Details of the Researcher

PHOTO

Akira Fukuhara
Section
Research Institute of Electrical Communication
Job title
Assistant Professor
Degree

Research History 3

  • 2018/10 - Present
    東北大学電気通信研究所 助教

  • 2018/04 - 2018/09
    東北大学電気通信研究所 学術研究員

  • 2016/04 - 2018/03
    日本学術振興会 DC2

Education 3

  • 東北大学大学院電気エネルギーシステム専攻博士課程後期３年の課程

    2015/04 - 2018/03

  • 東北大学大学院工学研究科機械システムデザイン工学専攻博士課程前期２年の課程

    2013/04 - 2015/03

  • 東北大学工学部機械知能航空工学科

    2009/04 - 2013/03

Committee Memberships 4

  • エアロ・アクアバイオメカニズム学会　エアロ・アクアバイオメカニズム学会幹事会

    2022/03 - Present

  • 公益社団法人 計測自動制御学会　公益社団法人 計測自動制御学会東北支部運営委員会

    2022/01 - 2023/12

  • 公益社団法人 計測自動制御学会 システム・情報部門 自律分散システム部会　自律分散システム部会運営委員

    2020/01 - 2023/12

  • 身体性認知科学と実世界応用に関する若手研究会実行員　実行委員

    2014/04 - 2018/03

Professional Memberships 4

  • 日本ロボット学会

    2015/04 - Present

  • THE JAPANESE SOCIETY FOR MATHEMATICAL BIOLOGY

  • PALAEONTOLOGICAL SOCIETY OF JAPAN

  • THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS

Research Interests 4

  • 生物模倣型ロボット

  • Bio-inspired Robotics

  • Animal locomotion

  • Autonomous decentralized control

Research Areas 3

  • Informatics / Mechanics and mechatronics /

  • Informatics / Robotics and intelligent systems /

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

Awards 13

  1. 第5回優秀講演賞

    2024/09　（一社）日本ロボット学会　食肉目哺乳類の多義的な前肢の運動理解にむけた多自由度脚機構の提案

  2. ベストプレゼンテーション表彰(ROBOMECH2023)

    2024/05　（一社）日本機械学会 ロボティクス・メカトロニクス部門　四脚動物の肩部柔軟性と脚運動の模倣に向けた脚機構の提案

  3. 第4回優秀研究・技術賞

    2023/09　（一社）日本ロボット学会　動物の筋筋膜経線に着想を得た四脚ロボットの脚-体幹連動機構の提案

  4. 11th Advanced Robotics Paper Award

    2023/09　Comparative anatomy of quadruped robots and animals: A review

  5. Best Robot Demo Award

    2023/06　The 11th International Symposium on Adaptive Motion of Animals and Machines　Quadruped robots toward decoding functionality of carnivorous mammal’s anatomical structures; flexible shoulder and polysemantic forearm

  6. トーキン財団奨励賞

    2023/02　（公社）トーキン科学技術振興財団　包括的生物模倣ロボットの開発に基づく四脚動物の運動制御・形態機能の理解

  7. ROBOMECH表彰（学術研究分野）

    2022/06　一般社団法人 日本機械学会　四脚ロボットの柔軟な肩部ハンモック構造が走行運動に及ぼす影響

  8. Honorable Mentions in The 9.5th international symposium on Adaptive Motion of Animals and Machines

    2021/06　AMAM2021 Virtual Organizing Committee　WaltzBots: Toward understanding interpersonal coordination mechanism underlying ballroom dance

  9. 第４回東北大学若手研究者アンサンブルワークショップ 優秀ポスター賞

    2018/07　東邦大学研究所長会議　生き物を理解するための構成論的アプローチ

  10. 第304回 計測自動制御学会東北支部研究集会，優秀発表奨励賞

    2016/10　計測自動制御学会　「身体支持と推進の寄与変化に基づく低速から高速へのシームレスな四脚歩容遷移の実現」

  11. 第４回東北大学若手研究者アンサンブルワークショップ 優秀ポスター賞

    2015/07　東北大学研究所長会議　自律分散制御側から切り拓く四脚ロコモーションの発現機序

  12. 学都「仙台・宮城」サイエンス・デイ 2014「杜の風賞」

    2014/07　特定非営利活動法人 natural science　そこにないはずの物にさわれる?バーチャルリアリティシミュレータを体験しよう!

  13. 平成24年度東北大学総長賞

    2013/03　東北大学

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Papers 20

  1. Sensory-driven neck–limb coordination mechanisms for walk-trot-gallop gait transitions Peer-reviewed

    Shura Suzuki, Atsushi Norita, Yuya Asaoka, Akira Fukuhara, Masato Ishikawa, Ryo Kobayashi, Akio Ishiguro

    Scientific Reports　2026/07/12

    Publisher: Springer Science and Business Media LLC

    DOI： 10.1038/s41598-026-61565-9 　

    eISSN： 2045-2322

  2. A Canine Musculoskeletal Robot for Investigating Biomechanical Functions During Locomotion Peer-reviewed

    Hana Ito, Shoma Tanaka, Yunhao Feng, Hiroyuki Nabae, Yasuji Harada, Akira Fukuhara, Koichi Suzumori

    Advanced Robotics Research　2　(1)　2026/02/16

    Publisher: Wiley

    DOI： 10.1002/adrr.70086 　

    ISSN： 2943-9973

    eISSN： 2943-9973

  3. Adaptive gait transition in trekking pole-assisted hiking due to fatigue and staircase height elevation Peer-reviewed

    Yusuke Koshimizu, Akira Fukuhara, Yuji Yamamoto, Akifumi Kijima

    Frontiers in Sports and Active Living　7　2026/01/23

    Publisher: Frontiers Media SA

    DOI： 10.3389/fspor.2025.1669574 　

    eISSN： 2624-9367

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    Humans adapt their gait patterns in response to both internal (e.g., fatigue) and external (e.g., terrain) constraints. Although bipedal locomotion is generally efficient, its stability is reduced on steep or uneven surfaces. Under such conditions, adult hikers often use trekking poles to enhance stability and reduce physical load. In this study, we analysed pole-foot coordination in novice hikers ascending a 4.2 km uphill trail using a gait-classification framework derived from quadrupedal locomotion research. Coordination patterns were characterised by duty factor and diagonality, and gait transition was defined as a shift in the dominant diagonality range across stair-height conditions. When participants ascended moderately high stairs (20 cm), diagonal couplets (diagonality ranges of 40%–50% and 50%–60%) were most frequently observed. These patterns accounted for 36.7% of all steps recorded at 20 cm stairs in the early section of the trail and were similarly frequent (43.4%) in the later section. In contrast, when the stair height increased to approximately 40 cm, lateral couplets (diagonality ranges of 0%–10% and 90%–100%) became dominant, accounting for 33.9% of all steps recorded under this condition. These results indicate that hikers preferentially select pole-foot coordination patterns depending on stair height and show that a diagonal-lateral classification scheme provides a useful basis for describing qualitative coordination transitions in human pole-assisted gait.

  4. A simple robot suggests trunk rotation is essential for emergence of inside leading limb during quadruped galloping turns Peer-reviewed

    Tomoe Maeta, Shoei Hattori, Takeshi Kano, Akira Fukuhara, Akio Ishiguro

    Frontiers in Neurorobotics　19　2025/10/23

    Publisher: Frontiers Media SA

    DOI： 10.3389/fnbot.2025.1628368 　

    eISSN： 1662-5218

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    During turning maneuvers in the galloping gait of quadruped animals, a strong relationship exists between the turning direction and the sequence in which the forelimbs make ground contact: the outer forelimb acts as the “trailing limb” while the inner forelimb serves as the “leading limb.” However, the control mechanisms underlying this behavior remain largely unclear. Understanding these mechanisms could deepen biological knowledge and assist in developing more agile robots. To address this issue, we hypothesized that decentralized interlimb coordination mechanism and trunk movement are essential for the emergence of an inside leading limb in a galloping turn. To test the hypothesis, we developed a quasi-quadruped robot with simplified wheeled hind limbs and variable trunk roll and yaw angles. For forelimb coordination, we implemented a simple decentralized control based on local load-dependent sensory feedback, utilizing trunk roll inclination and yaw bending as turning methods. Our experimental results confirmed that in addition to the decentralized control from previous studies which reproduces animal locomotion in a straight line, adjusting the trunk roll angle spontaneously generates a ground contact sequence similar to gallop turning in quadruped animals. Furthermore, roll inclination showed a greater influence than yaw bending on differentiating the leading and trailing limbs. This study suggests that physical interactions serve as a universal mechanism of locomotor control in both forward and turning movements of quadrupedal animals.

  5. Bicycle-inspired simple balance control method for quadruped robots in high-speed running Peer-reviewed

    Shoei Hattori, Shura Suzuki, Akira Fukuhara, Takeshi Kano, Akio Ishiguro

    Frontiers in Robotics and AI　11　2025/01/06

    Publisher: Frontiers Media SA

    DOI： 10.3389/frobt.2024.1473628 　

    eISSN： 2296-9144

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    This paper explores the applicability of bicycle-inspired balance control in a quadruped robot model. Bicycles maintain stability and change direction by intuitively steering the handle, which induces yaw motion in the body frame and generates an inertial effect to support balance. Inspired by this balancing strategy, we implemented a similar mechanism in a quadruped robot model, introducing a yaw trunk joint analogous to a bicycle’s steering handle. Simulation results demonstrate that the proposed model achieves stable high-speed locomotion with robustness against external disturbances and maneuverability that allows directional changes with only slight speed reduction. These findings suggest that utilizing centrifugal force plays a critical role in agile locomotion, aligning with the movement strategies of cursorial animals. This study underscores the potential of bicycle balance control as an effective and straightforward control approach for enhancing the agility and stability of quadruped robots as well as potentially offering insights into animal motor control mechanisms for agile locomotion.

  6. Rethinking the four-wing problem in plesiosaur swimming using bio-inspired decentralized control Peer-reviewed

    Akira Fukuhara, Mitsutoshi Sato, Hisayuki Ogawa, Tamaki Sato, William Sellers, Akio Ishiguro

    Scientific Reports　14　(1)　2024/10/28

    Publisher: Springer Science and Business Media LLC

    DOI： 10.1038/s41598-024-55805-z 　

    eISSN： 2045-2322

  7. Decentralized control mechanism for limb steering in quadruped robot walking. Peer-reviewed

    Hayato Amaike, Akira Fukuhara, Takeshi Kano, Akio Ishiguro

    Adv. Robotics　38　(16)　1124-1140　2024/08

    DOI： 10.1080/01691864.2024.2376030 　

  8. Design of a Quasi-Passive Dynamic Walking Robot Based on Anatomy Trains Theory Peer-reviewed

    Hiroki Nishii, Shoei Hattori, Akira Fukuhara, Hisashi Ishihara, Takeshi Kano, Akio Ishiguro, Koichi Osuka

    JOURNAL OF ROBOTICS AND MECHATRONICS　36　(2)　458-471　2024/04

    DOI： 10.20965/jrm.2024.p0458 　

    ISSN： 0915-3942

    eISSN： 1883-8049

  9. Decentralized Control Mechanism Underlying Morphology-Dependent Quadruped Turning Peer-reviewed

    Amaike Hayato, Fukuhara Akira, Kano Takeshi, Ishiguro Akio

    Journal of Robotics and Mechatronics　35　(5)　1290-1299　2023/10/20

    Publisher: Fuji Technology Press Ltd.

    DOI： 10.20965/jrm.2023.p1290 　

    ISSN： 0915-3942

    eISSN： 1883-8049

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    Quadruped mammals can control the movement of their center of gravity when turning by skillfully utilizing their bodies to achieve adaptive turning movements. Interestingly, the low-speed turning behavior also changes depending on the animal’s morphology. Therefore, this study aims to understand the control algorithm of low-speed turning, which can reproduce the turning behavior according to the location of the center of gravity. Specifically, we constructed a control algorithm based on the knowledge that animals steer with the leg closest to the center of gravity and verified it with a quadruped robot whose center of gravity could be adjusted. Consequently, the behavior observed in animals was successfully reproduced, with a stable and large turning angle per time when the proposed control algorithm was used.

  10. Producing non-steady-state gaits (starting, stopping, and turning) in a biologically realistic quadrupedal simulation Peer-reviewed

    William Irvin Sellers, Charlotte Francesca Cross, Akira Fukuhara, Akio Ishiguro, Eishi Hirasaki

    Frontiers in Ecology and Evolution　10　2022/09/08

    Publisher: Frontiers Media SA

    DOI： 10.3389/fevo.2022.954838 　

    eISSN： 2296-701X

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    Multibody dynamic analysis (MDA) has become part of the standard toolkit used to reconstruct the biomechanics of extinct animals. However, its use is currently almost exclusively limited to steady state activities such as walking and running at constant velocity. If we want to reconstruct the full range of activities that a given morphology can achieve then we must be able to reconstruct non-steady-state activities such as starting, stopping, and turning. In this paper we demonstrate how we can borrow techniques from the robotics literature to produce gait controllers that allow us to generate non-steady-state gaits in a biologically realistic quadrupedal simulation of a chimpanzee. We use a novel proportional-derivative (PD) reach controller that can accommodate both the non-linear contraction dynamics of Hill-type muscles and the large numbers of both single-joint and two-joint muscles to allow us to define the trajectory of the distal limb segment. With defined autopodial trajectories we can then use tegotae style locomotor controllers that use decentralized reaction force feedback to control the trajectory speed in order to produce quadrupedal gait. This combination of controllers can generate starting, stopping, and turning kinematics, something that we believe has never before been achieved in a simulation that uses both physiologically realistic muscles and a high level of anatomical fidelity. The gait quality is currently relatively low compared to the more commonly used feedforward control methods, but this can almost certainly be improved in future by using more biologically based foot trajectories and increasing the complexity of the underlying model and controllers. Understanding these more complex gaits is essential, particularly in fields such as paleoanthropology where the transition from an ancestral hominoid with a diversified repertoire to a bipedal hominin is of such fundamental importance, and this approach illustrates one possible avenue for further research in this area.

  11. Comparative anatomy of quadruped robots and animals: a review Peer-reviewed

    Akira Fukuhara, Megu Gunji, Yoichi Masuda

    Advanced Robotics　1-19　2022/06/18

    Publisher: Informa UK Limited

    DOI： 10.1080/01691864.2022.2086018 　

    ISSN： 0169-1864

    eISSN： 1568-5535

  12. Flexible Shoulder in Quadruped Animals and Robots Guiding Science of Soft Robotics Peer-reviewed

    Akira Fukuhara, Megu Gunji, Yoichi Masuda, Kenjiro Tadakuma, Akio Ishiguro

    Journal of Robotics and Mechatronics　34　(2)　304-309　2022/04/20

    Publisher: Fuji Technology Press Ltd.

    DOI： 10.20965/jrm.2022.p0304 　

    ISSN： 0915-3942

    eISSN： 1883-8049

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    Cursorial quadrupeds have different connections to the trunk for forelimbs and hindlimbs: a flexible connection through the muscles to the forelimb, and a secure connection through the hip joint to the hindlimb. Although anatomical and biological studies have described the structure and behavior of cursorial quadrupeds by focusing on flexible shoulders, the functionality of the flexible shoulder remains unclear. In this study, we first survey the anatomical and biological studies. Second, we introduce our robotics studies, which focus on flexible connections for proximal limb joints. Further, we discuss future directions for extracting a design principle based on complex animal body structures, and we suggest the potential for interdisciplinary research between anatomy and soft robotics.

  13. Adaptive Interlimb Coordination Mechanism for Hexapod Locomotion Based on Active Load Sensing Peer-reviewed

    Akira Fukuhara, Wataru Suda, Takeshi Kano, Ryo Kobayashi, Akio Ishiguro

    Frontiers in Neurorobotics　16　2022/02/08

    Publisher: Frontiers Media SA

    DOI： 10.3389/fnbot.2022.645683 　

    eISSN： 1662-5218

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    Insects can flexibly coordinate their limbs to adapt to various locomotor conditions, e.g., complex environments, changes in locomotion speed, and leg amputation. An interesting aspect of insect locomotion is that the gait patterns are not necessarily stereotypical but are often highly variable, e.g., searching behavior to obtain stable footholds in complex environments. Several previous studies have focused on the mechanism for the emergence of variable limb coordination patterns. However, the proposed mechanisms are complicated and the essential mechanism underlying insect locomotion remains elusive. To address this issue, we proposed a simple mathematical model for the mechanism of variable interlimb coordination in insect locomotion. The key idea of the proposed model is “decentralized active load sensing,” wherein each limb actively moves and detects the reaction force from the ground to judge whether it plays a pivotal role in maintaining the steady support polygon. Based on active load sensing, each limb stays in the stance phase when the limb is necessary for body support. To evaluate the proposed model, we conducted simulation experiments using a hexapod robot. The results showed that the proposed simple mechanism allows the hexapod robot to exhibit typical gait patterns in response to the locomotion speed. Furthermore, the proposed mechanism improves the adaptability of the hexapod robot for leg amputations and lack of footholds by changing each limb's walking and searching behavior in a decentralized manner based on the physical interaction between the body and the environment.

  14. Simple decentralized control mechanism that enables limb adjustment for adaptive quadruped running Peer-reviewed

    Akira Fukuhara, Yukihiro Koizumi, Tomoyuki Baba, Shura Suzuki, Takeshi Kano, Akio Ishiguro

    Proceedings of the Royal Society B: Biological Sciences　288　(1962)　2021/11/10

    Publisher: The Royal Society

    DOI： 10.1098/rspb.2021.1622 　

    ISSN： 0962-8452

    eISSN： 1471-2954

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    Quadrupeds exhibit versatile and adaptive running by exploiting the flying phase during the stride cycle. Various interlimb coordination mechanisms focusing on mechanical loads during the stance phase have been proposed to understand the underlying control mechanism, and various gait patterns have been reproduced. However, the essential control mechanism required to achieve both steady running patterns and non-steady behaviours, such as jumping and landing, remains unclear. Therefore, we focus on the vertical motions of the body parts and propose a new decentralized interlimb coordination mechanism. The simulation results demonstrate that the robot can generate efficient and various running patterns in response to the morphology of the body. Furthermore, the proposed model allows the robot to smoothly change its behaviour between steady running and non-steady landing depending on the situation. These results suggest that the steady and non-steady behaviours in quadruped adaptive running may share a common simple control mechanism based on the mechanical loads and vertical velocities of the body parts.

  15. Decentralized control mechanism for body-limb coordination in quadruped running. Peer-reviewed

    Akira Fukuhara, Yukihiro Koizumi, Shura Suzuki, Takeshi Kano, Akio Ishiguro

    Adaptive Behaviour　28　(3)　2020

    DOI： 10.1177/1059712319865180 　

  16. Body-limb coordination mechanism underlying sea roaches’ speed-dependent gait transition Peer-reviewed

    T. Kano, Y. Ikeshita, A. Fukuhara, A. Ishiguro

    Scientific Reports　9　(2848)　2019/02

  17. Spontaneous Gait Transition to High-speed Galloping by Reconciliation between Body Support and Propulsion Peer-reviewed

    Akira Fukuhara, Dai Owaki, Takeshi Kano, Ryo Kobayashi, Akio Ishiguro

    Advanced Robotics　32　(15)　794-808　2018/08

  18. Securing an optimum operating field without undesired tissue damage in neurosurgery Peer-reviewed

    A. Fukuhara, T. Tsujita, K. Sase, A. Konno, A. Nakagawa, T. Endo, T. Tominaga, X. Jiang, S. Abiko, M. Uchiyama

    ADVANCED ROBOTICS　30　(19)　1245-1259　2016

    DOI： 10.1080/01691864.2016.1200483 　

    ISSN： 0169-1864

    eISSN： 1568-5535

  19. GPU-accelerated surgery simulation for opening a brain fissure Peer-reviewed

    Kazuya Sase, Akira Fukuhara, Teppei Tsujita, Atsushi Konno

    ROBOMECH Journal　2　(1)　Article 7　2015/12/01

    Publisher: Springer International Publishing

    DOI： 10.1186/s40648-015-0040-0 　

    ISSN： 2197-4225

  20. Proposition and Evaluation of Collision Detection Method for Real Time Surgery Simulation of Opening a Brain Fissure Invited Peer-reviewed

    Akira Fukuhara, Teppei Tsujita, Kazuya Sase, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama

    ROBOMECH Journal　1　(1)　Article 6　2014/09

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Misc. 104

  1. Development of Deep Biomimetic Quadruped Robot with Bow-string Structure in Cursorial Mammals Peer-reviewed

    Fukuhara Akira, Gunji Megu, Masuda Yoichi, Harada Yasuji, Ishiguro Akio, Suzumori Koichi

    2025/07

    DOI： 10.26083/tuprints-00030945 　

  2. High-Propulsive Trunk Flexion-Extension Mechanism Using Cheetah-Inspired S-Shaped Spine Peer-reviewed

    Shoei Hattori, Akira Fukuhara, Takeshi Kano, Akio Ishiguro

    WALKING ROBOTS INTO REAL WORLD, CLAWAR 2024 CONFERENCE, VOL 1　1114　204-213　2024

    DOI： 10.1007/978-3-031-70722-3_20 　

    ISSN： 2367-3370

    eISSN： 2367-3389

  3. The role of the leading foot in quadruped during turning from a synthetic approach Peer-reviewed

    Maeta Tomoe, Amaike Hayato, Fukuhara Akira, Kano Takeshi, Ishiguro Akio

    The 11th International Symposium on Adaptive Motion of Animals and Machines (AMAM2023)　162-163　2023/06

    Publisher: Adaptive Motion of Animals and Machines Organizing Committee

    DOI： 10.18910/92318 　

    More details Close

    The 11th International Symposium on Adaptive Motion of Animals and Machines. Kobe University, Japan. 2023-06-06/09. Adaptive Motion of Animals and Machines Organizing Committee. Poster Session P63

  4. Interpersonal coordination mechanism via assistive hold in ballroom dancing Peer-reviewed

    Akira Fukuhara, Rinta Akimoto, Takeshi Kano, Ryo Kobayashi, Yuji Yamamoto, Akifumi Kijima, Keiko Yokoyama, Akio Ishiguro

    2023 62ND ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS, SICE　401-407　2023

    DOI： 10.23919/SICE59929.2023.10354175 　

  5. Decentralized Control Mechanisms for Trunk, Head, and Tail-limb Coordination in Quadruped Running. Peer-reviewed

    Shura Suzuki, Yuya Asaoka, Atsushi Norita, Akira Fukuhara, Masato Ishikawa, Akio Ishiguro

    CLAWAR　256-263　2022

    DOI： 10.1007/978-3-031-15226-9_25 　

  6. On the Stability of Bicycle-Inspired Balance Control for Running Quadruped Robots Peer-reviewed

    S. Hattori, S. Suzuki, F. Akira, T. Kano, A. Ishiguro

    Proceedings of the SICE annual conference, (SICE2021)　2021/09

  7. Toward understanding design principle of polysemantic body underlying animal’s versatile behaviors Peer-reviewed

    Fukuhara, Akira, Gunji, Megu, Masuda, Yoichi, Amaike, Hayato, Miyashita, Kazuhiro, Wakamoto, Ryo, Tadakuma, Kenjiro, Ishikawa, Masato, Ishiguro, Akio

    The 9.5th international symposium on Adaptive Motion of Animals and Machines　2021/06

    DOI： 10.18910/84883 　

  8. Simulation study of a galloping quadruped robotwith a flexible shoulder hammock structure Peer-reviewed

    Akira Fukuhara, Megu Gunji, Yoichi Masuda, Kenjiro Tadakuma, Akio Ishiguro

    The 9.5th international symposium on Adaptive Motion of Animals and Machines　2021/06

    DOI： 10.18910/84856 　

  9. WaltzBots: Toward understanding interpersonal coordination mechanism underlying ballroom dance Peer-reviewed

    A. Fukuhara, T. Kano, R. Kobayashi, Y. Yamamoto, A. Ishiguro

    Proc. of The 9.5th international symposium on Adaptive Motion of Animals and Machines (AMAM2021)　2021/06

    DOI： 10.18910/84855 　

  10. Decentralized Control Mechanisms Underlying Neck–limb Coordination in Horse Walking and Trotting Peer-reviewed

    S. Suzuki, A. Norita, A. Fukuhara, T. Kano, A. Ishiguro

    The 9.5th international symposium on Adaptive Motion of Animals and Machines　2021/06

    DOI： 10.18910/84865 　

  11. Model-free balance control for running quadruped robots using bicycle dynamics Peer-reviewed

    S. Hattori, S. Suzuki, F. Akira, T. Kano, A. Ishiguro

    Proc. of The 9.5th international symposium on Adaptive Motion of Animals and Machines (AMAM2021)　2021/06

    DOI： 10.18910/84857 　

  12. Simulation of quadruped robot walking considering anatomical features of distal forelimb Peer-reviewed

    Simulation of, quadruped robot walking considering anatomical features of distal forelimb

    Proc. of The 9.5th international symposium on Adaptive Motion of Animals and Machines (AMAM2021)　2021/06

    DOI： 10.18910/84852 　

  13. Emergence of swing-to-stance transition from interlocking mechanism in horse hindlimb Peer-reviewed

    Kazuhiro Miyashita, Yoichi Masuda, Megu Gunji, Akira Fukuhara, Kenjiro Tadakuma, Masato Ishikawa

    IEEE International Conference on Intelligent Robots and Systems　7860-7865　2020/10/24

    DOI： 10.1109/IROS45743.2020.9341026 　

    ISSN： 2153-0858

    eISSN： 2153-0866

  14. A bio-inspired quadruped robot exploiting flexible shoulder for stable and efficient walking Peer-reviewed

    Akira Fukuhara, Megu Gunji, Yoichi Masuda, Kenjiro Tadakuma, Akio Ishiguro

    IEEE International Conference on Intelligent Robots and Systems　7832-7839　2020/10/24

    DOI： 10.1109/IROS45743.2020.9341444 　

    ISSN： 2153-0858

    eISSN： 2153-0866

  15. On the Determinant of Spontaneous Gait Transition in Legged Locomotion Peer-reviewed

    Akira Fukuhara, Dai Owaki, Takeshi Kano, Akio Ishiguro

    SICE annual conference (SICE2019)　254-257　2020/10

  16. Adaptive One-dimensional Crawling Robot Driven by Simple Decentralized Control Mechanism. Peer-reviewed

    Takeshi Kano, Rodrigo Senofieni, Akira Fukuhara, Akio Ishiguro

    ALIFE　696-698　2020

    DOI： 10.1162/isal_a_00250 　

  17. Development of Quadruped Robot That Can Exploit Shoulder Hammock Structure Peer-reviewed

    Akira Fukuhara, Yoichi Masuda, Megu Gunji, Kenjiro Tadakuma, Akio Ishiguro

    Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020　1139-1143　2020/01

    DOI： 10.1109/SII46433.2020.9026169 　

  18. Efficient Quadrupedal Walking Via Decentralized Coordination Mechanism between Limbs and Neck Peer-reviewed

    A. Fukuhara, S. Suzuki, T. Kano, A. Ishiguro

    Proc. of 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems　1715-1720　2019/11

  19. Decentralized Coordination Mechanism between Neck and Limbs for Efficient Quadrupedal Walking Peer-reviewed

    Akira Fukuhara, Shura Suzuki, Takeshi Kano, Akio Ishiguro

    IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2019)　1715-1720　2019/11

  20. Inter- and intra-limb coordination mechanism under limited actuator capabilities in adaptive quadruped locomotion Peer-reviewed

    A. Fukuhara, S. Saito, W. Suda, T. Kano, A. Ishiguro

    Proceedings of the 9th International Symposium on Adaptive Motion in Animals and Machines (AMAM)　A22　2019/08

  21. Decentralized control scheme for adaptive body-limb coordination in centipede walking Peer-reviewed

    Akira Fukuhara, Sora Saito, Wataru Suda, Takeshi Kano, Akio Ishiguro

    AMAM2019　A22　2019/08

  22. Toward Orchestrating Whole Bodily Degrees of Freedom Invited

    Akio Ishiguro, Akira Fukuhara

    Journal of the Robotics Society of Japan　37　(2)　121-125　2019

    Publisher: The Robotics Society of Japan

    DOI： 10.7210/jrsj.37.121 　

    ISSN： 0289-1824

    eISSN： 1884-7145

  23. Minimal Model for Body–Limb Coordination in Quadruped High-Speed Running Peer-reviewed

    Akira Fukuhara, Yukihiro Koizumi, Shura Suzuki, Takeshi Kano, Akio Ishiguro

    Proceedings of The 15th International Conference on the Simulation of Adaptive Behavior (SAB2018)　56-65　2018/08

  24. A Minimal Model for Body-limb Coordination in Quadruped Locomotion Peer-reviewed

    S. Suzuki, A. Fukuhara, Dai Owaki, Takeshi Kano, Auke J. Ijspeert, Akio Ishiguro

    Proceedings of The 8th International Symposium on Adaptive Motion of Animals and Machines（AMAM2017)　106-107　2017/06

  25. Gait Transition to Gallop via an Interlimb Coordination Mechanism Based on Tegotae from Body Support and Propulsion Peer-reviewed

    Akira Fukuhara, Dai Owaki, Thakeshi Kano, Ryo Kobayashi, Akio Ishiguro

    Proceedings of The 8th International Symposium on Adaptive Motion of Animals and Machines（AMAM2017)　80-81　2017/06

  26. A Simple Body-limb Coordination Model that Mimics Primitive Tetrapod Walking Peer-reviewed

    Shura Suzuki, Akira Fukuhara, Dai Owaki, Takeshi Kano, Auke J. Ijspeert, Akio Ishiguro

    2017 56TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)　12-14　2017

    DOI： 10.23919/SICE.2017.8105624 　

  27. Quadruped Gait Transition from Walk to Pace to Rotary Gallop by Exploiting Head Movement Peer-reviewed

    Shura Suzuki, Dai Owaki, Akira Fukuhara, Akio Ishiguro

    BIOMIMETIC AND BIOHYBRID SYSTEMS, LIVING MACHINES 2016　9793　532-539　2016

    DOI： 10.1007/978-3-319-42417-0_58 　

    ISSN： 0302-9743

  28. Leg Stiffness Control Based on "TEGOTAE" for Quadruped Locomotion Peer-reviewed

    Akira Fukuhara, Dai Owaki, Takeshi Kano, Akio Ishiguro

    BIOMIMETIC AND BIOHYBRID SYSTEMS, LIVING MACHINES 2016　9793　79-84　2016

    DOI： 10.1007/978-3-319-42417-0_8 　

    ISSN： 0302-9743

  29. New Hypothesis for the Mechanism of Quadruped Gait Transition Peer-reviewed

    Takeshi Kano, Dai Owaki, Akira Fukuhara, Ryo Kobayashi, Akio Ishiguro

    Proc. of The First International Symposium on Swarm Behavior and Bio-Inspired Robotics(SWARM2015)　257-278　2015/10

  30. Optimization of Retraction in Neurosurgery to Avoid Damage Caused by Deformation of Brain Tissues Peer-reviewed

    Akira Fukuhara, Teppei Tsujita, Kazuya Sase, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014　588-594　2014

    DOI： 10.1109/ROBIO.2014.7090394 　

  31. Development of a Brain Surgery Simulator Peer-reviewed

    Atsushi Konno, Masano Nakayama, Xiaoshuai Chen, Akira Fukuhara, Kazuya Sase, Teppei Tsujita, Satoko Abiko

    Proceedings of the International Symposium on Interdisciplinary Research and Education on Medical Device Developments　2013/09

  32. Development of an Active Sensing Mechanism Using a Flexible Antenna Inspired by Centipedes

    安井浩太郎, 鈴木朱羅, 福原洸

    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)　2025　2025

    ISSN： 2424-3124

  33. 対人スポーツにおける「切磋琢磨」の学習メカニズム

    山地聡史, 福原洸, 小林亮, 木島章文, 山本裕二, 石黒章夫, 加納剛史

    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)　2024　2024

  34. Bumper-ballゲームから紐解く「駆け引き」のメカニズム

    山地聡史, 福原洸, 小林亮, 山本裕二, 石黒章夫, 加納剛史

    運動学習研究会報告集(Web)　31st　2024

  35. 四脚動物の柔軟な体幹にみられるbow-string構造の深層生体模倣

    福原洸, 郡司芽久, 増田容一, 原田恭治, 鈴森康一, 石黒章夫

    日本ロボット学会学術講演会予稿集(CD-ROM)　42nd　2024

  36. Reconstruction of plesiosaur swimming pattern considering trunk posture and inter-flipper coordination

    村山志揮, 入澤宏太朗, 伊勢正, 福原洸, 石黒章夫

    自律分散システム・シンポジウム(CD-ROM)　36th　2024

  37. Variable Stiffness Mechanism for Shoulder Hammock Structure in Quadruped Robot

    福原洸, 郡司芽久, 増田容一, 多田隈建二郎, 石黒章夫

    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)　2024　2024

    ISSN： 2424-3124

  38. Development of a Quadruped Robot with Interlocking Mechanisms between the Hind Limbs and the Trunk through Myofascial Kinetic Lines

    藤原歩, 服部祥英, 服部祥英, 前田友絵, 福原洸, 加納剛史, 石黒章夫

    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)　2024　2024

    ISSN： 2424-3124

  39. Toward Reconstruction of Body-flipper Coordination in Plesiosaur Locomotion

    村山志揮, 伊勢正, 入澤宏太朗, 福原洸, 石黒章夫

    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)　2024　2024

    ISSN： 2424-3124

  40. Locking Mechanism in Carnivoran Mammal’s Polysemantic Forearm

    福原洸, 郡司芽久, 増田容一, 天池隼斗, 多田隈建二郎, 石黒章夫

    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)　2024　2024

    ISSN： 2424-3124

  41. Underwater Robot Driven by Decentralized Control of Quadrupedal Paddling

    伊勢正, 村山志揮, 入澤宏太朗, 福原洸, 石黒章夫

    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)　2024　2024

    ISSN： 2424-3124

  42. 四脚動物のGallop旋回の理解に向けた車椅子脚ロボットの開発

    前田友絵, 服部祥英, 服部祥英, 加納剛史, 福原洸, 石黒章夫

    日本ロボット学会学術講演会予稿集(CD-ROM)　42nd　2024

  43. Stiffness Control of Shoulder Hammock Structure in Quadruped Robot

    福原洸, 郡司芽久, 増田容一, 多田隈建二郎, 石黒章夫

    自律分散システム・シンポジウム(CD-ROM)　36th　2024

  44. Understanding Learning Mechanism for Interpersonal Motor Skills through Bumper Ball

    山地聡史, 福原洸, 小林亮, 木島章文, 山本裕二, 石黒章夫, 加納剛史

    自律分散システム・シンポジウム(CD-ROM)　36th　2024

  45. 四脚動物に内在する全身自由度間の協調制御原理の構成論的理解に向けて-胴体・脚間協調制御原理に関する一考察-

    澤田悟空, 前田慧史, 服部祥英, 服部祥英, 鈴木朱羅, 安井浩太郎, 福原洸, 石黒章夫

    日本ロボット学会学術講演会予稿集(CD-ROM)　42nd　2024

  46. Body-Limb Coordination Mechanism for Quadruped Robot with Soft Body Trunk

    澤田悟空, 前田慧史, 浅岡雄也, 服部祥英, 服部祥英, 鈴木朱羅, 鈴木朱羅, 安井浩太郎, 福原洸, 小林亮, 石黒章夫

    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)　2024　2024

    ISSN： 2424-3124

  47. Toward Understanding Inter-personal Coordination Control Mechanisms in Ballroom Dancing

    秋元凜太, 福原洸, 加納剛史, 横山慶子, 木島章文, 小林亮, 山本裕二, 石黒章夫

    自律分散システム・シンポジウム(CD-ROM)　35th　2023

  48. Development of a Robotic Platform Toward Understanding Mechanism of High-Speed Swimming in Penguins Utilizing Wings and Head

    入澤宏太朗, 村山志揮, 福原洸, 石黒章夫

    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

  49. Toward Reconstruction of Body- and Inter-flipper Coordination in Plesiosaur Swimming

    村山志揮, 入澤宏太朗, 福原洸, 石黒章夫

    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

  50. Development of limb structure for quadruped robot that can generate stride motions and mimic flexible shoulder region

    福原洸, 郡司芽久, 増田容一, 多田隈建二郎, 石黒章夫

    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

  51. マゼランペンギンにおける潜水時の首振り行動

    郡司芽久, 福原洸, 佐々木理央, 小川久介, 加納剛史, 石黒章夫

    日本鳥学会大会講演要旨集　2023　2023

  52. 対人運動技能における競創的学習則

    山地聡史, 福原洸, 小林亮, 山本裕二, 石黒章夫, 加納剛史

    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)　2023　2023

  53. Experimental Verification Toward Understanding Head-Wing Coordination Mechanism Underlying High-Speed Swimming in Penguins

    入澤宏太朗, 村山志揮, 福原洸, 石黒章夫

    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)　24th　2023

  54. Toward Design Principle for Tegotae-based Control

    鈴木朱羅, 鈴木朱羅, 安井浩太郎, 福原洸, 大脇大, 加納剛史, 石黒章夫

    自律分散システム・シンポジウム(CD-ROM)　35th　2023

  55. Polysemy arising from the situation: Polysemy arising from massdistrubution and friction

    増田容一, 鈴木朱羅, 福原洸, 石川将人

    自律分散システム・シンポジウム(CD-ROM)　35th　2023

  56. Toward Understanding of Locking Mechanism in Polysemantic Forelimb of Carnivorous Mammals

    福原洸, 天池隼斗, 郡司芽久, 増田容一, 多田隈建二郎, 石黒章夫

    自律分散システム・シンポジウム(CD-ROM)　35th　2023

  57. A Study of Musculotendinous Interlocking Mechanisms in Carnivoran Mammal’s Polysemantic Forearm.

    福原洸, 天池隼斗, 郡司芽久, 増田容一, 多田隈建二郎, 石黒章夫

    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

  58. A Study on High-Speed Turning Mechanisms Focusing on the Motion of Leading Limb of Quadrupeds

    前田友絵, 天池隼斗, 福原洸, 加納剛史, 石黒章夫

    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

  59. 食肉目哺乳類の多義的な前肢の運動理解にむけた多自由度脚機構の提案

    福原洸, 天池隼斗, 郡司芽久, 増田容一, 多田隈建二郎, 石黒章夫

    日本ロボット学会学術講演会予稿集(CD-ROM)　41st　2023

  60. Development of Robotic Platform Toward Understanding Functional Polysemy in Quadruped’s Flexible Shoulder Region

    福原洸, 郡司芽久, 増田容一, 多田隈建二郎, 石黒章夫

    自律分散システム・シンポジウム(CD-ROM)　34th　2022

  61. 動物の筋筋膜経線に着想を得た四脚ロボットの脚-体幹連動機構の提案

    服部祥英, 服部祥英, 福原洸, 加納剛史, 石黒章夫

    日本ロボット学会学術講演会予稿集(CD-ROM)　40th　2022

  62. Development of Robotic Quadruped Platform Toward Understanding Motor Function Underlying Membranous Musculoskeletal Structure in Flexible Shoulder Region

    福原洸, 郡司芽久, 増田容一, 多田隈建二郎, 石黒章夫

    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

  63. Toward Understanding the Control Mechanism for Coordination Between the Leader and Follower in Ballroom Dancing

    秋元凜太, 福原洸, 加納剛史, 小林亮, 山本裕二, 石黒章夫

    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

  64. Speed-dependent Neck-limb Coordination Mechanism Underlying Horse’s Lococmotion

    乗田篤志, 浅岡雄也, 鈴木朱羅, 鈴木朱羅, 福原洸, 加納剛史, 石黒章夫

    自律分散システム・シンポジウム(CD-ROM)　34th　2022

  65. Utilizing forearms to achieve turning~changing posture from the distal part~

    天池隼斗, 福原洸, 郡司芽久, 増田容一, 多田隈建二郎, 加納剛史, 石黒章夫

    自律分散システム・シンポジウム(CD-ROM)　34th　2022

  66. Decentralized Control That Can Generate Morphology-dependent Quadrupedal Running

    ASAOKA Yuya, NORITA Atsushi, SUZUKI Shura, FUKUHARA Akira, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　2A2-P07　2022

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2022.2a2-p07 　

    eISSN： 2424-3124

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    Quadrupeds exhibit a variety of running patterns by orchestrating the whole-body degrees of freedom (DOF). This excellent coordination mechanism inherent in quadruped locomotion has attracted much attention so far. However, previous studies have focused on specific animals, and there has been no unified discussion of their mechanisms. In this study, we propose a unified perspective underlying various quadruped running patterns, and a systematic design methodology for morphology-dependent whole-body DOF coordination mechanisms. For this purpose, we focused on the motion of the torso, having the majority of the body mass, and systematically constructed control laws for two body models: one with an active joint for head nodding, and the other with an active joint for body bending. As a result of the simulations, we successfully reproduced the running patterns depending on the body model.

  67. 四脚ロボットの柔軟な肩部ハンモック構造がbound歩容に及ぼす影響

    福原洸, 郡司芽久, 増田容一, 多田隈建二郎, 石黒章夫

    日本ロボット学会学術講演会予稿集(CD-ROM)　39th　2021

  68. Robots Dancing Waltz: Inter-robot Rhythm Coordination Mechanism Inspired by Ballroom Dance

    福原洸, 加納剛史, 小林亮, 山本祐二, 石黒明夫

    自律分散システム・シンポジウム(CD-ROM)　33rd　2021

  69. A Mechanism for Inter- and Intra-limb Coordination in Plesiosaur Locomotion

    横田陸矢, 福原洸, 加納剛史, 石黒章夫

    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)　2021　2021

    ISSN： 2424-3124

  70. Effects of Flexible Shoulder Hammock Structure on Quadruped Robot Running

    福原洸, 郡司芽久, 増田容一, 多田隈建二郎, 石黒章夫

    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)　2021　2021

    ISSN： 2424-3124

  71. Walking Simulation of Quadruped Robot with Anatomical Features of Forearm

    AMAIKE Hayato, FUKUHARA Akira, GUNJI Megu, MASUDA Yoichi, TADAKUMA Kenjiro, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2021　2P2-F07　2021

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2021.2p2-f07 　

    eISSN： 2424-3124

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    Body parts of modern quadruped robots, including front legs, have few degrees of freedom. In contrast, animals such as Felidae have their forelimbs with many degrees of freedom, and achieve a variety of actions (e.g. walking, climbing, and attacking). This study aimed to understand the mechanism how the complex forelimb structure functions in realizing various movements. We focused on the forearm in the forelimb structure. Forearm rotation can adjust the posture of the palm which contacts with the environments and objects. In this paper, we developed a platform for investigating the role of the forearm during walking. Specifically, we conducted a walking simulation using a quadruped robot with anatomical features of forearm, and succeeded in reproducing the forearm behavior observed in lion walking.

  72. Development of Neck Units That Quadruped Robot Can Exploit for Efficient Nodding Walking

    FUKUHARA Akira, GUNJI Megu, MASUDA Yoichi, TADAKUMA Kenjiro, SUZUKI Shura, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2021　2P2-F14　2021

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2021.2p2-f14 　

    eISSN： 2424-3124

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    Modern-day quadruped robots are expanding their versatility on tasks like patrolling and manipulating by the implementation of an additional robot manipulator like the neck of the animal. During locomotion, However, the extra robotic arm harms the robot’s locomotor capability and efficiency due to the additional weight. To solve this problem, this study focuses on “nodding behavior” of quadrupeds. Quadrupeds(e.g., horses) likely swing down and up their large head and neck in specific timings during walking, consequently saving energetic loss due to vertical motion of the center of mass. This paper develops a simple neck model inspired by the anatomical structure of the horse’s neck and elucidates the relationship between neck angle and resultant torque. The results suggest that anatomical neck structure may affect the effective range of neck angle during the nodding walking behavior for efficient locomotion.

  73. Towards Realization of Legged Robot Capable of Adaptive Running

    BABA Tomoyuki, SUZUKI Shura, FUKUHARA Akira, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2021　1P3-F08　2021

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2021.1p3-f08 　

    eISSN： 2424-3124

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    Quadrupeds exhibit versatile gait patterns according to locomotion speed and environment. In particular, they exhibit jumping motion during high-speed running. To investigate how the gait patterns and jumping motion are generated, various intraspinal neural network model have been proposed. However, high-speed running on uneven terrain was not realized. To address the problem, we focused on the vertical velocity of the body parts and designed a new leg-control model that realizes jump by considering leg control during the swing phase. As simulation results, we succeeded in widening the range of locomotion speed and running on uneven terrain. In this study, we developed a one-legged hopping robot and verified the proposed model in the real world.

  74. Decentralized Control of a Quadruped Robot That Can Generate Speed-dependent Adaptive Neck Movements

    NORITA Atsushi, SUZUKI Shura, FUKUHARA Akira, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2021　1P3-F03　2021

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2021.1p3-f03 　

    eISSN： 2424-3124

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    When horses walk, they move their necks as well as legs rhythmically. In addition, horses exhibit versatile neck movements according to locomotion speed. This phenomenon could be a key to understanding how animals orchestrate their large degrees of freedom in their bodies. However, the mechanism underlying this phenomenon still remains elusive. In the present study, we propose a decentralized control mechanism for the coordination of neck and limb movements in which inclination of the body trunk is fed back into neck and limb motions. Using a simple two-dimensional physical simulator we developed, we successfully reproduced speed-dependent neck movements during walk and trot gaits.

  75. Interlimb Coordination Mechanism That Exploits Hydrostatic Skeleton Inspired by Wandering Spiders

    YAMAJI Satoshi, YASUI Kotaro, FUKUHARA Akira, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2021　1P3-F05　2021

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2021.1P3-F05 　

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    <p>Autonomous decentralized control could be the key to design soft-bodied robots that have a huge number of degrees of freedom. To address this issue, we focus on a wandering spider with a hydrostatic skeleton and aim to understand the decentralized control mechanism underlying their coordination pattern between limbs (i.e., interlimb coordination). For this purpose, we employed an approach wherein we construct a simple mathematical model based on biological insights. We proposed a phenomenological model that can describe fluid dynamics and built a three-dimensional robot model with a simple local reflexive mechanism based on the interaction between flexor muscles and body fluid in their legs. As a first step, we succeeded in reproducing locomotion in which two legs move in anti-phase via simulation.</p>

  76. The Mechanism for Coordination between Wings and Head in Penguins’ High-speed Swimming

    小川久介, 福原洸, 加納剛史, 石黒章夫

    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)　2020　2020

    ISSN： 2424-3124

  77. Development of Quadruped Robot for Stable and Adaptive High-Speed Running

    BABA Tomoyuki, SUZUKI Shura, FUKUHARA Akira, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　2A1-K03　2020

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2020.2a1-k03 　

    eISSN： 2424-3124

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    Quadrupeds exhibit versatile gait patterns in response to locomotion speed. In our previous study, we designed a simple leg-control rule that can exhibit gait transition from walk to gallop according to locomotion speed. However, high-speed locomotion was not realized due to lack of jumping motion. To address the problem, we designed a new leg-control model that realizes jump by modifying leg motion during the swing phase. As simulation results, we succeeded in realizing jump and widening the range of locomotion speed. In this study, we developed a one-legged hopping robot in order to verify the proposed model in the real world.

  78. 柔軟な肩部ハンモック構造による四脚ロボットの歩行安定化

    福原洸, 郡司芽久, 増田容一, 多田隈建二郎, 石黒章夫

    日本ロボット学会学術講演会予稿集(CD-ROM)　38th　2020

  79. 四脚動物の前肢に備わる不動化機構の検討

    天池隼斗, 福原洸, 郡司芽久, 増田容一, 多田隈建二郎, 石黒章夫

    日本ロボット学会学術講演会予稿集(CD-ROM)　38th　2020

  80. 全身自由度総動員制御の実現に向けて Invited

    石黒 章夫, 福原 洸

    日本ロボット学会誌　37　(2)　121-125　2019/02

  81. 制御の視座から紐解く首長竜の適応的な遊泳様式

    福原洸, 佐藤光暁, SELLERS William, 石黒章夫

    日本古生物学会例会講演予稿集　168th　2019

  82. Quadruped Robot That Exploits Body-limb Coordination for High Speed Running

    KOIZUMI Yukihiro, SUZUKI Shura, FUKUHARA Akira, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　2P2-G03　2019

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2019.2p2-g03 　

    eISSN： 2424-3124

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    Most quadruped robots move mainly by limb motions. In contrast, quadrupeds, such as cheetah and greyhound, achieve ultra high-speed locomotion by coordinating body and limb motions, i.e., body-limb coordination. Therefore, clarifying the body-limb coordination mechanism will help to improve a robot’s agility. In our previous work, we proposed a simple two-dimensional mathematical model that coordinates body and limb motions autonomously and successfully reproduced high-speed locomotion via simulations and robot experiments. As a next step, we extended this two-dimensional model into the three-dimensional model and developed a quadruped robot to verify the proposed control scheme.

  83. Decentralized Control of a Hexapod Robot Capable of Generating Walking Motion in Response to the Slipperiness of the Terrain

    SUDA Wataru, YASUI Kotaro, FUKUHARA Akira, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　(0)　2P2-F06　2019

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2019.2P2-F06 　

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    <p>Insects can walk in unstructured environments such as trees and rocks by changing foot trajectory and coordination pattern between limbs (i.e., interlimb coordination). Although we previously proposed a simple decentralized control scheme using local feedback based on ground reaction force, the control mechanism underlying adaptive foot trajectory in insects' locomotion has not yet been clarified. To reveal the control mechanism in adaptive foot trajectory, this study conducted biological experiments in which crickets walk up against a slope with inhomogeneous frictional coefficient. Based on experimental results, we propose a decentralized control mechanism in which adaptive foot trajectory changes in response to the slipperiness of the terrain.</p>

  84. Development of Multi-legged Robot Capable of Adaptively Changing the Direction of Leg Density Waves

    TAKANO Shunsuke, YASUI Kotaro, HAYASE Yumino, FUKUHARA Akira, KANO Takeshi, KOBAYASHI Ryo, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　(0)　2P2-F08　2019

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2019.2P2-F08 　

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    <p>Myriapod walking is achieved by propagating leg density waves along the body axis, and the leg density wave is classified as direct wave or retrograde wave compared to the direction of body movement. It is known that the direction of leg density waves differs according to the species, but the determining factor for such a difference is not understood well. In order to solve the problem, we previously observed the locomotion of centipedes and reported that direct wave gait could be generated by a control mechanism to avoid leg crossing. However, the control mechanism for generating retrograde wave gait has not been investigated enough. In this paper, we extended the previous control scheme by considering a walking strategy of following the ground contact point for retrograde wave gait and developed a multi-legged robot as a platform to validate the control scheme.</p>

  85. Development of Polychaete-like Robot That Coordinates Limb Motion with Body Undulation

    KONNO Takumi, YASUI Kotaro, FUKUHARA Akira, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　(0)　2P2-F09　2019

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2019.2P2-F09 　

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    <p>Polychaetes have a number of body segments with a pair of parapodia. They walk and swim effectively by coordinating motion of parapodia and undulation of the flexible body. Clarifying the control mechanism underlying coordination between parapodia and body, we can not only provide new insights to biology but also contribute to developing multi-legged robots that can move effectively. For that purpose, our previous study proposed a decentralized control scheme that enables coordination between the motion of parapodia and body undulation in polychaete locomotion and validated it via simulations. However, the validity of the control scheme in the real world environment has not been verified yet. Accordingly, in this study, we developed a polychaete-like robot as a platform for validation.</p>

  86. Interlimb Coordination Mechanism Underlying High-speed Quadruped Locomotion

    Fukuhara Akira

    Tohoku University　2018/03

  87. 胴体の屈曲伸展と脚の運動の自律的な協調により高速走行可能なチーター型ロボットの開発

    小泉幸煕, 鈴木朱羅, 福原洸, 加納剛史, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2018），講演論文集(CD-ROM)　1P1-D16　2018

  88. 多足類から考える昆虫????の脚間協調メカニズム

    齊藤空良, 福原洸, 加納剛史, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2018），講演論文集(CD-ROM )　1P1-E15　2018

  89. 「忖度」に基づいた自律分散制御則の脚式ロコモーションへの適用

    須田渉, 加納剛史, 浅利宗弘, 福原洸, 菅原研, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2018），講演論文集(CD-ROM)　1P1-E13　2018

  90. 脚の切断状況に応じた歩行運動を生成可能な6脚ロボットの自律分散制御則

    宮澤咲紀子, 大脇大, 福原洸, 加納剛史, 石黒章夫

    第30回自律分散システムシンポジウム資料　127-131　2018

  91. 四脚動物の高速走行時における胴体・脚間の協調メカニズムのミニマルモデル

    小泉 幸煕, 鈴木 朱羅, 福原 洸, 加納 剛史, 石黒 章夫

    第18回計測自動制御学会システムインテグレーション部門講演会（SI2017）予稿集　3077-3080　2017/12

  92. 身体の支持と推進の「手ごたえ」を活用する四脚ロボットの開発

    福原洸, 大脇大, 加納剛史, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2017）, 講演論文集(CD-ROM)　1A1-D09　2017/05

  93. 身体支持と推進の手応えに基づく脚間協調制御則によるGallopへの歩容遷移

    福原洸, 大脇大, 加納剛史, 小林亮, 石黒章夫

    第29回自律分散システムシンポジウム資料　46-50　2017/01

  94. 身体の支持と推進の寄与変化に基づく低速から高速へのシームレスな四脚歩容遷移の実現

    福原洸, 大脇大, 加納剛史, 小林亮, 石黒章夫

    SICE東北支部第304回研究集会資料集　304-6-7　2016/10

  95. 頭部運動を活用した四脚ロボットのWalk-Pace-Rotary gallop間歩容遷移

    大脇大, 鈴木修羅, 福原洸, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2016），講演論文集(CD-ROM)　1A2-05a1　2016/06

  96. 頭部運動の活用による四脚ロコモーションの歩容遷移

    鈴木朱羅, 福原 洸, 大脇大, 石黒章夫

    第28回自律分散システムシンポジウム予稿集　112-115　2016/01

  97. 関節剛性が四脚ロコモーションへ及ぼす影響に関する考察

    福原洸, 大脇大, 加納剛史, 石黒章夫

    第21回創発システム・シンポジウム講演資料集　P-15　2015/08

  98. 関節剛性が脚間協調へ及ぼす影響に関する考察

    福原洸, 大脇大, 加納剛史, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2015），講演論文集(CD-ROM)　2A2-T01　2015/05

  99. 実時間脳外科手術シミュレータの ためのロバ ストな生体 組織変形・剥離モデルと力覚インタラクション

    佐瀬 一弥, 福原 洸, 辻田 哲平, 近野 敦

    第 32 回日本ロボット学会学術 講演会予稿集　3H2-03　2014/09

  100. 術具による脳組織圧排に伴う 損傷を回避する脳深部病変への最適手術経路計画

    福原 洸, 辻田 哲平, 佐瀬 一弥, 近野 敦, 姜 欣, 安孫子 聡子, 内山 勝

    第 32 回日本ロボット 学会学術講演会予稿集　32nd　3H2-01　2014/09

  101. 3A1-B03 Stable Fracture Model of Soft Materials for a Simulation of Brain Tumor Resection(Medical Robotics and Mechatronics (1))

    SASE Kazuya, KONNO Atsushi, TSUJITA Teppei, FUKUHARA Akira, CHEN XiaoShuai, KOMIZUNAI Shunsuke

    ロボティクス・メカトロニクス講演会講演概要集　2014　"3A1-B03(1)"-"3A1-B03(4)"　2014/05/24

    Publisher: 一般社団法人日本機械学会

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    This paper proposes a stable method for simulating brain tumor resection. During resection, soft tissues deform with local large rotation which is unacceptable with the small deformation theory. Furthermore, fracture simulation requires high computing cost and topology change which leads the simulation unstable. In order to calculate the large rotational deformation, we adopted corotational FEM. In addition, a stable element removal method for fracture simulation is developed. The method handles the singularity of tetrahedral mesh in real-time. Two simple fracture simulations show that these implementations works well. Finally, a brain tumor resection simulation is performed, in which instability is successfully avoided. These facts show that proposed methods are effective for simulating brain tumor resection.

  102. 3A1-B04 Real-time Simulation of Brain Tumor Resection Using GPGPU(Medical Robotics and Mechatronics (1))

    SASE Kazuya, KONNO Atsushi, TSUJITA Teppei, FUKUHARA Akira, CHEN XiaoShuai, KOMIZUNAI Shunsuke

    ロボティクス・メカトロニクス講演会講演概要集　2014　"3A1-B04(1)"-"3A1-B04(4)"　2014/05/24

    Publisher: 一般社団法人日本機械学会

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    This paper proposes a parallelization method for brain tumor resection simulation using General Purpose Graphics Processing Unit (GPGPU). The simulation is performed by using corotational FEM for fracture handling. However, the calculating cost is too high to execute in real-time. The bottlenecks of the simulation are solving linear system of equation and assembly procedure of global stiffness matrix. In order to achieve real-time simulation, we apply the large scale parallelization using GPGPU to the bottlenecks. The proposed method optimizes memory consumptions and calculations by taking account of symmetry property of the stiffness matrices. This paper shows that the proposed method enables the simulation to run in around one and half times faster than the case of multi-core CPU parallelization.

  103. 2A1-L02 Collision Detection for Real Time Surgery Simulation of Opening a Brain Fissure(Surgical Robotics and Mechatronics (1))

    FUKUHARA Akira, TSUJITA Teppei, SASE Kazuya, KONNO Atsushi, JIANG Xin, ABIKO Satoko, UCHIYAMA Masaru

    2013　"2A1-L02(1)"-"2A1-L02(4)"　2013/05/22

    Publisher: The Japan Society of Mechanical Engineers

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    In Neurosurgery, Opening a brain fissure allows an operator to access to basis cranii and to treat a disease part safely, but the operator is required high technique. The goal of this study is to develop a Neurosurgery simulator enabling surgeons to train opening a brain fissure procedure. Simulation of excluding soft tissue needs collision detection between a soft tissue and tools and choosing suitable contact displacement. In this study, collision detection considered its previous condition is proposed and opening a brain fissure simlation is performed with this method. In addition, the computation of collision detection is accelerated with GPU.

  104. 脳裂解法シミュレーションのた めの接触判定法の提案

    福原 洸, 辻田 哲平, 佐瀬 一弥, 近野 敦, 姜 欣, 安孫子 聡子, 内山 勝

    日本機械学会ロボティクス・メカトロニクス講演会 2013 講演論文集　2013　2A1-L02　2013/05

    ISSN： 2424-3124

Show all ︎Show first 5

Books and Other Publications 2

  1. 身体性知能とシステム・制御

    大脇 大, 福原 洸, 増田 容一

    コロナ社　2025/09

    ISBN: 9784339034011

  2. Biological Mechanisms

    Takeshi Yamasaki, Megu Gunji, Yoichi Masuda, Akira Fukuhara

    Springer Nature Singapore　2023/09/13

    DOI： 10.1007/978-981-19-5174-9_3 　

    ISBN: 9789811951732

Presentations 13

  1. Reconstructing Extinct Animal Swimming Suggests a Polysemantic Control Rule Common to Terrestrial Locomotion Invited

    Akira Fukuhara

    Soft Transitions: Soft Robots for Land, Amphibious, Underwater Locomotion, RoboSoft Conference 2026 Full-Day Workshop　2026/04/07

  2. ロボットから紐解く生物の柔軟な遊泳メカニズム Invited

    福原 洸

    2025年度研究集会「生物流体力学におけるデータ処理」　2025/10/29

  3. Into the Depths: Biomimetic Robots Mimicking the Deep Anatomy of Animals Invited

    Akira Fukuhara

    Deep Biomimetics for Next-Generation Bioinspired Robots in Living Machines 2025 Workshop　2025/07/15

  4. Exploring Robot Design Principle from Flexible Body of Carnivoran Mammals Invited

    Akira Fukuhara

    Workshop: Embodied locomotion mechanisms in animals and robots: from morphological to neural computations from morphological to neural computations SWARM2024　2024/09/18

  5. 開かれたシステムの設計論を目指して：生物模倣ロボットから多義的身体へのアプローチ Invited

    福原 洸

    第 19 回身体性認知科学と実世界応用に関する若手研究会　2023/10/29

  6. Polysemantic body in animal’s versatile behaviors guiding flexible robot design Invited

    Akira Fukuhara

    Workshop on Field Deployable Soft Robotics: Challenges and Opportunities, 6th IEEE-RAS International Conference on Soft Robotics, RoboSoft 2023　2023/04/03

  7. 四脚動物の柔軟な肩の運動機能の理解に向けて Invited

    福原 洸

    日本比較生理生化学会第 44 回大会　2022/11/26

  8. ロボット屋の知らない解剖の世界２：肩の構造と柔軟な身体 Invited

    福原 洸

    ICE Tohoku x 多義的メカニ クス研究会オンライン講演会　2021/10/27

  9. Polysemantic body in animal’s versatile behaviors guiding flexible robot design Invited

    Akira Fukuhara

    Workshop on New Advances in Soft Robots Modeling and Control, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS2021　2021/09/27

  10. しなやかな動きと創発システム Invited

    福原 洸

    計測自動制御学会 システム・情報部門 自律分散システム 部会 創発システム勉強会 2021　2021/09/06

  11. Decoding Body-limb Coordination Mechanism Underlying Animal Locomotion Invited

    Akira Fukuhara

    Workshop on Advances in Soft Robots Control, IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2019)　2019/11/04

  12. How Animals Coordinate Their Limbs? Invited

    Akira Fukuhara

    The 9th International Congress on Industrial and Applied Mathematics (ICIAM 2019)　2019/07/18

  13. Tegotae-based Control: Toward Understanding the Control Mechanism Underlying Animal Locomotion International-presentation Invited

    Akira Fukuhara

    IROS 2018 Workshop on Controlling Soft Robots: Model-based vs. Model-free Approaches　2018/10/01

Show all Show first 5

Research Projects 16

  1. Dynamics of endless learning

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research

    Category: Grant-in-Aid for Scientific Research (A)

    Institution: Niigata University of Health and Welfare

    2025/04 - 2029/03

  2. 食肉目哺乳類の多様な振る舞いから切り拓く四脚ロボットの多義化設計

    福原 洸, 増田 容一, 郡司 芽久, 加瀬 ちひろ

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業

    Category: 基盤研究(A)

    Institution: 東北大学

    2024/04/01 - 2028/03/31

  3. 呼吸をモデルとした生物知能型空間認知能力の獲得

    志垣 俊介, 福原 洸, 伊吹 竜也

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業

    Category: 挑戦的研究(萌芽)

    Institution: 国立情報学研究所

    2024/06/28 - 2027/03/31

  4. Deep Biomimetic Robotics

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research

    Category: Grant-in-Aid for Scientific Research (S)

    Institution: Institute of Science Tokyo

    2023/04/12 - 2026/03/31

  5. Reconstruction of Extinct Animal's Locomotion Based on Bioinspired Decentralized Control Scheme

    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

    2022/04 - 2026/03

  6. Realistic Modeling of Horse's Adaptive Behavior By Intergrating of Anatomy, Motion Measurement, and Robotics

    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: Osaka University

    2022/04 - 2025/03

  7. Understanding of Interlocking Mechanism in Forearm of Quadruped Animals for Development of Versatile Quadruped Robots

    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

    2021/04 - 2024/03

  8. Control and learning principle for interpersonal motor skill

    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: Nagoya University

    2020/04 - 2024/03

  9. Designing Super-survival System by Studying Bacterial Biofilm Formation

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research

    Category: Fund for the Promotion of Joint International Research (Fostering Joint International Research (B))

    Institution: Tohoku University

    2019/10/07 - 2023/03/31

  10. Adaptive Stiffness Control Mechanism Underlying Flexible Structure of Shoulder Region of Quadrupeds

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research on Innovative Areas (Research in a proposed research area)

    Category: Grant-in-Aid for Scientific Research on Innovative Areas (Research in a proposed research area)

    Institution: Tohoku University

    2021/04 - 2023/03

  11. 生物を超えて：双腕付き四脚ロボットの創成

    Offer Organization: 公益財団法人双葉電子記念財団

    System: 2020年度事前科学研究助成

    2020/04 - 2021/03

  12. 首長竜の首はなぜ長い？自律分散制御が切り拓く古生物の運動再現手法の新展開

    福原 洸

    Offer Organization: 東北大学 学際科学フロンティア研究所

    System: 領域創成研究プログラム（Program for Creation of Interdisciplinary Research）

    Institution: 東北大学 学際科学フロンティア研究所

    2019/06 - 2021/03

  13. Reconstruction of extant animals locomotion based on decentralized control mechanism extracted from extant animals Competitive

    Fukuhara Akira

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research

    Category: Grant-in-Aid for Early-Career Scientists

    Institution: Tohoku University

    2019/04 - 2021/03

    More details Close

    We attempted to reconstruct the swimming style of the plesiosaurs from the viewpoint of autonomous decentralized control by coordinating the large fins of the four limbs, which is one of the characteristics of its unique morphology. In this study, we implemented an autonomous decentralized control law based on the autonomous decentralized control speed extracted from the limb coordination of terrestrial animals to the developed plesiosaurs-like robot. The robot experiments demonstrated that the inter-flipper coordination spontaneously changes in response to various swimming conditions, realizing efficient swimming patterns. In addition, visualization experiments using Particle Image Velocimetry (PIV) revealed that the interference of vortex trains generated by the fore and hind flippers is important for the efficient swimming patterns of the plesiosaurs-like robot.

  14. ロボットよ，ワルツを踊れ！

    福原 洸

    Offer Organization: 総務省

    System: 異能vation 破壊的な挑戦

    Institution: 株式会社角川アスキー総合研究所

    2019/10 - 2020/09

  15. 動物の形態機能と運動制御から切り拓くタフな自律移動ロボットの設計原理

    Offer Organization: 東北大学タフ・サイバーフィジカルAI研究センター

    System: タフ・サイバーフィジカルAI研究プロジェクト

    Institution: 東北大学タフ・サイバーフィジカルAI研究センター

    2019/11 - 2020/03

  16. マルチテレストリアルロコモーションから解き明かす脚間・脚内協調メカニズム

    福原 洸

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業

    Category: 特別研究員奨励費

    Institution: 東北大学

    2016/04/22 - 2018/03/31

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    前年度の研究成果により，四脚動物が示す移動速度に応じた適応的な足並み（歩容と呼ばれる脚間の協調運動の時空間的秩序）は，身体支持だけでなく，身体の推進の２つの脚の役割に基づいた運動の調整が必要であることが示された．本年度では，１）身体の支持と推進に基づいた脚間協調制御則のロボット実機検証と，２）提案モデルを通した四脚動物の運動メカニズムの理解の２つの研究要素について実施した．以下にその概要を示す． １）身体の支持と推進に基づいた脚間協調制御則のロボット実機検証 前年度の構築した提案制御則の実世界での有用性をロボット実機を開発して検証した．開発したロボットは，床反力の身体支持成分だけでなく身体の推進方向成分を抽出できるように，脚先に３軸の力覚センサを実装している．実験結果から，身体推進に関するフィードバック則のゲインに応じて，ロボットの左右脚の運動の非対称性が強まり，移動速度・移動効率が向上することが明らかになった．力学的相互作用のみに基づくシンプルな脚間協調制御則よってgallopへの自発的な歩容遷移を再現したのは，世界で初めての研究事例である． ２）提案モデルを通した四脚動物の運動メカニズムの理解 構築した制御則を通して，四脚動物が示すbound（ウサギなどの小動物が示す両足を揃えた走り方）とgallop（ウマなどが得意とする左右の脚をスキップのように非対称に協調させる走り方）の制御メカニズムの違いについて考察した．具体的には，身体推進に関するフィードバック則によって脚間の役割分担が自発的に生じ，非対称で高速なgallopが実現されていることを明らかにした．また，身体支持と推進のそれぞれのフィードバック則の効果と高速歩容における異なる振る舞いの関係を明らかにした．これらの知見は，環境との力学的な相互作用を積極的に活用可能なロボットの制御原理の構築において有用である．

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