanced Magnetic Unit (IB Magnet) has been developed. The unit utilizes a nonlinear spring with an inverse characteristic of magnetic attraction to produce a balancing force for canceling the internal force applied on the magnet. This paper extends the concept of shifting the equilibrium point of a system with a small operation force to linear systems such as conventional springs. Aligning a linear system and its inverse characteristic spring in series enables a mechanism to convert displacement into force generated by a spring with theoretically zero operation force.To verify the proposed principle, the authors realized a prototype model of inverse characteristic linear spring with an uncircular pulley. Experiments showed that the generating force of a linear spring can be controlled by a small and steady operation force.
Tufted Jamming Membrane Gripper Mechanism Peer-reviewed

Fujita Masahiro, Fujimoto Toshiaki, Shimizu Tori, Takane Eri, Komatsu Hirone, Tadakuma Kenjiro, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　(0)　2P1-J06　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.2P1-J06 　

ISSN： 2424-3124

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This research relates to the device and realization of tufted jamming membrane gripper and expantion of the gripper function. Our team have developed jamming membrane gripper which can push a button and pick up a complex shape object. We carried out basic characteristic evaluating experiment of the gripper. In addition, we have developed shape and size changing type jamming membrane gripper and underwater gripper. In this paper, we report about the basic characteristics of jamming membrane gripper and realazaiton of new type jamming membrane grippers.
Planar Omnidirectional Crawler Mobile Mechanism-Development of Actual Mechanical Prototype and Basic Experiments Peer-reviewed

Kenjiro Tadakuma, Eri Takane, Masahiro Fujita, Akito Nomura, Hirone Komatsu, Masashi Konyo, Satoshi Tadokoro

IEEE ROBOTICS AND AUTOMATION LETTERS　3　(1)　395-402　2018/01

DOI： 10.1109/LRA.2017.2739101 　

ISSN： 2377-3766

eISSN： 2377-3766
Design of Aerial Manipulator Suitable for a UAV with Two Passive Rotating Hemispherical Shells. Peer-reviewed

Kenjiro Tadakuma, Carl John Salaan, Eri Takane, Yoshito Okada, Kazunori Ohno, Satoshi Tadokoro

2018 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2018　1-6　2018
Publisher: IEEE
DOI： 10.1109/SSRR.2018.8468654 　
Vibrotactile Feedback Improves Collision Detection in Fast Playback of First-Person View Videos Peer-reviewed

Daniel Gongora, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

HAPTICS: SCIENCE, TECHNOLOGY, AND APPLICATIONS, PT II　10894　636-647　2018

DOI： 10.1007/978-3-319-93399-3_54 　

ISSN： 0302-9743

eISSN： 1611-3349
Buttock Skin Stretch: Inducing Shear Force Perception and Acceleration Illusion on Self-motion Perception Peer-reviewed

Arata Horie, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

HAPTICS: SCIENCE, TECHNOLOGY, AND APPLICATIONS, PT II　10894　135-147　2018

DOI： 10.1007/978-3-319-93399-3_13 　

ISSN： 0302-9743

eISSN： 1611-3349
A Robotic Thruster that Can Handle Hairy Flexible Cable of Serpentine Robots for Disaster Inspection

Yu Yamauchi, Toshiaki Fujimoto, Akihiro Ishii, Shingo Araki, Yuichi Ambe, Masashi Konyo, Kenjiro Tadakuma, Satoshi Tadokoro

2018 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)　2018-July　107-113　2018

DOI： 10.1109/AIM.2018.8626018 　

ISSN： 2159-6255
Sound reduction of vibration feedback by perceptually similar modulation

Nan Cao, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

2018 27TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (IEEE RO-MAN 2018)　934-939　2018

DOI： 10.1109/ROMAN.2018.8525571 　

ISSN： 1944-9445
Design and Development of Biaxial Active Nozzle with Flexible Flow Channel for Air Floating Active Scope Camera

Akihiro Ishii, Yuichi Ambe, Yu Yamauchi, Hisato Ando, Masashi Konyo, Kenjiro Tadakuma, Satoshi Tadokoro

2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　442-449　2018

DOI： 10.1109/IROS.2018.8594437 　

ISSN： 2153-0858

eISSN： 2153-0866
Stable Haptic Feedback Generation During Mid Air Interactions Using Hidden Markov Model Based Motion Synthesis

Dennis Babu, Hikaru Nagano, Masashi Konyo, Ryunosuke Hamada, Satoshi Tadokoro

HAPTIC INTERACTION: SCIENCE, ENGINEERING AND DESIGN　432　225-231　2018

DOI： 10.1007/978-981-10-4157-0_39 　

ISSN： 1876-1100

eISSN： 1876-1119
Whole Hand Interaction with Multi-finger Movement-Based Vibrotactile Stimulation

Shota Iizuka, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

HAPTIC INTERACTION: SCIENCE, ENGINEERING AND DESIGN　432　157-161　2018

DOI： 10.1007/978-981-10-4157-0_27 　

ISSN： 1876-1100

eISSN： 1876-1119
Experiments on Two-Handed Localization of Impact Vibrations

Daniel Gongora, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

HAPTIC INTERACTION: SCIENCE, ENGINEERING AND DESIGN　432　33-39　2018

DOI： 10.1007/978-981-10-4157-0_6 　

ISSN： 1876-1100

eISSN： 1876-1119
Jamming layered membrane gripper mechanism for grasping differently shaped-objects without excessive pushing force for search and rescue missions

Masahiro Fujita, Kenjiro Tadakuma, Hirone Komatsu, Eri Takane, Akito Nomura, Tomoya Ichimura, Masashi Konyo, Satoshi Tadokoro

ADVANCED ROBOTICS　32　(11)　590-604　2018

DOI： 10.1080/01691864.2018.1451368 　

ISSN： 0169-1864

eISSN： 1568-5535
A Pilot Study: Introduction of Time-Domain Segment to Intensity-Based Perception Model of High-Frequency Vibration Peer-reviewed

Nan Cao, Hikaru Nagano, Masashi Konyo, Shogo Okamoto, Satoshi Tadokoro

HAPTICS: SCIENCE, TECHNOLOGY, AND APPLICATIONS, PT I　10893　321-332　2018

DOI： 10.1007/978-3-319-93445-7_28 　

ISSN： 0302-9743

eISSN： 1611-3349
Cationic liposomes suppress intracellular calcium ion concentration increase via inhibition of PI3 kinase pathway in mast cells

Yoshikazu Inoh, Aki Haneda, Satoshi Tadokoro, Satoru Yokawa, Tadahide Furuno

BIOCHIMICA ET BIOPHYSICA ACTA-BIOMEMBRANES　1859　(12)　2461-2466　2017/12

DOI： 10.1016/j.bbamem.2017.09.025 　

ISSN： 0005-2736

eISSN： 0006-3002
Diversity: the IEEE Robotics and Automation Society Culture

Satoshi Tadokoro

IEEE ROBOTICS & AUTOMATION MAGAZINE　24　(3)　6-6　2017/09

DOI： 10.1109/MRA.2017.2732098 　

ISSN： 1070-9932

eISSN： 1558-223X
IEEE Society Review Committee Lists 18 Best Practices

Satoshi Tadokoro

IEEE ROBOTICS & AUTOMATION MAGAZINE　24　(2)　6-+　2017/06

DOI： 10.1109/MRA.2017.2691078 　

ISSN： 1070-9932

eISSN： 1558-223X
Robotics Leads Social Innovation Without Borders for the Future of Humanity

Satoshi Tadokoro

IEEE ROBOTICS & AUTOMATION MAGAZINE　24　(1)　6-6　2017/03

DOI： 10.1109/MRA.2017.2672158 　

ISSN： 1070-9932

eISSN： 1558-223X
Deadline for RAS Local Chapter Development Grants

Satoshi Tadokoro

IEEE Robotics and Automation Magazine　24　(1)　6　2017/03

DOI： 10.1109/MRA.2017.2672158 　

ISSN： 1070-9932
Low Latency and High Quality Two-Stage Human-Voice-Enhancement System for a Hose-Shaped Rescue Robot Peer-reviewed

Yoshiaki Bando, Hiroshi Saruwatari, Nobutaka Ono, Shoji Makino, Katustoshi Itoyama, Daichi Kitamura, Masaru Ishimura, Moe Takakusaki, Narumi Mae, Kouei Yamaoka, Yutaro Matsui, Yuichi Ambe, Masashi Konyo, Satoshi Tadokoro, Kazuyoshi Yoshii, Hiroshi G. Okuno

JOURNAL OF ROBOTICS AND MECHATRONICS　29　(1)　198-212　2017/02

DOI： 10.20965/jrm.2017.p0198 　

ISSN： 0915-3942

eISSN： 1883-8049
Investigation of Collision Vibrations Depending on Attack Speed for Realistic Haptic Rendering

GU Wenchao, NAGANO Hikaru, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　1P1-N06　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.1P1-N06 　

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Human collision perception relies on a force cue and a vibrotactile cue. However, vibrotactile feedback is still not so realistic, and current vibration feedback model still cannot explain the vibration in real collision conditions perfectly for a haptic rendering system. In this paper, we aim to investigate the brief tendency of vibration amplitude, frequency and decay rate changing with the attack speed as the first step for building the realistic vibration model. According to the results, we found that the vibration amplitude had a linear relationship with the attack speed when it was low, and the increasing tendency of vibration amplitude became slower with the increasing of attack speed. To reveal the details, we will conduct further investigation.
Time Constant Discrimination of Collision Vibration

CAO Nan, NAGANO Hikaru, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　1P1-N05　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.1P1-N05 　

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When we tap on the surface of the objects, damped collision vibrations occur. We can distinguish the materials by the perception of these collision vibrations. However, the discrimination ability is limited and unclear. This study investigated Just Noticeable Difference (JND) of the time constant, which is a reasonable factor relating for discriminating collision vibrations. We conducted psychophysical experiments to evaluate JNDs for two referenced time constants (10.8 and 50 ms) among five frequencies (150, 250, 500, 800 and 1000 Hz). The results showed that there were significant differences among reference time constant and we should use large step rate at the low time constant range.
Two-Handed Vibrotactile Feedback for Experiencing Camera Motion in 360-degree First-Person View Videos

GONGORA Daniel, NAGANO Hikaru, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　1A1-M04　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.1A1-M04 　

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Haptic interfaces that enable the perception of camera movement affect positively the quality of experience. We propose a vibrotactile rendering method for experiencing camera movement with two hands. We consider horizontal and vertical displacements represented as vibrations that move from hand to hand and transient vibrations on both hands respectively.
ImPACT Tough Robotics Challenge

TADOKORO Satoshi, UCHIZONO Toyohito

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　1P1-R01　2017

DOI： 10.1299/jsmermd.2017.1P1-R01 　

ISSN： 2374-3247
DISASTER ROBOTICS

Satoshi Tadokoro

ADVANCES IN COOPERATIVE ROBOTICS　3-3　2017

DOI： 10.1007/978-3-319-32552-1_60 　
Stable haptic feedback generation during mid air interactions using hidden markov model based motion synthesis: Increasing and stabilizing motion frame rate

Dennis Babu, Hikaru Nagano, Masashi Konyo, Ryunosuke Hamada, Satoshi Tadokoro

Proceedings of the International Display Workshops　1　113-115　2017

ISSN： 1883-2490
Vibrotactile representation of camera motion with two vibrators

Daniel Gongora, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

Proceedings of the International Display Workshops　1　116-119　2017

ISSN： 1883-2490
Real-time Emotional State Estimation System for Canines Based on Heart Rate Variability

Ryunosuke Hamada, Kazunori Ohno, Satoko Matsubara, Tatsuya Hoshi, Miho Nagasawa, Takefumi Kikusui, Takatomi Kubo, Eri Nakahara, Kazushi Ikeda, Shumpei Yamaguchi, Toshitaka Yamakawa, Satoshi Tadokoro

2017 IEEE INTERNATIONAL CONFERENCE ON CYBORG AND BIONIC SYSTEMS (CBS)　2018-January　298-303　2017

DOI： 10.1109/CBS.2017.8266120 　
UAV with two passive rotating hemispherical shells for physical interaction and power tethering in a complex environment.

Carl John Salaan, Kenjiro Tadakuma, Yoshito Okada, Eri Takane, Kazunori Ohno, Satoshi Tadokoro

Proceedings - IEEE International Conference on Robotics and Automation　3305-3312　2017
Publisher: IEEE
DOI： 10.1109/ICRA.2017.7989377 　

ISSN： 1050-4729
Two-stage Hybrid A* path-planning in large petrochemical complexes.

Abu Ubaidah Shamsudin, Kazunori Ohno, Ryunosuke Hamada, Shotaro Kojima, Naoki Mizuno, Thomas Westfechtel, Takahiro Suzuki, Satoshi Tadokoro, Jun Fujita, Hisanori Amano

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM　1619-1626　2017
Publisher: IEEE
DOI： 10.1109/AIM.2017.8014250 　
Evaluation of LIDAR and GPS based SLAM on Fire Disaster in Petrochemical Complexes

Abu Ubaidah bin Shamsudin, Naoki Mizuno, Jun Fujita, Kazunori Ohno, Ryunosuke Hamada, Thomas Westfechtel, Satoshi Tadokoro, Hisanori Amano

2017 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY AND RESCUE ROBOTICS (SSRR)　48-54　2017

DOI： 10.1109/SSRR.2017.8088139 　
Vehicle Detection and Localization on Bird's Eye View Elevation Images Using Convolutional Neural Network

Shang-Lin Yu, Thomas Westfechtel, Ryunosuke Hamada, Kazunori Ohno, Satoshi Tadokoro

2017 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY AND RESCUE ROBOTICS (SSRR)　102-109　2017

DOI： 10.1109/SSRR.2017.8088147 　
Generation of Turning Motion for Tracked Vehicles Using Reaction Force of Stairs' Handrail.

Yuto Ohashi, Shotaro Kojima, Kazunori Ohno, Yoshito Okada, Ryunosuke Hamada, Takahiro Suzuki, Satoshi Tadokoro

Springer Proceedings in Advanced Robotics　5　65-80　2017
Publisher: Springer
DOI： 10.1007/978-3-319-67361-5_5 　

ISSN： 2511-1256

eISSN： 2511-1264
Robot System for Inspection of the Inner Wall of Large Boiler - Integration and evaluation of the system prototype comprising a sensing vehicle and ground equipment

Masaki Ozawa, Yoshito Okada, Kenjiro Tadakuma, Satoshi Tadokoro

2017 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　2018-January　264-269　2017

DOI： 10.1109/SII.2017.8279223 　

ISSN： 2474-2317
Attempt at Climbing of Spiral Staircase for Tracked Vehicles using Reaction Force of Stairs' Handrail

Yuto Ohashi, Shotaro Kojima, Kazunori Ohno, Yoshito Okada, Ryunosuke Hamada, Takahiro Suzuki, Satoshi Tadokoro

2017 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　2018-January　456-462　2017

DOI： 10.1109/SII.2017.8279255 　

ISSN： 2474-2317
Determining Easily Avoidable Stop Position by Predicting Surrounding Vehicles' Paths

Masahiro Kajiwara, Kazunori Ohno, Ryunosuke Hamada, Takahiro Suzuki, Satoshi Tadokoro

2017 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　2018-January　823-828　2017

DOI： 10.1109/SII.2017.8279324 　

ISSN： 2474-2317
UAV with Two Passive Rotating Hemispherical Shells and Horizontal Rotor for Hammering Inspection of Infrastructure

Carl John Salaan, Kenjiro Tadakuma, Yoshito Okada, Kazunori Ohno, Satoshi Tadokoro

2017 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　2018-January　769-774　2017

DOI： 10.1109/SII.2017.8279315 　

ISSN： 2474-2317
Edible Actuator:-3rd Report: Development and Basic Characteristics of a Bellows Actuator- Peer-reviewed

KOMATSU Hirone, FUJITA Masahiro, TAKANE Eri, NOMURA Akito, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　(0)　2A2-A05　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.2A2-A05 　

ISSN： 2424-3124

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The authors proposes edible actuators and edible mechanical components which are made of the gelatin in previous researches. In this paper, the edible bellows which is made of gelatin and has long stroke compared with the one chamber actuator. It can be used as actuator by applying the air and it can also be used as a force sensor with high sensibility by taking out the air. Edible bellows is developed and its basic motion as actuator is confirmed by the experiment.
Omnidirectional Wheel Mechanism with a Dual-Rings:-Proposition and Realization of an Active Driving Mechanism of a Dual-Rings- Peer-reviewed

KOMATSU Hirone, FUJITA Masahiro, TAKANE Eri, NOMURA Akito, TADAKUMA Richiro, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　(0)　2A1-A08　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.2A1-A08 　

ISSN： 2424-3124

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In this paper, basic principle of active driving mechanism for omnidirectional wheel mechanism with a dual-rings is proposed. Active driving mechanism is composed of one outer helical gear and two dual-rings with internal helical gear. Proposed active driving mechanism is confirmed by developing basic prototype model.
Omnidirectional Expanding Torus Mechanism for Edible Robotics Peer-reviewed

TADAKUMA Kenjiro, KOMATSU Hirone, FUJITA Masahiro, NOMURA Akito, TAKANE Eri, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　(0)　2A1-A09　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.2A1-A09 　

ISSN： 2424-3124

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This paper discusses the edible robot with expandable torus mechanism as a core configuration. The proposed torus mechanism is mainly made of gelatin. We built the prototype of the torus configuration and proposed the reflexive motion to the torus mechanism which based on the reflexive bending motion of the arm mechanism we developed at the past. From the experiment, the mechanism needs more softness and we found the needs to develop the way to keep the edible robots in the container. We are developing the edible gear, wheel, track, gripper, leg and so on in this edible robotics researches.
Planar Omnidirectional Crawler Mobile Mechanism:- Experiment of Operation and Pressure to the Ground by Planar Omnidirectional Crawler - Peer-reviewed

TAKANE Eri, Fujita Masahiro, NOMURA Akito, Komatsu Hirone, TADAKUMA Kenjiro, Konyo Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　(0)　1P2-P12　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.1P2-P12 　

ISSN： 2424-3124

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In recent years, robots are being extensively used in disaster management; therefore, they need to be equipped to operate in harsh environmental conditions. This research aims to develop a mobile mechanism with a high running performance using a planar omnidirectional crawler mechanism, and aims to improve the practicality of a disaster response robot. Examples of such site include staircases with scattered objectives, narrow passage and swamping after the tsunami. In this paper, we carried out a running test to confirm that the designed mechanism has been realized and that driving to omnidirections is possible. Furthermore, we will describe the results of the experiments for confirming that load distribution is possible for the running surface thanks to the surface structure.
Omnidirectional Mechanism based on Tapered Circular Cross Section Mechanism Peer-reviewed

KOMATSU Hirone, FUJITA Masahiro, TAKANE Eri, NOMURA Akito, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　(0)　2A1-A07　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.2A1-A07 　

ISSN： 2424-3124

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The authors proposed the tapered circular cross section mechanism composed of the crawler and the roller and developed the first prototype model in former research. This mechanism has high step traversability because the tip of the crawler is tapered. In this paper, the authors designed and developed the second prototype model of the circular cross section mechanism to reduce running resistance compared with the first prototype model.
Omnidirectional Jamming Gripper:Actual Process of Simplification of the Mechanism for Mounting on Cord-like Robot Peer-reviewed

Tadakuma K., Konyo M., Tadokoro S., Fujita M., Fujimoto T., Nishimura A., Nomura A., Tetsui H., Shimizu T., Takane E., Komatsu H.

Proceedings of the Conference of Transdisciplinary Federation of Science and Technology　2017　(0)　C-3-6　2017
Publisher: Transdisciplinary Federation of Science and Technology
DOI： 10.11487/oukan.2017.0_C-3-6 　

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This paper presents the variable rigid membrane mechanism based on variable inner volumemechanism. This mechanism allows to grip collapsing, soft and fragile objects without over-strong pressure.We have designed and developed the real prototype model. In addition,we confirmed validity of the proposedmechanism.
No sliding torus type extension robot finger mechanism:-Effector for the purpose of embracing holding of a chicken as a weak or fragile object in a dense environment- Peer-reviewed

Fujita Masahiro, Takane Eri, Nomura Akito, Komatsu Hirone, Komatsu Hirone, Tadakuma Kenjiro, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　(0)　2P1-D07　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.2P1-D07 　

ISSN： 2424-3124

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This research relates to the device and realization of No Sliding Torus Type Extension Finger Mechanism. In resent year, various bag type grippers have researched and developed. Bag type gripper can grasp various objects because it is able to adapt to the target objects. However, since friction occurs between the gripper and the object, it is difficult to grasp weak or fragile objects. Therefore, we report on the principle devised, realized(design, prototype), experiment using a torus finger gripper mechanism which can grasp objects without sliding.
Axial Wave Motion Wheel Mechanism Peer-reviewed

Fujita Masahiro, Nomura Akito, Komatsu Hirone, Takane Eri, Tadakuma Riichiro, Tadakuma Kenjiro, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　(0)　2A1-A10　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.2A1-A10 　

ISSN： 2424-3124

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In the disaster site, mechanisms which can run on uneven and soft ground, and narrow space is needed. In this paper, we study omnidirectional crawler and propose 2 mechanisms, pitching-axis helical gear transmission and yawing-axis helical gear transmission, which transmit driving force by omnidirectional crawler with surface of contact. We design and prototype them by chain and rack gear. We also report about the first trial of them. In addition, we claim that the omnidirectional crawler mechanism can be used for not only mobile robot but also other applications. For example, when the omnidirectional crawler touch one object, the crawler is manipulator.
Active deformable jamming membrane gripper mechanism:- The Integration of Flat Type End Effector for Insertion Removal Works and Cord-Like Platform - Peer-reviewed

Fujita Masahiro, Takane Eri, Nomura Akito, Komatsu Hirone, Tadakuma Kenjiro, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　(0)　1P2-P08　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.1P2-P08 　

ISSN： 2424-3124

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This research relates to the device and realization of active deforming jamming membrane gripper. When mount a gripper on rescue robots, it is difficult to place a heavy object on the robots. Therefore, it is difficult to mount multiple grippers on the robots. Our team have developed jamming membrane gripper which it is possible to push button and pick up a object. Other request tasks include lifting objects. So, we thought that deform the gripper thinly. After that, insert the gripper into a gap of objects. These operations allow the gripper to lift the object. In this paper, we report about the concept of the deformable jamming gripper, the realization of it and the experiment with real model.
Screw-type Differential Rotating Mechanism:-Realization of series-type vehicle with omnidirectional driving wheels for improving traverse ability in longitudinal direction- Peer-reviewed

NOMURA Aktio, FUJITA Masahiro, Ozawa Masaki, TAKANE Eri, KOMATSU Hirone, TADAKUMA Kenjiro, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　(0)　1P1-G10　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.1P1-G10 　

ISSN： 2424-3124

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This paper presents vehicle with omnidirectional driving wheels based on screw-type differential rotating mechanism. An omnidirectional driving wheel can generate a driving force in any arbitrary direction. Therefore, there are various wheel arrangements for composing the vehicle. In this paper, wheels are arranged in series configuration for improving the traversing ability in longitudinal direction. In addition, realization of this type of vehicle and evaluation of its ability is reported.
Mechanism of Marking of Stiffness Visualization:- Propose of the Sub-Room Configuration with the Lower Pressure in the Main Room - Peer-reviewed

Fujita Masahiro, Takane Eri, Nomura Akito, Komatsu Hirone, Tadakuma Kenjiro, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　(0)　1A1-I12　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.1A1-I12 　

ISSN： 2424-3124

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Various robot hands are studied by many researchers. Complex robot hand like a human hand can grasp awkward shape objects but need very complex control. On the other hand, simple robot hands are also developed. For example, we proposed and developed the Omni-Gripper that has the torus tubular configuration. In this research, we develop the basic concept of the omni gripper into highly deformable gripper including expandable motion. This time, to realized this concept, we use the expanded polyurethane. Through the grasping experiment, we confirmed the effectivity of highly expandable bubble as a hyper deformation for grasping.
Competition task development for response robot innovation in World Robot Summit. Peer-reviewed

Tetsuya Kimura, Masayuki Okugawa, Katsuji Oogane, Yoshikazu Ohtsubo, Masaru Shimizu, Tomoichi Takahashi, Satoshi Tadokoro

SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference　129-130　2017
Publisher: IEEE
DOI： 10.1109/SSRR.2017.8088151 　
Wearable Gait Logging System Attached on Ankles to Estimate Foot Steps and Trajectories Peer-reviewed

Yoshihiro Kato, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

2017 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　2018-January　294-299　2017

DOI： 10.1109/SII.2017.8279228 　

ISSN： 2474-2317
Toward Multi-Finger Haptic Interaction: Presenting Vibrotactile Stimuli from Proximal Phalanges to Fingertips Peer-reviewed

Shota Iizuka, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

2017 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　2018-January　905-911　2017

DOI： 10.1109/SII.2017.8279338 　

ISSN： 2474-2317
Extracting Haptic Information from High-Frequency Vibratory signals Measured on a Remote Robot to Transmit Collisions with Environments Peer-reviewed

Hideto Takenouchi, Nan Cao, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

2017 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　2018-January　968-973　2017

DOI： 10.1109/SII.2017.8279348 　

ISSN： 2474-2317
A Flexible In-Pipe Robot Capable of Moving in Open Spaces via a Pneumatic Rotary Mechanism

Tomonari Yamamoto, Masashi Konyo, Kenjiro Tadakuma, Satoshi Tadokoro

IFAC PAPERSONLINE　50　(1)　1050-1055　2017

DOI： 10.1016/j.ifacol.2017.08.216 　

ISSN： 2405-8963

eISSN： 2405-8963
Envelope Effect Study on Collision Vibration Perception through Investigating Just Noticeable Difference of Time Constant

Nan Cao, Hikaru Nagano, Masashi Konyo, Shogo Okamoto, Satoshi Tadokoro

2017 IEEE WORLD HAPTICS CONFERENCE (WHC)　528-533　2017

DOI： 10.1109/WHC.2017.7989957 　
Collision representation using vibrotactile cues to bimanual impact localization for mobile robot operations.

Daniel Gongora, Hikaru Nagano, Yosuke Suzuki, Masashi Konyo, Satoshi Tadokoro

Proceedings - IEEE International Conference on Robotics and Automation　461-468　2017
Publisher: IEEE
DOI： 10.1109/ICRA.2017.7989059 　

ISSN： 1050-4729
A self-locking-type expansion mechanism to achieve high holding force and pipe-passing capability for a pneumatic in-pipe robot.

Tomonari Yamamoto, Masashi Konyo, Kenjiro Tadakuma, Satoshi Tadokoro

Proceedings - IEEE International Conference on Robotics and Automation　1900-1907　2017
Publisher: IEEE
DOI： 10.1109/ICRA.2017.7989221 　

ISSN： 1050-4729
Vibrotactile Rendering of Camera Motion for Bimanual Experience of First-Person View Videos

Daniel Gongora, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

2017 IEEE WORLD HAPTICS CONFERENCE (WHC)　454-459　2017

DOI： 10.1109/WHC.2017.7989944 　
Preface

Auke J. Ijspeert, Kamilo Melo, Robin Murphy, Davide Scaramuzza, Satoshi Tadokoro, Fumitoshi Matsuno, Marco Hutter, Laura Paes, Amy Wu, Iselin Frø, Sylvie Fiaux

SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics　2016/12/14

DOI： 10.1109/SSRR.2016.7784266 　
Redefining the Values of Robotics and Automation

Satoshi Tadokoro

IEEE ROBOTICS & AUTOMATION MAGAZINE　23　(4)　6-8　2016/12

DOI： 10.1109/MRA.2016.2614372 　

ISSN： 1070-9932

eISSN： 1558-223X
A mechanical approach to realize reflexive omnidirectional bending motion for pneumatic continuum robots Peer-reviewed

Eri Takane, Kenjiro Tadakuma, Tomonari Yamamoto, Masashi Konyo, Satoshi Tadokoro

ROBOMECH Journal　3　(1)　28　2016/12/01

DOI： 10.1186/s40648-016-0067-x 　

eISSN： 2197-4225
特別講演災害ロボットの現状と将来 (第51回日本赤十字社医学会総会優秀演題号) -- (第51回日本赤十字社医学会総会)

田所諭

日赤医学 = The Japanese Red Cross medical journal　67　(2)　262-264　2016/09/01
Publisher: 日本赤十字社医学会
ISSN： 0387-1215
Robot Competitions

Satoshi Tadokoro

IEEE ROBOTICS & AUTOMATION MAGAZINE　23　(3)　6-10　2016/09

DOI： 10.1109/MRA.2016.2590678 　

ISSN： 1070-9932

eISSN： 1558-223X
Editorial: Special Issue on Safety, Security, and Rescue Robotics (SSRR), Part 2

Alexander Kleiner, Fredrik Heintz, Satoshi Tadokoro

JOURNAL OF FIELD ROBOTICS　33　(4)　409-410　2016/06

DOI： 10.1002/rob.21661 　

ISSN： 1556-4959

eISSN： 1556-4967
Phosphorylation of syntaxin-3 at Thr 14 negatively regulates exocytosis in RBL-2H3 mast cells

Satoshi Tadokoro, Tetsuhiro Shibata, Yoshikazu Inoh, Toshiro Amano, Mamoru Nakanishi, Naohide Hirashima, Naoko Utsunomiya-Tate

CELL BIOLOGY INTERNATIONAL　40　(5)　589-596　2016/05

DOI： 10.1002/cbin.10600 　

ISSN： 1065-6995

eISSN： 1095-8355
Editorial: Special Issue on Safety, Security, and Rescue Robotics (SSRR), Part 1

Alexander Kleiner, Fredrik Heintz, Satoshi Tadokoro

JOURNAL OF FIELD ROBOTICS　33　(3)　263-264　2016/05

DOI： 10.1002/rob.21653 　

ISSN： 1556-4959

eISSN： 1556-4967
Effect of Complexin II on Membrane Fusion between Liposomes Containing Mast Cell SNARE Proteins

Satoshi Tadokoro, Naohide Hirashima, Naoko Utsunomiya-Tate

BIOLOGICAL & PHARMACEUTICAL BULLETIN　39　(3)　446-449　2016/03

DOI： 10.1248/bpb.b15-00751 　

ISSN： 0918-6158
Robotics and Automation for Social Innovation

Satoshi Tadokoro

IEEE ROBOTICS & AUTOMATION MAGAZINE　23　(1)　6-+　2016/03

DOI： 10.1109/MRA.2015.2512739 　

ISSN： 1070-9932

eISSN： 1558-223X
Variational Bayesian Multi-channel Robust NMF for Human-voice Enhancement with a Deformable and Partially-occluded Microphone Array

Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshii, Hiroshi G. Okuno

2016 24TH EUROPEAN SIGNAL PROCESSING CONFERENCE (EUSIPCO)　1018-1022　2016

ISSN： 2076-1465
Fog removal using laser beam penetration, laser intensity, and geometrical features for 3D measurements in fog-filled room

Abu Ubaidah Shamsudin, Kazunori Ohnoa, Thomas Westfechtel, Suzuki Takahiro, Yoshito Okada, Satoshi Tadokoro

ADVANCED ROBOTICS　30　(11-12)　729-743　2016

DOI： 10.1080/01691864.2016.1164620 　

ISSN： 0169-1864

eISSN： 1568-5535
Standard Rescue Tasks Based on the Japan Virtual Robotics Challenge.

Masaru Shimizu, Masayuki Okugawa, Katsuji Oogane, Yoshikazu Ohtsubo, Tetsuya Kimura, Tomoichi Takahashi, Satoshi Tadokoro

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)　9776 LNAI　440-451　2016
Publisher: Springer
DOI： 10.1007/978-3-319-68792-6_37 　

ISSN： 0302-9743

eISSN： 1611-3349
Experimental Investigation Driving Mechanism for Omnidirectional Crawler with Surface of Contact Peer-reviewed

TAKANE Eri, TADAKUMA Kenjiro, YAMAMOTO Tomonari, Konyo Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　(0)　2A2-08a5　2016
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2016.2A2-08a5 　

ISSN： 2424-3124

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In the disaster site, mechanisms which can run on uneven and soft ground, and narrow space is needed. In this paper, we study omnidirectional crawler and propose 2 mechanisms, pitching-axis helical gear transmission and yawing-axis helical gear transmission, which transmit driving force by omnidirectional crawler with surface of contact. We design and prototype them by chain and rack gear. We also report about the first trial of them. In addition, we claim that the omnidirectional crawler mechanism can be used for not only mobile robot but also other applications. For example, when the omnidirectional crawler touch one object, the crawler is manipulator.
Spherical Omnidirectional Wheel Mechanism with an Offset Pair and the Outer Supporting Shaft Peer-reviewed

TADAKUMA Kenjiro, SAKIYAMA Seiji, TAKANE Eri, TADAKUMA Riichiro, KOJIMA Shotaro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　(0)　2A2-07b5　2016
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2016.2A2-07b5 　

ISSN： 2424-3124

More details Close

In the disaster site, mechanisms which can run on uneven and soft ground, and narrow space is needed. In this paper, we study omnidirectional crawler and propose 2 mechanisms, pitching-axis helical gear transmission and yawing-axis helical gear transmission, which transmit driving force by omnidirectional crawler with surface of contact. We design and prototype them by chain and rack gear. We also report about the first trial of them. In addition, we claim that the omnidirectional crawler mechanism can be used for not only mobile robot but also other applications. For example, when the omnidirectional crawler touch one object, the crawler is manipulator.
Omnidirectional Wheel Mechanism with a Dual-Rings Peer-reviewed

TADAKUMA Kenjiro, TAKANE Eri, TADAKUMA Riichiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　(0)　2A2-07b6　2016
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2016.2A2-07b6 　

ISSN： 2424-3124

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This paper describes the wheel Mechanism with Dual-Rings to realize the omnidirectional driving motion. In the conventional model, the distance between two wheel is larger and the supporting shaft can be contacted to outer environment, therefore, the moving ability of the conventional model is quite limited. On the mechanical configuration of the wheel mechanism with dual-rings, these problems can be solved by the small offset and large wheel diameter. The prototype model is designed and developed. The basic motion of the prototype is confirmed experimentally.
Omnidirectional Crawler Mechanism with Surface of Contact Peer-reviewed

TAKANE Eri, TADAKUMA Kenjiro, YAMAMOTO Tomonari, Konyo Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　(0)　1A2-08b5　2016
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2016.1A2-08b5 　

ISSN： 2424-3124

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In the disaster site, mechanisms which can run on uneven and soft ground, and narrow space is needed. In this paper, we study omnidirectional crawler and propose solution to the problem for the yawing-axis helical gear transmission we devised. The yawing-axis helical gear transmission is able to allow the deflection of the height direction because end of the crawler in transverse displacement unit is driven directly. We design to reduce imbalance of power on the rack gear and the gap between transverse displacement units. In addition, we confirm the basic principal of the mechanism and effect of solution through experiment.
Separated Spherical Shell Mechanism to Realize the Accessibility to Outer Environments:-Omni-Copter: As an Example of an Practical Aerial Application- Peer-reviewed

TADAKUMA Kenjiro, SALAAN Carl John, TAKANE Eri, OKADA Yoshito, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　(0)　1A2-08b4　2016
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2016.1A2-08b4 　

ISSN： 2424-3124

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A typical UAV with a passive rotating spherical shell can provide protection while keeping the UAV stablethrough gimbal mechanism. However, the passive/random rotation and gimbal mechanism have some drawbacks when applied to a real-world mission such as for search and inspection in the event of a disaster. The random rotation of spherical shell will limit any mechanism or sensor to pass outside freely. Likewise, the camera as vital equipment is continually blocked and disturbed by the spherical shells rotation. In the case of gimbal mechanism, its frame extends the size of the spherical shell. In this paper, a novel design of UAV with four degreesof-freedom (4-DOF) passive rotation of shell protector that can manipulate the outside environment is proposed to solve primarily the mentioned issues. The system is realized using two independent hemispherical shell that provides a significant gap. Through the gap, it allows any mechanism to pass outside freely unaffected. The independent passive rotation of two (2) hemispherical shell and two (2) DOF gimbal mechanism helps maintain the stability of the UAV. An offset weight is also added that maintains the posture of two hemispherical shells allowing proper position for sensing, capturing, or manipulation. An actual prototype has been developed to illustrate the concept. A laboratory-based test flight was also conducted to evaluate its performance.
Deformable Gripper Mechanism with 1 D.O.F:-Introduction of the Passive Volume Adjustable Mechanism- Peer-reviewed

TADAKUMA Kenjiro, TAKANE Eri, YAMAMOTO Tomonari, NISHIDA Takeshi, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　(0)　1A2-08b3　2016
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2016.1A2-08b3 　

ISSN： 2424-3124

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This paper describes the morphing omnidirectional gripper which is able to grasp various objects with the torus balloon mechanism. The deformable part of the gripper changes its shape by covering all direction of objects and makes the contacting area higher. In order to keep the high grasping force, proposed gripper does not need any additional energy thanks to the jamming effect. The design of the actual prototype model with 1 D.O.F mechanism is shown and built. In addition, the usage of functional fluids for the morphing part is proposed. The basic performance of the passive volume adjustable mechanism has been observed.
Omnidirectional Wheel Mechanism with a Dual-Rings Peer-reviewed

TADAKUMA Kenjiro, TAKANE Eri, TADAKUMA Riichiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　(0)　2A2-07b6　2016
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2016.2A2-07b6 　

ISSN： 2424-3124

More details Close

This paper describes the wheel Mechanism with Dual-Rings to realize the omnidirectional driving motion. In the conventional model, the distance between two wheel is larger and the supporting shaft can be contacted to outer environment, therefore, the moving ability of the conventional model is quite limited. On the mechanical configuration of the wheel mechanism with dual-rings, these problems can be solved by the small offset and large wheel diameter. The prototype model is designed and developed. The basic motion of the prototype is confirmed experimentally.
Development of a Spherical Tether Handling Device with a Coupled Differential Mechanism:-Second Report: Evaluations of Specific Characteristics of the Coupled Differential Mechanism and Experiments of Basic Travel Motions- Peer-reviewed

ICHIMURA Tomoya, TADAKUMA Kenjiro, TAKANE Eri, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　(0)　1A1-09a4　2016
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2016.1A1-09a4 　

ISSN： 2424-3124

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Tethered robots often face the entangling of the cable with obstacles in uncertain disaster environments. We have proposed a spherical tether handling device that unfastens a robot's tether during surveys by releasing the tether and carrying it aside. The device is able to move forward by driving the outer shells. When the device climbs obstacles, it alters the driving power from driving the shells to pull the tether to obtain high surmountability because of a coupled differential mechanism. Specific characteristics of the coupled differential mechanism were evaluated and experiments of basic travel motion of the device were performed in this paper. The results of the experiments show that the device can climb a height of 90.9% of its diameter. We also demonstrate a scenario to handle the tether and untangle multiple tangles in an environment with several obstacles.
Multipoint Vibrotactile Stimuli Based on Vibration Propagation Enhance Collision Sensation Peer-reviewed

Shunya Sakata, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

HAPTICS: PERCEPTION, DEVICES, CONTROL, AND APPLICATIONS, EUROHAPTICS 2016, PT II　9775　65-74　2016

DOI： 10.1007/978-3-319-42324-1_7 　

ISSN： 0302-9743

eISSN： 1611-3349
Can Haptic Feedback Improve Gesture Recognition in 3D Handwriting Systems? Peer-reviewed

Dennis Babu, Seonghwan Kim, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2016, PT I　9834　462-471　2016

DOI： 10.1007/978-3-319-43506-0_41 　

ISSN： 0302-9743

eISSN： 1611-3349
Variational Bayesian multi-channel robust NMF for human-voice enhancement with a deformable and partially-occluded microphone array. Peer-reviewed

Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshii, Hiroshi G. Okuno

European Signal Processing Conference　2016-November　1018-1022　2016

DOI： 10.1109/EUSIPCO.2016.7760402 　

ISSN： 2219-5491
Design and analysis of a pneumatic high-impact force drive mechanism for in-pipe inspection robots Peer-reviewed

Ye Hua, Masashi Konyo, Satoshi Tadokoro

ADVANCED ROBOTICS　30　(19)　1260-1272　2016

DOI： 10.1080/01691864.2016.1205511 　

ISSN： 0169-1864

eISSN： 1568-5535
3D Graph Based Stairway Detection and Localization for Mobile Robots Peer-reviewed

Thomas Westfechtel, Kazunori Ohno, Baerbel Mertsching, Daniel Nickchen, Shotaro Kojima, Satoshi Tadokoro

2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)　2016-November　473-479　2016

DOI： 10.1109/IROS.2016.7759096 　

ISSN： 2153-0858

eISSN： 2153-0866
Use of Active Scope Camera in the Kumamoto Earthquake to Investigate Collapsed Houses Peer-reviewed

Yuichi Ambe, Tomonari Yamamoto, Shotaro Kojima, Eri Takane, Kenjiro Tadakuma, Masashi Konyo, Satoshi Tadokoro

2016 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR)　21-27　2016

DOI： 10.1109/SSRR.2016.7784272 　

ISSN： 2374-3247
Variable Inner Volume Mechanism for Soft and Robust Gripping - Improvement of Gripping Performance for Large-Object Gripping - Peer-reviewed

Masahiro Fujita, Kenjiro Tadakuma, Eri Takane, Tomoya Ichimura, Hirone Komatsu, Akito Nomura, Masashi Konyo, Satoshi Tadokoro

2016 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR)　390-395　2016

DOI： 10.1109/SSRR.2016.7784332 　

ISSN： 2374-3247
吸着力を調整できる永電磁式小型軽量吸着機構の開発とマルチコプタ搭載評価 Peer-reviewed

小浦慧視, 岡田佳都, カールジョンオーサラーン, 大野和則, 多田隈建二郎, 田所諭

第21回ロボティクスシンポジア講演予稿集　21st　2016

ISSN： 1881-7300
Development of a Spherical Tether-Handling Device with a Coupled Differential Mechanism for Tethered Teleoperated Robots Peer-reviewed

Tomoya Ichimura, Kenjiro Tadakuma, Eri Takane, Masashi Konyo, Satoshi Tadokoro

2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)　2016-November　2604-2609　2016

DOI： 10.1109/IROS.2016.7759405 　

ISSN： 2153-0858

eISSN： 2153-0866
Real-time Restoration of Aerial Inspection Images by Recognizing and Removing Passive Rotating Shell of a UAV Peer-reviewed

Yoshito Okada, Takuma Ishii, Kazunori Ohno, Satoshi Tadokoro

2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)　2016-November　5006-5012　2016

DOI： 10.1109/IROS.2016.7759735 　

ISSN： 2153-0858

eISSN： 2153-0866
Two Axes Orthogonal Drive Transmission for Omnidirectional Crawler with Surface Contact Peer-reviewed

En Takane, Kenjiro Tadakuma, Masahiro Fujita, Hirone Komatsu, Akito Nomura, Tomoya Ichimura, Tomonari Yamamoto, Yuich Ambe, Masashi Konyo, Satoshi Tadokoro

2016 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR)　378-383　2016

DOI： 10.1109/SSRR.2016.7784330 　

ISSN： 2374-3247
Visuo-haptic Transmission of Contact Information Improve Operation of Active Scope Camera Peer-reviewed

Takahito Funamizu, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)　2016-November　1126-1132　2016

DOI： 10.1109/IROS.2016.7759190 　

ISSN： 2153-0858

eISSN： 2153-0866
環境との接触力のモデルに基づくクローラロボットの軌跡追従制御 Peer-reviewed

小島匠太郎, 大野和則, 鈴木高宏, 田所諭

第21回ロボティクスシンポジア講演予稿集　21st　2016

ISSN： 1881-7300
Motion Control of Tracked Vehicle based on Contact Force Model Peer-reviewed

Shotaro Kojima, Kazunori Ohno, Takahiro Suzuki, Thomas Westfechtel, Yoshito Okada, Satoshi Tadokoro

2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)　2016-November　1177-1183　2016

DOI： 10.1109/IROS.2016.7759198 　

ISSN： 2153-0858

eISSN： 2153-0866
Improvement of UAV's Flight Performance by Reducing the Drag Force of Spherical Shell Peer-reviewed

Carl John Salaan, Yoshito Okada, Koichi Hozumi, Kazunori Ohno, Satoshi Tadokoro

2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)　2016-November　1708-1714　2016

DOI： 10.1109/IROS.2016.7759274 　

ISSN： 2153-0858

eISSN： 2153-0866
Real-time Display of Onboard Spherical Images That Synchronizes Head Pose of Operator for Robotic Search Peer-reviewed

Yoshito Okada, Takumi Fujinami, Shotaro Kojima, Takuma Ishii, Kazunori Ohno, Satoshi Tadokoro

2016 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR)　106-111　2016

DOI： 10.1109/SSRR.2016.7784285 　

ISSN： 2374-3247
Effects of PIP2 on membrane fusion between mast cell SNARE liposomes mediated by synaptotagmin 2

Satoshi Tadokoro, Yoshikazu Inoh, Mamoru Nakanishi, Naohide Hirashima

BIOCHIMICA ET BIOPHYSICA ACTA-BIOMEMBRANES　1848　(10)　2290-2294　2015/10

DOI： 10.1016/j.bbamem.2015.06.016 　

ISSN： 0005-2736

eISSN： 0006-3002
Challenge of disaster robotics

Satoshi Tadokoro

Chinese Control Conference, CCC　2015-September　21-22　2015/09/11

DOI： 10.1109/ChiCC.2015.7259606 　

ISSN： 1934-1768

eISSN： 2161-2927
Special issue on disaster response robotics (2) PREFACE

Kazunori Ohno, Satoshi Tadokoro, Nathan Michael, Geert-Jan M. Kruijff

ADVANCED ROBOTICS　29　(3)　147-147　2015/02

DOI： 10.1080/01691864.2015.1007901 　

ISSN： 0169-1864

eISSN： 1568-5535
Measurements of Vibration Propagation on a Forearm during Tennis Shot for Realistic Tactile Displays

Sakata Shunya, Nagano Hikaru, Konyo Masashi, Tadokoro Satoshi

The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM　2015　203-204　2015
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmeicam.2015.6.203 　

ISSN： 1348-8961

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In this study, we developed a tactile display method that presents a realistic hitting sensation of a tennis shot using multiple vibrotactile stimuli. We have previously measured and approximated vibration waveforms at multiple points on a forearm during a tennis shot for displaying a realistic hitting sensation. However, the influence of swing velocity during impact on vibration parameters remains to be understood. Thus, we measured and approximated vibration waveforms in relation to swing velocity. The results revealed that swing velocity influences vibration amplitudes at the racket, wrist, and elbow during a tennis shot.
Rolling Resistance between Roller and Flexible Tube of Pneumatic Hollow-shaft Actuator

Yamamoto Tomonari, Konyo Masashi, Tadakuma Kenjiro, Tadokoro Satoshi

The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM　2015　269-270　2015
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmeicam.2015.6.269 　

ISSN： 1348-8961

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The authors propose a flexible shaft actuator whose slider has high-speed and long-stroke motion capability. However, the rolling resistance of rollers in the slider must be investigated to improve the motion performance. In this study, we identify the rolling resistance and optimize the roller design. First, possible factors causing rolling resistance are investigated. We found that the elastic hysteresis loss was the main factor to approximate the resistance. Finally, we optimized the roller radius using the experimental results.
Omnidirectional Curving Arm Mechanism with Passive Touch Detection

TAKANE Eri, TADAKUMA Kenjiro, SAKIYAMA Seiji, YAMAMOTO Tomonari, OHNO Kazunori, KONYO Masashi, TADOKORO Satoshi

The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM　2015　119-120　2015
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmeicam.2015.6.119 　

ISSN： 1348-8961

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In this paper, a mechanical arm with no distinction between hand part and arm part is presented. Additionally, an omnidirectional curving mechanism with passive touch detection is proposed.
Challenge of Disaster Robotics

Satoshi Tadokoro

2015 34TH CHINESE CONTROL CONFERENCE (CCC)　21-22　2015

ISSN： 2161-2927
Disaster Response Robot.

Satoshi Tadokoro

Encyclopedia of Systems and Control　2015
Publisher: Springer
DOI： 10.1007/978-1-4471-5102-9_181-1 　
Path planning with observation prediction to avoid collisions with unknown dynamic obstacles.

Eijiro Takeuchi, Naoki Sugawara, Kazunori Ohno, Satoshi Tadokoro

2015 IEEE/SICE International Symposium on System Integration(SII)　629-633　2015
Publisher: IEEE
DOI： 10.1109/SII.2015.7405052 　
RAS Strategic Planning Meeting [Society News].

Satoshi Tadokoro

IEEE Robotics Autom. Mag.　22　(2)　101-102　2015

DOI： 10.1109/MRA.2015.2419138 　

ISSN： 1070-9932
Proposal of inspection and rescue tasks for tunnel disasters - Task development of Japan virtual robotics challenge.

Masayuki Okugawa, Katsuji Oogane, Masaru Shimizu, Yoshikazu Ohtsubo, Tetsuya Kimura, Tomoichi Takahashi, Satoshi Tadokoro

SSRR 2015 - 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics　1-2　2015
Publisher: IEEE
DOI： 10.1109/SSRR.2015.7443005 　
Proposal and Experimental Validation of a Design Strategy for a UAV with a Passive Rotating Spherical Shell Peer-reviewed

Shoma Mizutani, Yoshito Okada, Carl John Salaan, Takuma Ishii, Kazunori Ohno, Satoshi Tadokoro

2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　2015-December　1271-1278　2015

DOI： 10.1109/IROS.2015.7353532 　

ISSN： 2153-0858

eISSN： 2153-0866
A High-speed Locomotion Mechanism Using Pneumatic Hollow-shaft Actuators for In-pipe Robots Peer-reviewed

Tomonari Yamamoto, Masashi Konyo, Satoshi Tadokoro

2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　2015-December　4724-4730　2015

DOI： 10.1109/IROS.2015.7354050 　

ISSN： 2153-0858

eISSN： 2153-0866
Environmental Sensing using Millimeter Wave Sensor for Extreme Conditions Peer-reviewed

Shakeel Muhammad, Daniele Nardi, Kazunori Ohno, Satoshi Tadokoro

2015 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR)　1-7　2015

DOI： 10.1109/SSRR.2015.7442947 　
Precise Velocity Estimation for Dog Using Its Gait Peer-reviewed

Naoki Sakaguchi, Kazunori Ohno, Eijiro Takeuchi, Satoshi Tadokoro

FIELD AND SERVICE ROBOTICS　105　515-528　2015

DOI： 10.1007/978-3-319-07488-7_35 　

ISSN： 1610-7438

eISSN： 1610-742X
Microphone-Accelerometer Based 3D Posture Estimation for a Hose-shaped Rescue Robot Peer-reviewed

Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshii, Hiroshi G. Okuno

2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　2015-December　5580-5586　2015

DOI： 10.1109/IROS.2015.7354168 　

ISSN： 2153-0858

eISSN： 2153-0866
Evaluating Human Motor Function of Lower Limbs in Periodic Motion during Pedaling Exercise Peer-reviewed

Tomohiro Miyazaki, Fumi Seto, Masashi Konyo, Satoshi Tadokoro

2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　2015-December　2216-2223　2015

DOI： 10.1109/IROS.2015.7353674 　

ISSN： 2153-0858

eISSN： 2153-0866
Haptic 3D canvas: haptic assistance of 3d writing and drawing with vibrotactile feedback for gesture interfaces. Peer-reviewed

Seonghwan Kim, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

SIGGRAPH Asia 2015 Haptic Media and Contents Design　8-2　2015
Publisher: ACM
DOI： 10.1145/2818384.2818400 　
Posture estimation of hose-shaped robot by using active microphone array Peer-reviewed

Yoshiaki Bando, Takuma Otsuka, Takeshi Mizumoto, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Hiroshi G. Okuno

ADVANCED ROBOTICS　29　(1)　35-49　2015/01

DOI： 10.1080/01691864.2014.981291 　

ISSN： 0169-1864

eISSN： 1568-5535
Detection of Continuous Barking Actions from Search and Rescue Dogs' Activities Data Peer-reviewed

Yuichi Komori, Kazuaki Ohno, Takuaki Fujieda, Takahiro Suzuki, Satoshi Tadokoro

2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　2015-December　630-635　2015

DOI： 10.1109/IROS.2015.7353438 　

ISSN： 2153-0858

eISSN： 2153-0866
Appearance-based Person Identification Algorithm to Search for Persons using a Flying Robot Peer-reviewed

Toru Yonezawa, Eijirou Takeuchi, Kazunori Ohno, Satoshi Tadokoro

2015 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR)　1-8　2015

DOI： 10.1109/SSRR.2015.7442995 　
Human-Voice Enhancement based on Online RPCA for a Hose-shaped Rescue Robot with a Microphone Array Peer-reviewed

Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshii, Hiroshi G. Okuno

2015 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR)　1-6　2015

DOI： 10.1109/SSRR.2015.7442949 　
Path-creation Method to Search for Persons using a Flying Robot Peer-reviewed

Toni Yonezawa, Eijirou Takeuchi, Kazunori Ohno, Satoshi Tadokoro

2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)　1439-1446　2015

DOI： 10.1109/ROBIO.2015.7418973 　
HelloHapticWorld: A Haptics Educational Kit for Interacting with Robots Peer-reviewed

Dennis Babu, Daniel Gongora, Shunya Sakata, Seonghwan Kim, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　157-162　2015

DOI： 10.1109/SII.2015.7404971 　
Special issue on disaster response robotics PREFACE

Kazunori Ohno, Satoshi Tadokoro, Nathan Michael, Geert-Jan M. Kruijff

ADVANCED ROBOTICS　28　(23)　1545-1545　2014/12

DOI： 10.1080/01691864.2014.986840 　

ISSN： 0169-1864

eISSN： 1568-5535
Editorial-Special Issue on Field and Service Robotics

Kazuya Yoshida, Satoshi Tadokoro

JOURNAL OF FIELD ROBOTICS　31　(5)　729-730　2014/09

DOI： 10.1002/rob.21544 　

ISSN： 1556-4959

eISSN： 1556-4967
Orai-2 is localized on secretory granules and regulates antigen-evoked Ca2+ mobilization and exocytosis in mast cells

Miho Ikeya, Kiyoshi Yamanoue, Yuji Mochizuki, Hirofumi Konishi, Satoshi Tadokoro, Masahiko Tanaka, Ryo Suzuki, Naohide Hirashima

BIOCHEMICAL AND BIOPHYSICAL RESEARCH COMMUNICATIONS　451　(1)　62-67　2014/08

DOI： 10.1016/j.bbrc.2014.07.060 　

ISSN： 0006-291X

eISSN： 1090-2104
Presenting virtual stiffness with suction pressure.

Lope Ben Porquis, Daiki Maemori, Naohisa Nagaya, Masashi Konyo, Satoshi Tadokoro

IEEE Haptics Symposium(HAPTICS)　1-1　2014
Publisher: IEEE
DOI： 10.1109/HAPTICS.2014.6775534 　
Smart Building Technology [TC Spotlight].

Satoshi Tadokoro

IEEE Robotics Autom. Mag.　21　(2)　18-20　2014

DOI： 10.1109/MRA.2014.2314033 　

ISSN： 1070-9932
Haptic Assistance of Spatial Pointing with Simple Vibrotactile Feedback for Gesture Interfaces. Peer-reviewed

Seonghwan Kim, Masashi Konyo, Satoshi Tadokoro

Lecture Notes in Electrical Engineering　277　37-39　2014
Publisher: Springer Verlag
DOI： 10.1007/978-4-431-55690-9_7 　

ISSN： 1876-1100

eISSN： 1876-1119
Pseudo-Haptic Interface Using Multipoint Suction Pressures and Vibrotactile Stimuli. Peer-reviewed

Daiki Maemori, Lope Ben Porquis, Masashi Konyo, Satoshi Tadokoro

Lecture Notes in Electrical Engineering　277　131-133　2014
Publisher: Springer Verlag
DOI： 10.1007/978-4-431-55690-9_24 　

ISSN： 1876-1100

eISSN： 1876-1119
Sensor Observation Area Compensating Path Planning for Avoiding Collisions with Unknown Obstacles Peer-reviewed

Naoki Sugawara, Eijiro Takeuchi, Kazunori Ohno, Satoshi Tadokoro

2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014　843-848　2014

DOI： 10.1109/ROBIO.2014.7090437 　
A Multi-DOF Haptic Representation Using Suction Pressure Stimuli on Finger Pads Peer-reviewed

Daiki Maemori, Lope Ben Porquis, Masashi Konyo, Satoshi Tadokoro

HAPTICS: NEUROSCIENCE, DEVICES, MODELING, AND APPLICATIONS, PT II　8619　440-442　2014

DOI： 10.1007/978-3-662-44196-1 　

ISSN： 0302-9743

eISSN： 1611-3349
A Precise Gait Phase Detection Based on High-Frequency Vibration on Lower Limbs Peer-reviewed

Shuhei Kadoya, Naohisa Nagaya, Masashi Konyo, Satoshi Tadokoro

2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　1852-1857　2014

DOI： 10.1109/ICRA.2014.6907102 　

ISSN： 1050-4729

eISSN： 2577-087X
Estimation of Ground Surface Radiation Sources from Dose Map Measured by Moving Dosimeter and 3D Map Peer-reviewed

Gaku Minamoto, Eijiro Takeuchi, Satoshi Tadokoro

2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014)　1889-1895　2014

DOI： 10.1109/IROS.2014.6942811 　

ISSN： 2153-0858

eISSN： 2153-0866
Hovering of MAV by Using Magnetic Adhesion and Winch Mechanisms Peer-reviewed

Kazuaki Yanagimura, Kazunori Ohno, Yoshito Okada, Eijiro Takeuchi, Satoshi Tadokoro

2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　6250-6257　2014

DOI： 10.1109/ICRA.2014.6907781 　

ISSN： 1050-4729

eISSN： 2577-087X
Presenting Virtual Stiffness by Modulating the Perceived Force Profile with Suction Pressure Peer-reviewed

Lope Ben Porquis, Daiki Maemori, Naohisa Nagaya, Masashi Konyo, Satoshi Tadokoro

2014 IEEE HAPTICS SYMPOSIUM (HAPTICS)　289-294　2014

DOI： 10.1109/HAPTICS.2014.6775469 　

ISSN： 2324-7347

eISSN： 2324-7355
Remote Vertical Exploration by Active Scope Camera into Collapsed Buildings Peer-reviewed

Junichi Fukuda, Masashi Konyo, Eijiro Takeuchi, Satoshi Tadokoro

2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014)　1882-1888　2014

DOI： 10.1109/IROS.2014.6942810 　

ISSN： 2153-0858

eISSN： 2153-0866
A sound-based online method for estimating the time-varying posture of a hose-shaped robot. Peer-reviewed

Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshii, Hiroshi G. Okuno

12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings　1-6　2014
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI： 10.1109/SSRR.2014.7017665 　
A Multi-DOF Haptic Representation Using Suction Pressure Stimuli on Finger Pads Peer-reviewed

Daiki Maemori, Lope Ben Porquis, Masashi Konyo, Satoshi Tadokoro

HAPTICS: NEUROSCIENCE, DEVICES, MODELING, AND APPLICATIONS, PT II　8619　285-294　2014

DOI： 10.1007/978-3-662-44196-1_35 　

ISSN： 0302-9743

eISSN： 1611-3349
Inhibitory effects of a cationic liposome on allergic reaction mediated by mast cell activation

Yoshikazu Inoh, Satoshi Tadokoro, Hiroki Tanabe, Makoto Inoue, Naohide Hirashima, Mamoru Nakanishi, Tadahide Furuno

BIOCHEMICAL PHARMACOLOGY　86　(12)　1731-1738　2013/12

DOI： 10.1016/j.bcp.2013.09.023 　

ISSN： 0006-2952

eISSN： 1873-2968
各機関の動向がれきの中を無人で探査被災建物内探査システム「ロボ・スコープ」

田所諭, 廣瀬豊

保全学　12　(3)　21-23　2013/10
Publisher: 日本保全学会
ISSN： 1348-7795
For the Future Rescue Robots

TADOKORO Satoshi

The Journal of the Institute of Electronics, Information, and Communication Engineers　96　(10)　765-767　2013/10
Publisher: The Institute of Electronics, Information and Communication Engineers
ISSN： 0913-5693
Emergency response to the nuclear accident at the Fukushima Daiichi Nuclear Power Plants using mobile rescue robots Peer-reviewed

Keiji Nagatani, Seiga Kiribayashi, Yoshito Okada, Kazuki Otake, Kazuya Yoshida, Satoshi Tadokoro, Takeshi Nishimura, Tomoaki Yoshida, Eiji Koyanagi, Mineo Fukushima, Shinji Kawatsuma

JOURNAL OF FIELD ROBOTICS　30　(1)　44-63　2013/01

DOI： 10.1002/rob.21439 　

ISSN： 1556-4959

eISSN： 1556-4967
レーザスキャナで計測した3次元点群から霧によって生じた計測点の除去 Peer-reviewed

鈴木貴広, 大野和則, 東和幸, 竹内栄二朗, 田所諭

第18回ロボティクスシンポジア予稿集　18th　600-607　2013

ISSN： 1881-7300
An introduction to Japanese R&D activity and political direction on special environment robots Peer-reviewed

Yushi Segawa, Yasuyuki Nanamori, Shinichiro Sanji, Takayoshi Kitada, Satoshi Tadokoro

2013 IEEE Region 10 Humanitarian Technology Conference, R10-HTC 2013　29-34　2013

DOI： 10.1109/R10-HTC.2013.6669009 　
三次元地図を用いたGPS衛星可視性に基づく複数測位解生成による移動体の位置推定 Peer-reviewed

荒川尚吾, 竹内栄二朗, 大野和則, 田所諭

第18回ロボティクスシンポジア予稿集　18th　155-162　2013

ISSN： 1881-7300
Haptic Cue of Forces on Tools: Investigation of Multi-point Cutaneous Activity on Skin using Suction Pressure Stimuli Peer-reviewed

Lope Ben Porquis, Daiki Maemori, Naohisa Nagaya, Masashi Konyo, Satoshi Tadokoro

2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　2023-2029　2013

DOI： 10.1109/IROS.2013.6696626 　

ISSN： 2153-0858

eISSN： 2153-0866
Pneumatic Flexible Hollow Shaft Actuator with High Speed and Long Stroke Motion Peer-reviewed

Kazuhito Wakana, Hiroaki Namari, Masashi Konyo, Satoshi Tadokoro

2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　357-363　2013

DOI： 10.1109/ICRA.2013.6630600 　

ISSN： 1050-4729

eISSN： 2577-087X
Priority issues of disaster robotics in Japan Peer-reviewed

Satoshi Tadokoro, Shuji Seki, Hajime Asama

2013 IEEE Region 10 Humanitarian Technology Conference, R10-HTC 2013　41-46　2013

DOI： 10.1109/R10-HTC.2013.6669011 　
計測範囲の限られた移動ロボットのための走行予定経路を観測可能な経路計画 Peer-reviewed

菅原直樹, 竹内栄二朗, 大野和則, 田所諭

第18回ロボティクスシンポジア予稿集　18th　567-573　2013

ISSN： 1881-7300
Research on standardization, safety standards and competitiveness enhancement of special environment robots in Japan Peer-reviewed

Tetsuya Kimura, Makiko Okamoto, Koji Oga, Shinji Okuda, Toshihiro Matsuda, Tsutomu Nagi, Shoichi Hamada, Yoshitada Hata, Satoshi Tadokoro

2013 IEEE Region 10 Humanitarian Technology Conference, R10-HTC 2013　176-181　2013

DOI： 10.1109/R10-HTC.2013.6669037 　
Collaborative mapping of an earthquake-damaged building via ground and aerial robots Peer-reviewed

Nathan Michael, Shaojie Shen, Kartik Mohta, Yash Mulgaonkar, Vijay Kumar, Keiji Nagatani, Yoshito Okada, Seiga Kiribayashi, Kazuki Otake, Kazuya Yoshida, Kazunori Ohno, Eijiro Takeuchi, Satoshi Tadokoro

JOURNAL OF FIELD ROBOTICS　29　(5)　832-841　2012/09

DOI： 10.1002/rob.21436 　

ISSN： 1556-4959

eISSN： 1556-4967
Marine heterogeneous multirobot systems at the great Eastern Japan Tsunami recovery Peer-reviewed

Robin R. Murphy, Karen L. Dreger, Sean Newsome, Jesse Rodocker, Brian Slaughter, Richard Smith, Eric Steimle, Tetsuya Kimura, Kenichi Makabe, Kazuyuki Kon, Hisashi Mizumoto, Michinori Hatayama, Fumitoshi Matsuno, Satoshi Tadokoro, Osamu Kawase

JOURNAL OF FIELD ROBOTICS　29　(5)　819-831　2012/09

DOI： 10.1002/rob.21435 　

ISSN： 1556-4959

eISSN： 1556-4967
Discriminability-based evaluation of transmission capability of tactile transmission systems Peer-reviewed

Shogo Okamoto, Masashi Konyo, Satoshi Tadokoro

VIRTUAL REALITY　16　(2)　141-150　2012/06

DOI： 10.1007/s10055-011-0192-z 　

ISSN： 1359-4338

eISSN： 1434-9957
Endocytosis-like Uptake of Surface-Modified Drug Nanocarriers into Giant Unilamellar Vesicles

Kohei Tahara, Satoshi Tadokoro, Yoshiaki Kawashima, Naohide Hirashima

LANGMUIR　28　(18)　7114-7118　2012/05

DOI： 10.1021/la300902z 　

ISSN： 0743-7463
Detection of asymmetric distribution of phospholipids by fluorescence resonance energy transfer

Yoko Nishimura, Satoshi Tadokoro, Masahiko Tanaka, Naohide Hirashima

BIOCHEMICAL AND BIOPHYSICAL RESEARCH COMMUNICATIONS　420　(4)　926-930　2012/04

DOI： 10.1016/j.bbrc.2012.03.106 　

ISSN： 0006-291X
The suppression of IgE-mediated histamine release from mast cells following exocytic exclusion of biodegradable polymeric nanoparticles

Kohei Tahara, Satoshi Tadokoro, Hiromitsu Yamamoto, Yoshiaki Kawashima, Naohide Hirashima

BIOMATERIALS　33　(1)　343-351　2012/01

DOI： 10.1016/j.biomaterials.2011.09.043 　

ISSN： 0142-9612

eISSN： 1878-5905
レスキューロボットの現状と未来

田所諭

学士会会報　2012　(1)　70-82　2012/01
Publisher: 学士会
Developing a Measurement System for Improving Daily Lives of Cycling Wheel Chair Patients

Nobutoshi Hiro, Eijiro Takeuchi, Kazunori Ohno, Satoshi Tadokoro

2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE)　1656-1660　2012
A Research Project on SSRR Standardization for the Enhancement of its Utilization in Japan

Satoshi Tadokoro, Tetsuya Kimura, Shuhei Sugie, Yushi Segawa, Shinichiro Sanji, Shoichi Hamada, Yoshitada Hata

2012 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR)　1-2　2012

DOI： 10.1109/SSRR.2012.6523919 　
Late Breaking Report - Explosion Proof Active Scope Camera

Justin Huff, Richard Voyles, Satoshi Tadokoro

2012 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR)　1-3　2012

DOI： 10.1109/SSRR.2012.6523912 　
Collaborative Mapping of an Earthquake Damaged Building via Ground and Aerial Robots.

Nathan Michael, Shaojie Shen, Kartik Mohta, Vijay Kumar 0001, Keiji Nagatani, Yoshito Okada, Seiga Kiribayashi, Kazuki Otake, Kazuya Yoshida, Kazunori Ohno, Eijiro Takeuchi, Satoshi Tadokoro

Springer Tracts in Advanced Robotics　92　33-47　2012
Publisher: Springer
DOI： 10.1007/978-3-642-40686-7_3 　

ISSN： 1610-7438

eISSN： 1610-742X
Design and Running Performance Evaluation of Inchworm Drive with Frictional Anisotropy for Active Scope Camera. Peer-reviewed

Michihisa Ishikura, Kazuhito Wakana, Eijiro Takeuchi, Masashi Konyo, Satoshi Tadokoro

J. Robotics Mechatronics　24　(3)　517-530　2012

DOI： 10.20965/jrm.2012.p0517 　

ISSN： 0915-3942

eISSN： 1883-8049
Tactile-based torque illusion controlled by strain distributions on multi-finger contact. Peer-reviewed

Lope Ben Porquis, Masashi Konyo, Satoshi Tadokoro

Haptics Symposium 2012, HAPTICS 2012 - Proceedings　393-398　2012
Publisher: IEEE
DOI： 10.1109/HAPTIC.2012.6183820 　
Development of Flexible Pneumatic Actuator for Active Scope Camera Peer-reviewed

Kazuhito Wakana, Michihisa Ishikura, Masashi Konyo, Satoshi Tadokoro

2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　4315-4321　2012

DOI： 10.1109/ICRA.2012.6225124 　

ISSN： 1050-4729

eISSN： 2577-087X
Multi-contact Vacuum-Driven Tactile Display for Representing Force Vectors Applied on Grasped Objects. Peer-reviewed

Lope Ben Porquis, Masashi Konyo, Naohisa Nagaya, Satoshi Tadokoro

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)　7283 LNCS　(PART 2)　218-221　2012
Publisher: Springer
DOI： 10.1007/978-3-642-31404-9_40 　

ISSN： 0302-9743

eISSN： 1611-3349
Classification of 3-D Point Cloud Data that Includes Line and Frame Objects on the Basis of Geometrical Features and the Pass Rate of Laser Rays. Peer-reviewed

Kazunori Ohno, Takahiro Suzuki, Kazuyuki Higashi, Masanobu Tsubota, Eijiro Takeuchi, Satoshi Tadokoro

Springer Tracts in Advanced Robotics　92　527-540　2012
Publisher: Springer
DOI： 10.1007/978-3-642-40686-7_35 　

ISSN： 1610-7438

eISSN： 1610-742X
Virtual Active Touch: Perception of Virtual Gratings Wavelength through Pointing-Stick Interface Peer-reviewed

Shogo Okamoto, Takahiro Yamauchi, Masashi Konyo, Satoshi Tadokoro

IEEE TRANSACTIONS ON HAPTICS　5　(1)　85-93　2012/01

DOI： 10.1109/ToH.2011.48 　

ISSN： 1939-1412

eISSN： 2329-4051
Improvements to the Rescue Robot Quince Toward Future Indoor Surveillance Missions in the Fukushima Daiichi Nuclear Power Plant. Peer-reviewed

Tomoaki Yoshida, Keiji Nagatani, Satoshi Tadokoro, Takeshi Nishimura, Eiji Koyanagi

Springer Tracts in Advanced Robotics　92　19-32　2012
Publisher: Springer
DOI： 10.1007/978-3-642-40686-7_2 　

ISSN： 1610-7438

eISSN： 1610-742X
Presenting Sharp Surface Shapes Using Overlapped Vibrotactile Stimuli Peer-reviewed

Tatsuma Sakurai, Masashi Konyo, Satoshi Tadokoro

2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　3302-3309　2012

DOI： 10.1109/IROS.2012.6385975 　

ISSN： 2153-0858

eISSN： 2153-0866
Logical Winnowing Methods from Multiple Identification Candidates Using Corresponding Appearance Identification Results in Time-series Peer-reviewed

Kazushi Tanaka, Eijiro Takeuchi, Kazunori Ohno, Satoshi Tadokoro, Toro Yonezawa

2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　3631-3636　2012

DOI： 10.1109/ICRA.2012.6225242 　

ISSN： 1050-4729

eISSN： 2577-087X
Collaborative mapping of an earthquake-damaged building via ground and aerial robots. Peer-reviewed

Nathan Michael, Shaojie Shen, Kartik Mohta, Yash Mulgaonkar, Vijay Kumar 0001, Keiji Nagatani, Yoshito Okada, Seiga Kiribayashi, Kazuki Otake, Kazuya Yoshida, Kazunori Ohno, Eijiro Takeuchi, Satoshi Tadokoro

J. Field Robotics　29　(5)　832-841　2012

DOI： 10.1002/rob.21436 　

ISSN： 1556-4959
Shape Estimation of Flexible Cable Peer-reviewed

Michihisa Ishikura, Eijiro Takeuchi, Masashi Konyo, Satoshi Tadokoro

2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　2539-2546　2012

DOI： 10.1109/IROS.2012.6385700 　

ISSN： 2153-0858

eISSN： 2153-0866
Tube-type Active Scope Camera with High Mobility and Practical Functionality Peer-reviewed

Hiroaki Namari, Kazuhito Wakana, Michihisa Ishikura, Masashi Konyo, Satoshi Tadokoro

2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　3679-3686　2012

DOI： 10.1109/IROS.2012.6386172 　

ISSN： 2153-0858

eISSN： 2153-0866
Biosurfactant mannosyl-erythritol lipid inhibits secretion of inflammatory mediators from RBL-2H3 cells

Yosuke Morita, Satoshi Tadokoro, Masao Sasai, Dai Kitamoto, Naohide Hirashima

BIOCHIMICA ET BIOPHYSICA ACTA-GENERAL SUBJECTS　1810　(12)　1302-1308　2011/12

DOI： 10.1016/j.bbagen.2011.07.002 　

ISSN： 0304-4165

eISSN： 1872-8006
Shared Autonomy System for Tracked Vehicles on Rough Terrain Based on Continuous Three-Dimensional Terrain Scanning Peer-reviewed

Yoshito Okada, Keiji Nagatani, Kazuya Yoshida, Satoshi Tadokoro, Tomoaki Yoshida, Eiji Koyanagi

JOURNAL OF FIELD ROBOTICS　28　(6)　875-893　2011/11

DOI： 10.1002/rob.20416 　

ISSN： 1556-4959

eISSN： 1556-4967
Controlled Balance Losing in Random Step Environment for Path Planning of a Teleoperated Crawler-Type Vehicle Peer-reviewed

Evgeni Magid, Takashi Tsubouchi, Eiji Koyanagi, Tomoaki Yoshida, Satoshi Tadokoro

JOURNAL OF FIELD ROBOTICS　28　(6)　932-949　2011/11

DOI： 10.1002/rob.20406 　

ISSN： 1556-4959

eISSN： 1556-4967
GPS Based Particle Filter Localization Method with Multipath Model using 3D-Map Peer-reviewed

YAMAZAKI Masashi, TAKEUCHI Eijiro, OHNO Kazunori, TADOKORO Satoshi

Journal of the Robotics Society of Japan　29　(8)　702-709　2011/10/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.29.702 　

ISSN： 0289-1824

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This paper describes method to improve the accuracy of localization of mobile robot using GPS with particle filter. This method improves the accuracy of localization by removing multipath of GPS measurement data with 3D-Map. This approach analyzes area that cannot receive direct wave from GPS satellite with 3D-Map about each satellite. The particles in that area are assumed to be receiving GPS data including the multipath error. And particle's likelihood is calculated considering the multipath error. This method is useful for localization and navigation of mobile robot between buildings.
Effects of synaptotagmin 2 on membrane fusion between liposomes that contain SNAREs involved in exocytosis in mast cells

Yumiko Nagai, Satoshi Tadokoro, Hiroki Sakiyama, Naohide Hirashima

BIOCHIMICA ET BIOPHYSICA ACTA-BIOMEMBRANES　1808　(10)　2435-2439　2011/10

DOI： 10.1016/j.bbamem.2011.07.003 　

ISSN： 0005-2736
Vibrotactile Stimuli Applied to Finger Pads as Biases for Perceived Inertial and Viscous Loads Peer-reviewed

Shogo Okamoto, Masashi Konyo, Satoshi Tadokoro

IEEE TRANSACTIONS ON HAPTICS　4　(4)　307-315　2011/10

DOI： 10.1109/ToH.2011.16 　

ISSN： 1939-1412

eISSN： 2329-4051
Liprin-alpha is involved in exocytosis and cell spreading in mast cells

Hidehiro Nomura, Satoshi Tadokoro, Naohide Hirashima

IMMUNOLOGY LETTERS　139　(1-2)　110-116　2011/09

DOI： 10.1016/j.imlet.2011.05.010 　

ISSN： 0165-2478

eISSN： 1879-0542
部会の活動と展望

落合康住, 高瀬國克, 山北昌毅, 田所諭, 佐藤滋, 足立吉隆, 河原崎徳之, 橋本秀紀, 三輪敬之, 新井健生, 鳥居徹, 大道武生, 浜田利満, 安積欣志, 木口量夫, 杉坂政典, 下条誠, 渡辺桂吾, 岩城敏, 山口亨

計測と制御 = Journal of the Society of Instrument and Control Engineers　50　(8)　750-761　2011/08/10

ISSN： 0453-4662
なぜ、国産ロボットは3・11に稼動しなかったのか (特集「想定外」の虚実)

田所諭

中央公論　126　(7)　114-119　2011/07
Publisher: 中央公論新社
ISSN： 0529-6838
Multirobot Exploration for Search and Rescue Missions: A Report on Map Building in RoboCupRescue 2009 Peer-reviewed

Keiji Nagatani, Yoshito Okada, Naoki Tokunaga, Seiga Kiribayashi, Kazuya Yoshida, Kazunori Ohno, Eijiro Takeuchi, Satoshi Tadokoro, Hidehisa Akiyama, Itsuki Noda, Tomoaki Yoshida, Eiji Koyanagi

JOURNAL OF FIELD ROBOTICS　28　(3)　373-387　2011/05

DOI： 10.1002/rob.20389 　

ISSN： 1556-4959

eISSN： 1556-4967
18・10 将来像(18.ロボティクス・メカトロニクス,<特集>機械工学年鑑)

田所諭

日本機械学会誌　114　(1113)　629-629　2011
Publisher: 一般社団法人日本機械学会
DOI： 10.1299/jsmemag.114.1113_629_2 　

ISSN： 0021-4728
1A2-J15 State estimation for tracked vehicle using the dynamics model on rubble(Search and Rescue Robot and mechatronics)

Higashi Kazuyuki, Ohno Kazunori, Takeuchi Eijiro, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2011　_1A2-J15_1-_1A2-J15_4　2011
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2011._1A2-J15_1 　

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Tracked vehicle with sub-tracks has high driving performance on rubble. However, navigator cannot observe position in contact with the rubble and crawler using camera and inertial sensor mounted on the tracked vehicle. Therefore, tracked vehicle was losing a balance on rubble and sub-tracks applied overload to motor when it stacked on rubble. In this paper, we propose the way to measure the force applied to the drive system at cannot mount contact sensor and the contact position cannot observe by camera using the dynamics of the robot and the inertial sensor information. By using the proposed method, we will be able to estimate the state of tracked vehicle that it stuck on the rubble and it run upon rubble and steps.
2A2-M09 Development of Rough Terrain Mobility Using Rotating Legs and Elastic Body(Mobile Robot with Special Mechanism)

SUGAWARA Naoki, SAKAGUCHI Naoki, TOTSUKA Yusuke, OHNO Kazunori, TAKEUCHI Eijiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2011　_2A2-M09_1-_2A2-M09_4　2011
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2011._2A2-M09_1 　

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Mechanisms that overcome bumps are complicated and difficult to control. We propose a simple mechanism for getting over bumps. The authors developed a mechanism using six rotating legs and elastic body. By adjusting phase difference of six legs, the robot overcame the bumps smoothly. By using a rubber body, the robot didn't fall down when the robot lost the balance. Through experiments, verify validity of the mechanisms.
Use of remotely operated marine vehicles at Minamisanriku and Rikuzentakata Japan for disaster recovery

Robin R. Murphy, Karen L. Dreger, Sean Newsome, Jesse Rodocker, Eric Steimle, Tetsuya Kimura, Kenichi Makabe, Fumitoshi Matsuno, Satoshi Tadokoro, Kazuyuki Kon

9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011　19-25　2011

DOI： 10.1109/SSRR.2011.6106798 　
Multirobot exploration for search and rescue missions: A report on map building in RoboCupRescue 2009. Peer-reviewed

Keiji Nagatani, Yoshito Okada, Naoki Tokunaga, Seiga Kiribayashi, Kazuya Yoshida, Kazunori Ohno, Eijiro Takeuchi, Satoshi Tadokoro, Hidehisa Akiyama, Itsuki Noda, Tomoaki Yoshida, Eiji Koyanagi

J. Field Robotics　28　(3)　373-387　2011

DOI： 10.1002/rob.20389 　

ISSN： 1556-4959

eISSN： 1556-4967
Enhancement of Human Force Perception by Multi-point Tactile Stimulation Peer-reviewed

Lope Ben Porquis, Masashi Konyo, Satoshi Tadokoro

2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　3488-3493　2011

DOI： 10.1109/IROS.2011.6094762 　

ISSN： 2153-0858
Gamma-ray irradiation test of electric components of rescue mobile robot Quince - Toward emergency response to nuclear accident at Fukushima Daiichi Nuclear Power Station on March 2011 Peer-reviewed

Keiji Nagatani, Seiga Kiribayashi, Yoshito Okada, Kazuki Otake, Kazuya Yoshida, Satoshi Tadokoro, Takeshi Nishimura, Tomoaki Yoshida, Eiji Koyanagi, Mineo Fukushima, Shinji Kawatsuma

9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011　56-60　2011

DOI： 10.1109/SSRR.2011.6106756 　
Transparent object detection using color image and laser reflectance image for mobile manipulator. Peer-reviewed

Zhong Lei, Kazunori Ohno, Masanobu Tsubota, Eijiro Takeuchi, Satoshi Tadokoro

2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011　1-7　2011
Publisher: IEEE
DOI： 10.1109/ROBIO.2011.6181253 　
Remote Tactile Transmission with Time Delay for Robotic Master-Slave Systems. Peer-reviewed

Shogo Okamoto, Masashi Konyo, Takashi Maeno, Satoshi Tadokoro

Adv. Robotics　25　(9-10)　1271-1294　2011

DOI： 10.1163/016918611X574713 　

ISSN： 0169-1864

eISSN： 1568-5535
力の錯覚：指腹への振動刺激による質量・粘性知覚のバイアス Peer-reviewed

岡本正吾, 昆陽雅司, 田所諭

第16回ロボティクスシンポジア予稿集　16th　2011

ISSN： 1881-7300

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ロボティクスシンポジア優秀論文賞受賞
Redesign of rescue mobile robot Quince - Toward emergency response to the nuclear accident at Fukushima Daiichi Nuclear Power Station on March 2011 Peer-reviewed

Keiji Nagatani, Seiga Kiribayashi, Yoshito Okada, Satoshi Tadokoro, Takeshi Nishimura, Tomoaki Yoshida, Eiji Koyanagi, Yasushi Hada

9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011　13-18　2011

DOI： 10.1109/SSRR.2011.6106794 　
GPS measurement model with satellite visibility using 3D map for particle filter. Peer-reviewed

Eijiro Takeuchi, Masashi Yamazaki, Kazunori Ohno, Satoshi Tadokoro

2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011　590-595　2011
Publisher: IEEE
DOI： 10.1109/ROBIO.2011.6181350 　
Unknown object modeling on the basis of vision and pushing manipulation. Peer-reviewed

Kazunori Ohno, Kensuke Kurose, Eijiro Takeuchi, Lei Zhong, Masanobu Tsubota, Satoshi Tadokoro

2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011　1942-1948　2011
Publisher: IEEE
DOI： 10.1109/ROBIO.2011.6181575 　
Representation of Softness Sensation using Vibrotactile Stimuli under Amplitude Control Peer-reviewed

Lope Ben Porquis, Masashi Konyo, Satoshi Tadokoro

2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　1380-1385　2011

DOI： 10.1109/ICRA.2011.5980378 　

ISSN： 1050-4729

eISSN： 2577-087X
Running Performance Evaluation of Inchworm Drive and Vibration Drive for Active Scope Camera Peer-reviewed

Michihisa Ishikura, Kazuhito Wakana, Eijiro Takeuchi, Masashi Konyo, Satoshi Tadokoro

2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)　599-604　2011

DOI： 10.1109/AIM.2011.6027005 　

ISSN： 2159-6255
Enhancement of Vibrotactile Sensitivity: Effects of Stationary Boundary Contacts Peer-reviewed

Tatsuma Sakurai, Masashi Konyo, Satoshi Tadokoro

2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　3494-3500　2011

DOI： 10.1109/IROS.2011.6094758 　

ISSN： 2153-0858
Robotic control vehicle for measuring radiation in Fukushima Daiichi Nuclear Power Plant Peer-reviewed

Kazunori Ohno, Shinji Kawatsuma, Takashi Okada, Eijiro Takeuchi, Kazuyuki Higashi, Satoshi Tadokoro

9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011　38-43　2011

DOI： 10.1109/SSRR.2011.6106792 　
Latrotoxin-induced exocytosis in mast cells transfected with latrophilin

Hiroyuki Hiramatsu, Satoshi Tadokoro, Mamoru Nakanishi, Naohide Hirashima

TOXICON　56　(8)　1372-1380　2010/12

DOI： 10.1016/j.toxicon.2010.08.002 　

ISSN： 0041-0101
講演東北地域におけるロボット技術を活用した産業振興方策に関する調査

田所諭

東北活性研　2　16-21　2010/10
Publisher: 東北活性化研究センター
System Integration in R&D of Active Scope Camera Peer-reviewed

Satoshi Tadokoro, Masashi Konyo, Kazuna Sawata

IROS 2010 Workshop on Robots and Sensors Integration in Future Rescue Information System (ROSIN'10)　2010/10
Quince: A collaborative mobile robotic platform for rescue robotw reseaqrch and development Peer-reviewed

Eric Rohmer, Tomoaki Yoshida, Kazunori Ohno, Keiji Nagatani, Satoshi Tadokoro, Eiji Koyanagi

The 5th International Confrerence on Advanced Mechatronics　2010/10
Artificial Exocytotic System That Secretes Intravesicular Contents upon Ca2+ Influx

Masao Sasai, Satoshi Tadokoro, Naohide Hirashima

LANGMUIR　26　(18)　14788-14792　2010/09

DOI： 10.1021/la102737e 　

ISSN： 0743-7463
Advanced Robotics: Preface

Koichi Suzumori, Satoshi Tadokoro

Advanced Robotics　24　(10)　1405-1406　2010/06/01

DOI： 10.1163/016918610X505710 　

ISSN： 0169-1864

eISSN： 1568-5535
実用化研究進む「レスキューロボット」の世界(3)クローラ型レスキューロボット「Kenaf」

田所諭

OHM　97　(2)　62-64　2010/02
Publisher: オ-ム社
ISSN： 0386-5576
3-11 A Study on building and operating the training infrastructure for US&R : A Survey of Disaster City^<[○!R]> Training Facility in Texas, U.S.A.

YOSHIMURA Akiko, TADOKORO Satoshi

(26)　103-106　2010
Publisher:

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Establishing a national response system for Urban Search and Rescue (US&R) is now on the way in Japan. This paper reports a survey on Disaster City^<[○!R]>, which is a world-famous comprehensive US&R training facility constructed and build and operated by TEEX (Texas Engineering Extention Service) in Texas, U.S.A. As the result, the key points of facility components, arrangements, layouts are shown with the system to run the facility, and the unique characteristic of US&R training facilities are specified. Discussions are made on the constraints and advantages of introducing such kind of training facility in Japan, and the necessity to consider training resources in a system together with the actual response resources is shown.
Complexin II regulates degranulation in RBL-2H3 cells by interacting with SNARE complex containing syntaxin-3

Satoshi Tadokoro, Mamoru Nakanishi, Naohide Hirashima

CELLULAR IMMUNOLOGY　261　(1)　51-56　2010

DOI： 10.1016/j.cellimm.2009.10.011 　

ISSN： 0008-8749

eISSN： 1090-2163
Preface

Koichi Suzumori, Satoshi Tadokoro

ADVANCED ROBOTICS　24　(14)　1927-1928　2010

DOI： 10.1163/016918610X528517 　

ISSN： 0169-1864
Preface

Koichi Suzumori, Satoshi Tadokoro

ADVANCED ROBOTICS　24　(10)　1405-1406　2010

DOI： 10.1163/016918610X505710 　

ISSN： 0169-1864
Forereaching motion generation of mobile robots for pedestrian face identification

Kazushi Tanaka, Eijiro Takeuchi, Kazunori Ohno, Satoshi Tadokoro, Toru Yonezawa

Proceedings of the SICE Annual Conference　859-862　2010
Rescue robotics challenge

Satoshi Tadokoro

Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO　92-98　2010

DOI： 10.1109/ARSO.2010.5680049 　

ISSN： 2162-7568

eISSN： 2162-7576
Actuation of long flexible cables using ciliary vibration drive Peer-reviewed

Masashi Konyo, Satoshi Tadokoro

Next-Generation Actuators Leading Breakthroughs　177-188　2010
Publisher: Springer London
DOI： 10.1007/978-1-84882-991-6_16 　
Field Experiment on Multiple Mobile Robots Conducted in an Underground Mall Peer-reviewed

Tomoaki Yoshida, Keiji Nagatani, Eiji Koyanagi, Yasushi Hada, Kazunori Ohno, Shoichi Maeyama, Hidehisa Akiyama, Kazuya Yoshida, Satoshi Tadokoro

FIELD AND SERVICE ROBOTICS　62　365-375　2010

DOI： 10.1007/978-3-642-13408-1_33 　

ISSN： 1610-7438

eISSN： 1610-742X
Tracked-Vehicle Clutching Position Detectability on Bumps by Distributed Inclination Sensors. Peer-reviewed

Daisuke Inoue, Kazunori Ohno, Masashi Konyo, Satoshi Tadokoro

J. Robotics Mechatronics　22　(3)　293-300　2010

DOI： 10.20965/jrm.2010.p0293 　
Multi-object recognition on the basis of vision and manipulation Peer-reviewed

Kazunori Ohno, Peter Andersson, Zhong Lei, Eijiro Takeuchi, Satoshi Tadokoro

2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings　19-24　2010

DOI： 10.1109/SII.2010.5708295 　
Can multiple tactile pressure stimulation in gripping position induce virtual force directions? Peer-reviewed

Lope Ben Porquis, Masashi Konyo, Satoshi Tadokoro

2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings　402-407　2010

DOI： 10.1109/SII.2010.5708359 　
３次元環境地図を用いた自由空間観測モデルによる未知物体にロバストな自己位置推定 Peer-reviewed

竹内栄二朗, 大野和則, 田所諭

第１５回ロボティクスシンポジア講演予稿集　15th　257-263　2010

ISSN： 1881-7300

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日本ロボット学会研究奨励賞受賞
Trials of 3-D Map Construction Using the Tele-operated Tracked Vehicle Kenaf at Disaster City Peer-reviewed

Kazunori Ohno, Satoshi Tadokoro, Keiji Nagatani, Eiji Koyanagi, Tomoaki Yoshida

2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　2864-2870　2010

DOI： 10.1109/ROBOT.2010.5509722 　

ISSN： 1050-4729

eISSN： 2577-087X
Rescue robots at the Collapse of the municipal archive of Cologne City: A field report Peer-reviewed

Thorsten Linder, Viatcheslav Tretyakov, Sebastian Blumenthal, Peter Molitor, Dirk Holz, Robin Murphy, Satoshi Tadokoro, Hartmut Surmann

8th IEEE International Workshop on Safety, Security, and Rescue Robotics, SSRR-2010　2010

DOI： 10.1109/SSRR.2010.5981550 　
Development of Motion Model and Position Correction Method using Terrain Information for Tracked Vehicles with Sub-Tracks Peer-reviewed

Ken Sakurada, Eijiro Takeuchi, Kazunori Ohno, Satoshi Tadokoro

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)　370-376　2010

DOI： 10.1109/IROS.2010.5651673 　

ISSN： 2153-0858
A study on perspectives of designs and operations for US&R infrastructure:-Considerations from a survey on Disaster City® training facility- Peer-reviewed

YOSHIMURA Akiko, SHIMIZU Hidemaru, SATOH Fumiaki, KAKO Yoshinobu, TADOKORO Satoshi

Journal of Social Safety Science　13　(12/13)　265-274　2010
Publisher: Institute of Social Safety Science
DOI： 10.11314/jisss.13.265 　

ISSN： 1345-2088

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Establishing a national response system for Urban Search and Rescue (US&R) is now on the way in Japan. This paper reports the results of a survey on Disaster City®, a world-renowned comprehensive US&R training facility by TEEX (Texas Engineering Extension Service), and discuss what it suggests for Japan. First, problems in establishing national US&R response system in Japan are listed to draw viewpoints for the survey. Then, the survey is conducted and the results are shown. Discussions are made on perspectives of strategies for building training facility, designs to suit training needs, and ways of operating the facility to make the most of it. Finally, suggestions are made for the future.
複数の触感因子を伝えるマスタ・スレーブ型触力覚伝達システム Peer-reviewed

昆陽雅司, 山内敬大, 岡本正吾, 日高佑輔, 前野隆司, 田所諭

第１５回ロボティクスシンポジア講演予稿集　15th　541-547　2010

ISSN： 1881-7300
Vision-based localization using active scope camera - Accuracy evaluation for structure from motion in disaster environment Peer-reviewed

Michihisa Ishikura, Eijiro Takeuchi, Masashi Konyo, Satoshi Tadokoro

2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings　25-30　2010

DOI： 10.1109/SII.2010.5708296 　
Research of conditions of stimulus for inducing grasping force control reflex Peer-reviewed

Tatsuma Sakurai, Masashi Konyo, Shogo Okamoto, Satoshi Tadokoro

2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings　408-413　2010

DOI： 10.1109/SII.2010.5708360 　
Development of a laser scan method to decrease hidden areas caused by objects like pole at whole 3-D shape measurement Peer-reviewed

Akihiko Hata, Kazunori Ohno, Eijiro Takeuchi, Satoshi Tadokoro, Ken Sakurada, Naoki Miyahra, Kazuyuki Higashi

2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings　436-441　2010

DOI： 10.1109/SII.2010.5708365 　
Integration of a sub-crawlers' autonomous control in Quince highly mobile rescue robot Peer-reviewed

Eric Rohmer, Kazunori Ohno, Tomoaki Yoshida, Keiji Nagatani, Eiji Konayagi, Satoshi Tadokoro

2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings　78-83　2010

DOI： 10.1109/SII.2010.5708305 　
サブクローラを有するクローラロボットのモーションモデルと地形情報を利用した位置修正 Peer-reviewed

櫻田健, 竹内栄二朗, 大野和則, 田所諭

第１５回ロボティクスシンポジア講演予稿集　15th　2010

ISSN： 1881-7300
Real-time remote transmission of multiple tactile properties through master-slave robot system. Peer-reviewed

Takahiro Yamauchi, Shogo Okamoto, Masashi Konyo, Yusuke Hidaka, Takashi Maeno, Satoshi Tadokoro

Proceedings - IEEE International Conference on Robotics and Automation　1753-1760　2010
Publisher: IEEE
DOI： 10.1109/ROBOT.2010.5509926 　

ISSN： 1050-4729
Real-time prediction of fall and collision of tracked vehicle for remote-control support Peer-reviewed

Ken Sakurada, Shihoko Suzuki, Kazunori Ohno, Eijiro Takeuchi, Satoshi Tadokoro, Akihiko Hata, Naoki Miyahara, Kazuyuki Higashi

2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings　37-42　2010

DOI： 10.1109/SII.2010.5708298 　
ロボカップレスキューロボットリーグ

田所諭

建設の施工企画　(716)　44-47　2009/10/25
Publisher: 日本建設機械化協会
ISSN： 1349-547X
レスキューロボットの最新動向 Invited

田所諭

OHM　4-5　2009/10
ロボカップレスキューロボットリーグ Invited

田所諭

建設の施工企画　(716)　44-47　2009/10
都市の安全と安心を支える次世代ロボット Invited

田所諭

都市問題研究，特集ロボットが切り拓く未来　61　(8)　47-60　2009/08
レスキューロボットの現状と将来 Invited

田所諭

TOYRO BUSINESS　(138)　6-7　2009/07
Control Experiments of Sliding Motion of Active Flexible Cable Peer-reviewed

Kazuna Sawata, Masashi Konyo, Satoshi Tadokoro, Koichi Osuka

Proc. the 3rd International Conference on Manufacturing , Machine Design and Tribology (ICMDT 2009)　2009/06
IPMC Based Tactile Displays for Pressure and Texture Presentation on a Human Finger Peer-reviewed

Masashi Konyo, Satoshi Tadokoro

Biomedical Applications of Electroactive Polymer Actuators　161-174　2009/04
Publisher: John Wiley and Sons
DOI： 10.1002/9780470744697.ch8 　
Detectability and Perceptual Consequences of Delayed Feedback in a Vibrotactile Texture Display Peer-reviewed

Shogo Okamoto, Masashi Konyo, Satoshi Saga, Satoshi Tadokoro

IEEE TRANSACTIONS ON HAPTICS　2　(2)　73-84　2009/04

DOI： 10.1109/TOH.2009.17 　

ISSN： 1939-1412

eISSN： 2329-4051
防災・警備分野におけるロボット総論 Invited

田所諭

ロボット，特集防災・警備分野におけるロボット　187　(187)　1-4　2009/03
Publisher:
ISSN： 0387-1940
Involvement of ELKS, an active zone protein, in exocytotic release from RBL-2H3 cells

Hidehiro Nomura, Toshihisa Ohtsuka, Satoshi Tadokoro, Masahiko Tanaka, Naohide Hirashima

CELLULAR IMMUNOLOGY　258　(2)　204-211　2009

DOI： 10.1016/j.cellimm.2009.05.005 　

ISSN： 0008-8749

eISSN： 1090-2163
Preface.

Satoshi Tadokoro, Fumitoshi Matsuno, Daniele Nardi, Adam Jacoff

Adv. Robotics　23　(9)　1023-1024　2009

DOI： 10.1163/156855309X452458 　
Preface

Satoshi Tadokoro, Fumitoshi Matsuno, Daniele Nardi, Adam Jacoff

ADVANCED ROBOTICS　23　(9)　1023-1024　2009

DOI： 10.1163/156855309X452458 　

ISSN： 0169-1864

eISSN： 1568-5535
Summary of DDT Project, unsolved problems, and future roadmap

Satoshi Tadokoro

Rescue Robotics: DDT Project on Robots and Systems for Urban Search and Rescue　175-189　2009

DOI： 10.1007/978-1-84882-474-4_10 　
Earthquake disaster and expectation for robotics

Satoshi Tadokoro

Rescue Robotics: DDT Project on Robots and Systems for Urban Search and Rescue　1-16　2009

DOI： 10.1007/978-1-84882-474-4_1 　
Information infrastructure for rescue systems

Hajime Asama, Yasushi Hada, Kuniaki Kawabata, Itsuki Noda, Osamu Takizawa, Junichi Meguro, Kiichiro Ishikawa, Takumi Hashizume, Tomowo Ohga, Kensuke Takita, Michinori Hatayama, Fumitoshi Matsuno, Satoshi Tadokoro

Rescue Robotics: DDT Project on Robots and Systems for Urban Search and Rescue　57-69　2009

DOI： 10.1007/978-1-84882-474-4_4 　
Design guidelines for human interface for rescue robots

Yasuyoshi Yokokohji, Takashi Tsubouchi, Akichika Tanaka, Tomoaki Yoshida, Eiji Koyanagi, Fumitoshi Matsuno, Shigeo Hirose, Hiroyuki Kuwahara, Fumiaki Takemura, Takao Inoh, Kensuke Takita, Naoji Shiroma, Tetsushi Kamegawa, Yasushi Hada, Xin Zhi Zheng, Koichi Osuka, Taro Watasue, Tetsuya Kimura, Hiroaki Nakanishi, Yukio Horiguchi, Satoshi Tadokoro, Kazunori Ohno

Rescue Robotics: DDT Project on Robots and Systems for Urban Search and Rescue　131-144　2009

DOI： 10.1007/978-1-84882-474-4_7 　
An overview of the DDT Project

Satoshi Tadokoro, Fumitoshi Matsuno, Hajime Asama, Masahiko Onosato, Koichi Osuka, Tomoharu Doi, Hiroaki Nakanishi, Itsuki Noda, Koichi Suzumori, Toshi Takamori, Takashi Tsubouchi, Yasuyoshi Yokokohji, Mika Murata

Rescue Robotics: DDT Project on Robots and Systems for Urban Search and Rescue　17-31　2009

DOI： 10.1007/978-1-84882-474-4_2 　
On-rubble robot systems for the DDT Project

Fumitoshi Matsuno, Takashi Tsubouchi, Shigeo Hirose, Iwaki Akiyama, Takao Inoh, Michele Guarnieri, Kenji Kawashima, Takahiro Sasaki, Naoji Shiroma, Tetsushi Kamegawa, Kazunori Ohno, Satoshi Tadokoro, Noritaka Sato, Yoshikazu Inoue, Takahide Takeuchi, Hideyuki Tsukagoshi, Masashi Sasaki, Ato Kitagawa, Takahiro Tanaka, Yasuhiro Masutani, Haruo Soeda, Koichi Osuka, Masamitsu Kurisu, Tomoharu Doi, Tadahiro Kaneda, Xin Zhi Zheng, Hiroshi Sugimoto, Noriyuki Matsuoka, Teruaki Azuma, Masahiro Hatsuda

Rescue Robotics: DDT Project on Robots and Systems for Urban Search and Rescue　105-129　2009

DOI： 10.1007/978-1-84882-474-4_6 　
Demonstration experiments on rescue search robots and on-scenario training in practical field with first responders

Takashi Tsubouchi, Koichi Osuka, Fumitoshi Matsuno, Hajime Asama, Satoshi Tadokoro, Masahiko Onosato, Yasuyoshi Yokokohji, Hiroaki Nakanishi, Tomoharu Doi, Mika Murata, Yuko Kaburagi, Ikuko Tanimura, Naoko Ueda, Ken'Ichi Makabe, Koichi Suzumori, Eiji Koyanagi, Tomoaki Yoshida, Osamu Takizawa, Toshi Takamori, Yasushi Hada, Itsuki Noda

Rescue Robotics: DDT Project on Robots and Systems for Urban Search and Rescue　161-174　2009

DOI： 10.1007/978-1-84882-474-4_9 　
Sliding Motion Control of Active Flexible Cable Using Simple Shape Information Peer-reviewed

Kazuna Sawata, Masashi Konyo, Satoshi Saga, Satoshi Tadokoro, Koichi Osuka

ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7　4128-+　2009

DOI： 10.1109/ROBOT.2009.5152833 　

ISSN： 1050-4729

eISSN： 2577-087X
Disaster information gathering aerial robot systems Peer-reviewed

Masahiko Onosato, Satoshi Tadokoro, Hiroaki Nakanishi, Kenzo Nonami, Kuniaki Kawabata, Yasushi Hada, Hajime Asama, Fumiaki Takemura, Kiyoshi Maeda, Kenjiro Miura, Atsushi Yamashita

Rescue Robotics: DDT Project on Robots and Systems for Urban Search and Rescue　33-55　2009

DOI： 10.1007/978-1-84882-474-4_3 　
In-rubble robot system for USAR under debris Peer-reviewed

Koichi Osuka, Tomoharu Doi, Satoshi Tadokoro, Naoji Shiroma, Takashi Tsubouchi, Hideyuki Tsukagoshi, Shigeo Hirose, Fumitoshi Matsuno, Takumi Hashizume, Masamitsu Kurisu, Hiroyuki Kuwahara, Toshi Takamori, Yasuyoshi Yokokohji, Shugen Ma, Tatsuo Arai, Koichi Suzumori

Rescue Robotics: DDT Project on Robots and Systems for Urban Search and Rescue　71-103　2009
Publisher: Springer London
DOI： 10.1007/978-1-84882-474-4_5 　
Preliminary observation of HRI in robot-assisted medical response. Peer-reviewed

Robin R. Murphy, Masashi Konyo, Pedro Davalas, Gabe Knezek, Satoshi Tadokoro, Kazuna Sawata, Maarten van Zomeren

Proc. 4th ACM/IEEE International Conference on Human Robot Interaction (HRI 2009)　201-202　2009
Publisher: ACM
DOI： 10.1145/1514095.1514135 　
Vib-Touch: Virtual Active Touch Interface for Handheld Devices Peer-reviewed

Sho Tsuchiya, Masashi Konyo, Hiroshi Yamada, Takahiro Yamauchi, Shogo Okamoto, Satoshi Tadokoro

RO-MAN 2009: THE 18TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, VOLS 1 AND 2　965-970　2009

DOI： 10.1109/ROMAN.2009.5326160 　
Application of Active Scope Camera to forensic investigation of construction accident Peer-reviewed

Satoshi Tadokoro, Robin Murphy, Samuel Stover, William Brack, Masashi Konyo, Toshihiko Nishimura, Osachika Tanimoto

Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO　47-50　2009

DOI： 10.1109/ARSO.2009.5587076 　

ISSN： 2162-7568

eISSN： 2162-7576
Virtual Active Touch: Perceived Roughness Through a Pointing-Stick-Type Tactile Interface Peer-reviewed

Takahiro Yamauchi, Masashi Konyo, Shogo Okamoto, Satoshi Tadokoro

WORLD HAPTICS 2009: THIRD JOINT EUROHAPTICS CONFERENCE AND SYMPOSIUM ON HAPTIC INTERFACES FOR VIRTUAL ENVIRONMENT AND TELEOPERATOR SYSTEMS, PROCEEDINGS　605-628　2009

DOI： 10.1109/WHC.2009.4810892 　
フリッパを有するクローラロボットのロール方向の転倒回避動作を含む不整地踏破手法の開発 Peer-reviewed

湯沢友豪, 大野和則, 竹内栄二朗, 小柳栄次, 吉田智章, 田所諭

第14回ロボティクスシンポジア講演予稿集　14th　540-546　2009

ISSN： 1881-7300
Transmission of Tactile Roughness through Master-slave Systems Peer-reviewed

Shogo Okamoto, Masashi Konyo, Takashi Maeno, Satoshi Tadokoro

ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7　1486-+　2009

DOI： 10.1109/ROBOT.2009.5152415 　

ISSN： 1050-4729

eISSN： 2577-087X
Sliding motion control of active flexible cable using simple shape information. Peer-reviewed

Kazuna Sawata, Masashi Konyo, Satoshi Saga, Satoshi Tadokoro, Koichi Osuka

Proceedings - IEEE International Conference on Robotics and Automation　3736-3742　2009
Publisher: IEEE
DOI： 10.1109/ROBOT.2009.5152833 　

ISSN： 1050-4729
1A1-E20 A robust localization method based on free space observation model Peer-reviewed

TAKEUCHI Eijiro, Ohno Kazunori, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2009　_1A1-E20_1-_1A1-E20_4　2009
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2009._1A1-E20_1 　

ISSN： 2424-3124
Virtual Active Touch II: Vibrotactile Representation of Friction and a New Approach to Surface Shape Display Peer-reviewed

Sho Tsuchiya, Masashi Konyo, Hiroshi Yamada, Takahiro Yamauchi, Shogo Okamoto, Satoshi Tadokoro

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　3184-3189　2009

DOI： 10.1109/IROS.2009.5354203 　
Rollover avoidance using a stability margin for a tracked vehicle with sub-tracks Peer-reviewed

Kazunori Ohno, Valerie Chun, Tomotake Yuzawa, Eijiro Takeuchi, Satoshi Tadokoro, Tomoaki Yoshida, Eiji Koyanagi

2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009　2009

DOI： 10.1109/SSRR.2009.5424149 　
3-D mapping of an underground mall using a tracked vehicle with four sub-tracks Peer-reviewed

Kazunori Ohno, Satoshi Tadokoro, Keiji Nagatani, Eiji Koyanagi, Tomoaki Yoshida

2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009　2009

DOI： 10.1109/SSRR.2009.5424150 　
Development of 3D Laser Scanner for Measuring Uniform and Dense 3D Shapes of Static Objects in Dynamic Environment. Peer-reviewed

Kazunori Ohno, Toyokazu Kawahara, Satoshi Tadokoro

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4　2161-2167　2009

DOI： 10.1109/ROBIO.2009.4913337 　
Designing of online simulation environment for development control algorithms for robots operating in rough terrains

K. Kurose, S. Saga, Shogo Okamoto, K. Ohno, S. Tadokoro

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems　2008/09
Publisher: IEEE
DOI： 10.1109/iros.2008.4650898 　
災害救援のロボットシステム（レスキューロボットシステム） Invited

田所諭

電気評論，臨時増刊号　93　(524)　39-44　2008/06/30
安全安心のために活用が期待されるロボット技術

田所諭

科学アイズ　49　(2)　1-8　2008/03/15
Publisher:
ISSN： 1344-4123
Regulation of degranulation by complexin II in mast cells

Satoshi Tadokoro, Mamoru Nakanishi, Naohide Hirashima

YAKUGAKU ZASSHI-JOURNAL OF THE PHARMACEUTICAL SOCIETY OF JAPAN　128　93-94　2008

ISSN： 0031-6903

eISSN： 1347-5231
Search and Rescue Robotics.

Robin R. Murphy, Satoshi Tadokoro, Daniele Nardi, Adam Jacoff, Paolo Fiorini, Howie Choset, Aydan M. Erkmen

Springer Handbook of Robotics　1151-1173　2008
Publisher: Springer
DOI： 10.1007/978-3-540-30301-5_51 　
A semi-autonomous tracked robot system for rescue missions Peer-reviewed

Daniele Calisi, Daniele Nardi, Kazunori Ohno, Satoshi Tadokoro

2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7　1984-+　2008

DOI： 10.1109/SICE.2008.4655002 　
Self-Localization with Ultrasonic Sensor Array Peer-reviewed

Yukihiko Ono, Ryosuke Takahashi, Takayuki Takahashi, Jeong Song-Hoe, Kazunori Ohno, Satoshi Tadokoro

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS　1371-1378　2008

DOI： 10.1109/IROS.2008.4651197 　
Development of On-line Simulation System for Multi Camera based Wide Field of View Display Peer-reviewed

Naoki Midorikawa, Kazunori Ohno, Satoshi Saga, Satoshi Tadokoro

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS　2097-2102　2008

DOI： 10.1109/IROS.2008.4651010 　
実時間３次元地形計測に基づくフリッパの引っかかり回避を含むクローラロボットのための半自律３次元未知不整地踏破 Peer-reviewed

湯沢友豪, 大野和則, 田所諭, 小柳栄次, 吉田智章

第１３回ロボティクスシンポジア予稿集　13th　2008

ISSN： 1881-7300
Identification of cutaneous detection thresholds against time-delay stimuli for tactile displays. Peer-reviewed

Shogo Okamoto, Masashi Konyo, Satoshi Saga, Satoshi Tadokoro

Proceedings - IEEE International Conference on Robotics and Automation　220-225　2008

DOI： 10.1109/ROBOT.2008.4543212 　

ISSN： 1050-4729
Ciliary Vibration Drive Mechanism for Active Scope Cameras. Peer-reviewed

Masashi Konyo, Kazuya Isaki, Kazunari Hatazaki, Satoshi Tadokoro, Fumiaki Takemura

J. Robotics Mechatronics　20　(3)　490-499　2008

DOI： 10.20965/jrm.2008.p0490 　

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Journal of Robotics and Mechatronics優秀論文賞受賞
Development of an Active Flexible Cable Using a Single Vibratory Source Peer-reviewed

M. Konyo, K. Hatazaki, S. Saga, S. Tadokoro

ACTUATOR 08, CONFERENCE PROCEEDINGS　333-337　2008
Alternative display of friction represented by tactile stimulation without tangential force Peer-reviewed

Masashi Konyo, Hiroshi Yamada, Shogo Okamoto, Satoshi Tadokoro

HAPTICS: PERCEPTION, DEVICES AND SCENARIOS, PROCEEDINGS　5024　619-629　2008

DOI： 10.1007/978-3-540-69057-3_79 　

ISSN： 0302-9743

eISSN： 1611-3349
Producing Distributed Vibration by a Single Piezoelectric Ceramics for a Small Tactile Stimulator Peer-reviewed

Masashi Konyo, Yohei Motoki, Hiroshi Yamada, Satoshi Tadokoro, Takashi Maeno

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS　3698-+　2008

DOI： 10.1109/IROS.2008.4651042 　
2P2-B01 Designing of online simulation environment for the development support of control algorithms on rough terrain vehicles Peer-reviewed

Kurose Kensuke, Saga Satoshi, Okamoto Shogo, Ohno Kazunori, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2008　_2P2-B01_1-_2P2-B01_4　2008

DOI： 10.1299/jsmermd.2008._2P2-B01_1 　

ISSN： 2424-3124
大都市大震災軽減化特別プロジェクトで開発されたロボット技術 Invited

田所諭

建設の施工企画　(703)　44-49　2008

ISSN： 1349-547X
Validation of Simulated Robots with Realistically Modeled Dimensions and Mass in USARSim Peer-reviewed

Shogo Okamoto, Kensuke Kurose, Satoshi Saga, Kazunori Ohno, Satoshi Tadokoro

2008 IEEE INTERNATIONAL WORKSHOP ON SAFETY, SECURITY & RESCUE ROBOTICS　77-82　2008

DOI： 10.1109/SSRR.2008.4745881 　
クローラロボットの履板の傾斜を利用した段差接触位置の検出 Peer-reviewed

井上大輔, 大野和則, 昆陽雅司, 田所諭

第１３回ロボティクスシンポジア予稿集　13th　2008

ISSN： 1881-7300
Contact Points Detection for Tracked Mobile Robots Using Inclination of Track Chains Peer-reviewed

Daisuke Inoue, Masashi Konyo, Kazunori Ohno, Satoshi Tadokoro

2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3　194-199　2008

DOI： 10.1109/AIM.2008.4601658 　

ISSN： 2159-6255
Whole-Body Touch Sensors for Tracked Mobile Robots Using Force-sensitive Chain Guides Peer-reviewed

Daisuke Inoue, Kazunori Ohno, Shinsuke Nakamura, Satoshi Tadokoro, Eiji Koyanagi

2008 IEEE INTERNATIONAL WORKSHOP ON SAFETY, SECURITY & RESCUE ROBOTICS　71-+　2008

DOI： 10.1109/SSRR.2008.4745880 　
皮膚感覚呈示における時間遅れの影響調査と検知限の同定 Peer-reviewed

岡本正吾, 昆陽雅司, 嵯峨智, 田所諭

第１３回ロボティクスシンポジア予稿集　13th　153-158　2008

ISSN： 1881-7300
二次元測域センサを用いた動的環境下における静止物体の密な三次元計測 Peer-reviewed

河原豊和, 大野和則, 田所諭

第１３回ロボティクスシンポジア予稿集　13th　2008

ISSN： 1881-7300
Dynamic conditions of reflection-type tactile sensor Peer-reviewed

Satoshi Saga, Satoshi Tadokoro, Susumu Tachi

HAPTICS: PERCEPTION, DEVICES AND SCENARIOS, PROCEEDINGS　5024　464-+　2008

DOI： 10.1007/978-3-540-69057-3_60 　

ISSN： 0302-9743

eISSN： 1611-3349
DDT Project: Background and Overview, Proc. Workshop on Rescue Robotics - DDT Project on Urban Search and Rescue Peer-reviewed

Satoshi Tadokoro, Fumitoshi Matsuno, Hajime Asama, Masahiko Onosato, Koichi Osuka, Tomoharu Doi, Hiroaki Nakanishi, Itsuki Noda, Koichi Suzumori, Toshi Takamori, Takashi Tsubouchi, Yasuyoshi Yokokohji, Mika Murata

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007)　1-22　2007/10
nformation Infrastructure for Rescue Systems Peer-reviewed

Hajime Asama, Yasushi Hada, Kuniaki Kawabata, Itsuki Noda, Osamu Takizawa, Junichi Meguro, Kiichiro Ishikawa, Takumi Hashizume, Tomowo Ohga, Kensuke, Takita, Michinori Hatayama, Fumitoshi Matsuno, Satoshi Todokoro

Proc. Workshop on Rescue Robotics - DDT Project on Urban Search and Rescue, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007)　45-56　2007/10
Guidelines of Human Interface Design for Rescue Robots Peer-reviewed

Yasuyoshi Yokokohji, Takashi Tsubouchi, Akichika Tanaka, Tomoaki Yoshida, Eiji Koyanagi, Fumitoshi Matsuno, Shigeo Hirose, Hiroyuki Kuwahara, Fumiaki Takemura, Takao Ino, Kensuke Takita, Naoji Shiroma, Tetsushi Kamegawa, Yasushi Hada, Xin-Zhi Zheng, Koichi Osuka, Taro Watasue, Tetsuya Kimura, Hiroaki Nakanishi, Yukio Horiguchi, Satoshi Tadokoro, Kazunori Ohno

Proc. Workshop on Rescue Robotics - DDT Project on Urban Search and Rescue, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007)　113-124　2007/10
On-Rubble Robot System in DDT Project Peer-reviewed

Fumitoshi Matsuno, Takashi Tsubouchi, Shigeo Hirose, Iwaki Akiyama, Takao Inoh, Michele Guarnieri, Kenji Kawashima, Takahiro Sasaki, Naoji Shiroma, Tetsushi Kamegawa, Kazunori Ohno, Satoshi Tadokoro, Noritaka Sato, Yoshikazu Inoue, Takahide Takeuchi, Hideyuki Tsukagoshi, Masashi Sasaki, Ato Kitagawa, Takahiro Tanaka, Yasuhiro Masutani, Haruo Soeda, Koichi Osuka, Masamitsu Kurisu, Tomoharu Doi, Tadahiro Kaneda, Xin-Zhi Zheng, Hiroshi Sugimoto, Noriyuki Matsuoka, Teruaki Azuma, Masahiro Hatsuda

Proc. Workshop on Rescue Robotics - DDT Project on Urban Search and Rescue, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007)　82-112　2007/10
Experiments with First Responders -- Demonstrative Experiments and Trainings for Rescue Activities Peer-reviewed

Takashi Tsubouchi, Koichi Osuka, Fumitoshi Matsuno, Hajime Asama, Satoshi Tadokoro, Masahiko Onosato, Yasuyoshi Yokokoji, Hiroaki Nakanishi, Tomoharu Doi, Mika Murata, Yuko Kaburagi, Ikuko Tanimura, Naoko Ueda, Ken'ichi Makabe, Koichi Suzumori, Eiji Koyanagi, Tomoaki Yoshida, Osamu Takizawa, Toshi Takamori, Yasushi Hada

Proc. Workshop on Rescue Robotics - DDT Project on Urban Search and Rescue, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007)　140-149　2007/10
Munc 18-2 regulates exocytotic membrane fusion positively interacting with syntaxin-3 in RBL-2H3 cells

Satoshi Tadokoro, Toru Kurimoto, Mamoru Nakanishi, Naohide Hirashima

MOLECULAR IMMUNOLOGY　44　(13)　3427-3433　2007/07

DOI： 10.1016/j.molimm.2007.02.013 　

ISSN： 0161-5890
A High Mobility 6-Crawler Mobile Robot 'Kenaf' Peer-reviewed

Tomoaki Yoshida, Eiji Koyanagi, Satoshi Tadokoro, Kazuya Yoshida, Keiji Nagatani, Kazunori Ohno, Takashi Tsubouchi, Shoichi Maeyama, Itsuki Noda, Osamu Takizawa, Yasushi Hada

Proc. 4th International Workshop on Synthetic Simulation and Robotics to Mitigate Earthquake Disaster (SRMED2007)　2007/07
Studies on the region involved in the transport activity of Escherichia coli TolC by chimeric protein analysis

Hiroyasu Yamanaka, Satoshi Tadokoro, Masaya Miyano, Eizo Takahashi, Hidetomo Kobayashi, Kemosuke Okamoto

MICROBIAL PATHOGENESIS　42　(5-6)　184-192　2007/05

DOI： 10.1016/j.micpath.2007.01.006 　

ISSN： 0882-4010
繊毛振動によって駆動する能動ファイバースコープの開発 Peer-reviewed

昆陽雅司, 畑崎計成, 伊崎和也, 田所諭

第12回ロボティクスシンポジア講演会論文集　460-465　2007/03
表面波長の実時間推定に基づく粗さ感伝達システムの研究 Peer-reviewed

岡本正吾, 昆陽雅司, 前野隆司, 田所諭

第12回ロボティクスシンポジア講演会論文集　58-63　2007/03
2P1-L02 Qualitative Validation of a Serpentine Robot in USARSim

Okamoto S., Jacoff A., Balakirsky S., Tadokoro S.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2007　_2P1-L02_1-_2P1-L02_2　2007
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2007._2P1-L02_1 　

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3D simulators for mobile robots serve as tools for operation training. The present paper reports on a simulated serpentine robot in a 3D simulator. A simulated robot is IRS Soryu, which is a search robot composed of three connected cars and has been expected as a search robot for narrow spaces in disaster areas. An adopted 3D simulator is USARSim, which is a high fidelity 3D simulator for mobile robots on the basis of a commercial game engine. Qualitative validation of the simulated robot was conducted in order to examine that the simulated robot is available for operation training of the real robot. The experimental results showed that the simulated robot had similar traveling performance to the real robot.
Semi-autonomous control system of rescue crawler robot having flippers for getting over unknown-steps

Kazunori Ohno, Shouich Morimura, Satoshi Tadokoro, Eiji Koyanagi, Tomoaki Yoshida

2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9　3018-+　2007
Development of artificial system of exocytotic cells

Masao Sasai, Hiroki Sakiyama, Satoshi Tadokoro, Naohide Hirashima

2007 INTERNATIONAL SYMPOSIUM ON MICRO-NANO MECHATRONICS AND HUMAN SCIENCE, VOLS 1 AND 2　119-123　2007

DOI： 10.1109/MHS.2007.4420837 　

ISSN： 2474-378X

eISSN： 2474-3798
Preface

Ning Xi, Satoshi Tadokoro, Shigeki Sugano

ADVANCED ROBOTICS　21　(14)　1601-1601　2007

DOI： 10.1163/156855307782227381 　

ISSN： 0169-1864

eISSN： 1568-5535
Active polymers: An overview

R. Samatham, K. J. Kim, D. Dogruer, H. R. Choi, M. Konyo, J. D. Madden, Y. Nakabo, J. D. Nam, J. Su, S. Tadokoro, W. Yim, M. Yamakita

Electroactive Polymers for Robotic Applications: Artificial Muscles and Sensors　1-36　2007

DOI： 10.1007/978-1-84628-372-7_1 　
被災地探査用クローラロボットAli-Baba と遠隔操縦技術の開発 Peer-reviewed

大野和則, 小柳栄次, 吉田智章, 田所諭

第12回ロボティクスシンポジア予稿集　12th　326-332　2007

ISSN： 1881-7300
フリッパを有するクローラ型レスキューロボットによる未知段差の半自律踏破 Peer-reviewed

森村章一, 大野和則, 田所諭, 小柳栄次, 吉田智章

第12回ロボティクスシンポジア予稿集　12th　334-334　2007

ISSN： 1881-7300
遠隔操作型の移動マニピュレータによる物体の引きずりに関する研究 Peer-reviewed

林俊輔, 大野和則, 田所諭

第12回ロボティクスシンポジア予稿集　12th　348-353　2007

ISSN： 1881-7300
超音波振動を用いた触覚インターフェースのための小型振動子の開発 Peer-reviewed

元木陽平, 山田浩史, 昆陽雅司, 田所諭, 前野隆司

第12回ロボティクスシンポジア講演会論文集　12th　466-471　2007

ISSN： 1881-7300
Applications of ionic polymer-metal composites: Multiple-dof devices using soft actuators and sensors Invited Peer-reviewed

M. Konyo, S. Tadokoro, K. Asaka

Electroactive Polymers for Robotic Applications: Artificial Muscles and Sensors　227-262　2007
Publisher: Springer London
DOI： 10.1007/978-1-84628-372-7_9 　
Roughness feeling telepresence system with communication time-delay Peer-reviewed

Shogo Okamoto, Masashi Konyo, Takashi Maeno, Satoshi Tadokoro

WORLD HAPTICS 2007: SECOND JOINT EUROHAPTICS CONFERENCE AND SYMPOSIUM ON HAPTIC INTERFACES FOR VIRTUAL ENVIRONMENT AND TELEOPERATOR SYSTEMS, PROCEEDINGS　595-+　2007

DOI： 10.1109/WHC.2007.96 　
Development of small-size multi camera system for snake-like robot, and display of wide view-angle image Peer-reviewed

Naoki Midorikawa, Kazunori Ohno, Hiroyuki Kuwahara, Satoshi Tadokoro

2007 IEEE INTERNATIONAL WORKSHOP ON SAFETY, SECURITY AND RESCUE ROBOTICS　1-+　2007

DOI： 10.1109/SSRR.2007.4381256 　
Semi-autonomous control of 6-DOF crawler robot having flippers for getting over unknown-steps Peer-reviewed

Kazunori Ohno, Shouich Morimura, Satoshi Tadokoro, Eiji Koyanagi, Tomoaki Yoshida

2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9　2565-+　2007

DOI： 10.1109/IROS.2007.4399428 　
Roughness feeling telepresence system on the basis of real-time estimation of surface wavelengths Peer-reviewed

Shogo Okamoto, Masashi Konyo, Takashi Maeno, Satoshi Tadokoro

2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9　2704-+　2007

DOI： 10.1109/IROS.2007.4399204 　
Electroactive polymers for robotic applications: Artificial muscles and sensors Invited Peer-reviewed

Kwang J. Kim, Satoshi Tadokoro

Electroactive Polymers for Robotic Applications: Artificial Muscles and Sensors　1-281　2007
Publisher: Springer London
DOI： 10.1007/978-1-84628-372-7 　
Electroactive polymers for robotic applications: Artificial muscles and sensors Invited Peer-reviewed

Kwang J. Kim, Satoshi Tadokoro

Electroactive Polymers for Robotic Applications: Artificial Muscles and Sensors　1-281　2007
Publisher: Springer London
DOI： 10.1007/978-1-84628-372-7 　
Active scope camera for urban search and rescue Peer-reviewed

Kazunari Hatazaki, Masashi Konyo, Kazuya Isaki, Satoshi Tadokoro, Fumiaki Takemura

2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9　2602-+　2007

DOI： 10.1109/IROS.2007.4399386 　
Semi-autonomous control system of rescue crawler robot having flippers for getting Over unknown-Steps. Peer-reviewed

Kazunori Ohno, Shouichi Morimura, Satoshi Tadokoro, Eiji Koyanagi, Tomoaki Yoshida

日本ロボット学会学術講演会予稿集(CD-ROM)　24th　3012-3018　2007

DOI： 10.1109/IROS.2007.4399271 　
Applications of ionic polymer-metal composites: Multiple-dof devices using soft actuators and sensors Peer-reviewed

M. Konyo, S. Tadokoro, K. Asaka

Electroactive Polymers for Robotic Applications: Artificial Muscles and Sensors　227-262　2007
Publisher: Springer London
DOI： 10.1007/978-1-84628-372-7_9 　
繊毛移動機構によって駆動する能動索状体の開発 Peer-reviewed

伊崎和也, 新妻翔, 昆陽雅司, 武村史朗, 田所諭

第11回ロボティクスシンポジア講演論文集　414-419　2006/03
ICPFアクチュエータを用いたヒト指腹部への分布振動刺激に基づく把持力調整反射の誘発 Peer-reviewed

昆陽雅司, 中本雅崇, 前野隆司, 田所諭

日本バーチャルリアリティー学会論文誌　11　(1)　2006/03

DOI： 10.18974/tvrsj.11.1_3 　
Model system of exocytotic release in mast cells that cause allergic responses

Hiroki Sakiyama, Satoshi Tadokoro, Masao Sasai, Naohide Hirashima

2006 IEEE INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE　344-+　2006

ISSN： 2474-378X

eISSN： 2474-3798
どのような閾下分布触覚刺激がヒト指の把持力調整反射を誘発するのか？ Peer-reviewed

前野隆司, 昆陽雅司, 中本雅崇, 田所諭

第11回ロボティクスシンポジア講演論文集　11th　192-197　2006

ISSN： 1881-7300
ヒト指模倣型触覚センサを用いた触感因子の実時間抽出法 Peer-reviewed

岡本正吾, 昆陽雅司, 向坊由佳, 前野隆司, 田所諭

第11回ロボティクスシンポジア講演論文集　11th　186-191　2006

ISSN： 1881-7300
低周波振動刺激によって起こる静的圧覚の呈示条件 Peer-reviewed

昆陽雅司, 横田求, 前野隆司, 田所諭

第11回ロボティクスシンポジア講演論文集　11th　179-185　2006

ISSN： 1881-7300
高分子ゲルアクチュエータを用いた皮膚表面刺激による3次元オブジェクトの手触りの呈示 Peer-reviewed

昆陽雅司, 吉田晃典, 田所諭

第11回ロボティクスシンポジア講演論文集　11th　301-307　2006

ISSN： 1881-7300
Adaptation to rough terrain by using COF estimation on a quadruped vehicle Peer-reviewed

Shogo Okamoto, Kaoru Konishi, Kenichi Tokuda, Satoshi Tadokoro

Springer Tracts in Advanced Robotics　25　505-516　2006

DOI： 10.1007/11736592_42 　

ISSN： 1610-7438

eISSN： 1610-742X
Rescue MIKE: 災害シミュレーション実況システム version 0の設計と実装 Peer-reviewed

久保長徳, 森下卓哉, 下羅弘樹, 河原林知美, 小高知宏, 小倉久和, Ian Frank, 田中久美子, 田所諭, 松原仁

人工知能学会誌　21　(4)　2006

DOI： 10.1527/tjsai.21.388 　
A Summary of Development of Advanced Robots and Information Systems for Disaster Response Invited

Satoshi Tadokoro

NSF/DARPA Workshop on Robotics in Japan　2006
An Overview of Japan National Project on Rescue Robotics Invited Peer-reviewed

Satoshi Tadokoro

2nd International Symposium on Intelligent Robotics　2006
Open problems of RT for disaster response -- state of art and future roadmap in Japan Invited Peer-reviewed

Satoshi Tadokoro, Shiro Fujita, Hideo Tanaka

Proc. IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR2006)　2006
Guidelines for human interface design of rescue robots Peer-reviewed

Yasuyoshi Yokokohji, Takashi Tubouchi, Akichika Tanaka, Tomoaki Yoshida, Eiji Koyanagi, Fumitoshi Matsuno, Shigeo Hirose, Hiroyuki Kuwahara, Fumiaki Takemura, Takao Ino, Kensuke Takita, Naoji Shiroma, Tetsushi Kamegawa, Yasushi Hada, Koichi Osuka, Taro Watasue, Tetsuya Kimura, Hiroaki Nakanishi, Yukio Horiguchi, Satoshi Tadokoro, Kazunori Ohno

2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13　1612-+　2006

DOI： 10.1109/SICE.2006.315163 　
Distributed tactile sensors for tracked robots Peer-reviewed

Daisuke Inoue, Masashi Konyo, Satoshi Tadokoro

2006 IEEE SENSORS, VOLS 1-3　24th　1309-+　2006

DOI： 10.1109/ICSENS.2007.355870 　

ISSN： 1930-0395
1A1-C23 Development of an Active Flexible Cable by Ciliary Vibration Drive : Modeling of Cilia Peer-reviewed

Isaki Kazuya, Niitsuma Akira, Konyo Masashi, Takemura Fumiaki, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2006　_1A1-C23_1-_1A1-C23_3　2006
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2006._1A1-C23_1 　

ISSN： 2424-3124

More details Close

Proposed new actuation mechanism realizes active or semi-active mobility for flexible long cables such as fiber scopes. The ciliary vibration mechanism was developed by the flexible ciliary tapes that can be attached to existing cables easily. The ciliary vibration mechanism has plastic or metal thin wires called cilia and achieve driving power through cilia vibration. As the cilia are angled and planted, by adding vibration to the cables, the body can move forward through a falling-down and standing-up motion. The behavior of testpieces that were used in experiments were simulated using model. In the model, numerous cilia are treated as one linear spring and one rotational spring as a whole. In addition, to confirm the characteristics shown in experiments, experimental results were compared using calculated results.
レスキューロボット Invited

田所諭

人間生活工学　7　(1)　20-23　2006/01
Publisher:
ISSN： 1345-8051
Development of an active flexible cable by ciliary vibration drive for scope camera Peer-reviewed

Kazuya Isaki, Akira Niitsuma, Masashi Konyo, Fumiaki Takemura, Satoshi Tadokoro

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　3946-+　2006

DOI： 10.1109/IROS.2006.281829 　
Adaptation to rough terrain by using COF estimation on a quadruped vehicle Peer-reviewed

Shogo Okamoto, Kaoru Konishi, Kenichi Tokuda, Satoshi Tadokoro

FIELD AND SERVICE ROBOTICS　25　505-+　2006

ISSN： 1610-7438
Open Problems of RT for Disaster Response Invited Peer-reviewed

Satoshi Tadokoro

Rescue Robotics Camp　2006
Development of Active Scope Camera Driven by Cilia Vibration Mechanism Peer-reviewed

畑崎計成, 伊崎和也, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　24th　219-222　2006
Real-time estimation of touch feeling factors using human finger mimetic tactile sensors Peer-reviewed

Shogo Okamoto, Masashi Konyo, Yuka Mukaibo, Takashi Maeno, Satoshi Tadokoro

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　3581-+　2006

DOI： 10.1109/IROS.2006.281648 　
Attitude stability of a cable driven balloon robot Peer-reviewed

Fumiaki Takemura, Kiyoshi Maeda, Satoshi Tadokoro

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　3504-+　2006

DOI： 10.1109/IROS.2006.281633 　
Real-time robot trajectory estimation and 3D map construction using 3D camera Peer-reviewed

Kazunori Ohno, Takafumi Nomura, Satoshi Tadokoro

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　5279-+　2006

DOI： 10.1109/IROS.2006.282027 　
An Overview of DDT Project on Rescue Robotics and Systems Peer-reviewed

Tadokoro Satoshi

Proceedings of the Japan Joint Automatic Control Conference　49　311-311　2006

DOI： 10.11511/jacc.49.0.311.0 　
Reflective grasp force control of humans induced by distributed vibration stimuli on finger skin with ICPF actuators Peer-reviewed

Nakamoto Masataka, Masashi Konyo, Takashi Maeno, Satoshi Tadokoro

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10　2006　3899-+　2006

DOI： 10.1109/ROBOT.2006.1642299 　

ISSN： 1050-4729

eISSN： 2577-087X
着実に進みつつあるレスキューロボットの研究開発 Invited

田所諭

震災予防　12-15　2005/11
ロボティクス・メカトロニクス部門ニュースレター(No.36)特集:ロボティクス・メカトロニクス講演会2005における優秀講演のノミネーション

田所諭, 坪内孝司

日本機械学会誌　108　(1043)　830-834　2005/10
Publisher: 日本機械学会
ISSN： 0021-4728
文部科学省大都市大震災軽減化特別プロジェクト，ロボット等次世代防災基盤技術の開発 Peer-reviewed

田所諭

日本ロボット学会誌　23　(5)　541-543　2005/07

DOI： 10.7210/jrsj.23.541 　
ロボカップレスキューロボットリーグ Invited

田所諭

大阪消防　56　(6)　6-7　2005/06
ロボカップレスキュー Invited

田所諭, 綿末太郎

ロボット　(164)　14-20　2005/05
レスキューロボット総論 Invited

田所諭

ロボット　(164)　1-3　2005/05
Publisher:
ISSN： 0387-1940
文部科学省大都市大震災軽減化特別プロジェクト，レスキューロボット等次世代防災基盤技術の開発 Invited

田所諭

大阪消防　56　(4)　8-9　2005/04
1P2-N-084 Trial of 3D Map Building in Outdoor Environment(Three Dimension Measurement/Sensor Fusion 3,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

Ohno Kazunori, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2005　109-109　2005
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2005.109_1 　
Preface.

Satoshi Tadokoro, Fumitoshi Matsuno, Adam Jacoff

Adv. Robotics　19　(3)　219-220　2005

DOI： 10.1163/1568553053583689 　
Preface: Advanced Robotics

Satoshi Tadokoro, Fumitoshi Matsuno, Adam Jacoff

Advanced Robotics　19　(3)　219-220　2005

DOI： 10.1163/1568553053583689 　

ISSN： 0169-1864
Development of the balloon-cable driven robot for information collection from sky and proposal of the search strategy at a major disaster

Fumiaki Takemura, Masaya Enomoto, Takuma Tanaka, Kazuya Denou, Yasuyuki Kobayashi, Satoshi Tadokoro

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM　1　658-663　2005
Development and Experiments of Mobile Inspection Robot for Rescue Activities MOIRA2

大須賀公一, 原口林太郎, 牧田忍, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2005　498-505　2005

DOI： 10.1109/ICAR.2005.1507455 　

ISSN： 2424-3124
距離画像センサを用いた瓦礫内探査ロボットによる三次元地図作成の試行 Peer-reviewed

野村孝文, 大野和則, 橋本裕介, 田所諭

第10回ロボティクスシンポジア予稿集　10th　269-274　2005

ISSN： 1881-7300
Roughness Sense Display Representing Temporal Frequency Changes of Tactile Information in Response to Hand Movements. Peer-reviewed

Masashi Konyo, Takashi Maeno, Akinori Yoshida, Satoshi Tadokoro

Proceedings - 1st Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems; World Haptics Conference, WHC 2005　609-610　2005
Publisher: IEEE Computer Society
DOI： 10.1109/WHC.2005.113 　
Unconscious Control of Grasping Force by Displaying Partial Slip with Distributed Vibration Stimulus

中本雅崇, 前野隆司, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2005　2005

ISSN： 2424-3124
A human body searching strategy using a cable-driven robot with an electromagnetic wave direction finder at major disasters Peer-reviewed

Fumiaki Takemura, Masaya Enomoto, Kazuya Denou, Kemalettin Erbatur, Ulrike Zwiers, Satoshi Tadokoro

Advanced Robotics　19　(3)　331-347　2005

DOI： 10.1163/1568553053583698 　

ISSN： 0169-1864
A human body searching strategy using a cable-driven robot with an electromagnetic wave direction finder at major disasters. Peer-reviewed

Fumiaki Takemura, Masaya Enomoto, Kazuya Denou, Kemalettin Erbatur, Ulrike Zwiers, Satoshi Tadokoro

Adv. Robotics　19　(3)　331-347　2005

DOI： 10.1163/1568553053583698 　

ISSN： 0169-1864
レスキューシステムにおけるシステムインテグレーション，特集：社会にとけ込むシステムインテグレーション技術 Invited Peer-reviewed

田所諭

システムインテグレーション技術　44　(11)　2005

DOI： 10.11499/sicejl1962.44.765 　

ISSN： 0453-4662
Robot description ontology and bases for surface locomotion evaluation Peer-reviewed

Ranajit Chatterjee, Inoh Takao, Fumitoshi Matsuno, Satoshi Tadokoro

Proceedings of the 2005 IEEE International Workshop on Safety, Security and Rescue Robotics　2005　242-247　2005
A tactile synthesis method using multiple frequency vibrations for representing virtual touch. Peer-reviewed

Masashi Konyo, Satoshi Tadokoro, Akinori Yoshida, Naoki Saiwaki

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS　3965-3971　2005

DOI： 10.1109/IROS.2005.1545130 　
Dense 3D map building based on LRF data and color image fusion. Peer-reviewed

Kazunori Ohno, Satoshi Tadokoro

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS　2792-2797　2005

DOI： 10.1109/IROS.2005.1545235 　
Artificial Tactile Feel Display for Textile Fablics Peer-reviewed

Naoki Saiwaki, Akinori Yoshida, Satoshi Tadokoro, Maki Taniguchi

Proc. HCI International 2005　2005
ロボカップレスキューシミュレーション Invited

田所諭

大阪消防　56　(1)　2005/01
Development of advanced robots for disaster response. Invited Peer-reviewed

Satoshi Tadokoro

2005 IEEE Workshop on Advanced Robotics and its Social Impacts　2005　66-72　2005

DOI： 10.1109/ROBIO.2005.246382 　
地震災害救助ロボットの現状と展望 Invited

田所諭

消防科学と情報　81　(81)　62-66　2005
Publisher:
ISSN： 0911-6451
Adaptation to Rough Terrain by Using COF Estimation on a Quadruped Vehicle. Peer-reviewed

Shogo Okamoto, Kaoru Konishi, Kenichi Tokuda, Satoshi Tadokoro

Springer Tracts in Advanced Robotics　25　505-516　2005

DOI： 10.1007/978-3-540-33453-8_42 　

ISSN： 1610-7438

eISSN： 1610-742X
Proposition of a human body searching strategy using a cable-driven robot at major disaster.

Fumiaki Takemura, Masaya Enomoto, Kazuya Denou, Kemalettin Erbatur, Ulrike Zwiers, Satoshi Tadokoro

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)　2　1456-1461　2004
Publisher: IEEE
DOI： 10.1109/IROS.2004.1389601 　
Dynamic robot programming by FDNet: design of FDNet programming environment.

Kenichi Tokuda, Jerome Jadoulle, Nicolas Lambot, Achbany Youssef, Yoshihisa Koji, Satoshi Tadokoro

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)　1　780-785　2004
Publisher: IEEE
DOI： 10.1109/IROS.2004.1389447 　
Development of compound eye camera system for searching in rubble.

Shinobu Makita, Takumi Kishima, Masaki Minobe, Satoshi Tadokoro

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)　1　431-436　2004
Publisher: IEEE
DOI： 10.1109/IROS.2004.1389390 　
Dynamic Programming Environment for Rescue Robots.

Kenichi Tokuda, Jerome Jadoulle, Nicolas Lambot, Achbany Youssef, Yoshihisa Koji, Satoshi Tadokoro

Proceedings - 2004 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2004　918-923　2004
Publisher: IEEE
DOI： 10.1109/ROBIO.2004.1521907 　
Rescue Robots and Systems in Japan.

Fumitoshi Matsuno, Satoshi Tadokoro

Proceedings - 2004 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2004　12-20　2004
Publisher: IEEE
DOI： 10.1109/ROBIO.2004.1521744 　
Introduction of Task Force for Rescue System Infrastructure in Special Project for Earthquake Disaster Mitigation in Urban Areas. Peer-reviewed

Hajime Asama, Yasushi Hada, Tomowa Ohga, Osamu Takizawa, Satoshi Tadokoro, Itsuki Noda, Fumitoshi Matsuno, Michinori Hatayama

Proceedings - 2004 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2004　60-64　2004
Publisher: IEEE
DOI： 10.1109/ROBIO.2004.1521752 　
Development of velocity sensor using ionic polymer-metal composites Invited

Masashi Konyo, Yoshiki Konishi, Satoshi Tadokoro, Takumi Kishima

Proceedings of SPIE - The International Society for Optical Engineering　5385　307-318　2004

DOI： 10.1117/12.540266 　

ISSN： 0277-786X
An Intelligent Sensor Head for Information Collection in Debris Peer-reviewed

岸間匠, 見延壮希, 田所諭, 牧田忍

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2004　1799-1804　2004

ISSN： 2424-3124
メタルカラーの時代(584)災害から人命を守るレスキューロボット最前線携帯電話の微少電波をセンサーがキャッチ! 生き埋めになった被災者を捜索する小型メカ

山根一眞, 田所諭

週刊ポスト　35　(23)　200-203　2003/06/06
Publisher: 小学館
Preface for the Special Issue on Disaster Response Robotics(<Special Issue>Disaster Response Robotics)

TADOKORO Satoshi

Journal of the Society of Mechanical Engineers　106　(1019)　759-759　2003
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmemag.106.1019_759 　

ISSN： 0021-4728
地震災害救助ロボット

田所諭

予防時報　(214)　8-13　2003
Publisher: 日本損害保険協会
ISSN： 0910-4208
Editorial: Rescue Robots.

Koichi Osuka, Satoshi Tadokoro

J. Robotics Mechatronics　15　(5)　473-473　2003

DOI： 10.20965/jrm.2003.p0473 　
Wearable Haptic Interface Using ICPF Actuators for Tactile Feel Display in Response to Hand Movements. Peer-reviewed

Masashi Konyo, Kazunobu Akazawa, Satoshi Tadokoro, Toshi Takamori

J. Robotics Mechatronics　15　(2)　219-226　2003

DOI： 10.20965/jrm.2003.p0219 　
Special Project for Earthquake Disaster Mitigation in Urban Areas(<Special Issue>Disaster Response Robotics) Peer-reviewed

TADOKORO Satoshi

Journal of the Society of Mechanical Engineers　106　(1019)　803-806　2003
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmemag.106.1019_803 　

ISSN： 0021-4728
Kinematic Identification Method for Cable-Driven Rescue Robots in Unstructured Environments. Peer-reviewed

Satoshi Tadokoro, Richard Verhoeven, Ulrike Zwiers, Manfred Hiller, Fumiaki Takemura

J. Robotics Mechatronics　15　(5)　571-578　2003

DOI： 10.20965/jrm.2003.p0571 　
Estimation of fragile ground by foot pressure sensor of legged robot Peer-reviewed

K. Tokuda, T. Toda, Y. Koji, M. Konyo, S. Tadokoro, P. Alain

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM　1　447-453　2003

DOI： 10.1109/AIM.2003.1225137 　

ISSN： 2159-6255
Test arenas and performance metrics for urban search and rescue robots. Peer-reviewed

Adam Jacoff, Elena Messina, Brian A. Weiss, Satoshi Tadokoro, Yuki Nakagawa

IEEE International Conference on Intelligent Robots and Systems　4　3396-3403　2003

DOI： 10.1109/IROS.2003.1249681 　
Flat-distributed network architecture (FDNet) for rescue robots. Peer-reviewed

Yoshihisa Koji, Satoshi Tadokoro, Takafumi Toda, Alain Pujol, Kenichi Tokuda, Masashi Konyo, Toshi Takamori

IEEE International Conference on Intelligent Robots and Systems　3　2392-2397　2003

DOI： 10.1109/IROS.2003.1249228 　
Tactile feel display for virtual active touch. Peer-reviewed

Masashi Konyo, Kazunobu Akazawa, Satoshi Tadokoro, Toshi Takamori

IEEE International Conference on Intelligent Robots and Systems　4　3744-3750　2003

DOI： 10.1109/IROS.2003.1249737 　
Flat-distributed network architecture (FDNet) for rescue robots - FDNet and its implementation. Peer-reviewed

Yoshihisa Koji, Satoshi Tadokoro, Kenichi Tokuda, Alain Pujol, Takafumi Toda, Hideyuki Nobuhiro, Masashi Konyo, Toshi Takamori

Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA　1　235-240　2003

DOI： 10.1109/CIRA.2003.1222095 　
RoboCupRescue A Multi-Agent Approach to Disaster Simulation Peer-reviewed

T. Takahashi, S. Tadokoro

IEEE Robotics & Automation Magazine　34-39　2002/09
A motion base with 6-DOF by parallel cable drive architecture Peer-reviewed

Satoshi Tadokoro, Yoshio Murao, Manfred Hiller, Rie Murata, Hideaki Kohkawa, Toshiyuki Matsushima

IEEE/ASME Transactions on Mechatronics　7　(2)　115-123　2002/06

DOI： 10.1109/TMECH.2002.1011248 　

ISSN： 1083-4435

eISSN： 1941-014X
Quadruped Rescue Robot RoQ

TOKUDA Kenichi, TADOKORO Satoshi, TODA Takafumi, KOJI Yoshihisa, KONYO Masashi

SICE Division Conference Program and Abstracts　2002　125-125　2002
Publisher: The Society of Instrument and Control Engineers
DOI： 10.11499/siced.si2002.0.125.0 　

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We propose a new robotic platform for rescue mission. The platform named “RoQ” is performing the proposal about new Robotic Platform. RoQ is the main portion of the hardware robot system which can be changed flexibly in software not about the rescue robot itself but about a system required for a rescue mission. This paper describes a slice of the platform from the standpoint of an imitation system.
ICPF-Based Tactile Feel Display for Touch Feel in Response to Hand Movements

KONYO Masashi, AKAZAWA Kazunobu, TADOKORO Satoshi, TAKAMORI Toshi

SICE Division Conference Program and Abstracts　2002　419-419　2002
Publisher: The Society of Instrument and Control Engineers
DOI： 10.11499/siced.si2002.0.419.0 　

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In order to display delicate touch feeling of surface of some materials, active touch of human hand movements should be considered. In this paper, a wearable stimulation device which can produce various distributed stimuli on human skin in response to hand movements was developed using ICPF actuators. A stimulation method which generates selective stimuli to sense receptors in accordance with velocities and accelerations of hand motions was proposed. It was confirmed experimentally that some kinds of pattern of driving waves express touch feelings such as starting, stopping and sliding feel of hand motions.
A Consideration on Skill Structure

TERAMOTO Koji, TADOKORO Satoshi

SICE Division Conference Program and Abstracts　2002　77-77　2002
Publisher: The Society of Instrument and Control Engineers
DOI： 10.11499/siced.si2002.0.77.0 　

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This paper deals with a framework of skill research form structural aspect. There are various researches to investigate the human skills. However, each skill research introduces its own assumptions. Relation among conventional skill researches is illustrated based on schematic representation of skill structure.
Rescue equipment of fire department in huge serious disaster:Investigation on New York World Trade Center terror disaster

AMANO Hisanori, Tadokoro Satoshi

SICE Division Conference Program and Abstracts　2002　550-550　2002
Publisher: The Society of Instrument and Control Engineers
DOI： 10.11499/siced.si2002.0.550.0 　

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A terror disaster struck New York World Trade Center on September 11 2002. Rescue activity was done tried as hard as they could. It was one of typical fights against huge serious disaster in big city. Then we investigated the rescue equipment that used on the disaster, in order to learn a lesson from the experience. We introduce the outline of the equipment based on our investigation.
Robot Operations at Ground Zero of September 11 Terror

Tadokoro Satoshi

SICE Division Conference Program and Abstracts　2002　551-551　2002
Publisher: The Society of Instrument and Control Engineers
DOI： 10.11499/siced.si2002.0.551.0 　

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At the New York World Trade Center, robots are used for search and rescue of victims, and for reconnaissance of destroyed structures at the September 11 Terror. As a result of this first robotic rescue operation in destroyed buildings, about 11 bodies were identified. Valuable knowledge was obtained through this operation for the future research, development, preparedness, and operation. Similarity with the Kobe Earthquake problem was observed.
RoboCup 2001: Robot Soccer World Cup V

RoboCup　2377　2002
Publisher: Springer
DOI： 10.1007/3-540-45603-1 　
Preface

Satoshi Tadokoro, Hisanori Amano

Advanced Robotics　16　(6)　475-476　2002

DOI： 10.1163/156855302320535755 　

ISSN： 0169-1864
from the guest editors - rescue robotics special issue.

Satoshi Tadokoro, Aydan M. Erkmen, Ismet Erkmen

IEEE Robotics Autom. Mag.　9　(3)　4-4　2002

DOI： 10.1109/MRA.2002.1035205 　

ISSN： 1070-9932
RoboCupRescue Robot League.

Satoshi Tadokoro

Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)　2752　482-484　2002
Publisher: Springer
DOI： 10.1007/978-3-540-45135-8_45 　

ISSN： 0302-9743
Working with robots in disasters. Peer-reviewed

Tomoichi Takahashi, Satoshi Tadokoro

IEEE Robotics Autom. Mag.　9　(3)　34-39　2002

DOI： 10.1109/MRA.2002.1035212 　

ISSN： 1070-9932
Walkie-talkie MIKE: Automatic generator of real-time commentary for rescue simulator Peer-reviewed

Hitoshi Matsubara, Kumiko Tanaka, Ian Frank, Satoshi Tadokoro

Transactions of the Japanese Society for Artificial Intelligence　17　(2)　177-180　2002

DOI： 10.1527/tjsai.17.177 　

ISSN： 1346-0714

eISSN： 1346-8030
A dynamic model of ICPF actuator considering ion-induced lateral strain for molluskan robotics. Peer-reviewed

Satoshi Tadokoro, Masahiko Fukuhara, Yosuke Maeba, Masashi Konyo, Toshi Takamori, Keisuke Oguro

IEEE International Conference on Intelligent Robots and Systems　2　2010-2017　2002

DOI： 10.1109/IRDS.2002.1044051 　
Quantitative evaluation of artificial tactile feel display integrated with visual information. Peer-reviewed

Masashi Konyo, Satoshi Tadokoro, Makiko Hira, Toshi Takamori

IEEE International Conference on Intelligent Robots and Systems　3　3060-3065　2002

DOI： 10.1109/IRDS.2002.1041738 　
Robotics and AI for emergency response problems in large scale disaster Peer-reviewed

Satoshi Tadokoro

International Journal of Human-Friendly Welfare Robotic Systems　2　(2)　46-53　2001/11
RoboCup-Rescue

KITANO Hiroaki, TADOKORO Satoshi

The Journal of the Institute of Electronics,Information and Communication Engineers　84　(1)　42-48　2001/01/01
Publisher: The Institute of Electronics, Information and Communication Engineers
ISSN： 0913-5693
Language Design for Rescue Agents.

Itsuki Noda, Tomoichi Takahashi, Shuji Morita, Tetsuhiko Koto, Satoshi Tadokoro

RoboCup 2001: Robot Soccer World Cup V(RoboCup)　164-172　2001
Publisher: Springer
DOI： 10.1007/3-540-45603-1_17 　
Application of the nafion-platinum composite actuator

S. Tadokoro, T. Takamori, K. Oguro

Proceedings of SPIE - The International Society for Optical Engineering　4329　28-42　2001

DOI： 10.1117/12.432669 　

ISSN： 0277-786X
The description of Bunraku puppet's motion in computer based on labanotation

Motofumi Hattori, Syun Nishizawa, Satoshi Tadokoro, Toshi Takamori

Robot and Human Communication - Proceedings of the IEEE International Workshop　128-133　2001

DOI： 10.1109/ROMAN.2001.981890 　
Agent Based Approach in Disaster Rescue Simulation - From Test-Bed of Multiagent System to Practical Application.

Tomoichi Takahashi, Satoshi Tadokoro, Masayuki Ohta, Nobuhiro Ito

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)　2377 LNAI　102-111　2001
Publisher: Springer
DOI： 10.1007/3-540-45603-1_11 　

ISSN： 0302-9743

eISSN： 1611-3349
The Tournament Results of the Different Leagues of RoboCup-2001.

Andreas Birk 0002, Silvia Coradeschi, Satoshi Tadokoro

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)　2377 LNAI　1-11　2001
Publisher: Springer
DOI： 10.1007/3-540-45603-1_1 　

ISSN： 0302-9743

eISSN： 1611-3349
Language Design for Rescue Agents.

Itsuki Noda, Tomoichi Takahashi, Shuji Morita, Tetsuhiko Koto, Satoshi Tadokoro

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)　2377 LNAI　371-383　2001
Publisher: Springer
DOI： 10.1007/3-540-45636-8_29 　

ISSN： 0302-9743

eISSN： 1611-3349
EAP application to artificial tactile feel display of virtual reality Invited

M. Konyo, S. Tadokoro, T. Takamori, K. Oguro

Proceedings of SPIE - The International Society for Optical Engineering　4329　389-400　2001

DOI： 10.1117/12.432671 　

ISSN： 0277-786X
Fire fighting and rescue robot in Japan Peer-reviewed

Hisanori Amano, Koichi Osuka, Satoshi Tadokoro

Proc. Intl. Fire Engineer　2001/01
光造形法を用いた３自由度静電型アクチュエータの開発 Peer-reviewed

大坪義一, 山本昌彦, 田所諭, 高森年

先端加工　20　(1)　56-62　2001

ISSN： 0916-3468
RoboCup Rescue: A Grand Challenge for Multiagent and Intelligent Systems.

Hiroaki Kitano, Satoshi Tadokoro

AI Mag.　22　(1)　39-52　2001

DOI： 10.1609/aimag.v22i1.1542 　

ISSN： 0738-4602
A motion base with 6 degrees of freedom by parallel cable drive architecture Peer-reviewed

S. Tadokoro, R. Murata, T. Matsushima, Y. Murao, H. Kohkawa, M. Hiller

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM　2　1193-1198　2001

ISSN： 2159-6255
A parallel cable-driven motion base for virtual acceleration. Peer-reviewed

Satoshi Tadokoro, Toshiyuki Matsushima, Yoshio Murao, Hideaki Kohkawa

IEEE International Conference on Intelligent Robots and Systems　3　1700-1705　2001

DOI： 10.1109/IROS.2001.977223 　
Motion Base Design Based on Parallel Cable-Drive Architecture Peer-reviewed

Tadokoro Satoshi, Murata Rie, Matsushima Toshiyuki, Murao Yoshio, Kohkawa Hideaki, Hiller Man fred

Transactions of the Virtual Reality Society of Japan　6　(1)　57-63　2001
Publisher: THE VIRTUAL REALITY SOCIETY OF JAPAN
DOI： 10.18974/tvrsj.6.1_57 　

ISSN： 1344-011X

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A motion base plays an important role in generating virtual sensation of the whole body motion such as on vehicles, horses, spacecrafts, and amusement machines. This paper proposes a new design of motion base using a parallel cable-driven mechanism. It has outstanding advantages over conventional Stewart platforms. Acceleration can last for a long period because possible distance of translation is long. Possible acceleration is larger in principle. Optimal mechanism design is performed for a class of WARP architecture having eight cables. Parameter optimization of mechanical design is performed for the motion range to maximize the acceleration duration. The prototype developed on the basis of the kinematic and dynamic analyses has the maximum motion range of translation ± 0.45m × ± 0.4m × 1.1m, and of rotation ±45° in roll angle, ±45° in pitch, and ±35° in yaw, showing acceleration 1G for 0.8 second without utilizing gravity.
Tactile Feeling Display for Touch of Cloth Using Soft High Polymer Gel Actuators Peer-reviewed

Konyo Masashi, Tadokoro Satoshi, Takainori Toshi, Oguro Keisuke, Tokuda Kenichi

Transactions of the Virtual Reality Society of Japan　6　(4)　323-328　2001
Publisher: THE VIRTUAL REALITY SOCIETY OF JAPAN
DOI： 10.18974/tvrsj.6.4_323 　

ISSN： 1344-011X

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This paper proposes a ciliary device using soft high polymer gel actuators to express fine touch as a surface of cloth. This new device is designed with a number of cilia consisting of ICPF actuators, where a cilimn is 2 mm wide and 5 mm long. The device can generate various distributed stimuli to human sense receptors. It was experimentally confirmed that combinations of vibratory stimuli of high frequency and low frequency produced complex tactile feels. Comparison of the artificial tactile feels and cloth material samples demonstrated that this device developed could display subtle distinction in the touch of cloth, especially like a towel and a denim.
The description of human movement in computer for transformation between the Bunraku puppets' moion captured data and the movement score

2000　(17)　9-15　2000/12/15
Time Normalization of Time Series using Their Wavelet Coefficients (Applications to Action Time Series of a Bunraku Puppet)

HATTORI Motofumi, KITAGAWA Tomohiro, TADOKORO Satoshi, TAKAMORI Toshi, TAMADA Kazuhito

Transactions of the Japan Society of Mechanical Engineers. Series C.　66　(646)　1890-1897　2000/06/25
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/kikaic.66.1890 　

ISSN： 0387-5024
RoboCup-Rescue プロジェクト（第１報）緊急対応問題へのＡＩとロボティクスのチャレンジ

田所諭, 北野宏明

第60回全国大会講演論文集　2000　(1)　325-326　2000/03/14
RoboCup-Rescue プロジェクト（第12 報）RoboCup-Rescue の戦略と展開

北野宏明高橋友一, 田所諭

第60回全国大会講演論文集　2000　(1)　347-348　2000/03/14
RoboCup-Rescue(1)プロジェクト構想

北野宏明, 田所諭

Bit　32　(2)　30-36　2000/02
Publisher: 共立出版
ISSN： 0385-6984
Progress in RoboCup Soccer Research in 2000.

Minoru Asada, Andreas Birk 0002, Enrico Pagello, Masahiro Fujita, Itsuki Noda, Satoshi Tadokoro, Dominique Duhaut, Peter Stone, Manuela M. Veloso, Tucker R. Balch, Hiroaki Kitano, Brian Thomas

Experimental Robotics VII [ISER 2000, Waikiki, Hawaii, USA, December 11-13, 2000](ISER)　363-372　2000
Publisher: Springer
DOI： 10.1007/3-540-45118-8_37 　
Challenges to the application of IPMC as actuators of planetary mechanisms

Y. Bar-Cohen, S. Leary, A. Yavrouian, K. Oguro, S. Tadokoro, J. Harrison, J. Smith, J. Su

Proceedings of SPIE - The International Society for Optical Engineering　3987　140-146　2000

DOI： 10.1117/12.387772 　

ISSN： 0277-786X
CAE approach in application of Nafion-Pt composite (ICPF) actuators - analysis for surface wipers of NASA MUSES-CN nanorovers

Satoshi Tadokoro, Masahiko Fukuhara, Yoseph Bar-Cohen, Keisuke Oguro, Toshi Takamori

Proceedings of SPIE - The International Society for Optical Engineering　3987　262-272　2000

DOI： 10.1117/12.387785 　

ISSN： 0277-786X
RoboCup-Rescue: An international cooperative research project of robotics and AI for the disaster mitigation problem

Satoshi Tadokoro, Hiroaki Kitano, Tomoichi Takahashi, Itsuki Noda, Hitoshi Matsubara, Atsushi Shinjoh, Tetsuo Koto, Ikuo Takeuchi, Hironao Takahashi, Fumitoshi Matsuno, Mitsunori Hatayama, Jun Nobe, Susumu Shimada

Proceedings of SPIE - The International Society for Optical Engineering　4024　303-312　2000

ISSN： 0277-786X
Modeling of Nafion-Pt composite actuators (ICPF) by ionic motion

Satoshi Tadokoro, Shinji Yamagami, Toshi Takamori, Keisuke Oguro

Proceedings of SPIE - The International Society for Optical Engineering　3987　92-102　2000

DOI： 10.1117/12.387767 　

ISSN： 0277-786X
An analysis of the amplitude factors of the Bunraku puppet's motion axis-for the description, analysis, and generation of humanoids' motions.

Motofumi Hattori, Satoshi Furuta, Syun Nishizawa, Satoshi Tadokoro, Toshi Takamori

Proceedings of the IEEE International Conference on Systems, Man and Cybernetics　2　900-905　2000
Publisher: IEEE
DOI： 10.1109/ICSMC.2000.885964 　

ISSN： 0884-3627
A method to generate humanoid's actions based on the phase and amplitude factors of its motion axes - An analysis of the Buntaku puppet's motion axis

Motofumi Hattori, Satoshi Furuta, Syun Nishizawa, Satoshi Tadokoro, Toshi Takamori, Kazuhito Yamada

Robot and Human Communication - Proceedings of the IEEE International Workshop　388-393　2000
Challenges to the transition to the practical application of IPMC as artificial-muscle actuators

Y. Bar-Cohen, S. Leary, A. Yavrouian, K. Oguro, S. Tadokoro, J. Harrison, J. Smith, J. Su

Materials Research Society Symposium - Proceedings　600　13-20　2000

ISSN： 0272-9172
The Outline of the International Robot Games Festival.

Eiji Nakano, Minoru Asada, Satoshi Tadokoro, Koichi Osuka, Kiyoshi Nagai, Yasuhiro Masutani, Hiroaki Kitano

Proceedings - IEEE International Conference on Robotics and Automation　1　820-825　2000
Publisher: IEEE
DOI： 10.1109/ROBOT.2000.844152 　

ISSN： 1050-4729
Overview of RoboCup-2000.

Peter Stone, Minoru Asada, Tucker R. Balch, Masahiro Fujita, Gerhard K. Kraetzschmar, Henrik Hautop Lund, Paul Scerri, Satoshi Tadokoro, Gordon F. Wyeth

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)　2019 LNAI　1-28　2000
Publisher: Springer
DOI： 10.1007/3-540-45324-5_1 　

ISSN： 0302-9743

eISSN： 1611-3349
RoboCup Rescue Disaster Simulator Architecture.

Tomoichi Takahashi, Ikuo Takeuchi, Tetsuhiko Koto, Satoshi Tadokoro, Itsuki Noda

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)　2019 LNAI　379-384　2000
Publisher: Springer
DOI： 10.1007/3-540-45324-5_42 　

ISSN： 0302-9743

eISSN： 1611-3349
A Design of Rescue Agents for RoboCup-Rescue. Peer-reviewed

Masayuki Ohta, Nobuhiro Ito, Satoshi Tadokoro, Hiroaki Kitano

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)　1886　804-804　2000
Publisher: Springer
DOI： 10.1007/3-540-44533-1_93 　

ISSN： 0302-9743

eISSN： 1611-3349
布の手触り感覚を対象とした触感ディスプレイの研究 Peer-reviewed

昆陽雅司, 田所諭, 高森年, 小黒啓介

第5回ロボティクスシンポジア予稿集　5th　170-175　2000

ISSN： 1881-7300
Rescue simulation project and comprehensive disaster simulator architecture. Peer-reviewed

Tomoichi Takahashi, Ikuo Takeuchi, Fumitoshi Matsuno, Satoshi Tadokoro

IEEE International Conference on Intelligent Robots and Systems　3　1894-1899　2000

DOI： 10.1109/IROS.2000.895247 　

ISSN： 2153-0858

eISSN： 2153-0866
Artificial Tactile Feel Display Using Soft Gel Actuators. Peer-reviewed

Masashi Konyo, Satoshi Tadokoro, Toshi Takamori

Proceedings - IEEE International Conference on Robotics and Automation　4　3416-3421　2000
Publisher: IEEE
DOI： 10.1109/ROBOT.2000.845250 　

ISSN： 1050-4729
RoboCup Rescue project.

Satoshi Tadokoro, Hiroaki Kitano, Tomoichi Takahashi, Itsuki Noda, Hitoshi Matsubara, Atsushi Shinjoh, Tetsuhiko Koto, Ikuo Takeuchi, Hironao Takahashi, Fumitoshi Matsuno, Mitsunori Hatayama, Masayuki Ohta, Masayuki Tayama, Takeshi Matsui, Toshiyuki Kaneda, Ryosuke Chiba, Kazunori Takeuchi, Jun Nobe, Kazuhiko Noguchi, Yoshitaka Kuwata

Adv. Robotics　14　(5)　423-425　2000

DOI： 10.1163/156855300741807 　

ISSN： 0169-1864
An Actuator Model of ICPF for Robotic Applications on the Basis of Physicochemical Hypotheses. Peer-reviewed

Satoshi Tadokoro, Shinji Yamagami, Toshi Takamori

Proceedings - IEEE International Conference on Robotics and Automation　2　1340-1346　2000
Publisher: IEEE
DOI： 10.1109/ROBOT.2000.844784 　

ISSN： 1050-4729
The RoboCup-Rescue Project: A Robotic Approach to the Disaster Mitigation Problem.

Satoshi Tadokoro, Hiroaki Kitano, Tomoichi Takahashi, Itsuki Noda, Hitoshi Matsubara, Atsushi Shinjoh, Tetsuhiko Koto, Ikuo Takeuchi, Hironao Takahashi, Fumitoshi Matsuno, Michinori Hatayama, Jun Nobe, Susumu Shimada

Proc. 2000 IEEE International Conference on Robotics and Automation　4089-4094　2000
Publisher: IEEE
DOI： 10.1109/ROBOT.2000.845369 　
The RoboCup-Rescue: An IT challenge to emergency response problem in disaster Peer-reviewed

Satoshi Tadokoro, Hiroaki Kitano, Tomoichi Takahashi, Itsuki Noda, Hitoshi Matsubara, Atsushi Shinjoh, Tetsuhiko Koto, Ikuo Takeuchi, Hironao Takahashi, Fumitoshi Matsuno, Mitsunori Hatayama, Masayuki Ohta, Masayuki Tayama, Takeshi Matsui, Toshiyuki Kaneda, Ryosuke Chiba, Kazunori Takeuchi, Jun Nobe, Kazuhiko Noguchi, Yoshitaka Kuwata

IECON Proceedings (Industrial Electronics Conference)　1　126-131　2000

ISSN： 1553-572X
On Fundamental Design of Cable Configurations of Cable-Driven Parallel Manipulators with Redundancy. Peer-reviewed

TADOKORO Satoshi, NISHIOKA Shinsuke, KIMURA Tetsuya, HATTORI Motofumi, TAKAMORI Toshi, MAEDA Kiyoshi

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C　66　(647)　2247-2254　2000
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/kikaic.66.2247 　

ISSN： 0387-5024
Investigation report of the rescue problem at Hanshin-Awaji earthquake in Kobe. Peer-reviewed

Satoshi Tadokoro, Toshi Takamori, Koichi Osuka, Saburo Tsurutani

IEEE International Conference on Intelligent Robots and Systems　3　1880-1885　2000

DOI： 10.1109/IROS.2000.895245 　
RoboCup Rescue project: challenges and benchmark. Peer-reviewed

Hiroaki Kitano, Satoshi Tadokoro, Koichi Osuka

IEEE International Conference on Intelligent Robots and Systems　3　1886-1893　2000

DOI： 10.1109/IROS.2000.895246 　

ISSN： 2153-0858

eISSN： 2153-0866
The wearable system for the disaster mitigation problem: A mission-critical man-machine interface of the RoboCup-Resue simulator Peer-reviewed

Atsushi Shinjoh, Satoshi Tadokoro

Proc. International Conference on Artificial Reality and Tele-Existence　1999/12
An Analysis and Generation of Bunraku Puppet's Motions Based on Linear Structure of Functional Factors, Emotional Factors and Stochastic Fluctuations for Generation of Humanoid Robots' Actions with Fertile Emotions.

Motofumi Hattori, Masahiko Tsuji, Satoshi Tadokoro, Toshi Takamori, Kazuhito Yamada

J. Robotics Mechatronics　11　(5)　393-398　1999

DOI： 10.20965/jrm.1999.p0393 　
Soft micromanipulation device with multiple degrees of freedom consisting of high polymer gel actuators

Satoshi Tadokoro, Shinji Yamagami, Masahiro Ozawa, Tetsuya Kimura, Toshi Takamori

Proceedings of the IEEE Micro Electro Mechanical Systems (MEMS)　37-42　1999

DOI： 10.1109/memsys.1999.746748 　
Analysis of the Bunraku puppet's motions based on the phase correspondence of the puppet's motion axis - for the generation of humanoid robots' motions with fertile emotions

Motofumi Hattori, Yasunori Nakabo, Satoshi Tadokoro, Toshi Takamori, Kazuhito Yamada

Proceedings of the IEEE International Conference on Systems, Man and Cybernetics　2　1999

ISSN： 0884-3627
RoboCup rescue: search and rescue in large-scale disasters as a domain for autonomous agents research

Hiroaki Kitano, Satoshi Tadokoro, Itsuki Noda, Hitoshi Matsubara, Tomoichi Takahashi, Atsuhi Shinjou, Susumu Shimada

Proceedings of the IEEE International Conference on Systems, Man and Cybernetics　6　1999

ISSN： 0884-3627
Development of Plane Irradiation Type Micro Stereolithography Equipment using Optical Fibers. Peer-reviewed

大坪義一, 山本昌彦, 田所諭, 高森年

電気学会論文誌 E　119-E　(4)　247-253　1999

DOI： 10.1541/ieejsmas.119.247 　

ISSN： 1341-8939

eISSN： 1347-5525
Development of a Multi-Degree-of-Freedom Micromotion Device Consisting of Soft Gel Actuators. Peer-reviewed

Satoshi Tadokoro, Shinji Yamagami, Tetsuya Kimura, Toshi Takamori, Keisuke Oguro

J. Robotics Mechatronics　11　(4)　244-250　1999

DOI： 10.20965/jrm.1999.p0244 　
A portable parallel manipulator for search and rescue at large-scale urban earthquakes and an identification algorithm for the installation in unstructured environments. Peer-reviewed

Satoshi Tadokoro, Richard Verhoeven, Manfred Hiller, Toshi Takamori

IEEE International Conference on Intelligent Robots and Systems　2　1222-1227　1999
Publisher: IEEE
DOI： 10.1109/IROS.1999.812846 　
On Design of a Redundant Wire-Driven Parallel Robot WARP Manipulator. Peer-reviewed

Kiyoshi Maeda, Satoshi Tadokoro, Toshi Takamori, Motofumi Hattori, Manfred Hiller, Richard Verhoeven

Proceedings - IEEE International Conference on Robotics and Automation　2　895-900　1999

DOI： 10.1109/ROBOT.1999.772403 　

ISSN： 1050-4729
Multi-DOF Device for Soft Micromanipulation Consisting of Soft Gel Actuator Elements. Peer-reviewed

Satoshi Tadokoro, Shinji Yamagami, Masahiro Ozawa, Tetsuya Kimura, Toshi Takamori, Keisuke Oguro

Proceedings - IEEE International Conference on Robotics and Automation　3　2177-2182　1999

DOI： 10.1109/ROBOT.1999.770429 　

ISSN： 1050-4729
Development of a multi-degree-of-freedom micro motion device consisting of soft gel actuators Peer-reviewed

Satoshi Tadokoro, Shinji Yamagami, Tetsuya Kimura, Toshi Takamori, Keisuke Oguro

The 3rd International Conference on Advanced Mechatronics　300-305　1998/08
A motion analysis of the bunraku puppet based on linear structure of functional factors, emotional factors and stochastic fluctuations -- for generation of home robots' actions with fertile emotions-- Peer-reviewed

Motofumi Hattori, M. Tsuji, Satoshi Tadokoro, Toshi Takamori

The 3rd International Conference on Advanced Mechatronics　873-878　1998/08
Time normalization of action time series using their wavelet coefficients-for generation of humanoid robots' actions with fertile emotions.

Motofumi Hattori, Tomohiro Kitagawa, Masahiko Tsuji, Satoshi Tadokoro, Toshi Takamori, Kazuhito Yamada

Proceedings of the IEEE International Conference on Systems, Man and Cybernetics　5　4268-4273　1998
Publisher: IEEE
DOI： 10.1109/ICSMC.1998.727516 　

ISSN： 0884-3627
光造形法を用いた微小立体構造物の製作、第1報、内部硬化式光造形法の提案と樹脂の硬化形状のシミュレーション Peer-reviewed

大坪義一, 山本昌彦, 田所諭, 高森年

精密工学会誌　64　(8)　1181-1185　1998/01

DOI： 10.2493/jjspe.64.1181 　
Development of a Distributed Actuation Device Consisting of Soft Gel Actuator Elements. Peer-reviewed

Satoshi Tadokoro, Satoshi Fuji, Mitsuaki Fushimi, Ryu Kanno, Tetsuya Kimura, Toshi Takamori, Keisuke Oguro

Proceedings - IEEE International Conference on Robotics and Automation　3　2155-2160　1998

DOI： 10.1109/ROBOT.1998.680640 　

ISSN： 1050-4729
Distributed Actuation Device Using Soft Gel Actuators.

田所諭, 藤智史, 高森年

計測自動制御学会関西支部シンポジウム講演論文集　1998　217-235　1998
Robust stabilization of flexible structures using static output feedback

Motofumi Hattori, Satoshi Tadokoro, Toshi Takamori

Nonlinear Analysis, Theory, Methods and Applications　30　(4)　2215-2220　1997/12

DOI： 10.1016/S0362-546X(97)00109-0 　

ISSN： 0362-546X
Modeling of ICPF (Ionic Conducting Polymergel Film) Actuator (3rd Report, Considerations of A Stress Generation Function and An Approximately Linear Actuator Model) Peer-reviewed

KANNO Ryu, TADOKORO Satoshi, TAKAMORI Toshi, OGURO Keisuke

Transactions of the Japan Society of Mechanical Engineers C　63　(611)　2345-2350　1997/07/25
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/kikaic.63.2345 　

ISSN： 0387-5024

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In this paper, an approximately linear dynamic model of the ICPF actuator is proposed. According to the strategy in the last paper, linear modeling was carried out. A source of the internal stress for bending is the internal current since the speeds of both the bending and the internal current were the same. Moreover the magnitudes of both curvatures and simulational current were also in agreement with each other. The further the distance from the base was, the larger the curvature and the current were. To model bending motion to the cathode under a step input, an approximation that the internal current is differentiated with time before transferring to generarive stress was taken with a 2nd-order delay. The simulation results obtained using the above model agreed with the experimental results.
An Elliptic Friction Drive Element Using an ICPF Actuator Peer-reviewed

Satoshi Tadokoro, Takahiko Murakami, Satoshi Fuji, Ryu Kanno, Motofumi Hattori, Toshi Takamori, Keisuke Oguro

IEEE Control Systems　17　(3)　60-68　1997/06

DOI： 10.1109/37.588149 　

ISSN： 1066-033X

eISSN： 1941-000X
Generation of Avoidance Motion for Robots which Coexist and Cooperate (2nd Report, Avoidance of Moving Obstacles for Mobile Robots) Peer-reviewed

TADOKORO Satoshi, HAYASHI Masaki, MANABE Yasuhiro, NAKAMI Yoshihiro, TAKAMORI Toshi

Transactions of the Japan Society of Mechanical Engineers. Series C.　63　(606)　499-505　1997/02/25
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/kikaic.63.499 　

ISSN： 0387-5024

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This paper presents a trajectory planning method by which human cooperative mobile robots can avoid collision with human bodies. Indefinite human motion is predicted using a stochastic predictor. Evaluation of collision risk and efficiency of trajectory are taken in account in an evaluating function. Optimization using a genetic algorithm gives the robot trajectory. The mobile robots move so as to maximize safety taking into account every possible human motion. Simulation results showed that the robot could determine appropriate trajectories avoiding danger and that reasonable trajectories were generated even if human motion unexpectedly changed.
Generalization of direct strain feedback control for flexible structures with spatially varying parameters and a tip body (a new example of the A-dependent operator)

Motofumi Hattori, Satoshi Tadokoro, Toshi Takamori

Proceedings of the American Control Conference　4　2333-2336　1997

ISSN： 0743-1619
Motion analysis of the Bunraku puppet for generation of emotional robot actions based on KM<inf>2</inf>O-Langevin model

M. Hattori, M. Tsuji, Y. Nakabou, S. Tadokoro, T. Takamori

Proceedings of the IEEE International Conference on Systems, Man and Cybernetics　4　3267-3272　1997

ISSN： 0884-3627
On Robotic Rescue Facilities for Disastrous Earthquakes -From the Great Hanshin-Awaji (Kobe) Earthquake. Peer-reviewed

Satoshi Tadokoro, Toshi Takamori, Saburo Tsurutani, Koichi Osuka

J. Robotics Mechatronics　9　(1)　46-56　1997

DOI： 10.20965/jrm.1997.p0046 　
Modeling of ICPF (Ionic Conducting Polymer Gel Film) Actuator (1st Report, Fundamental Characteristics and Black-Box Modeling) Peer-reviewed

KANNO Ryu, TADOKORO Satoshi, HATTORI Motofumi, TAKAMORI Toshi, OGURO Keisuke

Transactions of the Japan Society of Mechanical Engineers. Series C.　62　(598)　2299-2305　1996/06/25
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/kikaic.62.2299 　

ISSN： 0387-5024

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An ionic conducting polymer gel film (ICPF) atuator is a composite of a perfluoro-sulfonic acid membrane sandwiched between platinum layers. Bending motion is induced by applying voltage between the surfaces in water or in wet conditions. This phenomenon was discovered in 1992. After reaching the maximum displacement toward the anode immediately, the actuator bent back to the cathode side, and approached the initial position gradually when a step voltage was applied. Current through the actuator decreased exponentially. The maximum displacement was proportional to the magnitude of the step voltage. Motion induced by a step current was almost the same as that induced by a step voltage but was slower. Voltage induced by the current increased gradually and reached a certain value, then increased once more to a steady voltage. The motion did not depend on the direction on the surface. The bending occured in all directions. Larger displacement was observed near the electrode. Dynamics of the actuator was expressed in terms of a 4th-degree transfer function by black-box linear modeling. Simulation results were in good agrrement with the experimental results.
3-dimensional dynamic model of ionic conducting polymer gel film (ICPF) actuator

Ryu Kanno, Satoshi Tadokoro, Toshi Takamori, Keisuke Oguro

Proceedings of the IEEE International Conference on Systems, Man and Cybernetics　3　2179-2184　1996

ISSN： 0884-3627
Linear approximate dynamic model of ICPF (ionic conducting polymer gel film) actuator. Peer-reviewed

Ryu Kanno, Satoshi Tadokoro, Toshi Takamori, Motofumi Hattori, Keisuke Oguro

Proceedings - IEEE International Conference on Robotics and Automation　1　219-225　1996

DOI： 10.1109/ROBOT.1996.503781 　

ISSN： 1050-4729
An elliptic friction drive element using an ICPF (ionic conducting polymer gel film) actuator. Peer-reviewed

Satoshi Tadokoro, Takahiko Murakami, Satoshi Fuji, Ryu Kanno, Motofumi Hattori, Toshi Takamori, Keisuke Oguro

Proceedings - IEEE International Conference on Robotics and Automation　1　205-212　1996

DOI： 10.1109/ROBOT.1996.503596 　

ISSN： 1050-4729
An analysis of BUNRAKU puppet actions for the generation of humanlike actions of home robots. Peer-reviewed

Moriyoshi Teruya, Motofumi Hattori, Satoshi Tadokoro, Toshi Takamori, Kazuhito Yamada

IEEE International Conference on Intelligent Robots and Systems　1　44-51　1996

DOI： 10.1109/IROS.1996.570626 　
Note on the mathematical essence of the static output feedback control of flexible structures Peer-reviewed

Motofumi Hattori, Satoshi Tadokoro, Toshi Takamori

Proceedings of the IEEE Conference on Decision and Control　3　2355-3592　1996

ISSN： 0191-2216
Characteristics and Modeling of ICPF Actuator. 7th Report: 3D Model. Peer-reviewed

菅野隆, 田所諭, 高森年, 小黒啓介

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)　692-698　1996
On Generation of Avoiding Motion of Robots which Co-Exist and Cooperate with Human. (1st Report. Stochastic Prediction of Human Motion and Avoidance Planning of Manipulators). Invited Peer-reviewed

TADOKORO Satoshi, ISHIKAWA Yutaka, TAKEBE Tomoaki, TAKAMORI Toshi

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C　62　(598)　2329-2336　1996
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/kikaic.62.2329 　

ISSN： 0387-5024

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This paper proposes a control model for safety of human cooperative robots. Human motion is stochastically predicted by a Markov process model. Simulation results of the prediction corresponded to real human motion. Future dangerousness is estimated by using the predicted motion. Robot speed is changed in order to minimize the danger. Simulation results of the avoidance revealed that this control model is effective especially because prediction errors cannot cause extremely dangerous condition unlike by algorithms based on deterministic prediction.
Modeling and scheduling of FMS using decentralized Petri net Peer-reviewed

T Maekawa, S Tadokoro, T Takamori, M Hattori

CAD/CAM ROBOTICS AND FACTORIES OF THE FUTURE　646-652　1996
A Study on Optical Micro-Actuator Using Bimetal Element. Peer-reviewed

三明暢生, 中川裕一, 服部元史, 木村哲也, 田所諭, 高森年, LIU R

日本機械学会通常総会講演会講演論文集　73rd　(Pt 4)　516-521　1996
On fundamental design of wire configurations of wire-driven parallel manipulators with redundancy Peer-reviewed

Satoshi Tadokoro, Shinsuke Nishioka, Tetsuya Kimura, Motofumi Hattori, Toshi Takamori, Kiyoshi Maeda

Proceedings of the Japan/USA Symposium on Flexible Automation　1　151-158　1996
Modeling of ICPF(Ionic Conducting Polymer Gel Film) Actuator. 2nd Report. Electrical Characteristics and Linear Approximate Model. Peer-reviewed

KANNO Ryu, TADOKORO Satoshi, HATTORI Motofumi, TAKAMORI Toshi, OGURO Keisuke

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C　62　(601)　3529-3535　1996
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/kikaic.62.3529 　

ISSN： 0387-5024
An Experimental Study on Improvement of Weaving Motion of Welding Robots by Learning Peer-reviewed

TADOKORO Satoshi, KOBAYASHI Naoto, KAWASAKI Nobukazu, MIYAZAKI Noriaki, TAKAMORI Toshi

Transactions of the Japan Society of Mechanical Engineers. Series C.　61　(590)　4021-4026　1995/10/25
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/kikaic.61.4021 　

ISSN： 0387-5024
Scheduling and Re-Scheduling of FMS Using AGVs on the Basis of Petri net Peer-reviewed

LI Shifang, TAKAMORI Toshi, TADOKORO Satoshi, HATTORI Motofumi

Transactions of the Institute of Systems, Control and Information Engineers　8　(10)　612-620　1995/10/15
Publisher: THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)
DOI： 10.5687/iscie.8.612 　

ISSN： 1342-5668

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This paper deals with a scheduling and re-scheduling method for flexible manufacturing systems (FMS) using automatically guided vehicles (AGVs) and input-output buffers. The purpose is to solve coordination problems of AGVs transferring jobs between machines so as to minimize idle time of each machine and the total job processing time without collision of AGVs, and quick generation of another substituting effective schedule in the case of troubles of AGVs. A hierachical timed Petri net is applied to modeling and analysis of systems. Two priority functions are defined to effectively determine job processing precedence relationships among machining orders and AGV assignment. Some scheduling simulation results are also shown in this paper.
Position Control of 6-DOF Direct-Drive Wrist Joint Using Time Delay Control Peer-reviewed

MAEDA Kiyoshi, YASAKA Isawo, TADOKORO Satoshi, TAKAMORI Toshi

Transactions of the Japan Society of Mechanical Engineers. Series C.　61　(584)　1543-1549　1995/04/25
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/kikaic.61.1543 　

ISSN： 0387-5024

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A 6-DOF direct-drive wrist joint with the mechanism of a Stewart platform which is driven by pneumatic actuators is controlled by using time delay control (to be referred as TDC). TDC is based on the idea that modeling error and disturbance are estimated and compensated for by algebraic computation. A reference model was made according to a linearized approximation model. Time delay and entimated value of input gain of the plant, which are parameters in TDC design, were determined to satisfy conditions of tracking and stability. Experimental results showed that TDC compensated changes of parameters by nonlinearity of pneumatic actuators, changes of inertia and gravity terms by platform motion, and dynamic interference between actuators. Good trajectories were achieved with TDC.
Dynamic model of ICPF (ionic conducting polymer film) actuator

Ryu Kanno, Satoshi Tadokoro, Motofumi Hattori, Toshi Takamori, Michel Costaftis, Keisuke Oguro

Proceedings of the IEEE International Conference on Systems, Man and Cybernetics　1　177-182　1995

ISSN： 0884-3627
Motion planner of mobile robots which avoid moving human obstacles on the basis of stochastic prediction

Satoshi Tadokoro, Masaki Hayashi, Yasuhiro Manabe, Yoshihiro Nakami, Toshi Takamori

Proceedings of the IEEE International Conference on Systems, Man and Cybernetics　4　3286-3291　1995

ISSN： 0884-3627
Design method for control systems with disturbance observers using H^∞ optimal control Peer-reviewed

Hsin Nan Lin, Satoshi Tadokoro, Toshi Takamori

IEEE International Symposium on Intelligent Control - Proceedings　472-477　1995
On motion planning of mobile robots which coexist and cooperate with human. Peer-reviewed

Satoshi Tadokoro, Masaki Hayashi, Yasuhiro Manabe, Yoshihiro Nakami, Toshi Takamori

IEEE International Conference on Intelligent Robots and Systems　2　518-523　1995

DOI： 10.1109/IROS.1995.526265 　
Modeling of ICPF (Ionic Conducting Polymer Film) actuator - modeling of electrical characteristics - Peer-reviewed

Ryu Kanno, Satoshi Tadokoro, Toshi Takamori, Motofumi Hattori, Keisuke Oguro

IECON Proceedings (Industrial Electronics Conference)　2　913-918　1995

ISSN： 1553-572X
Time Delay Control of a 6-DOF Direct Drive Wrist Joint Using Pneumatic Actuators Peer-reviewed

Kiyoshi Maeda, Isao Yasaka, Satoshi Tadokoro, Toshi Takamori

93 International Conference on Advanced Robotics　159-164　1993/11
Control of human cooperative robots based on stochastic prediction of human motion

S. Tadokoro, T. Takebe, Y. Ishikawa, T. Takamori

Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993　387-392　1993

DOI： 10.1109/ROMAN.1993.367687 　
Stochastic prediction of human motion and control of robots in the service of human

Satoshi Tadokoro, Tomoaki Takebe, Yutaka Ishikawa, Toshi Takamori

Proceedings of the IEEE International Conference on Systems, Man and Cybernetics　1　503-508　1993

ISSN： 0884-3627
On Dynamic Evaluation of Dexterity of Robot Manipulators Considering Deviation of Acceleration Peer-reviewed

TADOKORO Satoshi, TAKAMORI Toshi

Transactions of the Society of Instrument and Control Engineers　29　(4)　419-428　1993
Publisher: The Society of Instrument and Control Engineers
DOI： 10.9746/sicetr1965.29.419 　

ISSN： 0453-4654

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In this paper, a new index for evaluation of dexterity is proposed on the basis of manipulator dynamics. It is called Stochastic Dynamic Manipulability Measure. It can deal with deviation of end-effector acceleration according to the direction of motion, which is a characteristic of required manipulator motion. Therefore, it can evaluate how suitable a robot mechanism is for its objective task considering features of the motion. This ability is really important for a dexterity index because a manipulator mechanism is designed to be able to perform its objective task. It does not mean undexterity that it cannot accomplish other tasks efficiently. The deviation is given by a probability density function. The evaluation is based on expected value of mean of joint torques which are necessary for stochastically described motion. Applications to 2- and 3-DOF manipulators revealed the following. 1. It is important to consider deviation of motion in dexterity evaluation. 2. Stochastic dynamic manipulability always values worse when there is a direction in which it is extremely difficult for an end-effector to move. 3. Singular points sometimes substantially lose their singularity. 4. Optimal trajectory can be planned by using contour-line maps of stochastic dynamic manipulability in joint acceleration space. 5. Contour-line maps in task space help optimal mechanism design and installation planning of manipulators. 6. Maps in null space of Jacobian matrix can be used to determine configurations of redundant manipulators.
AN EXPERIMENTAL-STUDY ON IMPROVEMENT OF WEAVING TRAJECTORIES OF WELDING ROBOTS BY A LEARNING SCHEME Peer-reviewed

S TADOKORO, N KAWASAKI, N KOBAYASHI, T TAKAMORI, N MIYAZAKI

PROCEEDINGS OF THE IECON 93 - INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONICS, CONTROL, AND INSTRUMENTATION, VOLS 1-3　1500-1505　1993
An Analysis of Passive Impedance of 6-DOF Direct-Drive Wrist Joint. Peer-reviewed

Kiyoshi Maeda, Kenji Fujimoto, Satoshi Tadokoro, Toshi Takamori

海技大学校研究報告　(38)　39-44　1993
Publisher: Elsevier
DOI： 10.1016/b978-0-444-89700-8.50010-5 　

ISSN： 0288-3708
An Evaluating Method for Dexterity of Robot Manipulators Considering Deviation of Direction of Motion Peer-reviewed

TADOKORO Satoshi, TAKAMORI Toshi

Transactions of the Society of Instrument and Control Engineers　29　(6)　668-676　1993
Publisher: The Society of Instrument and Control Engineers
DOI： 10.9746/sicetr1965.29.668 　

ISSN： 0453-4654

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Dexterity is an important issue for design, installation planning, trajectory planning, etc. of manipulators. Many evaluating methods have been proposed such as Yoshikawa's manipulability. They have, however, some problems, one of which is that they cannot consider characteristics of manipulator motion. It has been impossible to evaluate how efficient a manipulator mechanism is from a viewpoint of characteristics of a required task. A manipulator should be evaluated to be dexterous when it can efficiently perform its required task even if it cannot accomplish other kind of tasks very well. In this paper, a new dexterity measure stochastic manipulability measure is presented. It can evaluate kinematic dexterity considering deviation of direction of required manipulator motion, which is one of the characteristics of a task. Stochastic manipulability is based on expected value of mean of necessary joint velocity under a stochastic interpretation of required motion. The deviation is specified using a probability density function. Applications to 2-, 3- and 6-DOF manipulators revealed the following: 1. stochastic manipulability can evaluate dexterity considering deviation of motion, 2. it can be used for comparison of manipulators with different DOFs, 3. it is important to consider the deviation of motion in evaluation, 4. singular points can substantially lose their singularity, and 5. optimal trajectory of redundant manipulators can be obtained using maps in null space of Jacobian matrix.
DEVELOPMENT OF AN ELECTROSTATIC LINEAR-ACTUATOR BY MICROMACHINING PROCESSES Peer-reviewed

Y OHTSUBO, H GOTO, S HASHITERA, K TAJIRI, K SUZUKI, S TADOKORO, T TAKAMORI

PROCEEDINGS OF THE IECON 93 - INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONICS, CONTROL, AND INSTRUMENTATION, VOLS 1-3　1808-1813　1993
An Approach to Scheduling Problems of Flexible Manufacturing Systems Using Automatically Guided Vehicles on the Basis of a Petri Net Model. Peer-reviewed

LI S, 高森年, 田所諭

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　1993　145-150　1993
Applications of Petri-Net to Modeling and Scheduling Problems of Flexible Manufacturing System Using Robots. Peer-reviewed

Shifang Li, Toshi Takamori, Satoshi Tadokoro

Robotics, Mechatronics and Manufacturing Systems, Elsevier Sci. Publ.　955-960　1993
Publisher: Elsevier
DOI： 10.1016/b978-0-444-89700-8.50156-1 　
5.神戸大学工学部情報知能工学科高森研究室

田所諭

日本ロボット学会誌　10　(6)　759-759　1992
Publisher: 一般社団法人日本ロボット学会
DOI： 10.7210/jrsj.10.759 　

ISSN： 0289-1824
ANALYSIS OF CEREBRAL VASCULAR SYSTEM AND ITS 3D-CG VISUAL SIMULATION Peer-reviewed

T FUKANO, A HORIGUCHI, Y KOSHIDA, K HANAOKA, S TADOKORO, M KIMURA, T TAKAMORI

PARALLEL AND DISTRIBUTED COMPUTING IN ENGINEERING SYSTEMS　505-510　1992
Time Delay Control of a Pneumatic Linear Actuator. Peer-reviewed

Fujimoto Kenji, Tadokoro Satoshi, Takamori Toshi

Hydraulics & Pneumatics　23　(4)　412-419　1992
Publisher: The Japan Fluid Power System Society
DOI： 10.5739/jfps1970.23.412 　

ISSN： 0286-6900

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When PID control or optimal control is used for pneumatic servo systems, it is not always easy to get a good response under a wide range of working positions, because exact models for the pneumatic actuators cannot be obtained and because their dynamics is very nonlinear. The Time Delay Control (TDC), however, can rapidly compensate for the modeling error and nonlinearity using a simple control scheme. In this paper, TDC was applied to a pneumatic position control system consisting of a pneumatic cylinder and on-off type reed valves driven by PWM. The effectiveness of the pneumatic system controlled by TDC was confirmed with simulations and experiments. The main results are as follows : 1. A simple TDC controller was designed, in which the piston position, velocity, acceleration and derivative of acceleration are used as state variables. 2. TDC can rapidly compensate for the nonlinearity in dynamics due to gas compressibility. 3. This system always has a good response for any reference position and for any piston moving direction. 4. The system is strong against modeling errors occurring at high frequencies due to the friction effect and so on if an estimated input gain of a plant is made larger than the real value. This study utilizing TDC demonstrates that a pneumatic position control system can be designed even by rough parameter identification, and that it always has a good response under a wide range of operating conditions.
A Measure for Evaluation of Dynamic Dexterity Based on a Stochastic Interpretation of Manipulator Motion

Satoshi Tadokoro, Ichiro Kimura, Toshi Takamori

Proc. of 5th International Conference on Advanced Robotics　509-514　1991/06
A human recognition system for avoidance of robot accidents

Satoshi Tadokoro, Takeshi Tanaka, Toshi Takamori

IECON Proceedings (Industrial Electronics Conference)　3　2247-2252　1991
Derivation and analysis of equations of motion for 6-DOE direct-drive wrist joint.

Kenji Fujimoto, Yoshiharu Kinoshita, Kiyoshi Maeda, Satoshi Tadokoro, Toshi Takamori

Proc. of IEEE/RSJ International Workshop on Intelligent Robots and Systems　779-784　1991
Publisher: IEEE
DOI： 10.1109/IROS.1991.174576 　
An Evaluation of Characteristics of Singular Points Based on a Stochastic Interpretation of Manipulator Motion

Satoshi Tadokoro, Ichiro Kimura, Toshi Takamori

Proc. of the 1st International Symposium on Measurement and Control in Robotics　D2　(2)　1-7　1990/06
Development of a 6-D.O.F. direct-drive wrist joint by pneumatic linear actuator drive

K. Fujimoto, S. Tadokoro, T. Takamori

IECON Proceedings (Industrial Electronics Conference)　1　427-432　1990
A study for safety of robot environment. 4th Report: A robot control model for prevention of accidents and its 3-D visual simulation.

鬼追雅年, 田所諭, 木村一郎, 高森年

日本ロボット学会学術講演会予稿集　8th　(1)　559-564　1990
An analysis of human upper extremity motions. Relation between a wrist position and shoulder angle. Peer-reviewed

田所諭, 相川誠, 市道和広

人間工学　26　(1)　41-47　1990

DOI： 10.5100/jje.26.41 　

ISSN： 0549-4974
Dexterity measure for trajectory planning and kinematic design of redundant manipulators Peer-reviewed

S. Tadokoro, I. Kimura, T. Takamori

IECON Proceedings (Industrial Electronics Conference)　2　415-420　1989
A simulation method for vibration of manipulators based on joint deformation model. Invited Peer-reviewed

田所諭, 木村一郎, 高森年

システム/制御/情報　33　(2)　46-53　1989

DOI： 10.5687/iscie.2.46 　

ISSN： 0916-1600
A Solution of Inverse Dynamics of Manipulators with Elasticity and Backlashes at Joints

Satoshi Tadokoro, Ichiro Kimura, Toshi Takamori

Proc. of Japan-USA Symposium on Flexible Automation　37-44　1986/07
GATE-ARRAY LAYOUT SYSTEM: LOP-ARP2.

Gotaro Odawara, Satoshi Tadokoro, Hiroshi Masaki, Kazuhiko Iijima

Journal of the Faculty of Engineering, University of Tokyo, Series B　37　(4)　921-932　1984/09

ISSN： 0563-7937

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Misc. 943

困難地形を改変するバックホウの法面を有する経路と地形計画

鈴木裕太, 黒崎吉隆, 大野和則, 小島匠太郎, BEZERRA Ranulfo, 里見知昭, 高橋弘, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　42nd　2024
凹凸の少なく走行しやすい斜面に改変するバックホウの動作生成

黒崎吉隆, 鈴木裕太, 大野和則, 小島匠太郎, BEZERRA Ranulfo, 里見知昭, 高橋弘, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　42nd　2024
Trajectory Tracking Control for Autonomous Dump Trucks by Considering Travel Efficiency, Safety, and Tracking Accuracy According to Surrounding Conditions

小島匠太郎, 大野和則, 鈴木高宏, 鈴木高宏, 浅野公隆, 小松智広, 鈴木太郎, 垣崎寛人, 宮本直人, 田所諭

ロボティクスシンポジア予稿集　29th (CD-ROM)　2024

ISSN： 1881-7300
Application of an automated dump truck with a retrofitted driving system to a quarry site

小島匠太郎, 大野和則, BEZERRA Ranulfo, 浅野公隆, 鈴木太郎, 小松智広, 横山慈, 宮本直人, 鈴木高宏, 垣崎寛人, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2023　2023

ISSN： 2424-3124
Automated unloading task of large-size dump trucks using retrofit technology

横山慈, 大野和則, 小島匠太郎, 鈴木太郎, 小松智広, 宮本直人, 鈴木高宏, 浅野公隆, 垣崎寛人, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2023　2023

ISSN： 2424-3124
起伏のある砕石現場を自動走行する大型ダンプトラックのための傾斜の方向に沿った経路計画

落合聡, 小島匠太郎, 大野和則, ハヌフォベゼハ, 浅野公隆, 鈴木太郎, 小松智広, 宮本直人, 鈴木高宏, 垣崎寛人, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　41st　2023
String Binding Mechanism Capable of Strong Shape-Holding in Continuum Robots

渡辺将広, 恩田一生, 佐野峻輔, 多田隈建二郎, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2023　2023

ISSN： 2424-3124
Reflexive Soft-Rigid Switching Mechanism-Variable Characteristic Mechanism with Contact-Count Receptor Exposed on the Body Surface-

清水翔也, 恩田一生, 佐野峻輔, 阿部一樹, 渡辺将広, 多田隈理一郎, 多田隈建二郎, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2023　2023

ISSN： 2424-3124
Spherical Chebyshev Lambda Linkage-Reciprocating motion with pseudo-circular arc trajectory and evaluation of its applicability-

清水翔也, 佐野峻輔, 阿部一樹, 渡辺将広, 多田隈建二郎, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2023　2023

ISSN： 2424-3124
Differential Gear Mechanism with Linear-Rotational Motions and Self-Locking Function

栢分崚汰郎, 佐野峻輔, 阿部一樹, 渡辺将広, 多田隈建二郎, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2023　2023

ISSN： 2424-3124
Reproduction of Grasping Sensation by High-resolution Suction Tactile Display for Finger Pads: Integration with a Parallel Link Haptic Display

一條暁生, 永野光, 森田夏実, 昆陽雅司, 佐瀬一弥, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2023　2023

ISSN： 2424-3124
触覚サイバー・フィジカル・システムを用いた把持タスクにおける触覚機能の調査

一條暁生, 昆陽雅司, 加藤明樹, 佐瀬一弥, 永野光, 田所諭

日本バーチャルリアリティ学会研究報告(CD-ROM)　28　(HAP02)　2023

ISSN： 2436-3480
Prior-Radio-Simulation-Based Optimal Path Planning for Repeater Drones in Bridge Inspection

横田将輝, 岡田佳都, 安部祐一, 児島史秀, 宮地利幸, 原井洋明, 沢田浩和, 松村武, 大野和則, 田所諭

ロボティクスシンポジア予稿集　28th　2023

ISSN： 1881-7300
Study of trajectory tracking control that balances speed and tracking accuracy according to ambient conditions

小島匠太郎, 大野和則, 鈴木高宏, 浅野公隆, 鈴木太郎, 宮本直人, 横山慈, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　23rd　2022
反射型駆動ハンド機構-ハエトリグサの閉葉開始機序から抽能した接触カウンタ含有要素-

清水翔也, 佐野峻輔, 釼持優人, 恩田一生, 高橋知也, 阿部一樹, 渡辺将広, 多田隈理一郎, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　40th　2022
Principle Verification Study of Load-Sensitive Gravity Compensation Mechanism-Experimental Considerations from Motion Observationof Prototype Mechanism with Fixed Angle under Various Load-

吉本悠人, 釼持優人, 高橋景虎, 西城直人, 清水杜織, 佐野峻輔, 渡辺将広, 阿部一樹, 多田隈建二郎, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2022　2022

ISSN： 2424-3124
Reproduction of Grasping Sensation by High-resolution Suction Tactile Display for Finger Pads-3rd report: Investigation of The Relationship between Perceived Suction Stimuli and Strain Energy Distribution-

森田夏実, 昆陽雅司, 永野光, 佐瀬一弥, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　27th　2022

ISSN： 1349-5062
指腹部高解像吸引ディスプレイによる把持感覚の再現第4報:1指への力触覚同時提示と硬軟感提示性能の評価

一條暁生, 森田夏実, 永野光, 佐瀬一弥, 昆陽雅司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　27th　2022

ISSN： 1349-5062
Summary and Prospects of Plant Disaster Prevention Challenge in World Robot Summit 2020

奥川雅之, 大坪義一, 青木岳史, 山口大介, 岡田佳都, 筑紫彰太, 戸田雄一郎, 永野光, 蓮實雄大, 廣岡大祐, 小島匠太郎, 木村哲也, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　23rd　2022
Reproduction of Grasping Sensation by High-resolution Suction Tactile Display for Finger Pads-5th Report: Generation of Suction Stimuli Based on Strain Energy Density-

森田夏実, 昆陽雅司, 永野光, 佐瀬一弥, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　23rd　2022
Stabilized controller for cantilevered pipe actuated by water jets under the fluid structure interactions

65　238-244　2021/05/26
Publisher: システム制御情報学会
Toward the Design of the Controller for the Cart to Carry the Root of Aerial Hose Type Fire Fighting Robot for Remote Operation : Analysis of the Effect of the Cart Motion on Stable Flying

65　895-897　2021/05/26
Publisher: システム制御情報学会
大型ダンプトラックの土砂積載を自動化するためのデータ駆動型切り返し位置決定方法の検討

明河哲, 大野和則, 大野和則, 小島匠太郎, 鈴木太郎, 桐林星河, 小松智広, 宮本直人, 鈴木高宏, 柴田幸則, 浅野公隆, 永谷圭司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　39th　2021
Automation of unloading operation for large dump trucks using retrofit technology

横山慈, 鈴木太郎, 大野和則, 大野和則, 小島匠太朗, 明河哲, 桐林星河, 小松智広, 宮本直人, 鈴木高宏, 柴田幸則, 浅野公隆, 永谷圭司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　22nd　2021
多様分解性ロボット機構

恩田一生, 釼持優人, 高橋景虎, 高橋優太, 佐竹陽一, 佐野峻輔, 阿部一樹, 渡辺将広, 多田隈理一郎, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　39th　2021
Principle Verification Study of Load-Sensitive Gravity Compensation Mechanism-Embodiment of Motion Observation Machine and Energy Conversion Considerations-

吉本悠人, 西城直人, 佐野峻輔, 清水杜織, 渡辺将広, 阿部一樹, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　22nd　2021
Deformable Soft Lid Mechanism with Hydrocarbon Material

釼持優人, 高橋景虎, 佐野峻輔, 阿部一樹, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　22nd　2021
Backward Tilting Type Gap Generation Mechanism for Spatula Insertion-Trigger Mechanism for Scooping Objects-

高橋優太, 佐竹陽一, 佐野峻輔, 阿部一樹, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　22nd　2021
Variable-Width Glide-on/Glide-off Switching Wheel Mechanism-Leading-Edge Non-Contact Moving Mechanism for Wind Turbine Blade Repair robot-

佐野(林)峻輔, 竹囲年延, 高橋知也, 恩田一生, 阿部一樹, 渡辺将広, 多田隈建二郎, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　22nd　2021
Consideration of Antenna Position Configuration for PRSS UAV

沢田浩和, 松田隆志, 飯草恭一, 松村武, 児島史秀, 田所諭, 大野和則, 岡田佳都

電子情報通信学会大会講演論文集(CD-ROM)　2021　2021

ISSN： 1349-144X
Investigation of the Perceived Body Inclination in a Sitting Position Induced by Buttock Skin Stretches

矢内智大, 昆陽雅司, 堀江新, 田所諭

電気学会研究会資料　2020　(20)　13-17　2020/03/02
Publisher: 電気学会
Evaluation of fire suppression effect by water discharge from a close distance considering characteristics of flying hose robot

安藤久人, 安部祐一, 山口智香, 昆陽雅司, 多田隈建二郎, 鳥飼宏之, 圓山重直, 田所諭

日本火災学会研究発表会概要集　2020 (CD-ROM)　2020
Hang-Type Drone Port System for a Successive and Secure Landing of Drones:-Proposal of Passive Positioning Mechanism for Improved Landing Robustness-

FUJIKURA Daiki, TADAKUMA Kenjiro, WATANABE Masahiro, OKADA Yoshito, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　2A2-B06　2020
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2020.2A2-B06 　

ISSN： 2424-3124

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Currently, drone research and development has received significant attention worldwide. Particularly, delivery services employ drones as it is a viable method to improve delivery efficiency by using a several unmanned drones. However, regarding the takeoff and landing port of the drones, the continuous landing of multiple drones has not been realized. Here, we propose a new port system, "EAGLES Port," that allows several drones to continuously land and takeoff in a short time. Experiments verified that the landing time efficiency of the proposed port is ideally 7.5 times higher than that of conventional vertical landing systems. Moreover, the system can tolerate 270 mm of horizontal positional error, ± 40° of angular error of drones, and up to 1.9 m/s of drone's approach speed. This technology significantly contributes to the scalability of drone usage. Therefore, it is critical for the development of a future drone port for automated drone swarms.
Covered Jamming Mechanism Capable of Variable Stiffness Even Though the Membrane is Damaged:- Evaluation of basic retention characteristics -

ONDA Issei, OZAWA Yu, TAKAHASHI Tomoya, WATANABE Masahiro, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　2A2-I07　2020
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2020.2A2-I07 　

ISSN： 2424-3124

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We have proposed a jamming membrane mechanism and a one-dimensional jamming mechanism as variable stiffness mechanism. These can be used as grippers that can firmly grasp complex shape objects. However, it is difficult for the jamming membrane gripper to grasp sharp objects, and for the one-dimensional jamming mechanism gripper to grasp fine objects. To solve these problems, we proposed a covered jamming mechanism. This mechanism encloses a striatum composed of beads in a rubber membrane. First, the basic principle of the devised mechanism was explained. Next, a basic experiment for holding an object were conducted using a covered jamming mechanism gripper based on the principle.
The Inspection System for Cliffs with a Passive Rotating Spherical Shell UAV:- 2nd Report: building a positioning system on cliffs with parallel wire -

HAN Zitong, OKADA Yoshito, HAYASHI Sosuke, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　2A2-B16　2020
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2020.2A2-B16 　

ISSN： 2424-3124

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Although slopes or cliffs are needed to be inspected every 5 years, this law is not observed now. Due to few artisans and danger of dropping down, there are demands of using robots to inspect slopes or cliffs. Because the slope or cliffs surface is usually huge, rough, uneven, sometimes not easy to access, and has occasionally steps which have 300[mm] at most, there is no robot which can inspect whole slope efficiently now. The passive rotating spherical shell multicopters which are being developed by our research team can avoid crashes by contact with some objects and can efficiently move along walls using passive rotating spherical shell as a wheel. In this paper, we propose a new inspection system for cliffs with passive rotating spherical shell UAV which can move up, down, and horizontal direction and can stay near the targets. After making the system, we confirmed these function in section 4.
Visualization of Searching Ability of Search and Rescue dogs using Hexagonal Diagram

TAMURA Ryoichiro, OHNO Kazunori, NISHINOMA Hiroyuki, SUZUKI Taro, NAGASAWA Miho, KIKUSUI Takefumi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　1A1-O07　2020
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2020.1A1-O07 　

ISSN： 2424-3124

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The purpose of this study is visualization of the search ability on different breeds and individuals for search and rescue dogs by using handler and dog behavior measurement suits. In this paper, to visualize the dog's search ability affected by multiple factors, the dog's movement speed, the amount of movement, the time spent finding victims, the number of handler commands, the relative distance to the handler, the distance from the handler is defined as six quantitative measures, and visualized search ability. In addition, to show the trade-off and tendency of the search ability in each dog, the overhead notation of search ability using diagrams is proposed.
Tip Extending Torus Mechanism based on Nemertea Proboscis:-Proposal of hydrostatic skeleton structure capable of retraction while bending-

TAKAHASHI Tomoya, HOKABE Natsumi, WATANABE Masahiro, KAJIHARA Hiroshi, YAMASAKI Takeshi, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　1P2-J12　2020
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2020.1P2-J12 　

ISSN： 2424-3124

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Soft robots have attracted much attention in recent years owing to their high adaptability. Long articulated soft robots enable diverse operations, and tip-extending robots that navigate their environment through growth are highly effective in robotic search applications. Since the robot membrane extends from the tip, these robots can lengthen without any friction from the environment. However, the flexibility of the membrane inhibits tip retraction and causes buckling. To resolve this issue, two methods have been proposed; increase the pressure of the internal fluid to enhance the rigidity and mount an actuator at the tip. The disadvantage of the former is that the pressure is limited by the membrane strength, while the second method leads to the robot complexity. In this paper, we present a tip-retraction mechanism without buckling that takes advantage of the friction from the external environment.
Omnidirectional mechanism from the viewpoint of axial direction drive:- Prototyping of the Ciliated Wheel Mechanism and the Vehicle Mechanism with Cross-Helical Gear -

ONDA Issei, TADOKORO Satoshi, TAKAHASHI Tomoya, OZAWA Yu, SHIMIZU Tori, TAKANE Eri, WATANABE Masahiro, TADAKUMA Kenjiro, TADAKUMA Riichiro, KONYO Masashi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　1A1-H14　2020
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2020.1A1-H14 　

ISSN： 2424-3124

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The omnidirectional motion can move any direction without changing the direction of its own. The authors have developed Wave-wheel mechanism and Screw-type differential rotating mechanism. Also, the stepping performance were improved by extending the ground point from point to line. In addition, we have evaluated the motion characteristics of one ciliated wheel mechanism. In this paper, we examined the composition for vehiclization. In the vehicle configuration, the minimum necessary two units are arranged in parallel. We conducted experiments using actual mechanisms and confirmed that the inventive principle is also effective for vehicle construction, omnidirectional motion.
Miniaturization of Light Devices using Plano-convex Lens and Verification of Canine Outside Guidance by Spotlight Guidance Suit

Nishinoma Hiroyuki, Waki Yukino, Tamura Ryoichiro, Nayak Sandeep Kumar, Tadokoro Satoshi, Ohno Kazunori, Kikusui Takefumi, Nagasawa Miho, Tsuchihashi Naoko, Murayama Mikuru, Izumi Yuka, Koyama Kahori, Ono Nanami

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　1A1-O04　2020
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2020.1A1-O04 　

ISSN： 2424-3124

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Our research is canine guidance using spotlights. Using dogs' habit following light, a spotlight guidance suit can remotely guide dogs by switching spotlight irradiation. The problem was that the spotlight devices were long and could get caught in the dog's surrounding environment. In this study, we considered lenses with different focal lengths and shapes using an optical simulator to shorten the length of the spotlight devices. By using a short focal length and a plano-convex lens, we succeeded in shortening the spotlight device. In addition, we verified to guide canine outdoors using a spotlight guidance suit. The difficulty of outdoor guidance is that people and animals walk around the field, and their movements and sounds attract the dog's attention. Also, we examined whether the dog could follow the spotlights even in a bright outdoor environment. As a result, we succeeded in the outdoor navigation.
Prediction backhoe loading motion via BP-HMM

YAMADA Kento, SUZUKI Taro, TADOKORO Satoshi, OHNO Kazunori, HAMADA Ryunosuke, MIYAMOTO Naoto, SHIBATA Yukinori, ASANO Kimitaka, KOMATSU Tomohiro, SUZUKI Takahiro, NAGATANI Keiji

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　2A1-L08　2020
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2020.2A1-L08 　

ISSN： 2424-3124

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Automated construction vehicles are required to compensate for the reduction of workers in construction industry. In one of construction works, earthmoving work, a dump truck and backhoe work in cooperation and some researcher have been developing the automation of a dump truck which could transport sediment. However, it is difficult for the automated dump truck to work with a backhoe which operated by a human. In leveling sediment, the dump truck must not get close to the backhoe. We build the motion model of the backhoe which is operated by a specific operator with the beta-process hidden Markov model (BP-HMM) and focus the pattern of primitive motions. The instance when the automated dump truck should move to the loading location could be predicted with the confidence by tracking each primitive motion in the pattern.
Edible Self-Excited Vibration Mechanisms

OZAWA Yu, ONDA Issei, TAKAHASHI Tomoya, SHIMIZU Tori, WATANABE Masahiro, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　1P2-J10　2020
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2020.1P2-J10 　

ISSN： 2424-3124

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Edible materials have been utilized for soft robots and made them biodegradable and biocompatible. So far, the authors have devised and realized not only soft edible robotic elements but also hard edible materials essential to tasks such as insertion into a narrow environment. However, hard materials tend to require casting mold and thus have infeasible shapes. In this research, In this research, we have devised and devised an edible flexible rigid switching mechanism capable of switching the rigidity state, which was flexible and stiff, respectively, in the research and development of the edible robot we are working on, Characteristics were confirmed by actual experiments.
Development of Snake-Like Robot Floating by Water Jet with Improved Reliability

Yamauchi Yu, Tadakuma Kenjiro, Maruyama Shigenao, Tadokoro Satoshi, Maezawa Yukihiro, Takahashi Yuta, Go Wiru, Alvin Quek Ching, Anubrata Nath, Ando Hisato, Ambe Yuichi, Konyo Masashi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　1P2-H18　2020
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2020.1P2-H18 　

ISSN： 2424-3124

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A snake-type robot using water injection is expected to be applied to fire fighting activities of a disaster. We have developed a Dragon FireFighter (DFF), a flexible snake-like robot using water jets for fire fighting. In this research, we improve the DFF reliability for increase the length of its. In this paper, we developed a metal nozzle module, switched the flow path using a swivel joint, and developed a waterproof case for the motor. Basic experiments were performed using the developed nozzle using the swivel joint. As a result, the reaction force showed a value close to the theoretical value. In addition, it was confirmed that the frequency characteristics did not change due to the pressure change. Using the results of the basic experiment, we proposed a reliable nozzle module.
Development of firefighting robot system applicable to petroleum complex fires

FUJITA Jun, AMANO Hisanori, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　2A1-A02　2020
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2020.2A1-A02 　

ISSN： 2424-3124

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Japan is a country with many earthquakes. So there is a risk that the petroleum complex will fire. The tank fires in petrochemical complexes are special disasters that are large and difficult to extinguish. The major issues are that the radiant heat from the flame is large and there is a risk of explosion, so that people cannot easily approach the disaster site. The Fire and Disaster Management Agency has submitted a public invitation for "R & D on a firefighting robot system for disaster response" (a five-year project starting in fiscal 2014), and has completed the world's highest-level firefighting robot system that can operate near the fire site. The challenge was to make the robot resistant to radiant heat and handle the water supply hose without human assistance. This document describes the outline of the project, and the outlines of the water cannon robot and the hose extension robot development that I developed in this project.
Protective Skin Mechanism with an Exhaustive Arrangement of Tiny Rigid Bodies:– Evaluation of Puncture Resistance, Elasticity and Descaling Resistance of Scale Mechanism –

TETSUI Hikaru, WATANABE Masahiro, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　1P2-J09　2020
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2020.1P2-J09 　

ISSN： 2424-3124

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Soft actuators have advantages, including large deformation, safety and adaptability to the environment, and shock absorbance. However, they are weak against sharp objects due to their soft bodies. This paper proposes a protective skin mechanism with an exhaustive arrangement of tiny rigid bodies. Small pieces were sewed on an elastic sheet by Kevlar strings. We conducted some measurements of puncture resistance, elasticity, and descaling resistance of scale mechanisms. The results showed that the proposed scale mechanism had only a 150% larger elasticity than a simple silicone sheet. Also, approximately 15 N was required for descaling, which is seven times large force compared to the glued scale. There was no puncture even when pricked with a needle.
Curved Biaxial Swing Mechanism capable of Thinning Structure

SAIKI Naoto, WATANABE Masahiro, NOBUTOKI Masashi, SUZUKI Shintaro, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　1A1-I08　2020
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2020.1A1-I08 　

ISSN： 2424-3124

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Various researches are conducted to reduce the influence of winds and waves for safer work environment on offshore operations and to negate the tilt due to acceleration of vehicle for improved comfortableness. Conventional researches have adopted active mechanism like six-degree-of-freedom parallel mechanism that absorbs the sway by constantly keeping its motion base horizontal to suppress such influences. However, current swing machines require vast areas to be installed since their swing mechanisms are large and their bottom structures are thick. Here, we propose a new swing mechanism "Omni-Swing" which is relatively thin and can be applied to curved surfaces. The mechanism is embodied to a real machine and experiments are conducted to verify its basic characteristic in this paper.
Soft Robotic Blood Vessel Mechanism to Realize Self-Healing Function

INOMATA Shohei, TADOKORO Satoshi, IIJIMA Tetsuro, YAMAZAKI Yuta, ONDA Issei, TAKAHASHI Tomoya, WATANABE Masahiro, TADAKUMA Kenjiro, FURUKAWA Hidemitsu, KONYO Masashi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　1P2-J16　2020
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2020.1P2-J16 　

ISSN： 2424-3124

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Soft robots have a problem that they easily punctured or torn by contact with a sharp edge due to their soft bodies made of weak materials. To solve this fundamental issue, we proposed a robotic blood vessel mechanism that enables the robot to heal their bodies themselves. This mechanism realizes the self-healing function of soft robots like blood closing and healing wounds. We have created some test pieces consists of elastomer and inner blood that reacts by two-liquid mixing. In addition, we constructed a twisted helical type vascular mechanism, which is constructed by the gel produced by two-liquid mixing. In this paper, we demonstrate the concept of the robotic blood vessel mechanism and show the results of the basic experiments.
Active Omnidirectional Wheel with Dual-Ring Based on Cross Helical Gear Mechanism:— Improvement of Mobility Performance by Rings' Grousers —

MIDORIKAWA Toshiki, TAKANE Eri, WATANABE Masahiro, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　2A2-M11　2020
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2020.2A2-M11 　

ISSN： 2424-3124

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This study was related to a holonomic omnidirectional mobile robot, particularly, a mobile robot with a wheel mechanism that can generate an omnidirectional driving force with a single unit based on Cross Helical Gear mechanism. In this paper, grousers were added to the wheel for improving step climbing ability. A vehicle using multiple active Dual-Ring types omnidirectional wheel was fabricated. From experiments, it was confirmed that the vehicle equipped with this mechanism had a high running performance.
Switchback Path Planning for Loading and Unloading Sand and Gravel by Autonomous Large Dump Trucks

AKEGAWA Tetsu, MIYAMOTO Naoto, SUZUKI Taro, TADOKORO Satoshi, OHNO Kazunori, YAMADA Kento, KIRIBAYASHI Seiga, SHIBATA Yukinori, ASANO Kimitaka, KOMATSU Tomohiro, SUZUKI Takahiro, NAGATANI Keiji

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　2P1-A11　2020
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2020.2P1-A11 　

ISSN： 2424-3124

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Development of autonomous construction vehicles is needed because of the shortage and aging of skilled workers. Our purpose is to realize motions of loading and unloading sand and gravel by an autonomous dump truck. This paper proposes a path with two waypoints in front of the goal to realize a switchback. As a result, an autonomous dump truck can go to the turning position first, and then go back to the goal while keeping its wheels straight. We achieved to reproduce the motion of a dump truck including switchback by the proposed method.
Boundary map construction using landmarks with switchable reflection intensity

YAMAWAKI Kazuto, OHNO Kazunori, KOJIMA Syotaro, Westfechtel Thomas, FUJITA Jun, KOJIMA Hiroyoshi, TAMURA Yoshihiro, AMANO Hisanori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　2P1-K11　2020
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2020.2P1-K11 　

ISSN： 2424-3124

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The purpose of this paper is to develop a method to record restricted areas as boundary line on a map. It was valuable electronically using the results measured by humans. For this reason, spherical landmarks with high and low reflection intensity are used to automatically record on the map, and even if there are surrounding objects or other objects with high reflection intensity, the target is not affected by the weather A method of writing a boundary line only when it is desired to write the locus of the center coordinates obtained for the landmark that can distinguish only the spherical landmark as a boundary line.
Presentation of Centrifugal Force by Skin Stretch Stimulus Differences between Left and Right Buttocks in Sitting

YANAI Tomohiro, Konyo Masashi, Horie Arata, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　2P1-M11　2020
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2020.2P1-M11 　

ISSN： 2424-3124

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In general, a driving simulator requires a motion platform to represent the centrifugal force during curving by swaying and translation the whole body. This paper reports a new method of presenting centrifugal force by presenting virtual shear forces, which are induced illusionary by buttock skin stretch stimuli. This paper focuses on the stimulus differences on the left and right buttocks, considering the body movement caused by the centrifugal force. Psychophysical experiments showed that the skin stimuli in the asymmetric condition tend to deliver a stronger feeling than that in the symmetric condition.
Jamming Transition Mechanism That Becomes High Rigidity by Pressure:- Invention and Realization of Fluid-Driven Variable stiffness Mechanism -

ONDA Issei, OZAWA Yu, WATANABE Masahiro, TAKANE Eri, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　1P2-H10　2020
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2020.1P2-H10 　

ISSN： 2424-3124

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We proposed a fluid-driven jamming mechanism that realizes a variable stiffness mechanism by using pressurization. In this mechanism, a rubber tube is enclosed inside a hollow linear body. When this tube is expanded by fluid pressure, the linear body can be held in any shape. Since the fluid pressure is used, the force can be transmitted even if the deformation is large, and the holding torque can be maximized. When a joint diameter of 17.8 mm and a pressure of 0.2 MPa were applied, a maximum holding torque of 0.21 Nm was obtained. In this paper, the basic principle of the devised fluid jamming mechanism is shown, and the effectiveness of this mechanism is demonstrated by obtaining the holding torque using the prototyped machine.
Rapid Opening with Rigid Bone Parachute Mechanism

OZAWA Yu, ONDA Issei, TAKAHASHI Tomoya, WATANABE Masahiro, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　2P2-C05　2020
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2020.2P2-C05 　

ISSN： 2424-3124

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We developed Rigid Bone Parachute, which avoid tangling with using rigid bone link instead of wire. It can open rapidly and start deceleration earlier with spring. We performed drop test of Rigid Bone Parachute with two-wheel rover robot and confirmed its ability of avoidance of tangling. We measured its speed transition by motion capture and confirm its ability of rapid deceleration.
Active Bending Thin Mechanism with High Stiffness:- Design Spherical Bending Mechanism Inspired by Bamboo Leaf Boat-

TAKAHASHI Tomoya, WATANABE Masahiro, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　2P2-G09　2020
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2020.2P2-G09 　

ISSN： 2424-3124

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Thinning is one of the important themes in mechanism development. But it is difficult to increase the stiffness of a thin actuator. Body stiffness depends on moment of inertia of area and Young's modulus. Since the thin actuator maintains a constant cross section while bending. Even if sheet metal material with a high Young's modulus is used, its stiffness cannot be increased because its cross section is a thin rectangular shape. The purpose of this study is that the development of a thin actuator with high stiffness. We proposed a bending mechanism that improves stiffness with changing the cross-sectional shape from the initial state. We succeeded in improving stiffness by transforming two metal plates into a structure like a bamboo boat. We designed and created prototype and confirmed that the rigidity increased while bending.
円状断面構造化を基本核とする全方向移動・駆動メカニズム

高橋優太, 恩田一生, 高橋知也, 小澤悠, 高根英里, 渡辺将広, 多田隈理一郎, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　38th　2020
径方向多段構造を有する加圧式1次元ジャミング転移機構-内外相互スライドにより非接触推進を可能とする柔剛切替え索状体-

恩田一生, 渡辺将広, 高根英里, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　38th　2020
弾性履帯の形状適応により高踏破性を可能とする移動メカニズム

小澤悠, 渡辺将広, 多田隈建二郎, 高根英里, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　38th　2020
能動多関節式径方向層状柔剛切替えメカニズム-不定形対象物への形状適応を可能とする線状機構-

向出陸央, 渡辺将広, 高橋知也, 小澤悠, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　38th　2020
壁反力を利用したクローラロボットの自動螺旋階段踏破

小島匠太郎, 大野和則, 鈴木高宏, 岡田佳都, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　38th　2020
HueCode:色相別重畳により相対姿勢と任意情報を読出可能な汎用マーカ

岡田佳都, 岡田佳都, 藤倉大貴, 小澤悠, 多田隈建二郎, 大野和則, 大野和則, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　38th　2020
非密閉式水圧駆動トーラス機構-先端能動首振りにより任意方向操舵を可能とする長尺伸縮メカニズム-

高橋知也, 渡辺将広, 高根英里, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　38th　2020
磁気鍵トリガ式連結分離機構

高橋昌己, 清水杜織, 岡田佳都, 岡田佳都, 高橋知也, 藤倉大貴, 高根英里, 大野和則, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　38th　2020
膜破損時の内容物飛散防止・漏出抑制を可能とする柔剛切替グリッパ機構

金田侑, 恩田一生, 渡辺将広, 西谷誠治, 戸島亮, 高根英里, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　38th　2020
低リスク高積載を目指したモジュール式球殻ロータドローンの開発

高橋昌己, 岡田佳都, 岡田佳都, 多田隈建二郎, 大野和則, 大野和則, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　38th　2020
受動回転球殻UAVによる法面点検システム-第3報:飛行するUAVに与える張力を最小とするパラレルワイヤ長の最適化-

韓子瞳, 岡田佳都, 岡田佳都, 大野和則, 大野和則, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　38th　2020
ARマーカとQRコードを色相別重畳したHueCodeによる非GNSS環境でのドローンの絶対姿勢推定

藤倉大貴, 岡田佳都, 岡田佳都, 多田隈建二郎, 大野和則, 大野和則, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　38th　2020
能動自己修復性ソフトロボット血管機構-螺旋状血管経路による貫通傷に対する基礎修復能力実験-

猪股翔平, 山崎裕太, 志賀郁也, 亀岡将成, SHIBLEE MD Nahin Islam, 渡辺将広, 高根英里, 多田隈建二郎, 古川英光, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　38th　2020
GNSSの衛星選択による積込み作業時のバックホウの位置推定精度向上

山田健斗, 大野和則, 大野和則, 鈴木太郎, 宮本直人, 柴田幸則, 浅野公隆, 小松智広, 鈴木高宏, 永谷圭司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　38th　2020
Investigation of Adaptation to Steady Stimuli in Buttock Skin Stretch

矢内智大, 昆陽雅司, 堀江新, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　25th　2020

ISSN： 1349-5062
Factors affecting the degree of obesity and height of modern college students

齊藤夏織, 磯部千穂, 宮川桃香, 高杉希, 田所諭

日本理学療法士協会関東甲信越ブロック理学療法士学会(Web)　38th　2020

ISSN： 2187-123X
Actual and future deveropment of homebased pediatric physical therapy

田所諭, 高杉希, 齊藤夏織, 宮川桃香, 磯部千穂

日本理学療法士協会関東甲信越ブロック理学療法士学会(Web)　38th　2020

ISSN： 2187-123X
進行波と後退波が多足歩行に及ぼす機能的相違の分析

安部祐一, 青井伸也, 昆陽雅司, 田所諭

計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM)　2020　2020
分布繊毛推進機構により駆動される柔軟索状ロボットのモデルの評価と分散制御の検討

山内悠, 安部祐一, 昆陽雅司, 多田隈建二郎, 田所諭

計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM)　2020　2020
Verification of canine emotional states estimation based on heart rate data of another dog

佐藤浩太郎, 大野和則, 大野和則, 田村涼一郎, SANDEEP Nayak, 小島匠太郎, 永澤美保, 菊水健史, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　21st　2020
Comparing Perceptually Adjusted Buttock Skin Stretch Based on Individual Sensitivity with Physical Forces

矢内智大, 昆陽雅司, 堀江新, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　21st　2020
Representation of Body Material by Multiple Vibrotactile Stimuli based on Physical Simulation

菊池大輝, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　21st　2020
Flexible Spiral Magnetic Gear-A Proposal and Prototype of Spiral Mechanism Capable of Transmission of Rotation and Deformation based on Two-axes Cross Drive-

高根英里, 高橋優太, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　21st　2020
Development of Solar Concentrator based Bright Spot Light Device For Guiding Canine

田村涼一郎, 大野和則, 大野和則, 小島匠太郎, NAYAK Sandeep Kumar, 佐藤浩太郎, 永澤美保, 菊水健史, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　21st　2020
A preliminary study of the effect of tactile stimuli on the frequency of blinking

稲垣匠馬, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　21st　2020
Sensory Equivalent Modulation of High-frequency Vibration based on Intensity Segmentation Method

山口公輔, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　21st　2020
Development of Evaluation System of Flying Fire-Fighting Hose Robot with Active Cart

前澤侑大, 山内悠, 高橋優太, 郷初瑠, CHING QUEK Alvin, ANUBRATA Nath, 安藤久人, 安部祐一, 昆陽雅司, 多田隈建二郎, 圓山重直, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　21st　2020
Magnetic Pin Array/Membrane Composite Gripper Mechanism for Magnetic Propagation Throughout the Flexible Membrane

釼持優人, 恩田一生, 高根英里, 渡辺将広, 金田侑, 西谷誠治, 戸島亮, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　21st　2020
Variable Moment of Inertia of Area Type Stiffness Changing Mechanism

高橋優太, 高根英里, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　21st　2020
Simultaneous drawing of multiple boundaries using Walk-marker on map

山脇雄登, 大野和則, 大野和則, 小島匠太朗, 藤田淳, 藤田淳, 小島弘義, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　21st　2020
ImPACTタフ・ロボティクス・チャレンジ (特集フィールドロボットの開発)

田所諭

金属　89　(8)　651-657　2019/08
Publisher: アグネ技術センター
ISSN： 0368-6337
Evaluation and Improvement of a Pressure Distribution Rendering for Interaction with Soft Objects Using a Rigid Body Finger Model

佐瀬一弥, 永野光, 昆陽雅司, 田所諭

電気学会研究会資料　2019　(34)　17-20　2019/03/19
Publisher: 電気学会
Tomographic Surface Perception Modulated by Shearing Force on Buttocks

堀江新, 昆陽雅司, 永野光, 田所諭

電気学会研究会資料　2019　(34)　11-15　2019/03/19
Publisher: 電気学会
機載カメラ画像中のシーン不変特徴のみを手掛かりとするロボット映り込み領域の推定

藤浪拓海, 岡田佳都, 岡田佳都, 大野和則, 大野和則, 田所諭

ロボティクスシンポジア予稿集　24th　2019

ISSN： 1881-7300
石油化学コンビナートで活動する消防ロボットへのConjugate Gradient Descentスムーザの適用

水野直希, 大野和則, 大野和則, 濱田龍之介, 小島弘義, 藤田淳, 天野久徳, WESTFECHTEL Thomas, 鈴木高宏, 田所諭

ロボティクスシンポジア予稿集　24th　2019

ISSN： 1881-7300
AED運搬ドローンへの適用を目指した永電磁式無電力把持機構と逆起電力に基づく把持成否判定手法の開発

加美聡哲, 原田勇希, 山口智香, 岡田佳都, 大野和則, 多田隈建二郎, 田所諭

ロボティクスシンポジア予稿集　24th　2019

ISSN： 1881-7300
空飛ぶ消火ホースロボットによる遠隔消火

安藤久人, 安部祐一, 山口智香, 昆陽雅司, 多田隈建二郎, 圓山重直, 田所諭

日本火災学会研究発表会概要集　2019　2019
狭隘空間を想定した災害対応ロボット用STM競技タスクの開発-World Robot Summitインフラ災害・対応カテゴリープレ大会の事例報告-

鈴木壮一郎, 大金一二, 奥川雅之, 大坪義一, 木村哲也, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　37th　2019
径方向層状ジャミング機構

向出陸央, 清水杜織, 小澤悠, 高橋知也, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　37th　2019
適応制御による受動回転球殻マルチコプタの転がり飛行

加美聡哲, 岡田佳都, 岡田佳都, 大野和則, 大野和則, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　37th　2019
膜破損時にも柔剛切替機能を維持可能な被覆式ジャミング機構-柔剛切替膜メカニズムと1次元ジャミング機構の統合体-

恩田一生, 小澤悠, 高橋知也, 清水杜織, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　37th　2019
ヒモムシ吻の伸展・湾曲・分岐構造を抽能したトーラス機構

高橋知也, 波々伯部夏美, 小澤悠, 渡辺将広, 柁原宏, 山崎剛史, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　37th　2019
Non-Parametric Bayes Hidden Markov Modelを利用したバックホウ積込み動作の解析

山田健斗, 大野和則, 大野和則, 濱田龍之介, 水野直希, 柴田幸則, 浅野公隆, 小松智広, 鈴木高宏, 永谷圭司, 宮本直人, 鈴木太郎, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　37th　2019
打撃感提示のための物理モデルによる衝突振動の再現-剛性パラメータを反映した振動生成と硬軟感の評価-

高橋洋一郎, 昆陽雅司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　24th　2019

ISSN： 1349-5062
イヌが気づきやすいスポット光照度の反応計測装置の開発

西野間洋之, 大野和則, 大野和則, 田村涼一郎, CHAYAPOL Beokhaimook, 菊水健史, 永澤美保, 土橋直子, 土橋直子, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　37th　2019
No-power Gripping using Permanent Electromagnet for AED Transport UAV and Determination of Gripping Success by Measurement of Counter Electromotive Force

Kami Toshiaki, Harata Yuki, Yamaguchi Tomoka, Okada Yoshito, Ohno Kazunori, Tadokoro Satoshi

Journal of the Robotics Society of Japan　37　(8)　735-743　2019
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.37.735 　

ISSN： 0289-1824

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In our study, we developed AED Gripping System for AED transport UAV in order to deliver quickly to remote places. This system is structured by grippers and a gripping determination system. We introduced Permanent Electromagnets as gripper. The gripping determination system is necessary to confirm that the AED is delivered at the destination, because AED transport UAV flies to remote places which the pilot cannot see the UAV. We developed a new gripping determination system which use the difference of convergence time of counter-electromotive force between gripping or not. We conducted flight experiments and confirmed that the AED Gripping System do not drop the AED accidentally and can confirm gripping status during flight.
Overview and Outcome of ImPACT Tough Robotics Challenge:—For the Contribution of Robotics to Save Lives in Disasters—

Tadokoro Satoshi

Journal of the Robotics Society of Japan　37　(9)　789-794　2019
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.37.789 　

ISSN： 0289-1824

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分布繊毛推進機構により駆動される柔軟索状ロボットのモデル化と分散制御の検討

山内悠, 安部祐一, 昆陽雅司, 多田隈建二郎, 田所諭

計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM)　2019　2019
吸引圧刺激を用いた把持型触覚インターフェイスの開発-刺激の空間分布・配置の検討とデバイスの設計-

斉藤薫, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　20th　2019
振動弁別実験に基づく高周波帯域におけるパチニ小体知覚モデルの同定

高橋洋一郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　20th　2019
空飛ぶ消火ホースのための受動噴射ノズルの開発

山口智香, 安部祐一, 安藤久人, 山内悠, 昆陽雅司, 多田隈建二郎, 円山重直, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　20th　2019
交差型ヘリカル歯車機構に基づく能動双リング式全方向駆動車輪-第2報:横方向段差・溝踏破性能の定量比較-

緑川俊貴, 恩田一生, 高橋知也, 小澤悠, 高根英里, 渡辺将広, 多田隈建二郎, 多田隈理一郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　20th　2019
飛行輸送体から投入可能な探査用小型群ロボット-第2報:剛体棒パラシュート機構の統合機による着陸・分離実験-

小澤悠, 清水杜織, 恩田一生, 向出理央, 猪股翔平, 山田健斗, 矢内智大, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　20th　2019
空気浮上型索状ロボットの胴体のねじれの影響を受けない安定浮上の実現による災害現場における運用性向上

藤川匠, 山内悠, 安部祐一, 昆陽雅司, 多田隈建二郎, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　20th　2019
柔軟式流体貯蔵タンク機構

猪俣翔平, 高橋知也, 小澤悠, 清水杜織, 高根英里, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　20th　2019
大変形する柔軟送水ホースの流体力を考慮したモデル化に関する考察

安部祐一, 山内悠, 昆陽雅司, 多田隈建二郎, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　20th　2019
全天球自由視点映像でイヌを遠隔操縦する光誘導スーツ

西野間洋之, 大野和則, 大野和則, 岡田佳都, 岡田佳都, 小島匠太郎, 小島匠太郎, 田村涼一郎, NAYAK Sandeep Kumar, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　20th　2019
オープンスカイ環境でヒトとイヌの協調連携行動を計測するスーツの開発

田村涼一郎, 大野和則, 山田健斗, 鈴木太郎, 西野間洋之, 永澤美保, 菊水健史, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　20th　2019
微小操作力での把持状態切替を可能とするIBマグネット式万力機構

清水杜織, 小澤悠, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　20th　2019
受動回転球殻UAVによる法面点検システム-第1報:吊り下げ型点検方式の提案とテザーを伴う転がり昇降動作の実現-

HAN Zitong, 岡田佳都, 岡田佳都, 大野和則, 大野和則, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　20th　2019
臀部皮膚せん断刺激を用いた前後傾斜感覚の提示

矢内智大, 堀江新, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　20th　2019
反射強度の高い素材を用いたランドマーク地図構築に関する研究

山脇雄登, 大野和則, 小島匠太郎, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　20th　2019
ピッチ軸型ラックチェーン機構-実機具現化における噛合率向上のためのガイド構造の導入-

西城直人, 清水杜織, 小澤悠, 高橋知也, 恩田一生, 高根英里, 渡辺将広, 多田隈理一郎, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　20th　2019
極小剛を網羅配置した保護外皮メカニズム-耐脱鱗性を有する伸縮自在な柔剛兼備ウロコ状機構の考案と具現化-

鉄井光, 清水杜織, 小澤悠, 高橋知也, 恩田一生, 高根英里, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　20th　2019
Adaptive Control considering the dynamics of the UAV with a passive rotating spherical shell

KAMI Toshiaki, OKADA Yoshito, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　1P1-O01　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.1P1-O01 　

ISSN： 2424-3124

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Our research team is developing a UAV with a passive rotating spherical shell whose purpose of inspecting bridge. The UAV with a passive rotating spherical shell can avoid crashes caused by contact with some objects. This UAV have been successful in inspecting under some bridges. But for now, there is no optimal controller that can be applied to this UAV. This is because of the existence of the passive rotating spherical shell. So, the dynamics of this UAV is different from general UAVs. In this study, we propose a new dynamic model and controllers for a UAV with a passive rotating spherical shell. The new dynamic model is considering the moment of inertia of the spherical shell. Because the moment of inertia is unknown, the new controller is used adaptive control via backstepping to estimate it. We conducted an experiment using simulation and confirm that a controller could be used for actual usage.
Development of Field-ready Cyber-enhanced Canine Suit:― Countermeasures of heat and inclination of the suit / downsizing and lightening ―

NISHINOMA Hiroyuki, OHNO Kazunori, HAMADA Ryunosuke, HOSHI Tastuya, CHAYAPOL BEOKHAIMOOK, SHINOHARA Ayumi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　2A2-E08　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2A2-E08 　

ISSN： 2424-3124

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This paper describes the cyber-enhanced canine suit No. 7 revision 2 (called No. 7_r2) that improves overheating issue and suit inclination issue of the canine suit No. 7. Overheating issue was handled by applying heat countermeasures on WiFi dongle and camera. Suit inclination problem on dog was solved with the adjustment of chest belt length. Also, the suit was made lighter and smaller to reduce the burden for dogs. The weight of the suit was revised from 1.35 kg to 1.08 kg, and the size was reduced by 2-3 cm in length and breadth. With these revisions of No.7 suit, we started lending the suits to 2 rescue canine associations to be ready for next disaster.
Active Bending Thin Scalpel Mechanism Capable of Separating Tissue into a Three-Dimensional Curved Surface

WATANABE Masahiro, HAYASHI Sosuke, SHIMIZU Tori, GUNJI Megu, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　1P2-G01　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.1P2-G01 　

ISSN： 2424-3124

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We propose an active bending thin scalpel mechanism capable of separating tissue into a three-dimensional curved surface. Many mechanical tools have been developed, however, it has been difficult to separate a tissue into a curved shape. In this paper, we develop a scalpel that can realize active bending motion with a thin structure. The basic principle of the bending is demonstrated, and the prototype scalpel is fabricated. The basic bending experiment is conducted, and the target tissue was separated using the proposed prototype.
Omnidirectional Gripper Mechanism using Hot-Ice Phenomenon:- 4^th Report: Effect of Adding Fine Particles in the Solution on Crystallization-

SHIMIZU Tori, HAYASHI Sosuke, WATANABE Masahiro, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　1P2-C05　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.1P2-C05 　

ISSN： 2424-3124

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Able to grasp objects of any shape and size, universal grippers that use jamming phenomenon to change their own stiffness have been developed. The authors have focused on the Hot-Ice phenomenon of supersaturated sodium acetate solution as a means of variable stiffness. However, since the crystallization occurs rapidly and the crystals cannot grow large, the whole solid lacks stiffness to grasp heavy objects successfully. In this research, the authors proposed a new method of enhancing the stiffness of crystalized phase of the solution by adding insoluble fine particles. They conducted experiments to show the effectiveness of filler addition on further stiffening.
MR Fluid Jamming Gripper Applying Internally-Balanced Magnetic Unit Controllable by Small Control Force:- 1st Report: Basic Structure Prototyping, Miniaturization and Enhancement by Arraying Magnets -

SHIMIZU Tori, HAYASHI Sosuke, TETSUI Hikaru, INOMATA Shouhei, MUKAIDE Rio, WATANABE Masahiro, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　2A2-G03　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2A2-G03 　

ISSN： 2424-3124

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Able to grasp objects of any shape and size, universal jamming grippers using magneto-rheological fluid have been developed. However, as they require magnetic flux to change the stiffness, conventional MR grippers consume electricity to attach and detach a permanent magnet, to drive a solenoid of an electromagnet, and to cancel the flux of an electro-permanent magnet. In this research, the authors proposed a new method of supplying the flux using the Internally-Balanced Magnetic Unit, a mechanism that enables a permanent magnet to be controlled by a much smaller force than its attraction force. They realized its prototyping model and conducted experiments to show its effectiveness.
Fundamental evaluation experiment of passive damping mechanism using wire for aerial hose type robot

YAMAGUCHI Tomoka, AMBE Yuichi, ANDO Hisato, KONYO Masashi, TADAKUMA Kenjiro, MARUYAMA Shigenao, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　2A2-D06　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2A2-D06 　

ISSN： 2424-3124

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The authors proposed a novel hose type robot, which can fly directly into the fire source via a water-jet and demonstrated that a robot with a length of approximately 1.8 m can fly the air by leveraging the water jet.That named Dragon Fire Fiter (DFF). However, DFF had some problems. Most important problem is that The lack of control input of the robot could not suppress several modes of body oscillation. In this study, the authors propose the passive mechanism using the wire to solve that problem．The authors also model the mechanism to evaluate the proposed mechanism.
Real-time Generation of Impact Vibrations based on Physical Models for Representing Impulsive Collision Feelings

TAKAHASHI Yoichiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　1P1-U01　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.1P1-U01 　

ISSN： 2424-3124

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We developed a real-time waveform generation model for representing impulsive collisional sensation using the RungeKutta method based on a contact mechanics and vibration propagation model, which were proposed previously by the authors'group. The developed model can generate vibrations depending on the stiffness of hitting objects and hitting speed for VR applications. As an example of applications, we measured vibrations occurred on the drumstick when it struck a snare drum and determined the parameters. Comparisons with the measured data demonstrated that our model could reproduce similar vibration waveforms.
Estimating the Height of Sediment from Dog Trajectory and Ground Shape

HOSHI Tasutya, OHNO Kazunori, NISHINOMA Hiroyuki, BEOKHAIMOOK Chayapol, HAMADA Ryunosuke, SUZUKI Taro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　2A2-E06　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2A2-E06 　

ISSN： 2424-3124

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We aim to develop a method to measure the height of sedimentary sand from dog's moving trajectory and ground shape data. In sediment-related disasters, it is important to grasp the height of sedimentary sand for the search of victims. If we can visualize the search trajectory of rescue dog three-dimensionally, we can measure the sedimentary sand accumulated place and the depth of it comparing with the topographic map before the disaster. Therefore, we estimate the search trajectory of SAR dogs in three dimensions using the sensors, such as IMU and GNSS, which is mounted on dog. From the result of experiment, we can estimate the height of sedimentary sand from dog's running 3D trajectory.
Axially-Reinforced Torus Mechanism Capable of Transferring Cell Sheet

INOMATA Shohei, SHIMIZU Shogo, SANO Kazunori, KONYO Masashi, TADOKORO Satoshi, TETSUI Hikaru, HAYASHI Sosuke, SHIMIZU Tori, WATANABE Masahiro, TADAKUMA Kenjiro, SHIMIZU Tatsuya, SEKINE Hidekazu, HOMMA Jun

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　2A2-T05　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2A2-T05 　

ISSN： 2424-3124

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We propose an axially-reinforced torus mechanism capable of transferring a soft cell sheet. Several soft grippers using a balloon have been proposed which consist of elastic rubber materials. However, since the traction force does not transmit efficiently due to its soft body, it had difficulty realize the tip storing motion to peel and release the cell sheet. To solve this problem, we constructed a torus balloon that is axially reinforced by inextensible fibers. The fabrication method is presented, and the stress-strain property is measured of the torus membrane. A basic grasping test was conducted to show its effectiveness.
Monaural Speech Enhancement for a Hose-Shaped Rescue Robot with Air-Jet Noise

bando Yoshiaki, Ambe Yuichi, Itoyama Katsutoshi, Konyo Masashi, Tadokoro Satoshi, Nakadai Kazuhiro, Okuno Hiroshi G.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　2A2-D07　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2A2-D07 　

ISSN： 2424-3124

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This paper presents a monaural speech enhancement method for a hose-shaped rescue robot based on a deep speech prior. Speech enhancement is crucial to make a robot operator succeed in detecting human voices because audio signals captured by a microphone on the robot are contaminated by ego-noise. We have been developed three enhancement methods: 1) a blind speech enhancement called robust nonnegative matrix factorization (RNMF), 2) an extension of RNMF with a pre-trained noise model, and 3) another extension of RNMF with a deep speech prior, i.e., a pre-trained speech model based on deep learning. In this paper, we develop a new extension of RNMF by combining the pre-trained noise and speech models as a unified model and evaluated these methods on a hose-shaped rescue robot whose ego-noise consists of vibration-motor and air-jet noise. Experimental results show that the new method outperforms the three RNMF methods when the signal-to-noise ratio is equal to or less than +5 dB.
Tongue Mechanism Inspired by Anteater for the Realization of the Function of Repeatable Putting in-out Motion

HAYASHI Sosuke, SHIMIZU Tori, GUNJI Megu, WATANABE Masahiro, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　1P1-H05　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.1P1-H05 　

ISSN： 2424-3124

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In this paper, we developed a robot as a simplified physics simulator to elucidate the tongue of the anteater and exploit its moving principle. Furthermore, the middle term purpose of the research is to extract the functions of the soft switching bodies entering and leaving at high frequency, implement them as mechanism elements, and utilize as an application such as cleaning devices. As a long term, the major objective is to lead to an interactive academic development of both biology and robot engineering.
ImPACTタフ・ロボティクス・チャレンジ建設ロボット

吉灘裕, 横小路泰義, 永谷圭司, 昆陽雅司, 淺間一, 山下淳, 鈴森康一, 田中正行, 田中正行, 大道武生, 芦澤怜史, 石上玄也, 尾崎伸吾, 田所諭, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2019　2019

ISSN： 2424-3124
Wall deadlock evasion motion of tracked vehicles for narrow space navigation

KOJIMA Shotaro, OHNO Kazunori, SUZUKI Takahiro, OKADA Yoshito, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　2P2-B06　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2P2-B06 　

ISSN： 2424-3124

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In this paper, the authors construct a motion generation method to avoid wall deadlock problem. Wall deadlock is a phenomenon that the robot cannot leave from a wall once it collides on it because collision force inhibits the motion. The proposed method is constructed directory from a static model of the tracked vehicle colliding with a wall.
Results Report of Plant Disaster Prevention Challenge in World Robot Summit 2018

OKUGAWA Masayuki, OHTSUBO Yoshikazu, AOKI Takeshi, YAMAGUCHI Daisuke, KIMURA Tetsuya, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　2P2-Q05　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2P2-Q05 　

ISSN： 2424-3124

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From the viewpoint of disaster prevention, it is expected the unmanned automation of daily inspection/health assessment diagnostic work for facilities/structures in places where it is difficult to let the inspectors going such as offshore plant and dangerous places. By adopting remote controlled/autonomous robot, regarding the occurrence of abnormality due to human factors, breakage of facilities due to aging of facilities, malfunction caused by them, accidents by increasing the frequency of periodic inspection, it becomes possible to prevent it in advance. In addition, introduction of the robot makes it possible to conduct inspection work even during operation, so it is expected that the availability factor of facilities in such environment will be improved. This paper described about the plant disaster prevention challenge of the World Robot Summit 2018 disaster robotics category held in October 2018. The competition concept and the competition rule were introduced. The analysis of the competition results were shown and considered based on competition results. Finally, the lessons learned was mentioned.
A variable stiffness mechanism with a cord-like structure using comb joints.

MUKAIDE Rio, Fujimoto Toshiaki, WATANABE Masahiro, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　1P1-G07　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.1P1-G07 　

ISSN： 2424-3124

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We proposed a variable stiffness mechanism with a cord-like structure using comb joints. To provide effective support for disaster response, grippers that can firmly grasp complex shape objects are required. However, high rigidity structure had not been realized by the conventional variable stiffness mechanism and was difficult to grasp heavy objects. For that reason, we developed an articulated cord mechanism that can change the rigidity significantly by using multiple-disc plates in the joints. First, the structure of the comb joint and the basic principle is presented.Next, the holding torque was analyzed based on Newton's law. Finally, the characteristics of the prototype were measured, and the effectiveness of the proposed principle was verified through experiments.
Flow Design of "Flying Hose Robot" for Extending the Hose Body

ANDO Hisato, AMBE Yuichi, YAMAGUCHI Tomoka, KONYO Masashi, TADAKUMA Kenjiro, MARUYAMA Shigenao, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　2A2-D08　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2A2-D08 　

ISSN： 2424-3124
Polygonal Origami Actuator: Rigid Foldable Bellows Mechanisms That Contract:- Basic Deformation Characteristics -

WATANABE Masahiro, HAYASHI Sosuke, SHIMIZU Tori, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　2A1-C14　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2A1-C14 　

ISSN： 2424-3124

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We propose a "Polygonal Origami Actuator": rigid foldable bellows mechanisms that consist of hinges and plates and contract by fluid power. Several pneumatic artificial muscles have been proposed for a linear unidirectional motor, however, the power performance has been limited due to their dead space and the soft material. In this paper, two bellows mechanism which contracts by pressurizing the inner chambers enables high power and compactification are shown. The kinetics of the proposed two bellows actuator was studied from the geometrical point of view, and the basic characteristics of the bellows such as volume and the contraction ratio are analyzed.
Axially-Reinforced Torus Balloon Mechanism

TETSUI Hikaru, INOMATA Shohei, HAYASHI Sosuke, SHIMIZU Tori, WATANABE Masahiro, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　1P2-G03　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.1P2-G03 　

ISSN： 2424-3124

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We propose an axially-reinforced torus balloon mechanism that can grasp complex shape objects by wrapping and adapting its shape. Several soft grippers using a balloon have been proposed which consist of elastic rubber materials. However, since the traction force does not transmit efficiently due to its soft body, it had difficulty in grasping heavy objects. To solve this problem, we constructed a torus balloon that is axially reinforced by inextensible fibers. The fabrication method is presented, and the stress-strain property is measured of the torus membrane. A basic grasping test was conducted to show its effectiveness.
Biaxial Active Nozzle with Increased Internal Pressure by Air Curtain

YAMAUCHI Yu, ISHII Akihiro, AMBE Yuichi, KONYO Masashi, TADAKUMA Kenjiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　2A1-C13　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2A1-C13 　

ISSN： 2424-3124

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Long flexible continuum robots have a high potential for search and rescue operations that explore deep layered debris. Air Floating Active Scope Camera (ASC) have been developed for search and rescue in a narrow space. However, it is confirmed the phenomenon that sticks to the ground when floating. Air jet nozzle with air curtain have been developed to solve problems. In this paper, we measure forces occurring in the direction of the ground, and determine parameters for air curtain nozzle from the measured force.
Analysis of Lateral Skidding Movement of Tracked Vehicle Using Wall Reaction Forces

HARATA Yuki, KOJIMA Shotaro, OHNO Kazunori, OKADA Yoshito, SUZUKI Takahiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　2P1-A10　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2P1-A10 　

ISSN： 2424-3124

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This paper proposed skidding movement method for tracked vehicle that uses the wall reaction force. There is a demand for tracked robot to inspect in the plant automatically. In the plant, usually there are many obstacles such as stairs, steps, and so on. So, tracked robot is proper for plant inspection, because crawler has high road abilities. However, tracked robot has a problem that it is difficult to adjust the position of the robot. This paper tries to solve this problem by lateral skidding movement using wall reaction force. Originally, tracked vehicle cannot move lateral direction, but if we use forces from wall, tracked vehicle can move lateral direction.
Results of the ImPACT Tough Robotics Challenge

TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　2A2-E10　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2A2-E10 　

ISSN： 2424-3124

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ImPACT Tough Robotics Challenge is a national project of Japan Cabinet Office (2014-18) that focused on tough technologies of robotics to give solutions to disaster response, recovery and preparedness. It consists of subprojects of six types of robot platforms and several component technologies integrated with the robots. Cyber rescue canine suits for monitoring dog's behavior and commanding her to move has shown effectiveness at regular exercise with Japan Rescue Dog Association. A new serpentine robot, Active Scope Camera, that can crawl and levitate in gaps of a few cm to search in rubble piles. Structural assessment and radiation measurement were performed by Active Scope Camera in Fukushima-Daiichi in December 2016 – February 2017. High mobility of serpentine robots in ducts, in/out of pipes, on uneven terrain, and on vertical ladder was shown as well as climbing a step 1 m high by a robot body 1.7 m long. Omni Gripper can grasp wide variety of targets without positioning by jamming phenomenon. Robust flight of Mini-Surveyor under difficult condition contributed response to Northern Kyushu Heavy Rain Disaster by gathering high-resolution image in inaccessible area in July 2017. WAREC-1 can move by 4 legs, 2 legs, and crawling and can climb vertical ladders. A double-swing dual-arm mechanism, operator support by bird's-eye view images, and that by sense of force and touch enabled a construction robot to perform both high-power and precise remote tasks. Field Evaluation Forum displayed these achievements in disaster scenarios.
Non-Parametric Bayes Hidden Markov Modelによるバックホウの積込み動作予測

山田健斗, 大野和則, 大野和則, 濱田龍之介, 水野直希, 柴田幸則, 浅野公隆, 小松智広, 鈴木高宏, 永谷圭司, 宮本直人, 鈴木太郎, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2019　2019

ISSN： 2424-3124
Position estimation technique for a flexible pneumatic linear actuator and its application to motion generation of an in-pipe robot

YAMAMOTO Tomonari, KONYO Masashi, TADAKUMA Kenjiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　2A1-C06　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2A1-C06 　

ISSN： 2424-3124

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This paper presents motion generation technique for a flexible pneumatic robot based on position estimation of linear actuators. The authors previously proposed an in-pipe robot which drives in narrow pipes with flexible pneumatic linear actuators. In previous paper, a static model to estimate the position of actuator's sliding parts by applied pressure and flow rate was proposed and basics were discussed. In this paper, an effect of inflation diameter change was introduced into the model to increase estimation accuracy. The model was then integrated into a robot's motion generation logic, and automated motion generation was tested in horizontal straight pipes.
Jamming Gripper Mechanism Capable of Large Deformation by a double symmetric arrangement

WATANABE Masahiro, FUJIMOTO Toshiaki, TETSUI Hikaru, MUKAIDE Rio, INOMATA Shohei, KANEDA Yu, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　2P1-H03　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2P1-H03 　

ISSN： 2424-3124

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This paper proposes a jamming gripper mechanism capable of large deformation by double symmetric arrangement. Several soft grippers have been proposed that can grasp complex shape objects by pressing the gripper to the object and passively deform it. However, it requires large pressing force and small deformation can be realized. Thus, we arranged the two grippers symmetrically to make the internal granular material easy to move between the grippers of each other. We conducted a grasping experiment to verify the effectiveness of the proposed gripper.
可食バネ要素-型から造る螺旋状可食弾性構造-

小澤悠, 清水杜織, 高橋知也, 恩田一生, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　37th　2019
Edible Variable Stiffness Changing Mechanisms

SHIMIZU Tori, HAYASHI Sousuke, WATANABE Masahiro, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　2A1-C03　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2A1-C03 　

ISSN： 2424-3124

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Edible materials have been utilized for soft robots and made them biodegradable and biocompatible. So far, the authors have devised and realized not only soft edible robotic elements but also hard edible materials essential to tasks such as insertion into a narrow environment. However, hard materials tend to require casting mold and thus have infeasible shapes. In this research, In this research, we have devised and devised an edible flexible rigid switching mechanism capable of switching the rigidity state, which was flexible and stiff, respectively, in the research and development of the edible robot we are working on, Characteristics were confirmed by actual experiments.
Development of Canine Guidance Suit using Spot Lights

NISHINOMA Hiroyuki, OHNO Kazunori, HAMADA Ryunosuke, CHAYAPOL BEOKHAIMOOK, KIKUSUI Takefumi, NAGASAWA Miho, TSUCHIHASHI Naoko, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　2A2-E09　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2A2-E09 　

ISSN： 2424-3124

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In this paper, we developed a guidance suit for a dog with light sources. The dog is guided by spot light sources which can illuminate in three directions including frontal, left and right according to remote controller. First, we allowed the operator to easily adjust the irradiation angle of the light sources. Then, the mounting position of light sources are examined. Two radiators were mounted on the shoulder of the dog to irradiate in frontal direction as to prevent being blocked by dog's head, while left and right radiators were mounted on the side of the suit to easily guide the dog left and right. A board PC was also equipped with the suit so that radiators can be controlled by remote controller. Additionally, sensors including camera, GNSS and IMU were installed to monitor dog's action from a remote location. In verification of guidance, we succeeded in navigating the dog.
可食反射型駆動メカニズム-反射的動作のための圧力-駆動連結機構-

小澤悠, 高橋知也, 清水杜織, 高根英里, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　20th　2019
Preface

Satoshi Tadokoro

Springer Tracts in Advanced Robotics　128　VII-VIII　2019

ISSN： 1610-7438

eISSN： 1610-742X
Remote Operation Support by Tactile Transmission Using High-frequency Vibration for Construction Robots:– Performance Evaluation on an Object Placement and Alignment Task –

SAITO Shinya, NAGANO Hikaru, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　(0)　2P1-D09　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2P1-D09 　

ISSN： 2424-3124

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We have been developed a tactile transmission system for supporting remote control of construction robots. This paper reports a task-based performance evaluation to verify the effectiveness of the tactile transmission system. The selected task was a placement and alignment of concrete blocks manipulated by an upper arm of the construction robot, which was developed in ImPACT-TRC program. We evaluated the task completion time and the applied force against walls in different four conditions; 1) vision only, 2) force feedback, 3) tactile feedback, and 4) force and tactile feedback. The experimental results showed that there is no significant difference in task completion time. However, there was a tendency that the tactile feedback condition had smaller applied integral force than those of other conditions.
ImPACT Tough Robotics Challenge Construction Robot

YOSHINADA Hiroshi, ASIZAWA Satoshi, ISHIGAMI Genya, OZAKI Shingo, TADOKORO Satoshi, YOKOKOHJI Yasuyoshi, NAGATANI Keiji, KONYO Masashi, ASAMA Hajime, YAMASHITA Atsushi, SUZUMORI Koich, TANAKA Masayuki, OOMICH Takeo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　(0)　2P1-E02　2019
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2019.2P1-E02 　

ISSN： 2424-3078

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As part of the Impulsing Paradigm Challenge through Disruptive Technologies Program (ImPACT)'s Tough Robotics Challenge Program, a group of Japanese researchers developed a new concept construction robot for disaster relief situations. This robot has a double swing dual arm mechanism and has drastically improved operability and mobility compared to conventional construction machines using many new elemental technologies.
Dual-Arm Construction Robot with Remote-Control Function.

Hiroshi Yoshinada, Keita Kurashiki, Daisuke Kondo, Keiji Nagatani, Seiga Kiribayashi, Masataka Fuchida, Masayuki Tanaka 0001, Atsushi Yamashita, Hajime Asama, Takashi Shibata 0001, Masatoshi Okutomi, Yoko Sasaki, Yasuyoshi Yokokohji, Masashi Konyo, Hikaru Nagano, Fumio Kanehiro, Tomomichi Sugihara, Genya Ishigami, Shingo Ozaki, Koichi Suzumori, Toru Ide, Akina Yamamoto, Kiyohiro Hioki, Takeo Oomichi, Satoshi Ashizawa, Kenjiro Tadakuma, Toshi Takamori, Tetsuya Kimura, Robin R. Murphy, Satoshi Tadokoro

Springer Tracts in Advanced Robotics　128　195-264　2019
Publisher: Springer
DOI： 10.1007/978-3-030-05321-5_5 　

ISSN： 1610-7438

eISSN： 1610-742X
Automatic Investigation System using Active Scope Camera Thruster

山内悠, 安部祐一, 坂東宜昭, 昆陽雅司, 多田隈建二郎, 田所諭

システム制御情報学会研究発表講演会講演論文集(CD-ROM)　62　4p　2018/05/16
Publisher: システム制御情報学会
Analysis on stabilized controller for flying hose conveying fluid

安部祐一, 昆陽雅司, 多田隈建二郎, 田所諭

システム制御情報学会研究発表講演会講演論文集(CD-ROM)　62　4p　2018/05/16
Publisher: システム制御情報学会
Position and velocity control of multirotor using adaptive control

加美聡哲, 岡田佳都, 岡田佳都, 大野和則, 大野和則, 田所諭

システム制御情報学会研究発表講演会講演論文集(CD-ROM)　62　4p　2018/05/16
Publisher: システム制御情報学会
Joint and Arm Mechanisms with Screw Differential Rotary Driving Configuration : Driving System Based on 2-Inputs 2-Outputs Transmission Sets

高根英里, 藤本敏彰, 清水杜織, 藤田政宏, 小松洋音, 多田隈建二郎, 多田隈理一郎, 昆陽雅司, 田所諭

システム制御情報学会研究発表講演会講演論文集(CD-ROM)　62　4p　2018/05/16
Publisher: システム制御情報学会
Ultimate Gripper Mechanism : The Process of the Development of the Mechanisms to Switch Softness and Hardness in the ImPACT T.R.C

藤田政宏, 藤本敏彰, 高根英里, 小松洋音, 多田隈建二郎, 昆陽雅司, 田所諭

システム制御情報学会研究発表講演会講演論文集(CD-ROM)　62　6p　2018/05/16
Publisher: システム制御情報学会
ImPACT TRC Thin Serpentine Robot Platform : Air-floating-type Active Scope Camera Integrated with Multiple Sensory Functions

昆陽雅司, 安部祐一, 永野光, 坂東宜昭, 山崎公俊, 岡谷貴之, 糸山克寿, 奥乃博, 田所諭

システム制御情報学会研究発表講演会講演論文集(CD-ROM)　62　5p　2018/05/16
Publisher: システム制御情報学会
ImPACT-Tough Robotics Challenge and World Robot Summit

38　(3)　4-11　2018/03
Publisher: 防衛技術協会
ISSN： 0919-8555
大型ボイラ内壁を検査するロボットシステムの開発第3報-点検台車のための内部力補償型磁気吸着クローラ機構の考案・具現化

小澤将生, 多田隈建二郎, 岡田佳都, 田所諭

ロボティクスシンポジア予稿集　23rd　2018

ISSN： 1881-7300
高周波振動を用いた触覚提示による建設ロボットの遠隔操縦支援-災害対応タスクにおける触覚伝達の適用-

齊藤真也, 永野光, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　36th　2018
磁気復元力生成により内部補償を実現するマグネット機構-第3報:大型強力化と平行指グリッパ機構の実機具現化-

清水杜織, 藤本敏彰, 林聡輔, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　36th　2018
1次元柔剛切替メカニズムを活用したトーラスグリッパ機構-線状ジャミング転移機構を基軸とした構造例-

藤本敏彰, 清水杜織, 藤田政宏, 高根英里, 林聡輔, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　36th　2018
加圧すると“縮む“ベローズ機構-ポリゴナル折紙駆動体-

渡辺将広, 林聡輔, 藤本敏彰, 清水杜織, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　36th　2018
バックホウのダンプトラックへの土砂積込み行動解析

濱田龍之介, 大野和則, 水野直希, 柴田幸則, 浅野公隆, 鈴木高宏, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　36th　2018
柔剛切替式膨縮パッド循環移動体-大型ボイラ内壁検査のための壁面移動ロボット機構-

林聡輔, 多田隈建二郎, 岡田佳都, 清水杜織, 藤本敏彰, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　36th　2018
吸引圧力の時空間分布制御に基づく装着型触覚ディスプレイ-柔軟物接触時に生じる力分布の実時間計算法-

佐瀬一弥, 永野光, 昆陽雅司, 斉藤薫, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　23rd　2018

ISSN： 1349-5062
指腹における吸引圧力の時空間分布制御に基づく多指装着型触覚ディスプレイ-吸引圧分布による面状圧覚生起条件の調査-

永野光, 斎藤薫, 昆陽雅司, 佐瀬一弥, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　23rd　2018

ISSN： 1349-5062
手掌部への吸引圧刺激による把持感の提示

斉藤薫, 永野光, 昆陽雅司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　23rd　2018

ISSN： 1349-5062
臀部皮膚せん断変形による座面からの突き上げ感の提示

堀江新, 永野光, 昆陽雅司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　23rd　2018

ISSN： 1349-5062
2自由度臀部皮膚せん断変形による自己運動の加速感覚の誘発

堀江新, 野村陽人, 多田隈建二郎, 昆陽雅司, 永野光, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　19th　2018
軸方向波動伝播ホイール機構第4報駆動基礎部の高剛性化および車両構成

西村礼貴, 藤本敏彰, 林聡輔, 清水杜織, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　19th　2018
浮上型索状ロボットのためのワイヤを用いた受動的制振機構の開発

山口智香, 安部祐一, 安藤久人, 昆陽雅司, 多田隈健二郎, 円山重直, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　19th　2018
水噴射で浮上する片持ち送水管の安定性に関する考察

安部祐一, 昆陽雅司, 多田隈建二郎, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　19th　2018
柔軟索状ロボットの操作支援手法の検討

山内悠, 安部祐一, 坂東宜昭, 昆陽雅司, 多田隈建二郎, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　19th　2018
小型移動体投入のための高剛性骨格パラシュート機構

林聡輔, 緑川俊貴, 藤川匠, 清水杜織, 高根英里, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　19th　2018
飛行輸送体から投入可能な探査用小型群ロボット-第1報:基本概念と本体・跳躍機構の具体的構成-

清水杜織, 藤川匠, 緑川俊貴, 林聡輔, 高根英里, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　19th　2018
二自由度能動噴射ノズルを用いた能動スコープカメラの動作手法の提案

石井昭裕, 安部祐一, 山内悠, 昆陽雅司, 多田隈建二郎, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　19th　2018
スクリュー式差動回転機構-全方向サスペンション・クローラ化による不整地踏破性の向上-

野村陽人, 藤本敏彰, 林聡輔, 清水杜織, 渡辺将広, 多田隈理一郎, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　19th　2018
能動スコープカメラにおける長手方向の接触位置推定方法-第3報:全身での接触推定を実現するためのデータ自動収集機の構築と評価-

荒木真吾, 永野光, 安部祐一, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　19th　2018
実用化を目指した空気浮上型能動スコープカメラの開発

藤川匠, 山内悠, 石井昭裕, 安部祐一, 昆陽雅司, 多田隈建二郎, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　19th　2018
球殻ロータ機構を有する車両型飛行ロボット-地上走行および壁面接近・接触維持のための並進推進力の具現化-

坂井祐介, 多田隈建二郎, 林聡輔, 岡田佳都, 岡田佳都, SALAAN Carl John O., 大野和則, 大野和則, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　19th　2018
Self-detection from robot-mounted camera image only by comparing multiple scenes

FUJINAMI Takumi, OKADA Yoshito, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　2A2-J16　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.2A2-J16 　

ISSN： 2424-3124

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We propose a method to distinguish the robot itself from the surrounding environment in the camera image mounted on the robot.In this research, we aim to detect robot itself by using only images of multiple scenes in which the robot itself and the different background are shown for comparison, and extracting similar areas by feature value. In this paper, we confirmed that the robot and background can be separated using the proposed method. Experimentally, feature points were detected with a plurality of feature values, and after matching them, a histogram was created. It was confirmed that the robot and the background can be separated roughly by setting the thresholds from this histogram.
Dual Layer Type Torus Gripper Mechanism

TETSUI Hikaru, NISHIMURA Ayaki, FUJIMOTO Toshiaki, SHIMIZU Tori, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　1P1-I14　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.1P1-I14 　

ISSN： 2424-3124

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Bag-type grippers capable of grasping objects of various shapes have been developed so far. However, the conventional bag-type gripper mechanism has a problem that a large sliding resistance is generated due to contact with the surrounding environment during insertion into narrow space. This large sliding resistance causes collapse of the surrounding environment and breakage of the gripper itself. The authors propose the dual layer type torus gripper mechanism with extremely low sliding resistance in this paper. We developed the prototype model of the dual layer type torus gripper mechanism and verified its basic performance by some experiments.
Blood glucose prediction of type I diabetic patient based on linear model with lag weighted regularization

ONUKI Kazuya, HAMADA Ryunosuke, OHNO Kazunori, SUZUKI Takahiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　2P1-I01　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.2P1-I01 　

ISSN： 2424-3124

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In order to prevent hypoglycemic condition of type I diabetic patients, we need to predict blood glucose level. In this study, we show that blood glucose level can be predicted with low delay and high accuracy than conventional method by linear prediction model with lag weighted regularization. We also compare blood glucose prediction for diabetic patients and healthy subjects.
Passive mechanism to stabilize the head floating of Air-floating-type Active Scope Camera regardless of its body rotation.

FUJIKAWA Takumi, ISHII Akihiro, YAMAUCHI Yu, AMBE Yuichi, KONYO Masashi, TADAKUMA Kenjiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　2A1-L04　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.2A1-L04 　

ISSN： 2424-3124

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Active Scope Camera(ASC) is the robot video scope camera that can move by itself to probe narrow gaps for rescue missions. ASC has the cilia vibration drive mechanism which generates a propellant force to travel in rubble. We had proposed a method to lift up the head of ASC stably by using air jet and a flexible passive parallel mechanism. However, there are some situations that the mechanism did not work. In this paper, we improve the passive parallel mechanism and develop infinite-rotatable-nozzle to stabilize the head floating of ASC regardless of its body rotation.
Improvement of passive rotating spherical shell multicopter for inspection of overhead structures:Acquisition of inspection camera view by lower arrangement of propulsion equipment and 3-DOF tether that does not inhibit the rotation of the spherical shell

FUJINAMI Takumi, OKADA Yoshito, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　1P1-B09　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.1P1-B09 　

ISSN： 2424-3124

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In this paper, we aim to inspect the upper structure using the camera mounted on the multicopter. For this purpose, we changed the placement of the propulsion equipment to prevent the aircraft from appearing on the camera , and created a 3-DOF tether that does not disturb inspections to prevent runaway. By changing the arrangement of the propulsion devices, we were able to prevent the aircraft from appearing on the camera. In the development of a 3-DOF tether, with respect to three rotation axes of the spherical shells, the rotation of the spherical shell was not disturbed for the two axes. However, with regard to one axis, the tether caught on the joint of the spherical shell and hindered the rotation of the spherical shell.
Activation of Hose by Multiple Water-Jet Injection Nozzles for Fire Fighting:-Evaluation of Stable Floating by Two Injection Nozzle Modules-

ANDO Hisato, AMBE Yuichi, YAMAGUCHI Tomoka, KONYO Masashi, TADAKUMA Kenjiro, MARUYAMA Shigenao, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　2A1-M02　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.2A1-M02 　

ISSN： 2424-3124

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Disaster response, especially fire-fighting and rescue, is highly risky for firefighters engaged in action. As a result, many robots intended for fire-fighting have been proposed. However, it is difficult for them to directly access fire sources because their mobility is limited. Specifically, existing robots are large and heavy. Therefore, we proposed a novel hose type robot, which can fly directly into the fire source via a water-jet. In this study, we report that 3 m length body can fly stably in the air and its head direction also be controlled.
Air Jet Nozzle with Increased Internal Pressure by Air Curtain

YAMAUCHI Yu, AMBE Yuichi, KONYO Masashi, TADAKUMA Kenjiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　2P1-I16　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.2P1-I16 　

ISSN： 2424-3124

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Long flexible continuum robots have a high potential for search and rescue operations that explore deep layered debris. A general problem of these robots is that as the robot becomes longer, the load generated by friction with the ground increases. This paper develops an air jet nozzle with increased internal pressure by air curtain which can stably float using the ground effect with only the nozzle. A major challenge is to stably float the whole long flexible continuous robot with only a nozzle. The developed nozzles got the effect that the force increases as the distance between the nozzle and the ground decreases. We developed a robot equipped with three developed nozzles, and could float the whole long flexible continuous robot.
Edible Endlessly-Rotatable Mechanisms

FUJIMOTO Toshiaki, SHIMIZU Tori, KOMATSU Hirone, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　2P1-J10　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.2P1-J10 　

ISSN： 2424-3124

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Edible materials have been utilized for soft robots and made them biodegradable and biocompatible. So far, the authors have devised and realized not only soft edible robotic elements but also hard edible materials essential to tasks such as insertion into a narrow environment. However, hard materials tend to require casting mold and thus have infeasible shapes. In this research, the authors discovered outstanding characteristics of Koya Tofu for subtractive manufacturing. Koya Tofu allows the authors to carve letters on it and sculpt endlessly-rotatable mechanism out of it with the help of milling machines. Its rotation experiment confirmed the usefulness of Koya Tofu in edible robotics.
A method to damp the body oscillation using wires for aerial hose type robot

YAMAGUCHI Tomoka, AMBE Yuichi, ANDO Hisato, KONYO Masashi, TADAKUMA Kenjiro, MARUYAMA Shigenao, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　2A1-L05　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.2A1-L05 　

ISSN： 2424-3124

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Disaster response, especially fire-fighting and rescue, is highly risky for firefighters engaged in action. As a result, many robots intended for fire-fighting have been proposed. We proposed a novel hose type robot, which can fly directly into the fire source via a water-jet and demonstrated that a robot with a length of approximately 2 m can fly the air by leveraging the water jet. However, the robot had some problems. The lack of control input of the robot could not suppress several modes of body oscillation , the body of the robot collided with the ground as the body lengthens and slacks , the drift errors of installed IMU sensors prevented the robot from flying stably over 5 minutes. In this study, we propose the mechanism using the wire to solve those three problems.
Development of innerwear for measuring electrocardiogram waveform of dog on motion

HOSHI Tatsuya, HAMADA Ryunosuke, OHNO Kazunori, MATSUBARA Satoko, NAGASAWA Miho, KIKUSUI Takefumi, YAMAKAWA Toshitaka, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　2A2-K02　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.2A2-K02 　

ISSN： 2424-3124

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We are developing the system for estimating the motivation of search and resucue dog during their search activity to locate victims, using heart rate variability. But when measuring electrocardiogram(ECG) waveform of dog on motion with conventional method, electrodes put on dog's body surface were often detached and ECG waveform cannot be measured. So we developed innerwear for measuring ECG waveform of dog on motion. The innerwear is made by using rubber band, velcro, and sponge, which can adjust the tension of tightening electrodes on dog's body surface and attach electrodes to dog firmly. As a result, ECG waveform is being measured continuously and the motivation of search and rescue dog during search activity can be estimated.
Measurement of Cooperative Tasks of Six Wheels Dump Truck and Backhoe

OHNO Kazunori, TADOKORO Satoshi, HAMADA Ryunosuke, MIZUNO Naoki, YAMAGUCHI Shumpei, HOSHI Tatsuya, SUZUKI Tarou, SHIBATA Yukinori, ASANO Kimitaka, SUZUKI Takahiro

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　2A2-B06　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.2A2-B06 　

ISSN： 2424-3124

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This paper proposes a measurement method of cooperative task for construction machines that do not have sensors to measure its position and pose. Many construction machines, which works in construction sites, do not have sensors because human operators have good skills to control them without sensors. It is a big problem for analysis and autonomy of the construction machines. Therefore, we have developed sensor boxes that can be fixed on the construction machines, which do not have the sensors, and measures its position and pose. It enables us to analyze the construction machine's cooperative tasks. In this paper, loading tasks are measured by using these sensor boxes, and the backhoe's loading place are visualized by using mixture Gaussian distribution.
An Overview of the ImPACT Tough Robotics Challenge

TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　2A1-J01　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.2A1-J01 　

ISSN： 2424-3124

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ImPACT Tough Robotics Challenge is a national project of Japan Cabinet Office (2014-18, 62 PIs and 300 researchers, 30 MUSD/5 years) that focuses on tough technologies of robotics to give solutions to disaster response, recovery and preparedness. It consists of subprojects of six types of robot platforms and several component technologies integrated with the robots. Cyber rescue canine suits for monitoring dog's behavior and commanding her to move has shown effectiveness at regular exercise with Japan Rescue Dog Association. A new serpentine robot, Active Scope Camera, that can crawl and levitate in gaps of a few cm to search in rubble piles. Structural assessment and radiation measurement were performed by Active Scope Camera in Fukushima-Daiichi in December 2016 – February 2017. High mobility of serpentine robots in ducts, in/out of pipes, on uneven terrain, and on vertical ladder was shown as well as climbing a step 1 m high by a robot body 1.7 m long. Omni Gripper can grasp wide variety of targets without positioning by jamming phenomenon. Robust flight of Mini-Surveyor under difficult condition contributed response to Northern Kyushu Heavy Rain Disaster by gathering high-resolution image in inaccessible area in July 2017. WAREC-1 can move by 4 legs, 2 legs, and crawling and can climb vertical ladders. A double-swing dual-arm mechanism, operator support by bird's-eye view images, and that by sense of force and touch enabled a construction robot to perform both high-power and precise remote tasks. Field Evaluation Forum displayed these achievements in disaster scenarios.
A contact force reducing mechanism to improve pipe passing capability through sharp bend pipes for a flexible pneumatic in-pipe robot

YAMAMOTO Tomonari, KONYO Masashi, TADAKUMA Kenjiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　2A1-A06　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.2A1-A06 　

ISSN： 2424-3124

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This paper proposes a slider mechanism with a elastic component for flexible pneumatic in-pipe robot to improve bend-pipe-passing capability. Inspections of narrow bending pipes are one of the difficult tasks for in-pipe robots. The robots are required to reduce a contact force against the pipe wall to pass through the bending pipes. The authors previously proposed flexible pneumatic in-pipe robot that can pass through a long-elbow pipe, which has a gentle curve The robot, however, could not pass through a short-elbow pipe, which has a sharp curve. The proposed mechanism improves pipe-passing capability by significantly decreasing the contact force. We confirmed that the proposed mechanism can decrease the contact force for 38% comparing to conventional mechanism. The mechanism is expected to improve pipe-passing capability through the short-elbow pipes.
Omnidirectional mechanism from the viewpoint of axial direction drive

NISHIMURA Ayaki, FUJIMOTO Toshiaki, SHIMIZU Tori, KOMATSU Hirone, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　1P2-K03　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.1P2-K03 　

ISSN： 2424-3124

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The omnidirectional motion can move any direction without changing the direction of its own. In this paper, to achieve the omnidirectional mechanism and to systematize the omnidirectional mechanism, from the viewpoint of axial direction drive, we propose various mechanisms integrated wide-ranging drive systems (for example, wave-wheel system, impact-wheel system). Among them, the actual mechanical prototype model of wave-wheel mechanism has been built for velocity measurement experiments. In the experiment, axial direction velocity and radial velocity were measured. Consequently, with increases input velocity, output velocity is increased. In addition, to verify smoothly of axial direction movement, it was observed the velocity per 0.1sec. It was found from the result that the axial direction movement is intermittent.
Design and development of biaxial active nozzle rotating infinitly around roll axis for Active Scope Camera

ISHII Akihiro, AMBE Yuichi, YAMAUCHI Yu, ANDO Hisato, KONYO Masashi, TADAKUMA Kenjiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　1A1-A08　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.1A1-A08 　

ISSN： 2424-3124

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Flexible continuum robot is useful for search and rescue operation in narrow spaces. We have proposed air jet type Active Scope Camera floating the head of the robot by air jet. The air float hose type robot can move over higher steps and change the moving direction easily. In this paper we suggest how to change the air jet direction around two axes, and how to choose the geometric parameter.
Internally-Balanced Magnet Mechanisms Using Magnetic Spring:- Second report: Design sketches of application and first prototyping -

SHIMIZU Tori, FUJIMOTO Toshiaki, KOMATSU Hirone, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　2A2-I15　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.2A2-I15 　

ISSN： 2424-3124

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To detach permanent magnets with a control force much smaller than their attractive force, InternallyBalanced Magnetic Unit (IB Magnet) has been developed and applied to magnetic devices such as wall-climbing robots. In contrast to its drastic reduction rate on the control force, IB Magnet has two major problems on its nonlinear spring which produces a balancing force to cancel the internal force: complication of its design procedure and trade-off relationship between balancing precision and mechanism volume. This paper proposes a principle of an IB Magnet using a like-pole pair of magnets as a magnetic spring, whose repulsive force should exactly equal the attractive force of an unlike-pole pair. To verify the proposed principle, the authors realized its prototype model and found through experiments its reduction rate comparable to those of conventional IB Magnets. Moreover, the authors discussed and realized application examples containing proposed Magnetic-Spring IB Magnets as their internal mechanisms.
Vehicle Type Flying Robot with Spherical Shell Rotor Mechanism:-Realization of Spherical Shell Rotor Mechanism Functioning as Passive Omni-directional Wheels and Rotor Protector, and Proposal of Multi-copter Configuration-

SAKAI Yusuke, TADAKUMA Kenjiro, OKADA Yoshito, Salaan Carl John O., OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　1P1-B11　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.1P1-B11 　

ISSN： 2424-3124

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There are many proposals of propeller protection mechanisms and wheel mechanisms for multi-copter which running and flying by propeller thrust. In addition to being capable of normal flight, the propeller guard can be used as a passive wheel to allow traveling on the ground, walls, ceiling, etc. As a characteristic required for such a propeller protection and wheel mechanism, narrow place applicability, propeller protection property, omnidirectional mobility, etc. But there have not been proposed mechanism that satisfy all these requirements.In this paper, we realize a spherical shell rotor mechanism that combines rotor protection and omnidirectional movement mechanism for each rotor and propose a vehicle type multi-copter which can move in contact with the ground and ceiling.
Hacking COMS:How to turn a commercially available EV into a Self-Driving car using open source software

MIZUNO Naoki, WESTFECHTEL Thomas, KOJIMA Shotaro, KAMATA Koichiro, OHNO Kazunori, SUZUKI Takahiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　1P2-C07　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.1P2-C07 　

ISSN： 2424-3124

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The popularity of autonomous driving has significantly increased in the recent years. In this paper, the authors developed a self-driving car using COMS, a commercially available electric vehicle from Toyota Body, and the open source robotics platform ROS. Actuators were attached to the brake and steering wheel and the wires connected to the ECU are tapped to send accelerator and shift signals from mbed. The authors used Gmapping and Hybrid-State A* for SLAM and path planning, respectively, to achieve autonomous driving of the developed vehicle.
Development of Light Source for Guiding Dogs Outdoors

NISHINOMA Hiroyuki, SUZUKI Takahiro, TADOKORO Satoshi, OHNO Kazunori, HAMADA Ryunosuke, YAMAGUCHI Shunpei, HOSHI Tastuya, KIKUSUI Takefumi, NAGASAWA Miho, MATSUBARA Satoko, KATAYAMA Maki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　2A2-K03　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.2A2-K03 　

ISSN： 2424-3124

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We propose a method for guiding dogs in an outdoor environment. By harnessing dogs' nature following light, we aim at guiding dogs outdoors with light from irradiation equipment attached to the dogs. First, we investigated which light can be used to guide dogs outdoors. We found that the suitable light is Spot-Light, which is condensed light of a high-brightness LED using a convex lens, special feature is the edge stand out. Subsequently, we investigated how much illuminance a dog can detect Spot-Light in a bright environment. We found that the illuminance difference between the ambient light (3500 lx) and Spot-Light (4500 lx) was only 1000 lx, a dog detected Spot-Light. Also, the higher the illuminance, the easier for a dog to detect Spot-Light. According to our experimental results, we developed a small irradiation equipment that can be mounted on a dog and can irradiate Spot-Light which dogs can detect in outdoor environment.
高精度な地形計測に向けたイヌの歩容と慣性航法による軌跡推定

星達也, 大野和則, 濱田龍之介, 西野間洋之, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　19th　2018
Contact Position Estimation in Longitudinal Direction for Active Scope Camera:-2nd Report: Model Reconsideration for Improvement of Estimation Accuracy and Trial in Unknown Environment-

ARAKI Shingo, NAGANO Hikaru, AMBE Yuichi, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　(0)　2A1-L06　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.2A1-L06 　

ISSN： 2424-3124

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Active scope camera (ASC) is a horse-shaped disaster robot which can move on and explore narrow areas while contacting environments. The teleoperation of ASC is based on the tip camera information; therefore, an operator cannot understand the contact conditions surrounding the long body of ASC. For supporting the teleoperation of ASC, the authors have been developing the system for estimating contact position in longitudinal direction for ASC. This paper reconsider the feature values of SVM model by considering the rotation of ASC. The result showed that the model could estimate the contact conditions (contact and non-contact) with the estimation accuracy of 90% regardless of ASC rotation. In addition, we applied the learned model to unknown environments which was different from the contact condition for model learning. The estimation accuracy on unknown environments was 83%. These results suggest that the proposed estimation system is partly robust to unknown environments.
Haptic Transmission Using High-frequency Vibration Generated on Body of Construction Robot:-Performance Evaluation of Haptic Transmission System under Construction Robot Teleoperation-

NAGANO Hikaru, TAKENOUCHI Hideto, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　(0)　2A1-J04　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.2A1-J04 　

ISSN： 2424-3124

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The authors have develoed a haptic transmission system for supporting the teleoperation of construction robot. Our system modulates high-frequency vibration over human sensitive range to sensitive and effective vibrotactile information to transmit occurrence of collision and properties of contact materials and environments. This paper reports a performance evaluation experiment to investigate the effect of the proposed haptic transmission system on the maneuverability of construction robot under actual teleoperation environment. The experimental task is to insert a metal bar into the holes of a brick block, which requires delicate maneuvering. The performance is evaluated with two indexes, 1) the peak collision force occurred during insertion and 2) the task completion time. Although the haptic transimission system did not decrease the task completion time, the peak force was reduced by the proposed system. The results suggest that the proposed system could improve the maneuverability of construction robot teleoperation.
Induction of acceleration sensation of self-motion by presenting shear force to buttock

HORIE Arata, NAGANO Hikaru, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　(0)　1A1-J17　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.1A1-J17 　

ISSN： 2424-3124

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We present buttock skin stretch device to induce force perception. First of all, we investigated whether shear force can be presented by skin displacement of the buttocks. As a result, it was confirmed that the magnitude of the perceived force transitions according to the deformation amount in a substantially linear relationship. In addition to visual stimuli inducing visual induced self-motion perception, we investigated whether acceleration self-motion perception can be modulated by skin deformation of buttocks. As a result, there was a significant difference in the sense of acceleration of self motion among some skin deformation amount conditions, and the sensation of acceleration of self motion was caused by the force perceived at the buttocks.
Inertial-Sound Based Posture Estimation for a Hose-Shaped Rescue Robot

bando Yoshiaki, Ambe Yuichi, Itoyama Katsutoshi, Konyo Masashi, Tadokoro Satoshi, Yoshii Kazuyoshi, Okuno Hiroshi G.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　(0)　2A1-M01　2018
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2018.2A1-M01 　

ISSN： 2424-3124

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Posture estimation of a hose-shaped rescue robot is crucial for handling the flexible robot body. Conventional posture estimation based on inertial sensors gradually accumulates its errors due to unexpected posture change and temperature change. The accumulative error problem can be avoided by using a sound-based method that localizes microphones and loudspeakers on the robot by measuring time differences of arrival (TDOAs) of a reference sound. The sound-based method, however, cannot distinguish mirror-symmetric postures because of the sensors serially placed on the robot. To solve these problems, we integrate the inertial and sound measurements into a unified state-space model. The time-varying posture is estimated by using the inertial sensors while the accumulative error is estimated and corrected by using the sound sensors. Experimental results that our method suppresses the accumulative errors for more than 10 minutes whereas the inertial-based method increased monotonically.
半教師ありロバスト非負値テンソル分解による柔軟索状レスキューロボットの音声強調

坂東宜昭, 安部祐一, 山内悠, 昆陽雅司, 田所諭, 吉井和佳, 吉井和佳, 奥乃博

日本ロボット学会学術講演会予稿集(CD-ROM)　36th　ROMBUNNO.2J2‐06　2018
Disaster Robotics

66　(10)　464-469　2017/10
Publisher: 日本非破壊検査協会
ISSN： 0367-5866
Go through the Wall - Entertainment game combining whole-body motion and haptic feedback -

(2017)　385-387　2017/09/09
配管内とオープンスペースを走行可能な空圧駆動型柔軟索状ロボット

山本知生, 昆陽雅司, 多田隈建二郎, 田所諭

ロボティクスシンポジア予稿集　22nd　2017

ISSN： 1881-7300
受動回転球殻UAVの安全性向上を目的とした機構改良と定量評価

岡田佳都, 小澤将生, 大橋勇斗, 藤浪拓海, 石井拓麻, 多田隈建二郎, 大野和則, 田所諭

ロボティクスシンポジア予稿集　22nd　2017

ISSN： 1881-7300
対向二輪型移動機構の壁デッドロックからの脱出-左右輪接地圧差調整による制御の提案と検討-

小島匠太郎, 大野和則, 鈴木高宏, 濱田龍之介, 田所諭

ロボティクスシンポジア予稿集　22nd　2017

ISSN： 1881-7300
生物外骨格構造・動作を活用したグリッパ機構-ダンゴムシの開閉動作を用いた把持メカニズムの考案・具現化-

藤田政宏, 藤本敏彰, 鉄井光, 西村礼貴, 野村陽人, 高根英里, 小松洋音, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　35th　2017
磁気式双キャスタ機構-薄膜柔軟シート上を転がり接触可能な3軸駆動力伝達ユニット-

藤本敏彰, 鉄井光, 西村礼貴, 藤田政宏, 野村陽人, 高根英里, 小松洋音, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　35th　2017
軸方向波動伝播ホイール機構-第2報循環駆動方式の考案・実機具現化-

西村礼貴, 藤本敏彰, 鉄井光, 藤田政宏, 野村陽人, 高根英里, 小松洋音, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　35th　2017
可食アクチュエータ-可食フィルム・羊腸を用いた各バルーン機構の構成-

藤田政宏, 藤本敏彰, 鉄井光, 西村礼貴, 野村陽人, 高根英里, 小松洋音, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　35th　2017
交差型ヘリカル歯車機構-基本原理の考案と具現化-

小松洋音, 藤本敏彰, 鉄井光, 西村礼貴, 藤田政宏, 野村陽人, 高根英里, 多田隈建二郎, 多田隈理一郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　35th　2017
先端テーパ型円形断面機構に基づく全方向移動車両

小松洋音, 藤田政宏, 藤本敏彰, 鉄井光, 西村礼貴, 野村陽人, 高根英里, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　35th　2017
救助犬探査時系列データのクラスタリング手法の提案

濱田龍之介, 大野和則, 山口竣平, 星達也, 鈴木高宏, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　35th　2017
消防ホースの能動化に向けた水噴射を用いた索状体の安定浮上

安藤久人, 安藤久人, 安部祐一, 石井昭裕, 昆陽雅司, 多田隈建二郎, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　35th　2017
災害救助犬の呼吸音と周囲の音を同時に計測するサイバスーツの開発

水野直希, 大貫和也, 星達也, 山口竣平, 濱田龍之介, 大野和則, 中臺一博, 奥乃博, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　35th　2017
噴射方向能動ノズルを用いた空気浮上型能動スコープカメラによる瓦礫踏破

石井昭裕, 山内悠, 安部祐一, 昆陽雅司, 多田隈建二郎, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　35th　2017
プラント災害予防を主題としたロボット競技会の提案

奥川雅之, 木村哲也, 大金一二, 大坪義一, 清水優, 高橋友一, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　35th　2017
Overview of ImPACT Tough Robotics Challenge Program

Tadokoro Satoshi

Journal of the Robotics Society of Japan　35　(10)　696-699　2017
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.35.696 　

ISSN： 0289-1824
足首における慣性と振動計測を利用した歩行運動の簡易ロギング手法の提案-第3報:下肢伝播振動と床反力との関係調査-

加藤佳大, 永野光, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
災害救助犬用サイバースーツの開発-低遅延映像伝送技術と高精度測位技術を搭載したスーツの開発-

山口竣平, 星達也, 源拓洋, 鈴木太郎, 大野和則, 濱田龍之介, 鈴木高宏, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
交差型ヘリカル歯車機構-ウォームギア式実機の具現化と応用例検討-

小松洋音, 藤本敏彰, 高根英里, SALAAN Carl John O., 鉄井光, 藤田政宏, 西村礼貴, 野村陽人, 多田隈建二郎, 多田隈理一郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
1次元ジャミング転移機構-線状式剛性切替えメカニズムの考案と具現化-

藤本敏彰, 西村礼貴, 鉄井光, 野村陽人, 藤田政宏, 高根英里, 小松洋音, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
指腹における吸引圧力の時空間分布制御に基づく多指装着型触覚ディスプレイ-吸引面積および圧力の制御による硬軟感提示手法-

永野光, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
時系列のラグを考慮したLasso型の正則化法によるI型糖尿病患者の運転中の血糖値予測

大貫和也, 濱田龍之介, 大野和則, 鈴木高宏, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
軸方向波動伝播ホイール機構第3報波動伝播ユニットによる円形断面実機の具現化

西村礼貴, 藤本敏彰, 鉄井光, 藤田政宏, 野村陽人, 高根英里, 小松洋音, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
曲線道路における停車位置評価のための周辺車回避経路予測

梶原正裕, 大野和則, 濱田龍之介, 鈴木高宏, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
能動スコープカメラ挿入機

石井昭裕, 藤本敏彰, 山内悠, 荒木真吾, 安部祐一, 昆陽雅司, 多田隈建二郎, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
コンタクトメカニクスを考慮した衝突振動モデル

GU Wenchao, 杉本鎌, 永野光, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
手指モデルの拘束条件を考慮した多指振動触覚ディスプレイによる形状提示

飯塚将太, 永野光, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
内部力補償型磁気吸着クローラ機構

小澤将生, 多田隈建二郎, 岡田佳都, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
圧力と流量に基づいた中空シャフトアクチュエータの位置推定手法の検討

山本知生, 昆陽雅司, 多田隈建二郎, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
スクリュー式差動回転機構~4輪型車輌構成における駆動力伝達メカニズムの具現化~

野村陽人, 藤田政宏, 藤本敏彰, 西村礼貴, 鉄井光, 高根英里, 小松洋音, 多田隈建二郎, 多田隈理一郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
能動スコープカメラにおける長手方向の接触位置推定方法の検討

荒木真吾, 永野光, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
面状全方向クローラ機構-第7報:側方向踏破性向上のための履帯脱離低減機構・テーパ状履帯構造の具現化-

高根英里, 藤田政宏, 藤本敏彰, 野村陽人, 西村礼貴, 鉄井光, 小松洋音, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
光を利用したイヌ用行動誘導スーツの開発

山口竣平, 大野和則, 濱田龍之介, 星達也, 松原聡子, 永澤美保, 菊水健史, 鈴木高宏, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
可食屈曲アクチュエータ-可食シートを用いた駆動素子の構成例として-

小松洋音, 藤田政宏, 藤本敏彰, 鉄井光, 西村礼貴, 野村陽人, 高根英里, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
遠隔操縦ロボット操縦支援のための高周波振動変調手法-包絡線情報を表現するキャリア周波数の調査-

竹之内栄人, CAO Nan, 永野光, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
遠隔操縦ロボットとの触覚共有のための筐体に生じる高周波振動の変調伝達

竹之内栄人, CAO Nan, 永野光, 昆陽雅司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　22nd　2017

ISSN： 1349-5062
高周波振動と非対称振動の複合出力による滑り方向・滑り速度の提示

堀江新, 永野光, 昆陽雅司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　22nd　2017

ISSN： 1349-5062
指腹における吸引圧力の空間分布制御に基づく多指装着型触覚ディスプレイ-多自由度の方向知覚の検証-

永野光, 昆陽雅司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　22nd　2017

ISSN： 1349-5062
多指振動触覚ディスプレイを用いた形状識別の評価

飯塚将太, 永野光, 昆陽雅司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　22nd　2017

ISSN： 1349-5062
2軸能動空気噴射ノズルを持つ索状体の浮上制御方法の提案

安部祐一, 山内悠, 石井昭裕, 昆陽雅司, 多田隈建二郎, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
高周波振動と非対称振動の複合出力による滑り方向・滑り速度の提示第2報:非同期な振動の複合出力

堀江新, 永野光, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
房状ジャミング膜グリッパ機構-把持時押付力の定量評価実験-

藤田政宏, 藤本敏彰, 鉄井光, 西村礼貴, 野村陽人, 高根英里, 小松洋音, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
Study of Dog's Behavior Guiding System by Using Light

YAMAGUCHI Shumpei, Ohno Kazunori, HAMADA Ryunosuke, NAGASAWA Miho, MATSUBARA Satoko, KIKUSUI Takehumi, SUZUKI Takahiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　2A1-Q03　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.2A1-Q03 　

ISSN： 2424-3124

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A novel method to guide moving direction of a dog is proposed. By using nature of dogs to pursue moving objects, we aim to develop a suit that guides the direction of movement of dogs. This guiding system is beneficial for search and rescue dogs that also investigate in places where human cannot approach easily. We investigated which light source is suitable for guidance and how to irradiate it. In an indoor experiment, a laser pointer is suitable light source. On the other hands, a dog pursued a high brightness LED light in an outdoor experiment. An optimal position to irradiate the light was estimated to be around 1.0 m front position of a dog. When the light was moving at a constant speed, optimal speeds were 0.5 and 1.0 m/s. When the light was moving with constant acceleration, the effect of acceleration was not remarkable.
Development of Real-Time Emotion Estimation System for Canines

HAMADA Ryunosuke, TADOKORO Satoshi, OHNO Kazunori, MATSUBARA Satoko, NAGASAWA Miho, KIKUSUI Takefumi, IKEDA Kazushi, KUBO Takatomi, NAKAHARA Eri, YAMAKAWA Toshitaka

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　2A1-Q02　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.2A1-Q02 　

ISSN： 2424-3124

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Search and rescue dogs are widely used in disaster situations. The efficiency of their operations can be improved if the dogs' inner states or motivation to search are estimated. We developed a real-time emotion estimation system for canines based on a measured electrocardiogram. Interval time of heart beats were measured by our canine suit equipped with an electrocardiographic device. Temporal variability of the measured intervals, i.e., heart rate variability, was calculated, then processed as input to a classifier of the canine's emotional state. An estimate of the emotional state is presented in a real-time graph, and updated in every five seconds. The proposed system was evaluated in an outdoor experiment and we confirmed that it can be operated in real-time.
ImPACTタフ・ロボティクス・チャレンジ

田所諭, 田所諭, 内薗豊仁

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2017　2017

ISSN： 2424-3124
Model to Calculate the Region where the Active Scope Camera Can Reach

Ambe Yuichi, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　1A1-J07　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.1A1-J07 　

ISSN： 2424-3124

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Active Scope Camera (ASC) is the robot video scope that can move by itself to probe narrow gaps for rescue missions. ASC has the ciliary vibration drive mechanism which generates a propellant force to travel in rubble. Nowadays, we also propose a method to lift up the tip of the ASC stably by using air jet and a flexible passive parallel mechanism, which enabled ASC to climb over steps. However, the mobility of the active scope camera is not evaluated quantitatively. Thus, it is not clear where the active scope camera can reach depending on the environments. In this paper, we proposed a model to calculate the region where the ASC can reach.
Evaluation of out-of-sight teleoperation of passive rotating spherical shell multicopter in the vicinity of structures

FUJINAMI Takumi, OKADA Yoshito, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　1P1-F04　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.1P1-F04 　

ISSN： 2424-3124

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In order to inspect the structures using multicopter, it is necessary to maneuver out of sight. In this paper, we made prototype of first person view video transmission device with a small time delay using spherical camera to teleoperate the passive rotating spherical shell multicopter out of sight. The proposed system contains a head mount display with an IMU so that an operator can quickly and intuitively change the display perspective. And we extracted problems through evaluation experiments and found that it is necessary to improve the stability and operability of the multicopter.
Robust Visual SLAM for Active Scope Camera

SHIMIZU Kanta, XU Liang, OKATANI Takayuki, ANBE Yuuichi, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　1P2-P07　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.1P2-P07 　

ISSN： 2424-3124

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We present a method for performing visual SLAM from a video sequence acquired by active scope cameras (ASCs). To explore the inside of debris of a house etc. ASCs go into a narrow space, which sometimes makes the camera very close to objects in the environment. This makes it hard to employ standard visual SLAM methods, since the acquired images will vary significantly between frames, incurring difficutles of tracking features stably. The employment of a high-speed camera will mitigate this difficulty by making image changes effectively small, but also make it difficult to perform visual SLAM in real-time. To cope with this, we propose a method that decimates unnecessary frames in an adaptive manner. Experiments including those conducted in the experimental field of ImPACT TRC show the effectiveness of our approach.
Suppression of slip-down on stairs by using intentional contact with walls during turning motion of tracked vehicles

OHASHI Yuto, KOJIMA Shotaro, OHNO Kazunori, OKADA Yoshito, HAMADA Ryunosuke, SUZUKI Takahiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　1P2-D07　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.1P2-D07 　

ISSN： 2424-3124

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Inspections by mobile robots are required in nuclear power and steel plants. The robots need to climb and descend stairs because equipments are installed on difference levels. This paper proposes a turning motion on the stairs for tracked vehicles. A characteristic of the proposed turning motion is by using the reaction force from the safety wall. Experimental result shows that the movement direction can be changed by the proposed turning motion. In addition, the proposed turning motion enables the vehicle to run with less slippage than other turning motions.
Design of a simple controller for the flying hose type robot with water jet

Ambe Yuichi, Ando Hisato, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　1P1-P02　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.1P1-P02 　

ISSN： 2424-3124

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We have been developing the flexible hose type robot which is filled with water and actuated by water jet. We aim to use it for the fire-fighting: the hose flies to fire sources by using water jet from the outside of a building, then extinguishes the fire directly with the water without a risk to the rescue workers' life. Previously, we have proposed a simple control method to make the hose float stably by water jet with 2 dimensional model. In this report, the flexible hose is modelled by 3 dimensional N rigid bodies. Then, we investigate the physical features of the simple control method. We find that the simple control method still has physically feasible property, the control input can be represented by potential function.
Small and Light-wight Pneumatic Motor with Hollow Structure

YAMAMOTO Tomonari, KONYO Masashi, TADAKUMA Kenjiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　2P1-D01　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.2P1-D01 　

ISSN： 2424-3124

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This paper proposes small and lightweight pneumatic motor with a hollow structure. The fluid powered motors have advantages of explosion-proof or radiation-proof ability, and is expected to become of the main actuators for field robots. In this study, we present the new structure of in-wheel-type pneumatic motor. The rotation mechanism consists of flexible tubes and rollers realizes small and high torque rotation. We first propose the structure and mechanism of the motor, then we elucidate characteristics in terms of torque and rotational speed through experiments. We confirmed the mechanism can generate maximum torque of 89.6 mN/m at 220kPa without reduction drive.
Open-space Locomotion with Pneumatic Flexible In-Pipe Robot

YAMAMOTO Tomonari, KONYO Masashi, TADAKUMA Kenjiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　2P1-R02　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.2P1-R02 　

ISSN： 2424-3124

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This study presents a flexible pneumatic robot capable of moving both in pipes and across open spaces. For decommissioning operation of Fukushima Daiichi Nuclear Power Plant, a robot that can access to pressure containment vessels (PCV) and reactor pressure vessels (RPV) via pipes is required. The pneumatic robot mechanism proposed in this study realizes integrating in-pipe and open-space propulsion mechanism by using Expansion-type Pneumatic Hollow-shaft actuators and a pneumatic rotary steering mechanism. In this paper, locomotion ability is measured in terms of propulsion force and steering force. The results indicate that the mechanism can propel well even on grating or concrete floors.
Visual Odometry Using an Omni-directional Camera for Rescue Dogs

YADA Ryotaro, SHIMIZU Kanta, OKATANI Takayuki, OHNO Kazunori, YAMAGUCHI Shumpei, HAMADA Ryunosuke, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　2A1-Q05　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.2A1-Q05 　

ISSN： 2424-3124

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This article reports the development of a visual odometry for estimating 3D trajectory of a rescue dog moving in a disaster scene from a camera mounted on its back in an online manner. The major difficulty here is that camera shake occurs consistently while a dog moves (i.e, runs or even just walks), incurring significant changes in consecutive video frames. This makes it hard to employ standard visual SLAM/odometry systems. To cope with this, we use an omnidirectional camera and match feature points globally between consecutive video frames to makes the matches as accurate as possible. To achieve real-time computation, we implement the system using multiple threads on CPU and GPU. We conducted experiments in the experimental field of ImPACT TRC and confirmed the effectiveness of our approach.
Mechanism to change the air jet direction around two axes for hose type robot

ISHII Akihiro, KAMIO Shuta, AMBE Yuichi, KONYO Masashi, TADAKUMA Kenjiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　2P1-E06　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.2P1-E06 　

ISSN： 2424-3124

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Hose type robot is useful for search and rescue mission in narrow spaces. We have proposed air jet type hose type robot whose tip can float in air. The air float hose type robot can move over higher steps and change the moving direction easily. So far, we designed the mechanism to change the air jet direction around one axis. However,for better mobility,air jet direction should be controled around two axes. In this paper we suggest how to change the air jet direction around two axes.
Motion control of differential-drive wheeled robot to avoid wall-deadlock

KOJIMA Shotaro, OHASHI Yuto, OHNO Kazunori, SUZUKI Takahiro, OKADA Yoshito, HAMADA Ryunosuke, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　1P1-F12　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.1P1-F12 　

ISSN： 2424-3124

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In this paper, we propose a motion control method of differential-drive wheeled robot to avoid wall-deadlock. We define the wall-deadlock problem as the cases that the robot cannot rotate to the desired dirrection because of the collision force from an obstacle. The proposed method generates rotational moment to the desired direction by adjusting rotational radius though the collision force inhibits the motion. Experimental results show that the proposed method can generate rotational motion to the desired direction while the driving motor torque is limited to prevent the wheel slip.
Velocity Estimation for Dog's Moving Trajectory using its Gait and IMU

HOSHI Tatsuya, OHNO Kazunori, HAMADA Ryunosuke, YAMAGUCHI Shunpei, SUZUKI Takahiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　2A1-Q01　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.2A1-Q01 　

ISSN： 2424-3124

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When searching victims in disaster areas, information of trajectory of search and rescue dogs is needed to access the victims. We developed a method to record and visualize the dog's trajectory that incorporates an inertial sensor to estimate the dog's velocity and position, even in environments where GPS signals are not available or accurate, such as collapsed buildings, mountain areas, etc. The dog's velocity and position are estimated by integrating accerelation signals measured with the inertial sensor. An accumulative error of the velocity estimation is corrected just when lateral or vertical velocity is zero. The timing of these zero velocity timings are estimated by using the inertial sensor data. Estimated velocity and position by the proposed method is more accurate than those estimated by the other methods without correction of velocity or position.
Decision of a Stop Position by a Following Vehicle's Paths to Avoid a Rear-end Collision

KAJIWARA Masahiro, OHNO Kazunori, HAMADA Ryunosuke, SUZUKI Takahiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　2P2-D10　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.2P2-D10 　

ISSN： 2424-3124

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A vehicle needs to make an urgent stop during pulling over when a driver has a seizure and loses consciousness. In order to realize autonomous stop, considering following and surrounding vehicles and avoiding a rear-end collision are imperative. This paper proposes a method to decide a stop position and pull off the road. The proposed method is based on prediction of the following vehicle's paths to avoid the collision to an ego-vehicle, and a load index of the following vehicle's driver for each predicted path. The prediction of the following vehicle's paths is estimated by applying a path generation algorithm that uses state lattice, which consists of the vechicle's position, posture, and curvature of its path. The load index is calculated by using a cumulative curvature of the path. The result shows that 1.0 m is sufficient for the ego-vehicle to pull off and stop at the road shoulder.
Mobility evaluation of Air-floating-type Active Scope Camera

Kamio Shuta, Ambe Yuichi, Konyo Masashi, Tadakuma Kenjiro, Maruyama Shigenao, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　1P1-P01　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.1P1-P01 　

ISSN： 2424-3124

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Active Scope Camera (ASC) is the robot video scope that can move by itself to probe narrow gaps for rescue missions. ASC has the ciliary vibration drive mechanism which generates a propellant force to travel in rubble. We had proposed a method to lift up the tip of the ASC stably by using air jet and a flexible passive parallel mechanism, which enabled ASC to climb over steps. However, enough evaluation of the mobility, especially quantitative evaluation, had not been done yet. In this paper, the quantitative evaluation of the mobility in terms of turning motion and step climbing is conducted. In addition, the mobility on rubble is also evaluated through the experiments. These evaluations make It clear that the air-jet-type ASC has higher mobility than the previous non air-jet-type ASC.
Robot System for Inspecting Inner Wall of Large Boiler:- Report on Inspection System by Integration of Vertical Movement Mechanism and a Prototype Inspection Carrier -

OZAWA Masaki, OKADA Yoshito, TADAKUMA Kenjiro, TADKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　1P1-B03　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.1P1-B03 　

ISSN： 2424-3124

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In this paper, we report on an inspection system integrating vertically moving winches and a prototype inspection carrier in the development of the robot system that inspects the inner wall of a large boiler for power generation. We develop a mechanism that can raise and lower while maintaining the horizontal level of an inspection carrier using two vertically moving winches and integrate them with an inspection carrier. We will install inspection equipment on the inspection carrier for inspection operation and construct an inspection system. And we are planning experiments using a large imitation wall to evaluate the performance of the prototype inspection system we developed, and from now on we will confirm the behavior of an inspection carrier and identify problems.
Development of the Active Hose System by Waterjets:-Design of the Flow Path of Single Nozzle and Creating the Multiple Nozzle Model-

ANDO Hisato, AMBE Yuichi, KONYO Masashi, TADAKUMA Kenjiro, MARUYAMA Shigenao, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　1P2-P02　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.1P2-P02 　

ISSN： 2424-3124

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We are developing disaster response robots. We revealed the capability of improving robot's mobility and responding new emergency tasks by applying air and water jets as the new actuation technology. In this paper, we show the logic model of the Nozzles of Active Hose System by Waterjets and we apply the results for further development of the system.
Robustness Evaluation on SLAM used in Petrochemical Complex Fires

MIZUNO Naoki, SHAMSUDIN Abu Ubaidah, OHNO Kazunori, HAMADA Ryunosuke, TADOKORO Satoshi, FUJITA Jun, AMANO Hisanori

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　2P2-A02　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.2P2-A02 　

ISSN： 2424-3124

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When using firefighter robots for fires in petrochemical complexes, there is a need to use Simultaneous Localization And Mapping (SLAM) for navigating the robot to the location of fire. Under this kind of severe environments, often times there is lack of necessary information for SLAM such as insufficient GPS signals, overheating of the LIDAR sensor, and the LIDAR sensor's inability to observe fire. We have used Gazebo and ROS to simulate these environments in order to evaluate the accuracy of the trajectories estimated by our GPS and LIDAR-based SLAM module. We have found that the error becomes higher when the travelling speed of the robot is slower and that there is slight decrease in accuracy when the GPS signal availability is lower.
可食センサ-力・変位センシング機能を有する可食メカニズム-

小松洋音, 藤田政宏, 藤本敏彰, 鉄井光, 西村礼貴, 野村陽人, 高根英里, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　35th　2017
可食硬質メカニズム要素

小松洋音, 藤田政宏, 藤本敏彰, 鉄井光, 西村礼貴, 野村陽人, 高根英里, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
クローラロボットによる階段の手すりの反力を利用した螺旋階段の自律踏破

大橋勇斗, 小島匠太郎, 大野和則, 岡田佳都, 濱田龍之介, 鈴木高宏, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
歩容とIMUによるイヌの軌跡推定を用いた3次元地形計測

星達也, 大野和則, 濱田龍之介, 山口竣平, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
石油化学コンビナートでの大規模火災を再現したシミュレータの構築

水野直希, BIN SHAMSUDIN Abu Ubaidah, 小島匠太郎, 大野和則, 濱田龍之介, 田所諭, 小島弘義, 藤田淳, 天野久徳

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017
Proposal of an Easy Method for Logging Human Gait by Measurement of Inertia and Vibration on Ankles:–Quantitative Evaluation of Walking Distance and Stride–

KATO Yoshihiro, NAGANO Hikaru, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　(0)　2P2-N08　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.2P2-N08 　

ISSN： 2424-3124

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We have developed a gait logging system that can estimate human walking motions with a wearable device attached to the ankles easily. We propose a method to estimate the trajectories of pedestrian accurately using an Inertial Measurement Unit (IMU) and vibration sensor measured at the upper ankles. The estimated trajectories can provide details of gait exercise such as walking distance including the strides of each step. In this paper, we evaluate the walking stride length and velocity on each footstep quantitatively under the different types of footwear. The results demonstrated that our method works well for all footwears. The total walking distances were so accurate (within ± 1% error) that the estimated values of each step were reasonable.
Proposal of Display Method for Contact Information by Modulating High Frequency Vibratory Signals for Assistance of Remote Operation of Construction Robot

TAKENOUCHI Hideto, CAO Nan, NAGANO Hikaru, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　(0)　2A1-P07　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.2A1-P07 　

ISSN： 2424-3124

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Contact information is necessary for an efficient remote operation of construction robots. We investigate display methods to deliver the contact information of the shovel by modulating high-frequency vibratory signals measured on the robot body. The proposed methods are based on an amplitude modulation (AM) with the envelope of the original vibratory signals measured because the envelopes could contain the information of contact characteristics. We also focus on the carrier waveforms of the AM to fit the human sensitive frequency range. We compared four modulation types, which are (a) the original signal without noise, (b) the envelope of the original signal, (c) AM with a constant frequency in a sensitive range, and (d) AM with a carrier waveform by the frequency-shift from the original signal. The results showed that the method (d) improved human discriminability.
Estimation and Presentation of Contact Information for Active Scope Camera Exploring Narrow Rubble:Evaluation during Exploration in Simulated Disaster Environment

NAGANO Hikaru, FUNAMIZU Takahito, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　(0)　1P2-P03　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.1P2-P03 　

ISSN： 2424-3124

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Active Scope Camera (ASC) is a snake-like robot realizing the exploration in narrow space such as disaster sites. The authors have proposed the haptic/visual feedback system for representing collision information. This paper demonstrated that our developed system is effective on the exploration in the simulated disaster environment. The results clarified the effective situations such as the approach to a narrow entrance and the contact with ground.
Simulation of Wave Propagation using Generalized Viscoelastic Models for Rendering Collision Senssation

SUGIMOTO Ren, NAGANO Hikaru, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　(0)　1P1-O05　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.1P1-O05 　

ISSN： 2424-3124

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For versatile tactile rendering methods of collision sensation, we propose a method of simulating wave propagation using generalized viscoelastic models. The generalized viscoelastic models enable us to control attenuation value of simulated vibration, which leads to a versatile tactile rendering method.
Measurement of skin vibration caused by stick-slip motion on human fingerpad

BABA Marina, NAGANO Hikaru, TANAKA Yoshihiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　(0)　1P1-O04　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.1P1-O04 　

ISSN： 2424-3124

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This paper showed the skin vibration caused by stick-slip phenomenon, which is useful for representing artificial frictional sensation. We conducted the experiments in which we measured skin vibration propagated from the fingertip and observed skin deformation by using a high-speed camera while stick-slip phenomenon. As a result, we confirmed that typical skin vibration occurs the status of fingerpad changes from stick to slip.
Development of Multi-finger Vibrotactile Display and Texture Display

IIZUKA Shota, NAGANO Hikaru, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　(0)　1A1-M03　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.1A1-M03 　

ISSN： 2424-3124

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Humans use their whole hand to feel the texture of materials. Conventional vibrotactile displays mainly focus on a single finger. During the whole hand interaction, however, each finger can move in different directions and speeds so that respective tactile feedback on each finger may lead to a realistic texture display. In this paper, we develop a multi-finger vibrotactile display attached on proximal phalanxes that can deliver vibrations to the fingertip and isolate vibration propagation to the other fingers. We evaluated naturalness of the texture feeling by the multi-finger display. The result showed the potential of our approach.
感覚機能統合型能動スコープカメラの改良と瓦礫フィールドへの適用

山内悠, 安部祐一, 永野光, 昆陽雅司, 坂東宜昭, 山崎公俊, 糸山克寿, 猿渡洋, 岡谷貴之, 奥乃博, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　ROMBUNNO.1C6‐09　2017
Real-Time Human-Voice Enhancement for a Hose-Shaped Rescue Robot Based on Multi-Channel Low-Rank Sparse Decomposition

bando Yoshiaki, Ambe Yuichi, Itoyama Katsutoshi, Konyo Masashi, Tadokoro Satoshi, Nakadai Kazuhiro, Yoshii Kazuyoshi, G. Okuno Hiroshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　(0)　1P2-P05　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.1P2-P05 　

ISSN： 2424-3124

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This paper presents a real-time human-voice enhancement method for a hose-shaped rescue robot based on multi-channel low-rank sparse decomposition. Although microphone arrays equipped on hose-shaped robots are crucial for finding victims under collapsed buildings, human voices captured by the microphone array are contaminated by environment-dependent and non-stationary ego-noise. Our method decomposes multi-channel amplitude spectrograms into sparse and low-rank components (human voice and noise) without any prior training. This decomposition is conducted with a state-space model representing the dynamics of these components in a mini-batch manner. Experimental results show that the performance difference between our method and its offline version is less than 3dB in signal-to-distortion ratio.
Development of active scope camera with sensory functions

Ambe Yuichi, Tadokoro Satoshi, Bando Yoshiaki, Nagano Hikaru, Konyo Masashi, Yamazaki Kimitoshi, Itoyama Katsutoshi, Saruwatari Hiroshi, Okatani Takayuki, G. Okuno Hiroshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　(0)　1P2-P01　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.1P2-P01 　

ISSN： 2424-3124

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We had developed an active scope camera: the robot video scope that can move by itself to probe narrow gaps for rescue missions. However, to investigate the interiors of collapsed houses effectively, not only the high mobility but also the sensors, such as vision, audition and haptics should be installed on the robot. According to this, we have developed an active scope camera with the sensory functions and demonstrated these functions in the test field which imitates collapsed houses. In the demonstration, we mainly showed four functions. (1)Detection of collision and it's presentation to the operator, (2)Searching operation assist with the processed vision data, (3)Shape estimation of the robot with sound and IMU data, and (4)Voice enhancement to detect victim's voice.
変分ベイズ多チャネルロバストNMFに基づくマイクロホンの移動・被覆を許容する音声強調 (音声) -- (オーガナイズドセッション「あらゆる音を対象とした情報処理の実現に向けて」)

坂東宜昭, 糸山克寿, 昆陽雅司, 田所諭, 中臺一博, 吉井和佳, 河原達也, 奥乃博

電子情報通信学会技術研究報告 = IEICE technical report : 信学技報　116　(189)　47-52　2016/08/24
Publisher: 電子情報通信学会
ISSN： 0913-5685
Introduction of ImPACT Tough Robotics Challenge

55　(3)　3-9　2016/03
Publisher: 日本工業出版
ISSN： 0914-6253
Japan Virtual Robotics Challengeタスク開発の概要

木村哲也, 木村哲也, 大金一二, 奥川雅之, 鈴木壮一郎, 清水優, 大坪義一, 高橋友一, 田所論, 田所論

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2016　2016

ISSN： 2424-3124
可食アクチュエータ-消化可能な柔軟駆動体-

小松洋音, 高根英里, 藤田政宏, 野村陽人, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　34th　2016
スクリュー式差動回転機構~全方向駆動車輪としての具現化~

野村陽人, 高根英里, 藤田政宏, 小松洋音, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　34th　2016
双リング式全方向車輪機構における軸受内蔵モデルの具現化と基礎実験-ヨー軸周り旋回速度の連続性向上の実機実験による確認-

小松洋音, 高根英里, 藤田政宏, 野村陽人, 多田隈建二郎, 多田隈理一郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　34th　2016
ImPACTタフ・ロボティクス・チャレンジの概要

田所諭, 内薗豊仁

日本ロボット学会学術講演会予稿集(CD-ROM)　34th　2016
ワイヤーを用いた受動平行機構による空気噴型能動スコープカメラの先端浮上の安定化

神尾柊太, 安部祐一, 安藤久人, 昆陽雅司, 多田隈建二郎, 圓山重直, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　34th　2016
触覚呈示による建設ロボットの遠隔操縦支援-第2報:グリッパ操作時の振動を利用した触覚呈示の検討-

竹之内栄人, 永野光, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　34th　2016
面状全方向クローラ移動体“Omni-Board”-第4報:横方向用履帯の傾き変位許容実験と全周クローラの動作実験-

高根英里, 藤田政宏, 野村陽人, 山本知生, 小松洋音, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　34th　2016
セルフロック型配管内保持力発生機構の弾性特性を用いた印加圧力の決定

山本知生, 昆陽雅司, 多田隈建二郎, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　34th　2016
救助犬行動の自動アノテーションの試み

濱田龍之介, 大野和則, 山口竣平, 星達也, 鈴木高宏, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　34th　2016
内体積可変メカニズムを有するトーラス袋状グリッパ機構-全方向なじみグリッパにおける大型対象物の把持性の向上-

藤田政宏, 高根英里, 野村陽人, 小松洋音, 多田隈建二郎, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　34th　2016
索状ロボット(細径)の概要

田所諭, 昆陽雅司

日本ロボット学会学術講演会予稿集(CD-ROM)　34th　2016
柔軟索状体の先端浮上安定化方法の提案-接地パターンが切り替わる2次元多体モデルを用いた分析-

安部祐一, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　34th　2016
災害ロボットの現状と将来

田所諭, 田所諭

日赤医学　67　(2)　2016

ISSN： 0387-1215
触感通信に向けた多次元空間での触感評価

永野光, NAN Cao, 昆陽雅司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　21st　2016

ISSN： 1349-5062
線状柔軟物の被伸展グラスピングを可能とする多段式把持機構

藤田政宏, 高根英里, 野村陽人, 小松洋音, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
剛性可視化マーカ機構-柔剛切替把持メカニズムにおける状態の提示-

藤田政宏, 高根英里, 野村陽人, 小松洋音, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
多指振動触覚ディスプレイに向けた基節骨への振動刺激法の検討

飯塚将太, 永野光, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
有線遠隔操作ロボットのスタック解消のためのケーブル移動機構の開発-段差踏破時の受動・能動切替の比較-

市村友哉, 高根英里, 藤田政宏, 野村陽人, 小松洋音, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
複数の空気噴射孔を持った能動スコープカメラの開発~二方向に空気噴射可能な機構の提案~

石井昭裕, 神尾柊太, 安藤久人, 安部祐一, 昆陽雅司, 多田隈健二郎, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
壁との接触を利用したクローラロボットの階段上の旋回動作

大橋勇斗, 小島匠太郎, 大野和則, 鈴木高宏, 濱田龍之介, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
先端テーパ型円形断面機構-踏破性向上のための無限軌道形状-

小松洋音, 高根英里, 藤田政宏, 野村陽人, 小島匠太郎, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
柔軟索状体の胴体浮上安定化手法の提案-二次元多体モデルによる分析-

安部祐一, 安藤久人, 安藤久人, 神尾柊太, 昆陽雅司, 多田隈建二郎, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
狭隘瓦礫を探査する能動スコープカメラのための接触情報の検出と提示

船水貴仁, 永野光, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
炉内壁点検装置のための水平方向カウンタウェイトによる振動抑制機構の開発

小澤将生, 多田隈建二郎, 岡田佳都, 藤浪拓海, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
柔軟配管内走行ロボットの接触力低減動作による曲管通過性の向上

山本知生, 昆陽雅司, 多田隈建二郎, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
可変剛性膜メカニズム

藤田政宏, 高根英里, 野村陽人, 小松洋音, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
柔軟受動平行機構を用いた空気噴射型能動スコープカメラの瓦礫乗り越え

神尾柊太, 安部祐一, 安藤久人, 昆陽雅司, 多田隈建二郎, 円山重直, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
受動回転球殻UAVの耐衝突性の向上を目的とした球殻の2点支持式連結固定部の開発と評価

小澤将生, 大橋勇斗, 藤浪拓海, 岡田佳都, 大野和則, 多田隈建二郎, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
先端テーパ型全方向なじみグリッパ機構-スイッチ押し動作用の円錐形状および索状プラットフォームとの統合-

藤田政宏, 高根英里, 野村陽人, 小松洋音, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
可食アクチュエータ-第2報:バルーン式機体の基本的特性の計測および可食吸盤の具現化-

小松洋音, 高根英里, 藤田政宏, 野村陽人, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
自車両の停車時における後方車両の回避経路の推定

梶原正裕, 大野和則, 濱田龍之介, 鈴木高宏, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
飛行体を保護する受動回転球殻の空撮画像への写り込み認識率向上にむけた可視特徴追加と複数部位検出の検討

石井拓麻, 岡田佳都, 大野和則, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
足首における慣性と振動計測を利用した歩行運動の簡易ロギング手法の提案

加藤佳大, 永野光, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
水噴射による索状体の能動化システムの開発

安藤久人, 安藤久人, 神尾柊太, 安部祐一, 多田隈建二郎, 昆陽雅司, 田所諭, 円山重直

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
面状全方向クローラ機構-金属切削化構造の検討・実施による実用性向上-

高根英里, 藤田政宏, 野村陽人, 市村友哉, 小松洋音, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
遠隔操縦支援のためのヒト振動知覚特性を考慮した接触情報伝達システムの提案

竹之内栄人, 永野光, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
スクリュー式差動回転機構~入出力の観点からの応用・展開および具現化例の提示~

野村陽人, 藤田政宏, 高根英里, 小松洋音, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016
Preliminary study of method of getting over a step for the Active Scope Camera by air injection

KAMIO Shuta, ANDO Hisato, KONYO Masashi, TADAKUMA Kenjiro, TADOKORO Satoshi, MARUYAMA Shigenao

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　1A2-08b1　2016
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2016.1A2-08b1 　

ISSN： 2424-3124

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Active Scope Camera (ASC) is a video scope for search and rescue operation, which has self-propulsion with the ciliary vibration drive proposed by the authors previously.It is difficult for the conventional ASC to get over a step. In this paper, we propose a method of getting over a step by air injection, and confirm the basic characteristics of air injection.
Judgment for Avoiding Collision with a Following Vehicle

MATSUYAMA Kohei, OHNO Kazunori, SUZUKI Takahiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　2P2-07a1　2016
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2016.2P2-07a1 　

ISSN： 2424-3124

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The authors aim to develop an autonomous braking system for unconscious car drivers. This paper describes a method for avoiding collision with a following car, which decreases driver's loads. Dynamics between two cars is modeled based on equation of motions. A conditional expression for collision avoidance is derived from the dynamics. We examine own car's deceleration a_p0 and reaction time of the following car T for the collision avoidance, which the speeds of own car and following car are set 40 km/h and 50 km/h, respectively, and a vehicle-to-vehicle time is varied from 1.0 s to 2.0 s. Consequently, the collision is avoided at all the vehicle-to-vehicle time by setting a_p0 -1.3m/s². The collision is also avoided by setting T 0.1. Small T is better solution than a_p0 because total running distance becomes small.
A High Holding Force Generating Mechanism Using Self-locking Phenomenon for In-pipe Robots

YAMAMOTO Tomonari, KONYO Masashi, TADAKUMA Kenjiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　1A1-09a3　2016
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2016.1A1-09a3 　

ISSN： 2424-3124

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This study proposes an advanced holding force generating mechanism to improve performance of in-pipe locomotion mechanism. A high-speed locomotion mechanism using pneumatic hollow-shaft actuators, which is previously proposed by authors, has two challenges: lack of a holding force and inability to pass through a bend pipe. The proposed mechanism overcomes the challenges by applying new holding force generation method to the locomotion mechanism. First, design of previous locomotion mechanism is presented, and then challenges for further improvement are organized. Second, a design concept of a novel mechanism using self-locking phenomenon is proposed. Finally, characteristics of the holding force and passing performance through the bend pipe are investigated through experiments. Experimental results show that a retractable mechanism of pins can generate maximum holding force of 69.7 N, which is 5.2 times higher than the previous one, and improves passing performance through the bending pipe drastically.
Realtime Restoration of Aerial Inspection Images by Recognition and Removal of Passive Rotating Shell of UAV

ISHII Takuma, OKADA Yoshito, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　2A2-09b5　2016
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2016.2A2-09b5 　

ISSN： 2424-3124

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We propose a realtime image restoration method for aerial inspection images that are deteriorated by the occlusion of a passive rotating shall of an unmanned aerial vehicle (UAV). We use only one image as the input, detect joints of the UAV shell using feature-based object detection, reject outliers based on a sample consensus (SAC) approach and the geometrical model of the sell, reconstruct the entire region that the shell appears in, and inpaint the region. We evaluated the successfully-implemented proposed algorithm by actual inspection flights with different conditions. As a result of it, the average rate of the successful image restorations was 81.1 %, and the average processing frame rate was 4.3 fps.
Motion control of tracked vehicle in narrow pssages

KOJIMA Shotaro, OHNO Kazunori, SUZUKI Takahiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　2A1-07b2　2016
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2016.2A1-07b2 　

ISSN： 2424-3124

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In this paper, we propose an autonomous navigation method for tracked vehicles based on a contact force model, which enables navigation in narrow space though it collides surrounding environment. The model counts on the contact force, driving force and friction force with the floor on the vehicle body. Using the model, controllable range is derived in velocity space. Experimental results shows that the robot can move in target direction with motion control based on the model if it collides with the wall, despite the navigation often fails using conventional path following in same conditions.
Sharing of Search and Rescue Dog's Investigation Activities by Using Cloud Services and Mobile Communication Service

YAMAGUCHI Shumpei, OHNO Kazunori, OKADA Yoshito, SUZUKI Tkahiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　1A1-09a2　2016
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2016.1A1-09a2 　

ISSN： 2424-3124

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This paper describes a method which make sharing search and rescue (SAR) dog's investigation activities. The search and rescue activity will be operated several organizations. Therefore, it is necessary for correct decision making to share SAR dog's investigation. The authors propose a sharing method using widespread high speed communication and interface which can be operated by several operating systems. The proposed methods were evaluated by experiment. In several computers, the sharing and presentation methods were operated simultaneously. From the experiment, there were delays of displaying position data and movie data from camera. Evaluating those delays, delay of positon data is 1.5±0.85 seconds and delay of movie data is 20±6.9 seconds.
Development of the Hose Activate Instrument and Method by Water Jets

ANDO Hisato, KAMIO Syuta, TADAKUMA Kenjiro, KONYO Masashi, TADOKORO Satoshi, MARUYAMA Shigenao

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　1A2-08b2　2016
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2016.1A2-08b2 　

ISSN： 2424-3124

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Various Disaster response robots are developed and used for the search and rescue operations. We demand new actuation technology for such a tough field. In this paper, we propose a new actuation technology by water jets. We developed the instrument, which activate the water hose. This consists of a water pump, hoses, and jet nozzles. We observed the motion of the activated hose by water jets. The preliminary experiments were conducted to confirm the potential of new actuation technology for disaster response robots
Analysis of Dog's Gait for improving Velocity Estimation on Rubbles and Stairs

OHNO Kazunori, FUJIEDA Takuaki, KOMORI Yuichi, SUZUKI Takahiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　1P1-09a2　2016
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2016.1P1-09a2 　

ISSN： 2424-3124

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The authors aim to develop a method of dog's velocity estimation from the sensors put on the dog's vest, on rubbles and stairs. Accurate velocity data enable us to obtain dog's running distance, its pose, and its continuous trajectory. These data are important to analyze and visualize the search and rescue dog's activities. This paper describes dog's motion analysis on the rubbles and stairs and proposed a velocity estimation method based on the dog's gait. The propose method allows us to increase accuracy of the dog's velocity from the ground velocity data and estimate a dog's velocity from the sensors put on the dog's vest.
Correction of Pedestrian Self-Localization using Propagated Vibrations on Lower Limbs

KATO Yoshihiro, NAGANO Hikaru, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　(0)　1A2-12a1　2016
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2016.1A2-12a1 　

ISSN： 2424-3124

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This paper proposes a pedestrian self-localization system using propagated vibrations on lower limbs. The goal is to establish a navigation system with high accuracy that is convenient to use wherever we are. The system utilizes a conventional inertial navigation system (INS). In order to cancel the integration errors from inertial measurement unit (IMU), we focus on the human gait cycle. Based on the tendency that the ankle's velocity is close to zero in the mid stance, we use the zero velocity update (ZUPT). To estimate the mid stance times, we construct a new algorithm that combines the piezo sensor and the IMU. As a result of the self-localization in a short path indoor, there is an average position error of 0.88 m in the x-y plane and 1.26 m in the z direction. These errors can be reduced by constructing more accurate correction models.
Study on the Perceptual Mechanism of Force Mediated by Grasping Tools Using Suction Pressure Stimuli on Skin and Kinesthetic Bias

MAKIZUMI Sho, NAGANO Hikaru, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　(0)　1A2-19b7　2016
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2016.1A2-19b7 　

ISSN： 2424-3124

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This study experimentally investigates the perceptual mechanism of the force applied to a grasping tool based on the hypothesis that perceptual force is mediated by the combination of cutaneous and kinesthetic sensation. We conduct the experiments in which, first, two participants memorize a pseudo force presented by the suction pressure display which enables cutaneous stimulation without kinesthetic bias. Then, the participants reproduce a memorized force by pressing a finger actively (with some kinesthetic sensation) and passively (without some kinesthetic sensation). Experimental results show that a reproduced force varies according to the presence of kinesthetic bias, the activity on reproducing task (active or passive) and the intensity of applied cutaneous sensation by the suction display. These results support the hypothesis that the combination of cutaneous and kinesthetic sensation is used for the perception of force.
Visuo-haptic Transmission of Contact Information Improving the Operability of Active Scope Camera

FUNAMIZU Takahito, NAGANO Hikaru, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　(0)　1P1-08b5　2016
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2016.1P1-08b5 　

ISSN： 2424-3124

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Disaster response robots for searching in a narrow area have limited space to mount tactile sensors, but the operators require sensory feedback to recognize contact situations with the surrounding environment. This study proposes a new approach to transmit contact information visually and haptically of a remoteoperated snake-like robot called Active Scope Camera (ASC) to the operator using simple configurations for the sensing and display methods. We established the system of localizing the contact position and the magnitude of measuring vibration by using multiple tactile sensors. Preliminary experiment shows that the developed system estimates a collision angle with high probability at several collisional situations. In experiment, we compared the performance of the operation. The results show that the performance of the operation improves in developed feedback system.
Assistance for Remote Operation of Construction Robots by Vibrotactile Feedback:-First Report : Development of Vibration Measurement System and Investigation on Vibration Properties of Different Contact Materials-

TAKENOUCHI Hideto, NAGANO Hikaru, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　(0)　1P1-09a4　2016
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2016.1P1-09a4 　

ISSN： 2424-3124

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Recent technologies of unmanned construction machines are expected to be also applied to disaster response activities. However, the current work efficiency of remote operations is insufficient because of the lack of intuitiveness of the operation. The purpose of this study is to enhance the operability of remote construction robots by applying vibrotactile feedback. This paper reports initially a development of a vibration measurement system that can be applied to a hydraulic excavator working in a practical environment. We propose a coupled sensor unit of a piezo-type vibration sensor and a 3-DoF accelerometer. To confirm the potential of the vibration measurements, we investigate vibration properties when the bucket collides with different materials.
変分ベイズ多チャネルRNMFに基づく柔軟索状レスキューロボットのための音声強調

坂東宜昭, 糸山克寿, 昆陽雅司, 田所諭, 中臺一博, 中臺一博, 吉井和佳, 奥乃博

日本ロボット学会学術講演会予稿集(CD-ROM)　34th　ROMBUNNO.1C2‐04　2016
3D Posture Estimation for a Hose-shaped Rescue Robot using a Microphone and Accelerometer Array

bando Yoshiaki, Itoyama Katsutoshi, Konyo Masashi, Tadokoro Satoshi, Nakadai Kazuhiro, Yoshii Kazuyoshi, G. Okuno Hiroshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　(0)　1A2-10a6　2016
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2016.1A2-10a6 　

ISSN： 2424-3124

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This paper presents an online method that estimates a 3D posture of a hose-shaped rescue robot using a microphone and accelerometer array. Posture (shape) estimation of a self-driving hose-shaped rescue robot is crucial for handling the robot body because the unseen robot posture deforms in narrow spaces under collapsed buildings. Conventional sound-based method that uses time-differences of arrivals (TDOAs) works only on a two-dimensional surface and is often hampered by the rubble around the robot. Our method eliminates the outliers of sound-based TDOA measurements, and compensates the lack of the posture information with the tilt information measured by accelerometers. Experimental results using a 3-m hose-shaped robot that was deployed in a simple 3D structure demonstrate that our method reduces the errors of initial states to about 20cm in the 3D space.
UN World Conference on Disaster Risk Reduction

Satoshi Tadokoro

IEEE ROBOTICS & AUTOMATION MAGAZINE　22　(3)　176-177　2015/09

DOI： 10.1109/MRA.2015.2452113 　

ISSN： 1070-9932

eISSN： 1558-223X
1A1-U01 3D MAPPING IN PETROCHEMICAL COMPLEXES FOR FIRE FIGHTER ROBOT'S AUTONOMOUS NAVIGATION

Shamsudin Abu Ubaidah bin, Ohno Kazunori, Suzuki Takahiro, Tadokoro Satoshi

2015　"1A1-U01(1)"-"1A1-U01(4)"　2015/05/17
Publisher: The Japan Society of Mechanical Engineers

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Fire fighter robot autonomous navigation requires GPS measurements for 3-D map. However, GPS measurements are not available in all areas. Such situation, is it important to estimate sufficient GPS measurements for 3-D map. This work shows how to estimate areas of GPS measurements in petrochemicals and also how construct a 3-D map based on the fusion of LIDAR sensor with GPS measurements.
柔軟索状レスキューロボットのためのロバスト主成分分析を用いた走行雑音抑圧

坂東宜昭, 池宮由楽, 糸山克寿, 昆陽雅司, 田所諭, 中臺一博, 吉井和佳, 奥乃博

情報処理学会全国大会講演論文集　2015　(1)　505-506　2015/03/17
災害ロボットの現状と将来

田所諭, 田所諭

日赤医学　67　(1)　2015

ISSN： 0387-1215
中型災害救助犬の被災者発見時の連続吠えの検出

古森雄一, 藤枝卓明, 山口竣平, 大野和則, 鈴木高宏, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　33rd　2015
柔軟中空シャフトアクチュエータの弾性チューブ転がり抵抗の同定

山本知生, 昆陽雅司, 多田隈建二郎, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　33rd　2015
全方向受動湾曲メカニズム-接触感応式連動バルブによる受動湾曲機能-

高根英里, 多田隈建二郎, 山本知生, 大野和則, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　33rd　2015
Japan Virtual Robotics Challenge競技タスクの概要

奥川雅之, 木村哲也, 大金一二, 大坪義一, 清水優, 高橋友一, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　33rd　2015
テニスの打撃感を伝える触感提示手法の提案-第2報:スイング速度に応じた振動刺激の生成-

坂田峻也, 永野光, 昆陽雅司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　20th　2015

ISSN： 1349-5062
触覚フィードバックを有する自然な空中手書き入力インタフェース-触覚情報提示タイミングを決める文字入力状態判別特徴量-

KIM Seonghwan, 永野光, 昆陽雅司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　20th　2015

ISSN： 1349-5062
レスキューロボドッグ-災害救助犬の行動計測スーツの開発と探査行動の可視化-

大野和則, 古森雄一, 山口峻平, 鈴木高宏, 田所諭

宮城県獣医師会会報　68　(4)　2015
連結差動切り替え機構を有する球形ケーブル移動体の開発

市村友哉, 多田隈建二郎, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　16th　2015
飛行ロボットによる橋梁近接目視点検のためのカメラシステムの開発と実用性能の定量評価

岡田佳都, 石井拓麻, SALAAN Carl John O., 大野和則, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　16th　2015
高臨場感を有する衝突感提示のための前腕の振動伝播特性の計測

坂田峻也, 永野光, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　16th　2015
能動スコープカメラより伝達される振動情報が接触状態知覚に及ぼす影響の調査

船水貴仁, 永野光, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　16th　2015
形状マッチングによる配管計測における移動量推定の高精度化に関する検討

高野一輝, 大野和則, 鈴木高宏, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　16th　2015
皮膚吸引圧刺激を用いた道具に加わる外力の知覚メカニズムの調査

牧角将, 永野光, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　16th　2015
全方向なじみ変形グリッパ機構

嵜山勢士, 多田隈建二郎, 高根英里, 山本知生, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　16th　2015
距離画像センサを搭載した移動ロボットによる金属壁形状点検手法の提案と試行

小島匠太郎, 神尾柊太, 高根英里, 勝田貴大, 多田隈建二郎, 岡田佳都, 大野和則, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　16th　2015
全方向面状クローラ機構“Omni-Board”-動力伝達方式の提案と横方向移動ユニットの第一次試作-

高根英里, 多田隈建二郎, 嵜山勢士, 山本知生, 昆陽雅司, 田所諭

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　16th　2015
1P2-H05 Gait analysis of dogs for improve velocity estimation on rubbles and stairs

FUJIEDA Takuaki, OHNO Kazunori, KOMORI Yuichi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2015　_1P2-H05_1-_1P2-H05_4　2015
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2015._1P2-H05_1 　

ISSN： 2424-3124

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The authors aim to develop a method of dog's velocity estimation from the sensors put on the dog's vest, on rubbles and stairs. Accurate velocity data enable us to obtain dog's running distance, its pose, and its continuous trajectory. These data are important to analyze and visualize the search and rescue dog's activities. This paper describes dog's motion analysis on the rubbles and stairs and proposed a velocity estimation method based on the dog's gait. The propose method allows us to increase accuracy of the dog's velocity from the ground velocity data and estimate a dog's velocity from the sensors put on the dog's vest.
1A1-I09 Evaluation of Measurement Error caused by Gyroscope on 3D Shape Measurement in Underground Pipes

TAKANO Kazuki, OHNO Kazunori, SUZUKI Takahiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2015　_1A1-I09_1-_1A1-I09_3　2015
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2015._1A1-I09_1 　

ISSN： 2424-3124

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We had developed the 3D shape measurement method using the robot technology to measure underground pipes.And we got the rough shapes of pipe. Our new aim is the accuracy improvement of the 3D shape measurement.Gyroscope on the robot is used to estimate robot position.Hence the specification of gyroscope is greatly related to accuracy of measurement.In this paper, to improve the accuracy of measurement, we propose a method to choose a gyroscope which can satisfy the target accuracy. We evaluated the measurement error caused by specification of gyroscope by simulation, and we found the index of specification of gyroscope.
1P2-H06 Valuating Human Motor Function of Lower Limbs by Changing Load during Pedaling Exercise

MIYAZAKI Tomohiro, SETO Fumi, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2015　_1P2-H06_1-_1P2-H06_3　2015
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2015._1P2-H06_1 　

ISSN： 2424-3124

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The purpose of this study is to establish a quantitative method that can evaluate the motor function of human lower limbs in dynamic situations. As an index of motor function, we focus on the mechanical impedance characteristics of the lower limbs. By controlling these characteristics, humans can improve motion stability and adapt their movement to disturbances in the environment. In this paper, validation was performed using our proposed method to estimate the impedance, whether the impedance is adjusted by changing load during pedaling exercise. In the result, the impedance was adjusted in preparation for changing load unlike in the case of constant load. This agreement suggests that our method could extract a component of human motor control strategy that adjust mechanical impedances during pedaling exercises.
2A1-A08 Suggestion of Tactile Display Method for Conveying Hitting Sensation of Tennis Stroke : First Report : Reproduction and Evaluation of Vibrotactile Stimuli Based on the Measurement Data

SAKATA Shunya, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2015　_2A1-A08_1-_2A1-A08_4　2015
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2015._2A1-A08_1 　

ISSN： 2424-3124

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Recently, many researchers have developed tactile displays using vibrotactile stimuli. However, a tactile display method stimulating multiple positions on the body especially for representing realistic experiences have not been studied enough. This paper proposes a tactile display method for conveying realistic hitting sensations of tennis with vibrotactile stimuli to the multiple positions of forearm. At first, we reproduce vibrotactile stimuli based on the measurement data for forehand strokes. Then, we investigate the effects of stimulus parameters, which are mainly focused on a damping ratio and a stimulus onset asynchrony (SOA), to represent the stroke sensation. Experimental results showed strong sensations were obtained when the damping ratio became small, i.e., duration of vibration became long. We also confirmed that SOA didn't have a great effect on hitting sensations in this experimental conditions.
2A1-B09 Investigation for Effects of Active Muscle Activities on Force Magnitude Perception

MAKIZUMI Sho, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2015　_2A1-B09_1-_2A1-B09_2　2015
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2015._2A1-B09_1 　

ISSN： 2424-3124

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This paper investigates the effects of muscle activities on human perceived forces. It is known that the activeness of force generation effects on attenuation of the perceived force. To investigate the mechanism of this phenomenon, we measured and compared the muscle activities in force generation tasks, which requires reproducing the perceived force by adjusting the force against the thumb actively or passively. Experimental results well followed the attenuation tendency reported in the past literature. We determined that main related muscle to adjust the force generation in our experiment was the ulnar extensor muscle of wrist. This muscle tends to increase the activity corresponding to the increase of the applied force only in the acive condition. This result indicates a possible connection between the muscle activities and the perceived forces in the human sensorimotor system.
1A1-G01 Research for recognizing snow on the road for autonomous driving

KITAHATA Yuki, OHNO Kazunori, SUZUKI Takahiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2015　_1A1-G01_1-_1A1-G01_3　2015
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2015._1A1-G01_1 　

ISSN： 2424-3124

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The authors aim to detect snow on the road from sensor data for autonomous driving in winter. This paper describes collection of sensor data on snow road and trials of snow detection from LIDAR data. The autonomous navigation is affected by the snow on the road and roadsides. The place and quantity of the snow is detected by comparing 3D shapes measured by LIDAR. We collected snow data by using 3 types of LIDAR sensors (FOCUS 3D, 2 mobile platform), and confirmed that snow mountains on the road-side, which are 2 and 3 m, can be detected from the comparison. We also confirmed that snow on the road, which is several cm, can be detected from FOCUS 3D data. However, it is hard to detect them from shape data measured by mobile platform because of LIDAR measurement error and its spatial resolution.
2A1-G06 Unit performance evaluation of adhesion mechanism using electro and permanent magnets for UAVs

Koura Keishi, Okada Yoshito, Ohono Kazunori, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2015　_2A1-G06_1-_2A1-G06_2　2015
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2015._2A1-G06_1 　

ISSN： 2424-3124

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In this paper, we proposed an adhesion mechanism using an electro permanent magnet for unmanned aerial vehicles (UAVs). We aim to realize remote fixed-point observation by UAV with the proposed mechanism, by adhering to a metal object in the environment, instead of rotating propellers that consumes large amounts of power. We introduced the principle of the proposed mechanism that theoretically make the adhesion robust against swing of the vehicle body, and enable a continuous control and an estimate of the adhesion force. Also, we performed quantitative evaluations of the actual mechanism and reported the results that demonstrated those expected advantages.
2P1-Q09 Development of Tether Handling Mechanisms Moving on Cables for Teleoperated Robots : First report: Prototyping and Verifying Tether Handling Mechanism

ICHIMURA Tomoya, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2015　_2P1-Q09_1-_2P1-Q09_2　2015
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2015._2P1-Q09_1 　

ISSN： 2424-3124

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To survey narrow places where humans can't access like disaster area, tethered teleoperated robots are often used because wireless operations are not available in such limited spaces. A problem of tethered robots is tangling with obstacles which makes it difficult for the robots to move. This research proposes the tether handling mechanism that solve tangles. The devices are attached to the tether and move the tether to solve tangles. The proposed mechanism has two locomotive functions; longitudinal movement to move the robot along the cable and lateral movement to carry the cable aside for solving the tangles. Two prototypes for the lateral movement were developed and compared. Both of them succeeded in carrying cables. The experimental results shows the advantages and disadvantages of each prototype and suggests guidelines for further improvements.
1A1-U10 Search and Rescue Dogs' Barking Detection from Audio and Inertial Sensor

KOMORI Yuichi, FUJIEDA Takuaki, OHNO Kazunori, SUZUKI Takahiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2015　_1A1-U10_1-_1A1-U10_4　2015
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2015._1A1-U10_1 　

ISSN： 2424-3124

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This paper proposes audio-based and motion-based methods for detecting search and rescue (SAR) dogs' continuous barking. SAR dogs are trained to bark continuously when they find a victim. Therefore, the victim location can be detected based on using barking actions. Dynamic time warping (DTW) is used to analyze audio data. Periodic motion was happened during the dogs' barking action. The motion can be detected by an inertial measurement unit (IMU) on the vest. A fast Fourier transform (FFT) is used to analyze the dog's barking motion. The proposed detection methods were evaluated using audio and IMU data recorded during actual SAR dog trainings. The F-scores of the audio-based and motion-based barking detection methods were 0.95 and 0.90. As a trial, we marked victim locations on a map based on the body motion.
2A1-G04 State Estimation of Passive Rotating Spherical Shell Using the Camera on Quadrotor

ISHII Takuma, OKADA Yoshito, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2015　_2A1-G04_1-_2A1-G04_4　2015
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2015._2A1-G04_1 　

ISSN： 2424-3124

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We have been developing the MAV with a passive rotating spherical shell for bridge inspection. However, there are issues such that the spherical shell occludes the environment in the on-board camera image, and can be hit by the hammering machine. Therefore, this paper proposes a method to estimate the rotation state of the passive rotating spherical shell with a on-board camera image. To realize it, we evaluated spherical shell recognition performance of feature point detectors, and made the rotation model of spherical shell.
1A1-C01 A High-speed Locomotion Mechanism Using Pneumatic Hollow-shaft Actuators for In-pipe Robots

YAMAMOTO Tomonari, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2015　_1A1-C01_1-_1A1-C01_4　2015
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2015._1A1-C01_1 　

ISSN： 2424-3124

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This study proposes a high-speed locomotion mechanism for a pipe-inspection robot. As a result of the narrow and complex structures of pipeline networks, it is difficult for robots to move quickly within the pipes. The new pneumatic mechanism proposed here realizes high-speed locomotion along with advantageous features for pipe inspection including a small diameter and flexibility. First, we present the design concept of the novel locomotion mechanism using pneumatic flexible hollow-shaft actuators, which was previously developed by the authors. The prototype constructed to realize this concept and the associated mathematical model are then introduced. Second, the basic characteristics of the proposed mechanism are evaluated in terms of the holding force and the impellent force. Finally, the in-pipe movement performance is confirmed. The experimental results show that the designed robot can be propelled inside a 53-mm-diameter pipe at a maximum speed of 250 mm/s, which is exceedingly faster than conventional designs.
2A1-A07 Improvement of Human Reaction Time against Tactile Stimuli Using Two Types of Vibrators Differing in Response Characteristics

FUNAMIZU Takahito, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2015　_2A1-A07_1-_2A1-A07_2　2015
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2015._2A1-A07_1 　

ISSN： 2424-3124

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Vibration feedback is widely used in mobile information devices and video games. Improving reaction time to vibration is important for enhancing operability and usability. An eccentric rotating mass (ERM) and a linear resonance actuator (LRA) are typical vibrators in practical use and these are advantages and disadvantages in terms of stimulus magnitude and response speed. In this paper, we proposes a stimulation method to improve human reaction time using ERM and LRA to overcome the weakness of each actuator, which is especially the slowness at the starting point of ERM. The stimuli proposed realize vibration feedback that has enough magnitude and response speed at the same time. In the experiments, several types of combined vibrations were investigated for improving human reaction time and keeping naturalness of the perceived sensation. The results showed that the proposed method could improve the reaction time with 24 ms in average for a button-press task.
ロバスト主成分分析を用いた動作雑音抑圧に基づく柔軟索状ロボットのための音声強調

坂東宜昭, 糸山克寿, 昆陽雅司, 田所諭, 中臺一博, 中臺一博, 吉井和佳, 奥乃博

日本ロボット学会学術講演会予稿集(CD-ROM)　33rd　ROMBUNNO.2D2-05　2015
1P1-H04 Preliminary Study on Running Direction Control by Air Blow for Active Scope Camera(Search and Rescue Robot and Mechatronics (1))

FUKUDA Junichi, KONYO Masashi, TADOKORO Satoshi

2014　"1P1-H04(1)"-"1P1-H04(3)"　2014/05/24
Publisher: The Japan Society of Mechanical Engineers

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Active Scope Camera (ASC) is a special video scope for search and rescue operation, which has self-propulsion with the ciliary vibration drive proposed by the authors previously. Although the conventional ASC has running direction control functions, ASC still needs more stable direction control capability. In this paper, we propose a new direction control method using air blow. The preliminary experiments were conducted to confirm the potential and basic characteristics.
マイクロホンアレイの位置推定によるホース型ロボットの姿勢推定

坂東宜昭, 大塚琢馬, 糸山克寿, 昆陽雅司, 田所諭, 中臺一博, 奥乃博

情報処理学会全国大会講演論文集　2014　(1)　189-190　2014/03/11
Middle-Long Term Issues of Disaster Robots in Japan

Tadokoro Satoshi

Journal of the Robotics Society of Japan　32　(2)　154-161　2014
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.32.154 　

ISSN： 0289-1824
犬の研究のすすめ~人間と動物とロボット技術の融合した実世界の探査システムを目指して~

大野和則, 古森雄一, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　32nd　2014
異方性摩擦機構を用いたカタストロフィー構造をもつ空気圧アクチュエータの開発

華曄, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　32nd　2014
片付け作業における物体の置き場の決定方法

高住裕紀, 大野和則, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　32nd　2014
三方向のレーザセンサーとIMUを用いた座標取得による地下構造物等の計測システムの開発

宮崎幸, 小阪健次, 上道司, 番上勝久, 番上正人, 山根俊男, 新井智博, 大野和則, 田所諭

建設ロボットシンポジウム論文集(CD-ROM)　14th　2014
1P2-J03 Improvement of Spatial Pointing Performance with Tactile Feedback for Gesture Interfaces(Tactile and Force Sensing (2))

KIM Seonghwan, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2014　_1P2-J03_1-_1P2-J03_3　2014
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2014._1P2-J03_1 　

ISSN： 2424-3124

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Gesture input with body motion has an operating limitation due to a lack of human precise positioning capability of the hand in the air. This study proposes simplified tactile feedback methods to improve spatial pointing performances in a button-selecting task. The proposed methods showed that simplified tactile feedbacks, which were just non-directional vibratory intensity or a few vibration patterns, could improve the pointing performance in a nine-buttons-selecting task by utilizing human proprioceptive sensation.
3P1-P05 Estimation of Impedance of Lower Limb Using Human Body Model during Pedaling Exercise(Sense, Motion and Measurement (2))

MIYAZAKI Tomohiro, SETO Fumi, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2014　_3P1-P05_1-_3P1-P05_4　2014
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2014._3P1-P05_1 　

ISSN： 2424-3124

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In this research, we focus on the impedance adjustment function of human to evaluate his/her mobility function in a quantitative way. We consider that pedaling exercise is suitable for measuring lower limb kinematic impedance parameters, and aim at the establishment of the method which measure lower limb kinematic impedance parameters during pedaling exercise. In this paper, we propose the method of estimating lower limb kinematic impedance parameters during pedaling exercise using a multiple joint link model to take into consideration movement of each body segment which was not taken into consideration in a previous study. As a result, it becomes possible to take into consideration the inuence of the gravity of each body segment, and it is thought that estimated accuracy improved.
2A2-C04 Evaluation of adhesion performance of MAV has adhesion mechanism(Aerial Robot and Mechatronics (2))

YANAGIMURA Kazuaki, OHNO Kazunori, OKADA Yoshito, MIZUTANI Shoma, TAKEUCHI Eijiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2014　_2A2-C04_1-_2A2-C04_4　2014
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2014._2A2-C04_1 　

ISSN： 2424-3124

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A battery powered MAV is used to search inside damaged building and plumbing. However, its flight time is from 10 to 15 minutes because of the limitation of battery. We proposed a MAV has adhesion mechanism to improve above problem. It can hover longer time without propelling by using adhesion mechanism and winch mechanism. In this paper, we evaluate adhesion performance of the MAV in considerable environment.
1P1-X07 TAKO-Pen : Pen-Type Pseudo-Haptic Interface Using Suction Pressure on the Skin : Third Report : Multi-DoF Haptic Representing Method Using Multi Skin Stimuli(Tactile and Force Sensing (1))

MAEMORI Daiki, PORQUIS Lope Ben, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2014　_1P1-X07_1-_1P1-X07_4　2014
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2014._1P1-X07_1 　

ISSN： 2424-3124

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Humans can perceive external forces applied on a grasping tool based on skin pressure distribution at multiple contact areas during grasp. We have developed the TAKO-Pen, a pen-type pseudo-haptic interface using suction pressure stimulation on the each skin. In this paper, we investigate an improved method of skin stimulation based on a combination of psychophysical evaluations and mechanical simulation. We focus on a simplification method of the complex strain energy density (SED) distribution at the contact areas with a four quadrant values (SED index). The relationship between suction pressure and SED index was achieved by connecting the evaluations and the simulation. Moreover, we confirmed that an appropriate SED index could represent the magnitudes of forces in multiple directions with a linear function. Experimental results also showed that the proposed method could represent arbitrary directions between a pair of the orthogonal axes.
1P2-E08 Evaluation of Trajectory of Measurement in Radiation Sources Estimation by Using Dosimeter(Search and Rescue Robot and Mechatronics (2))

Minamoto Gaku, Takeuchi Eijiro, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2014　_1P2-E08_1-_1P2-E08_4　2014
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2014._1P2-E08_1 　

ISSN： 2424-3124

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Building a map of the distribution of radiation activities is needed to assist in decontamination work. The authors have proposed a method to estimate the intensities of point-like radiation sources from the radiation dose measured by moving a dosimeter in three-dimensions and 3-D map of the environment, and it was found that the accuracy of estimated distribution of radiation sources depended on the trajectory of dosimeter. To improve the problem we propose a method to plan a best trajectory of measurement of dosimeter in estimation of radiation sources. In this paper, the difference of likelihood distribution caused by trajectory of dosimeter is shown to evaluate the trajectory.
2A1-G01 Attempt of hammering test using multicopter(Aerial Robot and Mechatronics (1))

YANO Hiroshi, TAKEUCHI Eijiro, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2014　_2A1-G01_1-_2A1-G01_4　2014
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2014._2A1-G01_1 　

ISSN： 2424-3124

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Exterior wall tiles of building oat and peel off from wall by aging. In order to prevent the peeling, the tiles are inspected periodically. The inspection is performed by human hand, and it is necessary to install a scaffold when inspecting the range of reach. However, there are several problems in the installation of scaffold. In order to solve the problems, the author proposes that inspection method using multicopter. In this paper, the author describes about attempt of hammering test using multicopter.
2A2-N06 Development of Pneumatic Actuator with Catastrophic Structure(Mechanism and Control for Actuator (2))

Hua Ye, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2014　_2A2-N06_1-_2A2-N06_3　2014
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2014._2A2-N06_1 　

ISSN： 2424-3124

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In this paper, a new type of pneumatic actuator for flexible cable robot is proposed. The proposed actuator is based on the catastrophic structure which mainly consists of an air cylinder as the power source, rubbers for energy storage, a magnet as the trigger for energy release and a weight for impact generation. Through experiments we show that the actuator moves backward under low friction conditions and forward under high friction conditions. We also built the simulation model of the actuator for design optimization in the future.
2A1-E04 Quadrotor with a Rotating Spherical Shell Which Can Fly in the Complex Structure(Aerial Robot and Mechatronics (1))

MIZUTANI Shoma, OHNO Kazunori, YANAGIMURA Kazuaki, OKADA Yoshito, TAKEUCHI Eijiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2014　_2A1-E04_1-_2A1-E04_4　2014
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2014._2A1-E04_1 　

ISSN： 2424-3124

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Quadrotor are expected to use in disaster investigation or infrastructure inspection. There are complex structure and narrow spaces in these field. In flight on such an environment, there is a high risk of crash due to contact with an obstacle. Therefore, this paper proposes a quadrotor with a rotating spherical shell. The shell can be rotated freely independently of the quadrotor, so it can parry the impact of collision. We designed the prototype, and it was examined experimentally.
2A2-G02 Improvement of the insertion and drawing performance of the Active Scope Camera for pipe inspection(Robotics for Hazardous Fields)

Kanatani Yasutaka, Konyo Masashi, Tadokoro Satoshi, Okamura Eiji, Konno Minoru, Tsunasaki Masaru, Saito Yoshihiro, Wada Hiroyuki, Biwatomo Hiroo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2014　_2A2-G02_1-_2A2-G02_3　2014
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2014._2A2-G02_1 　

ISSN： 2424-3124

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We developed the Active Scope Camera (ASC) for pipe inspection, which promote by the Ciliary Vibration Drive mechanism. However, pipes consist of many bent pipes, so required insertion and drawing performance, which stably pass through these pipes. In this paper, we design configuration that takes into account an ease of drawing and propose the flexible tube type ASC for improvement of insertion. In addition, we propose the drawing function using a wire, and can draw in status of combination of the eight bent pipes. Finally, we valuate insertion and drawing performance by use of simulated pipe, which was assembled in three dimensions.
2A2-G08 High speed motion planning of autonomous car for pulling over without slip(Car Robotics & ITS)

SHIBATA Mitsuharu, OHNO Kazunori, TAKEUCHI Eijiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2014　_2A2-G08_1-_2A2-G08_4　2014
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2014._2A2-G08_1 　

ISSN： 2424-3124

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We propose a motion planning method that cars can automatically stop at road shoulder. This system is used in order to prevent causing a crash car runs away when the driver is unconscious. The proposed method generates paths in consideration of the car's non-holonomic restriction its deceleration, and obstacle avoidance. In addition, the proposed method can generate a path which the car run without slip by limiting the acceleration during its turn. Simulation results show that the proposed method can generate a path that pulls over a car, slowing down from 80km/h to 5km/h. It is confirmed that the proposed method can generate an appropriate path within 12〜16ms at the case of obstacle avoidance.
1P2-I06 Measurement of Search and Rescue Dogs' Actions for Finding Victims(Search and Rescue Robot and Mechatronics (2))

KOMORI Yuichi, OHNO Kazunori, TAKEUCHI Eijiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2014　_1P2-I06_1-_1P2-I06_4　2014
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2014._1P2-I06_1 　

ISSN： 2424-3124

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Search and rescue (SAR) dogs show the typical motions when they find victims. The authors aimed to develop the measurement methods of the SAR dog's motions which suggest the victim locations. It can be used for making investigation maps with victim locations. The authors focused on barking and tail's wagging, and digging as the motion. We used IMU for measurement. The sensors were put on the vest for dogs, and We use no additional clothes by preference. We evaluated their locations and whether it is possible to detect the motions. For example, we can detect wagging motion by IMU directly on the tail.
Preface

Kazuya Yoshida, Satoshi Tadokoro

Springer Tracts in Advanced Robotics　92　2014

ISSN： 1610-7438

eISSN： 1610-742X
Field and Service Robotics - Results of the 8th International Conference, Tohoku University / Matsushima, Japan, 16-19 July 2012

Kazuya Yoshida, Satoshi Tadokoro

Springer Tracts in Advanced Robotics　92　2014
Publisher: Springer
DOI： 10.1007/978-3-642-40686-7 　

ISSN： 1610-7438

eISSN： 1610-742X
マイクロホンアレイとスピーカをもつ柔軟索状ロボットのための動的スピーカ選択による姿勢推定の高速化

坂東宜昭, 糸山克寿, 昆陽雅司, 田所諭, 中臺一博, 吉井和佳, 奥乃博

人工知能学会AIチャレンジ研究会(Web)　41st　8 (WEB ONLY)　2014
マイクロホンアレイを用いた駆動機構付ホース型ロボットの姿勢推定

坂東宜昭, 糸山克寿, 昆陽雅司, 田所諭, 中臺一博, 吉井和佳, 奥乃博

日本ロボット学会学術講演会予稿集(CD-ROM)　32nd　ROMBUNNO.1I2-02　2014
Disaster Response Robots and Fukushima-Daiichi Nuclear Power Plant Accident

48　(12)　539-545　2013/12
Publisher: 日本設計工学会
ISSN： 0919-2948
災害対応ロボットの技術とその課題 (特集地震・原子力災害へのロボット技術の利用)

田所諭

電気評論　98　(6)　13-21　2013/06
Publisher: 電気評論社
ISSN： 0285-5860
1A2-E01 TAKO-Pen: Pen-type Pseudo-Haptic Interface Using Suction Pressure on the Skin : First Report: Perceiving External Force by Multipoint Suction Pressure Stimuli(Haptic Interface (2))

PORQUIS Lope Ben, MAEMORI Daiki, NAGAYA Naohisa, KONYO Masashi, TADOKORO Satoshi

2013　"1A2-E01(1)"-"1A2-E01(4)"　2013/05/22
Publisher: The Japan Society of Mechanical Engineers

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In this study, we present a feasible solution to address the problem of deficiency of haptic feedback in fine manipulation. We studied the effect of skin stimulation by multipoint suction pressure on the haptic perception of external force. The subjects perceived the presented magnitude and direction of suction pressure and interpreted it, by exerting an equivalent force vector on the tactile interface. We had obtained the characteristics of perceived external force with respect to suction pressure stimuli. This relationship is used as a model for presenting the stimuli on the interface.
原子力発電所の事故対応に求められるロボット技術 (電気記念日特集)

田所諭

電気協会報　(1052)　10-14　2013/03
Publisher: 日本電気協会
ISSN： 1346-7441
東北から明るい未来を創るICT技術 5.防災ロボットの未来

田所諭

電子情報通信学会誌　96　(10)　2013

ISSN： 0913-5693
片付けロボットのための属性情報を用いた物の置き場所の推定

高住裕紀, 大野和則, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　31st　2013
ペン把持時の皮膚接触面における圧力分布を考慮した疑似力覚呈示手法

前森大貴, PORQUIS Lope Ben, 永谷直久, 昆陽雅司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　18th　2013

ISSN： 1349-5062
空間操作型インタフェースを用いた仮想柔軟物体との疑似力覚インタラクション

宮崎友裕, KIM Seonghwan, 伊藤純平, 永谷直久, 昆陽雅司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　18th　2013

ISSN： 1349-5062
1A1-R16 Development of Active Scope Camera for Vertical Falling Down Exploration(Robotics for Hazardous Fields)

FUKUDA Junichi, TAKEUCHI Eijiro, KONYO Masashi, TADOKORO Satoshi, YAMAZAKI Shinobu, HIROSE Yutaka, AOKI Shigeru, KANAMORI Hiroshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2013　_1A1-R16_1-_1A1-R16_4　2013
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2013._1A1-R16_1 　

ISSN： 2424-3124
2A1-R10 Motion Planning in Dynamic Fields for Mobile Robots Based on Prediction of Visible Area Deliberation of Collision Risk in Dynamic Environment(Wheeled Robot / Tracked Vehicle (1))

SUGAWARA Naoki, TAKEUCHI Eijiro, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2013　_2A1-R10_1-_2A1-R10_3　2013
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2013._2A1-R10_1 　

ISSN： 2424-3124

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This study developed path planning algorithm that mobile robot moves safety in living environment. In the human living environment, positions of objects and people change frequently. So, Robots need to move with observing environments. But, paths with traditional path planning method have concerns about collision with unobserved object when range of observation is limited. To solve this problem, we have proposed the path planning method. This method can predict change of observable area in planning and avoid robots go into unobserved area. We confirm that Robots can arrive at the destination by using our method in static field. In this paper, we developed our method in order to use the method in dynamic environment.
1P1-P10 Ground Surface Radiation Source Estimation from Dose Distribution and 3D Map Based on Radiation Attenuation Characteristic(Search and Rescue Robot and Mechatronics)

Minamoto Gaku, Takeuchi Eijiro, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2013　_1P1-P10_1-_1P1-P10_4　2013
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2013._1P1-P10_1 　

ISSN： 2424-3124

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This paper presents method of building a wide range and high density radiation source map by using accessible dosemeter. Radioactivities spread across eastern Japan because of Fukushima No. 1 nuclear power plant accident. Then they have piled up and made high dose spots in our living area. Radiation source map building is needed for streamlining decontamination work and reducing exposure. There are some problems in building radiation source map.One of the problems is that there is no way to build a high density map by accessible measure method. Our approach is to measure dose with accessible dosemeter and estimate ground surface radiation source from the dose distribution and 3D map based on radiation attenuation characteristic in order to solve a problem of low density.
1P1-P18 Development of Movable Bumber Type Contact Sensors for Tracked Vehicle(Search and Rescue Robot and Mechatronics)

Ohno Kazunori, Higashi Kazuyuki, Takeuchi Eijiro, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2013　_1P1-P18_1-_1P1-P18_4　2013
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2013._1P1-P18_1 　

ISSN： 2424-3124

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The authors aim at developing contact force sensors for rescue robots. When the robot explores damaged buildings, the contact force sensors are useful. By considering the contact, we can reduce the risk of trouble during the mission. In this paper, we propose a tough and thin contact force sensor for tracked vehicles.
2A1-A11 TAKO-Pen : Pen-Type Pseudo-Haptic Interface Using Suction Pressure on the Skin Second Report : Deformation Analysis of Finger-pad in Holding a Pen Applied with External Force(Tactile and Force Sensing (1))

Maemori Daiki, Lope Ben Porquis, Nagaya Naohisa, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2013　_2A1-A11_1-_2A1-A11_4　2013
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2013._2A1-A11_1 　

ISSN： 2424-3124

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We have developed the TAKO-Pen, a pen-type pseudo-haptic interface using suction pressure stimulation on the skin. This paper presents a follow up report to support the results obtained in an earlier study. In this paper, we obtain an analysis on the finger pad deformation using the finite element method. The analysis was based on the grasping condition of the finger on the pen at which external force is applied. This analysis is important for developing the guidelines for controlling pressure distribution on the skin. We found that strain energy density appears to conform to the responses we had obtained in the psychophysical experiment.
1A1-F07 Research and Development of an Adsorption Mechanism Using Magnets for Quadrotors(Aerial Robot and Mechatronics (1))

YANAGIMURA Kazuaki, OHNO Kazunori, TOTSUKA Yusuke, TAKEUCHI Eijiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2013　_1A1-F07_1-_1A1-F07_4　2013
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2013._1A1-F07_1 　

ISSN： 2424-3124

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UAV driven by battery is used to search indoor of a suffering building and plumbing of plant, but it can only fly at short time because of few burdens of the battery. To solve the problem mentioned above, this paper proposes an adsorption mechanism using magnets which can be mounted on UAV. So UAV can hold its own position by using the adsorption mechanism without driving propellers. We designed the adsorption mechanism in consideration of mounting on UAV and evaluated it.
2A2-A07 Walking Support by Vibrotactile Stimuli against Lower Limb Joints : First Report:Development of Recording and Reproducing Equipment of Vibration Propagation on Legs during Gait(Tactile and Force Sensing (2))

Ohtake Tatsuya, Nagaya Naohisa, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2013　_2A2-A07_1-_2A2-A07_2　2013
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2013._2A2-A07_1 　

ISSN： 2424-3124

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Humans control their movement based on the environmental information obtained from various sensory systems. Although it is generally known that deep sensation coordinates the control of the movement, it is assumed that cutaneous sensation also has some functions on the motor control. This means that decline of cutaneous sensation can be a possible cause of fall of walking capability. Our objective is to develop a new walking support technology using vibrotactile simulations on the lower limbs. In this paper, we developed a wearable recording and reproducing equipment of vibration propagation on legs during gait.
1P1-P11 Development of Long Term Usable and Search Recording Devices for Rescue Dogs(Search and Rescue Robot and Mechatronics)

SAKAGUCHI Naoki, OHNO Kazunori, TAKEUCHI Eijiro, NAGAYA Naohisa, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2013　_1P1-P11_1-_1P1-P11_4　2013
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2013._1P1-P11_1 　

ISSN： 2424-3124

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The authors aim at recording and visualizing search results which acquired by rescue dogs. We are trying to record the motion, the position, and the image that the dogs are looking. In this paper, we develop long term usable and search recording devices for rescue dogs. We consider equipments to mount on and the attachment position because the weight may prevent the dog's motion. We also archive simple equipment to dogs by sewing the devices to the dog's vest. Devices can be equipped to dogs, only by putting the vest on. In addition, we examine the optimal position of the camera to film disaster sites that rescue dogs are searching. We evaluated the devices by the experiments with using dogs.
2A2-A08 Haptic Representation of Surface Shape for Space Operation Type Interfaces(Tactile and Force Sensing (2))

ITOU Junpei, NAGAYA Naohisa, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2013　_2A2-A08_1-_2A2-A08_4　2013
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2013._2A2-A08_1 　

ISSN： 2424-3124

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Space operation type interfaces, which use gestures and hand movement in the air, provide intuitive interaction as a human interface. Haptic feedback for such interfaces will be able to enhance the operability and the reality. In this study, we propose a surface shape display method for the space operation type interfaces. We have proposed a surface shape display method by cutaneous sensation of friction through a pointing-stick-type tactile interface called 'Vib-Touch'. In this paper, we propose a new implementation of the surface shape display method to apply the space operation type interface. We evaluated the discrimination performance with the three virtual shapes in space by comparing with the real objects.
2P1-G05 Gait cycle estimation method by using body traveling vibration caused by walking(Sense, Motion and Measurement (3))

KADOYA Shuhei, NAGAYA Naohisa, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2013　_2P1-G05_1-_2P1-G05_4　2013
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2013._2P1-G05_1 　

ISSN： 2424-3124

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In recently, analysis of human gait research have been active. However there is no effective and easy method to find gait cycle without using expensive and complex device such as motion capture. Therefore, we propose the method to estimate gait cycle with body travelling vibration caused by ground collision measured at certain points. This method is using the sensor which is none expensive, small, and simple but can gain vibration precisely. The vibration can be separated to low frequency and high frequency and they are used to estimate Heel Contact and Toe Off which can indicate the gait cycle.
1P1-I01 Localization for Vehicle Based on GPS Satellites Visibility by Aerial survey Maps : Development of Measurement Vehicle(Localization and Mapping (2))

ARAKAWA Shogo, TAKEUCHI Eijiro, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2013　_1P1-I01_1-_1P1-I01_4　2013
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2013._1P1-I01_1 　

ISSN： 2424-3124

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This paper describes a localization method for ground vehicle in urban environments using GPS. To reject GPS multipath error, the method discerns GPS satellites visibility and removes signals from invisible GPS satellites. In order to determine invisible satellite, the method uses Aerial survey Maps. GPS antenna position on the 3D-Maps is estimated by employing a particle filter. To Applying this method for ground vehicle, we developed measurement vehicle.
3次元GISに統合可能な埋設下水管の形状計測

新井智博, 大野和則, 田所諭, 宮崎幸, 上道司, 小阪健次, 番上勝久

日本ロボット学会学術講演会予稿集(CD-ROM)　31st　2013
レスキューロボドッグ:情報技術を利用した人と動物の協調探査の高度化

大野和則, 坂口尚己, 竹内栄二朗, 田所諭

計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM)　2013　2013
ホースの伸び縮みによるマイク位置の変化を許容するマイクロホンアレイを用いたホース型ロボットの姿勢推定

坂東宜昭, 大塚琢馬, 糸山克寿, 中村圭佑, 昆陽雅司, 田所諭, 中臺一博, 奥乃博

人工知能学会AIチャレンジ研究会(Web)　38th　10 (WEB ONLY)　2013
Rescue Robots and Fukushima-Daiichi Nuclear Power Plant Accident

TADOKORO Satoshi

Journal of the Robotics Society of Japan　30　(10)　1017-1021　2012/12/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.30.1017 　

ISSN： 0289-1824
The Age of Disaster Response Robots

田所諭

情報処理　54　(1)　巻頭　2012/12/15
災害対応ロボットのあるべき姿

田所諭

建設の施工企画　(753)　23-31　2012/11/25
Publisher: 日本建設機械化協会
ISSN： 1349-547X
2A2-T08 Semi-autonomous Steering Control for Cycling Wheelchair(Welfare Robotics and Mechatronics (3))

LI Zhaotong, TAKEUCHI Eijiro, TADOKORO Satoshi

2012　"2A2-T08(1)"-"2A2-T08(4)"　2012/05/27
Publisher: The Japan Society of Mechanical Engineers

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Aim at safety and maneuverability, this paper proposes a semi-autonomous control of cycling wheelchair by steering power assist. In this study, a dynamic window approach is utilized to be the theoretical basis of navigation, steering power assist by servo motor is utilized to realize the actual maneuver. The proposed control scheme is implemented oil a mobile robot, its effectiveness is assessed by experiment.
東日本大震災の教訓－災害対応ロボットのあるべき姿について考える－

田所諭

ロボット　(206)　1-8　2012/05
Publisher: 日本ロボット工業会
ISSN： 0387-1940
Localization in Outdoor Environments using Multi-Sensor Localization Framework

TAKEUCHI Eijiro, YAMAZAKI Masashi, TANAKA Kazushi, OHNO Kazunori, TADOKORO Satoshi

Journal of the Robotics Society of Japan　30　(3)　296-304　2012/04/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.30.296 　

ISSN： 0289-1824

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This paper proposes multi-sensor localization framework for an autonomous mobile robot using multiple sensor. To realize robust localization in outdoor environments, many external sensors are needed. The propoesd localization framework in the paper is to divide the localization system into modules that contains retro-active localization function for particle filter to solve computation delay of to calculate measurement models. In this paper, solutions for multi-sensor localization are illustrated and localization experimental results in outdoor environments are described.
Propose an RAS Summer School

Andreas Birk, Stefano Stramigioli, Satoshi Tadokoro

IEEE ROBOTICS & AUTOMATION MAGAZINE　19　(1)　104-+　2012/03

DOI： 10.1109/MRA.2012.2184205 　

ISSN： 1070-9932

eISSN： 1558-223X
災害対応ロボットレスキューロボットQuince

田所諭

JACIC情報　104　(26)　63-69　2012/01/25
18・7 レスキューロボット(18.ロボティクス・メカトロニクス,<特集>機械工学年鑑)

田所諭

日本機械学会誌　115　(1125)　585-586　2012
Publisher: 一般社団法人日本機械学会
DOI： 10.1299/jsmemag.115.1125_585_4 　

ISSN： 0021-4728
地上走行ロボットと飛行ロボットの協調による被災ビルの探査実験

吉田和哉, 永谷圭司, 岡田佳都, 桐林星河, 大竹一樹, 大野和則, 竹内栄二朗, 田所諭, MICHAEL Nathan, SHEN Shaojie, MOHTA Kartik, KUMAR Vijay

日本ロボット学会学術講演会予稿集(CD-ROM)　30th　2012
観測による地図更新を予測する経路計画の高速化と安全走行の検証

菅原直樹, 竹内栄二朗, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　30th　2012
空気圧柔軟中空シャフトアクチュエータの発生力解析と応用

若菜和仁, 鉛搏瑛, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　30th　2012
搭乗型モビリティロボット向けRTCの開発

五十嵐広希, 竹内栄二朗, 齋藤俊久, 清水正晴, 根和幸, 佐藤徳孝, 前田弘文, 秋元大, 高森年, 松野文俊, 田所論, 水川真

日本ロボット学会学術講演会予稿集(CD-ROM)　30th　2012
GPS衛星の可視性に基づいた複数測位解生成による移動体の位置推定の精度検証

荒川尚吾, 竹内栄二朗, 大野和則, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　30th　2012
ペダリング運動を用いた人体下肢のインピーダンス調整機能の評価第3報:ペダリング運動中のインピーダンス計測

渡邊高広, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　30th　2012
水蒸気が充満する室内のレーザ波形の特徴に基づく水蒸気の分類

鈴木貴広, 大野和則, 竹内栄二朗, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　30th　2012
災害救助犬の位置推定のための速度推定手法に関する考察

坂口尚己, 大野和則, 竹内栄二朗, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　30th　2012
小型3次元レーザスキャナを搭載したクローラロボットによる被災建物内部の3次元計測

大野和則, 鈴木貴広, 東和幸, 坪田真延, 竹内栄二朗, 田所諭

建設ロボットシンポジウム論文集(CD-ROM)　13th　2012
歩行時の人体下肢関節部における振動伝播の計測

永谷直久, 深澤洸貴, 昆陽雅司, 田所諭

バイオメカニズム学術講演会予稿集　33rd　2012
レーザの通過率を用いた複数の線や網を含む3次元点群の分類

大野和則, 大野和則, 畠彰彦, 桜田健, 竹内栄二郎, 田所諭

ロボティクスシンポジア予稿集　17th　2012

ISSN： 1881-7300
ポインティングスティック型インタフェースのための疑似形状呈示法

伊藤純平, 大竹達也, 門谷周平, 前森大貴, 永谷直久, 昆陽雅司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　17th　2012

ISSN： 1349-5062
災害対応ロボット

田所諭, 田所諭

日本機械学会東海支部講習会資料集　117th　2012
次世代ロボット知能化技術開発プロジェクトの成果報告「移動知能(社会・生活分野)の研究開発」の最終成果報告

水川真, 五十嵐広希, 竹内栄二朗, 齋藤俊久, 清水正晴, 大和秀彰, 戸田健吾, 根和幸, 佐藤徳孝, 前田弘文, 高瀬弘勝, 青木利憲, 秋元大, 高森年, 松野文俊, 田所諭, 古田貴之

ロボット　(208)　2012

ISSN： 0387-1940
歩行時の人体下肢関節部における振動伝播の比較

深澤洸貴, 永谷直久, 昆陽雅司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　17th　2012

ISSN： 1349-5062
歩行時の下肢関節部への振動刺激が歩容調整に与える影響の予備的調査

大竹達也, 永谷直久, 昆陽雅司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　17th　2012

ISSN： 1349-5062
足裏部から全身への振動伝搬特性に関する研究

永谷直久, 深澤洸貴, 昆陽雅司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　17th　2012

ISSN： 1349-5062
振動刺激によるマスキングが上肢の打撃力調整タスクに及ぼす影響

藤田晴千, 永谷直久, 昆陽雅司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　17th　2012

ISSN： 1349-5062
1A1-B07 POMDP based Motion Planning for Searching Unknown Objects(3D Measurement/Sensor Fusion(1))

OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2012　_1A1-B07_1-_1A1-B07_4　2012
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2012._1A1-B07_1 　

ISSN： 2424-3124

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The authors aim at finding and modeling unknown objects in human life environment using robot technologies. In this paper, the authors proposed a method of unknown object segmentation using manipulation. Partial Observation Markov Decision Process (POMDP) is used for the planning. POMDP requires states for the estimation of the unknown objects. However, it is hard to define the states of the unknown objects. Therefore, the authors used primitive shape (e.g., quadrangular prism, ball) as the states. Use of primitive shape allows the estimation of unknown objects by using POMDP. We show a simulation result of the unknown object finding.
2A2-L09 Quad-rotor Flying along the Pipe(Aerial Robot and Mechatronics(2))

TOTSUKA Yusuke, OHNO Kazunori, TAKEUCHI Eijiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2012　_2A2-L09_1-_2A2-L09_4　2012
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2012._2A2-L09_1 　

ISSN： 2424-3124

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The authors aim at developing a search system by using a Quad-rotor. Fire and leakage accident occur many times in chemical plants and oil plants etc because of pipe line troubles. In order to solve this problem, it is necessary to check pipes. In this paper, the authors proposed a method of Quad-rotor flying along a pipe. We set a line which is a constant distance parallel with the pipe line as target line. The Quad-rotor can follow the target line by moving a target point aloneg the target line. Position control method proposed by Michael is used for the purpose. We have implemented the program on the dynamics simulator V-REP, and confirmed that the Quad-rotor fly along the pipe line using the proposed method.
2A1-J11 Laser scanner base localization in outdoor environment supposing snowfall(Localization and Mapping(1))

Fukui Takahisa, Takeuchi Eijiro, Ohno Kazunori, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2012　_2A1-J11_1-_2A1-J11_4　2012
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2012._2A1-J11_1 　

ISSN： 2424-3124

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We are developing the automatic guided vehicles for the outdoors. and studyingabout the robust localization method using a laser scanner for the stable autonomous run. Then, the influence which the climate condition containing snowfall has on observation of a laser scanner was investigated.
2A1-P09 Development of sensor system to predict the contact with lateral aspect and some obstacles for tracked vehicle with sub-crawlers(Search and Rescue Robot and Mechatronics(1))

Higashi Kazuyuki, Ohno Kazunori, Takeuchi Eijiro, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2012　_2A1-P09_1-_2A1-P09_4　2012
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2012._2A1-P09_1 　

ISSN： 2424-3124

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The remote control support by the generation of robot's motion which considers the robot's activity environment and a manipulator's operation input is effective in improvement in practicality of a teleoperated robot. The validity of operation support improves by measuring positively the range of the robot's lateral aspect which tends to serve as a dead angle for a manipulator especially. It is because many of failures in remote control originate in contact of the robot's lateral aspect and some obstacles. Then, in order to realize generation of operation according to the teleoperated robot's activity environment, the sensor system which used the three-dimensional distance sensor of the large area and the short-time measurement was developed. By this sensor system, the generation of operation which predicted the contact relation between the robot's sides and an obstacle is attained.
2P1-C06 Evaluation of Impedance Adjustment Function of Human Lower Limb Using Pedaling Exercise : Second Report : Evaluation for an Endpoint Trajectory Prediction during Pedaling Exercises(Sense, Motion and Measurement (3))

Watanabe Takahiro, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2012　_2P1-C06_1-_2P1-C06_4　2012
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2012._2P1-C06_1 　

ISSN： 2424-3124

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Humans perform movements with adjusting their body impedance to environmental impedance. A Lack of such adjustment ability decreases human performance for optimal movement control to adapt changing environments and contact events. The purpose of this study is to develop an evaluation method for human impedance adjustment ability on lower limbs. In this paper, as the second report, we proposed an estimation method of impedance parameter, especially on stiffness, during pedaling exercise. An experiment system for measuring the impedance was developed. We evaluated the changes in endpoint trajectories during the pedaling exercise under a discontinuous velocity-dependent force field in order to predict an actual trajectory correctly.
1A1-N10 Quantitatively Evaluating Cycling Wheel Chair Drivers Based on the Enhanced Indoor Safety(Rehabilitation Robotics and Mechatronics(1))

HIRO Nobutoshi, TAKEUCHI Eijiro, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2012　_1A1-N10_1-_1A1-N10_4　2012
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2012._1A1-N10_1 　

ISSN： 2424-3124

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Patients with walking difficulties often rely on mobility aids for moving around by themselves. A Cycling Wheel Chair has been developed as an option in order to provide such patients an opportunity to fully utilize their bodies, including lower limbs and nerves. This paper presents the enhanced indoor safety concept, where the Cycling Wheel Chair warns the patient as he blindly approaches static objects, rather than completely taking over their controls. Also, quantitative evaluation of the driving ability with warning levels allows a patient to perform a rehabilitation exercise away from hospitals. The results of such evaluation can later be used by doctors for further driving ability assessments.
1A2-A02 An Evaluation Method for Human Impedance Adjustment Using Artificial Musculoskeletal Mechanism Second Report : Influence of Vibrotactile Interruptions on Impedance Adjustment Ability(Tactile and Force Sensing(2))

FUJITA Haruyuki, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2012　_1A2-A02_1-_1A2-A02_4　2012
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2012._1A2-A02_1 　

ISSN： 2424-3124

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Humans can adjust own impedance with environment impedance. This study has a hypothesis that humans use impact vibrations generated by hitting environments with a part of body for adjusting own impedance. Although the relationship between muscular activities and perceived impedance should be evaluated to investigate the hypothesis, it is hard to control muscle activities voluntary. So we propose an evaluation method for human impedance adjustment ability using an artificial musculoskeletal mechanism which has variable stiffness function to substitute a part of body. This device contributes to investigate relationships between perceived impedance and motion control under several stiffness conditions. We developed a prototype device. We confirmed that instantaneous vibrotactile stimuli which interrupt impact vibrations could affect the human impedance adjustment ability.
1A2-A01 A Proposal of Human Impedance Perception Hypothesis Based on Body Vibration Propagation Third Report : Fundamental Examination for Vibrotactile Stimulation on a Leg Joint(Tactile and Force Sensing(2))

Ohtake Tatsuya, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2012　_1A2-A01_1-_1A2-A01_2　2012
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2012._1A2-A01_1 　

ISSN： 2424-3124

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Efficient human movement requires to adjust both environment impedance and biological impedance. We suggest that cutaneous sensation contributes this impedance adjustment. Our objective is to develope movement support technology by vibrating leg joint parts. In this paper, as a preliminary step, we evaluated vibrotactile threthold of the leg joint and effects of stimulus locations and simultaneous stimuli.
1A2-B10 3-Dimensional Measurement Using Laser Reflection Intensity in Rooms Filled with Smoke(3D Measurement/Sensor Fusion(2))

SUZUKI Takahiro, OHNO Kazunori, TAKEUCHI Eijiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2012　_1A2-B10_1-_1A2-B10_4　2012
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2012._1A2-B10_1 　

ISSN： 2424-3124

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The authors aim to make 3-D map in rooms filled with smoke by removing smoke effects. Because the laser scanner is able to measure the shape of the smoke, the smoke is show up in the generated 3-D map. This paper attempts to recognize the smoke using laser reflection intensity, remove the smoke from the 3-D map, and correct the measuring distance if the laser measures 3-D shape of the smoke. The 3-D point cloud is divided into voxels. Smoke is characterized with an eigenvalue and laser reflection intensity in each voxel. In addition, the 3-dimensional shape warped by smoke effects is corrected both distance and angle of incidence.
2A1-A05 Motion Planning by Predicting Update of Occupancy Gridmap with Moving Path(New Control Theory and Motion Control)

SUGAWARA Naoki, TAKEUCHI Eijiro, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2012　_2A1-A05_1-_2A1-A05_4　2012
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2012._2A1-A05_1 　

ISSN： 2424-3124

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This study developed path planning algorithm that mobile robot moves safety. For safety move, it is important for preventing incursion into unmapped region. However, existing path planning algorithm has to invade unmeasured space when destination is located in unmapped space. This paper describes about path planning algorism which minimalize incursion into unmapped region by predicting update of unmapped region with action.
1A2-A03 A Proposal of Human Impedance Perception Hypothesis Based on lower limb Vibration Propagation Second Report : Evaluation of a System for Measuring Vibrational Characteristics(Tactile and Force Sensing(2))

Fukasawa Koki, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2012　_1A2-A03_1-_1A2-A03_4　2012
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2012._1A2-A03_1 　

ISSN： 2424-3124

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Human motion is performed by adjusting their impedance to environmental impedance. However mechanism behind the human impedance perception is still unclear. Therefore, our goal is to clarify the mechanism behind the human impedance perception from a view of cutaneous sense involvement. In this paper, we developed acoustic vibration sensor, and evaluated Vibrational Characteristics of it, and investigated the relationship between muscle activity and vibration propagation of human body. The involvement of cutaneous sense in impedance perception is suggested in the result of experiment.
2A1-E08 Development of a Flexible Pneumatic Linear Actuator with Unlimited Stroke Length and High Speed Motion(Mechanism and Control for Actuator(1))

WAKANA Kazuhito, NAMARI Hiroaki, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2012　_2A1-E08_1-_2A1-E08_4　2012
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2012._2A1-E08_1 　

ISSN： 2424-3124

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We propose a novel pneumatic actuator for applying to inspection robots in narrow spaces. This actuator is 25 mm in maximum diameter and has unlimited stroke length and high speed motion by converting expansive power of pressurized tube to rolling motion. The maximum generating force of it is more than 20 N at 500 kPa pressure and the maximum linear motion velocity is more than 9 m/s. In this paper, we established a dynamic model of this actuator and simulated the generating force to applied pressure. Furthermore, we carried out the measurement experiment of the generating force in order to verify the validity of the dynamic model and optimize the actuator.
2A2-M03 Tube-type Active Scope Camera with High Mobility and Practical Functionality(Mobile Robot with Special Mechanism(2))

NAMARI Hiroaki, WAKANA Kazuhito, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2012　_2A2-M03_1-_2A2-M03_4　2012
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2012._2A2-M03_1 　

ISSN： 2424-3124

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Active Scope Camera (ASC) is a special video scope for search and rescue operation, which has self-propelled mechanism with a ciliary vibration drive proposed previously. Based on the problem analysis of the conventional ASC for applying practical disaster environments, we propose a new tube-type ASC to enhance mobility in the terrain and practical functionality for rescue activities. We designed a smart structure to mount vibrators on the long tubular cable without any rigid projections. We integrated several practical functions such as a head bending structure, an auditory communication system, and a gravity indicator for the head orientations. We conducted several fundamental performance experiments. Finally, enhanced performances of the Tube-type ASC for a practical use were shown at the training site for first responders.
2A1-J10 Localization for Vehicles using Multi Positioning Solutions Based on GPS Satellites Visibility(Localization and Mapping(1))

ARAKAWA Shogo, TAKEUCHI Eijiro, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2012　_2A1-J10_1-_2A1-J10_4　2012
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2012._2A1-J10_1 　

ISSN： 2424-3124

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This paper describes a localization method for vehicles using GPS. To reject multipath error, the method discern GPS satellite visibility and remove signals from invisible GPS satellites using 3D-Map. GPS antenna position on the 3D-Map is estimated by using a particle filter. Each particle has different visibility of GPS satellites. Therefore, every particle has different positioning solutions. The method is useful for localization and navigation of vehicles between buildings.
1A1-B08 Object Segmentation based on Motion(3D Measurement/Sensor Fusion(1))

TSUBOTA Masanobu, OHNO Kazunori, TADOKORO Satoshi, TAKEUCHI Eijiro

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2012　_1A1-B08_1-_1A1-B08_4　2012
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2012._1A1-B08_1 　

ISSN： 2424-3124

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The authors aim at developing a tele-operated mobile manipulation that can autonomously take an unknown target object specified by an operator. The robot needs to identify the target object in the cluttered environment on the basis of the human input. We propose a method for the identification of the target objects using robot not only vision but also motion. In this paper, we propose one of the most simplest designation way from human to the robot and a framework to understand motions of the object which is come out during the robot motion, such as whether the object separated vertically or horizontally, and failure for the robot motion like a falling of a stacked object.
1A1-B06 Observation Motion Plannning for Obstacle Detection using Swinging Laser Scanner(3D Measurement/Sensor Fusion(1))

TAKEUCHI Eijiro, Ohno Kazunori, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2012　_1A1-B06_1-_1A1-B06_4　2012
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2012._1A1-B06_1 　

ISSN： 2424-3124

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This paper proposes observation planning algorithm for running in living space. In living spaces, layout of the environments will be change by human. Therefore, robots need abilities to sense and avoid the environment changes. Sensors for mobile robots have limitation, these are measuring time, field of view, measurement error, and so on. Therefore, robots need to move the sensors to measure sweeping region. In this paper, planning algorithm for path and measuring are proposed. The proposed algorithm optimizes path and sensing direction of the robot for safety and fast navigation in living environments. The paper describes problem settings for measuring planning in living environments and planning algorithms to solve the problem.
1A2-B11 Motion measurement for search and rescue dog(3D Measurement/Sensor Fusion(2))

SAKAGUCHI Naoki, OHNO Kazunori, TAKEUCHI Eijiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2012　_1A2-B11_1-_1A2-B11_4　2012
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2012._1A2-B11_1 　

ISSN： 2424-3124

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The authors aim at constructing a three-dimensional map by rescue dogs. Rescue dogs can search large scaled disaster sites quickly, because of its keen nose and its high physical ability. To construct a three-dimensional map, it is necessary to measure the position and posture of the dog. The authors propose a dog motion estimation method using Inertial Measurement Unit(IMU) and Global Positioning System(GPS). It is hard to measure the dog motions because the measuring devices cannot be directly fixed on the dogs. In addition, it is necessary to consider the balance of the measuring devices because the weight prevents the dog's motion. Therefore, the authors arrange the layout of the measuring devices on the dog's vest. We evaluated the measurement system by the experiments of the dog walks and runs. We also estimated the velocity and posture from the sensor information obtained from the measurement system.
Performance metrics for response robots

Satoshi Tadokoro, Adam Jacoff

IEEE Robotics and Automation Magazine　18　(3)　12-14　2011/09

DOI： 10.1109/MRA.2011.942482 　

ISSN： 1070-9932
レスキュー工学部会

田所諭

SICE50周年史　2011/09
レスキューロボットの実像と展望

田所諭

別冊日経サイエンス　(179)　18-24　2011/06
Publisher: 日経サイエンス
ISSN： 0917-0626
3-D Shape Measurement of Disaster Environment Using Remote-controlled Tracked Vehicle with Laser Scanner

大野和則, 大野和則, 竹内栄二郎, 永谷圭司, 田所諭, 小柳栄次, 吉田智章

情報処理学会研究報告(CD-ROM)　2010　(6)　1-8　2011/04
Publisher: 情報処理学会
ISSN： 2186-2583
複数参照座標系の点群データからの半自動統合地図生成システム

秋山英久, 竹内栄二朗, 田所諭, 下羅弘樹, 野田五十樹

第73回全国大会講演論文集　2011　(1)　339-340　2011/03/02

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地理情報システムへ集約された複数参照座標系の3次元点群データからひとつの統合地図を半自動で生成するシステムを提案、開発する。災害時の救助活動をより安全に遂行するために、遠隔操縦型探査用レスキューロボットによる環境情報の収集が期待されている。本研究では、複数台のロボットが収集する環境情報から救助活動に必要な情報を統合・整理する情報システムの構築を目指している。本報告では、複数参照座標系から統合参照座標系への座標変換情報を生成するためにSLAM(Simultaneous Localization and Mapping)技術を利用し、統合地図作成作業を半自動化するシステムについて述べる．
クローラの摩擦とグローサの力学モデルにもとづく転倒や滑落防止を目的とした階段踏破動作の考察

宮原直紀, 大野和則, 竹内栄二郎, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　29th　2011
能動的な視点変更を取り入れたレスキューロボットの3次元操縦インタフェース

東和幸, 鈴木貴広, 坪田真延, 大野和則, 大野和則, 竹内栄二郎, 田所諭

ヒューマンインタフェースシンポジウム論文集(CD-ROM)　2011　2011

ISSN： 1345-0794
災害対応ロボットレスキューロボットQuince (特集ロボット技術(RT)) -- (各方面の取組み)

田所諭

JACIC情報　26　(4)　63-69　2011
Publisher: 日本建設情報総合センター
ISSN： 0914-4528
レスキューロボットとその技術課題

田所諭, 田所諭

ViEWビジョン技術の実利用ワークショップ講演論文集(CD-ROM)　2011　2011
静止面と振動面の同時接触がヒトの振動知覚を向上するメカニズムの解明

櫻井達馬, 昆陽雅司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　16th　2011

ISSN： 1349-5062
疑似力覚を用いた情報の重みの呈示:携帯端末のための視覚に頼らない操作手法の提案

大竹達也, 樋口篤史, 櫻井達馬, BEN Porquis Lope, 昆陽雅司, 田所諭

ヒューマンインタフェースシンポジウム論文集(CD-ROM)　2011　2011

ISSN： 1345-0794
2A2-J08 Development of Linear Actuator that has flexibility for Active Scope Camera(Mechanism and Control for Actuator)

WAKANA Kazuhito, ISHIKURA Michihisa, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2011　_2A2-J08_1-_2A2-J08_4　2011
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2011._2A2-J08_1 　

ISSN： 2424-3124

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We developed the Active Scope Camera by the Ciliary Vibration Drive as a snake type Rescue Robot. Moreover, to make it possible for Active Scope Camera to run on the soft road and intense ruggedness road where the it cannot run by the Ciliary Vibration Drive, we also developed the Inch-worm Drive used frictional anisotropy. However, the flexibility of the Active Scope Camera decreases because it uses the hard Pneumatic Cylinder as a Linear Actuator. In this paper, we propose a Flexible Cylinder to solve this problem. In addition, we made the prototype of Flexible Inch-warm Drive used the Flexible Cylinder and valuate driving performance of it by comparing with the past, Active Scope Camera.
2A2-J07 Running Performance Evaluation of Inchworm Drive and Vibration Drive for Active Scope Camera(Mechanism and Control for Actuator)

Ishikura Michihisa, Takeuchi Eijiro, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2011　_2A2-J07_1-_2A2-J07_4　2011
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2011._2A2-J07_1 　

ISSN： 2424-3124

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This paper evaluates a inchworm drive and a ciliary vibration drive for Active Scope Camera which is a snakelike rescue robot used in disaster environments. The conventional Active Scope Camera already mounts the ciliary vibration drive. In this paper, the authors propose the mounting not only the vibration drive but also the inchworm drive. The inchworm drive developed in this paper is effective on soft roads, uneven roads and inclined roads. The authors especially focus on the running experiments on the road-surfaces which exist in disaster environments.
1A2-I01 Development of a Portable Remote Controlled Graphical User Interface for Search and Rescue Robots by Using Touch Operations(Search and Rescue Robot and mechatronics)

NOUTOMI Tatsuhiro, MAEYAMA Shoichi, WATANABE Keigo, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2011　_1A2-I01_1-_1A2-I01_4　2011
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2011._1A2-I01_1 　

ISSN： 2424-3124

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Recently, rescue robots to search disaster sites are actively developed. In order to reduce the risk of the secondary disaster, information collection should be safely and quickly realized in the polluted environment stricken by the NBC terrorism. Therefore, remote control of rescue robots for the information collection is very important. A current remote control interface for rescue robots most commonly used is a gamepad. However, there are some problems, such as the complexity of the control technique, the guarantee of a steady place for setting up a monitor display, etc. The aim of this study is to develop a portable and easily controllable GUI by using a touch panel. The usability of the GUI is veri ed by comparing the GUI with a gamepad in a testing environment.
2P1-P02 Vib-Touch:Fingertip Haptic Interaction using Virtual Active Touch : 5th Report:Representaion of Surface Shapes Based on a Physical Collision Model(Tactile and Force Sensing(2))

TSUCHIYA Sho, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2011　_2P1-P02_1-_2P1-P02_4　2011
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2011._2P1-P02_1 　

ISSN： 2424-3124

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We have proposed the concept of 'Virtual Active Touch' that implements virtual exploration with a cursor on a screen through a pointing-stick-type tactile interface called Vib-Touch. We have also proposed a new approach for representing surface shape induced by cutaneous sensation of friction. This paper enhances the previous surface shape display method in order to apply to arbitrary surface shapes. A proxy-based physical collision model was applied to calculate horizontal forces corresponding to contact reaction forces with virtual surface shapes.
2A2-O10 Enhancement of Sensitivity by Touching with Both Stationary Surface and Vibratory Surface(Tactile and Force Sensing (1))

Sakurai Tatsuma, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2011　_2A2-O10_1-_2A2-O10_4　2011
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2011._2A2-O10_1 　

ISSN： 2424-3124

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Vibratory stimuli lower than 50 [Hz] are perceived as roughness and/or softness sensation by human. However such low frequencies are difficult to achieve in small actuators loaded on mobile devices, and therefore, it is necessary to develop methods for enhancing human vibrotactile sensitivity. We focused on a phenomenon that human vibrotactile sensitivity is enhanced when a vibratory surface is touched with a stationary surface simultaneously. We call this phenomenon stationary-boundary-contact (SBC) enhancement. In this paper, we determined the performance of SBC-enhanced sensitivity by achieving the detection thresholds in several conditions.
2A2-O02 Measurements of Vibration Propagation on Leg Joints for Walking Support(Tactile and Force Sensing (1))

Fukasawa Koki, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2011　_2A2-O02_1-_2A2-O02_4　2011
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2011._2A2-O02_1 　

ISSN： 2424-3124

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Walking support technologies are required in our aging society. An unconsidered reason for loss of motor functions in the aging is loss of sensory functions, which are detected not only by proprioceptive receptors but also by cutaneous receptors. In this study, we focus on the cutaneous receptors which are located at leg joints and perceive vibratory stimuli generated by walking steps. We expected that emphasizing the vibratory stimuli at the leg joints can support motor functions. In this paper, we measured vibration propagation on leg joints; an ankle and a knee, using small acoustic microphones when walking steps were performed under three different kinds of floor materials.
1A2-I09 Soft-contact-system with friction model of power transmission for sub-crawler(Search and Rescue Robot and mechatronics)

MIYAHARA Naoki, OHNO Kazunori, TAKEUCHI Eijiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2011　_1A2-I09_1-_1A2-I09_3　2011
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2011._1A2-I09_1 　

ISSN： 2424-3124

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For tracked vehicles with "sub-crawler" moving over rough terrain,it is important to control the contact force between sub-crawler and environment(Soft-contact-system). However,there are some problem to achieve Soft-contact-system. For example , we have to estimate friction torque come from gear reducer to estimate the contact force. In this paper, the authors propose a Soft-contact-system and solve some problem.
2P1-P03 Vib-Touch:Fingertip Haptic Interaction Using Virtual Active Touch : 6th Report:Representation of Weight of Information by Pseudo Force Sensations(Tactile and Force Sensing(2))

Ohtake Tatsuya, Arakawa Shogo, Higuchi Atsushi, Sakurai Tatsuma, Porquis Lope Ben, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2011　_2P1-P03_1-_2P1-P03_2　2011
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2011._2P1-P03_1 　

ISSN： 2424-3124

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We have proposed a handheld haptic interface called Vib-Touch, which produces pseudo-haptic feedbacks induced by vibrotactile stimulations through a pointing-stick operated by a fingertip. Pseudo-haptic display methods have been developed for representing friction, inertia, and viscosity sensations. In this study, we proposed a potential application of Vib-Touch toward an intuitive GUI, which represents weight of information using the pseudo-haptic feedbacks. We developed an image viewer application, which interprets the favorite rating of photographs as weight of information with pseudo-haptic feedbacks.
2A1-M02 Outlier detection method for GPS with diffraction wave using 3D-Maps(Localization and Mapping)

TAKEUCHI Eijiro, Yamazaki Masashi, Ohno Kazunori, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2011　_2A1-M02_1-_2A1-M02_4　2011
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2011._2A1-M02_1 　

ISSN： 2424-3124

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This paper proposes accurate outlier detection method for GPS using 3D environment maps. Main topic of the paper is analysis of diffraction wave of GPS radio waves. GPS is major localization method for outdoor environments. In urban environments, localization results by GPS have large error caused by diffraction and reflection of radio waves. This paper describes the analysis of distance error of radio wave by diffraction, and outlier detection method for GPS with diffraction wave effects.
2P1-O04 Study on Elasticity Feeling Representation Using Vibratory Stimulation(Tactile and Force Sensing(2))

Higuchi Atsushi, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2011　_2P1-O04_1-_2P1-O04_3　2011
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2011._2P1-O04_1 　

ISSN： 2424-3124

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This study developed the method of elastic representation on the force input type pointing stick. We proposed to present the elasticity feeling by perceiving displacement that passed sense of touch information to the power that the user had added to the pointing stick. And, we use the friction representation method that we developed as tactile sensation for perception of displacement. In experiment, we asked participants to report how long and how strength they feel while they control virtual object. We had confirmed that this proposed method can represents operation feeling near to elastic physical model.
F112004 Rescue Robots & Rescue Systems

TADOKORO Satoshi

The Proceedings of Mechanical Engineering Congress, Japan　2011　_F112004-1-_F112004-2　2011
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmemecj.2011._F112004-1 　

ISSN： 2424-2667

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Robotic systems were used for responses to the Great East-Japan Earthquake. ROVs were used for victim search and port inspection in Minami-Sanriku Town and Rikuzen Takada City. An UGV called Quince was applied in Fukushima-Daiichi nuclear plant for radioactivity monitoring and dust sampling at the 2nd & 3rd floor in the second reactor building, and for installation of water level meter and water sampling at the B1 floor. This presentation introduces major robotic activities there, and considers future challenges to be studied.
S151012 Observation motion planning for navigation in living environments

TAKEUCHI Eijiro, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of Mechanical Engineering Congress, Japan　2011　_S151012-1-_S151012-4　2011
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmemecj.2011._S151012-1 　

ISSN： 2424-2667

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This paper proposes observation planning algorithm for running in living space. In living spaces, layout of the environments will be change because humans that living in the environments moves it. Therefore, robots need abilities to sense and avoid the environment changes. Sensors for mobile robots have limitation, these are measuring time, field of view, measurement error, and so on. Therefore, robots need to move the sensors to measure sweeping region. In this paper, planning algorithm for path and measuring are proposed. The proposed algorithm optimizes path and sensing direction of the robot for safety and fast navigation in living environments. The paper describes problem settings for measuring planning in living environments and planning algorithms to solve the problem.
S151024 Planning Observation of Multiple Persons for Mobile Robot

TANAKA Kazushi, TAKEUCHI Eijiro, OHNO Kazunori, TADOKORO Satoshi, YONEZAWA Toru

The Proceedings of Mechanical Engineering Congress, Japan　2011　_S151024-1-_S151024-5　2011
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmemecj.2011._S151024-1 　

ISSN： 2424-2667

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This paper describes a pedestrians tracking method with laser scanners and appearance identification. Monitoring where they are and who they are is efficient to automatic looking for persons system, because the system can find target persons using the monitoring information. Pedestrians tracking and appearance identification are valuable methods for monitoring. Appearance identification has uncertainness and no time relationship. Pedestrians tracking can reduce the uncertain and complement identification by relating appearance identification results temporally. Mobile robots with laser scanner and cameras can track pedestrians and identify efficiently using the mobility. The mobile robots need to plan observation. Planning observation requires complementing appearance identification by pedestrian tracking as a basic technique. In this paper, the complementing method and experimental results are described.
S151014 Identifying Wheelchair Drivers by Model Definition

HIRO Nobutoshi, TAKEUCHI Eijiro, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of Mechanical Engineering Congress, Japan　2011　_S151014-1-_S151014-5　2011
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmemecj.2011._S151014-1 　

ISSN： 2424-2667

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When directing rehabilitation for a patient, it would be more effective to give the appropriate minimal assistance that avoids the patient becoming completely dependent to assistive devices. The objective of our research is to provide a quantitative evaluation method for a patient that can precisely determine which ability factor of the patient needs to be assisted. The defined wheelchair driver model can be used to focus on the outlying parameter that a certain patient possesses, by comparing the model identified as the patient and other drivers. As a first step in attempt to define the driver model, we implemented a measurement system on a pedal-powered wheelchair in order to observe paths that a driver would take. A reverse S-shaped slalom course was constructed as the measurement environment, and six healthy test drivers were selected for three trials each. In this report, we analyze the measurement data focusing on the driving time and velocity in order to observe how first-time drivers improve throughout the trials as well as comparison to the experienced driver.
機械工学年鑑ロボティクス・メカトロニクス

横井一仁, 平井成興, 新井健生, 菅野重樹, 瀬戸文美, 稲葉清右衛門, 水川真, 大隅久, 松本治, 田所諭

日本機械学会誌　114　(1113)　626-629　2011

ISSN： 0021-4728
Autonomous Navigation based on Robust Localization in Various Season and Crowded Environments

TAKEUCHI Eijiro, YAMAZAKI Masashi, TANAKA Kazushi, OHNO Kazunori, TADOKORO Satoshi

計測と制御 = Journal of the Society of Instrument and Control Engineers　49　(9)　612-615　2010/09/10
Publisher: 計測自動制御学会
ISSN： 0453-4662
被災建造物内移動RTシステムについて

田所諭

ロボット　(195)　14-17　2010/07
Publisher: 日本ロボット工業会
ISSN： 0387-1940
Robot Technologies for Assisting Search and Rescue in Disasters

TADOKORO Satoshi

自動車技術　64　(5)　48-51　2010/05/01
Publisher: 自動車技術会
ISSN： 0385-7298
ロボット技術を活用した産業振興方策

田所諭

アイビクト情報　89　2-3　2010/04
Technical Challenge of Rescue Robotics

TADOKORO Satoshi

Journal of the Robotics Society of Japan　28　(2)　134-137　2010/03/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.28.134 　

ISSN： 0289-1824
Technical Challenge of Rescue Robotics

TADOKORO Satoshi

Journal of the Robotics Society of Japan　28　(2)　134-137　2010/03/15
Publisher: 日本ロボット学会
ISSN： 0289-1824
ロボットが拓く活き生き社会

田所諭

東北産業化研究センター機関誌　1　44-45　2010/03
車間通信用いた予防安全運転アプリケーションのための自律分散TDMAプロトコル向け送信周期制御方式の提案

田所

情報処理学会論文誌，テクニカルノート　51　(3)　945-990　2010
実用化研究進む「レスキューロボット」の世界第2回狭い瓦礫内を探査ヘビ型レスキューロボット「Hyper-蒼龍4」

田所論, 田所論

OHM　97　(1)　2010

ISSN： 0386-5576
実用化研究進む「レスキューロボット」の世界第3回高い走破能力で地下街や高層ビル内で要救助者を捜索クローラ型レスキューロボット「Kenaf」

田所諭, 田所諭

OHM　97　(2)　2010

ISSN： 0386-5576
局所領域の形状特徴とレーザの通過率を利用した災害現場の3次元環境認識

畠彰彦, 大野和則, 竹内栄二朗, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　28th　2010
視覚特徴と動作をもちいた隠れを含む複数物体の認識

大野和則, 大野和則, ANDERSSON Peter, LEI Zhong, 竹内栄二郎, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　28th　2010
サブクローラを有するクローラロボットの位置推定手法と瓦礫環境における評価

櫻田健, 竹内栄二朗, 大野和則, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　28th　2010
自律と操縦に対応した移動ロボット用RTCの開発第19報:外界センサの追加変更が可能な移動ロボット用ナビゲーションRTC群

竹内栄二朗, 山崎将史, 田中一志, 大野和則, 田所諭, 五十嵐広希, 齋藤俊久, 高森年, 松野文俊

日本ロボット学会学術講演会予稿集(CD-ROM)　28th　2010
ヒトの触運動における指腹部接触面の動的挙動解析第2報:動摩擦の速度依存性を考慮した摩擦振動モデル

石井優希, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　28th　2010
自律と操縦に対応した移動ロボット用RTCの開発第18報移動ロボットのための簡易デバッグコンポーネント

佐藤徳孝, 安野俊幸, 松野文俊, 齋藤俊久, 田所諭, 高森年

日本ロボット学会学術講演会予稿集(CD-ROM)　28th　2010
把持力調整反射を誘発する触刺激条件に関する研究

櫻井達馬, 昆陽雅司, 岡本正吾, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　15th　2010

ISSN： 1349-5062
Vib-Touch:仮想能動触を利用した直感的操作

樋口篤史, 櫻井達馬, 土屋翔, 石井優希, PORQUIS Lope Ben, 昆陽雅司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　15th　2010

ISSN： 1349-5062
NEDOプロジェクトの開発推進状況の報告搭乗型モビリティロボット用ソフトウェアの開発進捗状況の報告

五十嵐広希, 齋藤俊久, 竹内栄二朗, 前田弘文, 佐藤徳孝, 秋元大, 田所諭, 高森年, 松野文俊

ロボット　(195)　2010

ISSN： 0387-1940
Vib-Touch:指先による仮想能動触を利用した触力覚インタラクション

土屋翔, 昆陽雅司, 岡本正吾, 田所諭

情報処理学会シンポジウム論文集　2010　(4)　2010

ISSN： 1344-0640
1P1-E13 Unknown Object Modeling in Life Space Using Robot Techonologies

OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2010　_1P1-E13_1-_1P1-E13_4　2010
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2010._1P1-E13_1 　

ISSN： 2424-3124

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The authors aim at modeling of unknown objects in human life environment using robot technologies. The proposed method can be used by service robots to find an unknown object and to collect the information. In this paper, we explain about a method for detecting unknown objects using an environmental sensor mounted on a ceiling and a method for modeling an unknown object using a robot manipulator. Areas where unknown objects exist are detected from 3-D shapes and camera images measured by the environmental sensor. Advantage of the detection method is to find these areas without any prior knowledge. In addition, an unknown object on a desk is modeled using vision sensors, a manipulator, and a pressure sensor mounted on the robot. Pushing motion enables one to create a object model that cannot be grasped by a robot hand. During pushing motion, the object shape and the motion are measured. Combining the estimated motion and the measured 3-D shape, the model is built.
1A1-B21 Mobility Enhancement of Active Scope Camera Using a Linear Actuation Mechanism

Sawada Masatoshi, Isikura Michihisa, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2010　_1A1-B21_1-_1A1-B21_3　2010
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2010._1A1-B21_1 　

ISSN： 2424-3124

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We have developed an active scope camera driven by cilia vibration mechanism. However, it could not run over rough surfaces like a carpet. We need to enhance the mobility for use in practical search and rescue activities. In this paper we proposed a new driving method using a linear actuation mechanism and developed a prototype. Finally, we conducted mobility performance tests and confirmed the effectiveness.
1A1-C04 Development of control interface for search and rescue robots in confined space

OHTSUBO Yoshikazu, TAKAMORI Toshi, TADOKORO Satoshi, KAWABE Yoshihisa, UDA Hiroshi, KOBAYASHI Shigeru, KOBAYASHI Yasuhiro, YAMAMOTO Yoshihiro, Umeda Sakae, KAISO Takayuki, MAEDA Hirofumi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2010　_1A1-C04_1-_1A1-C04_4　2010
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2010._1A1-C04_1 　

ISSN： 2424-3124

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We have developed various search and rescue robots, such as a series of Utility Mobile Robot for Search (UMRS). This paper is described about specification of UMRS-2009 and its control interface to reduce the operator's load. The UMRS-2009 is a crawler type robot with flipper arms and is able to carrying a manipulator unit for door-knob opening. The control interface provides semi-autonomously functions of stairs or step climbing up/down and compensation of going-straight to drive easily in confined space. The efficiency of control interface is verified by some experiments.
1A2-E15 Modularized Retroactive Particle Filter

TAKEUCHI Eijiro, Ohno Kazunori, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2010　_1A2-E15_1-_1A2-E15_4　2010
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2010._1A2-E15_1 　

ISSN： 2424-3124

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This paper proposes retroactive particle filter method and modularization of the method. Retroactive localization is one of problems of localization. If the localization system corrects current position using past measurement data, then the localization results may estimate wrong position. In the case, localization system needs to estimate position retroactively. This paper discusses retroactive localization problem on partile filter, and proposes modularized retroactive particle filter that estimates position using multiple sensor with time delay.
1P1-E14 Continuous 3-D Mapping Considering Point Cloud Density for Environment Recognition

HATA Akihiko, OHNO Kazunori, TAKEUCHI Eijiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2010　_1P1-E14_1-_1P1-E14_4　2010
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2010._1P1-E14_1 　

ISSN： 2424-3124

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Obtaining surrounding environment information using mobile rescue robots is important for search and rescue missions where have a risk of secondary disaster. In such case, three dimensional information is very useful to figure out surrounding environment and to navigate in unknown environments. This paper descirbes about constructing a three dimensional map with moving. The three dimensional map is displayed by point clouds, but it is hard to figure out complicated surrounding environment. To improve conspicous map, the three dimensional map need to divide into some parts. We propose a moving scan method which considers point cloud density for classification. Finally, we present results from field tests using rescue robots and classification results.
VibTouch:指先による仮想能動触を利用した触力覚インタラクション第3報:振動刺激による錯覚を用いた慣性の呈示

土屋翔, 岡本正吾, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2010　2010

ISSN： 2424-3124
1A2-C11 Estimation of contact force to sub-crawler mechanism using friction model of power transmission system

MIYAHARA Naoki, OHNO Kazunori, TAKEUCHI Eijiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2010　_1A2-C11_1-_1A2-C11_4　2010
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2010._1A2-C11_1 　

ISSN： 2424-3124

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For tracked vehicles with "sub-crawler" moving over rough terrain, it is important to measure the contact force between sub-crawler and environment. However, in case of using gear reducer to drive sub-crawler, it is too hard to estimate the contact force, we have to estimate friction torque come from gear reducer to estimate the contact force. In this paper, the authors propose a method of the contact force estimation on the basis of motor current and friction model.
1A1-D08 Evocation of Force Sensations via Vibrotactile Stimuli to Fingertip

Okamoto Shogo, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2010　_1A1-D08_1-_1A1-D08_4　2010
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2010._1A1-D08_1 　

ISSN： 2424-3124

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This study has developed vibrotactile presentation methods that are applied to a human finger while operating the object, and influence the perceived mass and viscosity of the object in an illusory manner. First, the vibrotactile stimuli are developed based on the analysis of the skin deformation model. Then, it was confirmed that the developed stimuli affect the perceived mechanical parameters through experiments. The stimuli increased and decreased the perceived parameters of a robotic arm of which impedance was controlled.
1A2-E01 Dynamic Behavior Analysis of Fingertip Contact Area during Hand Exploration : The 1st report: Development of Observation Device

ISHII Yuki, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2010　_1A2-E01_1-_1A2-E01_2　2010
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2010._1A2-E01_1 　

ISSN： 2424-3124

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Measurement of dynamic skin deformation during hand exploration is important to reveal the mechanism of tactile perception because tactile receptors just detect skin deformation. We have developed an observation system arranged with a high speed camera for recording fingertip deformations and force sensors for recording grip and load force. We have also observed stick-slip vibration on fingertip. However, the measured force data was affected by a mechanical resonance. This study reports an improved system that has high resonant frequency for measuring grip and load force. The resonant frequency of the developed system was about 440 Hz.
1A1-D17 Localization using Terrain Information for Tracked Vehicles with Sub-Crawlers and Evaluation of Effectiveness for the Shape of the Land

SAKURADA Ken, TAKEUCHI Eijiro, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2010　_1A1-D17_1-_1A1-D17_4　2010
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2010._1A1-D17_1 　

ISSN： 2424-3124

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Gyro-based odometry is an easy-to-use localization method for tracked vehicles because it uses only internal sensors. However, on account of track-terrain slippage and transformation caused by changes in sub-crawler angles, gyro-based odometry for tracked vehicles with sub-crawlers experiences difficulties in estimating the exact location of the vehicles. In order to solve this problem, we propose an estimation method with 6 degrees of freedom (DOF) for determining the position and pose of the tracked vehicles using terrain information. In the proposed method, 6-DOF are estimated using a particle filter. The subsequent position and pose of each particle are predicted using a motion model that separately considers each contact point of the vehicle with the ground. In addition, each particle is analyzed using terrain and gravity information. Experimental results demonstrate the effectiveness of this method.
1A2-E24 Gyro-offset and Wheel-radius Estimation using Estimated Position obtained by Particle Filter

TAKEUCHI Eijiro, Ohno Kazunori, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2010　_1A2-E24_1-_1A2-E24_3　2010
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2010._1A2-E24_1 　

ISSN： 2424-3124

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This paper proposes gyro-offset and wheel radius estimation method using estimation results obtained by particle filter. Wheel radius and gyro-offset are important parameters of localization methods. One of solutions to estimate these parameters is to add these parameters as probabilistic variables to a probabilistic localization method. However, computation time of particle filter is depend on particle number and that number is incleased by degrees of freedom of parameters. This paper describes simple solutions of wheel radius and gyro-offset estimation based on particle filter and several experimental results.
1A2-D21 Conditions of Tactile Stimuli for Inducing Reflective Grasping Force : First report: Development of Equipment which Simultaneously Present Vibration Stimuli and Force Stimuli

Sakurai Tatsuma, Konyo Masashi, Okamoto Shogo, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2010　_1A2-D21_1-_1A2-D21_4　2010
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2010._1A2-D21_1 　

ISSN： 2424-3124

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Humans can change the grasping force before the grasped object slips off the fingers unconsciously. This reflex is called inducing reflective grasping force control. This paper describes the method of inducing reflective grasping force control and the observation result. To clarify the conditions of stimuli for inducing reflective grasping force control, we developed the observation equipment with piezoelectric actuators and force sensor. Vibration stimuli and force senses are presented to a human finger, and change of the grasp force are observed by the force sensor. In this paper, we change the parameters of the vibration stimuli and force senses and detect the difference of grasp force.
1A1-B12 Tracked-Vehicle Clutching Position Detectability on Bumps by Distributed Inclination Sensors

INOUE Daisuke, Ohno Kazunori, Konyo Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2010　_1A1-B12_1-_1A1-B12_4　2010
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2010._1A1-B12_1 　

ISSN： 2424-3124

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We develop distributed inclination sensors (DISs) to measure the distributed inclination of track shoes, i.e., determining where a tracked vehicle clutches road bumps using the reflection-intensity inclination of track shoes due to dead weight. We confirmed in experiments that dead weight on a slope is a major factor in measurement error.
2A2-E26 Self-position Estimation of Active Scope Camera : Accuracy Evaluation of Structure from Motion in Disaster Environment

ISHIKURA Michihisa, TAKEUCHI Eijiro, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2010　_2A2-E26_1-_2A2-E26_4　2010
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2010._2A2-E26_1 　

ISSN： 2424-3124

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Active scope camera is a very small robot and one of the rescue robots for search. Self-position estimation of active scope camera is needed for efficient search. Nevertheless, added sensors disturb inserting into narrow space and running by itself because sensors are too big and too heavy for active scope camera. Thus, vision-based odometry using fish-eye camera of tip is good way. However, images gotten from active scope camera are unusual. For example, particular pattern of material in disaster environment and over exposure by LED lights embedded camera tip will affect matching of feature points. Therefore, this paper introduces the method of vision-based odometry and evaluate effects of disaster environment by experiments.
3次元地形情報及びGPSを用いたパーティクルフィルタによるマルチパスを考慮した自己位置推定

山崎将史, 竹内栄二朗, 大野和則, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　28th　2010
2A2-C03 Motion Generation of Mobile Robots to Forereach a Pedestrian

Tanaka Kazushi, Takeuchi Eijiro, Ohno Kazunori, Tadokoro Satoshi, Yonezawa Toru

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2010　_2A2-C03_1-_2A2-C03_4　2010
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2010._2A2-C03_1 　

ISSN： 2424-3124

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This paper describes the generation of motion forereaching a pedestrian using mobile robots. When robots act in living space to various purposes, various motions are necessary. For example, forereaching motion is effective in seeing eye to eye to talk to pedestrians. The motion generation system estimates the positions and velocity of moving objects as the pedestrians and generates a path that enables the robot to forereach the target pedestrian while simultaneously avoiding the other pedestrians. In this paper, the pedestrian motion estimation method, forereaching path planning method, and experimental results obtained from the forereaching motion generated by the proposed system are described.
1A1-D20 GPS Based Localization Method with Multipath Rejection using 3D-Map : To Improve Positioning Accuracy of the GPS with Satellite-Map

YAMAZAKI Masashi, TAKEUCHI Eijiro, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2010　_1A1-D20_1-_1A1-D20_4　2010
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2010._1A1-D20_1 　

ISSN： 2424-3124

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This paper describes a method to improve the accuracy of localization of the mobile robot using GPS. This method improves the accuracy of localization by removing multipath of the GPS with 3D-Map. At first, this approach demand the area that cannot receive the radio signal from the GPS satellite with 3D-Map about each satellite. And if there is a robot in the area, an invisible satellite is rejected to improve positioning accuracy of the GPS. At this time, the assumption of the robot position is generated by using a particle filter. This method is useful for localization and navigation of the mobile robot between buildings.
Next-generation actuators leading breakthroughs

Toshiro Higuchi, Koichi Suzumori, Satoshi Tadokoro

Next-Generation Actuators Leading Breakthroughs　1-438　2010

DOI： 10.1007/978-1-84882-991-6 　
年鑑，ロボティクス・メカトロニクス

田所諭,他

日本機械学会誌　113　(1101)　646-646　2010
Publisher: 一般社団法人日本機械学会
DOI： 10.1299/jsmemag.113.1101_646_1 　

ISSN： 0021-4728
High-Speed Search Robots in Confined Space

TADOKORO Satoshi

Journal of the Robotics Society of Japan　27　(10)　1107-1110　2009/12/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.27.1107 　

ISSN： 0289-1824
High-Speed Search Robots in Confined Space

TADOKORO Satoshi

Journal of the Robotics Society of Japan　27　(10)　1107-1110　2009/12/15
Publisher: 日本ロボット学会
ISSN： 0289-1824
実用化研究進む「レスキューロボット」の世界(新連載・1)レスキューロボットとは何か

田所諭

OHM　96　(12)　62-64　2009/12
Publisher: オ-ム社
ISSN： 0386-5576
RoboCupRescue Robot League

TADOKORO Satoshi

Journal of the Robotics Society of Japan　27　(9)　983-986　2009/11/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.27.983 　

ISSN： 0289-1824
RoboCupRescue Robot League

TADOKORO Satoshi

Journal of the Robotics Society of Japan　27　(9)　983-986　2009/11/15
Publisher: 日本ロボット学会
ISSN： 0289-1824
ロボカップレスキューロボットリーグ

田所諭

建設の施工企画　(716)　44-47　2009/10/25
Next-generation robots for urban safety and security

田所諭

Journal of municipal problems.　61　(8)　47-60　2009/08
Publisher: 都市問題研究会
ISSN： 0387-3390
Present Situation and Future Prospects of Rescue Robots

TADOKORO Satoshi

The Journal of the Institute of Electronics, Information and Communication Engineers　92　(3)　203-208　2009/03/01
Publisher: The Institute of Electronics, Information and Communication Engineers
ISSN： 0913-5693

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自然災害,人為災害が多発する中,災害対応活動の危険性を低下させ,対応能力を上げるため,消防・警察・自衛隊など,救助を行う人々のための様々な高度資機材の研究開発が活性化してきている.本稿では,将来の活用が期待されているレスキューロボットの研究開発について,最新の技術動向を解説する.
Pose Estimation and Path Planning on Rough Terrain for Tracked Vehicle

鈴木志穂子, 大野和則, 竹内栄二朗, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　27th　2009
交流の広場/agora-crosstalking- ロボカップレスキューロボットリーグ

田所諭

建設の施工企画　(716)　2009

ISSN： 1349-547X
Three-dimensional localization method of Tracked Vehicles with sub-crawlers using Terrain Information

櫻田健, 竹内栄二朗, 大野和則, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　27th　2009
Development of RTCs for Mobile Robots with Autonomy and Operability: 9^th Report: Improvement in Accuracy on Dead Reckoning of Segway-RMP200

前田弘文, 西谷幸久, 高森年, 大坪義一, 五百井清, 田所諭, 松野文俊, 齋藤俊之, 五十嵐広希

日本ロボット学会学術講演会予稿集(CD-ROM)　27th　2009
Development of RTCs for Mobile Robots with Autonomy and Operability: Report 11: A robust localization RTCs based on free space observation model

竹内栄二朗, 大野和則, 田所諭, 五十嵐広希, 齋藤俊久, 高森年, 松野文俊

日本ロボット学会学術講演会予稿集(CD-ROM)　27th　2009
Development of RTCs for Mobile Robots with Autonomy and Operability: Report 12: iPhone Communication Module for robot operation

佐藤徳孝, 根和幸, 松野文俊, 齋藤俊久, 田所論, 高森年

日本ロボット学会学術講演会予稿集(CD-ROM)　27th　2009
Motion Control of Active Scope Camera Using Lateral Slippage

澤田一奈, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　27th　2009
Active Scope Camera

田所諭, 昆陽雅司, 澤田一奈

日本ロボット学会学術講演会予稿集(CD-ROM)　27th　2009
マスタ・スレーブ型触感伝達システムの開発第4報:粗さ・摩擦・硬軟を含む多様なテクスチャ感の遠隔伝達

山内敬大, 昆陽雅司, 岡本正吾, 日高佑輔, 前野隆司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　14th　2009

ISSN： 1349-5062
Vib-Touch:指先による仮想能動触を利用した触力覚インタラクション第2報:携帯型触覚インタフェースのコンセプトと試作

土屋翔, 昆陽雅司, 山内敬大, 岡本正吾, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　14th　2009

ISSN： 1349-5062
ロボカップレスキューロボットリーグ

田所諭, 田所諭

日本ロボット学会誌　27　(9)　2009

ISSN： 0289-1824
1A1-E05 Area Detection for Unknow Objects using 3D Shapes and All Round View Images of Environment

OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2009　_1A1-E05_1-_1A1-E05_4　2009
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2009._1A1-E05_1 　

ISSN： 2424-3124

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We aim at development of a real world search engine using robot technologies and information science. This task includes a lot of research topics. In this paper, we would like to explain about a method of area detection for unknown objects using the fixed sensors. The sensor fixed in the environment consists of a wide view angle camera and a 3-D laser scanner. We detect areas where are unknown objects from 3-D shapes and all round view images.
2A2-K05 Synthesizing method of Friction Sensation using Vibration : The Relationship between Cutaneously Perceived Friction and Stick-Slip Vibration

KONYO Masashi, YAMADA Hiroshi, OKAMOTO Shogo, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2009　_2A2-K05_1-_2A2-K05_4　2009
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2009._2A2-K05_1 　

ISSN： 2424-3124

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The relationship between cutaneous sensation of friction and skin dynamic deformation is not investigated enough. We conducted observations of stick-slip phenomena using a high-speed camera for representing friction sensation, which could be delivered by the proposed vibratory stimulation method. We confirmed the relationships of stick-slip vibration frequencies with normal forces and hand velocities. We also confirmed the relationships of normal force with kinematic friction coefficients and the spring coefficient of the stick-slip model. The parameters of the stick-slip model were identified based on the observations. Finally, friction display using vibratory stimulation based on the identified stick-slip model showed improvements in representing realistic friction sensation.
2P1-K07 VibTouch: Virtual Active Touch for Fingertip Haptic Interaction : First Report: Presentation of 3D Shape Using Kinesthetic Illusion Induced by Tactile Stimulation

TSUCHIYA Sho, KONYO Masashi, Yamada Hiroshi, YAMAUCHI Takahiro, OKAMOTO Shogo, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2009　_2P1-K07_1-_2P1-K07_4　2009
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2009._2P1-K07_1 　

ISSN： 2424-3124

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Tactile display for handheld devices requires compact hardware and useful applications. We have proposed the concept of 'Virtual Active Touch' that implements virtual exploration with a cursor on a screen through a pointing-stick-type tactile interface. The first objective was to confirm that our previously proposed friction display method could be applied in virtual active touch. The second objective was to develop a new approach to haptic display of surface shape induced by cutaneous sensation of friction. First, we compared friction sensations perceived through the pointing-stick-type tactile interface with those through a linear-slider-type tactile interface, which allowed actual hand movement. Psychophysical experiments showed that the proposed friction display method could deliver perceived friction corresponding to the friction coefficient as well as the linear-slider-type with slightly less sensitivity to changes in friction coefficient. Second, we evaluated the perception of surface height in the context of bumped shape induced by the friction display. The experimental results agreed with our expectation that faster and longer increases in the magnitude of friction sensation were perceived as higher bumped shapes.
2P1-B04 Sliding Motion Control of Active Scope Camera Using Simple Shape Information

Sawata Kazuna, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2009　_2P1-B04_1-_2P1-B04_4　2009
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2009._2P1-B04_1 　

ISSN： 2424-3124

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We propose a new framework for a self-propelled flexible cable in which the freedom of lateral motion with sliding movements is increased on the basis of simple shape information. The motion control method focused on the shape and length of the straight element and used sideslip of active flexible cable. We applied the method to control the running direction. We developed a large-scale prototype of the flexible cable that has a ciliary drive mechanism and precise shape sensors to investigate our concept. The experimental results demonstrated the effectiveness of sliding motion for controlling the running direction. Further, we developed a kinetic model for the prototype by employing the nonlinear driving force model and the lateral friction model for representing slippages. We implemented and analzed the model with Open Dynamics Engine (ODE). By experimental of simulation and actual equipment, we evaluated the parameter used in shape information handling for optimizing the motion control. Getting the shape information by the feature point tracking, we consider for applying this motion control method to actibe scope camera.
3-D measurement planning for obstacle detection

竹内栄二朗, 大野和則, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2009　2009

ISSN： 2424-3124
1A1-F01 Three-dimensional Self-position Estimation of Tracked Vehicles using Terrain Information

SAKURADA Ken, TAKEUCHI Eijiro, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2009　_1A1-F01_1-_1A1-F01_4　2009
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2009._1A1-F01_1 　

ISSN： 2424-3124

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Gyro-based odometry is a robust and easy-to-use localization method for mobile robots. However, the Gyro-based odometry for tracked vehicles with flippers has difficulties to estimate its exact localization because of track-trrain slippage. To solve these problem, we propose three-dimensional self-position estimation of crawler robot using terrain information.
3D Object Segmentation from Real Environmental Data Using 3D Measurement and Object Operation

黒瀬健介, 大野和則, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2009　2009

ISSN： 2424-3124
1A2-H09 Path Evaluation on Rough Terrain for Tracked Vehicle

SUZUKI Shihoko, OHNO Kazunori, TAKEUCHI Eijiro, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2009　_1A2-H09_1-_1A2-H09_4　2009
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2009._1A2-H09_1 　

ISSN： 2424-3124

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This paper describes a local path planning and its evaluation method for tracked mobile robots. A tracked vehicle has high ability of getting over rough terrain. However, it is difficult for operator in remote place to control its moving direction and shape. We propose a new path evaluation system based on measurement of environmental shapes. In this system, the candidate paths are generated from operator inputs and terrain information. These paths are evaluated by the robot model. Finally, the combination of translational and rotational velocity is chosen. In this paper, we present a method for detecting the area where the robot cannot pass through and selecting safe paths.
1A1-F15 Proposal of Road Roughness Estimation and Road Condition Map Building by Using Tracked Vehicle with Distributed Tactile sensors

INOUE Daisuke, Ohno Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2009　_1A1-F15_1-_1A1-F15_2　2009
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2009._1A1-F15_1 　

ISSN： 2424-3124

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This paper describes a concept of the "Road Condition Map" that is an environmental map with road condition. This map improves an efficiency in activities for search and rescue by considering rough road and slippy road. The authors developed tactile crawlers, the distributed contact sensing system suited for tracked vehicle. This system senses inclination distribution and contact force distribution. The authors propose a method for estimating a roughness of unknown off-road by using the system.
2P1-K04 Development of Master-Slave Typed Tactile Telepresence System : 3rd report: System Design for Transmission of Multiple Tactile Properties

Yamauchi Takahiro, Konyo Masashi, Okamoto Shogo, Hidaka Yusuke, Maeno Takashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2009　_2P1-K04_1-_2P1-K04_4　2009
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2009._2P1-K04_1 　

ISSN： 2424-3124

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We aim at development of a master-slave system which can convey multiple tactile properties. This paper presents a system design to correspond with multiple tactile properties. There are three main problems to solve. The first problem is the display methods of multiple tactile sensations such as roughness, friction and pressure sensations. We propose tactile synthesizing methods based on physical parameters of objects and hand movement. The second is the tactile sensor for multiple properties. We propose a finger-pad-type tactile sensor that can estimate spatial wavelengths, friction coefficients and Young's moduli. The third problem is the time-delay between the master side and the slave side. We propose time-delay compensation methods that have local tactile generation models at the master- side.
Development of Small-Size 3-D Laser Scanner for High-Speed and Dense Shape Measurement

大野和則, 大野和則, 桜田健, 竹内栄二朗, 小山順二, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2009　2009

ISSN： 2424-3124
「自律と操縦に対応した移動ロボット用RTCの開発」(第6報:グリッドマップに基づく広域エリア内のハザード回避走行)

前田弘文, 八木秀樹, 高森年, 大坪義一, 五百井清, 田所諭, 松野文俊, 金城隆也, 五十嵐広希

ロボティクスシンポジア予稿集　14th　2009

ISSN： 1881-7300
災害対応のためのレスキューロボット技術

田所諭, 田所諭

日本集団災害医学会誌　14　(3)　2009

ISSN： 1345-7047
Rescue robotics: DDT project on robots and systems for urban search and rescue

Satoshi Tadokoro

Rescue Robotics: DDT Project on Robots and Systems for Urban Search and Rescue　1-192　2009

DOI： 10.1007/978-1-84882-474-4 　
Preface

Satoshi Tadokoro

Rescue Robotics: DDT Project on Robots and Systems for Urban Search and Rescue　2009

DOI： 10.1007/978-1-84882-474-4 　
アクチュエータ

田所諭

日本機械学会誌　112　(1089)　659-660　2009
Publisher: 一般社団法人日本機械学会
DOI： 10.1299/jsmemag.112.1089_659_4 　

ISSN： 0021-4728
K1101 レスキューロボットに関するアクチュエータ技術(基調講演)

田所諭

年次大会講演資料集　2009　(Vol.9)　99-100　2009
Publisher: 一般社団法人日本機械学会
DOI： 10.1299/jsmemecjsm.2009.9.0_99 　
Disaster Response by Robotics and Related Technologies

TADOKORO Satoshi

Journal of the Society of Mechanical Engineers　112　(1091)　821-824　2009
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmemag.112.1091_821 　

ISSN： 0021-4728
大都市団震災軽減化特別プロジェクトで開発されたロボット技術

田所諭

建設の施工企画　(703)　44-49　2008/09/25
Publisher: 日本建設機械化協会
ISSN： 1349-547X
災害救援のロボットシステムレスキューロボットシステム

田所諭

電気評論　93　(臨時増刊号)　39-44　2008/06
Publisher: 電気評論社
ISSN： 0285-5860
わが国のロボット開発の現状と今後の展望

田所諭

IVICT(アイビクト）情報　81　36-41　2008/04
Drive Method of an Active Flexible Cable Using a Single Swaying Vibration Mechanism

昆陽雅司, 畑崎計成, 嵯峨智, 田所諭

日本機械学会機素潤滑設計部門講演会講演論文集　8th　2008

ISSN： 1348-3919
レスキューロボティクス

田所諭

日本機械学会年次大会講演論文集　2008　(Vol.9)　2008
Development of RTCs for Mobile Robots with Autonomy and Operability: Report 2: Obstacle Detection Modules

竹内栄二朗, CALISI Daniele, 大野和則, 田所諭, 五十嵐広希, 金城隆也, 高森年, 松野文俊

日本ロボット学会学術講演会予稿集(CD-ROM)　26th　2008
自律と操縦に対応した移動ロボット用RTCの開発第1報:プロジェクトの概要と開発するモジュール

五十嵐広希, 金城隆也, 高森年, 松野文俊, 田所論

日本ロボット学会学術講演会予稿集(CD-ROM)　26th　2008
A Tactile Telepresence System in Remote Environments: Experiment of Roughness Telepresence and Performance Evaluation of the System

岡本正吾, 昆陽雅司, 前野隆司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　13th　2008

ISSN： 1349-5062
2A1-G10 Motion Control of Active Flexible Cable Using Shape Information

Sawata Kazuna, Konyo Masashi, Saga Satoshi, Tadokoro Satoshi, Osuka Koichi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2008　_2A1-G10_1-_2A1-G10_4　2008
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2008._2A1-G10_1 　

ISSN： 2424-3124

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We have proposed an active flexible cable driven by a ciliary vibration mechanism. The active cable could enter a narrow space. Motion control, however, was difficult because a curved cable cannot move straightly due to force direction difference. This paper proposes a motion control method of the active cable using shape information. We made a test model using Flexible Sensor Tube. Frictional driving force and side slipping friction were modeled. We compared between kinetics simulations and real motions. We proposed a motion control method based on cable shape parameters focused on straight elements. Simulation and experiment results showed the effectiveness of the method.
1A1-H08 Dynamic reaction of reflection-type tactile sensor

Saga Satoshi, Tadokoro Satoshi, Tachi Susumu

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2008　_1A1-H08_1-_1A1-H08_4　2008
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2008._1A1-H08_1 　

ISSN： 2424-3124

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Considering tactile sensors there are two ways to acquire object information. These are spatial sensing with two dimensional devices and fast sensing with simple devices. Because the reflection-type tactile sensor uses a reflection image, both methods can be employed. Though there exist some dynamic characteristics in these two ways. In this study, we first validate the hysteresis of the reflection-type tactile sensor. The results show the sensor can evaluate displacement less than 2 mm. Then we propose a novel interface called "fibratus tactile sensor." Secondly we construct a fast sensing device using reflection image and a combination of light emitting diodes (LEDs) and photodiodes (PDs), and validate the sensor's reactivity. It can distinguish 300 ms interval between two signals. Moreover the correlation between the standard deviations of the acquired outputs from the sensor and the centerline average roughness is 0.90.
1A1-H21 Synthesizing method of Friction Sensation Using Vibratory Stimulation Based on Stick-Slip Phenomenon

YAMADA Hiroshi, KONYO Masashi, OKAMOTO Shogo, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2008　_1A1-H21_1-_1A1-H21_4　2008
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2008._1A1-H21_1 　

ISSN： 2424-3124

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A new display method of friction sensation based on tactile stimulation is proposed. In this method, no tangential force on the fingertip is required to represent friction sensation. We focus on stick-slip phenomena when we rub on the surfaces and capture fingerprint in contact area. From the result, stick-slip frequency and appearance rate is different depend on finger velocity and normal contact force. The characteristic of stick-slip was expressed by a single DOF model with Coulomb's friction, which represents the effects of coefficients of dynamic/static friction and hand movements. The sensory magnitudes of the perceived friction by the proposed method were evaluated in contrast with a force display. The experimental results showed that the perceived friction proposed had high correlation with that of the force display in regard to the increase tendency toward static friction coefficients. The sensory magnitudes of the tactile perceived friction were about one-seventh smaller than that of the force display.
1P1-I12 Virtual Active Touch Using a Pointing-Stick Type Interface with Tactile Feedback

Yamauchi Takahiro, Konyo Masashi, Okamoto Shogo, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2008　_1P1-I12_1-_1P1-I12_4　2008
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2008._1P1-I12_1 　

ISSN： 2424-3124

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We aim at development of tactile interfaces which can be attached to mobile terminal devices. We focus on two points in this paper. Firstly, a touch motion is very important to acquire tactile information of an object. However, it is difficult to secure space for touch motion on the mobile device. We propose a hypothesis that touch motion is not always necessary on condition that tactile stimulation which accompanies the movement of the cursor is effectively presented. We verify the possibility of conveying texture information without real touch motions. Secondly, when a object which is bigger than the screen is displayed, the object must be resized. A guidance of generating tactile stimulation not to lose texture information is important. We propose a guidance of generating tactile stimulation in the case of resized objects and verify its effectiveness.
2P2-C01 3D Map Construction of Sendai Subway Using a Crawler Robot equipped with Small 3D Scanner

OHNO Kazunori, KAWAHARA Toyokazu, TADOKORO Satoshi, NAGATANI Keiji, KOYANAGI Eiji, YOSHIDA Tomoaki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2008　_2P2-C01_1-_2P2-C01_4　2008
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2008._2P2-C01_1 　

ISSN： 2424-3124

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We aim at development of a search robot in confined space. The authors are developing Kenaf that is 6D0F tracked vehicle with flippers for the purpose. One of main tasks for Kenaf is an accurate 3D map construction in the confined space. In this paper, the authors will explain our approach for the 3D map construction, and will show the experimental result in Sendai Subway, Dec. 2007. For the 3D map construction in Sendai Subway, we needed to satisfy followings three requirements: 1. small size crawler robot that can get over steps, 2. small-size 3D scanner that can measure uniform and wide area's shape, 3. ad-hoc networks that can cover wide area. We satisfied these three requirements using Kenaf, TK Scanner and Wireless LAN respectively. Contribution of this paper is that we used our proposed method in the real environment and built a 3D map of Sendai Subway.
2P2-A03 Speed Adjustment for High Speed Crawler Robot based on Terrain Shape

SUZUKI Shihoko, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2008　_2P2-A03_1-_2P2-A03_3　2008
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2008._2P2-A03_1 　

ISSN： 2424-3124

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Our research group has developed a tracked mobile robot "kenaf' for high-speed exploration of the confined space such as the underground cities. The kenaf can move about 3 km/h and can get over about 40 cm step. However, it is difficult to pass through the steps and the narrow spaces quickly by remote control. The authors propose an autonomous speed adjustment system based on measurement of environmental shapes. The system limits the maximum speed of the robot when the obstacles are detected within the kinematics-based ellipsoidal areas. The system also limits the speed when the environmental shape ahead is the steps or the slope. The distances of the obstacles were measured by using the laser range sensor. The environmental shape ahead was obtained by using the range image sensor. The validity of the system was experimentally evaluated in a narrow space and a step.
2P2-A12 Proposal of Rollover Judgment and Rollover Avoidance for Tracked Vehicle with Flipper Arm

YUZAWA Tomotake, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2008　_2P2-A12_1-_2P2-A12_2　2008
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2008._2P2-A12_1 　

ISSN： 2424-3124

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We aim at development of semi-autonomous control system for getting over unknown 3D rough terrain, and used Aladdin that is a 6DOF tracked vehicle with four flippers. In our previous researches, a sensor reflexive approach was used for the semi-autonomous control because a rubble environment shape suddenly changes. In this paper, the authors will propose a method of rollover avoidance for the tracked vehicle with nippers. The rollover avoidance composes of a prediction phase and a motion generation face. In the prediction phase, it is necessary to consider the crawler contact condition, four flipper s angles and the robot posture. The authors will use normalized stability margin from these sensor data for the judgment. In the motion generation, flippers will are controlled according to the flipper contact condition.
2P2-B04 Development of the Online Simulation for Displaying of Wide Field of View Images using Small Size Multi Camera System

MIDORIKAWA Naoki, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2008　_2P2-B04_1-_2P2-B04_4　2008
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2008._2P2-B04_1 　

ISSN： 2424-3124

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IRS Soryu is multi trucks robot used for victim search in narrow area. It's difficult for an operator to control the robot using limited field of view image. Authors solve the problem using multi camera images. We developed the multi camera system and achieved the display of detailed and wide field of view image using multi camera image. However, much information is too difficult for human to understand intuitively. Therefore we need the simulator for changing some settings and verifying the method of display repeatedly. We developed the online simulation system which has following requirements; a. Online simulator of multi trucks robot, which considers its dynamics, b. Software frame works for getting multi camera images and transmitting them via socket communication in the simulator, c. Easiness to change some detail settings. Finally, we constructed the graphical user interface that enable human to observe detailed and wide field of view image in surroundings of IRS Soryu.
2P2-A04 Remote COntrol Support for Tracked Robots with Flipper Arms : Rollover Protection Strategy using Distributed Touch Sensors

Inoue Daisuke, Ohno Kazunori, Nakamura Shinsuke, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2008　_2P2-A04_1-_2P2-A04_4　2008
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2008._2P2-A04_1 　

ISSN： 2424-3124

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The authors aim at development of a rescue crawler robot to search for victims in rubble environment. A tracked robot with flippers "Sinbad" was built for the purpose. The robot has 6 degrees of freedom (DOF) for getting over the rubble. However, it is too hard for an operator at the remote place to control these multi degrees of freedom. In this paper, the authors will explain our approach of the remote control support for the crawler robot with flipper arms. Especially, the authors will explain about our developed distributed touch sensors for the crawler robot, and propose a method of rollover avoidance based on the distributed touch sensor.
Development of RTCs for Mobile Robots with Autonomy and Operability: 5^th Report: RTC for Maneuvering on Virtual Tracks under GPS-RTK

前田弘文, 高森年, 大坪義一, 五百井清, 田所論, 松野文俊, 金城隆也, 五十嵐広希

日本ロボット学会学術講演会予稿集(CD-ROM)　26th　2008
F06(1) レスキューロボティクス(F06 ブレイクスルーを生み出す次世代アクチュエータ,先端技術フォーラム,21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

田所諭

年次大会講演資料集　2008　(9)　119-120　2008
Publisher: 一般社団法人日本機械学会
DOI： 10.1299/jsmemecjsm.2008.9.0_119 　
Development of rescue robot systems and training using robots by rescuers

Materials science & technology　77　(5)　477-482　2007/05
Publisher: アグネ技術センター
ISSN： 0368-6337
RT Contributing to Society

TADOKORO Satoshi

Journal of the Robotics Society of Japan　25　(1)　42-46　2007/01/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.25.42 　

ISSN： 0289-1824
繊毛振動によって駆動する能動スコープカメラの開発

昆陽雅司, 畑崎計成, 伊崎和也, 田所諭

ロボティクスシンポジア予稿集　12th　2007

ISSN： 1881-7300
Evaluation of Contact Detection by Distributed Touch Sensor for Crawler Robot

中村信介, 大野和則, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　25th　2007
Development of an Active Flexible Cable by Ciliary Vibration Drive-5th Report: Modeling of a Flexible Cable Driven by Distributed Forces-

昆陽雅司, 伊崎和也, 畑崎計成, 田所諭, 武村史朗

日本ロボット学会学術講演会予稿集(CD-ROM)　25th　2007
Measurement of Dense 3D Shape of Static Objects in Dynamic Environment

河原豊和, 大野和則, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　25th　2007
Distributed Tactile Senser for Tracked Vehicle Robots: 5th Report: Sensor Calibration and Contact Location Sensing on Step

井上大輔, 昆陽雅司, 大野和則, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　25th　2007
Identification of Detection Threshold of Time-delay for Tactile Display Systems

岡本正吾, 昆陽雅司, 嵯峨智, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　12th　2007

ISSN： 1349-5062
High-Resolution Tactile Sensor using Movement of a Reflected Image

嵯峨智, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　12th　2007

ISSN： 1349-5062
波長の実時間推定による能動触のための粗さ感伝達システム

岡本正吾, 昆陽雅司, 前野隆司, 田所諭

ロボティクスシンポジア予稿集　12th　2007

ISSN： 1881-7300
Synthesising method of Friction Sensation using Vibration

山田浩史, 昆陽雅司, 岡本正吾, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　12th　2007

ISSN： 1349-5062
1P1-K04 Development of 3D Control Interface for Remote Control of HELIOS Carrier

KAWAHARA Toyokazu, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2007　_1P1-K04_1-_1P1-K04_2　2007
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2007._1P1-K04_1 　

ISSN： 2424-3124

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Our research objective is construction of 3D map and development of its practical applications. As an application, the authors had proposed 3D control interface for an operator who controls remote control robot. It is well know that an operator can control a robot easily using bird's-eye view. Using 3D control interface, an operator can control the robot at bird's-eye view. The bird's-eye view is constructed from 3D map and robot model. The operator can recognize relationship between the robot and the environment from 3D map and robot model following real robot motion. In this paper, we will describe 3D control interface and its implementation for HELIOS carrier. We will show an experimental result of 3D control interface. From result, we confirmed the effectiveness of the proposed method.
2P1-L05 A Design of Touch Sensors for Semi-autonomous Control System of Crawler Robot

NAKAMURA Shinsuke, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2007　_2P1-L05_1-_2P1-L05_3　2007
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2007._2P1-L05_1 　

ISSN： 2424-3124

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The authors aim at development of semi-autonomous control system for crawler robot. We had proposed a sensor reflective method in 2D steps environments. We confirmed that the proposed method worked well in unknown steps environments. In this method, contact between the crawler robot and ground was detected by using torque of the flipper's motor. The authors will extend it into 3D steps environment. In 3D environment, it is necessary to measure distribution of contact position and its force for evaluation of stability margin. We will develop a distributed touch sensor which can be supplied for the crawler robot. In this paper, the authors describe a strategy for installation of the distributed touch sensor into the crawler robot, and show the details of these touch sensors.
1P1-A08 Developement of a Tactile Interface Using an Ultrasonic Vibration : 2nd Report : Development of a Small Piezoelectric Vibrator Using Resonance of a Pin-Array

Motoki Yohei, Yamada Hiroshi, Konyo Masashi, Tadokoro Satoshi, Maeno Takashi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2007　_1P1-A08_1-_1P1-A08_4　2007
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2007._1P1-A08_1 　

ISSN： 2424-3124

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We developed a small piezoelectric vibrator using an ultrasonic resonance of a pin-array. The ultrasonic vibrator consists of a single piezoelectric ceramics and a elastic metal. Tactile stimulation is generated by amplitude modulations of an ultrasonic vibration. In order to make large generative force and vibration amplitude, the ultrasonic vibrator was designed by finite element analysis. The theory of dynamic damper was applied between a pin-array and a bottom plate of vibrator, could get the large vibration amplitude and arranged the vibratory distribution of a pin-array. Finally, we made a prototype of an ultrasonic vibrator and evaluate it.
1P1-K03 Development of 3D Scanner to Measure Wide Range and Dense Shape by using 2D LRF

KAWAHARA Toyokazu, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2007　_1P1-K03_1-_1P1-K03_4　2007
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2007._1P1-K03_1 　

ISSN： 2424-3124

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Our research objective is construction of 3D map and development of 3D control interface. It is necessary to measure correct 3D environment shape. We had developed 3D scanners for the measurement. In these researches, 3D shape was measured by rotating a 2D laser range finder. These scanners could measure correct 3D shape in static environment. However, these scanners did not measure correct 3D shape when there were moving objects. Moreover, density of 3D shape was not uniform. In this paper, the authors will propose new scanning method which can solve these problems. We will show a design of this new scanner.
1P1-A09 Distributed Tactile Seusor for Crawler Robots : 4th Report : Measurement of Inclination Distribution of Shoes in Running

INOUE Daisuke, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2007　_1P1-A09_1-_1P1-A09_4　2007
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2007._1P1-A09_1 　

ISSN： 2424-3124

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We proposed the "Tactile Crawler", it is optical distributed tactile sensor system suited to crawler vehicle robots. To apply a number of tactile sensors to the crawler track, an electric wiring is a big problem because it rotates continuously. The Tactile Crawler senses inclination distribution of shoes by the pairs of a LED and a photo detector attached ou the iuside frame, and estimates contact locations and tangential forces of the crawler. It realizes evaluation of attitude stability and slip rate of crawler on unknown off-road, e.g. rubbles. It also estimates contact shapes and frictional information of its running surface by using kinetic information together. We performed the easy experiment to acquire contact location of the crawler on a step using the Tactile Crawler of prototype, and the availability of the Tactile Crawler was confirmed.
2P1-L03 Design of Flipper Control Law for Semi-Autonomous System of Crawler Robot based on Real Time 3D Terrain Measurement

YUZAWA Tomotake, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2007　_2P1-L03_1-_2P1-L03_3　2007
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2007._2P1-L03_1 　

ISSN： 2424-3124

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We aim at development of semi-autonomous control system for a crawler robot which has flippers at the front and the rear. We had proposed a sensor reflective method in 2D steps environment. In this method, an operator only specifies a moving direction to the robot. The robot automatically controls these flippers for getting over a bump. The proposed method worked well in 2D steps environment. However, these front flippers sometimes caught upward step which was located after downward steps when the robot descended these steps. In this paper, the authors will propose a method for flipper's collision avoidance using real-time 3D range camera. Moving trajectory of front flipper is estimated considering robot's velocity, flipper's angular velocity and flipper's position. The collision is detected by comparing the ground shape with the trajectory. The flipper's position is changed to new angle without the collision.
2P1-L04 Development of an Active Scope Camera Driven by Cilia Vibration Mechanism : The second report : Application for an Rescue Scope Camera and Performance Evaluation

Hatazaki Kazunari, Isaki Kazuya, Konyo Masashi, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2007　_2P1-L04_1-_2P1-L04_4　2007
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2007._2P1-L04_1 　

ISSN： 2424-3124

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We have developed an active scopecamera driven by cilia vibration mechanism. Such an active scopecamera can be applied for search and rescue activities in disaster fields. In this paper, we designed a new active scopecamera system that can be applied for a practical use. Several effects on driven speed according to shapes and materials of cilia were investigated. Finally, we evaluated the performance of the developed active scopecamera for rescue activities.
Preface

Kwang J. Kim, Satoshi Tadokoro

Electroactive Polymers for Robotic Applications: Artificial Muscles and Sensors　2007

DOI： 10.1007/978-1-84628-372-7 　
Basic Research on Decoding of f-MRI Image under Virtual Tactile Feeling Stimulus

才脇直樹, 谷口まき, 内田肇, 神谷之康, 昆陽雅司, 田所諭

ヒューマンインタフェースシンポジウム論文集(CD-ROM)　2007　ROMBUNNO.2134　2007

ISSN： 1345-0794
1-05-02 Development of a Tactile Interface Using a Resonance of Piezoelectric Bimorphs Arranged in Parallel(Bulk wave devices)

Motoki Yohei, Konyo Masashi, Tadokoro Satoshi, Maeno Takashi

Proceedings of Symposium on Ultrasonic Electronics　28　(28)　149-150　2007
Publisher: Institute for Ultrasonic Elecronics
DOI： 10.24492/use.28.0_149 　

ISSN： 1348-8236

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We developed an ultrasonic vibrator for a tactile interface using ultrasonic resonance of piezoelectric bimorphs arranged in parallel. The vibrator is required for a compact in order to attach it to a pointing device. This vibrator has mechanism that amplifies vibration amplitude using resonance of piezoelectric bimorphs, which are combined in a cross shape. The vibrator consists of eight piezoelectric elements, a shim, jigs and a contactor of an elastic metal. Tactile stimulation is generated by amplitude modulations of an ultrasonic vibration. In order to make large generative force and vibration amplitude, the ultrasonic vibrator was designed by finite element analysis. We confirmed analytically that the vibrator could generate a vibration amplitude of more than tens of micro meters.
第11回大会報告

鈴木陽一, 吉澤誠, 櫻井研三, 藤代一成, 西村竜一, 野間春生, 北崎充晃, 妻木勇一, 遠藤恵一, 岩谷幸雄, 昆陽雅司, 大内誠, 田所諭, 高橋信, 杉田典大, 茅原拓朗, 松永忠雄, 山口隆美, 田中明, 坂本修一, 阿部亨, 薮上信, 寺島賢紀

日本バーチャルリアリティ学会誌 = Journal of the Virtual Reality Society of Japan　11　(4)　234-241　2006/12/25

ISSN： 1342-6680
ケーブル駆動型バルーン・ロボットの開発

武村史朗, 前田潔, 田所諭

日本ロボット学会誌 = Journal of Robotics Society of Japan　24　(8)　931-931　2006/11/15

ISSN： 0289-1824
Rescue MIKE : An Automatic Commentary System for Disaster Simulation : System design and implementation of version 0

KUBO Takenori, MORISHITA Takuya, SHIMORA Hiroki, KAWARABAYASHI Tomomi, ODAKA Tomohiro, OGURA Hisakazu, FRANK Ian, TANAKA ISHII Kumiko, TADOKORO Satoshi, MATSUBARA Hitoshi

Transactions of the Japanese Society for Artificial Intelligence　21　(4)　388-397　2006/11/01
Publisher: The Japanese Society for Artificial Intelligence
DOI： 10.1527/tjsai.21.388 　

ISSN： 1346-0714

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We designed the system, Rescue-MIKE, and implemented to the RoboCup Rescue Simulation System. The Rescue MIKE system aims to communicate with large numbers of relief workers and controllers working in a rescue domain. The system has an ability to report the situation of the domain like a newscaster. Our system consists of multiple agents. The system collects information from a simulated disaster scenario, and then produces a dialogue that fits to the actions of the agents in the domain. We described the design policy, implementation of our system, and Rescue-MIKE's facility. Rescue-MIKE initial version can provide aural information that helps to explain the unfolding scenarios to onlookers. We discussed the future applications of our system, including knowledge elicitation about disaster relief control methods, automated relief support systems, and public education about the dangers of large natural disasters such as earthquakes, floods or volcanic eruptions.
3D Map Construction Method for Wheeled Crawler Robot, "Ali-Baba"

OHNO Kazunori, TADOKORO Satoshi

インテリジェント・システム・シンポジウム講演論文集　16　243-246　2006/09/25
Publisher: The Japan Society of Mechanical Engineers

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Our research objective is 3D map construction by a teleoperated crawler robot "Ali-Baba". 3D map construction requires correct estimation of robot's position and posture. However, as "Ali-Baba" is a crawler robot, it is hard to estimate robot's position and posture based on motion model and inner sensor. Besides, "Ali-Baba" has a crawler with wheel and changes driving mode (crawler or wheel) according to environments, which makes more difficult to estimate robot's position and posture based on motion model and inner sensor. The authors proposed a method for position estimation and map construction based on environment shape matching. Robot's position could be estimated by the proposed method switching two models according to the driving mode.
Development of Master-Slave Typed Tactile Telepresence System-2nd report: Tactile Representation Based on Physical Parameters-

岡本正吾, 昆陽雅司, 前野隆司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　24th　2006
Displaying Postural Information of Search Robot to the Remote Control Operator using Non-grounding Force Display.

中村信介, 大野和則, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　11th　2006

ISSN： 1349-5062
Safety to the nature. Disaster information collecting robot.

田所諭

日本機械学会誌　109　(1048)　2006

ISSN： 0021-4728
Dragging Objects in Unknown Environment by Tele-operated Mobile Manipulator

林俊輔, 大野和則, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　24th　2006
繊毛振動によって駆動する能動索状体の開発

伊崎和也, 新妻あきら, 昆陽雅司, 武村史朗, 田所論

ロボティクスシンポジア予稿集　11th　2006

ISSN： 1881-7300
Distortion Correction of Scan Data for Map Construction based on Scan Matching

河原豊和, 大野和則, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　24th　2006
Information collection using a cable driven balloon robot and intelligent data carriers for rescue at disaster

Takemura Fumiaki, Maeda Kiyoshi, Hada Yasushi, Kawabata Kuniaki, Tadokoro Satoshi

Proceedings of the Japan Joint Automatic Control Conference　49　571-571　2006
Publisher: The Japan Joint Automatic Control Conference
DOI： 10.11511/jacc.49.0.571.0 　
小型三次元スキャナーを用いた三次元地図構築

大野和則, 田所諭

ロボティクスシンポジア予稿集　11th　2006

ISSN： 1881-7300
人工触感ディスプレイ開発とユーザインタフェース評価

東和田恵理子, 才脇直樹, 永尾千絵, 谷口まき, 吉田晃典, 田所諭

電気学会電子・情報・システム部門大会講演論文集(CD-ROM)　2006　2006
Tactile Telepresence System With Communication Time-Delay

岡本正吾, 昆陽雅司, 前野隆司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　11th　2006

ISSN： 1349-5062
Development of a Pressure Sense Display Using Low Frequency Vibratory Stimulation

横田求, 昆陽雅司, 前野隆司, 田所諭

日本バーチャルリアリティ学会大会論文集(CD-ROM)　11th　2006

ISSN： 1349-5062
Study on stability of position and orientation of a balloon type cable-driven robot system

前田潔, 武村史朗, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2006　2006

ISSN： 2424-3124
1P1-E10 Generating imitated motion by using FDNet

KONISHI Kaoru, TOKUDA Kenichi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2006　_1P1-E10_1-_1P1-E10_2　2006
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2006._1P1-E10_1 　

ISSN： 2424-3124

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This paper deals with the generating imitated motion by using FDNet. Imitation is effective solution for some robot working in complicated situation. Because it is impossible to predict all situation and impliment robot all the motion. FDNet features a "relation network" which describes the robot system. We suggest the "Feature Network" for skill imitation and implement it by using FDNet .
2P2-D02 Representation of Postural Infomation for Avoidance of Optical Illusion at Remote-control

NAKAMURA Shinsuke, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2006　_2P2-D02_1-_2P2-D02_3　2006
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2006._2P2-D02_1 　

ISSN： 2424-3124

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A remote controlled robot is developed to search a victim in devastated area. Our research objective is the robot's postural information display to operator who controls it at remote place. Although the rescue robot is controlled by using camera image, it is hard for operator to recognize the correct robot's situation in the remote place. Especially, optic illusion causes misrecognition of the robot's postural information. In this paper, the authors describe our developed mobile controller equipped with postural information display. We examined its ability and confirmed that misrecognition in the illusion was reduced by the use of the display.
2P2-B12 Development of Distributed Tactile Sensor for Crawler

INOUE Daisuke, KONYO Masashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2006　_2P2-B12_1-_2P2-B12_4　2006
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2006._2P2-B12_1 　

ISSN： 2424-3124

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We propose a distributed tactile sensor for crawler mechanism. To crawler wear tactile sensor, wiring is the problem because crawler surface moves. The proposed sensor convert tactile informations to angle of reflector on the reverse side of the crawler surface, and detect angle of the reflector using LED and photo-transistor on the bearing frame of the crawler Robot. The reflector can get necessary performance for the proposed sensor, using Retro-reflector and View control film.
2P1-C30 Localization and Mapping for Fast Mobile Robots with 2D Laser Range Finder

KAWAHARA Toyokazu, OHNO Kazunori, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2006　_2P1-C30_1-_2P1-C30_3　2006
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2006._2P1-C30_1 　

ISSN： 2424-3124

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Our research objective is localization and mapping for rescue crawler robot in unknown environment. The problem is well known as SLAM problem. For solving the problem, the robot position and environment shape are measured by odometry and LRF respectively. Odometry's error is corrected by matching these shape data. Map is constructed from these shapes and the modified robot position. However, odometry can not be used for measurement of our crawler robot's position because the crawler has crawlers and wheels as locomotion. In this paper, the authors present our approach for measurement of its position and construction of the map. Concretely, the authors measure its position by matching 2D scan data measured at different points. Moreover, we correct the scan's distortion caused by robot movement.
2P2-D16 Semi-autonomous Control System for Rescue Crawler Robot : Examination of control rule for climbing an bump

MORIMURA Shouichi, Ohno Kazunori, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2006　_2P2-D16_1-_2P2-D16_4　2006
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2006._2P2-D16_1 　

ISSN： 2424-3124

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The authors aim at development of a remote controlled robot system for victim search in collapsed environment. For this purpose, we are developing a crawler robot which has flipper crawler. Although the crawler robot can get over steps and obstacles, it is hard for the operator at remote place to control the flipper arm. For decreasing operator's labor, it is necessary to control it for semi-autonomy. Our research objective is semi-autonomous control of a crawler robot which has flipper crawler. In this paper, the authors explain our rule based approach for climbing an bump in semi-autonomous.
Development of Master-Slave Typed Tactile Telepresence System-1st Report, Real-time Estimation of Tactile Factors Using Human Finger Mimetic Tactile Sensors-

岡本正吾, 昆陽雅司, 向坊由佳, 前野隆司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2006　2006

ISSN： 2424-3124
2P2-B30 Development of a Pressure Display Using Low Frequency Vibratory Stimulation : Evaluations of Shape Effects of Vibrators

YOKOTA Motomu, KONYO Masashi, MAENO Takashi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2006　_2P2-B30_1-_2P2-B30_2　2006
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2006._2P2-B30_1 　

ISSN： 2424-3124

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We found that vibratory stimuli at very low frequency can generate static pressure sensation without vibratory feeling. This phenomenon is very useful for realizing cutaneous pressure display by the ultrasonic vibrator. In this paper, shape effects of vibrator were evaluated by calculating tactile receptor activities based on contact analysis with several shape of vibrators using a finite element model of human finger.
1P1-C29 Basic design and evaluation of rescue robots by using FDNet-HI

YAmAMOTO Nobutoshi, TOKUDA Kenichi, TADOKORO Satoshi, YASUDA Kazunori

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2006　_1P1-C29_1-_1P1-C29_2　2006
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2006._1P1-C29_1 　

ISSN： 2424-3124

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We are developing FDNet to create an imitation robot and implementing it on the quadruped rescue robot, RoQ. In FDNet, an information unit and a process unit are modularized respectively, and we design robot by connecting them in relation network. This paper reports availability of FDNet-HI through basic design of rescue robots by using FDNet-HI.
Infrastructure for Global Disaster Information Collection

Asama Hajime, Hatayama Michinori, Matsuno Fumitoshi, Tadokoro Satoshi, Hada Yasushi, Kawabata Kuniaki, Noda Itsuki, Takizawa Osamu, Meguro Junichi, Ishikawa Kiichiro, Hashizume Takumi, Ohga Tomowo

Proceedings of the Japan Joint Automatic Control Conference　49　(0)　505-505　2006
Publisher: The Japan Joint Automatic Control Conference
DOI： 10.11511/jacc.49.0.505.0 　
Robots for Disaster Information Gathering

TADOKORO Satoshi

Journal of the Society of Mechanical Engineers　109　(1048)　168-169　2006
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmemag.109.1048_168 　

ISSN： 0021-4728
Reflective Grasp Force Control of Humans Induced by Distributed Vibration Stimuli on Finger Skin with ICPF Actuators

Konyo Masashi, Nakamoto Masataka, Maeno Takashi, Tadokoro Satoshi

Transactions of the Virtual Reality Society of Japan　11　(1)　3-10　2006
Publisher: THE VIRTUAL REALITY SOCIETY OF JAPAN
DOI： 10.18974/tvrsj.11.1_3 　

ISSN： 1344-011X

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A method is proposed to control human grasping force unconsciously by generating small distributed vibration stimuli on a finger based on a human reflex action against detection of partial slippage of contact. Human beings can increase grasping force before the grasped object slips off the fingers based on afferent signals from tactile receptors that detect the expansion of the partial slippage area. We assumed that vibration stimuli that have an appropriate frequency and distribution generate a virtual sensation of partial slippages and induce a reflective grasping force increase. Grasping experiments with minute distributed vibration stimuli using ICPF (Ionic Conducting Polymer gel Film) actuators were performed. Experiments results showed that the effective vibratory frequency was 30 Hz, which is the most sensitive range for Meissner's corpuscles that are closely related to detection of partial slippage. We also found that distribution of vibration stimuli were important to produce human grasping force increase.
505 Estimation of Nervous Activities of Tactile Receptors Using a Finite Element Model of a Human Finger

Konyo Masashi, Tadokoro Satoshi, Maeno Takashi

The Proceedings of The Computational Mechanics Conference　2006　(19)　239-240　2006
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmecmd.2006.19.239 　

ISSN： 1348-026X
System Integration in Rescue Systems

TADOKORO Satoshi

Journal of The Society of Instrument and Control Engineers　44　(11)　765-770　2005/11/10
Publisher: The Society of Instrument and Control Engineers
DOI： 10.11499/sicejl1962.44.765 　

ISSN： 0453-4662
Basic Research on Brain Activity under Virtual Tactile Feeling Stimulus

Saiwaki Naoki, Taniguchi Maki, Yoshida Akinori, Tadokoro Satoshi

情報処理学会研究報告　2005　(95)　29-32　2005/09/30
Publisher: Information Processing Society of Japan (IPSJ)
ISSN： 0919-6072

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We developed the artificial tactile feeling display using ICPF actuator. In this paper, the artificial tactile feeling stimulus generated by the actuator were evaluated by the experiments. Moreover, cerebral somatosensory area activated by the tactile feeling stimulus were observed by f-MRI. We are under consideration about tactile feeling cognition based on an experimental results.
MEXT RR2002 Special Project for Earthquake Disaster Mitigation in Urban Areas : Development of Advanced Robots and Information Systems for Disaster Response

TADOKORO Satoshi

Journal of the Robotics Society of Japan　23　(5)　541-543　2005/07/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.23.541 　

ISSN： 0289-1824
ロボカップレスキュー (特集災害対応ロボット)

田所諭, 綿末太郎

ロボット　(164)　14-20　2005/05
Publisher: 日本ロボット工業会
ISSN： 0387-1940
布形状シミュレータに演出機能を付加した3DCGアニメーションシステムの開発 -パラメータの時空的制御による演出効果の強化-

河辺郁, 高森年, 田所諭

第67回全国大会講演論文集　2005　(1)　165-166　2005/03/02
The Constructvist Approach to the Biased Sole Sensor for COF Estimation

岡本正吾, 徳田献一, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　23rd　2005
Development of the Vibrated Drive Type Cilia Motion Mechanism for Fiber Scope

新妻あきら, 武村史朗, 伊崎和也, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　23rd　2005
Imitation System by Common Cognitive model for Heterologous Robot

徳田献一, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　23rd　2005
瓦れき内探査ロボットMOIRA 2

原口林太郎, 大須賀公一, 牧田忍, 田所諭

ロボティクスシンポジア予稿集　10th　2005

ISSN： 1881-7300
情報収集を行うための上空移動バルーン・ケーブル駆動ロボットの提案

武村史朗, 榎本正也, 田中琢磨, 出納和也, 小林靖幸, 田所諭

フルードパワーシステム講演会講演論文集　2005　2005
The Development of Embeded Vision System for Rescue Robot

見延壮希, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　23rd　2005
Analysis of Brain Activity under Tactile Feeling Stimulus

谷口まき, 吉田晃典, 才脇直樹, 田所諭

インテリジェント・システム・シンポジウム講演論文集　15th　2005
Improvement of the Tactile Feeling Display for Emphasis of Presentation Feeling

吉田晃典, 谷口まき, 才脇直樹, 田所諭

インテリジェント・システム・シンポジウム講演論文集　15th　2005
Development of united evaluation method in robot optimization design

倉拓海, 徳田献一, 田所諭, 安田一則

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2005　2005

ISSN： 2424-3124
Imitation Learning Targeted for Motion Primitives’ Set

徳田献一, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2005　2005

ISSN： 2424-3124
Development of 3D vision for rescue robot in rubble

横田求, 見延壮希, 牧田忍, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2005　2005

ISSN： 2424-3124
Development of positional estimation for victims using balloon type cable-driven robot

小林靖幸, 榎本正也, 田中琢磨, 出納和也, 武村史朗, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2005　2005

ISSN： 2424-3124
Analysis of human work of foot sencing for imitation robot-Construction of relation network by fuzzy inference-

武吉紀文, 徳田献一, 延広秀之, 小西薫, 田所諭, 安田一則

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2005　2005

ISSN： 2424-3124
Trial of 3D Map Building in Outdoor Environment

大野和則, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2005　2005

ISSN： 2424-3124
Welcome Message

Kosuge Kazuhiro, Tadokoro Satoshi, Tsubouchi Takashi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2005　iii-iv　2005
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2005.iii 　
ALL-N-009 Development and Experiments of Mobile Inspection Robot for Rescue Activities MOIRA2(Prototype Development Support Enterprise, Next-Generation Robot Commercialization Project,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

Osuka Koichi, Haraguchi Rintaro, Makita Shinobu, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2005　7-7　2005
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2005.7_1 　
1A1-S-077 Development of united evaluation method in robot optimization design(Rescue System and Rescue Engineering 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

Kura Takumi, Tokuda Kenichi, Tadokoro Satoshi, Yasuda Kazunori

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2005　48-48　2005
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2005.48_4 　
1A1-S-092 Development of foot-bottom pressure sensor for rescue robots : Evaluation of sensor and calibration method(Rescue System and Rescue Engineering 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

Kawaguchi Youki, Tokuda Ken-ichi, Konishi Kaoru, Tadokoro Satoshi, Yasuda Kazunori

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2005　50-50　2005
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2005.50_3 　

ISSN： 2424-3124
1A1-S-093 Flat-distributed Network Architecture for rescue robots (FDNet) : 7th report: development of FDNet design interface for different structural robots(Rescue System and Rescue Engineering 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

Yamamoto Nobutoshi, Delange Fabien, Purnelle Paul-emile, Tokuda Kenichi, Tadokoro Satoshi, Yasuda Kazunori

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2005　50-50　2005
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2005.50_4 　

ISSN： 2424-3124
1A1-S-096 Adaptation to rough terrain by using COF on a quadruped vehicle(Rescue System and Rescue Engineering 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

OKAMOTO Shogo, TOKUDA Kenichi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2005　51-51　2005
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2005.51_3 　

ISSN： 2424-3124
1P1-N-100 Unconscious Control of Grasping Force by Displaying Partial Slip with Distributed Vibration Stimulus(Tactile and Force Sense 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

NAKAMOTO MASATAKA, KONYO MASASHI, MAENO TAKASHI, TADOKORO SATOSHI

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2005　67-67　2005
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2005.67_4 　
1P2-S-095 Construction of balloon type cable-driven robot system for information collection at major disaster(Rescue System and Rescue Engineering 3,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

Enomoto Masaya, Denou Kazuya, Tanaka Takuma, Kobayashi Yasuyuki, Tadokoro Satoshi, Takemura Fumiaki, Morizono Tetsuya, Kino Hitoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2005　138-138　2005
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2005.138_2 　

ISSN： 2424-3124
2A1-N-041 Imitation learning for heterologous robot : Motion primitive set based robot imitation(Cognitive Robotics 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

TOKUDA Kenichi, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2005　142-142　2005
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2005.142_3 　
2A1-S-073 Development of the Vibrated Drive Type Cilia Locomotion Mechanism for Fiverscopes(Rescue System and Rescue Engineering 4,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

Niitsuma Akira, Takemura Fumiaki, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2005　179-179　2005
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2005.179_2 　

ISSN： 2424-3124
2A1-S-074 Development of the Human Interface for the rescue robots : Application to balloon-cable driven robot(Rescue System and Rescue Engineering 4,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

TANAKA Takuma, TAKEMURA Fumiaki, ENOMOTO Masaya, DENOU Kazuya, KOBAYASHI Yasuyuki, TADOKORO Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2005　179-179　2005
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2005.179_3 　

ISSN： 2424-3124
2A1-S-075 Development of positional estimation for victims using balloon type cable-driven robot(Rescue System and Rescue Engineering 4,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

Kobayashi Yasuyuki, Takemura Fumiaki, Enomoto Masaya, Tanaka Takuma, Denou Kazuya, Tadokoro Satoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2005　179-179　2005
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2005.179_4 　
2P1-N-040 Analysis of human work of foot sencing for imitation robot : Construction of relation network by using fuzzy inference(Cognitive Robotics 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

Takeyoshi Norifumi, Tokuda Kenichi, Nobuhiro Hideyuki, Konishi Kaoru, Tadokoro Satoshi, Yasuda Kazunori

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2005　186-186　2005
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2005.186_3 　
2P1-N-042 Imitation of motion skill through the common recognition model : inhibition of motion by event(Cognitive Robotics 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

NOBUHIRO HIDEYUKI, TOKUDA KENICHI, KONISHI KAORU, TADOKORO SATOSHI

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2005　187-187　2005
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2005.187_1 　

ISSN： 2424-3124
2P1-S-075 Development of 3D vision for rescue robot in rubble(Rescue System and Rescue Engineering 5,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

Yokota Motomu, Minobe Masaki, Makita Satoshi, Tadokoro Shinobu

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2005　222-222　2005
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2005.222_3 　
2P1-S-092 Development of research platform of social infrastructure Rescue-Communicator(Rescue System and Rescue Engineering 5,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

HADA YASUSHI, HATAYAMA MITSUNORI, OHGA TOMOWO, KOBAYASHI SHIGEKI, EINO JUNICHI, HASHIZUME TAKUMI, ASAMA HAJIME, NODA ITSUKI, TAKIZAWA OSAMU, TADOKORO SATOSHI, NAKAKOMI HIROSHI, KAWABATA KUNIAKI, TAKITA KENSUKE, MATSUNO FUMITOSHI

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2005　224-224　2005
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2005.224_4 　

ISSN： 2424-3124
Conception of International Rescue Complex : Commercialization and Activation of Industry by RT in Kanagawa Prefecture

MATSUNO Fumitoshi, ISHIGURO Shu, YAMAMOTO Takeshi, TADOKORO Satoshi

Journal of the Robotics Society of Japan　22　(7)　829-832　2004/10/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.22.829 　

ISSN： 0289-1824
An Overview OF Rescue Robotics

TADOKORO Satoshi

Journal of the Japan Fluid Power System Society　35　(4)　221-225　2004/07/15
Publisher: 日本フルードパワーシステム学会
ISSN： 1346-7719
Mission and Overview of DDT Project

TADOKORO Satoshi

Journal of the Robotics Society of Japan　22　(5)　544-545　2004/07/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.22.544 　

ISSN： 0289-1824
Test Field toward the Practical Use of Rescue Robot Systems in DDT Project : Introduction of IRS Kobe Laboratry

WATASUE Taro, ONOSATO Masahiko, TADOKORO Satoshi

Journal of the Robotics Society of Japan　22　(5)　572-573　2004/07/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.22.572 　

ISSN： 0289-1824
災害現場における情報収集のためのケーブル駆動ロボットの開発

武村史朗, ZWIERS U, 田所諭, 榎本正也, 出納和也

ロボティクスシンポジア予稿集　9th　2004

ISSN： 1881-7300
Measurement and Analysis of Tactile Feeling for Developing the Display Expressed Touch of Cloth

新宅加奈子, 才脇直樹, 昆陽雅司, 赤沢和伸, 吉田晃典, 田所諭

システム制御情報学会研究発表講演会講演論文集　48th　2004
Proposal of wireless movable position measurement system by using a cable-driven robot with an electric wave coming direction finder.

出納和也, 榎本正也, 田中琢磨, ZWIERS U, 田所諭, 武村史明, ERBATUR K

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2004　2004

ISSN： 2424-3124
レスキューロボットと地理情報システム (小特集三次元GIS--応用事例編) -- (三次元GISの応用事例)

松野文俊, 田所諭

写真測量とリモートセンシング　43　(2)　32-35　2004
Publisher: 日本写真測量学会
ISSN： 0285-5844
RoboCup Rescue

TADOKORO Satoshi

設計工学　39　(1)　2-6　2004/01
Publisher: 日本設計工学会
ISSN： 0919-2948
Development of the Human Interface for the rescue robots : Application to cable-driven robot "TAGUAN"

Tanaka T, Enomoto M, Denou K, Takemura F, Tadokoro S

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2004　3-3　2004
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2004.3_2 　

ISSN： 2424-3124
Compound-eye-type Omni-directional Vision Sensor for Information Collection in Debris

Kishima T, Minobe M, Tadokoro S, Makita S

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2004　4-5　2004
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2004.4_4 　
Development of balloon type cable-driven robot for informatoin collection from sky

Enomoto M, Denou K, Tanaka T, Takemura F, Morizono T, Kino H, Ulrike ZWIERS, Tadokoro S

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2004　40-40　2004
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2004.40_1 　

ISSN： 2424-3124
A Study on a Tactile Feeling Display Using ICPF Actuator : 9th Report: Texture Display Method in Response to Hand Movements

Konyo M, Akazawa K, Yoshida A, Shintaku K, Saiwaki N, Tadokoro S

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2004　46-46　2004
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2004.46_2 　

ISSN： 2424-3124
A Study on a Tactile Feeling Display Using ICPF Actuator : 10th Report: An Applicatoin that Represent Touch Feel on 3D Virtual Objects

Yoshida A, Konyo M, Akazawa K, Tadokoro S

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2004　46-46　2004
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2004.46_3 　

ISSN： 2424-3124
Flat-distributed network architecture for rescure robots (FDNet)

Koji Y, Tokuda K, Jadoulle Jerome, Achbany Yousse, Lambot Nicolas, Tadokoro S, Konyo M, Takamori T

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2004　73-74　2004
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2004.73_4 　

ISSN： 2424-3124
Relation Network design for imitation robot : Foot Rubbing generation on irregular terrain

Nobuhiro H, Tadokoro S, Tokuda K, Koji Y, Konishi K, Konyo M, Takamori T, Uehara K

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2004　78-78　2004
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2004.78_1 　

ISSN： 2424-3124
Imitation of Rubble Walking by Rescue Robot RoQ : Motion Generation by Foot Rubbing Simulations

Konishi K, TOkuda K, Watasue T, Koji Y, Nobuhiro H, Tadokoro S, Takamori T

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2004　78-78　2004
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2004.78_2 　

ISSN： 2424-3124
Development of small size mobile mechanism for searching in rubble

Konishi Y, Makita S, Tadokoro S

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2004　122-122　2004
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2004.122_2 　

ISSN： 2424-3124
The development of MObile Inspection robot for Rescue Assistant 2, MOIRA 2

Haraguchi R, Osuka K, Makita S, Tadokoro S

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2004　123-123　2004
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2004.123_4 　

ISSN： 2424-3124
Proposal of wireless movable position measurement system from sky

Denou K, Enomoto M, Tanaka T, Zwiers Ulrike, Tadokoro S, Takemura F, Kemalettin Erbatur

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2004　197-197　2004
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2004.197_2 　
18・3 レスキューシステム(18.ロボティクス・メカトロニクス,<特集>機械工学年鑑)

田所諭

日本機械学会誌　107　(1029)　648-649　2004
Publisher: 一般社団法人日本機械学会
DOI： 10.1299/jsmemag.107.1029_648_3 　

ISSN： 0021-4728
Softness Display for Touch Feel Using High Polymer Gel Actuators

AKAZAWA Kazunobu, KONYO Masashi, TADOKORO Satoshi, TAKAMORI Toshi

Proceedings of the Virtual Reality Society of Japan,annual conference　8　221-224　2003/09/17
Publisher: 日本バ-チャルリアリティ学会
ISSN： 1342-4564
地震災害被害を軽減するためのRT(ロボットテクノロジー)

田所諭

地震ジャ-ナル　(35)　28-35　2003/06
Publisher: 地震予知総合研究振興会
ISSN： 0912-5779
Demonstrations of Robot Competitions : RoboCup-Soccer, RoboCup-Rescue, and Rescue Robot Contest

MASUTANI Yasuhiro, TADOKORO Satoshi, OSUKA Koichi

Journal of the Robotics Society of Japan　21　(2)　145-146　2003/03/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.21.145 　

ISSN： 0289-1824
2P1-3F-E4 FDNET Module Development for an Extensible Architecture

Pujol A., Koji Y., Tadokoro S., Tokuda K., Toda T., Nobuhiro H., Konyo M.

2003　112-113　2003
Publisher: The Japan Society of Mechanical Engineers

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The presentation introduces concepts and methods used in the design of several modules for the FDNET architecture. In particular it focuses on the implementation and calculation methods used to adapt to an extensible architecture : it describes how object oriented implementation was used to reproduce the architecture of the robot.
レスキューロボットの評価に関する一考察

田所

SI2003講演論文集　2003
Special Project for Earthquake Disaster Mitigation in Urban Areas

Tadokoro Satoshi

Proceedings of the Japan Joint Automatic Control Conference　46　(CD-ROM)　1074-1075　2003
Publisher: The Japan Joint Automatic Control Conference
DOI： 10.11511/jacc.46.0.1074.0 　
Polymer actuators.

田所諭

次世代アクチュエータ技術の予測調査研究平成14年度 No.14605004　2003
Study of Humaninterface for the Rescue Robots~Information Display for Searching~

田中琢麿, 田所諭, こうじ幸久, 高森年, 高島雅之, 池内彰博, 高島志郎

システム制御情報学会研究発表講演会講演論文集　47th　2003
Research of Ionic Conducting Polymergel Film (ICPF) Sensor. 3rd Repot: Derive Velocity Vector using Tactile Sensor

小西芳樹, 昆陽雅司, 田所諭, 高森年

日本ロボット学会学術講演会予稿集(CD-ROM)　21st　2003
An Intelligent Sensor Head for Information Collection in Debris

岸間匠, 田所諭, 見延壮希, 牧田忍, WILLAME Y, JULIEN S

日本ロボット学会学術講演会予稿集(CD-ROM)　21st　2003
Motion features extraction and Environment features Estimation by observing human operation for imitated operation generation

延広秀之, 田所諭, 徳田献一, こうじ幸久, 昆陽雅司, 高森年

日本ロボット学会学術講演会予稿集(CD-ROM)　21st　2003
A Study on a Tactile Feeling Display Using ICPF Actuator. 8th Report: Examination of Stimulation Method for Softness Display

昆陽雅司, 赤沢和伸, 田所諭, 高森年

日本ロボット学会学術講演会予稿集(CD-ROM)　21st　2003
Fragile ground estimation by Foot Sensor for Rescue Robot

徳田献一, 戸田崇文, こうじ幸久, 昆陽雅司, 田所諭

日本ロボット学会学術講演会予稿集(CD-ROM)　21st　2003
Development of a cable-driven robot for information collection from sky and a proposal of information collection method

武村史朗, ERBATUR K, ZWIERS U, 田所諭, 榎本正也, 出納和也

日本ロボット学会学術講演会予稿集(CD-ROM)　21st　2003
The flat-distributed network architecture forrescue robots (FDNet) -second report: specification for the time series processing-

こうじ幸久, PUJOL A, 田所諭, 徳田献一, 延広秀之, 昆陽雅司, 高森年

日本ロボット学会学術講演会予稿集(CD-ROM)　21st　2003
Study of Human Interface for Rescue Robots-System of Human Interface-

田中琢磨, 田所諭, 牧田忍, 高森年

日本ロボット学会学術講演会予稿集(CD-ROM)　21st　2003
Contests of Rescue Robots(<Special Issue>Disaster Response Robotics)

OSUKA Koichi, TAKAHASHI Tomoichi, TADOKORO Satoshi

Journal of the Society of Mechanical Engineers　106　(1019)　790-793　2003
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmemag.106.1019_790 　

ISSN： 0021-4728
An Overview of RoboCup-2002 Fukuoka/Busan.

Minoru Asada, Oliver Obst, Daniel Polani, Brett Browning, Andrea Bonarini, Masahiro Fujita, Thomas Christaller, Tomoichi Takahashi, Satoshi Tadokoro, Elizabeth Sklar, Gal A. Kaminka

AI Mag.　24　(2)　21-40　2003

DOI： 10.1609/aimag.v24i2.1700 　

ISSN： 0738-4602
A Study on a Tactile Feeling Display Using ICPF Actuator 7th Report : About a conditions of presentation of mechanical stimuli in response to hand movements

Akazawa K., Konyo M., Tadokoro S., Takamori T.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2003　21-21　2003
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2003.21_1 　

ISSN： 2424-3124

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これまでに本研究では, 高分子ゲルアクチュエータを用いた能動的触運動可能なウェアラブルディスプレイを開発した。また触運動の速度・加速度に応じた受容器の選択的な刺激手法を提案した。触運動の方向を水平に変更し, 心理物理実験により自然な手触り感を生成する刺激条件を求める。
A Study on a Tactile Sensor Using ICPF

Konishi Y., Konyo M., Tadokoro S., Takamori T.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2003　26-26　2003
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2003.26_3 　

ISSN： 2424-3124

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本研究では, 材質や触り心地をセンシングする触感センサの開発を目標としている。柔軟かつ比較的加工が容易であるICPF(イオン導電性高分子ゲル膜)をセンサとして用いるて, 触感センサを開発した。
An Intelligent Sensor Head for Information Collection in Debris

Kishima T., Tadokoro S., Willame Yannick, Julien Stouffs

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2003　45-45　2003

DOI： 10.1299/jsmermd.2003.45_2 　

ISSN： 2424-3124
Research on Imitation of Human Work by the use of the Rescue Robot RoQ

Toda T., Tokuda K., Tadokoro S., Konyo M., Koji Y., Nobuhiro H.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2003　45-45　2003
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2003.45_3 　

ISSN： 2424-3124

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災害現場でロボット自身が人間行動観察を行い, そのスキルを模倣できれば, 予測できない未知環境下でも対応できると考えられる。本報告ではロボットが人間のスキルを解釈して模倣を行うシステムについて述べる。
Characteristics and Modeling of ICPF Actuator : 16th Report : A estimation of Nafion-Au ICPF actuator model

Maeba Y., Tadokoro S., Konyo M., Takamori T.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2003　50-50　2003
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2003.50_5 　

ISSN： 2424-3124

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ICPFアクチュエータは実用に近い高分子ゲルアクチュエータとして注目を集めている。本報では, 前報で提案したNafion-An型アクチュエータモデルに対して様々な入力波形を与え, モデルの評価を行う。
Active Touch Imitation System through Common Cognitive Models of Human and Robots

Konyo M., Tadokoro S., Koji Y., Tokuda K., Takamori T.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2003　54-55　2003
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2003.54_6 　

ISSN： 2424-3124

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ロボットアームを用いて人間の能動的な触運動を模倣するシステムを構築する。人間とロボットに共通する認知モデルを用いて, 感覚と運動が統合された特徴量を自己組織的に抽出し, 運動を生成する方法を提案する。
A Portable Cable-driven Robot for Information Collection from Sky

Takemura F., Erbatur Kemalettin, Zweirs Ulrike, Tadokoro S., Takayama T., Kishima T.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2003　99-99　2003
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2003.99_5 　

ISSN： 2424-3124

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災害時において, 家屋・建物の倒壊などによる人的被害は後を絶たない。このような場合, 上空からスキャンすることによる情報の収集が効果的である。本研究では上空から吊り下げられるセンサ搭載可能なケーブル駆動ロボットの研究開発を行う。
The Flat-Distributed Architecture for Rescue System : FDNet and that implementation

Koji Y., Tadokoro S., Tokuda K., Pujol Alain, Toda T., Nobuhiro H., Konyo M., Takamori T.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2003　112-112　2003
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2003.112_5 　

ISSN： 2424-3124

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我々はレスキューロボットのためのソフトウェアアーキテクチャについて水平分散アーキテクチャFDNetを提案, 実装した。今回はその概要と, それを用いたシステムについて報告する。
Study of Human Interface for the Rescue Robots : Information display for searching

Tanaka T., Tadokoro S., Takamori T., Koji Y.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2003　127-127　2003
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2003.127_3 　

ISSN： 2424-3124

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レスキューロボットにより被災者を探索する際, どのような情報を提示しどのような操作方法にすれば操作者にとってよいのかを研究する。
2002 SICE System Integration Division Annual Conference (SI 2002)

TADOKORO Satoshi, KOTOKU Tetsuo

Journal of The Society of Instrument and Control Engineers　42　(4)　352-352　2003
Publisher: The Society of Instrument and Control Engineers
DOI： 10.11499/sicejl1962.42.352 　

ISSN： 0453-4662
The present state of the robot It evolved The robot to cope with the disaster The victims were discovered at the NY terrorism scene.

田所諭

エネルギーレビュー　22　(12)　14-18　2002/12
Publisher: エネルギ-レビュ-センタ-
ISSN： 0289-2804
Walkie-Talkie MIKE : Automatic generator of real-time commentary for rescue simulator

MATSUBARA Hitoshi, TANAKA ISHII Kumiko, FRANK Ian, TADOKORO Satoshi

Transactions of the Japanese Society for Artificial Intelligence　17　(2)　177-180　2002/11/01
Publisher: The Japanese Society for Artificial Intelligence
DOI： 10.1527/tjsai.17.177 　

ISSN： 1346-0714
ICPF-Based Wearable Tactile Feeling Display Considering Active Touch

KONYO Masashi, AKAZAWA Kazunobu, TADOKORO Satoshi, TAKAMORI Toshi

Proceedings of the Virtual Reality Society of Japan,annual conference　7　445-448　2002/09/18
Publisher: 日本バ-チャルリアリティ学会
ISSN： 1342-4564
Preface

TADOKORO Satoshi, AMANO Hisanori

16　(6)　475-476　2002/08/14

ISSN： 0169-1864
インフラ未来型ロボカップレスキューの可能性

田所諭

DIVA　(3)　70-77　2002/06
Publisher: 夏目書房
Gaming of Disaster Rescue - RoboCup-Rescue Project -

MATSUBARA Hitoshi, TADOKORO Satoshi

IPSJ Magazine　43　(5)　531-536　2002/05/15
Publisher: Information Processing Society of Japan (IPSJ)
ISSN： 0447-8053

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ロボカップレスキューは災害救助に情報処理技術を適用しようというプロジェクトである.その中のシミュレーションプロジェクトでは,包括的災害救助シミュレータ上で防災活動を行う自律知能エージェントを開発してゲームによってその優劣を競っている.ここでは災害救助をどのようにゲーム化しているか,プロジェクトをどのように進めているかについて述べる.
The RoboCupRescue Project

TADOKORO Satoshi

Journal of the Robotics Society of Japan　20　(1)　20-23　2002/01/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.20.20 　

ISSN： 0289-1824
Horizontally-distributed architecture Distributed Architecture for a rescue robot

こうじ幸久, 田所諭, 徳田献一, 戸田崇文, 昆陽雅史, 高森年

日本ロボット学会学術講演会予稿集(CD-ROM)　20th　2002
RoboCupRescue

TADOKORO Satoshi, TAKAHASHI Tomoichi

Journal of Japan Society for Fuzzy Theory and Systems　14　(6)　593-601　2002
Publisher: Japan Society for Fuzzy Theory and Intelligent Informatics
DOI： 10.3156/jfuzzy.14.6_593 　

ISSN： 0915-647X
A Study on Rescue Activities by a Rescue Robot for Earthquake Disaster : Rescue Activities by Imitation System

徳田献一, 田所諭, 昆陽雅司, 戸田崇文, こうじ幸久

日本ロボット学会学術講演会予稿集(CD-ROM)　20th　2002
Research of Ionic Conducting Polymergel Film (ICPF) Sensor. 2nd Report: Application as a Tactile Sensor

昆陽雅司, 岸間匠, 田所諭, 高森年

日本ロボット学会学術講演会予稿集(CD-ROM)　20th　2002
Characteristics and Modeling of ICPF Actuator: 15th Report: Modeling and Parameter Identification of Nafion-Au Actuators

前羽陽介, 田所諭, 昆陽雅司, 高森年

日本ロボット学会学術講演会予稿集(CD-ROM)　20th　2002
Development of foot-bottom pressure sensor for rescue robots

戸田崇文, 徳田献一, 田所諭, 昆陽雅司, こうじ幸久, 高森年

日本ロボット学会学術講演会予稿集(CD-ROM)　20th　2002
レスキュー用協調動作ウィンチの開発ウィンチユニットの制御と通信

都甲大輔, 小林滋, 田所諭

日本機械学会関西学生会卒業研究発表講演会講演前刷集　2002　2002
Robotic Platform for Rescue: RoQ.

徳田献一, 田所諭, 昆陽雅司, 戸田崇文, こうじ幸久, 渡部景子

システム制御情報学会研究発表講演会講演論文集　46th　2002
Rescue-MIKE version 0

Matsubara Hitoshi, Tanaka-Ishii Kumiko, Ian Frank, Tadokoro Satoshi, Nakanishi Tomoya, Tanaka Kanji

Proceedings of the Annual Conference of JSAI　2　94-94　2002
Publisher: The Japanese Society for Artificial Intelligence
DOI： 10.11517/pjsai.JSAI02.0.94.0 　
A Study on a Tactile Feeling Display Using ICPF Actuator 6th Report: Relation Between Rough Feeling and Amplitude of Vibrated Stimuli

赤沢和伸, 昆陽雅司, 田所諭, 高森年

日本ロボット学会学術講演会予稿集(CD-ROM)　20th　2002
Preface

Andreas Birk, Silvia Coradeschi, Satoshi Tadokoro

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)　2377 LNAI　2002

ISSN： 0302-9743

eISSN： 1611-3349
A portable parallel motion platform for urban search and surveillance in disasters.

Satoshi Tadokoro, Shigeru Kobayashi

Adv. Robotics　16　(6)　537-540　2002

DOI： 10.1163/156855302320535917 　

ISSN： 0169-1864

eISSN： 1568-5535
RoboCupRescue international research project.

Satoshi Tadokoro

Adv. Robotics　16　(6)　569-572　2002

DOI： 10.1163/156855302320535999 　

ISSN： 0169-1864
Rsearch of an Ionic Conducting Polymergel Film (ICPF) Sensor : 1st Report : Characteristics for a Velocity Sensor

Kishima T., Konyo M., Tadokoro S., Takamori T.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2002　(Pt.2)　55-55　2002
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2002.55_5 　

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これまでアクチュエータとしての側面から数々のアプローチがなされてきた高分子ゲル材料の一種であるICPFアクチュエータがセンサとしての特性も擁する。本研究の目的はこの柔らかいICPFをアクチュエータとしてではなくセンサとしての側面を追求しその特性を明らかにする。本稿ではICPFセンサの周波数応答, 屈曲速度と出力電圧の関係を計測し, 速度センシングの可能性を探る。
A Cognitive Model of Active Touch of Human Hand Motion for Imitation Robots

Konyo Masashi, Tokuda Kenichi, Tadokoro Satoshi, Takamori Toshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2002　(Pt.3)　79-79　2002
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2002.79_2 　

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ロボットが人の行動を模倣することによって, スキルをもった動作を獲得するためには, その行為を意図や目的などの意味レベルで理解するモデルが必要である。そのためには人間の身体性を伴った認知モデルを求め, ロボットに同じ機能をもたせることが重要である。本研究では, 人の能動的な触運動に着目し, 運動と感覚が統合された認知モデルを求める。人間の触受容の応答特性に基づき, 手指の運動情報や筋電信号などの低次元特徴量を定義し, 自己組織化によって特徴パターンを形成する。この特徴パターンの時系列データからスキルに関連する特徴量を抽出できるモデルを提案する。
Horizontally-distributed architecture for Rescue Robot System

Koji Y., Tadokoro S., Tokuda K., Toda T., Konyo M., Takamori T.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2002　(Pt.4)　82-82　2002
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2002.82_4 　

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レスキューの現場において, 個々のロボットがより有効に働くためには, 周囲の動的で且つ複雑な状況を認識し, それを行動に生かさなければならない。そのためにも, ロボットには, 状況に応じたセンサヤアクチュエータを選択でき, また, 周囲に存在する何らかのセンサの持つ情報を自分のものとして認識できるシステムや, 状況に応じて機能を獲得したり, 機能を切替えたりできるシステムが求められる。このようなシステムを実現するために, 我々は, レスキューロボットのシステムソフトウエアに水平分散アーキテクチャを適用した。本報告ではこのソフトウエアシステムの構成について述べる。
Development of Winch Units with Parallel Mechanism for Rescue : Construction of Operation System

Togou D., Kobayashi S., Tadokoro S.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2002　(Pt.4)　83-83　2002
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2002.83_3 　

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震災などの災害時において, 大量配備が可能である救助用機器として, 閉じ込められている被救助者を探索, 救出するために瓦礫などの移動, 除去することを目的としたレスキュー用協調動作ウィンチを提案し, その開発を行っている。本報では特に, 各ウィンチのワイヤの終端に取り付けられている手先効果器を見ながら, 操作者が手元で動かせるようにしたので, その操作システムについて述べ, それらを用いた実験について報告する。
Development of foot bottom pressure sensor for rescue robots

Toda T., Tokuda K., Todokoro S., Konyo M., Koji Y., Takamori T.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2002　(Pt.4)　83-83　2002
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2002.83_5 　

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震災等の災害現場でレスキューロボットを用いた救助活動を行う際, 瓦礫や段差の踏破が必要不可欠である。4足歩行ロボットを用いてこのような不整地を歩行させるにはロボットの重心位置を計算して, 倒れない事を保証しなければならない。また人間との協調作業を行うには模倣, 例えば地面の足探りといった行動が必要になってくる。本報告ではこの為の足裏感圧センサを新たに作成したのでそれについて述べる。
Characteristics and Modeling of ICPF Actuator : 14th Report : Introduction of Non-hydration Water Molecule Migration Model

MAEBA Yosuke, TADOKORO Satoshi, KONYO Masashi, TAKAMORI Toshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2002　(Pt.4)　94-94　2002
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2002.94_5 　

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ICPFアクチュエータを用いた樣々なアプリケーションを開発するに当たり, アクチュエータの特性をモデル化し開発環境を整えることが重要である。我々は, 膜内部の物質移動を考慮した屈曲メカニズムの仮説に基づくモデルを提案してきたが, 本論文では不水和水分子移動モデルを導入する。さらに物質移動の結果発生する含水率の変化によるひずみ, および陽極側の固定電荷と陽極との間に働く圧縮力によるひずみについて述べると共にパラメータ同定を行う。
Robotic Platform for Rescue : RoQ

TOKUDA Kenichi, TADOKORO Satoshi, KONYO Masashi, TODA Takafumi, KOJI Yoshihisa, WATANABE Keiko

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2002　(Pt.5)　105-105　2002
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2002.105_2 　

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震災のような災害発生時に救助活動を行うレスキューロボットは, その災害の種類や救助段階に応じて活動内容が動的に変化することにより, 求められる移動能力やセンサ, 使用する工具は多種多様である。それに対して, 従来開発が進められているレスキューロボットは, 目的に応じて, 使用するセンサや工具, 肢体が設計時に予め限定されているが多い。これに対し, 我々は多様なセンサや工具, 肢体に対応するロボットの共通部分を取り出したロボティックプラットフォームRoQの開発を行っている, 本報告ではこのRoQの構成について述べる。
A Study on a Tactile Feeling Display Using ICPF Actuator : 5th Report : Development of a Wearable Stimulation Device

Akazawa K., Konyo M., Tadokoro S., Takamori T.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2002　(Pt.5)　111-111　2002
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2002.111_3 　

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本研究の目的は, 高分子ゲル材料のICPFアクチュエータを用い, 布地などを触ったときの微妙な材質感や触り心地, 触感を仮想的に呈示することである。人は触対象の触感を確かめる際, 意図や目的によって能動的に手を動かし触運動を変えながら触感を受容している。本稿では, ICPFアクチユエータを用いた繊毛デバイスを小型化して手に装着可能にし, 触運動に合わせた刺激を発生するデバイスを開発した。
The RoboCupRescue Project

TADOKORO Satoshi

Social and Economic Systems Studies: The Journal of the Japan Association for Social and Economic Systems Studies　21　(21)　34-42　2002
Publisher: The Japan Association for Social and Economic Systems Studies
DOI： 10.20795/jasess.21.22.0_34 　

ISSN： 0913-5472

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RoboCupRescue is an international cooperative research project aiming at proposal of a new paradigm of social infrastructure against emergency disasters as an application of multi-agent technology and robotics. RoboCupRescue Simulation Project considers an artificial disaster society by computer simulation. A distributed simulation method integrates disaster simulators, and in the future, realworld interfaces and human interfaces. Intelligent behavioral agents make disaster response activities in this virtual world with intelligent civilian agents creating a synthetic virtual disaster field. It contributes virtual disaster experience, city planning, realtime disaster response, and standardization of infrastructures. Simulation results and experiments by a prototype system demonstrated its effectiveness in evaluating disaster response strategies.
NY世界貿易センタービル事件におけるロボティクスの貢献(ロボティクス・メカトロニクス部門ニュースレター)

田所諭

日本機械学会誌　105　(1002)　374-374　2002
Publisher: 一般社団法人日本機械学会
DOI： 10.1299/jsmemag.105.1002_374 　

ISSN： 0021-4728
Tactile Feeling Display for Touch of Cloth Using Soft High Polymer Gel Actuators

KONYO Masashi, TADOKORO Satoshi, TAKAMORI Toshi, OGURO Keisuke, TOKUDA Kenichi

Transactions of the Virtual Reality Society of Japan　6　(4)　323-328　2001/12/31
Publisher: 日本バ-チャルリアリティ学会
ISSN： 1344-011X
The motion description in computer to make and edit body movement data

服部元史, 北田晋一郎, 田所諭, 高森年

情報処理学会シンポジウム論文集　2001　(2001)　89-96　2001/12/14

ISSN： 1344-0640
Rescue Robotics

TADOKORO Satoshi, OSUKA Koichi, AMANO Hisanori

Journal of the Robotics Society of Japan　19　(6)　685-688　2001/09/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.19.685 　

ISSN： 0289-1824
フィールドロボティクス

田所諭

日本機械学会誌　558-560　2001/08
RoboCup-Rescue : 近未来防災科学技術への挑戦

田所諭, 高橋宏直

土木学会誌　86　(7)　68-70　2001/07/15
Publisher: 土木学会
ISSN： 0021-468X
RoboCup-Rescue

TADOKORO

計測と制御 = Journal of the Society of Instrument and Control Engineers　40　(6)　473-473　2001/06/10

ISSN： 0453-4662
Motion Base Design Based on Parallel Cable-Drive Architecture

TADOKORO Satoshi, MURATA Rie, MATSUSHIMA Toshiyuki, MURAO Yoshio, KOHKAWA Hideaki, HILLER Manfred

Transactions of the Virtual Reality Society of Japan　6　(1)　57-64　2001/03/31
Publisher: 日本バ-チャルリアリティ学会
ISSN： 1344-011X
RoboCup-2000: The Fourth Robotic Soccer World Championships

P. Stone, M. Asada, T. Balch, R. D'Andrea, M. Fujita, B. Hengst, G. Kraetzschmar, P. Lima, N. Lau, H. Lund, D. Polani, P. Scerri, S. Tadokoro, T. Weigel, G. Wyeth

AI Magazine　22　(1)　11-38　2001/03

ISSN： 0738-4602
Nafion-Au型ICPFアクチュエータの製造条件最適化

大原猛史, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　19th　2001
RoboCup-Rescueプロジェクト (日本地震工学会S)

田所諭, 松野文俊

第一回日本地震工学研究発表・討論会梗概集平成13年　2001
災害救助に対するエージェント技術の適用

伊藤暢浩, 太田正幸, 高橋友一, 田所諭, 和田幸一, CHEN W

日本ME学会大会論文集　40th　2001
触運動に着目した能動的知覚行為の解析

昆陽雅司, 徳田献一, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　19th　2001
4脚歩行ロボットの3次元瓦れき上での人間追尾

徳田献一, 田所諭, 昆陽雅司

日本ロボット学会学術講演会予稿集　19th　2001
Motion captured dataからデジタル舞踊譜(Continuous Labanotation)への変換

北田晋一郎, 服部元史, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　19th　2001
Toward the 21st Century. RoboCup-Rescue.

北野宏明, 田所諭

電子情報通信学会誌　84　(1)　2001

ISSN： 0913-5693
舞踊譜Labanotationに基づくコンピュータ内での身体運動の記述方法

服部元史, 北田晋一郎, 田所諭, 高森年

計測自動制御学会関西支部シンポジウム講演論文集　2001　2001
Navigation of a quadrapt robot on a pancake-like structure by following operators.

徳田献一, 田所諭, 昆陽雅司

日本ロボット学会学術講演会予稿集　19th　2001
The transformation from motion captured data into digital dance notation (Continuous Labanotation).

北田晋一郎, 服部元史, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　19th　2001
Optimization for Manufacturing Condition of Nafion-AU Type ICPF Actuators.

大原猛史, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　19th　2001
パラレルケーブル駆動モーションベースの設計

田所諭, 村田理絵, 松島俊之, 村尾良男, 甲川秀明

ロボティクスシンポジア予稿集　6th　2001

ISSN： 1881-7300
Walkie-Talkie MIKE

Matsubara Hitoshi, Tanaka Kumiko, Frank Ian, Tadokoro Satsohi

Proceedings of the Annual Conference of JSAI　1　(Vol.1)　83-83　2001
Publisher: The Japanese Society for Artificial Intelligence
DOI： 10.11517/pjsai.JSAI01.0.83.0 　
Analysis of Active Perception in Human Hand Movements.

昆陽雅司, 徳田献一, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　19th　2001
ロボカップレスキュー:緊急大規模災害救助への挑戦 (高度防災情報通信システムの構築プロジェクト)

田所諭, 徳丸正孝, 村中徳明

関西大学学術フロンティア・センター研究成果報告書　2001　309-316　2001
Publisher: 関西大学学術フロンティア・センター
1A1-G7 Creation of Path of a 6-Degree-of-Freedom Motion Base Using Parallel Cable Drive Architecture

Matsushima T., Tadokoro S., Murao Y., Kohkawa H.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2001　(Pt.1)　12-12　2001
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2001.12_7 　
1A1-M9 Characteristics and Modeling of ICPF Actuator : 13th Report : 2D-Model on a Hypothesis of Binding Mechanism

Fukuhara M., Tadokoro S., Takamori T.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2001　(Pt.1)　17-17　2001
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2001.17_6 　
1P1-D9 Motion description of Bunraku puppets by the continuous Labanotation

Hattori M., Nishizawa S., Tadokoro S., Takamori T., Yamada K.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2001　23-23　2001
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2001.23_7 　
1P1-E1 Rescue Robot CUL : A study on the follow performance of a 4-legged Shadowing Robot

Tokuda K., Yano S., Wada T., Osuka K., Ono T., Tadokoro S.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2001　(Pt.2)　24-24　2001
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2001.24_1 　
2P2-C1 A Study of Micro Manipulator Using ICPF Actuator : 4th Report, Optimization for Manufacturing Condition of Nafion-Au Type ICPF Actuators

Oohara T., Tadokoro S., Takamori T.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2001　(Pt.5)　69-69　2001
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2001.69_9 　
2P2-N1 A Study on a Tactile Feeling Display Using ICPF Actuator : 4th Report: Analysis of Active Touch of Human Hand

Konyo M., Tokuda K., Tadokoro S., Takamori T.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2001　(Pt.5)　79-79　2001
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2001.79_9 　
Constructing of a New Engineering Field Rescue Engineering(Special Issue on Frontier of Systems, Control and Information : Topics from the Special Research Interest Groups)

OSUKA Koichi, TADOKORO Satoshi, TAKAMORI Toshi

SYSTEMS, CONTROL AND INFORMATION　45　(7)　360-367　2001
Publisher: THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS
DOI： 10.11509/isciesci.45.7_360 　

ISSN： 0916-1600
18.2 フィールドロボティクス(18.ロボティクス・メカトロニクス)

田所諭

日本機械学会誌　104　(993)　558-558　2001
Publisher: 一般社団法人日本機械学会
DOI： 10.1299/jsmemag.104.993_558_2 　

ISSN： 0021-4728
Tactile Feeling Display Using Soft High Polymer Gel Actuators

KONYO Masashi, TADOKORO Satoshi, TAKAMORI Toshi

Proceedings of the Virtual Reality Society of Japan,annual conference　5　311-314　2000/09/18
Publisher: 日本バ-チャルリアリティ学会
ISSN： 1342-4564
RoboCup-Rescue Project: A Multi-Agent Approach to the Disaster Mitigation Problem.

MATSUBARA Hitoshi, TADOKORO Satoshi, KITANO Hiroaki, TAKEUCHI Ikuo, TAKAHASHI Yuichi, SHINJO Atsushi, NODA Itsuki, Hitoshi Matsubara, Satoshi Tadokoro, Hiroaki Kitano, Ikuo Takeuchi, Yuichi Takahashi, Atsushi Shinjo, Itsuki Noda, ERATO Kitano Project:SONY CSL., University of Electro-Communications.

Computer Software　17　(5)　18-26　2000/09/18
Publisher: Japan Society for Software Science and Technology
DOI： 10.11309/jssst.17.426 　

ISSN： 0289-6540
The RoboCup-Rescue Project

TADOKORO Satoshi, TAKAHASHI Tomoichi, TAKAHASHI Hironao, HATAYAMA Michinori, MATSUNO Fumitoshi, OHTA Masayuki, KOTO Tetsuhiko, TAKEUCHI Ikuo, MATSUI Takeshi, KUWATA Yoshitaka, KANEDA Toshiyuki, ATSUMI Masayasu, NOBE Jun, KITANO Hiroaki, Satoshi Tadokoro, Tomoichi Takahashi, Hironao Takahashi, Michinori Hatayama, Fumitoshi Matsuno, Masayuki Ohta, Tetsuhiko Koto, Ikuo Takeuchi, Takeshi Matsui, Yoshitaka Kuwata, Toshiyuki Kaneda, Masayasu Atsumi, Jun Nobe, Hiroaki Kitano

Journal of the Japanese Society for Artificial Intelligence　15　(5)　798-806　2000/09/01
Publisher: The Japanese Society for Artificial Intelligence
DOI： 10.11517/jjsai.15.5_798 　

ISSN： 0912-8085
RoboCup-Rescue : Challenge to Rescue in Large-Scale Disasters

TADOKORO Satoshi, AMANO Hisanori, KUWATA Yoshitaka, KITANO Hiroaki, TAKEUCHI Ikuo, TAKAHASHI Tomoichi, Satoshi Tadokoro, Hisanori Amono, Yoshitaka Kuwata, Hiroaki Kitano, Ikuo Takeuchi, Tomoichi Takahashi

Journal of the Japanese Society for Artificial Intelligence　15　(5)　807-812　2000/09/01
Publisher: The Japanese Society for Artificial Intelligence
DOI： 10.11517/jjsai.15.5_807 　

ISSN： 0912-8085
ロボカップレスキュー:情報科学の緊急災害対応問題への挑戦

田所諭他

情報処理　41　(5)　2000/08
An analysis of the Bunraku puppet's actions based on the phase and amplitude factors of the puppet's motion axes

HATTORI Motofumi, FURUTA Satoshi, TADOKORO Satoshi, TAKAMORI Toshi, YAMADA Kazuhito

IPSJ SIG Notes　46　(49)　31-38　2000/05/31
Publisher: Information Processing Society of Japan (IPSJ)
ISSN： 0919-6072

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In order to design design emotional actions of CG characters, the authors analysed the actions of a Bunraku puppet which is manipulated by an expert of puppet manipulation. The puppet's action is decomposed into a main part which is the motion of the puppet's axis and the accompamment which is the relative motion with respect to the motion of the axis. The emotional actions of the puppet are explained by the phase factor and the amplitude factor of the motion of the puppet's axis. Based on this analysis, a simple method to design emotional actions are obtained.
An analysis of the Bunraku puppet's actions based on the phase and amplitude factors of the puppet's motion axes

Hattori Motofumi, Furuta Satoshi, Tadokoro Satoshi, Takamori Toshi, Yamada Kazuhito

IPSJ SIG Notes　2000　(49)　31-38　2000/05/31
Publisher: Information Processing Society of Japan (IPSJ)
ISSN： 0919-6072

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In order to design design emotional actions of CG characters, the authors analysed the actions of a Bunraku puppet which is manipulated by an expert of puppet manipulation. The puppet's action is decomposed into a main part which is the motion of the puppet's axis and the accompamment which is the relative motion with respect to the motion of the axis. The emotional actions of the puppet are explained by the phase factor and the amplitude factor of the motion of the puppet's axis. Based on this analysis, a simple method to design emotional actions are obtained.
RoboCup-Rescue: IT Challenge to Emergency Response Problem in Disaster

Satoshi TADOKORO, Hiroaki KITANO, Tomoichi TAKAHASHI, Fumitoshi MATSUNO, Ikuo TAKEUCHI, RoboCup-Rescue Technical Committee

IPSJ Magazine　41　(4)　412-418　2000/04/15
Publisher: Information Processing Society of Japan (IPSJ)
ISSN： 0447-8053
RoboCup-Rescue(最終回)ロボティクスが創る新しい社会インフラ

大須賀公一, 田所諭, RoboCuPRescue技術委員会

Bit　32　(4)　49-56　2000/04
Publisher: 共立出版
ISSN： 0385-6984
RoboCup-Rescue(2)シミュレータの構成

高橋友一, 松野文俊, 田所諭

Bit　32　(3)　37-42　2000/03
Publisher: 共立出版
ISSN： 0385-6984
パラレルケーブル駆動アーキテクチャによるモーションベースの提案

田所

日本機械学会年次大会講演会論文集, 2000　467-458　2000
意志決定支援のための統合的被災シミュレータの開発 RoboCup-Rescueプロジェクト (第14報)

高橋宏直, 松野文俊, 畑山満則, 松井武史, 兼田敏之, 田所諭, 高橋友一, 竹内郁雄, 北野宏明

リアルタイム地震防災シンポジウム論文集　2nd　2000
RoboCup-Rescue. No.1. Project conception.

北野宏明, 田所諭

BIT (Tokyo)　32　(2)　2000

ISSN： 0385-6984
RoboCup-Rescue. No.2. Configuration of the simulator.

高橋友一, 松野文俊, 田所諭

BIT (Tokyo)　32　(3)　2000

ISSN： 0385-6984
The study of the PVA-DMSO Gel actuator. 1st Report. Action of PVA-DMSO Gel actuator under a traveling wave.

永留浩, 田所諭, 平井利博, 高森年

日本ロボット学会学術講演会予稿集　18th　2000
RoboCup-Rescue Project, 13rd Report, Simulation Project Architecture.

田所諭, 高橋友一, 松野文俊, 北野宏明

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　2000　(Pt.1)　32-32　2000
Publisher: 一般社団法人日本機械学会
DOI： 10.1299/jsmermd.2000.32_6 　
ライフライン・都市の防災 RoboCup-Rescueプロジェクト

田所諭

日本地震あれからこれから　2000
Characteristics and Modeling of ICPF Actuator. 12th Report. Parameter Identification of the Model on Hypothesis of Bending Mechanism.

福原将彦, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　18th　2000
A Distributed Robotics Approach to Emergency Response Problem in Disasters.

田所諭, 大須賀公一, 北野宏明

システム制御情報学会研究発表講演会講演論文集　44th　2000
ロボカップレスキュープロジェクト(第12報)RoboCup-Rescueの戦略と展開

北野宏明, 高橋友一, 田所諭

情報処理学会全国大会講演論文集　60th　(4)　2000
ロボカップレスキュープロジェクト(第1報)緊急対応問題へのAIとロボティクスのチャレンジ

田所諭, 北野宏明

情報処理学会全国大会講演論文集　60th　(4)　2000
A Study on a Tactile Feeling Display Using ICPF Actuator. 3rd Report: Quantitative Evaluation of Tactile Feel.

昆陽雅司, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　18th　2000
RoboCup-Rescue project: a robotic approach to the disaster mitigation problem Peer-reviewed

Satoshi Tadokoro, Hiroaki Kitano, Tomoichi Takahashi, Itsuki Noda, Hitoshi Matsubara, Atsushi Shinjoh, Tetsuo Koto, Ikuo Takeuchi, Hironao Takahashi, Fumitoshi Matsuno, Mitsunori Hatayama, Jun Nobe, Susumu Shimada

Proceedings - IEEE International Conference on Robotics and Automation　4　4089-4094　2000

ISSN： 1050-4729
ロボカップレスキュープロジェクト

田所諭, 高橋友一, 高橋宏直, 畑山満則, 松野文俊, 太田正幸, 小藤哲彦, 竹内郁雄, 松井武史, 桑田喜隆, 兼田敏之, 渥美雅保, 野邊潤, 北野宏明

人工知能学会誌　15　(5)　1-9　2000

ISSN： 0912-8085
A Study on a Tactile Feeling Display Using ICPF Actuator 2nd Report: Integration with Visual Information.

昆陽雅司, 平真希子, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　2000　(Pt.1)　36-37　2000
Publisher: 一般社団法人日本機械学会
DOI： 10.1299/jsmermd.2000.36_9 　
1A1-80-117 連続 Labanotation による文楽人形の演技動作の解析

西澤俊, 服部元史, 田所諭, 高森年, 山田和人

ロボティクス・メカトロニクス講演会講演概要集　2000　(Pt.1)　44-44　2000
Publisher: 一般社団法人日本機械学会
DOI： 10.1299/jsmermd.2000.44_7 　

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本研究では情緒表現を伴った動作を解析し, ロボットに情緒表現を伴った動作をさせることを目的としている。人間と比べて自由度が少ないながらも情緒をよく表現している文楽人形の演技動作を測定し, 解析を行う。測定によって得られた動作時系列のデータは物体の大きさに依存したものであるので, 得られた知見をもとにロボットに動作を生成させるには不適切である。そこで動作を動作譜を用いて記述し, また連続量を表示することで細かな動作までを動作譜で表現することを提案した。
1A1-80-118 文楽人形の演技動作の動作軸の位相・振幅要素の解析

服部元史, 古田智, 田所諭, 高森年, 山田和人

ロボティクス・メカトロニクス講演会講演概要集　2000　(Pt.1)　44-45　2000
Publisher: 一般社団法人日本機械学会
DOI： 10.1299/jsmermd.2000.44_8 　

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人間型ロボットやCG内の人物の動作を簡単に設計するために, 身体の慣性主軸の動きの設計を最初に行い, 次に慣性主軸に対する相対動作を設計する方法を提案している。そのために, 文楽人形の演技動作の慣性主軸の動きの動作の情緒に依存した変化が, 位相要素と振幅要素に基づいて説明できることを示して, そのような知見による動作の設計方法を提案し, 設計された動作の具体例を考察する。
Development of a Micro Actuator Using Micro Stereolithography.

有沢大治郎, 大坪義一, 山本昌彦, 田所論, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　2000　(Pt.2)　57-57　2000
Publisher: 一般社団法人日本機械学会
DOI： 10.1299/jsmermd.2000.57_1 　
A Method to Emphasize the Emotional Factor of the Humanoid Robots' Actions. An Analysis of the Bunraku Puppet's Actions using KM2O-Langevin Equations with Initial Times.

HATTORI Motofumi, TSUJI Masahiko, TADOKORO Satoshi, TAKAMORI Toshi, YAMADA Kazuhito

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C　66　(644)　1236-1242　2000
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/kikaic.66.1236 　

ISSN： 0387-5024
An Analysis of the Bunraku Puppet's Motions based on the Phase Factors of the Puppet's Motion Axes. For the Generation of Humanoid Robots' Motions with Fertile Emotions.

HATTORI Motofumi, NAKABO Yasunori, TADOKORO Satoshi, TAKAMORI Toshi, YAMADA Kazuhito

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C　66　(644)　1243-1249　2000
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/kikaic.66.1243 　

ISSN： 0387-5024
On Fundamental Design of Cable Configurations of Cable-Driven Parallel Manipulators with Redundancy.

田所諭, 西岡伸介, 木村哲也, 服部元史, 高森年, 前田潔

日本機械学会論文集 C編　66　(647)　2247-2254　2000
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/kikaic.66.2247 　

ISSN： 0387-5024
The RoboCup-Rescue Challenge

TADOKORO Satoshi

システム制御情報学会研究発表講演会講演論文集　13　59-60　1999/06/15

ISSN： 0914-4293
Development of Plane Irradiation Type Micro Stereolithography Equipment using Optical Fibers

OHTSUBO Yoshikazu, YAMAMOTO Masahiko, TADOKORO Satoshi, TAKAMORI Toshi

IEEJ Transactions on Sensors and Micromachines　119　(4)　247-253　1999/04
Publisher: The Institute of Electrical Engineers of Japan
DOI： 10.1541/ieejsmas.119.247 　

ISSN： 1341-8939
A Study of Micro Manipulator Using ICPF Actuator. 3rd Report: Construction of Micro Manipulator System.

福原将彦, 山上真司, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1999　(Pt.1)　1999
ICPFアクチュエータによる多自由度柔軟マイクロマニピュレーションデバイスの開発

田所諭, 山上真司, 小沢昌弘, 木村哲也, 高森年, 小黒啓介

ロボティクスシンポジア予稿集　4th　1999

ISSN： 1881-7300
可搬型レスキューマニピュレータと不定環境に設置するための運動学的同定問題

田所諭, 高森年, VERHOEVEN R, HILLER M

ロボティクスシンポジア予稿集　4th　1999

ISSN： 1881-7300
RoboCup-Rescue project A Challenge to Large-Scale Disaster Relief.

田所諭, 北野宏明, 野口和彦, 高橋宏直, 高橋友一, 野田五十樹, 神成淳司, 兼田敏之, 浅間一

人工知能学会AIチャレンジ研究会　8th　1999
Study on a Dust Remover for Visual Window of Rover for Planetary Surface Exploration. Motion Simulation of ICPF Actuator.

福原将彦, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　17th　1999
The RoboCup-Rescue Conception.

田所諭

人工知能学会AIチャレンジ研究会　5th　1999
Proposal of Rescue Robot Contest.

升谷保博, 金田忠裕, 田所諭, 永井清, 関森大介, 大須賀公一, 平井慎一, 鈴木昭二, 浅田稔

日本ロボット学会学術講演会予稿集　17th　1999
The RoboCup-Rescue Challenge.

田所諭

人工知能学会全国大会論文集　13th　1999
Simulation System of RoboCup Resscue.

高橋友一, 野田五十樹, 大谷優一, 田所諭

日本ロボット学会学術講演会予稿集　17th　1999
A Proposal of Aquatic Robot Sport AquRoCup.

永井清, 浅田稔, 升谷保博, 田所諭, 平井慎一, 鈴木昭二, 大須賀公一, 金田忠裕, 関森大介

日本ロボット学会学術講演会予稿集　17th　1999
Design of a Redundant Wire-Robot WARP Manipulator. 4th Report. Calibration of kinematic parameters. (2).

前田潔, 田所諭, 高森年, 服部元史

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　1999　(Pt.2)　1999
A Portable Manipulator for Search and Rescue in Large-Scale Urban Disasters.

田所諭, 小林滋, 前田潔, VERHOEVEN R, HILLER M

JSMEロボメカ・シンポジア講演論文集　4th　1999
Trial Robots For The Rescue Robot Contest.

金田忠裕, 升谷保博, 田所諭, 永井清, 関森大介, 大須賀公一, 鈴木昭二, 小野里雅彦, 浅田稔

日本ロボット学会学術講演会予稿集　17th　1999
Characteristics and Modeling of ICPF Actuator. 11th Report: Model on A Hypothesis of Bending Mechanism.

山上真司, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1999　(Pt.1)　1999
A Proposal for a Robot Contest Aiming at the Development of Rescue Technology.

関森大介, 升谷保博, 田所諭, 永井清, 金田忠裕, 大須賀公一

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　1999　(Pt.3)　1999
Development of New Plane Irradiation Type Micro Stereolithography Equipment. (2nd Report). Simulation of the Light Energy Distribution.

秋山聡太郎, 大坪義一, 山本昌彦, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1999　(Pt.2)　1999
On a portable parallel manipulator for rescue. 3rd report. Development of experimental system.

田所諭, 小林滋, 前田潔, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1999　(Pt.3)　1999
A motion analysis of a Bunraku puppet using phase correspondence of motion axes.

服部元史, 中坊保則, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1999　(Pt.3)　1999
A Study on a Tactile Feeling Display Using ICPF Actuator. 1st Report. Design of a Tactile Feeling Display Device.

昆陽雅司, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　17th　1999
Development of plane exposure type photo-fabrication equipment using a simple seal making machine.

秋山聡太郎, 大坪義一, 山本昌彦, 田所諭, 高森年

精密工学会大会学術講演会講演論文集　1998　1998
A Motion Analysis of a Bunraku Puppet based on the Motion Axes. For the Generation of Home Robot’s Motions with Fertile Emotion.

中坊保則, 服部元史, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　16th　1998
On a Portable Parallel Manipulator for Rescue. 2nd Report. Self Position Identification of Actuator Units.

田所諭, 前田潔, 小林滋, 高森年, HILLER M

日本ロボット学会学術講演会予稿集　16th　1998
Characteristics and Modeling of ICPF Actuator. 10th Report: Problems of Linear Approximate Model and Ion Migration Model in Film.

山上真司, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　16th　1998
Multi-degree-of-freedom actuators using a high polymer gel material.

田所諭

日本機械学会全国大会講演論文集　76th　(Vol.6)　1998
A Study on Fabrication of Micro Metal Structures with High Aspect Ratio using Micro Stereolithography.

有沢大治郎, 大坪義一, 山本昌彦, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　16th　1998
Time normalization of Bunraku puppet’s action time series.

服部元史, 北川智宏, 辻誠彦, 田所諭, 高森年, 山田和人

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　1998　(Pt.1)　1998
Development of a Face-type Actuator Using ICPF. 3rd Report. Modeling and Realization an Arbitrary Shape.

伏見光暁, 山上真司, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1998　(Pt.2)　1998
Development of a Redundant Wire-Robot WARP manipulator. 2nd Report. Drawing a working space.

前田潔, 門真理子, 田所諭, 木村哲也, 高森年, 服部元史

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　1998　(Pt.2)　1998
Generating humanoid robots’ actions with fertile emotions.

高森年, 田所諭, 服部元史

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　1998　(Pt.1)　1998
Machines which recognize and predict human actions.

高森年, 田所諭, 服部元史

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　1998　(Pt.1)　1998
Design of a Redundant Wire-Robot WARP Manipulator. 3rd Report. Calibration of kinematic parameter.

前田潔, 田所諭, 高森年, 服部元史

日本ロボット学会学術講演会予稿集　16th　1998
A Study of Micro Manipulator Using ICPF Actuator. 2nd Report. Linear Approximate Modeling of 3DOF Device.

山上真司, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1998　(Pt.2)　1998
On a portable parallel manipulator for rescue. 1st report: requirement and conceptual proposal.

田所諭, 前田潔, 高森年, HILLER M

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　1998　(Pt.4)　1998
Fabrication of a Microactuator using Micro Stereolithography.

宮田博, 大坪義一, 山本昌彦, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1998　(Pt.2)　1998
Fabrication of 3D Microstructures using Micro Stereolithography. (1st Report). A Proposal of a New Type Micro Stereolithography and Simulation of Curing Shape of Resins.

大坪義一, 山本昌彦, 田所諭, 高森年

精密工学会誌　64　(8)　1181-1185　1998
Publisher: The Japan Society for Precision Engineering
DOI： 10.2493/jjspe.64.1181 　

ISSN： 0912-0289
A Study on Optical Actuator Using Bimetal Element. (1st Report. Analysis of Basic Characteristics and Linear Approximation Model).

LIU Ruipeng, MIAKI Masao, NAKAGAWA Yuichi, HATTORI Motofumi, KIMURA Tetsuya, TADOKORO Satoshi, TAKAMORI Toshi

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C　64　(624)　3062-3068　1998
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/kikaic.64.3062 　

ISSN： 0387-5024
Soft Actuators

TADOKORO Satoshi

Journal of the Robotics Society of Japan　15　(3)　318-322　1997/04/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.15.318 　

ISSN： 0289-1824
Development of rapid prototyping instruments using optical fibers. ( 2 ). Production of rapid prototyping instruments using optical fibers.

小林智文, 大坪義一, 山本昌彦, 高森年, 田所諭

精密工学会大会学術講演会講演論文集　1997　(1)　761-762　1997/03/01
Fabrication of a Micro Actuator Using Micro Stereo Lithography.

宮田博, 大坪義一, 山本昌彦, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　15th　1997
Development of a Face-type Actuator Using ICPF. 2nd Report: Response to Different Spatial frequency Inputs.

伏見光暁, 菅野隆, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1997　(Vol.A)　1997
A Study of Micro Manipulator Using ICPF Actuator 1st Report: Adaptive Possibility of 3D-EFD Actuator Element.

山上真司, 菅野隆, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1997　(Vol.A)　1997
Development and Application of EFD Actuator Element Using ICPF. 7th Report: Trial Manufacture of Distributive EFD Device.

藤智史, 菅野隆, 伏見光暁, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1997　(Vol.A)　1997
An Issue on Rescue Facilities at Disastrous Earthquakes.

田所諭

都市直下の地震による災害の防止に関する基礎研究平成8年度 No.08248113　1997
Development of an Artificial Cilium Using ICPF Actuator.

浜口良彦, 菅野隆, 山上真司, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1997　(Vol.A)　1997
Development of a Redundant Wire-Robot WARP manipulator.

前田潔, 千葉喜代司, 田所諭, 木村哲也, 服部元史, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1997　(Vol.A)　1997
Fabrication of a Microactuator using Stereo Lithography.

大坪義一, 山本昌彦, 田所諭, 高森年

計測自動制御学会関西支部シンポジウム講演論文集　1997　1997
What Should Rescue Robots Have? 5th Report: From Rescue Activites of Fire Departments.

木村哲也, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1997　(Vol.A)　1997
Discussion Report: Handring of Human.

田所論, 木村哲也

JSMEロボメカ・シンポジア講演論文集　2nd　1997
Generation of Avoidance Motion for Robots which Coexist and Cooperate with Humans. 2nd Report. Avoidance of Moving Obstacles for Mobile Robots.

TADOKORO Satoshi, HAYASHI Masaki, MANABE Yasuhiro, NAKAMI Yoshihiro, TAKAMORI Toshi

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C　63　(606)　499-505　1997
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/kikaic.63.499 　

ISSN： 0387-5024
An Analysis of Stochastic Factors of Bunraku Puppet Actions:For Generation of Home Robots Actions with Fertile Emotions

Hattori Motofumi, Tsuji Masahiko, Nakabo Yasunori, Tadokoro Satoshi, Takamori Toshi, Yamada Kazuhito

IEEJ Transactions on Electronics, Information and Systems　117　(5)　540-547　1997
Publisher: The Institute of Electrical Engineers of Japan
DOI： 10.1541/ieejeiss1987.117.5_540 　

ISSN： 0385-4221

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Robots have played mainly important roles in factries up to the present and will be active in our daily life in future in a house. These are home robots or service robots. In order to cooperate with human being, these robots must act with fertile emotions. In order to clarify the actions with emotion, the actions of a Bunraku puppet were analyzed. Bunraku is a classical puppet entertainment in Japan. In this show, the puppets express the exaggerated human actions with fertile emotions. In this analysis, the puppet actions are modeled by stochastic processes. We present a hypothesis that “the action is decomposed into three factors: (1) the functional factor, (2) the emotional factor and (3) the stochastic factor”. We measured the real actions of a Bunraku puppet and obtained the experimental data (time series). From these time series, the above three factors were computed, based on the above hypothesis. In order to examine the validity of the above computation (signal processing), the power spectra of the stochastic factors were analyzed.
A Model of Human Actions by a Petri Net and Prediction of Human Acts. For Generation of Home Robots Movement based on Prediction of Human Actions.

MANABE Yasuhiro, HATTORI Motofumi, TADOKORO Satoshi, TAKAMORI Toshi

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C　63　(609)　1693-1700　1997
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/kikaic.63.1693 　

ISSN： 0387-5024

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A home robot (a robot used in the home) must recognize the intention of a person in the home, in order to support that person. It is important to construct intelligence with which a robot can predict the person's next act and help him or her if required. In this paper, a robust system which predicts vague human actions is proposed. Human actions can be modeled by a stochastic process in digital time and discrete states: this stochastic process is visualized using a Petri net. A series of human actions is a chain of states and acts. A human state is expressed as a place, and a human act as a transition. A stochastic act is described as a predicting transition, and transition probability to plural states is given. If the system makes a wrong prediction, the transition probability is renewed. As time progresses, the level of this intelligence increases, and the prediction will be accurate with high probalility.
Modeling of ICPF(Ionic Conducting Polymergel Film) Actuator. 3rd Report. Considerations of A Stress Generation Function and An Approximately Linear Actuator Model.

KANNO Ryu, TADOKORO Satoshi, TAKAMORI Toshi, OGURO Keisuke

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C　63　(611)　2345-2350　1997
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/kikaic.63.2345 　

ISSN： 0387-5024
A Generalization of Direct Strain Feedback Control for a Flexible Structure with Spatially Varying Parameters and a Tip Body-A New Example of the A-depeendent Operator

HATTORI Motofumi, TADOKORO Satoshi, TAKAMORI Toshi

Transactions of the Institute of Systems, Control and Information Engineers　9　(12)　606-608　1996/12/15
Publisher: THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)
DOI： 10.5687/iscie.9.606 　

ISSN： 1342-5668
On Generation of Avoiding Motion of Robots which Co-Exist and Cooperate with Human (1st Report, Stochastic Prediction of Human Motion and Avoidance Planning of Manipulators)

TADOKORO Satoshi, ISHIKAWA Yutaka, TAKEBE Tomoaki, TAKAMORI Toshi

Transactions of the Japan Society of Mechanical Engineers. Series C.　62　(598)　2329-2336　1996/06/25
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/kikaic.62.2329 　

ISSN： 0387-5024
Development of photomodeling equipment using an optical fiber. ( The first report ). Light intensity distribution and hardening characteristics of a resin.

小林智文, 大坪義一, 山本昌彦, 田所諭, 高森年

精密工学会大会学術講演会講演論文集　1996　(1)　983-984　1996/03/01
Research on production of solid microstructure using laser beam lithography. (First report). Simulation and examination of hardened resin morphology.

庄浩司, 大坪義一, 山本昌彦, 田所諭, 高森年

精密工学会大会学術講演会講演論文集　1996　(1)　1121-1122　1996/03/01
Development and Application of EFD Actuator Element Using ICPF. 5th Report: Development of 3D EFD Actuator Element.

山上真司, 菅野隆, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1996　(Vol B)　1996
Motion plan for mobile robot based on prediction of human action. Motion of home robot based on prediction of human action. Action pattern model and action prediction of human according to petrinet. ( Ministry of Education S )

高森年, 真部靖弘, 服部元史, 田所諭

感覚と行動の統合による機械知能の発現機構の研究平成7年度　1996
A Study on Optical Micro-Actuator Using Bimetal Element. Parameters Identification and Simulation Based on the Fundamental Experiment.

LIU R, 三明暢生, 中川裕一, 服部元史, 木村哲也, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1996　(Vol B)　1996
Development and Application of EFD Actuator Element Using ICPF. 6th Report: Proposition of a Submarine Driving System Using Many Elements.

藤智史, 菅野隆, 田所諭, 高森年, 小黒啓介

日本ロボット学会学術講演会予稿集　14th　(3)　1996
Development and Application of EFD Actuator Element Using ICPF. 4th Report: Effect of Design Parameters on Elliptic Motion.

伏見光暁, 菅野隆, 藤智史, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1996　(Vol B)　1996
Characteristics and Modeling of ICPF Actuator. 8th Report: Nonlinearities of ICPF Actuator.

菅野隆, 田所諭, 高森年, 小黒啓介

日本機械学会全国大会講演論文集　74th　(Vol 4)　1996
What Should Rescue Robots at Disasters Have? From the Disaster Area of the Kobe Earthquake.

田所諭, 高森年

JSMEロボメカ・シンポジア講演論文集　1st　1996
A Design of a Redundant Wire-Robot WARP Manipulator. 2nd Report. Trial Manufacture of a Prototype.

前田潔, 千葉喜代司, 田所諭, 木村哲也, 高森年

日本ロボット学会学術講演会予稿集　14th　(2)　1996
What Should Rescue Robots Have? 4th Report: From Rescue Activities of the Self-Defense Force.

田所諭, 高森年, 木村哲也, 服部元史

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 A)　1996
Study of Fabrication of Micro Structures Using Stereo Lithography. (2nd Report). The relationship between the critical energy and the solidified shape.

庄浩司, 大坪義一, 山本昌彦, 田所論, 高森年

日本ロボット学会学術講演会予稿集　14th　(1)　1996
Introduction for structural design of parallel mechanisms converting common sense in machines. Application design of parallel mechanisms. Six degree of freedom direct drive wrist joints.

田所諭

機械設計　40　(10)　1996

ISSN： 0387-1045
Introduction for structural design of parallel mechanisms converting common sense in machines. Basic theory and techniques for understanding smstructures of parallel mechanisms and controls〔 Dynamics 〕. Dynamics of prolix drive systems.

田所諭

機械設計　40　(10)　1996

ISSN： 0387-1045
Characteristics and Modeling of ICPF Actuator. 9th Report: Measurement of Characteristic Distributions and Considerations.

菅野隆, 田所諭, 高森年, 小黒啓介

日本ロボット学会学術講演会予稿集　14th　(3)　1996
Introduction for structural design of parallel mechanisms converting common sense in machines. Basic theory and techniques for understanding smstructures of parallel mechanisms and controls〔 Dynamics 〕. Dynamics of robots.

田所諭

機械設計　40　(10)　1996

ISSN： 0387-1045
Human action pattern model and action prediction according to motion generation petrinet of home robot based on human action prediction. ( Ministry of Education S )

高森年, 真部靖弘, 服部元史, 田所諭

第1回重点領域研究「知能ロボット」シンポジウム予稿集平成7年度感覚と行動の統合による機械知能の発現機構の研究　1996
An issue on Wire Configurations of Wire-Driven Redundant Robots. 3rd Report: Conceptual design of Fundamental Structure.

西岡伸介, 田所諭, 木村哲也, 高森年, 前田潔, 服部元史

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)　1996
What Should Rescue Robots Have? 2nd Report: From Author’s Rescue Works at the Hanshin-Awaji Earthquake in Noda-Hokubu area.

大坪義一, 山本昌彦, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1996　(Vol A)　1996
Development of a Face-Type Actuator Using ICPF. 1st Report: Trial Manufacture by Grid Structure.

伏見光暁, 松浦義朗, 菅野隆, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　14th　(3)　1996
A Design of a Redundant Wire-Robot WARP manipulator. 1st Report: design by considering working space.

西岡伸介, 前田潔, 田所諭, 木村哲也, 高森年, 服部元史

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)　1996
What Sould Rescue Robots Have? 3rd Report: Being Saved From the Debris.

藤智史, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1996　(Vol A)　1996
Scheduling and Modeling of FMS Using Decentralized Petri Net.

前川岳彦, 田所諭, 高森年, 服部元史

システム制御情報学会研究発表講演会講演論文集　40th　1996
Fabrication of Micro Structures Using Free Surface Method.

あべ松由雄, 庄浩司, 大坪義一, 山本昌彦, 田所諭, 高森年

日本機械学会設計工学・システム部門講演会講演論文集　6th　1996

ISSN： 1348-0286
Modeling of ICPF(Ionic Conducting Polymer Gel Film) Actuator. (1st Report. Fundamental Characteristics and Black-Box Modeling).

KANNO Ryu, TADOKORO Satoshi, HATTORI Motofumi, TAKAMORI Toshi, OGURO Keisuke

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C　62　(598)　2299-2305　1996
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/kikaic.62.2299 　

ISSN： 0387-5024
6自由度手首関節機構の受動的インピ-ダンスの解析

前田潔, 田所諭, 高森年

海技大学校研究報告　(38)　35-41　1995/03
Publisher: 海技大学校
ISSN： 0288-3708
Dynamic Control of SICE Standard Manipulator.

田所諭, 宮崎友宏

計測自動制御学会学術講演会予稿集　34th　(Domestic Session Vol 2)　1995
What Should Rescue Robots Have? 1st Report: From Students’ Experiences at the Kobe Huge Earthquake.

田所諭, 高森年, 藤智史, 大坪義一

日本ロボット学会学術講演会予稿集　13th　(3)　1995
Development and Application of EFD Actuator Element Using ICPF. 2nd Report. Experimental Motion Characteristics and Application to Rotary Moter.

村上貴彦, 菅野隆, 服部元史, 田所諭, 高森年, 小黒啓介

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　1995-A　1995
Recognition of Moving Objects from Stereo Images using Fish-eye Lens.

中見至宏, 森隆哉, 服部元史, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1995-B　1995
Characteristics and Modeling of ICPF Actuator. 5th report: Stress Generation and Mechanical Characteristics.

菅野隆, 田所諭, 服部元史, 高森年, 小黒啓介

日本機械学会全国大会講演論文集　73rd　(Vol 5)　1995
A Design Method for Disturbance Observers of Pneumatic Actuators Using H^∞ Optimal Theory.

田所諭, 高森年, LIN H-N

日本機械学会関西支部定時総会講演会講演論文集　70th　(Pt 3)　1995
Static Output Feedback Stabilization of Flexible Structures with No Damping.

服部元史, 武内智弘, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1995-A　1995
An Issue on Wire Arrengement of a Redundant Wire-Robot. 2nd Report. Design by Working Space considering Wire Entanglement.

西岡伸介, 田所諭, 服部元史, 高森年

日本ロボット学会学術講演会予稿集　13th　(1)　1995
Characteristics and Modeling of ICPF Actuator. 4th Report. Building dynamic model and its parameter identification.

菅野隆, 服部元史, 田所諭, 高森年, 小黒啓介

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　1995-A　1995
Position Control of 6-DOF Direct-Drive Wrist Joint Using Time Delay Control.

Maeda Kiyoshi, Yasaka Isawo, Tadokoro Satoshi, Takamori Toshi

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C　61　(584)　1543-1549　1995
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/kikaic.61.1543 　

ISSN： 0387-5024
学習による溶接ロボットのウィービング動作の改善に関する実験的研究第2報: 学習効率の改善

田所諭, 小林直人, 宮崎典明, 高森年

精密工学会大会学術講演会講演論文集　1994　(Spring 1)　1994
An Issue on Wire Arrengement of a Redundant Wire-Robot.

西岡伸介, 萩原健二, 服部元史, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　12th　(3)　1994
A Design Method for High-Dimensional Disturbance Observers of Pneumatic Actuators Using H^∞ Optimal Control.

LIN H-N, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1994-B　1994
Omnidirectional 3D-Vision System using Fish-eye Lenses.

中見至宏, 真部靖弘, 服部元史, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　12th　(2)　1994
Prediction of Human Motion for Human Cooperative Robots.

田所諭, 武部智全, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1994-B　1994
Characteristics and Modeling of ICPF Actuator. 2nd Report: Frequency Characteristics.

菅野隆, 倉田敦夫, 服部元史, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1994-B　1994
Characteristics and Modeling of ICPF Actuator. 3rd Report: Modeling of Electric Characteristics.

菅野隆, 福永憲一, 服部元史, 田所諭, 高森年, 小黒啓介

日本ロボット学会学術講演会予稿集　12th　(3)　1994
Robust Control of Pneumatic Actuators by a Disturbance Observer.

前川岳彦, LIN H N, 服部元史, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1994-B　1994
Stabilization of Flexible Robot Arms and Construction of An Infinite Dimensional Observer.

服部元史, 田所諭, 高森年

自動制御連合講演会前刷　37th　1994
Development of a motor driving with travelling wave by ICPF Actuator.

村上貴彦, 清水祐介, 菅野隆, 服部元史, 田所諭, 高森年, 小黒啓介

日本ロボット学会学術講演会予稿集　12th　(1)　1994
A Design Method for High-Dimensional Disturbance Observers Using H^∞ Optimal Control.

LIN H-N, 田所諭, 高森年

システム制御情報学会研究発表講演会講演論文集　38th　1994
An Infinite Dimensional Observer for Flexible Structures.

服部元史, 田所諭, 高森年

計測自動制御学会関西支部シンポジウム講演論文集　1994　1994
Motion Planning of Mobile Robot Based on Prediction of Human Motion.

真部靖弘, 林真樹, 服部元史, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　12th　(2)　1994
Special Issue Robot Mechanism. Parallel Robots.

田所諭

設計工学　29　(5)　155-160　1994

ISSN： 0919-2948
An Evaluating Method for Dexterity of Robot Manipulators Considering Deviation of Direction of Motion

TADOKORO Satoshi, TAKAMORI Toshi

Trans. SICE　29　(6)　668-676　1993/06/30
Publisher: 計測自動制御学会
DOI： 10.9746/sicetr1965.29.668 　

ISSN： 0453-4654
On Dynamic Evaluation of Dexterity of Robot Manipulators Considering Deviation of Acceleration

TADOKORO Satoshi, TAKAMORI Toshi

計測自動制御学会論文集　29　(4)　419-428　1993/04/30
Publisher: 計測自動制御学会
DOI： 10.9746/sicetr1965.29.419 　

ISSN： 0453-4654
ロボットマニピュレータの動作の性質を考慮した可操作性の評価法

田所

計測自動制御学会論文集　29-6　1993
学習による溶接ロボットのウィービング動作の改善に関する実験的研究

田所諭, 小林直人, 川崎暢一, 宮崎典明, 高森年

精密工学会大会学術講演会講演論文集　1993　(Autumn 3)　1993
マイクロマシニングによる静電型リニアアクチュエータの開発 (第2報) 有限要素法による電界計算に基づくシミュレーション

大坪義一, 橋寺晋, 田所諭, 高森年

精密工学会大会学術講演会講演論文集　1993　(Spring 2)　1993
マイクロマシニングによる静電型リニアアクチュエータの開発 (第1報) アクチュエータの試作

大坪義一, 田尻和弘, 田所諭, 高森年

精密工学会大会学術講演会講演論文集　1993　(Spring 2)　1993
Position Control of a 6-DOF Direct Drive Wrist Joint Using Time Delay Control.

前田潔, 矢坂功, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1993　1993
Prediction of Human Motion for Human Cooperative Robots.

田所諭, 石川裕, 武部智全, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1993　586-589　1993
Charastristics and Modeling of ICPF Actuator.

菅野隆, 広門郁哉, 倉田敦夫, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　11th　(2)　1993
Control of a 6-DOF Parallel Direct Drive Wrist Joint Using Time Delay Control.

前田潔, 矢坂功, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　11th　(3)　1993
An Infinite Dimensional Observer for Flexible Structures.

服部元史, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1993　1993
A 6 d.o.f. parallel robot wrist joint by a pneumatic actuator drive.

Satoshi Tadokoro

Adv. Robotics　8　(6)　603-603　1993

DOI： 10.1163/156855394X00301 　

ISSN： 0169-1864

eISSN： 1568-5535
Control of parallel mechanisms.

Satoshi Tadokoro

Adv. Robotics　8　(6)　559-571　1993

DOI： 10.1163/156855394X00257 　

ISSN： 0169-1864

eISSN： 1568-5535
Can parallel manipulators be used as industrial robots?

田所諭, 阿部充孝, 松日楽信人, 杉本浩一, 本村士郎, 高岡大造, 吉灘裕, 中嶋勝己

Journal of the Robotics Society of Japan　10　(6)　764-768　1992/10/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.10.764 　

ISSN： 0289-1824
Control of Parallel Mechnisms

TADOKORO Satoshi

Journal of the Robotics Society of Japan　10　(6)　721-726　1992/10/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.10.721 　

ISSN： 0289-1824
Time Delay Control of a Pneumatic Linear Actuator.

藤本憲司, 田所論, 高森年

油圧と空気圧　23　(4)　p412-419　1992/07
Publisher: 日本油空圧学会
DOI： 10.5739/jfps1970.23.412 　

ISSN： 0286-6900
An Analysis and Application of Passive Impedance of 6-DOF Direct-Drive Wrist Joint.

前田潔, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　10th　(2)　1992
An Analysis of Passive Impedance of 6-DOF Direct-Drive Wrist Joint.

前田潔, 藤本憲治, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1992-A　1992
An evaluation of dynamic ability of manipulation based on a stochastic interpretation of manipulator motion.

田所諭, 木村一郎, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1990-B　1990
Development of a 6-D.O.F direct-drive wrist joint. 4th Report. Position control of a pneumatic actuator using time delay control.

藤本憲司, 田所論, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1990-A　1990
An analysis of human upper extremity motions. Relation between a wrist position and shoulder angle.:Relation between a wrist position and shoulder angle

TADOKORO Satoshi, AIKAWA Makoto, ICHIMICHI Kazuhiro

The Japanese Journal of Ergonomics　26　(1)　41-47　1990
Publisher: Japan Ergonomics Society
DOI： 10.5100/jje.26.41 　

ISSN： 0549-4974

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A human arm is mechanically redundant because its elbow can rotate without moving a grasped object. However, human upper extremities usually have regular postures when they perform various motions and works in daily life. Revealing rules behind this phenomenon is important for human-like motions of artificial arms and for design of convenient man-machine systems. The authors measured and analyzed 9 types of upper extremity motions of 5 subjects. Relationship between the wrist position and one shoulder angle is elucidated into an equation. The angle calculated by this equation agree with the shoulder angle for an arbitrary wrist position. Using this kinematic relationship, the shoulder angles are estimated and human-like postures of upper extremities are determined. This equation kinematically expresses a rule which prescribes the postures of human upper extremities.
Development of a directly driven joint with six degrees of freedom. 2. Modeling of a joint mechanism and position control.

藤本憲司, 田所諭, 高森年

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1989　1989
A study for safety of robot environment. 2nd Report: A sensor system to detect the position of man.

田中猛, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　7th　(1)　1989
Development of 6 d.o. f direct-mechanism 3rd report, Analysis of gravity influence using the Jacobian and application to design.

藤本憲司, 田所論, 高森年, 関谷一郎

日本ロボット学会学術講演会予稿集　7th　(2)　1989
A dexterity measure based on a stochastic interpretation of manipulator motions.

田所諭, 木村一郎, 高森年

システム制御情報学会研究発表講演会講演論文集　33rd　1989
A study for safety of robot enviroment. 3rd Report: A conception of an avoiding danger system and simulation.

鬼追雅年, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　7th　(1)　1989
Force control of bellows type actuator using metal hydride.

後輝行, 田所論, 木村一郎, 高森年, 村尾良男, 小黒啓介

日本ロボット学会学術講演会予稿集　7th　(2)　1989
Improvement in the response speed of bellows type MH actuators.

後輝行, 田所諭, 木村一郎, 高森年, 村尾良男, 小黒啓介

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　1989　1989
A Simulation Method for Vibration of Manipulators Based on Joint Deformation Model

TADOKORO Satoshi, KIMURA Ichiro, TAKAMORI Toshi

Transactions of the Institute of Systems, Control and Information Engineers　2　(2)　46-53　1989
Publisher: THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)
DOI： 10.5687/iscie.2.46 　

ISSN： 1342-5668

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A dynamic simulation method to estimate vibration and positioning error of industrial manipulators is proposed. This method has the merit that it needs only the same amount of calculation time as simulation methods ignoring elasticity, although it considers joint deformation. By some simulation experiments, the following facts are found : (1) The proposed method can calculate vibration, positioning error and actuator torques at the stage of off-line teaching. (2) The positioning error which cannot be measured by angular position sensors fixed at actuators can be large. (3) By the effect of flexibility of joints, actuator torques of manipulators can be larger than the calculation results ignoring elasticity of joints. (4) Selection of gears is important because backlashes at joints affect the characteristics of vibration and positioning error. The proposed method would be useful in the stages of the off-line teaching and the design of manipulators.
Stochastic manipulability measure of robot manipulators.

田所諭, 木村一郎, 高森年

自動制御連合講演会前刷　31st　1988
Development of 6 d.o.f direct-mechanism.

藤本憲司, 田所諭, 高森年, 村尾良夫

日本ロボット学会学術講演会予稿集　6th　1988
A quantitative measure of singular state of manipulators.

田所諭, 木村一郎, 高森年

日本ロボット学会学術講演会予稿集　6th　1988
A study for safety of robot environment. 1st Report: Development of a sensor and simulation for force control.

鬼追雅年, 田所諭, 高森年

日本ロボット学会学術講演会予稿集　6th　1988
A simulation method for vibration of closed loop manipulator based on joint deformation model.

田所諭, 木村一郎, 高森年

日本ロボット学会学術講演会予稿集　5th　1987
Research on standard for human’s arm movement. General relation between wrist position and arm posture.

市道和広, 相川誠, 田所諭, 高森年

バイオメカニズム学術講演会予稿集　8th　1987
ゲートアレイ自動レイアウトシステム LOP ARP2

小田原豪太郎, 田所諭, 正木宏

情報処理学会全国大会講演論文集　28th　(3)　1984

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Books and Other Publications 25

Disaster robotics : results from the ImPACT tough robotics challenge

田所, 諭

Springer　2019

ISBN: 9783030053208
Field and service robotics : results of the 8th International Conference

International Conference on Field and Service Robotics (FSR), Yoshida, Kazuya, 田所, 諭

Springer　2014

ISBN: 9783642406850
Next-generation actuators leading breakthroughs

樋口, 俊郎, 鈴森, 康一, 田所, 諭

Springer　2010

ISBN: 9781848829909
Electroactive polymers for robotic applications : artificial muscles and sensors

Kim, Kwang Jin, 田所, 諭

Springer　2010

ISBN: 9781849965903
Next-Generation Actuators Leading Breakthroughs

Toshiro Higuchi, Suzumori, Satoshi Tadokoro Ed

Springer　2010
東北地域におけるロボット技術を活用した産業振興方策に関する調査報告書

東北産業活性化センター

2010
Next-Generation Actuators Leading Breakthroughs、Toshiro Higuchi, Koichi Suzumori, Satoshi Tadokoro, Ed.

Masashi Konyo, Satoshi Tadokoro

Springer　2010
日本ロボット学会教育専門委員会報告書

ロボット教育研究専門委員会

2010
IPMC Based Tactile Displays for Pressure and Texture Presentation on a Human Finger, Biomedical Applications of Electroactive Polymer Actuators

Masashi Konyo, Satoshi Tadokoro

John Wiley & Sons, Ltd　2009/04
Rescue Robotics - DDT Project on Robots and Systems for Urban Search and Rescue

Satoshi Tadokoro Ed

2009
Springer Handbook of Robotics

Robin Murphy, Satoshi Tadokoro, Daniele Nardi, Adam Jacoff, Paolo Fiorini, Howie Choset, Aydan Erkmen

Springer　2008
Electroactive Polymers for Robotics Applications Artificial Muscles and Sensors

Kwang J. Kim, Satoshi, Tadokoro Editors

Spreinger　2007/02
知能ロボットによる模倣の構成論的研究

佐藤, 知正, 稲葉, 雅幸, 国吉, 康夫, 田所, 諭, 森, 武俊, 稲邑, 哲也, 明和, 政子, 原田, 達也, 岡田, 慧, 中村, 衛, 徳田, 献一

佐藤知正　2006/06
制御用アクチュエータの基礎

川村, 貞夫, 野方, 誠, 田所, 諭, 早川, 恭弘, 松浦, 貞裕

コロナ社　2006/04

ISBN: 4339045241
Introduction to Actuator for Control

川村貞夫, 野方誠, 田所諭, 早川恭弘, 松浦貞裕

株式会社コロナ社　2006/04
人工知能学会編，人工知能学事典

田所諭

共立出版　2005
アクチュエータシステム技術企画委員会編，アクチュエータ工学

アクチュエータシステム技術企画委員会編

養賢堂　2004/01
Electroactive Polymer (EAP) Actuators as Artificial Muscles, Reality, Potential, and Challenges, 2nd Issue

Satoshi Tadokoro, Masashi Konyo, Keisuke Oguro

Ed. Yoseph Bar-Cohen, SPIE　2004/01
RoboCup 2001: Robot Soccer World Cup V

A. Birk, S. Coradeschi, S. Tadokoro

Springer　2002/07
ナノ・マイクロマシン技術総覧

田所諭

産業技術サービスセンター　2001/01
Electroactive Polymer (EAP) Actuators as Artificial Muscles, Reality, Potential, and Challenges

Satoshi Tadokoro, Toshi Takamori, Keisuke Oguro

SPIE　2001/01
ロボカップレスキュー : 緊急大規模災害救助への挑戦

RoboCup‐Rescue技術委員会 The RoboCup Federation, ロボカップ日本委員会, 田所, 諭, 北野, 宏明

共立出版　2000/05

ISBN: 4320029755
ロボカップレスキュー ─緊急大規模災害救助への挑戦─

田所諭, 北野宏明監修, RoboCup-Rescue技術委員会, The RoboCup Federation, ロボカップ日本委員会

共立出版　2000/05
ロボット制御の実際

小林尚登, 田所諭

計測自動制御学会　1997/11
エキスパートシステム、その最新ツールと事例集

久保博司, 田中克己, 田所諭,他

日本工業技術センター　1986/06

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Presentations 515

Real-time Display of Onboard Spherical Images That Synchronizes Head Pose of Operator for Robotic Search International-presentation

Yoshito Okada, Takumi Fujinami, Shotaro Kojima, Takuma Ishii, Kazunori Ohno, Satoshi Tadokoro

The 2016 IEEE International Symposium on Safety, Security and Rescue Robotics(SSRR2016)　2016/10/23
Use of Active Scope Camera in the Kumamoto Earthquake to Investigate Collapsed Houses International-presentation

Yuichi Ambe, Tomonari Yamamoto, Shotaro Kojima, Eri Takane, Kenjiro Tadakuma, Masashi Konyo, Satoshi Tadokoro

The 2016 IEEE International Symposium on Safety, Security and Rescue Robotics(SSRR2016)　2016/10/23
Two Axes Orthogonal Drive Transmission for Omnidirectional Crawler with Surface Contact International-presentation

Eri TAKANE, Kenjiro TADAKUMA, Masahiro FUJITA, Hirone KOMATSU, Akito NOMURA, Tomoya ICHIMURA, Tomonari YAMAMOTO, Yuich AMBE, Masashi KONYO, Satoshi TADOKORO

The 2016 IEEE International Symposium on Safety, Security and Rescue Robotics(SSRR2016)　2016/10/23
Variable Inner Volume Mechanism for Soft and Robust Gripping ― Improvement of Gripping Performance for Large-Object Gripping ― International-presentation

Masahiro Fujita, Kenjiro Tadakuma, Eri Takane, Tomoya Ichimura, Hirone Komatsu, Akito Nomura, Masashi Konyo, Satoshi Tadokoro

The 2016 IEEE International Symposium on Safety, Security and Rescue Robotics(SSRR2016)　2016/10/23
3D Graph Based Stairway Detection and Localization for Mobile Robots International-presentation

Westfechtel Thomas, Ohno Kazunori, Mertsching Bärbel, Nickchen Daniel, Kojima Shotaro, Tadokoro Satoshi

The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)　2016/10/09
Visuo-Haptic Transmission of Contact Information Improve Operation of Active Scope Camera International-presentation

FunamizuTakahito, NaganoHikaru, KonyoMasashi, TadokoroSatoshi

The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)　2016/10/09
Development of a Spherical Tether-Handling Device with a Coupled Differential Mechanism for Tethered Teleoperated Robots International-presentation

Ichimura Tomoya, Tadakuma Kenjiro, Takane Eri, Konyo Masashi, Tadokoro Satoshi

The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)　2016/10/09
Improvement of UAV's Flight Performance by Reducing the Drag Force of Spherical Shell International-presentation

Salaan Carl John, Okada Yoshito, Hozumi Koichi, Ohno Kazunori, Tadokoro Satoshi

The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)　2016/10/09
Real-Time Restoration of Aerial Inspection Images by Recognizing and Removing Passive Rotating Shell of a UAV International-presentation

Okada Yoshito, Ishii Takuma, Ohno Kazunori, Tadokoro Satoshi

The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)　2016/10/09
Motion Control of Tracked Vehicle Based on Contact Force Model International-presentation

Kojima Shotaro, Ohno Kazunori, Suzuki Takahiro, Westfechtel Thomas, Okada Yoshito, Tadokoro Satoshi

The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)　2016/10/09
触感通信に向けた多次元空間での触感評価

永野光, 曹南, 昆陽雅司, 田所諭

第21回日本バーチャルリアリティ学会大会　2016/09/14
ワイヤーを用いた受動平行機構による空気噴射型能動スコープカメラの先端浮上の安定化

神尾柊太, 安部祐一, 安藤久人, 県ハイテクプラザ, 昆陽雅司, 多田隈建二郎, 圓山重直, 田所諭

第３４回日本ロボット学会学術講演会　2016/09/07
双リング式全方向車輪機構における軸受内蔵モデルの具現化と基礎実験

小松洋音, 髙根英里, 藤田政宏, 野村陽人, 多田隈建二郎, 多田隈理一郎, 昆陽雅司, 田所諭

第３４回日本ロボット学会学術講演会　2016/09/07
セルフロック型配管内保持力発生機構の弾性特性を用いた印加圧力の決定

山本知生, 昆陽雅司, 多田隈建二郎, 田所諭

第３４回日本ロボット学会学術講演会　2016/09/07
ImPACTタフ・ロボティクス・チャレンジの概要

田所諭, 内薗豊仁

第３４回日本ロボット学会学術講演会　2016/09/07
可食アクチュエータ

小松洋音, 髙根英里, 藤田政宏, 野村陽人, 多田隈建二郎, 昆陽雅司, 田所諭

第３４回日本ロボット学会学術講演会　2016/09/07
変分ベイズ多チャネル RNMF に基づく柔軟索状レスキューロボットのための音声強調

坂東宜昭, 糸山克寿, 昆陽雅司, 田所諭, 中臺一博, HRI-JP, 吉井和佳, 奥乃博

第３４回日本ロボット学会学術講演会　2016/09/07
面状全方向クローラ移動体 “Omni-Board”

髙根英里, 藤田政宏, 野村陽人, 山本知生, 小松洋音, 多田隈建二郎, 昆陽雅司, 田所諭

第３４回日本ロボット学会学術講演会　2016/09/07
索状ロボット（細径）の概要

田所諭, 昆陽雅司

第３４回日本ロボット学会学術講演会　2016/09/07
救助犬行動の自動アノテーションの試み

濱田龍之介, 大野和則, 山口竣平, 星達也, 鈴木高宏, 田所諭

第３４回日本ロボット学会学術講演会　2016/09/07
触覚呈示による建設ロボットの遠隔操縦支援第2報：グリッパ操作時の振動を利用した触覚呈示の検討

竹之内栄人, 永野光, 昆陽雅司, 田所諭

第３４回日本ロボット学会学術講演会　2016/09/07
スクリュー式差動回転機構

野村陽人, 髙根英里, 藤田政宏, 小松洋音, 多田隈建二郎, 昆陽雅司, 田所諭

第３４回日本ロボット学会学術講演会　2016/09/07
柔軟索状体の先端浮上安定化方法の提案

安部祐一, 昆陽雅司, 田所諭

第３４回日本ロボット学会学術講演会　2016/09/07
内体積可変メカニズムを有するトーラス袋状グリッパ機構

藤田政宏, 髙根英里, 野村陽人, 多田隈建二郎, 小松洋音, 昆陽雅司, 田所諭

第３４回日本ロボット学会学術講演会　2016/09/07
Can Haptic Feedback Improve Gesture Recognition in 3D Handwriting Systems?

Dennis Babu, Seoghwan Kim, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

The 9th International Conference on Intelligent Robotics and Applications　2016/08/22

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ICIRA2016 Best Student Paper Award 受賞
Multipoint Vibrotactile Stimuli Based on Vibration Propagation Enhance Collision Sensation

Shunya Sakata, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

Euro Haptics2016　2016/07/04
セルフロック現象を用いた配管内ロボットのための大保持力発生機構

山本知生, 昆陽雅司, 多田隈建二郎, 田所諭

ロボティクス・メカトロニクス講演会2016　2016/06/08
人体下肢振動を利用した歩行者の自己位置推定の補正

加藤佳大, 永野光, 昆陽雅司, 田所諭

ロボティクス・メカトロニクス講演会2016　2016/06/08
外部支持シャフトを有するオフセット球状全方向車輪機構

多田隈建二郎, 嵜山勢士, 高根英里, 多田隈理一郎, 山形, 小島匠太郎, 昆陽雅司, 田所諭

ロボティクス・メカトロニクス講演会2016　2016/06/08
Vibrotactile Representation of Mobile Robot Collisions Using Differences in Stimulus Duration

Daniel Gongora Flores, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

ロボティクス・メカトロニクス講演会2016　2016/06/08
狭隘路におけるクローラロボットの走行制御

小島匠太郎, 大野和則, 鈴木高宏, 田所諭

ロボティクス・メカトロニクス講演会2016　2016/06/08
Japan Virtual Robotics Challenge タスク開発の概要

木村哲也, 国際レスキューシステム研究機構, 長岡技術科学, 大金一二, 奥川雅之, 鈴木壮一郎, 清水優, 大坪義一, 高橋友一, 田所論

ロボティクス・メカトロニクス講演会2016　2016/06/08
飛行体を保護する受動回転球殻の空撮画像への写り込みの認識と除去による被写体明瞭化

石井拓麻, 岡田佳都, 大野和則, 田所諭

ロボティクス・メカトロニクス講演会2016　2016/06/08
外部アクセス性を有する分割受動回転球殻機構― Omni-Copter: 飛行体への適用例として ―

多田隈建二郎, Carl John Salaan, 髙根英里, 岡田佳都, 大野和則, 田所諭

ロボティクス・メカトロニクス講演会2016　2016/06/08
連結差動切り替え機構を有する球形ケーブル移動体の開発 ―第2 報：動力切り替え特性評価及び基本走行実験―

市村友哉, 多田隈建二郎, 高根英里, 昆陽雅司, 田所諭

ロボティクス・メカトロニクス講演会2016　2016/06/08
空気噴射による能動スコープカメラの段差乗り越え動作の検討

神尾柊太, 安藤久人, 昆陽雅司, 多田隈建二郎, 田所諭, 圓山重直

ロボティクス・メカトロニクス講演会2016　2016/06/08
水噴射による索状体の能動化装置及び手法の開発

安藤久人, 神尾柊太, 多田隈建二郎, 昆陽雅司, 田所諭, 圓山重直

ロボティクス・メカトロニクス講演会2016　2016/06/08
皮膚吸引圧刺激と筋バイアスを用いた道具を介した外力知覚メカニズムの検証

牧角将, 永野光, 昆陽雅司, 田所諭

ロボティクス・メカトロニクス講演会2016　2016/06/08
接触情報の視触覚提示による能動スコープカメラの操作性向上

船水貴仁, 永野光, 昆陽雅司, 田所諭

ロボティクス・メカトロニクス講演会2016　2016/06/08
A New Approach for Realistic Vibrotactile Friction Feedback for Midair Writing Systems.

Dennis Babu, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

ロボティクス・メカトロニクス講演会2016　2016/06/08
後続車との衝突を回避するための判定手法の検討

松山昂平, 大野和則, 鈴木高宏, 田所諭

ロボティクス・メカトロニクス講演会2016　2016/06/08
柔軟索状レスキューロボットのためのマイクロホン・加速度センサアレイを用いた3 次元姿勢推定

坂東宜昭, 糸山克寿, 昆陽雅司, 田所諭, 東北, 中臺一博, 工大, ホンダ RI-J, 吉井和佳, 乃博

ロボティクス・メカトロニクス講演会2016　2016/06/08
触覚呈示による建設ロボットの遠隔操縦支援第1報：車体振動計測システムの開発と接触対象物の振動情報調査

竹之内栄人, 永野光, 昆陽雅司, 田所諭

ロボティクス・メカトロニクス講演会2016　2016/06/08
犬の歩容を利用した階段や瓦礫上の速度推定の高精度化

大野和則, 藤枝卓明, 古森雄一, 鈴木高宏, 田所諭

ロボティクス・メカトロニクス講演会2016　2016/06/08
1 自由度多変形グリッパ機構受動式内体積可変メカニズムの導入

多田隈建二郎, 高根英里, 山本知生, 西田健, 九工大, 昆陽雅司, 田所諭

ロボティクス・メカトロニクス講演会2016　2016/06/08
面状全方向駆動クローラ機構

高根英里, 多田隈建二郎, 山本知生, 昆陽雅司, 田所諭

ロボティクス・メカトロニクス講演会2016　2016/06/08
双リング式全方向車輪機構

多田隈建二郎, 高根英里, 多田隈理一郎, 昆陽雅司, 田所諭

ロボティクス・メカトロニクス講演会2016　2016/06/08
面状全方向クローラにおける動力伝達機構の実験的検討

高根英里, 多田隈建二郎, 山本知生, 昆陽雅司, 田所諭

ロボティクス・メカトロニクス講演会2016　2016/06/08
Indirect Contact Detection by Sensing High-frequency Vibration through a Timing Belt to Drive an Arm Joint for Disaster Response Robots

Wenchao Gu, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

ロボティクス・メカトロニクス講演会2016　2016/06/08
携帯電話網とクラウドサービスを利用した災害救助犬の探査活動の共有

山口竣平, 大野和則, 岡田佳都, 鈴木高宏, 田所諭

ロボティクス・メカトロニクス講演会2016　2016/06/08
A Novel Vibrotactile Feedback Assisted Mid Air Writing

Dennis Babu, Hikaru Nagano, Massashi Konyo, Satoshi Tadokoro

IEEE Haptics Symposium 2016　2016/04/08
A New Approach for Realistic Vibrotactile Friction Feedback for Midair Writing Systems.

Dennis Babu, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

IEEE Haptics Symposium 2016　2016/04/08
吸着力を調整できる永電磁式小型軽量吸着機構の開発とマルチコプタ搭載評価

小浦慧視, 岡田佳都, カールジョンオーサラーン, 大野和則, 多田隈建二郎, 田所諭

第21回ロボティクスシンポジア　2016/03/17
高臨場感を有する衝突感提示のための前腕の振動伝播特性の計測

坂田峻也, 永野光, 昆陽雅司, 田所諭

第16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　2015/12/14
飛行ロボットによる橋梁近接目視点検のためのカメラシステムの開発と実用性能の定量評価

岡田佳都, 石井拓麻, Carl John, O. Salaan, 大野和則, 田所諭

第16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　2015/12/14
能動スコープカメラより伝達される振動情報が接触状態知覚に及ぼす影響の調査

船水貴仁, 永野光, 昆陽雅司, 田所諭

第16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　2015/12/14
全方向面状クローラ機構 “Omni-Board” ―動力伝達方式の提案と横方向移動ユニットの第一次試作―

高根英里, 多田隈建二郎, 嵜山勢士, 山本知生, 昆陽雅司, 田所諭

第16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　2015/12/14
皮膚吸引圧刺激を用いた道具に加わる外力の知覚メカニズムの調査

牧角将, 昆陽雅司, 田所諭

第16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　2015/12/14
全方向なじみ変形グリッパ機構

嵜山勢士, 多田隈建二郎, 高根英里, 山本知生, 昆陽雅司, 田所諭

第16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　2015/12/14

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SI2015優秀講演賞受賞
距離画像センサを搭載した移動ロボットによる金属壁形状点検手法の提案と試行

小島匠太郎, 神尾柊太, 髙根英里, 勝田貴大, 多田隈建二郎, 岡田佳都, 大野和則, 田所諭

第16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　2015/12/14
連結差動切り替え機構を有する球形ケーブル移動体の開発

市村友哉, 多田隈建二郎, 昆陽雅司, 田所諭

第16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　2015/12/14
形状マッチングによる配管計測における移動量推定の高精度化に関する検討

髙野一輝, 大野和則, 鈴木高宏, 田所諭

第16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　2015/12/14
Path Planning with Observation Prediction to Avoid Collisions with Unknown Dynamic Obstacles

Eijiro Takeuchi, Naoki Sugawara, Kazunori Ohno, Satoshi Tadokoro

2015 IEEE/SICE International Symposium on System Integration　2015/12/11
HelloHapticWorld: A Haptics Educational Kit for Interacting with Robots

Dennis Babu, Daniel Gongora, Sakata, Seonghwan Kim, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

2015 IEEE/SICE International Symposium on System Integration　2015/12/11
Path-creation Method to Search for Persons using a Flying Robot International-presentation

Toru Yonezawa, Eijirou Takeuchi, Kazunori Ohno, Satoshi Tadokoro

IEEE Conference on Robotics and Biomimetics　2015/12/06
Omnidirectional Curving Arm Mechanism with Passive Touch Detection International-presentation

Eri Takane, Kenjiro Tadakuma, Seiji Sakiyama, Tomonari Yamamoto, Kazunori Ohno, Masashi Konyo, Satoshi Tadokoro

The 6th International Conference on Advanced Mechatronics (ICAM2015)　2015/12/05
Measurements of Vibration Propagation on a Forearm during Tennis Shot for Realistic Tactile Displays

Shunya Sakata, Hikaru Nagano, Masashi Konyo, Satoshi Tadokoro

The 6th International Conference on Advanced Mechatronics (ICAM2015)　2015/12/05
Rolling Resistance between Roller and Flexible Tube of Pneumatic Hollow-shaft Actuator

Tomonari Yamamoto, Masashi Konyo, Kenjiro Tadakuma, Satoshi Tadokoro

The 6th International Conference on Advanced Mechatronics (ICAM2015)　2015/12/05
Haptic 3D canvas: haptic assistance of 3d writing and drawing with vibrotactile feedback for gesture interfaces International-presentation

S. Kim, H Nagano, M Konyo, S Tadokoro

SIGGRAPH Asia 2015 Haptic Media and Contents Design　2015/11/02
Human-Voice Enhancement based on Online RPCA for a Hose-shaped Rescue Robot with a Microphone Array International-presentation

Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshi, Hiroshi G. Okuno

2015 IEEE International Symposium on Safety, Security, and Rescue Robotics　2015/10/18
A hose-shaped rescue robot with a microphone array – sound-based posture estimation and human-voice enhancement – International-presentation

Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshi, Hiroshi G. Okuno

the IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR2015)　2015/10/18
Appearance-based Person Identification Algorithm to Search for Persons using a Flying Robot International-presentation

Toru Yonezawa, Eijirou Takeuchi, Kazunori Ohno, Satoshi Tadokoro

2015 IEEE International Symposium on Safety, Security, and Rescue Robotics　2015/10/18
Environmental Sensing using Millimeter Wave Sensor for Extreme Conditions International-presentation

Shakeel Muhammad, Kazunori Ohno, Daniele Nardi, Satoshi Tadokoro

2015 IEEE International Symposium on Safety, Security, and Rescue Robotics　2015/10/18
Proposal of Inspection and Rescue Tasks for Tunnel Disasters - Task Development of Japan Virtual Robotics Challenge International-presentation

M. Okugawa, K. Oogane, M. Shimizu, Y. Ohtsubo, T. Kimura, T. Takahashi, S. Tadokoro

2015 IEEE International Symposium on Safety, Security, and Rescue Robotics　2015/10/18
Evaluating Human Motor Function of Lower Limbs in Periodic Motion During Pedaling Exercise International-presentation

Tomohiro Miyazaki, Fumi Seto, Masashi Konyo, Satoshi Tadokoro

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)　2015/09/28
A High-Speed Locomotion Mechanism Using Pneumatic Hollow-Shaft Actuators for In-Pipe Robots International-presentation

Tomonari Yamamoto, Masashi Konyo, Satoshi Tadokoro

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)　2015/09/28
Detection of Continuous Barking Actions from Search and Rescue Dogs’ Activities Data International-presentation

Yuichi KOMORI, Kazuaki OHNO, Takuaki FUJIEDA, Takahiro SUZUKI, Satoshi TADOKORO

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)　2015/09/28
Microphone-accelerometer based 3D posture estimation for a hose-shaped rescue robot International-presentation

Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshi, Hiroshi G. Okuno

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)　2015/09/28
Proposal and Experimental Validation of a Design Strategy for a UAV with a Passive Rotating Spherical Shell International-presentation

Shoma Mizutani, Yoshito Okada, Carl John Salaan, Takuma Ishii, Kazunori Ohno, Satoshi Tadokoro

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)　2015/09/28
テニスの打撃感を伝える触感提示手法の提案 ―第 2 報:スイング速度に応じた振動刺激の生成―

坂田峻也, 永野光, 昆陽雅司, 田所諭

第20回日本バーチャルリアリティ学会大会　2015/09/09
触覚フィードバックを有する自然な空中手書き入力インタフェース ―触覚情報提示タイミングを決める文字入力状態判別特徴量―

金勝煥, 永野光, 昆陽雅司, 田所諭

第20回日本バーチャルリアリティ学会大会　2015/09/09
地下埋設配管の３次元形状計測にジャイロの誤差が与える影響

髙野一輝, 大野和則, 鈴木高宏, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2015　2015/05/17
筋活動の能動性が知覚された力覚の大きさに及ぼす影響の調査

牧角将, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2015　2015/05/17
永久磁石と電磁石を併用したマルチコプター用吸着装置の単体性能評価

小浦慧視, 岡田佳都, 大野和則, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2015　2015/05/17
音声と慣性センサに基づく災害救助犬の吠え検出

古森雄一, 藤枝卓明, 大野和則, 鈴木高宏, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2015　2015/05/17
空気圧アクチュエータを用いた高速配管内推進機構の開発

山本知生, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2015　2015/05/17
自動運転のための道路上の積雪の認識に関する研究

北畑裕貴, 大野和則, 鈴木高宏, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2015　2015/05/17
3D Mapping in Petrochemical Complexes for Fire Fighter Robot's Autonomous Navigation

Abu Ubaidah, bin Shamsudin, Kazunori Ohno, Takahiro Suzuki, Satoshi Tadokoro

日本機械学会ロボティクス・メカトロニクス講演会2015　2015/05/17
応答特性の異なる 2 種類の振動子を用いた触刺激に対する反応時間の改善

船水貴仁, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2015　2015/05/17
飛行体の機上カメラを用いた受動回転球殻の状態推定に関する研究

石井拓麻, 岡田佳都, 大野和則, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2015　2015/05/17
瓦礫や階段上の犬の移動速度の高精度化に向けた歩容解析

藤枝卓明, 大野和則, 古森雄一, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2015　2015/05/17
ペダリング運動中における負荷変化提示による下肢運動機能評価

宮崎友裕, 瀬戸文美, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2015　2015/05/17
テニスの打撃感を伝える触感提示手法の提案第1報：実測値を基にした振動刺激の生成と評価

坂田峻也, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2015　2015/05/17
有線遠隔操作ロボットのためのケーブル移動機構の開発第１報: 移動機構の試作と検討

市村友哉, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2015　2015/05/17
歩行時の下肢に伝播する振動を用いた踵接地とつま先離地の検出

門谷周平, 昆陽雅司, 田所諭

第15回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)　2014/12/15
クアッドコプターと目視点検用ロボットを用いた橋面下点検法の提案

小浦慧視, 髙野一輝, 牧角将, 大野和則, 岡田佳都, 田所諭

第15回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)　2014/12/15
ペダリング運動時の姿勢変化による下肢インピーダンスの推定

宮崎友裕, 瀬戸文美, 昆陽雅司, 田所諭

第15回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)　2014/12/15
空気噴射機構を搭載した能動スコープカメラの開発

福田潤一, 昆陽雅司, 田所諭

第15回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)　2014/12/15
異方性摩擦調節機構を用いたカタストロフィー構造を持つ空気圧アクチュエータの開発

華曄, 昆陽雅司, 田所諭

第15回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)　2014/12/15
受動回転球殻UAVの汎用的設計法の提案と実験的検証

水谷将馬, 矢野浩史, 柳村一成, 岡田佳都, 大野和則, 田所諭

第15回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)　2014/12/15
TAKO-Pen：皮膚への吸引圧刺激を用いたペン型疑似力覚インタフェース, 第4報：疑似トルク呈示法の提案と評価

前森大貴, Lope Ben Porquis, 昆陽雅司, 田所諭

第15回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)　2014/12/15
空中手書き文字入力の触覚サポート

金勝煥, 昆陽雅司, 田所諭

第15回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)　2014/12/15
スパイダーコプタ：複数の吸着機構を有するマルチコプタ

柳村一成, 大野和則, 岡田佳都, 水谷将馬, 矢野浩史, 田所諭

第15回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)　2014/12/15
吸着巻取り機構を有するマルチコプタの開発

柳村一成, 大野和則, 岡田佳都, 水谷将馬, 矢野浩史, 田所諭

計測自動制御学会東北支部50周年記念学術講演会　2014/12/11

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計測自動制御学会東北支部50周年記念学術講演会優秀発表奨励賞
マルチコプタを用いた打音検査のための装置の研究

矢野浩史, 岡田佳都, 大野和則, 柳村一成, 水谷将馬, 田所諭

計測自動制御学会東北支部50周年記念学術講演会　2014/12/11
観測の尤度分布を利用した屋外自律搬送車両の位置推定のランドマーク配置の評価

北畑裕貴, 大野和則, 竹内栄二朗, 田所諭

第12回ＩＴＳシンポジウム2014　2014/12/04
公道走行可能な自動運転機能を有する小型電気自動車の開発

大野和則, 柴田充晴, 北畑裕貴, 鎌田浩一郎, 田所諭

第12回ＩＴＳシンポジウム2014　2014/12/04
Haptic Assistance of Spatial Pointing with Simple Vibrotactile Feedback for Gesture Interfaces International-presentation

Seonghwan Kim, Masashi Konyo, Satoshi Tadokoro

AsiaHaptics2014　2014/11/18
Pseudo-Haptic Interface Using Multipoint Suction Pressures and Vibrotactile Stimuli International-presentation

Daiki Maemori, LopeBen Porquis, Masashi Konyo, Satoshi Tadokoro

AsiaHaptics2014　2014/11/18
災害ロボットが実現する安全安心の革命と破壊的イノベーション

ロボット革命実現会議　2014/11/17
A Sound-based Online Method for Estimating the Time-Varying Posture of a Hose-shaped Robot International-presentation

Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshii, Hiroshi G. Okuno

IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR-2014)　2014/10/27
災害対応ロボットの最新研究

三菱電機先端技術総合研究所講演会　2014/09/26
Remote Vertical Exploration by Active Scope Camera into Collapsed Buildings International-presentation

Junichi Fukuda, Masashi Konyo, Eijiro Takeuchi, Satoshi Tadokoro

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2014)　2014/09/14

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IROS2014 Best Paper Award Finalist
Remote Vertical Exploration by Active Scope Camera into Collapsed Buildings International-presentation

Fukuda Junichi, Masashi Konyo, Eijiro Takeuchi, Satoshi Tadokoro

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems（IROS2014)　2014/09/14

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IROS2014BestPaperAwardFinalist
Estimation of Ground Surface Radiation Sources from Dose Map Measured by Moving Dosimeter and 3-D Map International-presentation

Gaku Minamoto, Eijiro Takeuchi, Satoshi Tadokoro

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems（IROS2014)　2014/09/14
COCN WG1の活動について

COCNオープンフォーラム　2014/09/06
マイクロホンアレイを用いた駆動機構付ホース型ロボットの姿勢推定

坂東宜昭, 糸山克寿, 昆陽雅司, 田所諭, 中臺一博, 吉井和佳, 奥乃博

日本ロボット学会第32回学術講演会　2014/09/04
犬の研究のすすめ

大野和則, 古森雄一, 田所諭

第32回日本ロボット学会学術講演会　2014/09/04
異方性摩擦機構を用いたカタストロフィー構造をもつ空気圧アクチュエータの開発

華曄, 昆陽雅司, 田所諭

日本ロボット学会第32回学術講演会　2014/09/04
片付け作業における物体の置き場の決定方法

高住裕紀, 大野和則, 田所諭

第32回日本ロボット学会学術講演会　2014/09/04
A Multi-DOF Haptic Representation Using Suction Pressure Stimuli on Finger Pads International-presentation

Daiki Maemori, Masashi Konyo, Satoshi Tadokoro

Eurohaptics 2014　2014/06/24
A Precise Gait Phase Detection Based on High-Frequency Vibration on Lower Limbs International-presentation

Shuhei Kadoya, Naohisa Nagaya, Masashi Konyo, Satoshi Tadokoro

2014 IEEE International Conference on Robotics and Automation（ICRA2014)　2014/05/31
Hovering of MAV by using magnetic adhesion and winch mechanism International-presentation

Kazuaki Yanagimura, Kazunori Ohno, Yoshito Okada, Eijiro Takeuchi, Satoshi Tadokoro

2014 IEEE International Conference on Robotics and Automation（ICRA2014)　2014/05/31
TAKO-Pen：皮膚への吸引圧刺激を用いたペン型疑似力覚インタフェース, 第3報：複数の皮膚刺激を用いた全方位力覚表現

前森大貴, Lope Ben Porquis, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2014　2014/05/25
ジェスチャインタフェースのための触覚フィードバックによる空間指示能力の向上

金勝煥, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2014　2014/05/25
人体モデルを用いたペダリング運動時の下肢インピーダンス推定

宮崎友裕, 瀬戸文美, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2014　2014/05/25
吸着機構を搭載したMAVの吸着性能の評価

柳村一成, 大野和則, 岡田佳都, 水谷将馬, 竹内栄二朗, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2014　2014/05/25
能動スコープカメラの空気噴射機構による進路方向制御の検討

福田潤一, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2014　2014/05/25
配管検査のための能動スコープカメラの挿通引抜性能の向上

金谷泰隆, 昆陽雅司, 田所諭, 岡村栄二, 今野実, 綱崎勝, 齋藤良裕, 和田弘之, 枇杷友啓郎

日本機械学会ロボティクス・メカトロニクス講演会2014　2014/05/25
カタストロフィー構造を持つ空気圧アクチュエータの開発

華曄, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2014　2014/05/25
被災者発見につながる災害救助犬の動作計測

古森雄一, 大野和則, 竹内栄二朗, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2014　2014/05/25
錯雑した構造体中での飛行が可能な回転球殻を有するクアッドロータ

水谷将馬, 大野和則, 柳村一成, 岡田佳都, 竹内栄二朗, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2014　2014/05/25
スリップせずに自動路肩停車するための高速軌道生成

柴田充晴, 大野和則, 竹内栄二朗, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2014　2014/05/25
マルチコプタを用いた打音検査の試行

矢野浩史, 竹内栄二朗, 大野和則, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2014　2014/05/25
Disaster response robot Quince and lessons at Fukushima-Daiichi Nuclear Power Plant accident International-presentation

1st International Conference on Computational Engineering and Science for Safety and Environmental Problems (COMPSAFE 2014),　2014/04/13
Presenting Virtual Stiffness by Modulating the Perceived Force Profile with Suction Pressure International-presentation

Lope Ben Porquis, Daiki Maemori, Naohisa Nagaya, Masashi Konyo, Satoshi Tadokoro

2014 IEEE Haptics Symposium　2014/02/23
災害対応ロボットの事業化について

災害対応ロボット技術交流会　2014/01/24
鉛直降下型能動スコープカメラの接触状態が運動に及ぼす影響の評価

福田潤一, 昆陽雅司, 田所諭

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 (SI2013)　2013/12/18
自動車のための路肩自動停車システムの開発

柴田充晴, 大野和則, 竹内栄二朗, 田所諭

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 (SI2013)　2013/12/18
航空測量地図を用いたGNSSの可視性判別に基づく移動体の位置推定

荒川尚吾, 竹内栄二朗, 大野和則, 田所諭

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 (SI2013)　2013/12/18
MAVの空中静止のための吸着巻取り機構

柳村一成, 大野和則, 戸塚雄介, 竹内栄二朗, 田所諭

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 (SI2013)　2013/12/18
犬の歩容の特徴に着目した速度推定の精度評価

坂口尚己, 大野和則, 竹内栄二朗, 田所諭

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 (SI2013)　2013/12/18
つくばチャレンジ2013に向けた東北大学田所研究室の自律移動ロボットの開発

荒川尚吾, 菅原直樹, 矢野浩史, 竹内栄二朗, 大野和則, 田所諭

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 (SI2013)　2013/12/18
UAVによる配管・煙突空撮支援のための測域センサによる円柱状構造物の認識

戸塚雄介, 柳村一成, 大野和則, 岡田佳都, 田所諭

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 (SI2013)　2013/12/18
振動刺激を用いた空中に浮かぶ表面形状の呈示

伊藤純平, キムスンファン, 永谷直久, 昆陽雅司, 田所諭

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 (SI2013)　2013/12/18
下肢への振動呈示による歩行サポートに関する研究第2報：歩行時の下肢振動呈示による歩容への影響の調査

大竹達也, Lope Ben Porquis, 永谷直久, 昆陽雅司, 田所諭

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 (SI2013)　2013/12/18
計測範囲外の動的障害物に対する衝突リスクを軽減するための観測動作を含む経路計画

菅原直樹, 竹内栄二朗, 大野和則, 田所諭

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 (SI2013)　2013/12/18
ペダリング運動を用いた人体下肢のインピーダンス調整機能の評価第５報集中定数モデルによる足先インピーダンス特性の推定

瀬戸文美, 渡邊高広, 永谷直久, 昆陽雅司, 田所諭

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 (SI2013)　2013/12/18
Precise Velocity Estimation for Dog using its Gait International-presentation

Naoki Sakaguchi, Kazunori Ohno, Eijiro Takeuchi, Satoshi Tadokoro

The 9th Conference on Field and Service Robotics 2013　2013/12/09
Haptic Cue of Force on Tools: Investigation of Multi-point Cutaneous Activities on the Skin using Suction Pressure Stimuli International-presentation

Lope Ben Porquis, Daiki Maemori, Naohisa Nagaya, Masashi Konyo, Satoshi Tadokoro

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2013)　2013/11/03
Priority Issues of Disaster Robotics Related to Decommissioning of Fukushima-Daiichi Nuclear Power Plant International-presentation

Robotics and Automation in Nuclear Facilities　2013/11/03
空間操作型インタフェースを用いた仮想柔軟物体との疑似力覚インタラクション

宮崎友裕, 金勝煥, 伊藤純平, 永谷直久, 昆陽雅司, 田所諭

第18回日本バーチャルリアリティ学会大会　2013/09/18

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技術展示
空間操作型インタフェースを用いた仮想柔軟物体との疑似力覚インタラクション

宮崎友裕, 金勝煥, 伊藤純平, 永谷直久, 昆陽雅司, 田所諭

第18回日本バーチャルリアリティ学会大会　2013/09/18
Presenting augmented force on a pen-type interface by multipoint skin stimuli

ポルキスロペ・ベン, 前森大貴, 永谷直久, 昆陽雅司, 田所諭

第18回日本バーチャルリアリティ学会大会　2013/09/18
ペン把持時の皮膚接触面における圧力分布を考慮した疑似力覚呈示手法

前森大貴, ポルキスロペベン, 永谷直久, 昆陽雅司, 田所諭

第18回日本バーチャルリアリティ学会大会　2013/09/18

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技術展示
ペン把持時の皮膚接触面における圧力分布を考慮した疑似力覚呈示手法

前森大貴, ポルキスロペベン, 永谷直久, 昆陽雅司, 田所諭

第18回日本バーチャルリアリティ学会大会　2013/09/18
片付けロボットのための属性情報を用いた物の置き場所の推定

高住裕紀, 大野和則, 田所諭

第31回日本ロボット学会学術講演会　2013/09/04
3次元GISに統合可能な埋設下水管の形状計測

新井智博, 大野和則, 田所諭, 東北大, 宮崎幸, 上道司, 小阪健次(アス, 番上勝久(アス

第31回日本ロボット学会学術講演会　2013/09/04
Priority issues of disaster robotics in Japan International-presentation

Satoshi Tadokoro, Shuji Seki, Hajime Asama

IEEE Region 10 Humanitarian Technology Conference 2013　2013/08/26
OCN (Council on Competitiveness-Nippon) project on robot technology development and management for disaster response International-presentation

Hajime Asama, Satoshi Tadokoro, Hideo Setoya

IEEE Region 10 Humanitarian Technology Conference 2013　2013/08/26
Disaster response robot Quince and lessons at Fukushima-daiichi Nuclear Power Plant Accident International-presentation

IEEE Region 10 Humanitarian Technology Conference 2013　2013/08/26
Research on stardization, safety standards and competitiveness enhancement of special environment robots in Japan International-presentation

Tetsuya Kimura, Makiko Okamoto, Koji Oga, Shinji Okuda, Toshihiro Matsuda, Tsutomu Nagi, Shoichi Hamada, Yoshitada Hata, Satoshi Tadokoro

IEEE Region 10 Humanitarian Technology Conference 2013　2013/08/26
An introduction to Japanese R&D activity and political direction on special environment robots International-presentation

Yushi Segawa, Yasuyuki Nanamori, Shinichiro Sanji, Takayoshi Kitada, Satoshi Tadokoro

IEEE Region 10 Humanitarian Technology Conference 2013　2013/08/26
鉛直降下探査のための能動スコープカメラの開発

福田潤一, 竹内栄二朗, 昆陽雅司, 田所諭, 山崎忍, 廣瀬豊, 青木滋, 金森洋史

日本機械学会ロボティクス・メカトロニクス講演会2013　2013/05/23
TAKO-Pen：皮膚への吸引圧刺激を用いたペン型疑似力覚インタフェース第2 報:ペン把持部への外力負荷時の指腹部変形解析

前森大貴, Lope Ben Porquis, 永谷直久, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2013　2013/05/23
3次元形状と空間線量マップからの放射線減衰特性に基づいた地物表面放射線源分布推定

皆本岳, 竹内栄二朗, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2013　2013/05/23
クアッドロータに搭載可能な磁石を用いた吸着機構の研究開発

柳村一成, 大野和則, 戸塚雄介, 竹内栄二朗, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2013　2013/05/23
災害救助犬が長時間装着可能な探査記録装置の開発

坂口尚己, 大野和則, 竹内栄二朗, 永谷直久, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2013　2013/05/23
動的環境における既観測領域の変化の予測に基づく移動ロボットの動作計画 - 動的環境における衝突リスクの検討 -

菅原直樹, 竹内栄二朗, 大野和則, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2013　2013/05/23
身体伝播振動を用いた歩行周期推定手法の提案

門谷周平, 永谷直久, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2013　2013/05/23
航空測量地図を用いたGPS衛星の可視性に基づく車輌の位置推定 - 計測車輌の開発 -

荒川尚吾, 竹内栄二朗, 大野和則, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2013　2013/05/23
クローラロボット側面の接触を計測可能な可動バンパー式接触センサの開発

大野和則, 東和幸, 竹内栄二朗, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2013　2013/05/23
TAKO-Pen: Pen-type Psuedo Haptic Interface using Suction Pressure on the Skin -First Report: Perceiving External Force by Multipoint Suction Pressure Stimuli-

Lope Ben PORQUIS, Daiki MAEMORI, Naohisa NAGAYA, Masashi KONYO, Satoshi TADOKORO

日本機械学会ロボティクス・メカトロニクス講演会2013　2013/05/23
下肢への振動呈示による歩行サポートに関する研究第1報:歩行時における下肢伝搬振動の計測・再生装置の開発

大竹達也, 永谷直久, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2013　2013/05/23
空間操作型インタフェースを用いた表面形状呈示

伊藤純平, 永谷直久, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2013　2013/05/23
Pneumatic Flexible Hollow Shaft Actuator with High Speed and Long Stroke Motion International-presentation

Kazuhito Wakana, Hiroaki Namari, Masashi Konyo, Satoshi Tadokoro

2013 IEEE International Conference on Robotics and Automation(ICRA2013)　2013/05/06
レーザスキャナで計測した3次元点群から霧によって生じた計測点の除去

鈴木貴広, 大野和則, 東和幸, 竹内栄二朗, 田所諭

第18回ロボティクスシンポジア　2013/03/14
三次元地図を用いたGPS衛星可視性に基づく複数測位解生成による移動体の位置推定

荒川尚吾, 竹内栄二朗, 大野和則, 田所諭

第18回ロボティクスシンポジア　2013/03/14
計測範囲の限られた移動ロボットのための走行予定経路を観測可能な経路計画

菅原直樹, 竹内栄二朗, 大野和則, 田所諭

第18回ロボティクスシンポジア　2013/03/14
Marriage of Disaster Robotics to Business International-presentation

Hajime Asama, Yasuharu Kunii, Tim Lueth, Raj Madhavan, T.-J. Tarn, Satoshi Tadokoro

International Workshop on Robotics: Past, Present and Future, 2013　2013/01
Rescue robots nurtured by standard test method International-presentation

ASTM Winter Conference, 2013.　2013/01
Rescue and Disaster Robotics International-presentation

Robotics in Extreme and Uncertain Environments: From Search-and-Rescue to Human-Robot Interaction　2012/12/27
Rescue Robotics for the Future - By International Collaboration - International-presentation

2012 SICE/IEEE International Symposium on System Integration, International Workshop for Development and Management of Rescue System Technology for Safe and Resilient Society　2012/12/19
振動刺激によるマスキングが上肢の打撃力調整タスクに及ぼす影響第2報：振動提示部位の影響の評価

藤田晴千, 永谷直久, 昆陽雅司, 田所諭

第13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　2012/12/18
レスキュー探査のためのチューブ型能動スコープカメラシステムの開発

鉛博瑛, 福田潤一, 若菜和仁, 昆陽雅司, 田所諭

第13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　2012/12/18
ペダリング運動を用いた人体下肢のインピーダンス調整機能の評価第４報：タスクを付与したペダリング運動中のペダル踏力計測

渡邊高広, 昆陽雅司, 永谷直久, 田所諭

第13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　2012/12/18
振動刺激の重畳を用いた鮮明な触刺激に関する研究

櫻井達馬, 篠田裕之, 昆陽雅司

第13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　2012/12/18
空気圧柔軟中空シャフトアクチュエータの柔軟索状ロボットへの応用

若菜和仁, 鉛搏瑛, 昆陽雅司, 田所諭

第13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　2012/12/18
歩行時の人体下肢関節部における振動伝播の計測

永谷直久, 深澤洸貴, 昆陽雅司, 田所諭

第33回バイオメカニズム学術講演会（SOBIM2012）　2012/12/15
Disaster Response Robot Quince and Fukushima-Daiichi Nuclear Power Plant Accident International-presentation

DARPA Robotics Challenge Kickoff Meeting　2012/12/14
Rescue Robotics in Great Eastern Japan Earthquake and Fukushima-Daiichi Nuclear Power Plant Accident International-presentation

Italy-Japan Workshop　2012/12/03
RoboCupRescue Dream International-presentation

IEEE International Symposium on Safety, Security and Rescue Robotics(SSRR2012)　2012/11/08
Rescue Robots Used in 2011 and 2012 International-presentation

IEEE International Symposium on Safety, Security and Rescue Robotics(SSRR2012)　2012/11/08
Flexible Cable Shape Estimation International-presentation

Michihisa Ishikura, Eijiro Takeuchi, Masashi Konyo, Satoshi Tadokoro

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012)　2012/10/07
Tube-type Active Scope Camera with High Mobility and Practical Functionality International-presentation

Hiroaki Namari, Kazuhito Wakana, Michihisa Ishikura, Masashi Konyo, Satoshi Tadokoro

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012)　2012/10/07

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IEEE Robotics and Automation Society Japan Chapter Young Award（学生鉛博瑛が受賞）
Presenting Sharp Surface Shapes Using Overlapped Vibrotactile Stimuli International-presentation

Tatsuma Sakurai, Masashi Konyo, Satoshi Tadokoro

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012)　2012/10/07
ペダリング運動を用いた人体下肢のインピーダンス調整機能の評価

渡邊高広, 昆陽雅司, 田所諭

日本ロボット学会第30回記念学術講演会　2012/09/17
空気圧柔軟中空シャフトアクチュエータの発生力解析と応用

若菜和仁, 鉛搏瑛, 昆陽雅司, 田所諭

日本ロボット学会第30回記念学術講演会　2012/09/17
足裏部から全身への振動伝搬特性に関する研究

永谷直久, 深澤洸貴, 昆陽雅司, 田所諭

第17回日本バーチャルリアリティ学会大会　2012/09/12
振動刺激による触覚マスキング効果が打撃タスクに及ぼす影響

藤田晴千, 永谷直久, 昆陽雅司, 田所諭

第17回日本バーチャルリアリティ学会大会　2012/09/12
歩行時の下肢関節部への振動刺激が歩容調整に与える影響の予備的調査

大竹達也, 永谷直久, 昆陽雅司, 田所諭

第17回日本バーチャルリアリティ学会大会　2012/09/12
ポインティングスティック型インタフェースのための疑似形状呈示法

伊藤純平, 大竹達也, 前森大貴, 門谷周平, 永谷直久, 昆陽雅司, 田所諭

第17回日本バーチャルリアリティ学会大会　2012/09/12
歩行時の人体下肢関節部における振動伝播の比較

深澤洸貴, 永谷直久, 昆陽雅司, 田所諭

第17回日本バーチャルリアリティ学会大会　2012/09/12
Improvements to the rescue robot Quince - Toward future indoor surveillance missions in the Fukushima Daiichi Nuclear Power Plant - International-presentation

Tomoaki Yoshida, Keiji Nagatani, Satoshi Tadokoro, Takeshi Nishimura, Eiji Koyanagi

the 8th International Conference on Field Robotics(FSR2012)　2012/07/16
Classificationof 3-D point cloud data that includes line and frame objects on the basis of geometrical features and the pass rate of laser rays International-presentation

Kazunori Ohno, Takahiro Suzuki, Kazuyuki Higashi, Masanobu Tsubota, Eijiro Takeuchi, Satoshi Tadokoro

the 8th International Conference on Field Robotics(FSR2012)　2012/07/16
Collaborative mapping of an earthquake-damaged building via ground and aerial robots International-presentation

Nathan Michael, Shaojie Shen, Kartik Mohta, Vijay Kumar, Keiji Nagatani, Yoshito Okada, Seiga Kiribayashi, Kazuki Otake, Kazuya Yoshida, Kazunori Ohno, Eijiro Takeuchi, Satoshi Tadokoro

the 8th International Conference on Field Robotics(FSR2012)　2012/07/16
Disaster Response Robot Quince and Lessons at Fukushima-Daiichi Nuclear Power Plant Accident International-presentation

Workshop on Intelligent Human-Machine Collaboration, The National Academy of Sciences　2012/06/14
Multi-contact Vacuum-Driven Tactile Display for Representing Force Vectors Applied on Grasped Objects International-presentation

Lope Ben Porquis, Masashi Konyo, Naohisa Nagaya, Satoshi Tadokoro

Haptics:Perception,Devices,Mobility, and Communication International Conference, EuroHaptics2012　2012/06/12
Quinceによる福島第一原発対応

テレイグジスタンスシンポジウム　2012/06/05
人体振動伝播に基づくインピーダンス知覚仮説

大竹達也, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2012　2012/05/27
擬似筋骨格機構を用いたインピーダンス調整評価法の提案

藤田晴千, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2012　2012/05/27
人体下肢の振動伝播に基づくインピーダンス知覚仮説

深澤洸貴, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2012　2012/05/27
ペダリング運動を用いた人体下肢のインピーダンス調整機能の評価

渡邊高広, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2012　2012/05/27
大ストロークかつ高速運動可能な柔軟空気圧リニアアクチュエータの開発

若菜和仁, 鉛博瑛, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2012　2012/05/27
高走行性と実用的機能を搭載したチューブ型能動スコープカメラの開発

鉛博瑛, 若菜和仁, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会2012　2012/05/27
福島第一原発事故への対応

システム制御情報学会学術講演会，パネル討論　2012/05/22
Logical Windowing Methods from Multiple Identification Candidates Using Corresponding Appearance Identification Results in Time-series International-presentation

Kazushi Tanaka, Eijiro Takeuchi, Kazunori Ohno, Satoshi Tadokoro, Toru Yonezawa

IEEE International Conference on Robotics and Automation (ICRA2012)　2012/05/14
Development of flexible pneumatic actuator for Active Scope Camera International-presentation

Kazuhito Wakana, Michihisa Ishikura, Masashi Konyo, Satoshi Tadokoro

IEEE International Conference on Robotics and Automation (ICRA2012)　2012/05/14

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IEEE Robotics and Automation Society Japan Chapter Young Award（学生若菜和仁が受賞）
震災に挑む

ロボカップレスキュージャパンオープンシンポジウム　2012/05/03
Points to be Researched International-presentation

National Science Foundation/CCC Meeting　2012/04/23
Decommissioning of Fukushima-Daiichi Nuclear Power Plant International-presentation

International Experts’ Workshop and International Symposium on the Decommissioning of TEPCO’s Fukushima Daiichi Nuclear Power Plant Unit 1-4　2012/03/13
レスキューロボットの東日本大震災対応－福島第一原子力発電所事故対応を中心として－

制御部門大会ワークショップ「レスキューロボットの活躍と今後の研究」　2012/03/13
Quinceによる福島第一原子力発電所事故対応

東日本大震災一年目シンポジウム　2012/03/12
Tactile-based torque illusion controlled by strain distributions on multi-finger contact International-presentation

Lope Ben, C. Porquis, Masashi Konyo, Satoshi Tadokoro

2012 IEEE Haptics Symposium (HAPTICS)　2012/03/04
災害対応ロボット

日本機械学会東海支部講習会　2012/01/26
レスキューロボットの研究開発の現状と展望－福島第一原子力発電所事故対応を中心として－

日本学術振興会第133委員会　2012/01/20
分布姿勢センサを持つ柔軟索状体の動力学モデルを用いた状態推定

石倉路久, 竹内栄二朗, 昆陽雅司, 田所諭

第12回計測自動制御学会システムインテグレーション部門講演会(SI2011)　2011/12/23
自律と操縦に対応した移動ロボット用RTC の開発

竹内栄二朗, 田中一志, 廣信利, 福井貴久, 李昭曈, 菅原直樹, 荒川尚吾, 大野和則, 田所諭, 斎藤俊久, 五十嵐広希, 松野文俊, 高森年

第12回計測自動制御学会システムインテグレーション部門講演会(SI2011)　2011/12/23
ペダリング運動を用いた人体下肢のインピーダンス調整機能の評価

渡邉高広, 昆陽雅司, 田所諭

第12回計測自動制御学会システムインテグレーション部門講演会(SI2011)　2011/12/23
疑似筋骨格機構を用いたインピーダンス知覚評価法

藤田晴千, 昆陽雅司, 田所諭

第12回計測自動制御学会システムインテグレーション部門講演会(SI2011)　2011/12/23
配管検査のための高挿入性を有する能動スコープカメラの開発

鉛博瑛, 若菜和仁, 昆陽雅司, 田所諭

第12回計測自動制御学会システムインテグレーション部門講演会(SI2011)　2011/12/23
振動刺激の重畳を用いた表面形状呈示

櫻井達馬, 昆陽雅司, 田所諭

第12回計測自動制御学会システムインテグレーション部門講演会(SI2011)　2011/12/23
人体の振動伝播に基づくインピーダンス知覚仮説

深澤洸貴, 昆陽雅司, 田所諭

第12回計測自動制御学会システムインテグレーション部門講演会(SI2011)　2011/12/23
Robotic Response in Great Eastern Japan Earthquake International-presentation

IEEE/SICE International Symposium on System Integration　2011/12/20
想定外を想定するレスキューロボット

View2011パネルディスカッション　2011/12/09
レスキューロボットとその技術課題－福島第一原子力発電所事故対応を中心として－

View2011　2011/12/09
Transparent Object Detection Using Color Image and Laser Reflectance Image for Mobile Manipulator International-presentation

Zhong LEI, Kazunori OHNO, Masanobu TSUBOTA, Eijiro TAKEUCHI, Satoshi TADOKORO

2011 IEEE International Conference on Robotics and Biomimetics (ROBIO2011)　2011/12/07
Unknown Object Modeling on the Basis of Vision and Pushing Manipulation International-presentation

Kazunori Ohno, Kurose Kensuke, Eijiro Takeuchi, Lei Zhong, Masanobu Tsubota, Satoshi Tadokoro

2011 IEEE International Conference on Robotics and Biomimetics (ROBIO2011)　2011/12/07
GPS Measurement Model with Satellite Visibility using 3D Map for Particle Filter International-presentation

Eijiro Takeuchi, Masashi Yamazaki, Kazunori Ohno, Satoshi Tadokoro

2011 IEEE International Conference on Robotics and Biomimetics (ROBIO2011)　2011/12/07
Rescue robots in Great Eastern Japan Earthquake International-presentation

2011 International Conference on Service and Interactive Robotics　2011/11/26
Rescue robotics in action International-presentation

The 1st Korea-Japan Workshop on Firefighting and Disaster Prevention Robots　2011/11/23
Rescue robotics in action, International-presentation

Texas A&M University Seminar　2011/11/16
Rescue robotics in action International-presentation

Carnegie Mellon University Seminar,　2011/11/16
Rescue robotics in action, International-presentation

NIST/ASTM Response Robot Exercise　2011/11/14
Rescue robotics in action International-presentation

The Association for the Advancement of Artificial Intelligence　2011/11/04
Gamma-ray irradiation test of electric components of rescue mobile robot Quince International-presentation

Keiji Nagatani, Seiga Kiribayashi, Yoshito Okada, Kazuki Otake, Kazuya Yoshida, Satoshi Tadokoro, Takeshi Nishimura, Tomoaki Yoshida, Eiji Koyanagi, Mineo Fukushima, Shinji Kawatsuma

IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR2011)　2011/11/01
Use of remotely operated marine vehicles at Minamisanriku and Rikuentakata Japan for disaster recovery International-presentation

Robin R. Murphy, Karen L. Dreger, Sean Newsome, Jesse Rodocker, Eric Steimle, Tetsuya Kimura, Kenichi Makabe, Fumitoshi Matsuno, Satoshi Tadokoro, Kazuyuki Kon

IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR2011)　2011/11/01
Robotic control vehicle for measuring radiation in Fukushima Daiichi Nuclear Power Plant International-presentation

Kazunori Ohno, Shinji Kawatsuma, Takashi Okada, Eijiro Takeuchi, Kazuyuki Higashi, Satoshi Tadokoro

IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR2011)　2011/11/01

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SSRR2011 Best Paper Finalist受賞
Redesign of rescue mobile robot Quince International-presentation

Keiji Nagatani, Seiga Kiribayashi, Yoshito Okada, Satoshi Tadokoro, Takeshi Nishimura, Tomoaki Yoshida, Eiji Koyanagi, Yasushi Hada

IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR2011)　2011/11/01
Japan-Italy collaboration in rescue robotics International-presentation

Italy-Japan Business Group Meeting　2011/10/04
Enhancement of Human Force Perception by Multi-Point Tactile Stimulation International-presentation

Lope Ben Porquis, Masashi Konyo, Satoshi Tadokoro

IEEE/RSJ Internaional Conference on Robots and Systems (IROS2011),　2011/09/25
Enhancement of Vibrotactile Sensitivity:Effects of Stationary Boundary Contacts International-presentation

Tatsuma Sakurai, Masashi Konyo, Satoshi Tadokoro

IEEE/RSJ Internaional Conference on Robots and Systems (IROS2011),　2011/09/25

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IEEE Robotics and Automation Society Japan Chapter Young Award
Multi-contact Vacuum Pressure Stimulation Enhances Force Perception

Lope Ben PORQUIS, Masashi KONYO, Satoshi TADOKORO

第16回日本バーチャルリアリティ学会大会　2011/09/20
静止面と振動面の同時接触がヒトの振動知覚を向上するメカニズムの解明

櫻井達馬, 昆陽雅司, 田所諭

第16回日本バーチャルリアリティ学会大会　2011/09/20
疑似力覚を用いた情報の重みの呈示：携帯端末のための視覚に頼らない操作手法の提案

大竹達也, 樋口篤史, 櫻井達馬, Porquis Lope Ben, 昆陽雅司, 田所諭

ヒューマンインタフェースシンポジウム2011　2011/09/13
災害対応ロボット最前線

センサ＆アクチュエータ技術シンポジウム　2011/09/12
生活環境走行のための観測動作計画

竹内栄二朗, 大野和則, 田所諭

日本機械学会 2011年度年次大会　2011/09/11
複数人物見守りのための移動ロボットの観測計画

田中一志, 竹内栄二朗, 大野和則, 田所諭

日本機械学会 2011年度年次大会　2011/09/11
クローラの摩擦とグローサの力学モデルにもとづく転倒や滑落防止を目的とした階段踏破動作の考察

宮原直紀, 大野和則, 竹内栄二朗, 田所諭

第29回日本ロボット学会学術講演会(RSJ2011)　2011/09/07
Response of IRS at East Japan Earthquake International-presentation

AUVSI's Unmanned Systems North America 2011　2011/08/16
Running Performance Evaluation of Inchworm Drive and Vibration Drive for Active Scope Camera International-presentation

Michihisa Ishikura, Kazuhito Wakana, Eijiro Takeuchi, Masashi Konyo, Satoshi Tadokoro

2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics　2011/07/03
ロボットによる震災対応

東北大学震災３ヶ月講演会　2011/06/10
3 次元地図を用いた回折波を考慮したGPS 衛星の可視性判別

竹内栄二朗, 山崎将史, 大野和則, 田所諭

ロボティクス・メカトロニクス講演会2011(ROBOMEC2011),　2011/05/26
能動スコープカメラのためのインチウォーム駆動と振動駆動の走行性能評価

石倉路久, 竹内栄二朗, 昆陽雅司, 田所諭

ロボティクス・メカトロニクス講演会2011(ROBOMEC2011),　2011/05/26

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日本機械学会ロボティクスメカトロニクス部門ROBOMEC表彰、学生石倉が日本機械学会若手優秀講演フェロー賞受賞
振動刺激を用いた弾性感呈示に関する研究

樋口篤史, 昆陽雅司, 田所諭

ロボティクス・メカトロニクス講演会2011(ROBOMEC2011),　2011/05/26
VibTouch: 指先による仮想能動触を利用した触力覚インタラクション第5報：物理接触モデルを考慮した表面形状の呈示

土屋翔, 昆陽雅司, 田所諭

ロボティクス・メカトロニクス講演会2011(ROBOMEC2011),　2011/05/26
Vib-Touch: 指先による仮想能動触を利用した触力覚インタラクション第6報: 疑似力覚を用いた情報の重みの表現

大竹達也, 荒川尚吾, 樋口篤史, 櫻井達馬, Lope Ben Porquis, 昆陽雅司, 田所諭

ロボティクス・メカトロニクス講演会2011(ROBOMEC2011),　2011/05/26
東日本大震災における国際レスキューシステム研究機構の活動

ROBOMEC2011公開シンポジウム　2011/05/26
クローラロボットの動力学モデルを用いた不整地における状態推定

東和幸, 大野和則, 竹内栄二朗, 田所諭

ロボティクス・メカトロニクス講演会2011(ROBOMEC2011),　2011/05/26
能動スコープカメラのための柔軟性を有する直動アクチュエータの開発

若菜和仁, 石倉路久, 昆陽雅司, 田所諭

ロボティクス・メカトロニクス講演会2011(ROBOMEC2011),　2011/05/26
サブクローラの動力伝達系モデルを用いた柔らかい接触の実現

宮原直紀, 大野和則, 竹内栄二朗, 田所諭

ロボティクス・メカトロニクス講演会2011(ROBOMEC2011),　2011/05/26
Transparent Object Detection Using Color Image and Laser Reflectance Image for Mobile Manipulator

Lei Zhong, 大野和則, 竹内栄二朗, 田所諭

ロボティクス・メカトロニクス講演会2011(ROBOMEC2011),　2011/05/26
回転脚機構と柔軟ボディを用いた新型移動ロボットの開発

菅原直樹, 坂口尚己, 戸塚雄介, 大野和則, 竹内栄二朗, 田所諭

ロボティクス・メカトロニクス講演会2011(ROBOMEC2011),　2011/05/26
歩行支援のための下肢関節部振動伝播の計測

深澤洸貴, 昆陽雅司, 田所諭

ロボティクス・メカトロニクス講演会2011(ROBOMEC2011),　2011/05/26
静止面と振動面の同時接触によるヒトの振動知覚向上に関する研究

櫻井達馬, 昆陽雅司, 田所諭

ロボティクス・メカトロニクス講演会2011(ROBOMEC2011),　2011/05/26
Representation of softness sensation using vibrotactile stimuli under amplitude control International-presentation

Lope Ben Porquis, Masashi konyo, Satoshi Tadokoro

2011 IEEE International Conference on Robotics and Automation (ICRA2011)　2011/05/09

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2011 IEEE Robotics and Automation Society Japan Chapter Young Award
Disaster response of robotics - IRS activities and Fukushima response -, Forum - Preliminary Report on the Disaster and Robotics in Japan International-presentation

2011 IEEE International Conference on Robotics and Automation　2011/05/09
災害救助用ロボットシステムの研究課題と社会システムのありかた

人工知能学会AI Challenge　2011/05/04
国際レスキューシステム研究機構の活動

ROBOTADシンポジウム　2011/05/02
災害対応ロボット

日本生体医工学会パネル緊急医療・救助のための生体医工学　2011/05/01
力の錯覚：指腹への振動刺激による質量・粘性知覚のバイアス

岡本正吾, 昆陽雅司, 田所諭

第16回ロボティクスシンポジア　2011/03/14

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ロボティクスシンポジア優秀論文賞受賞
被災建造物内移動RTシステム，閉鎖空間内高速走行探査群ロボット

NEDO戦略的ロボット要素技術開発研究成果発表会　2011/02/28
ASTM test facility in Kobe, Japan International-presentation

ASTM International Committee on Homeland Security Applications; Operational Equipment; Robots (E54.08.01)　2011/02/02
レスキューロボットの評価について考える－JST-NSF Workshopより－

JST-NSF Workshop　2011/01/14
3次元環境地図を用いたロバストな自己位置推定による自律移動

竹内栄二朗, 山﨑将史, 田中一志, 大野和則, 田所諭

つくばチャレンジ2010シンポジウム　2011/01/08
閉鎖空間内探査ロボットのための遠隔操縦システムの開発

石井良典, 大坪義一, 小林滋, 小林泰弘, 梅田栄, 海藻敬之, 山本祥弘, 前田弘文, 高森年, 田所諭

第11回計測自動制御学会システムインテグレーション部門講演会(SI2010)　2010/12/23
自律と操縦に対応した移動ロボット用RTCの開発第20報確率的自己位置推定と速度制約を考慮した軌道生成法

金兌炫, 後藤清宏, 五十嵐広希, 根和幸, 佐藤徳孝, 松野文俊, 田所諭, 高森年, 齋藤俊久

第11回計測自動制御学会システムインテグレーション部門講演会(SI2010)　2010/12/23
自律と操縦に対応した移動ロボット用RTCの開発第21報：RT-Middlewareを用いた屋外自律移動システムの複数PCによる分散処理

竹内栄二朗, 山﨑将史, 田中一志, 大野和則, 田所諭, 斎藤俊久, 五十嵐広希, 松野文俊, 高森年

第11回計測自動制御学会システムインテグレーション部門講演会(SI2010)　2010/12/23
振動刺激を用いた摩擦感呈示法動摩擦の速度依存性に基づく摩擦振動モデル

石井優希, 昆陽雅司, 田所諭

第11回計測自動制御学会システムインテグレーション部門講演会(SI2010)　2010/12/23
動力伝達系の摩擦モデルに基づくサブクローラ機構への接触力の推定摩擦モデル内の未知パラメータ同定方法と評価

宮原直紀, 大野和則, 竹内栄二朗, 田所諭

第11回計測自動制御学会システムインテグレーション部門講演会(SI2010)　2010/12/23

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SI2010優秀講演賞
把持力調整反射の誘発手法に関する研究

櫻井達馬, 昆陽雅司, 岡本正吾, 田所諭

第11回計測自動制御学会システムインテグレーション部門講演会(SI2010)　2010/12/23
閉鎖空間探査ロボットQuinecの遠隔操縦型地図構築システム

大野和則, 櫻田健, 畠彰彦, 竹内栄二朗, Eric Rohmer, 永谷圭司, 吉田智章, 小柳栄次, 羽田靖史, 田所諭

第11回計測自動制御学会システムインテグレーション部門講演会(SI2010)　2010/12/23
能動スコープカメラを用いた配管内検査

澤田雅俊, 昆陽雅司, 田所諭

第11回計測自動制御学会システムインテグレーション部門講演会(SI2010)　2010/12/23
屋外自律移動のための移動物体検知モジュール群

田中一志, 山﨑将史, 竹内栄二朗, 大野和則, 田所諭

第11回計測自動制御学会システムインテグレーション部門講演会(SI2010)　2010/12/23
Vib-Touch:指先による仮想能動触を利用した触力覚インタラクション第4報：弾性感の提示

樋口篤史, 昆陽雅司, 田所諭

第11回計測自動制御学会システムインテグレーション部門講演会(SI2010)　2010/12/23
能動スコープカメラ用小型情報収集システムの構築

石倉路久, 澤田雅俊, 昆陽雅司, 田所諭

第11回計測自動制御学会システムインテグレーション部門講演会(SI2010)　2010/12/23

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学生石倉が計測自動制御学会学会賞学術奨励賞（技術奨励賞）受賞
不可視衛星を考慮したGPSによる位置推定RT-Componentの開発

山崎将史, 竹内栄二朗, 田中一志, 大野和則, 田所諭

第11回計測自動制御学会システムインテグレーション部門講演会(SI2010)　2010/12/23
レスキューロボットの挑戦！安全／安心の街作りの実現に向けて

神戸ロボット工房オープニングセレモニー　2010/12/06
Rescue Robotics and Its Applications International-presentation

The 7th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI2010)　2010/11/24
世界に誇るレスキューロボット技術は高齢障害者の生き甲斐を作るか？

足こぎ車いす研究会　2010/11/23
Italy-Japan Cooperation in Disaster Response Robotics International-presentation

Daniele Nardi, Satoshi Tadokoro

Italy-Japan Business Group Meeting　2010/10/28
Rescue Robotics Challenge International-presentation

2010 IEEE International Workshop on Advanced Robotics and Its Social Impacts (ARSO2010)　2010/10/26
CBRNE対応ロボットの研究開発と米国での評価標準化（調達基準策定）の動向

テロ対策特殊装備展　2010/10/06
把持力調整反射を誘発する触刺激条件に関する研究

櫻井達馬, 昆陽雅司, 岡本正吾, 田所諭

第15回日本バーチャルリアリティ学会大会　2010/09/15
Vib-Touch:仮想能動触を利用した直感的操作

樋口篤史, 櫻井達馬, 土屋翔, 石井優希, Lope Ben Porquis, 昆陽雅司, 田所諭

第15回日本バーチャルリアリティ学会大会　2010/09/15
Representation of Softness Sensation using Vibrotactile Stimuli under Amplitude Control

LopeBen PORQUIS, Masashi KONYO, Satoshi Tadokoro

第15回日本バーチャルリアリティ学会大会　2010/09/15

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日本バーチャルリアリティ学会研究奨励賞
災害対応のためのレスキューロボット技術

福岡県救急の日のつどい　2010/09/05
レスキューロボットの研究開発

ナガセ大学学部研究会　2010/08/26
東北地域におけるロボット技術を活用した産業振興方策に関する調査

東北活性化研究センター調査研究報告会　2010/07/16
実用夏期を迎えつつあるレスキューロボット

旭川市科学館セミナー　2010/06/13
レスキューロボット

宮城県沖シンポジウム　2010/04/26
Rescue Robotics Challenge International-presentation

Workshop on Intelligent Systems, A Festschrift for Richard Voltz,　2010/04/09
Robotics Challenge to Heterogeneous Problem of Search and Rescue International-presentation

Texas A&M University Seminar　2010/04/09
３次元環境地図を用いた自由空間観測モデルによる未知物体にロバストな自己位置推定

竹内栄二朗, 大野和則, 田所諭

第１５回ロボティクスシンポジア　2010/03/15
サブクローラを有するクローラロボットのモーションモデルと地形情報を利用した位置修正

櫻田健, 竹内栄二朗, 大野和則, 田所諭

第１５回ロボティクスシンポジア　2010/03/15
複数の触感因子を伝えるマスタ・スレーブ型触力覚伝達システム

昆陽雅司, 山内敬大, 岡本正吾, 日高佑輔, 前野隆司, 田所諭

第１５回ロボティクスシンポジア　2010/03/15
防災とロボットの役割

危機管理フォーラム　2010/03/10
Robotics Challenge to Heterogeneous Problems of Search and Rescue International-presentation

NSF-JST-NIST Workshop　2010/03/08
Rescue Robotics in Japan International-presentation

TSWG Meeting　2010/03/02
レスキュー工学とロボティクス

大阪電気通信大学メカトロ研究会　2010/02/26
災害対応のためのレスキューロボット技術

日本集団災害医学会総会　2010/02/12
レスキューロボット

東京工業高等専門学校研究会　2010/01/28
Actuation of Long Flexible Cables Using Ciliary Vibration Drive International-presentation

The 3rd Actuator Symposium　2010/01/25
被災建造物内高速探査ロボット

災害対応ロボティクスシンポジウム　2010/01/15
能動スコープカメラの実用化のための改良開発と実地試験

田所諭, 昆陽雅司, 澤田一奈, 澤田雅俊, 石倉路久

第10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　2009/12/24
レスキューロボット

東北地区高専ロボコン研究会　2009/12/19
Rescue Robotics Challenge International-presentation

Cerebrating 50 Years of Robotics　2009/12/11
レスキューロボットとその技術

道路建設機械メカニズム研究会　2009/11/17
能動スコープカメラ

田所諭, 昆陽雅司, 澤田一奈

第27回日本ロボット学会学術講演会　2009/09/15
レスキューロボットに関するアクチュエータ技術

（社）日本機械学会 2009年度年次大会　2009/09/13
実用化を迎えつつあるレスキューロボット

産業フロンティアメッセ　2009/09/03
レスキューロボットの現状と将来

平成２１年度全国電子機械研究会総会並びに研究協議会　2009/08/20
Rescue Robotics and Its Application International-presentation

ICCAS-SICE 2009 Introductory Lecture　2009/08/18
Active Scope Camera and a High Mobility UGV, Kenaf International-presentation

Fourth International Workshop on Synthetic Simulation and Robotics to Mitigate Earthquake Disaster (SRMED 2009)　2009/07/06
レスキューロボット

IEEE Sendai Chapter総会，IEEE Fellow就任記念講演会　2009/06/12
High-mobility Rescue Robot: Kenaf International-presentation

Eiji Koyanagi, Satoshi Tadokoro

2009 IEEE International Conference on Robotics and Automation (ICRA2009), Workshop on Robotics for Disaster Response　2009/05/13
フリッパを有するクローラロボットのロール方向の転倒回避動作を含む不整地踏破手法の開発

湯沢友豪, 大野和則, 竹内栄二朗, 小柳栄次, 吉田智章, 田所諭

第14回ロボティクスシンポジア　2009/03/16
実用化間近！レスキューロボット最前線

ロボット・フェスタ2009　2009/02/09
能動スコープカメラ

今年のロボット」大賞受賞講演　2008/12/19
実用化が近づくレスキューロボット

ICRT国際次世代ロボットフェア　2008/11/28
Rescue Robotics in Japan International-presentation

Workshop in Texas A&M University　2008/11/17
レスキューロボット最前線！

片平地区安全安心まちづくり講座　2008/10/04
Challenge of Rescue Robotics International-presentation

Third Asia International Symposium on Mechatronics (AISM2008)　2008/08/27
レスキューロボティクス

機械学会年次大会先端技術フォーラム　2008/08/04
安全・安心で豊かな社会を実現するロボット技術を目指して

宮城県ロボットビジネスセミナー　2008/07/30
レスキューロボット最前線

東北大学サイエンスカフェ　2008/06/20
レスキューロボットの最新技術とビジネス化への展望

東京国際消防防災展2008消防防災セミナー　2008/06/05
メカノケミカルアクチュエータ

機械学会講習会　2008/05/30
レスキューロボットの開発の現状と将来

精密工学会東北支部総会　2008/04/18
Rescue Robotics in Japan International-presentation

Annual DHS University Network Summit　2008/03/19
クローラロボットの履板の傾斜を利用した段差接触位置の検出

井上大輔, 大野和則, 昆陽雅司, 田所諭

第１３回ロボティクスシンポジア　2008/03/16
二次元測域センサを用いた動的環境下における静止物体の密な三次元計測

河原豊和, 大野和則, 田所諭

第１３回ロボティクスシンポジア　2008/03/16
実時間３次元地形計測に基づくフリッパの引っかかり回避を含むクローラロボットのための半自律３次元未知不整地踏破

湯沢友豪, 大野和則, 田所諭, 小柳栄次, 吉田智章

第１３回ロボティクスシンポジア　2008/03/16
皮膚感覚呈示における時間遅れの影響調査と検知限の同定

岡本正吾, 昆陽雅司, 嵯峨智, 田所諭

第１３回ロボティクスシンポジア　2008/03/16
Rescue Robotics in Japan International-presentation

Workshop with FBI　2008/02
Rescue Robotics International-presentation

Special RT Symposium　2008/01/30
Rescue Robotics International-presentation

Workshop in National Chung Hsing University　2008/01/08
超音波振動を用いた触覚インターフェースのための小型振動子の開発

元木陽平, 山田浩史, 昆陽雅司, 田所諭, 前野隆司

第12回ロボティクスシンポジア　2007/12
大都市大震災軽減化特別プロジェクトの成果と今後の展望

田所諭, 松野文俊, 大須賀公一, 淺間一, 小野里雅彦

SI2007　2007/12
Active Flexible Cables by Ciliary Vibration Drive

Satoshi Tadokoro, Masashi Konyo, Kazunari Hatazaki, Kazuya Isaki, Fumiaki Takemura

第４回アクチュエータシンポジウム，2007　2007/11/19
Information Infrastructure for Rescue Systems International-presentation

Hajime Asama, Yasushi Hada, Kuniaki Kawabata, Itsuki Noda, Osamu Takizawa, Junichi Meguro, Kiichiro Ishikawa, Takumi Hashizume, Tomowo Ohga, Kensuke, Takita, Michinori Hatayama, Fumitoshi Matsuno, Satoshi Todokoro

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007),　2007/10
DDT Project: Background and Overview, Proc. Workshop on Rescue Robotics - DDT Project on Urban Search and Rescue International-presentation

Satoshi Tadokoro, Fumitoshi Matsuno, Hajime Asama, Masahiko Onosato, Koichi Osuka, Tomoharu Doi, Hiroaki Nakanishi, Itsuki Noda, Koichi Suzumori, Toshi Takamori, Takashi Tsubouchi, Yasuyoshi Yokokohji, Mika Murata

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007),　2007/10
Disaster Information Gathering by Aerial Robot Systems International-presentation

Masahiko Onosato, Satoshi Tadokoro, Hiroaki Nakanishi, Kenzo Nonami, Kuniaki Kawabata, Yasushi Hada, Hajime Asama, Fumiaki Takemura, Kiyoshi Maeda, Kenichiro Miura, Atsushi Yamashita

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007),　2007/10
In-Rubble Robot System for USAR Under Debris International-presentation

Koichi Osuka, Tomoharu Doi, Satoshi Tadokoro, Naoji Shiroma, Takashi Tsubouchi, Hideyuki Tsukagoshi, Shigeo Hirose, Fumitoshi Matsuno, Takumi Hashizume, Masamitsu Kurisu, Hiroyuki Kuwahara, Toshi Takamori, Yasuyoshi Yokokoji, Shugen Ma, Tatsuo Arai, Koichi Suzumori

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007),　2007/10
On-Rubble Robot System in DDT Project International-presentation

Fumitoshi Matsuno, Takashi Tsubouchi, Shigeo Hirose, Iwaki Akiyama, Takao Inoh, Michele Guarnieri, Kenji Kawashima, Takahiro Sasaki, Naoji Shiroma, Tetsushi Kamegawa, Kazunori Ohno, Satoshi Tadokoro, et

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007),　2007/10
Guidelines of Human Interface Design for Rescue Robots International-presentation

Yasuyoshi Yokokohji, Satoshi Tadokoro,etc

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007),　2007/10
Experiments with First Responders -- Demonstrative Experiments and Trainings for Rescue Activities International-presentation

Takashi Tsubouchi, Koichi Osuka, Fumitoshi Matsuno, Hajime Asama, Satoshi Tadokoro, et

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007),　2007/10
石油掘削問題へのＲＴの適用可能性

石油天然ガス探鉱開発長期的技術動向研究会　2007/04
我が国のロボット開発の現状と今後の展望

産業技術振興講演会　2007/04
レスキューロボット

思考展開フォーラム　2007/04
国際レスキューシステム研究機構の活動とこれからの展望

消防救急救助研究会　2007/04
救助用ロボット開発の現状

化学災害技術研究会　2007/04
救助用ロボット開発の現状

消防救急救助研究会　2007/04
表面波長の実時間推定に基づく粗さ感伝達システムの研究

岡本正吾, 昆陽雅司, 前野隆司, 田所諭

第12回ロボティクスシンポジア　2007/03
繊毛振動によって駆動する能動ファイバースコープの開発

昆陽雅司, 畑崎計成, 伊崎和也, 田所諭

第12回ロボティクスシンポジア　2007/03
被災地探査用クローラAli-Babaと遠隔操縦技術の開発

大野和則, 小柳栄次, 吉田智, 田所諭

第12回ロボティクスシンポジア　2007/03
フリッパを有するクローラ型レスキューロボットによる未知段差の半自律踏破

森村章一, 大野和則, 小柳栄次, 吉田智章, 田所諭

第12回ロボティクスシンポジア　2007/03
遠隔操作型の移動マニピュレータによる物体の引きずりに関する研究

林俊輔, 大野和則, 田所諭

第12回ロボティクスシンポジア　2007/03
Active Flexible Cables by Ciliary Vibration Drive International-presentation

Satoshi Tadokoro, Akira Niitsuma, Kazuya Isaki, Masashi Konyo, Fumiaki Takemura

Actuator International Symposium, 2006　2006/12
小型マルチカメラを用いたヘビ型探査ロボットのための広視野映像呈示システムの開発

大野和則, 緑川直樹, 見延壮希, 桑原裕之, 田所諭

第7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(SI2006)　2006/12
クローラ型ロボットのための分布触覚センサ

井上大輔, 昆陽雅司, 田所諭

第7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(SI2006)　2006/12
繊毛振動によって駆動する能動索状体の開発第4報: 駆動メカニズムの解析

伊崎和也, 畑崎計成, 昆陽雅司, 武村史朗, 田所諭

第7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(SI2006)　2006/12
超音波振動子を用いた触覚インターフェースの開発,

山田浩史, 昆陽雅司, 田所諭, 前野隆司

第7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(SI2006)　2006/12
2連結クローラ車両HELIOS Carriersの走行制御システム開発

竹内崇英, 井上慶重, 城間直司, 伊能崇雄, 亀川哲志, 佐藤徳孝, 滝田謙介, 大野和則, Guarnieri Michele, 田所諭, 広瀬茂男, 坪内孝司, 松野文俊

第7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(SI2006)　2006/12
HELIOS Carrier連結用受動関節アームの開発

井上慶重, 竹内崇英, 伊能崇雄, 佐々木高宙, 城間直司, 亀川哲志, 佐藤徳孝, Guarnieri Michele, 滝田謙介, 大野和則, 川嶋健嗣, 田所諭, 広瀬茂男, 坪内孝司, 松野文俊

第7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(SI2006)　2006/12
A Summary of Development of Advanced Robots and Information Systems for Disaster Response International-presentation

NSF/DARPA Workshop on Robotics in Japan　2006/12
Open Problems of RT for Disaster Response International-presentation

Rescue Robotics Camp, 2006　2006/11
ヒト指腹部有限要素モデルを用いた触覚受容器の神経活動の推定

昆陽雅司, 田所諭, 前野隆司

日本機械学会第19回計算力学講演会　2006/11
Roughness Feeling Telepresence System with Communication Time-Delay International-presentation

S. Okamoto, M. Konyo, T. Maeno, S. Tadokoro

The Second Joint Eurohaptics Conference and Symposium on Haptic Interface for Virtual Environment and Teleoperator Systems (World Haptics 2007)　2006/11

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(Best Poster Award受賞）
Open problems of RT for disaster response -- state of art and future roadmap in Japan International-presentation

Satoshi Tadokoro, Shiro Fujita, Hideo Tanaka

IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR2006)　2006/11
An Overview of Japan National Project on Rescue Robotics International-presentation

2nd International Symposium on Intelligent Robotics　2006/11
Attitude Stability of a Cable Driven Balloon Robot International-presentation

Fumiaki Takemura, Kiyoshi Maeda, Satoshi Tadokoro

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006)　2006/10
DDT Project on rescue robots and systems International-presentation

SICE-ICCAS 2006　2006/10
Real-time Estimation of Touch Feeling Factors Using Human Finger Mimetic Tactile Sensors International-presentation

Shogo Okamoto, Masashi Konyo, Yuka Mukaibo, Takashi Maeno, Satoshi Tadokoro

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006)　2006/10
Guidelines for Human Interface Design of Rescue Robots International-presentation

Y. Yokokohji, T. Tsubouchi, A. Tanaka, T. Yoshida, E. Koyanagi, F. Matsuno, S. Hirose, H. Kuwahara, F. Takemura, T. Ino, K. Takita, N. Shiroma, T. Kamegawa, Y. Hada, K. Osuka, T. Watasue, T. Kimura, H. Nakanishi, Y. Horiguchi, S. Tadokoro, K. Ohno

SICE-ICCAS　2006/10
Development of an Active Flexible Cable by Ciliary Vibration Drive for Scope Camera International-presentation

Kazuya Isaki, Akira Niitsuma, Masashi Konyo, Fumiaki Takemura, Satoshi Tadokoro

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006)　2006/10

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(IEEE Robotics and Automation Society Japan Chapter Young Award受賞)
Real-time Robot Trajectory Estimation and 3D Map Construction Using 3D Camera International-presentation

Kazunori Ohno, Takafumi Nomura, Satoshi Tadokoro

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006)　2006/10
Distributed Tactile Sensors for Tracked Vehicles International-presentation

Daisuke Inoue, Masashi Konyo, Satoshi Tadokoro

SENSORS 2006　2006/10
繊毛振動駆動機構を用いた能動スコープカメラの開発

畑崎計成, 伊崎和也, 昆陽雅司, 田所諭

第24回日本ロボット学会学術講演会　2006/09
探査クローラーロボットAli-Babaによる三次元地図構築

大野和則, 田所諭

第16回インテリジェントシステムシンポジウム　2006/09

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（FANシンポジウム運営委員会ベストプレゼンテーション賞）
スキャンマッチングにもとづく環境地図構築のためのスキャンデータの歪み補正と評価

河原豊和, 大野和則, 田所諭

第24回日本ロボット学会学術講演会　2006/09
低周波振動刺激を用いた圧覚ディスプレイの開発

横田求, 昆陽雅司, 前野隆司, 田所諭

日本バーチャルリアリティ学会第11回大会　2006/09

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（2006年度バーチャルリアリティ学会学術奨励賞（技術展示部門）受賞）
通信遅延を考慮した粗さ感伝達システム

岡本正吾, 昆陽雅司, 前野隆司, 田所諭

日本バーチャルリアリティ学会第11回大会　2006/09
遠隔操縦による移動マニピュレータを用いた未知環境における物体の引きずりに関する研究

林俊輔, 大野和則, 田所諭

第24回日本ロボット学会学術講演会　2006/09
クローラ型レスキューロボットの半自律制御システムの開発

森村章一, 大野和則, 田所諭

第24回日本ロボット学会学術講演会　2006/09
マスタ・スレーブ型触感伝達システムの研究－第2報：物理パラメータ推定に基づく触感呈示－

岡本正吾, 昆陽雅司, 前野隆司, 田所諭

第24回日本ロボット学会学術講演会　2006/09
非接地型力覚呈示装置を用いた遠隔操縦者への探査ロボットの姿勢情報呈示

中村信介, 大野和則, 田所諭

日本バーチャルリアリティ学会第11回大会　2006/09
クローラ型ロボットのための分布触覚センサの開発

井上大輔, 昆陽雅司, 田所諭

第24回日本ロボット学会学術講演会　2006/09
Adaptation to rough terrain by using COF estimation on a quadruped vehicle, Springer Tracts in Advanced RoboticsAdaptation to rough terrain by using COF estimation on a quadruped vehicle, Springer Tracts in Advanced Robotics International-presentation

Shogo Okamoto, Kaoru konishi, Kenichi Tokuda, Satoshi Tadokoro

Field and Service Robotics: Results of the 5th International Conference　2006/07
Development of an Active Flexible Cable Driven By Ciliary Vibration Mechanism International-presentation

K. Isaki, A. Niitsuma, M. Konyo, F. Takemura, S. Tadokoro

10th International Conference on New Actuators　2006/06/14
Development of an Active Flexible Cable Driven by Ciliary Vibration Mechanism International-presentation

K. Isaki, A. Niitsuma, M. Konyo, F. Takemura, S. Tadokoro

10th International Conference on New Actuators (ACTUATOR 2006)　2006/06
低周波振動刺激を用いた圧覚ディスプレイの開発－振動子形状の影響の評価－

横田求, 昆陽雅司, 前野隆司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会'06　2006/05/26
マスタ・スレーブ型触感伝達システムの開発－第一報ヒト指模倣型触感センサを用いた触感因子の実時間抽出法－

岡本正吾, 昆陽雅司, 向坊由佳, 前野隆司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会'06　2006/05/26
繊毛振動によって駆動する能動索状体の開発－繊毛のモデリング－

伊崎和也, 新妻翔, 昆陽雅司, 武村史朗, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会'06　2006/05/26
クローラー用触覚分布センサの開発

井上大輔, 昆陽雅司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会'06　2006/05/26
Reflective Grasp Force Control of Humans Induced by Distributed Vibration Stimuli on Finger Skin with ICPF Actuators International-presentation

Nakamoto Masataka, Masashi Konyo, Takashi Maeno, Satoshi Tadokoro

IEEE International Conference on Robotics and Automation (ICRA2006)　2006/05/15
二次元レーザースキャナーを用いた高速移動体の自己位置推定と環境地図の構築

河原豊和, 大野和則, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会'06　2006/05
クローラ型レスキューロボットの半自律制御システムの開発 -上り段差におけるフリッパアーム制御則の検討-

森村章一, 大野和則, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会'06　2006/05
低周波振動刺激を用いた圧覚ディスプレイの開発

横田求, 昆陽雅司, 前野隆司, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会'06　2006/05
遠隔操縦における錯視による誤認識回避のための傾き情報の呈示

中村信介, 大野和則, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会'06　2006/05
どのような閾下分布触覚刺激がヒト指の把持力調整反射を誘発するのか？

前野隆司, 昆陽雅司, 中本雅崇, 田所諭

第11回ロボティクスシンポジア　2006/03/16
繊毛振動によって駆動する能動索状体の開発

伊崎和也, 新妻翔, 昆陽雅司, 武村史朗, 田所諭

第11回ロボティクスシンポジア　2006/03/16
ヒト指模倣型触覚センサを用いた触感因子の実時間抽出法

岡本正吾, 昆陽雅司, 向坊由佳, 前野隆司, 田所諭

第11回ロボティクスシンポジア　2006/03/16
高分子ゲルアクチュエータを用いた皮膚表面刺激による3次元オブジェクトの手触りの呈示

昆陽雅司, 吉田晃典, 田所諭

第11回ロボティクスシンポジア　2006/03/16
低周波振動刺激によって起こる静的圧覚の呈示条件

昆陽雅司, 横田求, 前野隆司, 田所諭

第11回ロボティクスシンポジア　2006/03/16
小型三次元スキャナーを用いた三次元地図構築

大野和則, 田所諭

第11回ロボティクスシンポジア　2006/03/16
Field and Evaluation Task Force International-presentation

International Rescue System Institute The 4th International Symposium　2006/01/13
レスキュー技術の現状と展望

とちぎロボットテクノロジー研究会　2005/12/20
レスキューロボットRoQによる瓦礫上歩行 COFを用いた足場形状推定

藤本浩之, 徳田献一, 田所諭, 安田一則

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　2005/12/16
三次元スキャナーの開発と三次元地図の構築

大野和則, 田所諭

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　2005/12/16
大都市大震災軽減化特別プロジェクト，概要とこれまでの成果

田所諭, 松野文俊, 大須賀公一, 淺間一, 小野里雅彦

第6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　2005/12/16
導電性高分子ゲルアクチュエータを用いた多指呈示型触感ディスプレイ

吉田晃典, 昆陽雅司, 田所諭

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　2005/12/16
スコープカメラのための振動駆動型繊毛移動機構の開発スコープカメラへの適用

新妻翔, 武村史朗, 伊崎和也, 昆陽雅司, 田所諭

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　2005/12/16
FDNetによる模倣ロボットシステムの構成

徳田献一, 田所諭

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　2005/12/16
ディジタルがれきモデルの構築拡張個別要素法による木造家屋倒壊シミュレーション

綿末太郎, 伊崎和也, 田所諭, 小野里雅彦

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　2005/12/16
レスキューロボットのための水平分散アーキテクチャFDNet第８報：FDNet-HIによるレスキューロボットの基本設計と評価

山本延寿, 徳田献一, 小西薫, 田所諭, 安田一則

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　2005/12/16
レスキューロボットRoQによる瓦礫踏破模倣FDNetによる模倣動作生成

小西薫, 徳田献一, 山本延寿, 田所諭

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　2005/12/16
探査用レスキューロボットを用いたオンライン三次元地図作成

野村孝文, 大野和則, 田所諭

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　2005/12/16
レスキューロボットによる組込み複眼ビジョンシステムの実装

見延壮希, 田所諭

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　2005/12/16
レスキューロボットと日中連携への期待

日中産学官交流フォーラム　2005/12/01
DDT Project – An Overview International-presentation

2nd International Conference on Ubiquitous Robots and Ambient Intelligence　2005/11/02
An Overview of Japan National Project on Rescue Robotics International-presentation

Robotics Camp　2005/10/29
レスキューロボットの研究開発の現状と将来

日本フルードパワー学会オータムセミナー　2005/10/07
ファイバースコープのための振動駆動型繊毛移動機構の開発

新妻翔, 武村史朗, 伊崎和也, 昆陽雅司, 田所諭

第23回日本ロボット学会学術講演会　2005/09/15
荷重中心検出を目的とするFSRを用いた足裏感圧センサの精度向上のための構成論

岡本正吾, 徳田献一, 昆陽雅司, 田所諭

第23回日本ロボット学会学術講演会　2005/09/15
人間との共通認知モデルを介した異構造ロボットの模倣システム

徳田献一, 田所諭

第23回日本ロボット学会学術講演会　2005/09/15
レスキューロボットを対象とした組み込みビジョンシステムの開発

見延壮希, 田所諭

第23回日本ロボット学会学術講演会　2005/09/15
An Overview of Japan National Project on Rescue Robotics International-presentation

Shenyang Institute of Automation, Japan-China Joint Research Center Opening Ceremony　2005/09/12
地震災害救助ロボットの現状と展望

全国消防救急救助研究会　2005/08/27
A tactile synthesis method using multiple frequency vibration for representing virtual touch International-presentation

Masashi Konyo, Akira Yoshida, Satoshi Tadokoro, Naoki Saiwaki

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2005)　2005/08/02
Dense 3D map building based on LRF data and color image fusion International-presentation

Kazunori Ohno, Satoshi Tadokoro

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2005)　2005/08/02
Adaptation to rough terrain by using COF estimation on a quadruped vehicle International-presentation

Shogo Okamoto, Kaoru konishi, kenichi Tokuda, Satoshi Tadokoro

Field and Service Robotics 2005 (FSR2005)　2005/07/29
Artificial Tactile Feel Display for Textile Fablics International-presentation

Naoki Saiwaki, Akinori Yoshida, Satoshi Tadokoro, Maki Taniguchi

International Conference on Human-Computer Interaction　2005/07/22
レスキューロボットプロジェクト

日本原子力学会ヒューマンマシンシステム部会夏期セミナー　2005/07/22
ロボカップレスキュー：ロボカップの緊急災害問題への挑戦

大阪港開港１００周年記念式典　2005/07/15
大都市大震災軽減化特別プロジェクト，III. 被害者救助等の災害対応戦略の最適化，4. レスキューロボット等次世代防災基盤技術の開発

関西次世代ロボットフォーラム　2005/07/13
Development of Advanced Robots for Disaster Response International-presentation

IEEE International Conference on Robotics and Biomimetics 2005 (ROBIO2005)　2005/06/29
Development of advanced robots and information systems for disaster response International-presentation

Kobe University COE International Symposium　2005/06/25
Unconscious Control of Grasping Force by Displaying Partial Slip with Distributed Vibration Stimulus International-presentation

M. Nakamoto, T. Maeno, M. Konyo, S. Tadokoro

The 1st International Conference on Manufacturing, Machine Design and Tribology　2005/06/23
災害用レスキューロボット

電子情報通信学会センサネットワーク　2005/06/16
レスキューロボット研究の現状と将来

電子情報通信学会センサネットワーク研究会　2005/06/16
Special project on development of advanced robots for disaster reponse (DDT Project) International-presentation

IEEE Workshop on Advance Robotics and its Social Impacts (ARSO'05)　2005/06/12
屋外環境における三次元地図構築の試行

大野和則, 田所諭

日本機械学会ロボティクス・メカトロニクス講演会'05　2005/06/09
Robot description ontology and bases for surface locomotion evaluation International-presentation

Ranajit Chatterjee, Inoh Takao, Fumitoshi Matsuno, Satoshi Tadokoro

IEEE International Workshop on Safety,Security and Rescue Robotics　2005/06/06
メカノケミカルアクチュエータ

日本機械学会講習会高分子アクチュエータ　2005/05/20
Roughness Sense Display Representing Temporal Frequency Changes of Tactile Information in Response to Hand Movements International-presentation

Masashi Konyo, Takashi Maeno, Akinori Yoshida, Satoshi Tadokoro

The First Joint Eurohaptics Conference and Symposium on Haptic Interface for Virtual Environment and Teleoperator Systems (World Haptic Conference 2005)　2005/03/18
レスキューロボットの研究開発の現状と将来

宮崎大学災害医療従事者研修会　2005/03/12
A challenge of rescue robotics International-presentation

The 6th EAJ Symposium　2004/10
An overview of Japan national project (DDT Project) on rescue robotics International-presentation

Performance Metrics for Intelligent Systems　2004/08
Rescue robots and systems in Japan International-presentation

Fumitoshi Matsuno, Satoshi Tadokoro

IEEE International Conference on Robotics and Biomimetics　2004/08
Problem domain of Japan National Project (DDT Project) on rescue robotics International-presentation

IEEE Workshop on Safety, Security and Rescue Robotics　2004/05
災害現場における情報収集のためのケーブル駆動ロボットの開発

武村史朗, Kamelettin Erbatur, Ulrike Zwiers, 田所諭, 榎本正也, 出納和也

第９回ロボティクスシンポジア　2004/03
Development of velocity sensor using ionic polymer-metal composites International-presentation

Masashi Konyo, Yoshiki Koishi, Satoshi Tadokoro, Takumi Kishima

SPIE Smart Structure and Materials 2004, Conference on Electroactive Polymer Actuators and Devices　2004/03
Wearable Tactile Display in Response to Human Active Touch International-presentation

Masashi Konyo, Satoshi Tadokoro

IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Touch and Haptics　2004/01
Robotic Applications of Ionic Polymer-Metal Composites: Multiple-DOF Devices Using Soft Actuators and Sensors International-presentation

Masashi Konyo, Satoshi Tadokoro

IEEE/RSJ International Conference on Intelligent Robots and Systems　2004/01
An overview of Japan National Project on Rescue Robotics International-presentation

Incontro di Lavoro del progetto, Sistemi di simulazione e robotici per l'intervento in scenari di emergenza, Instituto Superiore Antincendi　2003/12
An overview of Japan National Special Project DaiDaiToku (DDT) for Earthquake Disaster Mitigation in Urban Areas International-presentation

IEEE International Symposium on Computational Intelligence in Robotics and Automation, Workshop on Advanced Robots and Information Systems for Disaster Response　2003/07
IPMC-based artificial tactile feel display for virtual reality human interface International-presentation

Artificial Muscle Conference　2002/12
RoboCupRescue: A Proposal of Next-Generation “Preparedness” as Social Infrastructure of Urban Cities International-presentation

International Workshop and Project Presentation, Real-time Planning and Monitoring for Search and Rescue Operations in Large-Scale Disasters　2002/10
RoboCupRescue: A Proposal of Next-Generation “Preparedness” as Social Infrastructure of Urban Cities International-presentation

Sistemi Informatici e Robotici per i soccorsi in emergenza sismica　2002/10
A virtual tactile feel display using ICPF actuators International-presentation

US/Japan Workshop on Exoskeleton Technologies and EHPA Program Review　2001/11/28
The description of Bunraku puppet's motion in computer based on labanotation International-presentation

Motofumi Hattori, Syun Nishizawa, Satoshi Tadokoro, Toshi Takamori

IEEE International Workshop on Robot and Human Interactive Communication　2001/09
RoboCup-Rescue as a challenge of multi-agent technology to emergency response problems in disaster International-presentation

The Eighth International Workshop on Agent Theories, Architectures, and Languages　2001/08
RoboCup Rescue Challenge International-presentation

4th Pacific Rim Workshop on Multi-Agents　2001/07
The RoboCup-Rescue Project International-presentation

IEEE International Conference on Robotics and Automation, Workshop on Distributed Robotics and Automation　2001/05
EAP application to artificial tactile feel display of virtual reality International-presentation

Masashi Konyo, Satoshi Tadokoro, Toshi Takamori, Keisuke Oguro

SPIE's 8th Annual International Symposium on Smart Structures and Materials, Conference on Electro-Active Polymer Actuators and Devices　2001/03
パラレルケーブル駆動モーションベースの設計

田所諭, 村田理絵, 松島俊之, 村田良男, 甲川秀明, Manfred Hiller

第６回ロボティクスシンポジア　2001/03
Robotics and AI for emergency response problems in large scale disaster International-presentation

2nd International Workshop on Human Friendly Welfare Robotic Systems　2001/01
Progress in RoboCup Soccer Research in 2000 International-presentation

M. Asada, A. Birk, E. Pagello, M. Fujita, I. Noda, S. Tadokoro, D. Duhaut, P. Stone, M. Veloso, T. Balch, H. Kitano, B. Thomas

2000 International Symposium on Experimental Robotics　2000/12
The RoboCup-Rescue Project: An Approach of AI and Robotics to the Emergency Response Problem in Disaster International-presentation

S.Tadokoro, H.Kitano, T.Takahashi, I.Noda, H.Matsubara, A.Shinjoh, T.Koto, I.Takeuchi, H.Takahashi, F.Matsuno, M.Hatayama, M.Tayama, T.Matsui, T.Kaneda, R.Chiba, K.Takeuchi, J.Nobe, K.Noguchi, Y.Kuwata, RoboCup-Rescue Technical Committee

4th International Conference on MultiAgent Systems, RoboCup-Rescue Workshop　2000/07
RoboCup-Rescue Disaster Simulator Architecture International-presentation

Tomoichi Takahashi, Ikuo Takeuchi, Tetsuhitko Koto, Satoshi Tadokoro, Itsuki Noda

4th International Conference on MultiAgent Systems, RoboCup-Rescue Workshop　2000/07
The RoboCup-Rescue: An International Cooperative Research Project of Robotics and AI for the Disaster Mitigation Problem International-presentation

Satoshi Tadokoro, Hiroaki Kitano, Tomoichi, Takahashi, Itsuki Noda, Hitoshi, Matsubara, Asushi Shinjoh, Tetsuo Koto, Ikuo Takeuchi, Hironao Takahashi, Fumitoshi Matsuno, Mitsunori Hatayama, Jun Nobe, Susumu Shimada

SPIE 14th Annual International Symposium on Aerospace/Defense Sensing, Simulation, and Controls (AeroSense), Conference on Unmanned Ground Vehicle Technology II　2000/04
The Outline of the International Robot Games Festival International-presentation

Eiji Nakano, Minoru Asada, Satoshi Tadokoro, Koichi Osuka, Kiyoshi Nagai, Yasuhiro Masutani, Hiroaki Kitano

2000 IEEE International Conference on Robotics and Automation　2000/04
布の手触り感覚を対象とした触感ディスプレイの研究

昆陽雅司, 田所諭, 高森年, 小黒啓介

第5回ロボティクスシンポジア　2000/03
Modeling of Nafion-Pt Composite Actuators (ICPF) by Ionic Motion International-presentation

Satoshi Tadokoro, Shinji Yamagami, Toshi Takamori, Keisuke Oguro

SPIE 7th International Symposium on Smart Stuctures, Conference on Electro-Active Polymer Actuators and Devices　2000/03
A CAE Approach in Application of Nafion-Pt Composite (ICPF) Actuators:Analysis for Surface Wipers of NASA MUSES-CN Nanorovers International-presentation

Satoshi Tadokoro, Masahiko Fukuhara, Yoseph Bar-Cohen, Keisuke Oguro, Toshi Takamori

SPIE 7th International Symposium on Smart Stuctures, Conference on Electro-Active Polymer Actuators and Devices　2000/03
Challenges to the Application of IPMC as Actuators of Planetary Mechanisms International-presentation

Yoseph Bar-Cohen, S.P. Leary, K. Oguro, S. Tadokoro, J.Harrison, J.Smith, J. Su

SPIE 7th International Symposium on Smart Stuctures, Conference on Electro-Active Polymer Actuators and Devices　2000/03
RoboCup Rescue: Searh and Rescue in Large-Scale Disasters as a Domain for Autonomous Agents Research International-presentation

Hiroaki Kitano, Satoshi Tadokoro, Itsuki Noda, Hitoshi Matsubara, Tomoichi Takahashi, Atsushi Shinjoh, Susumu Shimada

1999 IEEE Intl. Conf. on Systems, Man and Cybernetics　1999/10
An analysis of the Bunraku puppet's motions based on the phase correspondence of the puppet's motion axis -- For the generation of humanoid robots' motions with fertile emotions -- International-presentation

Motofumi Hattori, Yasunori nakabo, Satoshi Tadokoro, Toshi Takamori, Kazuhito Yamada

1999 IEEE Intl. Conf. on Systems Man and Cybenetics　1999/10
Multi-degree-of-freedom micromotion device International-presentation

Satoshi Tadokoro, Masahiko Fukuhara, Shinji Yamagami, Toshi Takamori

6th SPIE Intl. Conf. on Smart Materials and Structures　1999/03
可搬型レスキューマニピュレータと不定環境に設置するための運動学的同定問題

田所諭, 高森年、Richard Verhoeven, Manfred Hiller

第4回ロボティクスシンポジア　1999/03
ICPFアクチュエータによる多自由度柔軟マイクロマニピュレーションデバイスの開発

田所諭, 山上真司, 小沢昌弘, 木村哲也, 高森年, 小黒啓介

第4回ロボティクスシンポジア　1999/03
Workspace of tendon-driven Stewart platforms: basics, classification, details on the planar 2-DOF class International-presentation

Richard Verhoeven, Manfred Hiller, Satoshi Tadokoro

MOVIC98　1998/08
A generalization of direct strain feedback control for flexible structures with spatially varying parameters and a tip body (a new example of the A-dependent operator) International-presentation

Motofumi Hattori, Satoshi Tadokoro, Toshi Takamori

American Control Conference　1997/06
A Study on Optical Micro-Actuator Using Bimetal Element International-presentation

R.Liu, T.Kimura, M.Miaki, Y.Nakagawa, M.Hattori, S.Tadokoro, T.Takamori

Control of Industrial Systems　1997/05
3-Dimensional Dynamic Modeling of ICPF (Ionic Conducting Polymer Gel Film) Actuator International-presentation

Ryu Kanno, Satoshi Tadokoro, Motofumi Hattori, Keisuke Oguro, Toshi Takamori

1996 IEEE International Conference on Systems, Man and Cybernetics　1996/10
Motion Planner of Mobile Robots which Avoid Moving Human Obstacles on the Basis of Stochastic Prediction International-presentation

Satoshi Tadokoro, Masaki Hayashi, Yasuhiro Manabe, Yoshihiro Nakami, Toshi Takamori

1995 IEEE International Conference on Systems, Man and Cybernetics　1995/10
Dynamic Model of ICPF (Ionic Conducting Polymer Gel Film) Actuator International-presentation

Ryu Kanno, Satoshi Tadokoro, Motofumi Hattori, Toshi Takamori, Michel Cotsaftis, Keisuke Oguro

1995 IEEE International Conference on Systems, Man and Cybernetics　1995/10
Static Output Feedback Control of Flexible Structures subject to Random Disturbances International-presentation

Motofumi Hattori, Satoshi Tadokoro, Toshi Takamori

The 17th ISCIE International Symposium on Stochastic System Theory and its Applications　1995/01
Control of Human Cooperative Robots Based on Stochastic Prediction of Human Motion International-presentation

Satoshi Tadokoro, Yutaka Ishikawa, Tomoaki Takebe, Toshi Takamori

2nd IEEE International Workshop on Robot and Human Communication , RO-MAN '93　1993/11
Stochastic Prediction of Human Motion and Control of Robots in the Service of Human International-presentation

Satoshi Tadokoro, Yutaka Ishikawa, Tomoaki Takebe, Toshi Takamori

1993 IEEE International Conference on Systems, Man and Cybernetics　1993/10
Omnidirectional Visual Sensor Using Fish-Eye Lens for a Mobile in the Precincts International-presentation

Junichi Kurata, Satoshi Tadokoro, Toshi Takamori, T. Tanaka

IMACS/SICE International Symposium on Robotics, Mechatronics and Manufacturing Systems '92　1992/09
A State Estimator for Distributed Parameter Systems International-presentation

Motofumi Hattori, Satoshi Tadokoro, Tosh Takamori

IMACS/SICE International Symposium on Robotics, Mechatronics and Manufacturing Systems '92　1992/09
Soft micromanipulation devices with multiple degrees of freedom consisting of high polymer gel actuators International-presentation

Satoshi Tadokoro, Shinji Yamagami, Masahiro Ozawa, Tetsuya Kimura, Toshi Takamori, Keisuke Oguro

12th IEEE International Micro Electro Mechanical Systems Conference　1991/01
An Efficient Simulation Method for Vibration of Manipulators Including Closed-Link Mechanisms International-presentation

Satoshi Tadokoro, Ichiro Kimura, Toshi Takamori

20th International Conference on Industrial Robots　1989/10

Show all Show first 5

Industrial Property Rights 44

全方向回転駆動機構および移動体

多田隈建二郎, ▲高▼根英里, 藤田政宏, 昆陽雅司, 田所諭

特許第6821201号

Property Type: Patent
飛行体離着陸システム、飛行体用離着陸装置および飛行体

多田隈建二郎, 田所諭, 大野和則, 岡田佳都, 渡辺将広, 藤倉大貴, 高森年

特許第6789558号

Property Type: Patent
吸着力推定方法および吸着力推定装置

岡田佳都, 田所諭, 大野和則, 多田隈建二郎

特許第6631995号

Property Type: Patent
移動式流体噴射装置

田所諭, 圓山重直, 昆陽雅司, 多田隈建二郎, 安藤久人

特許第6620371号

Property Type: Patent
作業ロボット

田所諭, 大野和則, 多田隈建二郎, 岡田佳都, 矢野隆

特許第6601618号

Property Type: Patent
人物認証装置、人物認証システム及び人物認証方法

米澤亨, 田所諭, 大野和則, 竹内栄二朗

特許第6559987号

Property Type: Patent
犬用ベスト

大野和則, 田所諭

特許第6508759号

Property Type: Patent
埋設管路の計測装置、及び、埋設管路の計測方法

宮崎幸, 上道司, 山根俊男, 小阪健次, 番上勝久, 番上正人, 田所諭, 大野和則

特許第6202559号

Property Type: Patent
画像照合処理装置、画像照合処理方法及び画像照合処理プログラム

米澤亨, 田所諭, 大野和則, 竹内栄二朗

特許第5937823号

Property Type: Patent
力覚提示方法および力覚提示装置

昆陽雅司, 岡本正吾, 田所諭

特許第5360499号

Property Type: Patent
自走式ケーブル装置

田所諭, 昆陽雅司, 嵯峨智, 畑崎計成, 武村史朗, 新妻翔

特許第5294239号

Property Type: Patent
複数の体節ユニットを備えた移動体、および複数の体節ユニットを連結した被駆動体を駆動するためのアクチュエータ

大坪義一, 山本昌彦, 高森年, 田所諭

特許第4009842号

Property Type: Patent
積層造形装置

大坪義一, 山本昌彦, 秋山聡太郎, 高森年, 田所諭

特許第3710317号

Property Type: Patent
光造形装置

大坪義一, 山本昌彦, 秋山聡太郎, 高森年, 田所諭

特許第3685639号

Property Type: Patent
自走式エレベータ装置

長瀬厚史, 奈良俊彦, 大迫昭一, 田所俊之, 山本諭, 吉田勲, 竹井日出雄, 福田治彦, 有賀正記

特許第3681594号

Property Type: Patent
６自由度運動の体感装置

特許第3607124号

Property Type: Patent
移動装置、及び、移動装置の移動方法

小林英一, 平田康夫, 田所諭, 山本知生, 昆陽雅司, 多田隈建二郎

Property Type: Patent
回転伝達装置

多田隈建二郎, ▲高▼根英里, 渡辺将広, 昆陽雅司, 田所諭

Property Type: Patent
表面循環装置

渡辺将広, 林聡輔, 多田隈建二郎, 昆陽雅司, 田所諭

Property Type: Patent
アクチュエータ

渡辺将広, 清水杜織, 多田隈建二郎, 昆陽雅司, 田所諭

Property Type: Patent
循環機構、移動体及び移送機構

多田隈建二郎, 林聡輔, 田所諭, 大野和則, 岡田佳都, 長井弘明

Property Type: Patent
磁気吸着装置

清水杜織, 多田隈建二郎, 昆陽雅司, 田所諭

Property Type: Patent
変位-力変換装置およびグリッパ装置

藤本敏彰, 多田隈建二郎, 昆陽雅司, 田所諭

Property Type: Patent
移動体

多田隈建二郎, 岡田佳都, 大野和則, 岡谷貴之, 田所諭

Property Type: Patent
移動装置

平田康夫, 坂本哲幸, 小林英一, 田所諭, 山本知生, 昆陽雅司, 多田隈建二郎

Property Type: Patent
線状変形装置およびグリッパ装置

藤本敏彰, 多田隈建二郎, 昆陽雅司, 田所諭

Property Type: Patent
交差型歯車および交差型歯車駆動機構

多田隈建二郎, 藤田政宏, 小松洋音, ▲高▼根英里, 昆陽雅司, 田所諭

Property Type: Patent
ロボット及び回転体装置

矢野隆, 長井弘明, 田所諭, 大野和則, 多田隈建二郎, 岡田佳都

Property Type: Patent
行動誘導システム及び行動誘導方法

大野和則, 濱田龍之介, 田所諭

Property Type: Patent
全方向駆動車輪および全方向移動体

多田隈建二郎, 藤田政宏, 野村陽人, 小松洋音, ▲高▼根英里, 昆陽雅司, 田所諭

Property Type: Patent
軸方向移動車輪および全方向移動車両

多田隈建二郎, 藤田政宏, 野村陽人, 小松洋音, ▲高▼根英里, 昆陽雅司, 田所諭

Property Type: Patent
ジョイント部材、ガード部材及びドローン装置

大野和則, 岡田佳都, 田所諭

Property Type: Patent
クローラ式全方向駆動体

多田隈建二郎, 昆陽雅司, 田所諭, ▲高▼根英里, 山本知生

Property Type: Patent
長尺体支持装置

多田隈建二郎, 昆陽雅司, 田所諭

Property Type: Patent
変形装置

多田隈建二郎, 昆陽雅司, 田所諭, ▲高▼根英里, 山本知生

Property Type: Patent
全方向車輪および全方向移動体

多田隈建二郎, ▲高▼根英里, 昆陽雅司, 田所諭

Property Type: Patent
グリッパ装置

多田隈建二郎, ▲高▼根英里, 藤田政宏, 昆陽雅司, 田所諭

Property Type: Patent
人物認証装置及び人物認証方法

米澤亨, 田所諭, 大野和則, 竹内栄二朗

Property Type: Patent
管内自走装置および配管検査装置

今野実, 綱崎勝, 中島達朗, 川村剛朗, 和田弘之, 枇杷友啓郎, 岡村栄二, 田所諭, 昆陽雅司

Property Type: Patent
飛行装置

大野和則, 田所諭

Property Type: Patent
回転走行球体

Property Type: Patent
室内空間搬送システム

Property Type: Patent
移動する索条の指示装置

Property Type: Patent
パラレルケーブル駆動システム

Property Type: Patent

Show all Show first 5

Research Projects 32

Virtual Reality Competitive

System: The Other Research Programs

1999/09 - Present
Rescue Robotics Competitive

System: The Other Research Programs

1995/01 - Present
Actuator Competitive

System: Grant-in-Aid for Scientific Research

1990/04 - Present
Serpentine Robot Flying by Fluid Jet in Confined Space

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (A)

Category: Grant-in-Aid for Scientific Research (A)

Institution: Tohoku University

2019/04/01 - 2022/03/31
Deployment of Robot Audition Toward Understanding Real World

OKuno Hiroshi G

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (S)

Category: Grant-in-Aid for Scientific Research (S)

2012/05/31 - 2017/03/31

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This research project aims at deployment of robot audition even to natural and disastrous environments by enhancing the robot audition software HARK. Once HARK for Windows was released, it has been downloaded about 90K times. Applications of multi-party interaction and music co-player robots demonstrate their feasibility. Robustness of sound source localization for UAV provided by iGSVD-MUSIC and sound-based shape estimation and speech enhancement for hose-shaped robots demonstrate the feasibility of using sounds for search and rescue robots. Acoustic analysis of frog choruses and development of HARKBIrd based on HARK and its evaluation in observing and analyzing bird song communication in actual fields demonstrate the feasibility of acoustical analysis of ecology. Finally, we have established fundamental technologies of robot audition for acoustical understanding of real world.
カタストロフィー構造を持つ非線形アクチュエータによる能動索状体の分布駆動と制御

田所諭

Offer Organization: 日本学術振興会

System: 科学研究費助成事業基盤研究(A)

Category: 基盤研究(A)

Institution: 東北大学

2013/04/01 - 2015/03/31

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本研究は，カタストロフィー構造を持つ非線形流体アクチュエータによるエネルギーの瞬発的放散，および，流体の慣性による衝撃力及び衝撃波を活用する方式により，能動索状体の励振力・駆動力を飛躍的に向上させる方法を開発する．また，素子の非線形特性を活用することによって，複雑な配線無しに多数の素子を多自由度に駆動し，かつ，索状体上での駆動力の分布を制御することを可能にすることを目的としている．平成２６年度は，ImPACT PM就任のため，年度途中で中断を余儀なくされたが，下記の研究成果を上げた． (1) カタストロフィー構造を持った超小型非線形流体アクチュエータの研究開発：効率的に大きな衝撃力を発生できるアクチュエータ素子の新しい３次元機械構造の研究を行い，弾性エネルギー・慣性エネルギーを緩慢に蓄積し，急激に放散する過程を繰り返すことができる構造について，最適設計を行った．シミュレーション及び試作機構による実験によりその効果を確認した． (2) 衝撃力と慣性力の活用法の研究：衝撃力や慣性力を推進させたい方向への駆動力に効率的に変換し，索状体の運動に変換するメカニズムを研究した．その結果，衝撃力を使って平面を効率的に前進し，また，直管を垂直上昇できる機構を試作し，性能の評価を行った． (3) 多数の素子の駆動分布の制御：年度途中で中断したため，多数の素子や分布素子の駆動制御の研究まで進めることはできなかった．
Motion Estimation and Control of a Flexible Serpentine Robot by Motion Stereo and Distributed Sensors

TADOKORO Satoshi, TAKEUCHI Eijiro

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B)

Category: Grant-in-Aid for Scientific Research (B)

Institution: Tohoku University

2009 - 2011

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Estimation of motion and cable shape was studied using internal sensors of Active Scope Camera. By methods using only camera image and motion sensors, 6-DOF motion could be estimated in room environment, but rubble environments made the estimation difficult because of motion of the lights. By applying an unscented Kalman filter to a dynamic model of flexible cables by ANCF, the accuracy of estimation was improved for sparse sensors and/or large disturbance.
Actuation of Active Tethers

TADOKORO Satoshi, KONYO Masashi, OHNO Kazunori, TAKEUCHI Eijiro, TAKEMURA Shiro, SAGA Satoshi, TOKUDA Kenichi, MAKITA Shinobu

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research on Priority Areas

Category: Grant-in-Aid for Scientific Research on Priority Areas

2004 - 2008
Development of Tactile Simulator based on Brain Activity Measurements

SAIWAKI Naoki, TADOKORO Satoshi, IKEGAMI Takashi

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B)

Category: Grant-in-Aid for Scientific Research (B)

Institution: Nara Women's University

2005 - 2007

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We use not only visual information but also haptic information such as touch feeling of textile fabrics. So it is needed to give haptic information to clients to feel more 'realistic' sensation. In museums, we usually 'watch' exhibits. It is very rare to 'touch' exhibits, although touching is very good opportunity to feel and learn from the exhibits. And people can get more realistic impression from them. Future robotic teleoperation as dexterous as human hand requires display of multi-modal sensations on the master side for human operators, such as vision and tactile sense. Especially, for precise tasks, technology to display subtle difference of object touch is important.In the area of human computer interaction, technology to display very complex tactile feeling is very effective to express information from computers. In these points of view, making artificial tactile feeling technology is very important. In this research, we developed artificial tactile feel display using soft high polymer gel actuators (ICPF). This tactile display can generate very complex tactile feeling such as textile fabrics. Recently, many types of haptic devices have been investigated. These haptic devices make it possible to touch objects in a virtual environment, and most of them are only 'force' feedback devices such as PHANTOM. There are few devices which can display tactile sensation including 'quantitative' information to human skin. Then, the artificial tactile feeling stimulus generated by this actuator were evaluated by the experiments. Moreover, cerebral somatosensory area activated by the tactile feeling stimulus were analyzed by f-MRI. We are under consideration about tactile feeling cognition and comfortableness based on our experimental results by Genetic Algorithm and Evolutionary Learning methods.
Synthetic Study of Imitation on Humans and Intelligent Robots

TOMOMASA Sato, INABA Masayuki, KUNIYOSHI Yasuo, TADOKORO Satoshi, MORI Taketoshi, INAMURA Tetsunari

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research Grant-in-Aid for Creative Scientific Research

Category: Grant-in-Aid for Creative Scientific Research

Institution: The University of Tokyo

2001 - 2005

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Imitation is the most fundamental intelligence as for the integrated behavior system of the cognitive brain functions and the developmental ability to learn new behaviors from man to adapt real environment. The following researches were conducted aiming at the science and technology of imitation. The following results would form not only the nucleus to develop new intelligent systems but also theoretical basis of cognitive science research fields. 1) Construction of action observation and recognition systems : An environmental embedded system to measure human motions and a smart and flexible data management framework are developed. Based on the observation system, daily behavior pattern discovery, extraction methods, and robust action recognition frameworks based on statistical machine learning techniques with massive human motion data are presented and verified. 2) Construction of action generation and correction systems : Humanoid behavior modification methods via evolutional approaches and human teaching assistance approaches are developed. In the latter approach, humanoid recognizes situations of the real world and learn what should be paid attention. 3) Elucidation and modeling of human imitation function: Building synthetic functional map on imitation : This map clarifies several aspects of behavior imitation by making correspondence to brain functions. A theory for whole-body dynamic action that is called global dynamics mechanism is proposed and verified by analyzing rolling and rising motion of human and humanoid. Novel self-organizing network models are constructed representing several functions of brain from low-level visual perception to high-level context processing. Experimental studies on emergence of intelligence and development of cognition of human baby is executed. 4) Experimental systems for realizing behavior imitation : Behavior imitation systems are realized based on humanoid and room-typed intelligent robot systems in order to verify the techniques proposed in the above research achievement (1-3) works well. The result implies that intelligent systems with the proposed human action observation and recognition methods, behavior generation and modification methods are proved to achieve goal-level imitation tasks.
Research on automatic generation of real-time commentary about large scale disaster relief

MATSUBARA Hitoshi, OSAWA Eiichi, TANAKA Kumiko, TADOKORO Satoshi, TANAKA Kenji, FRANK Ian

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B)

Category: Grant-in-Aid for Scientific Research (B)

Institution: FUTURE UNIVERSITY -HAKODATE

2001 - 2002

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Communication is a vital part of the teamwork that is required for disaster relief operations. We have implemented a system Rescue-MIKE, which simulates the conversations that can be expected between large numbers of relief workers and controllers working in a rescue domain. Our system uses multiple agents (Director, Continuity, Background and Montors agents) to collect information from a simulated disaster scenario. It then produces a dialogue that fits the actions of the agents in the domain.
A Study of Virtual Tactile Feel Display for Touch of Clothes

TADOKORO Satoshi, HATTORI Motofumi, OGURO Keisuke, TAKAMORI Toshi, TOKUDA Kenichi

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B)

Category: Grant-in-Aid for Scientific Research (B)

Institution: Kobe University

2000 - 2002

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The objective of this research is a virtual tactile feel display for touch of clothes including qualitative information. Ionic Conducting Polymer gel Film (ICPF) actuator can solve the conventional problem of tactile displays in efficient softness, multidegree-of-freedom stimulation, control of fine distributed stimuli and control of direction of stimuli on human skin. A tactile display system for a delicate touch like a cloth in response to hand movements was developed using ICPF actuators. Research results are summarized as below. 1) Development of wearable stimulation device using ICPF actuators A ciliiform device which has minute distributed structure and make multidegree-of freedom stimulation was developed using ICPF actuators. The device was also successfully made so smaller in size and weight that a wearable display system was developed which could produce a proper stimulation in response to measured hand motion data. 2) Stimulation method of producing complex tactile feeling A method of simulating several kinds of tactile receptors at the same time with composite waves of low and high frequencies was proposed. Comparison with real materials showed that the method could express subtle difference of tactile feelings like touch of clothes. Especially, the half of subjects could recognize the artificial touch as a towel and denim. 3) Stimulation method in response to hand movements A stimulation method which generates selective stimuli to sense receptors in accordance with velocities and accelerations of hand motions was proposed. Evaluation of the tactile feeling showed that the method could produce natural feelings of hand movements. 4) Modeling of ICPF considering substantial ionic motion Modeling of ICPF considering a mechanism for designing and controlling the device. 5) Evaluation of integration with visual information Effect of visual information on tactile sensations was evaluated quantitatively by a sensory integrated display.
Modeling of ion-conducting gel actuator considering substantial motion and control of distribution of internal stress

TADOKORO Satoshi, OGURO Keisuke, HATTORI Motofumi, TAKAMORI Toshi, OHTSUBO Yoshikazu

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C)

Category: Grant-in-Aid for Scientific Research (C)

Institution: Kobe University

2000 - 2001

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The objective of this research is (1) modeling for design and control on the basis of ionic migration (modeling of distributed internal stress caused by ionic migration by electric field, motion and diffusion of water molecules, swelling and contraction by water content, electrostatic force, lateral strain, conformation change), and (2) design of electric field patterns (design of electric field patterns and control of internal stress distribution). Research results are summarized as below. 1) Electrochemical modeling of migration of sodium ions and motion and diffusion of water 2) Modeling of momentum effect, swelling and contraction by water, electrostatic force, and conformation change 3) Modeling of visco-elasticity by FEM 4) Modeling of lateral strain caused by deviation of sulfonic ions 5) Stable numerical solution of theoretical equations using method of finite difference 6) Development of simulation programs and relation with FEM software 7) Identification of viscoelastic parameters and swelling ratio by experiments 8) Verification by comparison of simulation results with experimental results (qualitative effectiveness was verified) 9) Design of electric field patterns and electrode locations for traveling wave on PVA-DMSO gel actuator 10) Development of masking technique for electrode pattern fabrication on ICPF surface 11) Experimental verification of traveling wave by control of internal stress distribution
Study on LIGA Fabrication of Micro-Structured Actuating Film and Its Driving Characteristics.

TAKAMORI Toshi, YAMAZAKI Yoshiharu, HTTORI Motofumi, TADOKORO Satoshi, OOTUBO Yoshikazu, YAMAMOTO Masahiko

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B)

Category: Grant-in-Aid for Scientific Research (B)

Institution: Kobe University

1998 - 1999

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This research develops polymer coating micro-structured actuating film and its characteristics, which is fabricated by LIGA technology and has Ni core fine structure of several hundreds micrometer in thickness, as a new functional material in the field of mechatronics. The main fruits are following : (1)Shape design of Ni core fine structure film and the simulation of its driving performances (2)Design of LIGA process (3)Generation of mask data and fabrication of masks (4)Study on some basic technique (lamination of PMMA and Al-substrate, optimum condition for nonelectroplating of Ni, technique for polymer coating etc.) (6)basic experimental study on driving performance of Ni core micro-structured film (This was done by using millimeter size similar film.) By the reason why the working plan of "New Subaru", where high energy X-ray radiation was to be provided for this research, has been seriously delayed, it is very regrettable that the polymer coating micro-structured actuating film could not be completed in fabrication and the publicity on this research has to be delayed to the next fiscal year.
Study on a Reconfigurable Machine by Parallel Cable Mechanisms

TADOKORO Satoshi, HATTORI Motofumi, KIMURA Tetsuya, TAKAMORI Toshi, YAMAZAKI Yoshiharu, MAEDA Kiyoshi

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C)

Category: Grant-in-Aid for Scientific Research (C)

Institution: Kobe University

1998 - 1999

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The objective of this research is to develop a manipulator mechanism which can re-configure its structure using parallel cable mechanisms. It can be assembled rapidly on site to adapt required tasks. The structure can be changed keeping optimality according to the progress of given tasks. The removal of this robot takes very short time in comparison with conventional manipulators. Therefore, it contributes welfare robotics, material handling, rescue robotics etc, where conventional manipulators are not appropriate. The following results were obtained in this research. ・A dynamic expression of general cable parallel mechanisms was invented. It was elucidated that general mechanisms can be expressed by a structural equation and two constraining equations. ・A method of reconfiguration for general structures was invented. Equilibrium states, stability, force generation, rigidity etc. were analyzed using a potential function. Using this function, optimal reconfiguration strategy is computed. ・Control methods for general structures were studied. Difference between an unconstrained system and a constrained system was revealed. It was elucidated that even complete constrained system can become unconstrained state. On the basis of the analysis, a potential-based control method for the unconstrained system, and a tention-based control method for the constrained system were proposed. ・Self identification method for kinematics were invented. A rapid identification method of actuator units on site was invented. Simulation results demonstrated the effectiveness of this method. Error analysis was performed and error estimation algorithm was invented. ・Design, fabrication and experiments of actuator winch units were performed. A portable intelligent actuator unit with a CPU for experiments was designed and fabricated.
A Study on 6-Degree-of-Freedom Parallel Micromanipulator Using ICPF Actuators

HATTORI Motofumi, YAMASAKI Yoshiharu, OHTSUBO Yoshikazu, KIMURA Tetsuya, TAKAMORI Toshi, TADOKORO Satoshi

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (A)

Category: Grant-in-Aid for Scientific Research (A)

Institution: Kobe University

1996 - 1998

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An ICPF actuator, a new highpolymer gel membrane actuator has advantages that large motion is generated by low voltage input in wet condition. Application to micromanipulation, in-vivo surgery, etc. are expected. The objective of this research was development of micromotion mechanisms having parallel structures as application of ICPF actuators. The following results were attained. 1. Identification and modeling of viscoelastic and nonlinear properties of ICPF actuator 2. Improvement of the computer model of ICPF actuator to improve accuracy of motion prediction 3. Optimal design, fabrication and improvement of a mechanism with 3 degrees of freedom 4. Optimal design, fabrication and improvement of a mechanism with 6 degrees of freedom 5. Modeling and analysis of dynamic interference and transmission characteristics 6. Analysis and control of redundant mechanisms 7. Construction of a tele-micromanipulation system using stereoscopic image 8. Manipulability improvement by learning control 9. Experimental evaluation of micromanipulation The result of evaluation was as follows. 1.3-DOF manipulator The displacement was 2 mm, and the practical frequency range was up to 13 Hz. It followed well to high-speed motion commands, although stationary condition longer than 3 seconds were difficult. The developed device is appropriate for dynamic micromanipulation. 2.6-DOF manipulator The translational and rotational displacements were as small as 0.4 mm and 2 degrees, respectively. The practical frequency range was up to 3 Hz. Improvement of the ICPF material is necessary.
A Study on Mechanism of Traveling Wave Generation by Using ICPF Actuator

TAKAMORI Toshi, YAMAZAKI Yoshiharu, HATTORI Motofumi, TADOKORO Satoshi

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B)

Category: Grant-in-Aid for Scientific Research (B)

Institution: Kobe University

1995 - 1997

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In order to obtain basic knowledge to develop high performance ICPF actuators, which is a high polymer gel actuator composed of PFS membrane plated with platinum, the mechanism of generation of traveling wave of the ICPF actuator and its theoretical principal have been investigated in the study. Throughout the 3-year research, the following results have been obtained. ・A platinum plating method has been developed which produced arbitrary plating perttan on PFS membrane by using masking. This result enables to design ICPF acutuator of arbitrary shape. ・Analysis of the motion of a plane-type ICPF actuator in experiments was carried out. A gray/white box model has been proposed based on the analysis. By using the model, finite element method can be used to predict of the motion. ・An arch-shape actuator which is composed of two ICPF actuators and a mesh-type actuator which is composed of many ICPF actuators have been developed. It has been confirmed experimentally that both actuators can generate traveling wave. ・For the arch-shape actuator, some parameters, such as the width and the length, have been examined experimentally and optimal parameters have been determined. ・On the basis of the previous results, a motor and a distributed driving system have been fabricated by using the arch-shape actuators. Their effectiveness have been confirmed experimentally. In addition, it has been confirmed that the mesh-type actuator can generate arbitraty traveling waves, though with small displacement, through the expreiments.
人間の行動予測に基づく移動ロボットの運動計画

高森年, 山崎義治, 服部元史, 田所諭

Offer Organization: 日本学術振興会

System: 科学研究費助成事業重点領域研究

Category: 重点領域研究

Institution: 神戸大学

1996 - 1996

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(1)人間型ロボットの情緒豊かな行動生成に関する研究人間型ロボットに情緒豊かな行動を生成させるための基礎的な知見を得るために、文楽人形の動作を解析している。様々な機能と情緒の行動を文楽協会の人形遣いに生成して頂き、人形の各部の各時刻での位置と姿勢を計測した。これによって得られた時系列達を解析し、任意の機能と任意の情緒を有する行動時系列を生成することのできる時間発展の方程式を導こうとしている。具体的な成果としては、外生入力(source)を有する時変係数の確率的な時間発展の方程式(KM20-Langevin方程式)で文楽人形の行動時系列をmodelingし、時変係数とsource達を同定するalgorithmを理論的に導いた。またそのalgorithmに基づいて、文楽人形の行動時系列を特徴付ける時変の伝達関数や機能のsource,情緒のsource,確率的な揺らぎのsourceを同定するprogramを開発した。 (2)画像情報に基づく人間の行動理解に関する研究ロボットが人間の行動を理解できるようにその視覚システムの開発を行った。2値化した人間の画像の時系列データから、その人間の行動を判断するシステムが開発された。昨年度に開発された「ペトリネットモデルによる人間の行動予測システム」を実環境で使用するための基盤が得られた事になる。具体的には、まずカメラによって撮像される領域を8個の部分領域に分割し、それぞれの部分領域中に人間が占める部分の重心に注目する。8個の部分領域の各時刻の重心からなる8本の時系列の組に注目するのである。種々の人間の行動を撮像し、種々の行動に対応する時系列の組を前もって求めておき、これらをテンプレートとする。未知の行動が撮像されたとき、これの時系列の組に上記のテンプレート達をあてはめ、行動の長さや開始時刻のばらつきまで考慮して、行動の内容を判断する。
レスキュー機器の研究開発のための阪神淡路大震災における人命救助の実態調査研究

田所諭, 山崎義治, 服部元史, 大坪義一, 木村哲也, 高森年

Offer Organization: 日本学術振興会

System: 科学研究費助成事業重点領域研究

Category: 重点領域研究

Institution: 神戸大学

1996 - 1996

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阪神淡路大震災において,数時間以内の救助が可能であれば多くの人命が救われたことは間違いない.そのためには,災害救助のためのレスキュー機器が極めて重要である. ロボット・メカトロニクスの技術はこのような機器の効率を飛躍的に向上させることは間違いない.ところが,研究者の間にレスキュー活動に関する情報が提供されておらず,また,機器開発に充分な調査も行われていない.そのため,機能や仕様の詳細が検討されていないのが現状であった. 以上の背景を踏まえ,日本機械学会ロボティクスメカトロニクス部門内レスキューロボット機器研究会にて,次の活動を行った. 1.救助に関わった学生,民間人,消防,自衛隊,救助された学生,防災関係の研究者に聞き取り調査を行った. 2.それに基づき,一般的な法則性・問題点などを明らかにした. 3.調査結果に基づき、ロボティクス・メカトロニクス分野の研究者でディスカッションを行い、人命救助を支援するロボット・メカトロニクス機器に求められる機能・仕様を明らかにするとともに、その実現の可能性について検討を行った。 4.研究成果を各種学会の場で発表するとともに、報告書及びコンピュータネットワーク上のwwwの形で公開した。
ICPFによる分布型アクチュエーションに関する基礎研究

田所諭

Offer Organization: 日本学術振興会

System: 科学研究費助成事業奨励研究(A)

Category: 奨励研究(A)

Institution: 神戸大学

1996 - 1996

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ICPFアクチュエータは分布的な力を発生できるという特長を持つ高分子ゲル膜アクチュエータである。この特長はロボットハンドなどに応用した場合、対象物に対して超冗長なアクチュエーションを行えることを意味している。本研究ではこのような分布型アクチュエーションにより駆動のロバスト性を確保することを目的として基礎研究を行い、次の成果が得られた. 1.分布アクチュエーションを可能とするアクチュエータ機構の開発研究 (1)ICPFの製造加工法の確立.Nafion膜の表面処理、Pt膜形成の安定化、給電方法の最適化、高精度切断技術について実験を繰り返し,改善を見た. (2)分布変位が得られ、分布力を有効に発生・伝達できる機構の試作.繊毛型機構と面型機構について試作を繰り返し,分布力の発生が可能な機構を開発した. (3)試作機構のモデリング.計算機上で運動・力発生のシミュレーションが可能なモデルを開発した. (4)アクチュエータパラメータの同定.実験により同定した. (5)分布変位の計測.変位を計測し,試作機構の評価を行った. 2.超冗長駆動制御法冗長駆動法に関する理論的な検討を行った.機構の試作に時間を要したため,実験による評価が残されているが,今後研究を進める予定である.
人間の行動予測に基づく移動ロボットの運動計画

高森年, 山崎義治, 服部元史, 田所諭

Offer Organization: 日本学術振興会

System: 科学研究費助成事業重点領域研究

Category: 重点領域研究

Institution: 神戸大学

1995 - 1995

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本研究では、人間の日常生活を支援したり、病人を介護したりするホームロボットの開発を目指して、人間と協調する移動ロボットを扱っている。人間とロボットの協調の形態にはさまざまな種類やレベルがあるが、最終的には「人間の意図をくみとり、積極的に行動する」という非常に高度なレベルが実現されなければならない。そのためには人間の行動の意図を推察したり、将来の行動を予測できる機能が必要である。その第一段階として、ロボットには、あいまいな人間の行動パターンから次の行動を予測するシステムが必要であると考える。なぜなら、人間の目的や心理状態などの様々な要因がわかっていて、その時の人間の行動パターンが解明されていれば、ロボットは人間の行動を理解して支援することが可能となるからである。そこで、不確定な人間の行動パターンを予測するためのロバストな人間の行動予測システムを提案した。あいまい性を持った人間の動きに対応するために、人間の将来の行動を確率を用いて表現した。まず、人間の行動パターンに対しその行動予測の基本構造として人間の行動の仕組みについて考察を行った。人間の行為は状態と行動に分類することができ、行動を確定行動と確率行動に分類した。次に、状態をプレースに行動をトランジションに置き換え、ペトリネットを用いた一般的なモデル生成法を提案した。その際、不確定な人間の行動をモデル化するために予測トランジションを設けた。以上の方法により人間の行動をモデル化することが可能となった。また、人間の将来の行動の予測に対して、はずれた時のリカバリーとして修正ネットを提案した。修正ネットは、人間の行動モデルネットの下位層に設け、予測があたれば動作せず、はずれればリカバー動作を行なう。さらに、人間の行動予測に関しては、過去の履歴行動に基く条件つき確率を用いて表現し、学習を行なった。最後に、本手法の有効性を示すために、ある一人の学生の起床から登校までの行動をもとにペトリネットを用いてモデル化し、データに基づく学習結果を示し本システムの有効性を検証した。
ワイヤ駆動型超高速パラレルメカニズムの冗長機構の最適化と冗長制御

田所諭

Offer Organization: 日本学術振興会

System: 科学研究費助成事業奨励研究(A)

Category: 奨励研究(A)

Institution: 神戸大学

1995 - 1995

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本研究は、力学的に冗長な本数のワイヤを用い、エンドエフェクタを四方八方から引っ張ることによって駆動する新しいパラレルロボットメカニズムの設計と制御に関する研究である。本研究は次の成果を得た。 1.本メカニズムの運動学的・力学的定式化・モデル化を行った。エンドエフェクタを6自由度拘束でき、構造的に安定になる構造安定条件を運動学方程式・静力学・動力学方程式から導出した。ワイヤ同士、ワイヤとエンドエフェクタ・ワークとが干渉しない条件を運動学方程式から導出した。構造安定条件、非干渉条件を満足し、特異点を除く連続した作業領域を算出するアルゴリズムを開発した。確率的可操作度を拡張することにより、可操作性、力操作性、動的操作性の評価法を提案した。簡単な模型による実験と計算機シミュレーションによって、これらの解析の結果が妥当であることを検証した。 2.上記の構造安定条件、干渉しない条件を満足し、連続した作業領域ができるだけ大きくなり、操作性がなるべく高くなるような機構設計を行った。等方的な設計において、干渉条件を考慮しない場合の作業空間が最適となる2つの基本設計を得ることができた。対照的な設計において、干渉条件とトルクの大きさの制約を考慮し、並進と回転の範囲が大きくなる2種類のワイヤ配置を得ることができた。なお、冗長駆動によって作業空間中心部における特異点はほとんどの場合において存在しないことが明らかになった。 3.冗長制御法に関して検討を行った。片側拘束下における最適化問題として定式化できることが明らかになった。 4.ワイヤの駆動法によって精度の低下や自励振動などを回避する設計について検討を行い、実験用ロボットの試作を行った。 5.本研究荷関連する資料収集を行った。
イオン導電性高分子膜アクチュエータの非線形モデリングと制御

田所諭

Offer Organization: 日本学術振興会

System: 科学研究費助成事業奨励研究(A)

Category: 奨励研究(A)

Institution: 神戸大学

1994 - 1994

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ICPFアクチュエータ(Ionic Conducting Polymer Film)はPFS膜表面に白金メッキを施した高分子ゲルアクチュエータであり、1991年に発見された。本研究は、このアクチュエータのモデリングを行い、制御に結びつけることを目的としている。本研究では,変位の発生機構は次の3つの部分から成ると考えた。アクチュエータに電圧を印加すると,その内部に分布的な電流が流れる(電気的特性)。それぞれの微小部分では,電流によりゲル膜内部に内部応力が発生する(エネルギー変換特性)。ここには化学変化を含む未知の動作機構が関与している。発生した応力は膜の機械的性質により歪みに変換される(機械的特性)。ここには高分子膜特有の粘弾性やヒステリシス特性が関係している。微小歪みが平面的に分布してアクチュエータ全体の機械的な変位を生じる。電圧が低いときの電気的特性は線形近似できた。白金メッキ層の表面抵抗と膜と浸透水の抵抗に加えてエネルギー変換に関わる特性をRC回路に近似し、これが分布定数系を構成しているというモデルにより実験結果と良好な対応を得ることができた。機械的特性には高分子膜特有の粘弾性が大きく関与していることがシミュレーションにより確認された。エネルギー変換特性に関しては。電流に比例した応力が生じると現段階では考えているが、確証を得るまでには至っていない。 ICPFアクチュエータをU字形に接合することで先端が楕円運動するエレメントを試作した。エレメントを並べることにより送り機構に応用できた。
ロボットと人間の協調作業を目的とした人間動作の計測とその予測モデルに関する研究

田所諭

Offer Organization: 日本学術振興会

System: 科学研究費助成事業奨励研究(A)

Category: 奨励研究(A)

Institution: 神戸大学

1992 - 1992
Measurement of Three Dimensional Velocity Vectors in a Flow Field Based on a Spatio-Temporal Correlation Method

KIMURA Ichiro, YAMASAKI Yoshiharu, TADOKORO Satoshi, TAKAMORI Toshi

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research Grant-in-Aid for General Scientific Research (C)

Category: Grant-in-Aid for General Scientific Research (C)

Institution: Kobe University

1991 - 1992

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A measurement system of 3-D velocity vectors is essential in analyzing a highly complex flow field. In this study, a new measurement method of 3-D velocity vectors in a flow field using spatio-temporal correlation method was developed. It is an advanced method for 2-D velocity vector measurement using correlation. The method needs two travel particle images observed at a short distance in the flow direction. Each of the two images consists of frame time series. The 2-D information on a 3-D velocity vector can be obtained using spatial correlation. In addition, the temporal correlation gives information on the third dimension. A 3-D velocity vector is consequently obtained by calculating the spatio-temporal correlation between the two images. This system was actually applied to a simple 2-D flow and a 3-D flow with reverse flow to confirm the appropriateness of this technique and its measurement uncertainty was evaluated. In comparison with a conventional stereoscopic measurement method, in which each tracer is tracked in a 3-D space, the following advantages were clarified. 1) The method has wide applications to visualized flow images because the images of tracer particles are observed as a spatial pattern. 2) A spatially high-density vector distribution is obtained in a flow cross section. 3) In principle, the method does not need any known information on the flow characteristics. The disadvantage, however, is that only a velocity vector distribution on a slit plane is obtained. To solve the problem, an improved optical system including slits will have to be devised to obtain many 3-D velocity vectors over the entire 3-D flow field.
ロボットと人間の協調作業を目的とした人間行動予測モデルに関する研究

田所諭

Offer Organization: 日本学術振興会

System: 科学研究費助成事業奨励研究(A)

Category: 奨励研究(A)

Institution: 神戸大学

1991 - 1991
Analysis of Cerebral Vascular System and Blood Flow Prediction System by 4D-CG Visual Simulation

TAKAMORI Toshi, KIMURA Mitsuru, MATSUMOTO Satoru, TADOKORO Satoshi, KIMURA Ichiro

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research Grant-in-Aid for General Scientific Research (B)

Category: Grant-in-Aid for General Scientific Research (B)

Institution: Kobe University

1989 - 1991

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The number of cerebral vascular diseases which require surgical operation has recently been increasing. Although the most of these operations need the hemostasis at hemorrhagic regions, it is generally difficult to stop bleeding at a required part, so far. In many cases, a blood supply source to the cerebral vascular system or a part of the vascular (Willis ring, etc.) used to be temporally shut off. But these methods of shutting off sometimes cause ischemia at other parts of brain and fatal risks to patients. It is thought that to minimize the risk on neurosurgical operations it is effective to give medical doctors foresight knowledges with the blood flow estimation system : the system with which doctors could simulate the operations through three dimensional graphics. In this study, the system has been developed. In this study, first, a cerebral vascular system which is organized by 'Willis ring' has been regarded as a kind of fluid circuit. And 'Willis ring' is considered as a system which consists of nine forked pipes. Second, the three dimensional computer graphics (3D-CG) of the cerebral vascular system and the skull bone were made to display the above results in real-time. These 3D-CG are based on the data which are detected from the X-ray films of the cerebral vascular system and from CT films of the skull bone. These graphics are possible on the display to rotate, to transfer, to be divided into some parts, and to observe the inner structure and outer figure of the system from every direction. Each cerebral blood flow rate or blood pressure as the results of above calculation was displayed in a different color for each magnitude, as they could be understood at a glance.
冗長マニピュレータの制御を目的とした人間の上肢姿勢決定規範に関する研究

田所諭

Offer Organization: 日本学術振興会

System: 科学研究費助成事業奨励研究(A)

Category: 奨励研究(A)

Institution: 神戸大学

1990 - 1990
マニピュレータの定量的特異姿勢評価と特異点を利用した軌道計画問題に関する研究

田所諭

Offer Organization: 日本学術振興会

System: 科学研究費助成事業奨励研究(A)

Category: 奨励研究(A)

Institution: 神戸大学

1989 - 1989
ロボットの動力学問題に関する基礎的研究

田所諭

Offer Organization: 日本学術振興会

System: 科学研究費助成事業奨励研究(A)

Category: 奨励研究(A)

Institution: 神戸大学

1988 - 1988
Development of a Direct-Drive Servomechanism for Use in Robots with Six Degrees of Freedom and Consisting of Servo Actuators Using Metal Hydrides

TAKAMORI Toshi, MURAO Yoshio, YAMAZAKI Yoshiharu, TADOKORO Satoshi, KIMURA Ichiro

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research Grant-in-Aid for Developmental Scientific Research

Category: Grant-in-Aid for Developmental Scientific Research

Institution: Kobe University

1987 - 1988

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The joint structure consists of an assembled system by N actuators in translation. The number N has been determined according to the simulation results on joint statics: The simplicity of structure and the width of moving area are considered in evaluating it. Then, it has been made clear that more than n=6 are necessary for getting the movememnts of 6 degrees of freedom and that there is nothing different between N=6 and N=8 in the width and the controllability. So, N=6 was selected in this case the two important software systems on the dynamics of joint movement have been successfully completed to calculate joint positions and orientations by giving the lengths of each actuators and vice versa. These are useful in designing the controller. Though MH(Metal Hydride) actuators should be used in this joint structure, penumatic actuators have been used in this study practically. The reasons were already written in another report of 1988. The control system has been constructed by a computer based PID controller and a PWM circuit. The accurate mathematical model of actuators was determined by the signal processing and the law of physics. The position control has been done to this joint of 6 degrees of freedom. The results are as follows: (1)though the effects of mutual interference were not small between each actuators, the control for every degrees of freedom was accurate and its response time was about 1 second. (2)The wind-up of I element in the PID controller made the over-shoot decrease and then improved control characteristics. The future problems at control in this study are to decrease effects of the interference between actuators and to compensate effects of non-linear elements.
Real Time Instrumentation of Unsteady Flow Phenomena based upon Color Image Information

TAKAMORI Toshi, YAMASAKI Yoshiharu, TADOKORO Satoshi, KIMURA Ichiro

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research Grant-in-Aid for General Scientific Research (B)

Category: Grant-in-Aid for General Scientific Research (B)

Institution: Kobe University

1986 - 1987

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The original purposes of this study were to improve the accuracy of flow velocity measurement and to obtain a potential field by Moire method and a velocity vector field by a tracer method at the same time by using color image information. On the latter purpose, however, it was turned out that the visualization method for measuring the above two quantities at the same time was technically difficult on investigation. Therefore, we directed our attention to a free convection in which the temperature and flow fields coexist. The two fields were visualized by using the liquid crystal tracer. From the visualized color images, simultaneous measurements of the velocity vector and temperature distributions were completed. Furthermore, the image processing instrumentation system of velocity vector distributions in three dimensional flow fields was developed. Consequently, the following results were specifically confirmed. 1) The image processing instrumentation system of velocity vector distributions by using correlation method was established. It was proved that this system was very useful for even an unsteady flow field. And, the algorism for correcting erroneous velocity vectors was developed. 2) The velocity vector distributions in different water depths of a three dimensional flow were simultaneously obtained by the color separation of the image. 3) The changes of temperature and velocity vector distributions with time were obtained by applying the system to the dynamic behavior of a thermal stratification. In this color image processing instrumentation system, however, the spatial resolution of color measurement is still lower. Therefore, the problem remains that to be solved in the future is to develop an extensively used color separation algorism and study the strict relation between the temperature and the color.

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Social Activities 106

平成18年度高大連携事業・東北大学公開講座

2006/08/05 - 2006/08/06

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高校生が自ら学ぶ意欲を高め、興味・関心を持つ学問分野への理解を一層深めるとともに、主体的な進路選択を行うことができるようにするため、大学の高度な教育・研究に触れる機会を提供する。
日本機械学会機素潤滑設計部門企画講習会

2006/07/06 - 2006/07/07

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近年，人間型ロボットやペットロボットが注目されていますが，その実用化への最大のブレイクスルーの一つとしてアクチュエータが挙げられます．「アクチュエータ工学」（養賢堂）をテキストとして，圧電，静電，流体，メカノケミカルなどの次世代アクチュエータの原理や応用例，さらにマイクロアクチュエータの加工方法に至る最新の研究について，第一線で活躍中の11名の講師にわかりやすく講義していただきます．
日本原子力学会ヒューマンマシンシステム部会夏期セミナー

2005/07/22 - 2005/07/23

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招待講演「レスキューロボットプロジェクト」
研究成果、広く社会に

2013/01/31 -
東北活性研ユニバーサイエンス

2012/12/13 -

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招待講演「震災に挑む－ロボットの挑戦－」
香川大学特別講演会

2012/12/03 -

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招待講演「福島第一原発へのレスキューロボットの適用」
AEM学会特別講演

2012/11/21 -

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招待講演「レスキューロボットQuinceの福島第一原発での活躍」
旭川あすなろ会講演会

2012/11/19 -

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招待講演「災害救助ロボットの活躍と今後の展望について」
玉川大学特別講演会

2012/11/11 -

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招待講演「大規模災害に挑む－ロボティクスの挑戦－」
関西電力全社技術研究発表会特別講演

2012/10/23 -

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招待講演「災害救助ロボットの活躍と今後の展望について」
福井原子力対応支援機関検討準備会

2012/09/11 -

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招待講演「原子力対応支援機関が機能するために」
東北地方放送技術報告会

2012/05/11 -

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招待講演「原発など災害対応のロボット技術の現状について」
山形産官学講演会

2012/03/03 -

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講演「災害対応ロボットの挑戦」
東北×中部次世代モビリティビジネス創出に向けた産学官連携交流会in仙台

2012/02/27 -

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招待講演「レスキューロボットと自動車－Embedded Robotics for Future Automobile－」
東北工業大学講演会

2012/02/16 -

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講演「災害対応ロボットの挑戦」
あいち次世代ロボットフェスタ

2011/12/23 -

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招待講演「災害に対応するロボット」
愛光学園講演会

2011/12/19 -

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招待講演「レスキューロボットの挑戦」
福島高専GP講演会

2011/12/17 -

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招待講演「災害対応ロボットの研究開発の現状と展望，－福島第一原子力発電所事故対応を中心として－」
IEEE Sendai Chapter講演会

2011/11/29 -

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招待講演「東日本大震災におけるレスキューロボットの活用」
人に代わって大活躍

2011/11/12 -
ロボットビジネスフォーラム

2011/11/09 -

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招待講演「マイナスはプラスの出発点」
IRSセミナー

2011/10/24 -

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講演「東日本大震災におけるロボット対応」
レスキューロボット先端技術セミナー

2011/09/13 -

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招待講演「国際レスキューシステム研究機構の災害対応への取り組みと災害対応ロボットの研究開発の現状」
学士会夕食会

2011/09/09 -

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招待講演「レスキューロボットの現状と未来－想定外を想定するために－」
科学技術と経済の会FF会

2011/08/26 -

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招待講演「災害対応ロボット」
ナガセ大学学部研究会

2011/08/18 -

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招待講演「レスキューロボット」
国産災害ロボ発信

2011/08/04 -
IEEEメディアセミナー

2011/08/04 -

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招待講演「災害対応ロボットの活用事例と今後の課題」
次世代センサシステム研究会

2011/07/19 -

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招待講演「次世代自律走行車におけるセンシングの動向と技術課題」
情報処理学会自然言語処理研究会

2011/07/16 -

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招待講演「東日本大震災におけるレスキューロボットの対応」
Robotech

2011/07/13 -

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招待講演「国際レスキューシステム研究機構の災害対応への取り組み」
日本国際問題研究所ロボット有効活用に関する研究会

2011/07/12 -

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招待講演「災害対応ロボットの役割・機能・求められる技術」
日本ロボット学会ネットワーク

2011/06/29 -

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招待講演「防災ロボットと通信インフラへのニーズ」
講演会

2011/06/21 -

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招待講演「災害事故などに見る災害用ロボットの現状と将来性」
震災復興にむけてロボット技術のいま

2011/06/12 -
東北大学震災３ヶ月講演会

2011/06/10 -

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講演「ロボットによる震災対応」
国産ロボットクインス

2011/06/10 -
国産ロボ福島投入

2011/06/09 -
タフな国産ロボ出動

2011/06/09 -
東北大など国産ロボ派遣へ

2011/06/09 -
「ロボット大国日本」の虚実

2011/05/16 -
RoboCup Japan Open Opening Ceremony

2011/05/04 -

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招待講演「ロボカップが日本を救う」
高専ロボコンフォーラム

2011/02/26 -

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招待講演「ロボット工学とロボコン教育」
市民政策調査会ミヤギ市民フォーラム

2011/02/12 -

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招待講演「レスキューロボットの挑戦！安全・安心のまちづくりの実現に向けて」
NICHeセミナー

2011/01/25 -

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招待講演「レスキューロボットの最前線」
㈱インテリジェント・コスモス研究機構

2010/11/11 -

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東北経済産業局から受託事業中の「地域新成長産業創出促進事業」次世代自動車分野において、ジャイロセンサ、加速度センサ等の開発、製造等の事業を行っている多摩川精機と車載用センサ等を製造しているアイシン東北関係者に向けて、セミナー講師として「ロボット技術の活用による次世代移動体システム」の講演を行う
研究がすすむ災害救助ロボット

2010/09 -
「市場性+実用性+新規性」で上位の主な成果

2010/07/08 -
救助活動、二次災害リスク低減

2010/07/02 -
IRS、千葉工大、東北大が共同開発災害対応支援ロボット「Quince」を公開

2010/06/12 -
未来型モーターカーは交通事故ゼロ目指す

2010/05 -
（独）仙台高等専門学校

2009/12/19 -

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講演会講師
平成２１年度全国電子機械研究会総会並びに研究協議会記念講演

2009/08/20 -

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研究会講師
2011年度からの実用化目指した「被災建造物内移動ＲＴシステム」

2009/03/15 -
先端ロボ要素技術開発支援東北大など6件決定ＮＥＤＯ

2009/02/16 -
被災現場ロボが情報収集

2009/02/16 -
救助ロボ実用化へ

2009/02/14 -
がれきの中被災者捜索

2009/02/14 -
「将来のロボ」決定

2009/02/14 -
優秀賞に8件経産省「今年のロボット」

2008/11/25 -
優秀賞に8件経産省「今年のロボット」

2008/11/24 -
Emergency Response Robots primed for disaster operations

2008/11 -
宮城県主催：ロボットビジネスセミナー

2008/07/30 -

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ロボットビジネスセミナー講師として講演を行う。講演テーマ「安全・安心で豊かな社会を実現するロボット技術を目指して」
防災ロボコン最優秀賞受賞東北大開発能動カメラ

2008/06/28 -
アトムが助けに来る日

2008/06/17 -
優秀賞に8件経産省「今年のロボット」

2008/01/24 -
経済産業省受託事業「平成19年度ものづくり人材育成のための専門高校・地域産業連携事業

2007/12/17 -

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ロボット技術についての講演会講師
仙台工業高校クラフトマン２１講演会

2007/12/17 -

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講演「レスキューロボット」
「レスキューロボ参加電車火災の災害訓練に阪神三宮」

2007/12/09 -
東北大学機械系オープン講義

2007/09 -

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高崎女子高校において、オープン講義を行い、東北大学機械系のPRを行う
大都市大震災軽減化特別プロジェクトIII-4レスキューロボット等次世代防災基盤技術の開発，研究プロジェクト事後評価

2007/07/18 -

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大都市大震災軽減化特別プロジェクトIII-4レスキューロボット棟次世代防災基盤技術の開発，研究プロジェクト事後評価
RoboCup 2007 (6 of 15: Target in Sight)

2007/07/12 -
羽田空港保安事業センター研究会

2007/06/29 -

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打ち合わせ
日本機械学会講習会

2007/06/28 -

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講師「メカのケミカルアクチュエータ」
In Disaster City, calamity robots put to the test

2007/06/26 -
Flexible and Fearless, Seeking Rescue Work

2007/06/25 -
消防救急救助研究会

2007/05 -

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招待講演「救助用ロボット開発の現状」
科学警察研究所研究会

2007/04/18 -

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打ち合わせ
思考展開フォーラム

2007/04 -

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招待講演「レスキューロボット」
産業技術振興講演会

2007/04 -

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招待講演「我が国のロボット開発の現状と今後の展望」
消防救急救助研究会

2007/04 -

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招待講演「国際レスキューシステム研究機構の活動とこれからの展望」
化学災害技術研究会

2007/04 -

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招待講演「救助用ロボット開発の現状」
筑波大学UTARCセミナー

2007/04 -

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招待講演「レスキューロボットの現状：大大特プロジェクトより」
石油天然ガス探鉱開発長期的技術動向研究会

2007/04 -

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招待講演「石油掘削問題へのＲＴの適用可能性」
レスキューロボット「Ali-baba」写真掲載・「防災用インテリジェントエアロロボット」写真掲載

2007/03/31 -
大日本スクリーン製造株式会社

2007/01/31 -

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「レスキューロボット」に関する講演
宮城工業高等専門学校

2007/01/11 -

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宮城高専機械工学科３，４，５年生を対象とした特別教養講座において講演を行う。
「くねくね道も自由自在自走式スコープカメラ開発」

2007/01/09 -
「”毛虫型”スコープを開発繊毛で自走、災害に威力」

2007/01/09 -
「『毛虫型』スコープ開発川崎のＮＰＯ」

2007/01/09 -
「ゆめへの挑戦輝く未来神奈川県が未来を変える FUTURE05 レスキュー隊員はロボット」

2007/01/01 -
「さあロボット社会へ」

2007/01/01 -
「神戸の救急救助最前線！」

2006/12/09 -
「神戸の救急救助最前線！」

2006/12/06 -
「救助ロボ、開発着々実用化へ東北大の研究者ら」

2006/12/06 -
「『国際次世代ロボットフェアIRTJAPAN2006』レポート」

2006/12/05 -
「ものづくり万華鏡『人が行けずともロボットならば』」

2006/12/01 -
「国際次世代ロボットフェア」

2006/12/01 -
国土交通省国土技術政策総合研究所

2006/02/23 -

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最近のロボット技術の情勢と災害現場等への活用方法について講演を行う
全国消防救急救助研究会

2005/08/27 -

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講演「地震災害救助ロボットの現状と展望」
弁天町市民センター市民フォーラム

2005/07/23 -

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未来のサンダーバードを目指して，ロボットレスキューの可能性についての講演
大阪港開港１００周年記念式典

2005/07/15 -

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「ロボカップレスキュー：ロボカップの緊急災害問題への挑戦」講演
関西次世代ロボットフォーラム

2005/07/13 -

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招待講演「大都市大震災軽減化特別プロジェクト，III. 被害者救助等の災害対応戦略の最適化，4. レスキューロボット等次世代防災基盤技術の開発」
日本機械学会機素潤滑設計部門企画講習会

2005/05/20 -

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ナノメータ領域における技術発展が21世紀の産業の基盤技術として期待される中で，次世代のアクチュエータ・センサおよびそれらの統合システムの研究開発は益々重要になってくると考えられます．そこで「アクチュエータ工学」（養賢堂から出版予定）をテキストとして，圧電，静電，流体，形状記憶，メカノケミカルなどの次世代アクチュエータの原理や応用例，さらにマイクロアクチュエータの加工方法に至る最新の研究について，第一線で活躍中の12名の講師（予定）にわかりやすく講義していただきます．
近未来のレスキューシステムを見学しよう

2005/03/28 -

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http://www.miraikan.jst.go.jp/j/friendship/event/2005/0328 _01.html
がれきの山もへっちゃら！？災害救助ロボット開発着々神戸大と神戸高専

2002/07/13 -

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Media Coverage 364

レスキューロボット活用元年

河北新報

2012/06/12

Type: Newspaper, magazine
福島原発建屋で活躍する「Qunice（クインス）」

nippon.com

2012/05/30

Type: Other
競基弘賞に6団体

神戸新聞

2012/01/22

Type: Newspaper, magazine
被災建造物内移動RTシステム閉鎖空間内高速走行探査群ロボット「Quince」

ＦOCUSNEDOフォーカス・ネド

2011/10

Type: Newspaper, magazine
原発に投入されたロボットを開発した

読売新聞

2011/08/17

Type: Newspaper, magazine
災害対応のためのロボティクスー想定外の想定は、日本再起のきっかけ

経済Trend

2011/08

Type: Newspaper, magazine
なぜ、国産ロボットは３．１１に稼働しなかったのか

中央公論

2011/07

Type: Newspaper, magazine
東日本大震災・福島原子力災害に対するロボット

ロボコンマガジン

2011/07

Type: Newspaper, magazine
原発災害対応ロボットを開発

大学新聞

2011/06/01

Type: Newspaper, magazine
国産「Quince」原発投入真価発揮に期待！

セキュリティ産業新聞

2011/05/10

Type: Newspaper, magazine
「ロボット大国」の名が泣く原発作業は米欧頼み

週間新潮

2011/04/14

Type: Newspaper, magazine
災害救助ロボット実用化向け着々進化

河北新報

2010/06/11

Type: Newspaper, magazine
レスキューロボットの世界

OHM（Origiality Humanily Mobility)

2010/02/12

Type: Newspaper, magazine

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クローラ型レスキューロボット「Kenaf」
レスキューロボットの世界

OHM（Origiality Humanily Mobility)

2010/01/12

Type: Newspaper, magazine

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ヘビ型レスキューロボット「Hyper-蒼龍４」
レスキューロボットの世界

OHM（Origiality Humanily Mobility)

2009/12/12

Type: Newspaper, magazine

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レスキューロボットとは何か
役に立つという目的が必要

仙台経済界

2009/11

Type: Newspaper, magazine
レスキューロボット「ケナフ」、国際部隊へ出動。「ロボカップ2009世界大会」で総合部門世界第２位！世界各国の精鋭チームを制して、他部門においても栄冠を手に。

あおば萌ゆ

2009/11

Type: Other
レスキューロボットの最新動向

OHM（Origiality Humanily Mobility)

2009/10/12

Type: Newspaper, magazine
レスキューロボットの現状と将来

TOYRO BUSINESS（自然総研）

2009/07

Type: Newspaper, magazine
特集ーＮＥＤＯプロジェクトから生まれた人に役立つロボットたち

ＦOCUSNEDOフォーカス・ネド

2009/05

Type: Other

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特殊環境用ロボット分野から被災建造物内移動ＲＴシステム「閉鎖空間内高速走行探査ロボット」の開発
認識の溝を埋め、救助を考える

SCOPE NET

2009/04

Type: Newspaper, magazine
RTスピリッツ

RTスピリッツ

2009/03/31

Type: Other

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人に役立つロボット技術を開発する第一章社会に役立つロボットを生み出す開発者たち
がれき下8メートルまで探査ＯＫ災害ロボ世界が注目

読売新聞

2009/01/19

Type: Newspaper, magazine
へび型ロボ実用めど

朝日新聞

2008/12/31

Type: Newspaper, magazine
育てロボット産業

河北新報

2008/08/20

Type: Newspaper, magazine
ホース状「捜索ロボ」繊毛で全身、段差越え

日経産業新聞

2008/08/13

Type: Newspaper, magazine
ホース状の災害現場探索ロボ

日本経済新聞

2008/08/13

Type: Newspaper, magazine
がれきの下行く捜索隊レスキューロボット最前線

河北新報

2008/06/28

Type: Newspaper, magazine
RT研究の最前線から生まれる頼れるレスキューロボットたち

AXIS

2008/04/01

Type: Newspaper, magazine
「The Japan Journal: Rescue Robots」

政府インターネットテレビ

2007/12/21

Type: Other
国内外の危機管理に関する製品・技術・サービスが集結！

Imperss Robot Watch(web)

2007/10/23

Type: Other
危機管理産業展2007-レスキューから警備まで、ロボットが展示

マイコミジャーナル(web)

2007/10/18

Type: Other
ガードロボ、ムラタセイサク君、マイクロロボットなど～「CEATEC JAPAN 2007」のロボットたち

Imperss Robot Watch(web)

2007/10/03

Type: Other
活躍する災害救助ロボ新潟工科大に集結

日刊工業新聞

2007/08/15

Type: Newspaper, magazine
研究室紹介

オーム社

2007/07

Type: Newspaper, magazine
コラム「ロボットの活用」

日本災害情報学会

2007/07

Type: Other

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日本災害情報学会・ニュースレター No.30
管制塔「セキュリティ分野での活用が期待されるロボット」

Security Specialist Association

2007/06

Type: Other
管制塔「セキュリティ分野での活用が期待されるロボット」

Security Specialist Association月刊セキュリティ研究 6月号P.3

2007/05/25

Type: Newspaper, magazine
ビデオスコープがれき、詰まらず前進東北大段差に強い駆動機構

日経産業新聞５月１５日１０面

2007/05/15

Type: Newspaper, magazine
特集「レスキュー用ロボットの現状と将来展望」レスキューロボットシステム開発最前線とレスキュー隊員による想定訓練

アグネ技術センター「金属」第７７巻第５号P.3～８

2007/05/01

Type: Other
救助ロボット:

NHK仙台ラジオ「よじらじ宮城」

2007/04/09

Type: Other
多田しげおの気分爽快！内「情報サプリメントコーナー」

CBC(中部日本放送）ラジオ

2007/04/09

Type: Other

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能動スコープカメラに関する取材
最新瓦礫の中から要救助者を見つけ出せ！出動レスキューロボット」

子供の科学2007年2月号

2007/02

Type: Newspaper, magazine
レスキューロボット実用化へ着々県内外消防職員チーム訓練に使用実証重ね操作性向上

神奈川新聞 1月22日(月) 29面

2007/01/22

Type: Newspaper, magazine
「ＮＨＫおはよう日本」能動スコープカメラについて

NHK

2007/01/16

Type: TV or radio program
「災害救助用のロボット続々」

朝日新聞

2007/01/16

Type: Newspaper, magazine
「”毛虫型”の動くスコープカメラ開発／川崎」

神奈川新聞社カナコロ(web)

2007/01/16

Type: Other
”毛虫型”で発見川崎ＮＰＯ救助用スコープ開発

神奈川新聞 1月16日(火) 18面

2007/01/16

Type: Newspaper, magazine
能動スコープについて

ＮＨＫ首都圏ネットワーク

2007/01/16

Type: TV or radio program
「”毛虫型”スコープを開発繊毛で自走、災害に威力」

gooニュース（KYODONEWS）（web）

2007/01/09

Type: Other
震度７からの伝言② 23歳の死救助ロボ生む

朝日新聞 1月5日夕刊1面

2007/01/05

Type: Newspaper, magazine
特集１震災・防災対策の最前線は今レスキューロボットシステム開発最前線とレスキュー隊員による想定訓練

(財)東京消防協会東京消防 1月号 P.40～45

2007/01

Type: Other
「大大特総括シンポジウム『レスキューロボット等次世代防災基盤技術の開発』レポート」

Impress Watch Robot Watch

2006/12/25

Type: Other
進化する災害救助ロボ東北大・田所教授、他大学などと共同研究

朝日新聞（宮城版）12月21日(木) 34面

2006/12/21

Type: Newspaper, magazine
救助ロボ開発着々東北大・田所教授らのNPO「阪神」機に研究者結集実用化へ手応え

河北新報 12月6日夕刊1面

2006/12/06

Type: Newspaper, magazine
「人命救助の道具としてのレスキューロボット(研究室便り-3-)田所諭さん」

日刊工業新聞社「ロボナブル」(web)

2006/12/06

Type: Other
メタルカラー烈伝温暖化クライシス

小学館

2006/10

Type: Newspaper, magazine

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山根一眞氏との対談本
レスキューロボット開発の現在

株式会社オーム社ロボコンマガジンＮｏ．４６

2006/08

Type: Newspaper, magazine
民間国際ロボット救助隊を創ろう：実現するかサンダーバード

毎日新聞

2006/07/05

Type: Newspaper, magazine
「レスキューロボットを使った災害救助 IRSによる災害現場からの救助想定訓練」紹介

株式会社オーム社ロボコンマガジンNo.46

2006/06

Type: Newspaper, magazine
特別対談「サイエンスに魅せられて」瀬名秀明×田所諭

別冊東北学編集室仙台学VOL．2

2006/04

Type: Newspaper, magazine
「未来をひらく夢への挑戦地震災害を究明せよ」

子ども科学技術白書編集委員会「子ども科学技術白書VII」

2006/03

Type: Newspaper, magazine
国際緊急援助隊

読売新聞

2005/10/17

Type: Newspaper, magazine
レスキューロボット研究への道ー阪神・淡路大震災を経験して

(株)ロボット科学教育クレファスジャーナル

2005/10

Type: Other
最先端技術で産業生み出せ災害救助やイベントにも

日本経済新聞

2005/03/29

Type: Newspaper, magazine
(遊歩道)がれきの下の被災者飛行船で情報収集

静岡新聞

2005/03/20

Type: Newspaper, magazine
(遊歩道) 救助されるロボット開発

静岡新聞

2005/03/13

Type: Newspaper, magazine
防犯の最新技術が一同に会する"セキュリティーショー"開催

週間アスキー

2005/03/09

Type: Other
(遊歩道) 出動レスキューロボ瞬時に立体地図作成国連防災会議で披露

静岡新聞

2005/03/06

Type: Newspaper, magazine
5種類のレスキューロボットでデモ、国際レスキュー研究機構

Nikkeibp.jp 機械・車

2005/03/03

Type: Other
きょうからSECURITY SHOW 狭いすき間も探索災害救助ロボに注目

日経産業新聞

2005/03/01

Type: Newspaper, magazine
(遊歩道)出動レスキューロボ「ヘビ型」実用目前がれきの下で捜索

静岡新聞

2005/02/27

Type: Newspaper, magazine
「減災の切り札-救助ロボット開発進む」

読売ザKansai

2005/02/16

Type: TV or radio program
関西えひめ人国際レスキューシステム研究機構会長田所諭さん救助用ロボット研究

愛媛新聞

2005/02/06

Type: Newspaper, magazine
リモコンで動くヘビ型救助用ロボットを出展

消防新聞

2005/02/05

Type: Newspaper, magazine
国連防災世界会議でレスキューロボットのデモンストレーション

救急医療ジャーナル

2005/02/05

Type: Other
最先端の救助活動、グッズも紹介

毎日新聞

2005/01/30

Type: Newspaper, magazine
蛇型「救助ロボ」登場大規模災害想定し実演

南日本新聞(夕刊)

2005/01/22

Type: Newspaper, magazine
救助ロボ出動実用化に期待高まる

産経新聞

2005/01/22

Type: Newspaper, magazine
人命救助ロボ世界に向け発信

WCDRニュース

2005/01/22

Type: Other
防災世界会議第4日ダイジェストヘビ型救助ロボ登場人が入れないがれきの中へ

毎日新聞

2005/01/22

Type: Newspaper, magazine
国連防災世界会議人命救助ロボ公開大規模災害で活躍期待

日本海新聞

2005/01/22

Type: Newspaper, magazine
災害で人命救助ロボットを公開

信濃毎日新聞(夕刊)

2005/01/22

Type: Newspaper, magazine
人命救助は任せて神戸レスキューロボット公開

上毛新聞

2005/01/22

Type: Newspaper, magazine
大規模災害に活用人命救助ロボ公開

秋田魁新聞

2005/01/22

Type: Newspaper, magazine
レスキューロボ神戸国際展示場で実演

神戸新聞ニュース

2005/01/21

Type: Newspaper, magazine
レスキューロボ始動神戸国際展示場で実演

神戸新聞

2005/01/21

Type: Newspaper, magazine
『ニュースでEyeランド』

サンテレビジョン

2005/01/21

Type: TV or radio program
人命救助ロボット公開大規模災害で活躍

Yahoo News Japan

2005/01/21

Type: Other
人命救助ロボット大規模災害で活躍

Sankei Web

2005/01/21

Type: Other
人命救助ロボット公開ー大規模災害で活躍

Nikkei Net

2005/01/21

Type: Other
神戸で人命救助ロボットのデモ国連防災世界会議の関連行事

スポニチアネックスOSAKA

2005/01/21

Type: Other
レスキューロボ研究中国科学院とIRSが連携

日本経済新聞(夕刊)

2005/01/21

Type: Newspaper, magazine
災害現場を目指せ救助ロボットの今

四国放送「おはようとくしま」

2005/01/20

Type: TV or radio program
「災害現場を目指せ救助ロボットの今」

四国放送『おはようとくしま』

2005/01/20

Type: Other
ヘビ型ロボ、被災者救え NPO、神戸で実演会

日本経済新聞

2005/01/19

Type: Newspaper, magazine
レスキューロボ、NPOが実演、国連会議に合わせ

日経産業新聞

2005/01/19

Type: Newspaper, magazine
（国連防災世界会議よりライブ中継）

関西ラジオ

2005/01/18

Type: Other
「防災会議でレスキューロボット実演」

NHK 『総合テレビニュース』

2005/01/18

Type: TV or radio program
救助ロボ公開実験センサーやカメラ搭載

asahi.com

2005/01/18

Type: Other
1/18・人命救助システムの若手開発者を表彰

カナコロローカルニュース

2005/01/18

Type: Other
救助ロボ公開実験センサーで捜索

朝日新聞(夕刊)

2005/01/18

Type: Newspaper, magazine
人命救助システム研究者の遺志継ぎ賞創設

神奈川新聞

2005/01/18

Type: Newspaper, magazine
「災害時大活躍？救助ロボット」

毎日放送『ちちんぷいぷい』

2005/01/17

Type: TV or radio program
震災で死亡、神戸大院生の情熱継ぎ救助ロボ新設

asahi.com

2005/01/17

Type: Other
癒しロボット若き遺志継ぐ賞震災死院生の名冠し

朝日新聞

2005/01/17

Type: Newspaper, magazine
防災ロボット開発へ"競さん賞" きょう設立

読売新聞

2005/01/17

Type: Newspaper, magazine
災害現場で役立つロボット

朝日中学生ウイークリー

2005/01/16

Type: Newspaper, magazine
被災院生の遺志受け継ぐ救助ロボットの研究者支援

中日新聞

2005/01/16

Type: Newspaper, magazine
ロボット開発の遺志継承震災犠牲院生の名、賞に

朝日新聞(夕刊)

2005/01/14

Type: Newspaper, magazine
レスキューロボ世界にアピール国連防災会議に出展

日刊工業新聞

2005/01/14

Type: Newspaper, magazine
飛行船で被災者捜せ家にマイク声拾う実験

朝日新聞(夕刊)

2005/01/14

Type: Newspaper, magazine
阪神大震災10年復興その先に(中) 売れる救助ロボ着々と

日刊工業新聞

2005/01/13

Type: Newspaper, magazine
FMわぃわぃ

FMわぃわぃ

2005/01/08

Type: Other
ハイテク駆使減らせ震災被害ヘビ型ロボ現場で活躍

高知新聞

2005/01/05

Type: Newspaper, magazine
減らせ災害の危機被災者探すヘビ型ロボ新潟で初の現場投入

山陽新聞

2005/01/04

Type: Newspaper, magazine
世界最先端の技術駆使様変り地震防災の今

神奈川新聞

2005/01/04

Type: Newspaper, magazine
最先端技術で地震被害防げロボットで被災者探索揺れ探知ー警戒システムも

信濃毎日新聞(夕刊)

2005/01/04

Type: Newspaper, magazine
「減らせ災害の危険」研究を防災に生かすレスキューロボ"出動" 目標は国際救助隊

上毛新聞

2005/01/04

Type: Newspaper, magazine
ハイテク駆使し減災へレスキューロボや早期察知

中部経済新聞

2005/01/03

Type: Newspaper, magazine
ハイテク駆使震災被害減へ捜索ロボット、早期察知システム、目標は「サンダーバード」

佐賀新聞

2005/01/03

Type: Newspaper, magazine
救助ロボット、ハイテク使い地震対策、がれきの奥まで捜索

宮崎日日新聞

2005/01/03

Type: Newspaper, magazine
地震列島日本減らせ災害の危険立ち向かうハイテク

岐阜新聞

2005/01/03

Type: Newspaper, magazine
競さんの遺志継いで救助ロボ賞創設

神戸大学ネットニュース UNN学生報道連盟

2005/01/01

Type: Newspaper, magazine
地震に挑むハイテクロボットで被災者救え

北日本新聞

2005/01/01

Type: Newspaper, magazine
減らせ震災被害被災者捜索にハイテクロボ

山梨日日新聞

2005/01/01

Type: Newspaper, magazine
2段の無限軌道で推進力ー神戸大ヘビ型救助支援ロボ垂直にも動く

日経産業新聞

2004/12/16

Type: Newspaper, magazine
視点救助ロボ、実用化の条件

日刊工業新聞

2004/12/07

Type: Newspaper, magazine
回顧2004年(1)ーロボット研究「災害救助向けや新歩行制御進む」

日本経済新聞(夕刊)

2004/12/06

Type: Newspaper, magazine
『おはよう日本』

NHK

2004/11/22

Type: TV or radio program
NHK首都圏ネットワーク

NHK首都圏ネットワーク

2004/11/03

Type: TV or radio program
「Access: ロボット最前線」

NHK 『What's on Japan』

2004/10/30

Type: TV or radio program
「機動警察パトレイバーの源泉展」fa ロボット談義IN神戸

産経新聞(夕刊)

2004/10/26

Type: Newspaper, magazine
迫る巨大地震(下) 第3部防災・減災

朝日新聞

2004/10/10

Type: Newspaper, magazine
「ロボットはパートナー」

テレビ東京『ガイアの夜明け』

2004/09/28

Type: TV or radio program
「かながわサイエンスサマー」

神奈川ニュース

2004/09/10

Type: TV or radio program
『ネットワーク1・17』

毎日放送

2004/09/04

Type: TV or radio program
地震：日本如何面対

中国雲南テレビ

2004/09

Type: TV or radio program
救助ロボットスタンバイがれきの中から被災者迅速探索

日本経済新聞

2004/08/22

Type: Newspaper, magazine
災害現場の救助ロボ母船開発へ

神戸新聞

2004/08/11

Type: Newspaper, magazine
日本発の"サンダーバード"を育てるリアルな倒壊家屋

都市再生・環境ビジネスマガジン

2004/08/09

Type: Newspaper, magazine
「KOBE未来工房ーロボットづくりの現場から5」「急こう配も平気被災地に体感の場」

神戸新聞

2004/08/05

Type: Newspaper, magazine
「KOBE未来工房ーロボットづくりの現場から3」「二次災害防ぐ"先遣隊"がれきの中も探索」

神戸新聞

2004/08/03

Type: Newspaper, magazine
「救助ロボ」実験施設がオープン神戸

毎日新聞

2004/07/30

Type: Newspaper, magazine
救助ロボット、「現場」で開発

朝日新聞

2004/07/30

Type: Newspaper, magazine
多彩な顔ぶれレスキューロボット

情報誌 Regional Futures

2004/07/30

Type: Newspaper, magazine
救助ロボ勇ましく神戸実験施設関係者に公開

神戸新聞 WEB NEWS

2004/07/29

Type: Newspaper, magazine
神戸で救助ロボットを公開災害研究のNPO法人

Yahoo News Japan

2004/07/29

Type: Other
救助ロボ一般公開

産経新聞(夕刊)

2004/07/29

Type: Newspaper, magazine
神戸で救助ロボットを公開

NIKKEI NET、デイリースポーツonline、岐阜新聞、宮崎日日新聞

2004/07/29

Type: Other
救助ロボ勇ましくっくべ実験施設報道陣に公開

神戸新聞(夕刊)

2004/07/29

Type: Newspaper, magazine
救助ロボ実験地震で倒壊の家屋再現

日本経済新聞(夕刊)

2004/07/29

Type: Newspaper, magazine
震災時の現場再現

神戸新聞(夕刊)

2004/07/26

Type: Newspaper, magazine
川崎ラボ救助ロボ拠点に

日経産業新聞

2004/07/15

Type: Newspaper, magazine
災害救助ロボ特訓に被災地再現 NPO、神戸に実験施設

Yomiuri on - line 関西

2004/07/08

Type: Newspaper, magazine
「進化する救助ロボット」

NHK『スタジオパーク』

2004/07/08

Type: TV or radio program
ロボット時代がやってきた！？次世代型実用化へ

神戸新聞

2004/07/08

Type: Newspaper, magazine
災害救助ロボ、現場で特訓中 NPO、神戸に実験施設

読売新聞

2004/07/08

Type: Newspaper, magazine
『Japan & The World 44 Minites』, 「Snake-like Rescue Robot」

NHKラジオ, NHK国際放送

2004/07/06

Type: TV or radio program
すすめ！ロボットきゅうじょたい

学研科学と学習増刊「話のびくり箱2年」

2004/06/15

Type: Newspaper, magazine
「災害救助ロボット」

TV朝日系『キッズニュース』

2004/06/12

Type: TV or radio program
ー先端技術ー 21世紀の気鋭レスキューロボけん引

日経産業新聞

2004/06/10

Type: Newspaper, magazine
「ロボカップインポルトガル」

九州朝日放送ＫＢＣラジオ

2004/05/16

Type: Other
レスキューロボットいざ出動

朝日小学生新聞

2004/05/11

Type: Newspaper, magazine
災害救助ロボ出動せよ

朝日新聞

2004/05/09

Type: Newspaper, magazine
「ロボット最前線」

NHK教育TV『サイエンスZERO』

2004/04/24

Type: TV or radio program
ヘビ型救助ロボット本格走行

朝日新聞

2004/04/18

Type: Newspaper, magazine
地震災害軽減の研究施設を公開

神奈川新聞

2004/04/16

Type: Newspaper, magazine
目指せ、国際救助隊！

月刊「子供の科学」 5月号

2004/04/10

Type: Newspaper, magazine
『アクセスかわさき930』「ロボットと市民防災のふれあいフェスティバル」の案内

FM川崎

2004/04/05

Type: Other
創造工房・レスキューロボット工作教室

読売新聞(朝刊)

2004/03/29

Type: Newspaper, magazine
巣立ちの街から教え子の遺志継ぎ救助ロボ

朝日新聞(夕刊)

2004/03/06

Type: Newspaper, magazine
Quake Snake to the Rescue

Science & Spirit

2004/03/03

Type: Newspaper, magazine
イラン地震調査支援通総研、研究機材を提供

日刊工業新聞

2004/03/01

Type: Newspaper, magazine
震災対策技術展・レスキューシステム・跳躍するロボット

神奈川新聞

2004/02/18

Type: Newspaper, magazine
油圧ショベルの遠隔操縦可能

日刊工業新聞

2004/02/10

Type: Newspaper, magazine
ゴムの人工筋で動き軽やかに

日刊工業新聞

2004/02/02

Type: Newspaper, magazine
人工筋肉使い人間らしい動作

日刊建設産業新聞

2004/02/02

Type: Newspaper, magazine
震災対策技術展・救助ロボットも登場

毎日新聞(関西版)

2004/01/30

Type: Newspaper, magazine
「震災対策技術展・救助ロボットも登場」

関西テレビ（関西版）

2004/01/29

Type: TV or radio program
神戸で開発レスキューロボット「発信」せよ！

日刊建設工業新聞

2004/01/28

Type: Newspaper, magazine
次世代に無限の可能性「脱・産業用」ロボ開発始動

日刊工業新聞

2004/01/22

Type: Newspaper, magazine
阪神淡路大震災後の神戸の活動

日刊工業新聞(関西版)

2004/01/21

Type: Newspaper, magazine
次代開くロボット・医療災害救助で活躍期待

神戸新聞

2004/01/20

Type: Newspaper, magazine
レーザーロボットが身近に

日刊工業新聞

2004/01/15

Type: Newspaper, magazine
レスキューロボット・国際シンポジウム開催案内

日本経済新聞

2004/01/14

Type: Newspaper, magazine
「スーパーニュースほっとかんさい最新レスキューロボ＆支える人々」

関西テレビ

2004/01/13

Type: TV or radio program
「おはよう日本神戸震災後の今」

NHK（全国ネット）

2004/01/13

Type: TV or radio program
「神戸震災後の今」

NHK（関西地域限定）

2004/01/09

Type: TV or radio program
次世代ロボ、関西で生もう介護や災害救助

日本経済新聞(夕刊)

2004/01/07

Type: Newspaper, magazine
新年号ロボット特集

日本経済新聞

2004/01/03

Type: Newspaper, magazine
開発進む救助ロボット東京国際消防防災展に出品

神戸新聞

2003/12/14

Type: Newspaper, magazine
神戸でレスキューロボの実演会

神戸新聞 Web News

2003/12/07

Type: Newspaper, magazine
開発進む防災新技術

中国新聞

2003/12/07

Type: Newspaper, magazine
災害対応ロボットの未来展望

警備保障新聞

2003/12/05

Type: Newspaper, magazine
災害救助ロボの役割考える大学が開発したロボットも

UNN関西学生報道連盟

2003/12/02

Type: Newspaper, magazine
救助ロボットテーマにシンポ神戸で6日開催

神戸新聞ニュース

2003/12/02

Type: Newspaper, magazine
「ウォッチ！」（2003東京国際消防防災展）

TBSテレビ

2003/11/21

Type: TV or radio program
「ズームイン！スーパー」（2003東京国際消防防災展）

日本テレビ

2003/11/21

Type: TV or radio program
「17：48～ FNNスーパーニュース」（2003東京国際消防防災展）

フジテレビ

2003/11/20

Type: TV or radio program
2003国際ロボット展開幕

日刊工業新聞

2003/11/20

Type: Newspaper, magazine
2003東京国際消防防災展

朝日新聞(夕刊)、毎日新聞(夕刊)、読売新聞、東京新聞、産経新聞、日本経済新聞

2003/11/20

Type: Newspaper, magazine
03秋季展見てある記国際ロボット展ビジネス色一段と強まる

日刊工業新聞

2003/11/20

Type: Newspaper, magazine
「15：11～ NHKニュース」（2003東京国際消防防災展）

NHK

2003/11/20

Type: TV or radio program
ロボット&レスキューシステム逆見本市レスキューに応用可能な技術の商談

神奈川新聞

2003/11/14

Type: Newspaper, magazine
ロボット石橋たたき歩行神戸大が技術開発災害救助用狙う

日経産業新聞

2003/11/10

Type: Newspaper, magazine
見てある記国際フロンティア産業メッセ

日刊工業新聞

2003/11/07

Type: Newspaper, magazine
目指すは国際救助隊ーレスキューロボット研究の今ー

ZDNN

2003/11/07

Type: Other
神戸大学工学部田所研究室とIRSの挑戦

蛍雪時代

2003/11/01

Type: Other
技術立国日本の逆襲 4本脚、蛇型・・・災害時の実用化へ態勢整う

産経新聞

2003/10/15

Type: Newspaper, magazine
神奈川県、ロボット産業育成を支援

NIKKEI NET

2003/10/15

Type: Other
災害救助ロボ商談会

日本経済新聞

2003/10/15

Type: Newspaper, magazine
災害救助ロボ神戸に実験場国際レスキュー研

日本経済新聞(夕刊)

2003/10/11

Type: Newspaper, magazine
災害現場でロボットが活躍する日始動し出したレスキューロボットー田所諭

NATURE INTERFACE No.17

2003/10/10

Type: Newspaper, magazine
神戸の技術士が来年セミナー市の構想を応援開発技術普及へ

神戸新聞

2003/10/10

Type: Newspaper, magazine
レスキューロボット訓練研究者ら実際に操作

読売新聞

2003/10/08

Type: Newspaper, magazine
テクナビレスキューロボットの開発

週刊エコノミスト

2003/10/06

Type: Other
Snake Robots Designed for Earthquake Rescue

The Impact Lab at the Da Vinci Institute

2003/09/26

Type: Other
Online Insights: Snake Robots Being Developed for Earthquake Rescue

Betterhumans

2003/09/23

Type: Other
e-tomorrow捜査隊 IT災害救助で人命は守れるか

日経ゼロワン11月号

2003/09/18

Type: Other
がんばれ！ロボット救助隊

学研 3年の科学 10月号

2003/09/16

Type: Other
ロボット最前線・レスキューロボット出動せよ！

学研 6年の科学 10月号

2003/09/16

Type: Other
最新ロボットニュースレスキューロボットただ今研究中！

学研 4年の科学 10月号

2003/09/16

Type: Other
災害救助ロボ出動がれきを前に遠隔操作学ぶ

日経産業新聞

2003/09/15

Type: Newspaper, magazine
災害救助ロボ訓練ばっちり

日本経済新聞

2003/09/13

Type: Newspaper, magazine
レスキュー最前線被災者を探せがれき進むヘビ型ロボ

日本経済新聞(夕刊)

2003/09/12

Type: Newspaper, magazine
レスキューロボ開発

読売新聞

2003/09/04

Type: Newspaper, magazine
夢はサンダーバード！！ロボットレスキュー隊は実現する！！

学研 Kids新聞号外

2003/09

Type: Other
レスキューロボットの現状と未来

KOBE ROTARIAN

2003/09

Type: Other
神奈川ニュース（県内34映画館にて上映）「レスキューロボット出動！」

神奈川ニュース

2003/09/01

Type: TV or radio program
New Media FRONT ロボットベンチャー企業の入居施設「THINK 未来工房」開設

月刊ニュースメディア10月号

2003/09/01

Type: Other
「防災特別番組」（レスキューロボット・川崎テストフィールドにてデモ走行）

TBS

2003/09/01

Type: TV or radio program
救速発信 ITで人命を救え！！防災・救助情報システム動向

月刊ニュースメディア10月号

2003/09/01

Type: Other
「震災メッセージ～語り継ぐあの日～ vol.2」

NHK神戸放送局

2003/08/31

Type: TV or radio program
「先進救助」世界に発信

読売新聞(関西版)

2003/08/25

Type: Newspaper, magazine
IT大捜査線レスキューロボットが世界を救う

Web magazine COMZINE

2003/08/25

Type: Other
災害救助ロボコンテスト、広大チームが最高賞

読売新聞大阪

2003/08/20

Type: Newspaper, magazine
防災フォトニュース

防災情報新聞

2003/08/17

Type: Newspaper, magazine
二つの地震の災害の状況と救助活動に関するシンポジウム

PressNetwork

2003/08/16

Type: Other
災害「救助」ロボコンで工学大賞/広島大

中国新聞地域ニュース

2003/08/14

Type: Newspaper, magazine
The Latest Science and Technology Used to Reduce Damage from Large-scale Disasters

Kanagawa Business Newsletter

2003/08/12

Type: Other
出動！レスキューロボ

読売新聞大阪

2003/08/12

Type: Newspaper, magazine
新アイデアが意欲的に盛り込まれた第3回レスキューロボットコンテスト

MYCOM PC WEB

2003/08/11

Type: Other
科学・いま&未来阪神大震災後開発進む"レスキューロボ"

毎日新聞

2003/08/09

Type: Newspaper, magazine
災害救助ロボ・顔ぶれ多彩

日本経済新聞

2003/08/03

Type: Newspaper, magazine
8分の1の災害現場で活躍、大阪でレスキューロボット大会

読売新聞大阪

2003/08/02

Type: Newspaper, magazine
日本SGIと電気通信大学、ヘビ型レスキューロボットを開発

月刊ニュースメディア9月号

2003/08/01

Type: Other
鉄腕アトムの子供たち

月刊現代

2003/08

Type: Newspaper, magazine
触覚付き5本指ロボや非常時通信システム CRL一般公開

Mainichi INTERACTIVE

2003/08/01

Type: Other
1`7kmの長距離無線LANからロボットハンドまで、CRLが研究施設を一般公開

INTERNET Watch

2003/08/01

Type: Other
ミニシンポジウム「アルジェリア地震、三陸南部地震、災害の状況と救助活動」の御案内

rescuenow.net

2003/08

Type: Other
レスキューロボット・電通大松野研究室

毎日新聞

2003/07/25

Type: Newspaper, magazine
地震・災害に活躍ヘビ型レスキューロボット

全私学新聞

2003/07/23

Type: Newspaper, magazine
VIP神奈川印象派・夢は"国際救助隊"の創設

神奈川新聞

2003/07/20

Type: Newspaper, magazine
レスキューロボット開発災害時、情報を収集

岐阜新聞

2003/07/16

Type: Newspaper, magazine
遠隔操作のレスキューロボ神戸大など共同開発

日本工業新聞

2003/07/11

Type: Newspaper, magazine
災害時に活躍・多彩なレスキューロボがずらり

タウンニュース川崎幸区版

2003/07/11

Type: Other
ロボットがわが家にやってくる 5 レスキュー空中漂い被災者を発見

日刊工業新聞

2003/07/09

Type: Newspaper, magazine
救助ロボット関西に可能性国際レスキューシステム研究機構会長田所諭さん

神戸新聞

2003/07/06

Type: Newspaper, magazine
「16：00 MBSニュースワイド」（レスキューロボット・デモンストレーション）

毎日放送ラジオ局

2003/07/05

Type: Other
災害救助ロボ"出動" 神戸で披露産学連携し開発

読売新聞

2003/07/05

Type: Newspaper, magazine
レスキューロボット 05年世界大会大阪市で開催

産経新聞

2003/07/05

Type: Newspaper, magazine
神戸の被災企業ら参画救助ロボット開発

神戸新聞

2003/07/05

Type: Newspaper, magazine
携帯ピッ被災者見ツケタ産学連携救助ロボ

朝日新聞

2003/07/05

Type: Newspaper, magazine
被災者SOS受信するロボ

朝日新聞

2003/07/05

Type: Newspaper, magazine
2005年、大阪市でロボット世界大会

読売新聞大阪

2003/07/05

Type: Newspaper, magazine
レスキューロボ試作機お披露目神戸大など

日本経済新聞

2003/07/05

Type: Newspaper, magazine
災害救助ロボット公開

スポニチアネックス

2003/07/05

Type: Other
夕方関西版（神戸大高森研究室レスキューロボットデモ）

NHK神戸放送局

2003/07/04

Type: TV or radio program
1日で都市立体景観アジア航測広域画像も簡単に

日経産業新聞

2003/07/04

Type: Newspaper, magazine
大規模災害時の救助ロボ実用化へ開発本格化

神戸新聞

2003/07/04

Type: Newspaper, magazine
災害救助ロボット公開神戸大隠れた被災者を電波探知

京都新聞

2003/07/04

Type: Newspaper, magazine
「NS」（神戸大高森研究室レスキューロボットデモ）

読売テレビ

2003/07/04

Type: TV or radio program
「PM9:30 ニュースEyeランド」（神戸大高森研究室レスキューロボットデモ）

サンテレビ

2003/07/04

Type: TV or radio program
災害救助ロボを公開消防関係者らに

神戸大ニュースネット

2003/07/04

Type: Other
研究進む救助ロボット災害現場での活躍期待

読売新聞

2003/07/02

Type: Newspaper, magazine
倒壊家屋から被災者を発見

日経産業新聞

2003/07/01

Type: Newspaper, magazine
地震災害救助ロボット

2003予防時報夏号

2003/07

Type: Other
本番さながら災害救助ロボットコンテスト控え披露

読売新聞

2003/06/30

Type: Newspaper, magazine
転んでも起きる脚反転ロボット

日経産業新聞

2003/06/30

Type: Newspaper, magazine
News: アンカーデスク頼れるヤツやこんなヤツーヘビ型・クモ型・ジャンプに変形・・・

IT media News

2003/06/27

Type: Other
「11:30 FNNニュース」（レスキューロボット・デモンストレーション）

フジTV

2003/06/27

Type: TV or radio program
「WORLD NEWS」（レスキューロボット・デモンストレーション＆松野研究室）

NHK国際放送BS1

2003/06/26

Type: TV or radio program
空気圧を利用人工筋肉伸縮

日経産業新聞

2003/06/26

Type: Newspaper, magazine
「5：00地域情報番組」（レスキューロボット・デモンストレーション）

東急ケーブルTV

2003/06/25

Type: TV or radio program
救助ロボ50種公開・被害者確認、がれき除去

神戸新聞

2003/06/25

Type: Newspaper, magazine
いざという時、頼りになる"彼ら"ーレスキューロボット大集合

ZDNews

2003/06/25

Type: Other
災害救助任せて

日本経済新聞

2003/06/25

Type: Newspaper, magazine
レスキューロボ・川崎でデモ公開

日本工業新聞

2003/06/25

Type: Newspaper, magazine
災害のときにはロボにお任せ

朝日新聞

2003/06/25

Type: Newspaper, magazine
未来のレスキュー隊

読売新聞

2003/06/25

Type: Newspaper, magazine
最新鋭の救助ロボ公開

神奈川新聞

2003/06/25

Type: Newspaper, magazine
救援用ヘビ型ロボ開発・頭持ち上げ被災者捜索

2003/06/25

Type: Newspaper, magazine
救助ロボ一堂に・研究成果の展示会

日刊工業新聞

2003/06/25

Type: Newspaper, magazine
レスキューロボット

東京新聞

2003/06/25

Type: Newspaper, magazine
国際レスキューシステム研究機構、レスキューロボが一堂に会するデモを開催

MYCOM PC WEB

2003/06/25

Type: Other
ロボット開発

日本経済新聞

2003/06/24

Type: Newspaper, magazine
「6：00ニュース」（レスキューロボット・デモンストレーション）

NHK横浜

2003/06/24

Type: TV or radio program
「6：00ニュース」「9：30ニュース」（レスキューロボット・デモンストレーション）

TVKテレビ

2003/06/24

Type: TV or radio program
救援用ヘビ型ロボット開発 (日本SGI・電通大松野研究室共同開発)

日経産業新聞

2003/06/24

Type: Newspaper, magazine
日本SGIが電気通信大学と共同でヘビ型レスキューロボットを開発

日本SGI(株)プレスリリース

2003/06/24

Type: Other
「震災メッセージ～語り継ぐあの日～」

NHK神戸放送局

2003/06/08

Type: TV or radio program
メタルカラーの時代災害から人命を守るレスキューロボット最前線

週刊ポストVol.35 No.23

2003/06/06

Type: Newspaper, magazine
減災ー大地震に備える(6) レスキューロボ開発

Yomiuri On-Line

2003/06

Type: Other
地震災害被害を軽減するためのRT（ロボットテクノロジー）

地震ジャーナル

2003/06/01

Type: Other
「ニュースKOBE発震災メッセージ田所諭さん（国際レスキューシステム研究機構）」

NHK神戸放送局

2003/05/26

Type: TV or radio program
News in Science - The robots are coming, say Japanese engineers

ANB Online

2003/05/20

Type: Other
地方経済に救世主？地方都市がロボット産業に注目

INTELLIGENCE

2003/05/12

Type: Other
ロボカップジャパンオープン 2003 観戦記

ZDNet News

2003/05/08

Type: Other
ロボカップジャパンオープン2003新潟開催ー史上初！の人間対ロボットのPK戦も

ASCII24

2003/05/07

Type: Other
Japan's Underlying Strength: The Future as Created by Robots

Journal of Japanese Trade Industry

2003/05/06

Type: Other
日本SGI、「ロボカップジャパンオープン 2003 新潟」レスキューロボットリーグに出場

MEDIA SELECT ONLINE

2003/05/02

Type: Other
川崎ラボラトリー災害救援ロボ実演頼れる技術に期待集中

神奈川新聞

2003/04/20

Type: Newspaper, magazine
「ごめんやす馬場章夫です復興の槌音９９レスキューロボット」

MBSラジオ

2003/04/18

Type: Other
防災ロボットの共同研究プロジェクト発足、セレモニーで実演も

JIJweb 日本工業新聞

2003/04/17

Type: Other
災害時用飛行船が登場

JWN LIFE OF JAPAN

2003/04/15

Type: Other
がれき内探索ロボット開発へ

読売新聞大阪

2003/04/12

Type: Other
関西ロボット新事情「王国」めざす神戸ー重厚長大に技術蓄積

日経ネット関西版

2003/04/10

Type: Other
ITで変わる防災対策被害把握、復旧も早く

日経産業新聞

2003/04/09

Type: Newspaper, magazine
レスキューロボットの使命～ロボットが世界を救う

IT media NEWS

2003/04/09

Type: Other
原発事故対応ロボ公開川崎のNPOなど共同研究チーム発足

Chunichi Web Press

2003/04

Type: Other
レスキューロボットいざ出動！長岡技術科学大学に突激取材！」

Safety見附 No.27

2003/04/01

Type: Other
川崎ラボラトリ最新鋭4ロボット転入

神奈川新聞

2003/03/26

Type: Newspaper, magazine
「関西トピックス」

読売ケーブルテレビ

2003/03/25

Type: TV or radio program
「HOT ZONE おはようKRY」内「若井典子のオメン！ドー！コテ！」

山口放送ラジオ

2003/03/17

Type: Other
震災用探索ロボット京都大が開発に成功

公明新聞

2003/02/07

Type: Newspaper, magazine
大震災の教訓が生んだ蛇型怪ロボットの値段

週刊新潮

2003/01/30

Type: Newspaper, magazine
「らぶかん」

京都テレビ

2003/01/16

Type: TV or radio program
がれきの中進む探索用ロボット京大助教授開発

日本経済新聞

2003/01/15

Type: Newspaper, magazine
災害時がれき広げて進む探索ロボ大震災を機に開発中

日本産業新聞

2003/01/15

Type: Newspaper, magazine
Reportage Kobe

TF１（フランス）

2003/01/11

Type: Other
夢追い続ける"科学少年"

読売新聞

2003/01/01

Type: Other
親の目子の目「ロボット大好き！！」－人の役に立つロボットを作りたい－

テレビ朝日

2002/12/13

Type: TV or radio program
「クローズアップ現代」「ロボットで人命を救え」

NHK

2002/12/05

Type: TV or radio program
災害救助兼用ジャッキ

D&M no.579

2002/12

Type: Newspaper, magazine
Technology for the Front Lines

J@pan Inc.

2002/12

Type: Other
双方向共同研究、先端商品産む持続的な関係模索

神戸新聞

2002/11/13

Type: Newspaper, magazine
エムティーラボ介護用ロボ重量 1/5 東工大と開発駆動装置にゴム

日経産業新聞

2002/10/30

Type: Newspaper, magazine
「スタジオパークから今日は」「くらしの中のニュース解説」レスキューロボット開発の情報

NHK

2002/10/17

Type: TV or radio program
リトルガリバー

MXTV

2002/09/29

Type: TV or radio program
ニュースアイランド

サンテレビ

2002/09/25

Type: TV or radio program
お昼ニュース

NHK（近畿）

2002/09/25

Type: TV or radio program
災害時の活躍期待救助ロボット研究拠点オープン

神戸新聞

2002/09/25

Type: Newspaper, magazine
救援ロボデモ走行震災教訓、神戸に研究所

朝日新聞

2002/09/25

Type: Newspaper, magazine
ニュースかんさい発5:45pm

NHK

2002/08/20

Type: TV or radio program
鉄腕アトムが歩き出す災害救助、留守番、ペット・・実用型は街へ家へ

日本経済新聞

2002/08/20

Type: Newspaper, magazine
「サンダーバード」のように"役立つ"ロボットを作るエンジニア集団

Robot Journal

2002/08/01

Type: Newspaper, magazine
救助ロボット出動迫る

日本経済新聞

2002/07/14

Type: Newspaper, magazine
「いきいきワイド」 (三度の飯より研究が好き！‐東工大キャンパス探検－）

NHK

2002/06/19

Type: TV or radio program
わずか1cmの瓦礫のすき間から被災者救助

日刊工業新聞

2002/06/14

Type: Newspaper, magazine
救助・地雷撤去ロボットと近未来ロボット

リクルートキャリアガイダンス

2002/05

Type: Newspaper, magazine
ロボットレスキュー隊

3年の科学、4年の科学

2002/05

Type: Newspaper, magazine
ロボカップに災害救助部門、新技術普及目指す、2020年までに実用ロボット

日経産業新聞5面

2000/01/18

Type: Newspaper, magazine
ロボカップに災害救助部門

日本経済新聞

2000/01/17

Type: Newspaper, magazine
阪神大震災の経験生かせ！レスキューロボコン、ロボ工学研究者が提案、被災者の探索・発見など、危機管理を啓もう、来月採否を決定

日刊工業新聞

1999/06/28

Type: Newspaper, magazine
Robots, computers to take quake-relief test

Daily Yomiuri

1999/06/27

Type: Newspaper, magazine
災害救助ロボコン、阪大グループなどが2001年国際大会申請

読売新聞

1999/06/26

Type: Newspaper, magazine
災害救助ロボット、生存者を早期に探索、現場の役割分担不可欠

日経産業新聞

1998/10/22

Type: Newspaper, magazine
災害救助ロボット、危険な場所もOK、遠隔操作で人に代る

日経産業新聞

1998/10/21

Type: Newspaper, magazine
救助ロボ多彩なタイプを、捜索／がれき掘削／応急治療、日本機械学会来年度から、開発へ2か年計画

読売新聞解説面

1996/11/28

Type: Newspaper, magazine
ロボットで人命救いたい

毎日新聞夕刊

1996/11/25

Type: Newspaper, magazine
微小部品の光造形速く、神戸大と近畿大、面状照射の技術

日経産業新聞

1996/06/28

Type: Newspaper, magazine
近大と神戸大、光造形法を改良、簡単工程で微小部品加工

日経産業新聞

1996/05/20

Type: Newspaper, magazine
アクチュエータ、厚さ14ミクロン試作

日本経済新聞

1993/05/17

Type: Newspaper, magazine

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Other 17

JST

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タフ・ロボティクス・チャレンジ
高所狭あい空間調査のための遠隔技術及び環境

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高所狭あい空間調査のための遠隔技術及び環境
Invited Demonstration
移動知能（社会・生活分野）の開発，自律と操縦が融合したインテリジェント立ち乗り電動モビリティシステム

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自律と操縦が融合したインテリジェント立ち乗り電動モビリティシステムによる警備システムの知能モジュールを開発する．
被災構造物内移動ＲＴシステム（特殊環境用ロボット分野），閉鎖空間内高速走行探査群ロボット

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被災地下街を高速に走破するロボットとそのための技術を研究開発する．
安全と共生の都市空間デザイン戦略

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安全と共生のための都市空間をデザインする
被害者救助等の災害対応戦略の最適化，4. レスキューロボット等次世代防災基盤技術の開発

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被害者救助等の災害対応戦略の最適化，4. レスキューロボット等次世代防災基盤技術の開発
模倣の工学--行動の観察と理解および模倣行動の実現と学習

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模倣の工学--行動の観察と理解および模倣行動の実現と学習
知能エージェントによる防災啓蒙と防災技術の高度化に関する研究

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知能エージェントによる防災啓蒙と防災技術の高度化に関する研究
大規模都市災害を対象としたネットワーク分散エージェントシミュレーション＆ゲーミングに関する調査研究

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大規模都市災害を対象としたネットワーク分散エージェントシミュレーション＆ゲーミングに関する調査研究
ロボカップレスキュー

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ロボカップレスキュー
ケーブル駆動パラレル機構の設計、解析、シミュレーション、制御

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ケーブル駆動パラレル機構の設計、解析、シミュレーション、制御
気刺激性ソフトゲルアクチュエータ材料の応用に関する研究--微小柔軟対象のマニピュレーション--

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気刺激性ソフトゲルアクチュエータ材料の応用に関する研究--微小柔軟対象のマニピュレーション--
Nafion-Pt膜高分子アクチュエータの基礎特性のモデル化と制御

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Nafion-Pt膜高分子アクチュエータの基礎特性のモデル化と制御
パラレルロボットマニピュレータのタイムディレイコントロールに関する研究

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パラレルロボットマニピュレータのタイムディレイコントロールに関する研究
Nafion-Pt高分子膜を用いた高分子アクチュエータの基礎特性のモデリングと制御に関する研究

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Nafion-Pt高分子膜を用いた高分子アクチュエータの基礎特性のモデリングと制御に関する研究
パラレル冗長ワイヤ駆動による超高速マニピュレータの研究

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パラレル冗長ワイヤ駆動による超高速マニピュレータの研究

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