Details of the Researcher

PHOTO

Akio Ishiguro
Section
Research Institute of Electrical Communication
Job title
Professor
Degree

  • 工学博士　名古屋大学

Research History 4

  • 2011/04 - Present
    Tohoku University　Research Institute of Electrical Communication

  • 2006/04 - 2011/03
    Tohoku University　Graduate School of Engineering

  • 1997/05 - 2006/03
    Nagoya University　Graduate School of Engineering

  • 1991/04 - 1997/05
    Nagoya University　Graduate School of Engineering

Committee Memberships 11

  • 計測自動制御学会　代議員

    2018/01 - Present

  • 計測自動制御学会東北支部　支部長

    2016/01 - 2018/01

  • 計測自動制御学会東北支部　副支部長

    2014/01 - 2016/01

  • 日本機械学会　校閲委員

    2007/04 - 2008/03

  • 日本機械学会　校閲委員

    2007/04 - 2008/03

  • 計測自動制御学会自律分散システム部会　主査

    2007/01 - 2007/12

  • 計測自動制御学会東北支部　評議員

    2007/01 - 2007/12

  • 計測自動制御学会自律分散システム部会　主査

    2007/01 - 2007/12

  • 計測自動制御学会東北支部　評議員

    2007/01 - 2007/12

  • 計測自動制御学会自律分散システム部会　副主査（平成18年1月～平成18年12月）

    2006/01 - 2006/12

  • 計測自動制御学会自律分散システム部会　副主査（平成18年1月～平成18年12月）

    2006/01 - 2006/12

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Professional Memberships 4

  • PALAEONTOLOGICAL SOCIETY OF JAPAN

  • THE JAPANESE SOCIETY FOR MATHEMATICAL BIOLOGY

  • 日本ロボット学会

  • 計測自動制御学会

Research Interests 5

  • 生物ロコモーション

  • 数理科学

  • 生物規範型ロボット

  • 自律分散制御

  • 創発システム

Research Areas 3

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

  • Life sciences / Animals: biochemistry, physiology, behavioral science /

  • Informatics / Robotics and intelligent systems /

Awards 39

  1. 日本古生物学会第2024年年会ポスター賞

    2024/06　日本古生物学会　体幹姿勢の揺動を考慮した首長竜の前後ヒレ間協調運動様式の構成論的検証

  2. 日本ロボット学会第4回優秀研究・技術賞

    2023/09　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

  3. 計測自動制御学会論文賞

    2022/09　計測自動制御学会　分散協調制御によるマルチモータシステムの一構成法

  4. 日本機械学会ロボティクス・メカトロニクス部門ROBOMECH表彰（学術研究分野）

    2022/06　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

  5. The 9.5th international symposium on Adaptive Motion of Animals and Machines (AMAM2021), the Poster Prize, Second Place

    2021/06　International Symposium on Adaptive Motion of Animals and Machines

  6. The 9.5th international symposium on Adaptive Motion of Animals and Machines (AMAM2021), the Poster Prize, Honorable Mentions

    2021/06　International Symposium on Adaptive Motion of Animals and Machines

  7. The 9.5th international symposium on Adaptive Motion of Animals and Machines (AMAM2021), the Poster Prize, Honorable Mentions

    2021/06　International Symposium on Adaptive Motion of Animals and Machines

  8. 日本機械学会ロボティクス・メカトロニクス部門ROBOMECH表彰（学術研究分野）

    2021/06　日本機械学会　環境に呼応して足並みが柔軟に変化する多脚ロボットの脚間協調制御則

  9. 2020 IROS Best Paper Award on Cognitive Robotics Finalist

    2020/11　IEEE/RSJ International Conference on Intelligent Robots and Systems　Emergent Adaptive Gait Generation through Hebbian Sensor-Motor Maps by Morphological Probing

  10. 日本比較生理生化学会第42回大会 発表論文賞 会長賞

    2020/11　Towards understanding adaptive motor control mechanisms underlying walking and swimming in centipedes

  11. 横断型基幹科学技術研究団体連合 木村賞

    2018/04　横断型基幹科学技術研究団体連合　ムカデ型ロボット i-CentiPot：機械から生物へ

  12. 計測自動制御学会関西支部長賞技術賞

    2018/01　計測自動制御学会　陰的制御によるムカデ型ロボット（i-CentiPot）の実現について

  13. 24. 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）優秀講演賞

    2017/12　計測自動制御学会　脚の役割分担を自発的に生成可能な６脚歩行の脚内協調制御則

  14. WIRED Audi INNOVATION AWARD

    2016/11

  15. 第300回計測自動制御学会東北支部研究集会, 優秀発表奨励賞

    2016/02/19　計測自動制御学会東北支部　第300回計測自動制御学会東北支部研究集会, 優秀発表奨励賞

  16. 第299回計測自動制御学会東北支部研究集会, 優秀発表奨励賞

    2015/12/05　計測自動制御学会東北支部　第299回計測自動制御学会東北支部研究集会, 優秀発表奨励賞

  17. IEEE International Symposium on Micro-Nano Mechatronics and Human Science Best Poster Award

    2015/12　IEEE

  18. 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 （SI2015）

    2015/12　計測自動制御学会システムインテグレーション部門　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（SI2015），優秀講演賞

  19. 第21回創発システムシンポジウム，最優秀講演賞

    2015/08/30　第21回創発システムシンポジウム　第21回創発システムシンポジウム，最優秀講演賞

  20. 第21回創発システムシンポジウム，優秀講演賞

    2015/08/30　第21回創発システムシンポジウム　第21回創発システムシンポジウム，優秀講演賞

  21. 東北大学附置研究所若手アンサンブルワークショップ，優秀ポスター賞

    2015/07/23　東北大学附置研究所若手アンサンブルワークショップ　東北大学附置研究所若手アンサンブルワークショップ，優秀ポスター賞

  22. 計測自動制御学会システム・情報部門学術講演会2014（SSI2014) SSI Best Research Award

    2014/11/23　計測自動制御学会　計測自動制御学会システム・情報部門学術講演会2014（SSI2014) SSI Best Research Award

  23. 2014年度計測自動制御学会学会賞（論文賞）

    2014/09/11　計測自動制御学会　2014年度計測自動制御学会学会賞（論文賞）

  24. CLAWAR Association Best Technical Paper Award (Highly Commended papaer award)

    2014/07/21　17th the Internatial Coference on Climbing and Walking Robots (CLAWAR2014)　CLAWAR Association Best Technical Paper Award (Highly Commended papaer award)

  25. 第23回日本数理生物学会大会ポスター賞

    2013/09/12　日本数理生物学会　第23回日本数理生物学会大会ポスター賞

  26. 第23回 日本数理生物学会大会ポスター賞

    2013/09/12　日本数理生物学会　第23回 日本数理生物学会大会ポスター賞

  27. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)JTCF Novel Technology Paper Award for Amusement Culture Finalist

    2012/10/11　2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)　2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)JTCF Novel Technology Paper Award for Amusement Culture Finalist

  28. The International Conference on Biomimetic & Biohybrid Systems (Living Machines 2012)Best Paper Award

    2012/07/12　The International Conference on Biomimetic & Biohybrid Systems (Living Machines 2012)　The International Conference on Biomimetic & Biohybrid Systems (Living Machines 2012)Best Paper Award

  29. 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優秀講演賞

    2011/12/25　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　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優秀講演賞

  30. NTF Award Finalist for Entertainment Robots and Systems

    2011/09/29　2011 IEEE/RSJ International Conference on Intelligent Robots and Systems　NTF Award Finalist for Entertainment Robots and Systems

  31. 第20回日本数理生物学会，最優秀ポスター賞

    2010/09/16　日本数理生物学会　第20回日本数理生物学会，最優秀ポスター賞

  32. 第20回日本数理生物学会，最優秀ポスター賞

    2010/09/16　日本数理生物学会　最優秀ポスター賞

  33. IROS 2009: The 2009 IEEE/RSJ International Conference on Intelligent RObots and Systems Best Paper Finalist

    2009/10/14　IROS 2009: The 2009 IEEE/RSJ International Conference on Intelligent RObots and Systems

  34. 第9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（SI2008）優秀講演賞

    2008/12/05　計測自動制御学会SI部門講演会SI2008

  35. 2008 Ig Nobel Prize

    2008/10/02　Marc Abrahams　COGNITIVE SCIENCE PRIZE （認知科学賞）

  36. 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）優秀講演賞

    2006/12/16　計測自動制御学会　準受動歩行機械の実時間適応制御

  37. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems Best Paper Award

    2005/01　IEEE/RSJ International Conference on Intelligent RObots and Systems

  38. 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems Best Paper Award Nomination Finalist

    2004/01　IEEE/RSJ International Conference on Intelligent RObots and Systems

  39. 日本機械学会情報・知能・精密機器部門優秀講演論文賞受賞

    1996/03　日本機械学会

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Papers 751

  1. Rethinking the four-wing problem in plesiosaur swimming using bio-inspired decentralized control (Vol 14, 25333, 2024)

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

    SCIENTIFIC REPORTS　15　(1)　2025/01/28

    DOI： 10.1038/s41598-024-80402-5 　

    ISSN： 2045-2322

  2. Bicycle-inspired simple balance control method for quadruped robots in high-speed running

    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.

  3. Decentralized control law for load-adaptive gaits of multi-legged robots inspired by millipedes

    Kotaro Yasui, Atsushi Ohno, Takeshi Kano, Akio Ishiguro

    ADVANCED ROBOTICS　39　(1)　79-88　2025/01/02

    DOI： 10.1080/01691864.2024.2408619 　

    ISSN： 0169-1864

    eISSN： 1568-5535

  4. Decentralized control mechanism for limb steering in quadruped robot walking (Jul, 10.1080/01691864.2024.2376030, 2024)

    Hayato Amaike, Akira Fukuhara, Takeshi Kano, Akio Ishiguro

    ADVANCED ROBOTICS　38　(21)　0i-0i　2024/11/01

    DOI： 10.1080/01691864.2024.2391681 　

    ISSN： 0169-1864

    eISSN： 1568-5535

  5. Decentralized control mechanism for limb steering in quadruped robot walking.

    Hayato Amaike, Akira Fukuhara, Takeshi Kano, Akio Ishiguro

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

    DOI： 10.1080/01691864.2024.2376030 　

  6. Designing Decentralized Systems with High Survivability Inspired by Altruistic Social Interactions of Vampire Bats

    Takeshi Kano, Shokichi Kawamura, Taishi Mikami, Daiki Wakita, Akio Ishiguro

    Journal of Robotics and Mechatronics　36　(3)　546-554　2024/06/20

    Publisher: Fuji Technology Press Ltd.

    DOI： 10.20965/jrm.2024.p0546 　

    ISSN： 0915-3942

    eISSN： 1883-8049

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    Altruism is a key concept in the design of decentralized systems with high survivability. We focus on a community of vampire bats to reveal how intra-group altruism produces group-wide survivability. Although these bats die within three days if food is unavailable, they can survive for over 10 years by developing a highly sophisticated social community in which they share food. This food-sharing behavior occurs not only among blood relatives, but also among unrelated individuals through self-organizing social relationships based on grooming behavior. We propose a simple network model that focuses on the relationship between food sharing and grooming. We performed simulations under periodic, stationary, and irregular feeding environments, and found that suitable update rules for social relationships depend on the type of environment. Our findings provide insights into how decentralized systems with high survivability can be designed based on altruism.

  7. Design of a Quasi-Passive Dynamic Walking Robot Based on Anatomy Trains Theory

    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

  8. High-Propulsive Trunk Flexion-Extension Mechanism Using Cheetah-Inspired S-Shaped Spine

    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

  9. Decentralized Control Mechanism Underlying Morphology-Dependent Quadruped Turning

    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. Elongating, entwining, and dragging: mechanism for adaptive locomotion of tubificine worm blobs in a confined environment International-journal

    Taishi Mikami, Daiki Wakita, Ryo Kobayashi, Akio Ishiguro, Takeshi Kano

    Frontiers in Neurorobotics　17　1207374-1207374　2023/08/29

    Publisher: Frontiers Media SA

    DOI： 10.3389/fnbot.2023.1207374 　

    eISSN： 1662-5218

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    Worms often aggregate through physical connections and exhibit remarkable functions such as efficient migration, survival under environmental changes, and defense against predators. In particular, entangled blobs demonstrate versatile behaviors for their survival; they form spherical blobs and migrate collectively by flexibly changing their shape in response to the environment. In contrast to previous studies on the collective behavior of worm blobs that focused on locomotion in a flat environment, we investigated the mechanisms underlying their adaptive motion in confined environments, focusing on tubificine worm collectives. We first performed several behavioral experiments to observe the aggregation process, collective response to aversive stimuli, the motion of a few worms, and blob motion in confined spaces with and without pegs. We found the blob deformed and passed through a narrow passage using environmental heterogeneities. Based on these behavioral findings, we constructed a simple two-dimensional agent-based model wherein the flexible body of a worm was described as a cross-shaped agent that could deform, rotate, and translate. The simulations demonstrated that the behavioral findings were well-reproduced. Our findings aid in understanding how physical interactions contribute to generating adaptive collective behaviors in real-world environments as well as in designing novel swarm robotic systems consisting of soft agents.

  11. The role of the leading foot in quadruped during turning from a synthetic approach

    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 　

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    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

  12. Asynchronous Bilateral Body Bending Enables Fast Cheetah-like Rotary Galloping

    Suzuki Shura, Asaoka Yuya, Maeda Satoshi, Amaike Hayato, Ishiguro Akio

    The 11th International Symposium on Adaptive Motion of Animals and Machines (AMAM2023)　49-50　2023/06

    Publisher: Adaptive Motion of Animals and Machines Organizing Committee

    DOI： 10.18910/92261 　

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    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 P6

  13. Exploring Mechanisms Underlying Cheetah-like Rotary Gallop by a Simple Robot

    MAEDA Satoshi, ASAOKA Yuya, HATTORI Shoei, SUZUKI Shura, KOBAYASHI Ryo, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2023　1P1-F26　2023

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2023.1p1-f26 　

    eISSN： 2424-3124

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    Cheetah is the fastest quadruped in the animal kingdom. To understand the mechanisms underlying the high-speed running ability, we focus on the two key characteristics of cheetah running: trunk bending and footfall pattern, known as rotary gallop. While trunk bending contributes to stride extension, the extent to which the footfall pattern contributes to high-speed running remains unclear. To address this issue, we hypothesized that the rotary gallop allows for effective utilization of trunk bending. A previous simulation study suggested that flexible trunk bending in response to the footfall pattern improves running speed. In this paper, we present a simple wheeled robot to verify our hypothesis in the real world.

  14. Active-sensing-based decentralized control of autonomous mobile agents for quick and smooth collision avoidance

    Takeshi Kano, Takeru Kanno, Taishi Mikami, Akio Ishiguro

    Frontiers in Robotics and AI　9　2022/11/11

    Publisher: Frontiers Media SA

    DOI： 10.3389/frobt.2022.992716 　

    eISSN： 2296-9144

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    There is an increasing demand for multi-agent systems in which each mobile agent, such as a robot in a warehouse or a flying drone, moves toward its destination while avoiding other agents. Although several control schemes for collision avoidance have been proposed, they cannot achieve quick and safe movement with minimal acceleration and deceleration. To address this, we developed a decentralized control scheme that involves modifying the social force model, a model of pedestrian dynamics, and successfully realized quick, smooth, and safe movement. However, each agent had to observe many nearby agents and predict their future motion; that is, unnecessary sensing and calculations were required for each agent. In this study, we addressed this issue by introducing active sensing. In this control scheme, an index referred to as the “collision risk level” is defined, and the observation range of each agent is actively controlled on this basis. Through simulations, we demonstrated that the proposed control scheme works reasonably while reducing unnecessary sensing and calculations.

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

    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.

  16. Understanding of superorganisms: collective behavior, differentiation and social organization

    Toru Miura, Kohei Oguchi, Haruka Yamaguchi, Mayuko Nakamura, Daisuke Sato, Kenta Kobayashi, Nobuyuki Kutsukake, Kyoko Miura, Yoshinobu Hayashi, Masaru Hojo, Kiyoto Maekawa, Shuji Shigenobu, Takeshi Kano, Akio Ishiguro

    Artificial Life and Robotics　27　(2)　204-212　2022/05

    Publisher: Springer Science and Business Media LLC

    DOI： 10.1007/s10015-022-00754-x 　

    ISSN： 1433-5298

    eISSN： 1614-7456

  17. Flexible Shoulder in Quadruped Animals and Robots Guiding Science of Soft Robotics

    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.

  18. Adaptive Centipede Walking via Synergetic Coupling Between Decentralized Control and Flexible Body Dynamics

    Kotaro Yasui, Shunsuke Takano, Takeshi Kano, Akio Ishiguro

    Frontiers in Robotics and AI　9　2022/04/05

    Publisher: Frontiers Media SA

    DOI： 10.3389/frobt.2022.797566 　

    eISSN： 2296-9144

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    Multi-legged animals such as myriapods can locomote on unstructured rough terrain using their flexible bodies and legs. This highly adaptive locomotion emerges through the dynamic interactions between an animal’s nervous system, its flexible body, and the environment. Previous studies have primarily focused on either adaptive leg control or the passive compliance of the body parts and have shown how each enhanced adaptability to complex terrains in multi-legged locomotion. However, the essential mechanism considering both the adaptive locomotor circuits and bodily flexibility remains unclear. In this study, we focused on centipedes and aimed to understand the well-balanced coupling between the two abovementioned mechanisms for rough terrain walking by building a neuromechanical model based on behavioral findings. In the behavioral experiment, we observed a centipede walking when part of the terrain was temporarily removed and thereafter restored. We found that the ground contact sense of each leg was essential for generating rhythmic leg motions and also for establishing adaptive footfall patterns between adjacent legs. Based on this finding, we proposed decentralized control mechanisms using ground contact sense and implemented them into a physical centipede model with flexible bodies and legs. In the simulations, our model self-organized the typical gait on flat terrain and adaptive walking during gap crossing, which were similar to centipedes. Furthermore, we demonstrated that the locomotor performance deteriorated on rough terrain when adaptive leg control was removed or when the body was rigid, which indicates that both the adaptive leg control and the flexible body are essential for adaptive locomotion. Thus, our model is expected to capture the possible essential mechanisms underlying adaptive centipede walking and pave the way for designing multi-legged robots with high adaptability to irregular terrain.

  19. Adaptive Interlimb Coordination Mechanism for Hexapod Locomotion Based on Active Load Sensing

    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.

  20. 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.

  21. Special issue on adaptive motion of animals and machines.

    Emily M. Standen, Auke Jan Ijspeert, Akio Ishiguro, Koh Hosoda

    Adv. Robotics　36　(13)　611-611　2022

    DOI： 10.1080/01691864.2022.2095011 　

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

    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 　

  23. Simple Reactive Head Motion Control Enhances Adaptability to Rough Terrain in Centipede Walking

    Kotaro Yasui, Shunsuke Takano, Takeshi Kano, Akio Ishiguro

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)　13548 LNAI　262-266　2022

    DOI： 10.1007/978-3-031-20470-8_26 　

    ISSN： 0302-9743

    eISSN： 1611-3349

  24. Inter-limb Coordination Mechanism Based on the Coupling Between Hydraulic and Muscle Actuations in Wandering Spiders

    YAMAJI Satoshi, YASUI Kotaro, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　2A2-P08　2022

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2022.2a2-p08 　

    eISSN： 2424-3124

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    Soft-bodied legged robot shows high adaptability to the environment by utilizing its flexible body mechanics. However, it is difficult to generate adaptive coordination patterns between limbs (i.e., interlimb coordination), and decentralized control could be a solution for this problem. To develop such control mechanism, we focused on wandering spiders that exploit well-balanced coupling between hydraulic and muscle actuations and aimed to construct the decentralized control mechanism that can reproduce inter-limb coordination. For this purpose, we employed a synthetic approach wherein we construct a simple mathematical model based on biological insights. As a first step, here we built a two-dimensional robot model with two legs and proposed a simple local reflexive mechanism based on the interaction between leg flexor and body fluid.

  25. Designing Novel Decentralized Control Scheme of Snake-like Robot by Understanding Essential Mechanism of Snake Locomotion

    Takeshi Kano, Kotaro Yasui, Akio Ishiguro

    Journal of the Robotics Society of Japan　40　(4)　283-287　2022

    Publisher: The Robotics Society of Japan

    DOI： 10.7210/jrsj.40.283 　

    ISSN： 0289-1824

    eISSN： 1884-7145

  26. Leg amputation modifies coordinated activation of the middle leg muscles in the cricket Gryllus bimaculatus

    Dai Owaki, Hitoshi Aonuma, Yasuhiro Sugimoto, Akio Ishiguro

    Scientific Reports　11　(1)　2021/12

    Publisher: Springer Science and Business Media LLC

    DOI： 10.1038/s41598-020-79319-6 　

    eISSN： 2045-2322

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    <title>Abstract</title>Insects alter their walking pattern in order to respond to demands of an ever-changing environment, such as varying ground surface textures. They also exhibit resilient and flexible ability to retain the capacity to walk even after substantial changes in their body properties, e.g. leg amputation. While the motor control paradigm governing the inter-leg coordination in such adaptive walking has been extensively described in past studies, the mechanism remains unknown. Here, we examined this question by using the cricket (<italic>Gryllus bimaculatus</italic>), which shows a tetrapod/tripod gait on a flat surfaces, like many other insects. We performed leg amputation experiments to investigate modifications of leg movements and coordination of muscle activities. We simultaneously recorded (1) the leg movements, locomotion velocity, and body rotation and (2) the leg movements and leg muscles activities before and after leg amputation. Crickets displayed adaptive coordination of leg movement patterns in response to amputations. The activation timings of levator muscles in both middle legs tended to synchronize in phase when both legs were amputated at the coxatrochanteral joint. This supports the hypothesis that an intrinsic contralateral connection within the mesothoracic ganglion exists, and that mechanosensory feedback from the legs override this connection, resulting in the anti-phase movement of a normal gait.

  27. Simple decentralized control mechanism that enables limb adjustment for adaptive quadruped running

    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.

  28. Decentralized Control of Pedundulatory and Peristaltic Locomotion Inspired by Polycheates

    Kotaro Yasui, Takeru Kanno, Takeshi Kano, Akio Ishiguro

    2021 60th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2021　60-65　2021/09/08

  29. Emergence of robust self-organized undulatory swimming based on local hydrodynamic force sensing International-journal

    Robin Thandiackal, Kamilo Melo, Laura Paez, Johann Herault, Takeshi Kano, Kyoichi Akiyama, Frédéric Boyer, Dimitri Ryczko, Akio Ishiguro, Auke J. Ijspeert

    Science Robotics　6　(57)　2021/08/11

    Publisher: American Association for the Advancement of Science (AAAS)

    DOI： 10.1126/scirobotics.abf6354 　

    eISSN： 2470-9476

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    Using a robot, we show that hydrodynamic feedback loops and redundancy of peripheral and central mechanisms produce robust swimming.

  30. Spontaneous Gait Transitions of Sprawling Quadruped Locomotion by Sensory-Driven Body–Limb Coordination Mechanisms

    Shura Suzuki, Takeshi Kano, Auke J. Ijspeert, Akio Ishiguro

    Frontiers in Neurorobotics　15　645731-645731　2021/07/30

    Publisher: Frontiers Media SA

    DOI： 10.3389/fnbot.2021.645731 　

    eISSN： 1662-5218

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    Deciphering how quadrupeds coordinate their legs and other body parts, such as the trunk, head, and tail (i.e., body–limb coordination), can provide informative insights to improve legged robot mobility. In this study, we focused on sprawling locomotion of the salamander and aimed to understand the body–limb coordination mechanisms through mathematical modeling and simulations. The salamander is an amphibian that moves on the ground by coordinating the four legs with lateral body bending. It uses standing and traveling waves of lateral bending that depend on the velocity and stepping gait. However, the body–limb coordination mechanisms responsible for this flexible gait transition remain elusive. This paper presents a central-pattern-generator-based model to reproduce spontaneous gait transitions, including changes in bending patterns. The proposed model implements four feedback rules (feedback from limb-to-limb, limb-to-body, body-to-limb, and body-to-body) without assuming any inter-oscillator coupling. The interplay of the feedback rules establishes a self-organized body–limb coordination that enables the reproduction of the speed-dependent gait transitions of salamanders, as well as various gait patterns observed in sprawling quadruped animals. This suggests that sensory feedback plays an essential role in flexible body–limb coordination during sprawling quadruped locomotion.

  31. Simulation of quadruped robot walking considering anatomical features of distal forelimb

    Amaike Hayato, Fukuhara Akira, Gunji Megu, Masuda Yoichi, Tadakuma Kenjiro, Kano Takeshi, Ishiguro Akio

    10　2021/06

    Publisher: Adaptive Motion of Animals and Machines Organizing Committee

    DOI： 10.18910/84852 　

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    The 9.5th international symposium on Adaptive Motion of Animals and Machines. Ottawa，Canada (Virtual Platform). 2021-06-22/25. Adaptive Motion of Animals and Machines Organizing Committee.

  32. Decentralized Control Mechanisms for a Walking Fish (Polypterus senegalus)

    Suzuki Shura, Kano Takeshi, Standen M. Emily, Ijspeert J. Auke, Ishiguro Akio

    36　2021/06

    Publisher: Adaptive Motion of Animals and Machines Organizing Committee

    DOI： 10.18910/84876 　

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    The 9.5th international symposium on Adaptive Motion of Animals and Machines. Ottawa，Canada (Virtual Platform). 2021-06-22/25. Adaptive Motion of Animals and Machines Organizing Committee.

  33. 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 　

  34. 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 　

  35. WaltzBots: Toward understanding interpersonal coordination mechanism underlying ballroom dance

    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 　

  36. 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 　

  37. 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 　

  38. Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking

    Dai Owaki, Shun-ya Horikiri, Jun Nishii, Akio Ishiguro

    Frontiers in Neurorobotics　15　629595-629595　2021/05/12

    Publisher: Frontiers Media SA

    DOI： 10.3389/fnbot.2021.629595 　

    eISSN： 1662-5218

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    Despite the appealing concept of central pattern generator (CPG)-based control for bipedal walking robots, there is currently no systematic methodology for designing a CPG-based controller. To remedy this oversight, we attempted to apply the Tegotae approach, a Japanese concept describing how well a perceived reaction, i.e., sensory information, matches an expectation, i.e., an intended motor command, in designing localised controllers in the CPG-based bipedal walking model. To this end, we developed a Tegotae function that quantifies the Tegotae concept. This function allowed incorporating decentralised controllers into the proposed bipedal walking model systematically. We designed a two-dimensional bipedal walking model using Tegotae functions and subsequently implemented it in simulations to validate the proposed design scheme. We found that our model can walk on both flat and uneven terrains and confirmed that the application of the Tegotae functions in all joint controllers results in excellent adaptability to environmental changes.

  39. Wearable Vibration Sensor for Measuring the Wing Flapping of Insects International-journal

    Ryota Yanagisawa, Shunsuke Shigaki, Kotaro Yasui, Dai Owaki, Yasuhiro Sugimoto, Akio Ishiguro, Masahiro Shimizu

    Sensors　21　(2)　593-593　2021/01/15

    Publisher: MDPI AG

    DOI： 10.3390/s21020593 　

    eISSN： 1424-8220

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    In this study, we fabricated a novel wearable vibration sensor for insects and measured their wing flapping. An analysis of insect wing deformation in relation to changes in the environment plays an important role in understanding the underlying mechanism enabling insects to dynamically interact with their surrounding environment. It is common to use a high-speed camera to measure the wing flapping; however, it is difficult to analyze the feedback mechanism caused by the environmental changes caused by the flapping because this method applies an indirect measurement. Therefore, we propose the fabrication of a novel film sensor that is capable of measuring the changes in the wingbeat frequency of an insect. This novel sensor is composed of flat silver particles admixed with a silicone polymer, which changes the value of the resistor when a bending deformation occurs. As a result of attaching this sensor to the wings of a moth and a dragonfly and measuring the flapping of the wings, we were able to measure the frequency of the flapping with high accuracy. In addition, as a result of simultaneously measuring the relationship between the behavior of a moth during its search for an odor source and its wing flapping, it became clear that the frequency of the flapping changed depending on the frequency of the odor reception. From this result, a wearable film sensor for an insect that can measure the displacement of the body during a particular behavior was fabricated.

  40. Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk

    Shura Suzuki, Takeshi Kano, Auke J. Ijspeert, Akio Ishiguro

    Frontiers in Neurorobotics　14　607455-607455　2021/01/08

    Publisher: Frontiers Media SA

    DOI： 10.3389/fnbot.2020.607455 　

    eISSN： 1662-5218

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    Quadruped animals achieve agile and highly adaptive locomotion owing to the coordination between their legs and other body parts, such as the trunk, head, and tail, that is, body–limb coordination. This study aims to understand the sensorimotor control underlying body–limb coordination. To this end, we adopted sprawling locomotion in vertebrate animals as a model behavior. This is a quadruped walking gait with lateral body bending used by many amphibians and lizards. Our previous simulation study demonstrated that cross-coupled sensory feedback between the legs and trunk helps to rapidly establish body–limb coordination and improve locomotion performance. This paper presented an experimental validation of the cross-coupled sensory feedback control using a newly developed quadruped robot. The results show similar tendencies to the simulation study. Sensory feedback provides rapid convergence to stable gait, robustness against leg failure, and morphological changes. Our study suggests that sensory feedback potentially plays an essential role in body–limb coordination and provides a robust, sensory-driven control principle for quadruped robots.

  41. 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.

  42. 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.

  43. 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.

  44. 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.

  45. Towards Understanding the Decision-making Mechanism Underlying Adaptive Centipede Locomotion in Unknown Environments

    SEINO Genta, YASUI Kotaro, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2021　1P3-F06　2021

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2021.1P3-F06 　

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    <p>Understanding control mechanisms underlying adaptive animal locomotion will provide us a design scheme for robots which can behave autonomously depending on environments. To address this issue, it is important to capture the interplay between local pattern generating circuits, descending commands from higher centers, and sensory feedback. However, the essential interplay between them that generates adaptive behavior in response to the situation remains unclear. Here, we focused on centipedes and explored the interplay by observing the decision-making when they faced the edge of the precipice during walking. We found that a ventral nerve cord-transected centipede stopped walking in a shorter distance forward than the intact one. From the results, we extended our previous mathematical model for walking based on decentralized control and proposed a descending control mechanism which utilizes ground reaction forces detected at the legs for deciding whether to move forward.</p>

  46. 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>

  47. Towards Realization of a Multi-legged Robot That Can Generate Load-dependent Adaptive Gait

    OHNO Atsushi, YASUI Kotaro, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2021　1P3-F07　2021

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2021.1P3-F07 　

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    <p>Myriapods such as centipedes and millipedes can coordinate their elongate multi-legged body to locomote adaptively in unstructured and unpredictably changing environments. Clarifying the underlying motor control mechanism for locomotion will help to realize multi-legged robots that can move adaptively in various environments. However, the interlimb coordination mechanism that can generate load-dependent adaptive gait inherent in myriapods has not yet been elucidated. To solve this problem, we focused on the dynamic muscle properties as actuators for walking which may be closely related to the generation of gait patterns. In this paper, we observed the response to the load on the body and found that centipedes change their gait and increase their duty cycle. To understand this behavioral finding, we proposed a mathematical model for the locomotion control in which the force-velocity relationship of leg muscles was taken into account.</p>

  48. An agent-based model of the interrelation between the COVID-19 outbreak and economic activities Peer-reviewed

    T. Kano, K. Yasui, T. Mikami, M. Asally, A. Ishiguro

    Proceedings of the Royal Society A　477　(2245)　20200604-20200604　2021

    Publisher: The Royal Society

    DOI： 10.1098/rspa.2020.0604 　

    ISSN： 1364-5021

    eISSN： 1471-2946

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    As of July 2020, COVID-19 caused by SARS-COV-2 is spreading worldwide, causing severe economic damage. While minimizing human contact is effective in managing outbreaks, it causes severe economic losses. Strategies to solve this dilemma by considering the interrelation between the spread of the virus and economic activities are urgently needed to mitigate the health and economic damage. Here, we propose an abstract agent-based model of the COVID-19 outbreak that accounts for economic activities. The computational simulation of the model recapitulates the trade-off between the health and economic damage associated with voluntary restraint measures. Based on the simulation results, we discuss how the macroscopic dynamics of infection and economics emerge from individuals’ behaviours. We believe our model can serve as a platform for discussing solutions to the above-mentioned dilemma.

  49. An agent-based model for community formation process of vampire bats that survive by sharing food

    Taishi Mikami, Takeshi Kano, Akio Ishiguro

    Artificial Life and Robotics　25　(4)　561-568　2020/11

    Publisher: Springer Science and Business Media LLC

    DOI： 10.1007/s10015-020-00649-9 　

    ISSN： 1433-5298

    eISSN： 1614-7456

  50. 分散協調制御によるマルチモータシステムの一構成法 Peer-reviewed

    天野也寸志, 日比野良一, 菅井賢, 加納剛史, 石黒章夫

    計測自動制御学会論文集　56　(11)　521-530　2020/11

  51. A bio-inspired quadruped robot exploiting flexible shoulder for stable and efficient walking

    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

  52. Decoding decentralized control mechanism underlying adaptive and versatile locomotion of snakes

    Takeshi Kano, Akio Ishiguro

    Integrative and Comparative Biology　60　(1)　232-247　2020/07/01

    Publisher: Oxford University Press

    DOI： 10.1093/icb/icaa014 　

    ISSN： 1557-7023 1540-7063

  53. Decentralized Control for Swarm Robots That Can Effectively Execute Spatially Distributed Tasks Peer-reviewed

    Takeshi Kano, Eiichi Naito, Takenobu Aoshima, Akio Ishiguro

    Artificial Life　26　(2)　242-259　2020/05

    Publisher: MIT Press - Journals

    DOI： 10.1162/artl_a_00317 　

    ISSN： 1064-5462

    eISSN： 1530-9185

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    A swarm robotic system is a system in which multiple robots cooperate to fulfill a macroscopic function. Many swarm robots have been developed for various purposes. This study aims to design swarm robots capable of executing spatially distributed tasks effectively, which can be potentially used for tasks such as search-and-rescue operation and gathering scattered garbage in rooms. We propose a simple decentralized control scheme for swarm robots by extending our previously proposed non-reciprocal-interaction-based model. Each robot has an internal state, called its workload. Each robot first moves randomly to find a task, and when it does, its workload increases, and then it attracts its neighboring robots to ask for their help. We demonstrate, via simulations, that the proposed control scheme enables the robots to effectively execute multiple tasks in parallel under various environments. Fault tolerance of the proposed system is also demonstrated.

  54. 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.

  55. Sprawling Quadruped Robot Driven by Decentralized Control That Coordinates Leg and Body Motions

    Suzuki Shura, Kano Takeshi, Ijspeert Auke J., Ishiguro Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　2A1-K01　2020

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2020.2a1-k01 　

    eISSN： 2424-3124

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    Sprawling locomotion is a quadruped walking gait with lateral body bending used by salamanders, lizards, and crocodiles and so on. It presents an interesting example of how quadrupeds coordinate their legs and other body parts such as the trunk, head, and tail for adaptive locomotion, i.e., an interesting example of body–limb coordination. A better understanding of this body–limb coordination mechanism can provide informative insights into animal locomotion control and into the improvement of the legged robot mobility. Previously, we demonstrated that sensory feedback facilitates body–limb coordination in sprawling locomotion using a decentralized control with cross-coupled sensory feedback between the legs and the trunk. In this proceeding, we conducted the experimental validation of the proposed control using a developed quadruped robot. The resulting gait showed stable sprawling locomotion and presented the usefulness of sensory feedback for body–limb coordination, even in the real world.

  56. Special Issue on Adaptive Motion of Animals and Machines.

    Auke Jan Ijspeert, Akio Ishiguro, Emily M. Standen, Koh Hosoda

    Advanced Robotics　34　(17)　1095-1095　2020

    DOI： 10.1080/01691864.2020.1807151 　

  57. Emergent adaptive gait generation through Hebbian sensor-motor maps by morphological probing.

    Matthieu Dujany, Simon Hauser, Mehmet Mutlu, Martijn van der Sar, Jonathan Arreguit, Takeshi Kano, Akio Ishiguro, Auke Jan Ijspeert

    IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS)　7866-7873　2020

    Publisher: IEEE

    DOI： 10.1109/IROS45743.2020.9341211 　

  58. Decentralized Control Mechanism Underlying Adaptive and Versatile Locomotion of Snakes

    Takeshi KANO, Akio ISHIGURO

    Seibutsu Butsuri　60　(5)　272-275　2020

    Publisher: Biophysical Society of Japan

    DOI： 10.2142/biophys.60.272 　

    ISSN： 0582-4052

    eISSN： 1347-4219

  59. Decentralized Control Mechanism Underlying Polychaetes Locomotion That Adaptively Utilizes Undulatory and Peristaltic Motions

    KANNO Takeru, YASUI Kotaro, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　(0)　2A1-K05　2020

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2020.2A1-K05 　

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    <p>Polychaetes have a number of body segments with a pair of parapodia. They locomote effectively by utilizing undulatory and peristaltic motions of the flexible body in response to the environment. Clarifying the control mechanism underlying such adaptive locomotion of polychaetes can contribute to developing multi-legged robots that can move effectively in various environments by the flexible coordination of many body parts. In this study, we observed the locomotion of polychaetes when a part of their bodies was placed in a narrow space, and found that the motions of each body segment adaptively changed in response to the situations. Based on this finding, we proposed a decentralized control scheme that can reproduce the adaptive switch between undulatory and peristaltic motions in polychaetes locomotion.</p>

  60. Inter-limb Coordination Mechanism of Multi-legged Robot that Shows Flexible Gait Changes in Response to Environment

    TAKANO Shunsuke, YASUI Kotaro, KANO Takeshi, KOBAYASHI Ryo, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　(0)　2A1-K02　2020

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2020.2A1-K02 　

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    <p>Centipedes can move adaptively in unstructured environments by coordinating a large number of legs. Clarifying the underlying control mechanism for walking will help not only contribute to biology but also develop highly adaptive multi-legged robots. We previously observed the centipedes' response to the removal of a part of the terrain during walking and reported that the adaptive locomotion could be generated by a control mechanism using ground reaction forces detected at the legs. In this paper, we additionally observed the response to the appearance of a part of the terrain and found that centipedes utilized the newly obtained scaffold for propulsion. Based on this finding, we proposed an inter-limb coordination mechanism for multi-legged robots that enables adaptation to irregular terrain, and as a first step, we demonstrated via simulation that the proposed model could reproduce a steady gait pattern of centipedes.</p>

  61. 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 　

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

    Takeshi Kano, Rodrigo Senofieni, Akio Fukuhara, Akio Ishiguro

    Proc. of ALIFE2020　696-698　2020

    DOI： 10.1162/isal_a_00250 　

  63. One-dimensional reaction-diffusion model for intra- and inter- biofilm oscillatory dynamics Peer-reviewed

    Taishi Mikami, Munehiro Asally, Takeshi Kano, Akio Ishiguro

    Proc. of ALIFE2020　2020

  64. Decoding Decentralized Control Mechanism Underlying Adaptive and Versatile Locomotion of Snakes Invited Peer-reviewed

    Takeshi Kano, Akio Ishiguro

    Integrative and Comparative Biology　60　(5)　272-275　2020/01

    Publisher: Biophysical Society of Japan

    DOI： 10.2142/biophys.60.272 　

    ISSN： 0582-4052

    eISSN： 1347-4219

  65. Decoding the essential interplay between central and peripheral control in adaptive locomotion of amphibious centipedes Peer-reviewed

    Kotaro Yasui, Takeshi Kano, Emily M. Standen, Hitoshi Aonuma, Auke J. Ijspeert, Akio Ishiguro

    SCIENTIFIC REPORTS　9　doi:10.1038/s41598-019-53258-3　2019/12

    DOI： 10.1038/s41598-019-53258-3 　

    ISSN： 2045-2322

  66. 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

  67. 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

  68. An agent-based model for the community of vampire bats that survive by sharing food Peer-reviewed

    T. Mikami, T. Kano, A. Ishiguro

    Proc. of SWARM 2019: The 3rd International Symposium on Swarm Behavior and Bio-Inspired Robotics　194-196　2019/11

  69. Centipede Type Robot i-CentiPot: From Machine to Creatures Peer-reviewed

    Koichi Osuka, Tetsuya Kinugasa, Ryota Hayashi, Koji Yoshida, Dai Owaki, Akio Ishiguro

    Journal of Robotics and Mechatronics　31　(5)　723-726　2019/10/20

    Publisher: Fuji Technology Press Ltd.

    DOI： 10.20965/jrm.2019.p0723 　

    ISSN： 0915-3942

    eISSN： 1883-8049

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    In this study, we have developed a centipede-like multi-legged robot named i-CentiPot. This robot was developed to demonstrate our concept presented in the CREST project. In the project, we show that the existence of implicit control is important. i-CentiPot plays the part of the anchor example for our project.* * This article is a translation from the article: K. Osuka et al., “Centipede type robot i-CentiPot: From machine to creatures,” The 8th Conf. of Transdisciplinary Federation of Science and Technology, D-2-4, 2017 (in Japanese).

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

    A. Fukuhara, D. Owaki, T. Kano, A. Ishiguro

    Proc. of SICE Annual Conference　254-257　2019/09

  71. 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

  72. A salamander robot driven by cross-coupled sensory feedback control between legs and trunk Peer-reviewed

    S. Suzuki, T. Kano, A. J. Ijspeert, A. Ishiguro

    Proceedings of the 9th International Symposium on Adaptive Motion in Animals and Machines (AMAM)　A5　2019/08

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

    K. Yasui, K. Furukawa, A. Fukuhara, T. Kano, A. Ishiguro

    Proceedings of the 9th International Symposium on Adaptive Motion in Animals and Machines (AMAM)　A21　2019/08

  74. Non-trivial behaviors emerging from a simple decentralized rules (Part 2): A case study with swarming of individuals Peer-reviewed

    T. Kano, N. Matsui, E. Naito, T. Aoshima, A. Ishiguro

    Proceedings of the 8th International Symposium on Adaptive Motion in Animals and Machines (AMAM)　A4　2019/08

  75. Non-trivial behaviors emerging from a simple decentralized rules (Part 1): A case study with one-dimensional crawling locomotion Peer-reviewed

    T. Kano, D. Kanto, A. Ishiguro

    Proceedings of the 8th International Symposium on Adaptive Motion in Animals and Machines (AMAM)　A3　2019/08

  76. A reaction-diffusion model for simulating the oscillatory expansion of biofilms Peer-reviewed

    T. Mikami, M. Asally, T. Kano, A. Ishiguro

    Proc. of the 2019 Conference on Artificial LIFE (ALIFE2019)　218-219　2019/08

  77. Engineering Application of Non-Reciprocal-Interaction-Based (NRIB) Model: Swarm Robotic System That Can Perform Spatially Distributed Tasks in Parallel Peer-reviewed

    T. Kano, E. Naito, T. Aoshima, A. Ishiguro

    Proc. of the 2019 Conference on Artificial LIFE (ALIFE2019)　606-607　2019/08

  78. 3D Movement of Snake Robot Driven by Tegotae-based Control Peer-reviewed

    T. Kano, N. Matsui, A. Ishiguro

    Proc. of Living Machines 2019　346-350　2019/07

  79. The function of the ophiuroid nerve ring: how a decentralized nervous system controls coordinated locomotion Peer-reviewed

    Elizabeth G. Clark, Daichi Kanauchi, Takeshi Kano, Hitoshi Aonuma, Derek E. G. Briggs, Akio Ishiguro

    Journal of Experimental Biology　222　jeb192104　2019/02

  80. Brainless Quasi-quadruped Robot Resembling Spinal Reflex and Force-Velocity Relationship of Muscles

    Yoichi Masuda, Masato Ishikawa, Akio Ishiguro

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)　11556　329-333　2019

    Publisher: Springer Verlag

    DOI： 10.1007/978-3-030-24741-6_31 　

    ISSN： 1611-3349 0302-9743

  81. 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.

  82. Decentralized Control of a Hexapod Robot Capable of Generating Walking Motion in Response to the Slipperiness of the Terrain Peer-reviewed

    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>

  83. Development of Multi-legged Robot Capable of Adaptively Changing the Direction of Leg Density Waves Peer-reviewed

    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>

  84. Development of Polychaete-like Robot That Coordinates Limb Motion with Body Undulation Peer-reviewed

    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>

  85. 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　2019/01

  86. Flexible Coordination of Flexible Limbs: Decentralized Control Scheme for Inter- and Intra-limb Coordination in Brittle Stars' Locomotion Peer-reviewed

    T. Kano, D. Kanauchi, T. Ono, H. Aonuma, A. Ishiguro

    Frontiers in Neurorobotics　doi: 10.3389/fnbot.2019.00104　2019

  87. Decentralized control with cross-coupled sensory feedback between body and limbs in sprawling locomotion Peer-reviewed

    S. Suzuki, T. Kano, A.J. Ijspeert, A. Ishiguro

    Bioinpiration & Biomimetics　14　doi: 10.1088/1748-3190/ab3ef6　2019

  88. Decentralized Control Mechanism for Determination of Moving Direction in Brittle Stars with Penta-radially Symmetric Body Peer-reviewed

    T. Kano, D. Kanauchi, H. Aonuma, E.G. Clark, A. Ishiguro

    Frontiers in Neurorobotics　13　Doi: 10.3389/fnbot.2019.00066　2019

  89. Designing higher fourier harmonics of Tegotae function using genetic algorithm – A case study with an earthworm locomotion – Peer-reviewed

    T. Kano, R. Wakimoto, M. Sato, A. Shinohara, A. Ishiguro

    Bioinpiration & Biomimetics　14　doi: 10.1088/1748-3190/ab2fab　2019

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

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

    Adaptive Behavior　doi: 10.1177/1059712319865180　(3)　2019

    DOI： 10.1177/1059712319865180 　

  91. Preface: special issue on adaptive motion of animals and machines (1)

    Akio Ishiguro, Auke Ijspeert, Koh Hosoda

    Advanced Robotics　32　(15)　793　2018/08/03

    Publisher: Robotics Society of Japan

    DOI： 10.1080/01691864.2018.1511287 　

    ISSN： 1568-5535 0169-1864

  92. Myriapod robot i-centipot01 via passive dynamics

    T. Kinugasa, K. Osuka, N. Miyamoto, R. Hayashi, K. Yoshida, D. Owaki, A. Ishiguro

    Human-Centric Robotics- Proceedings of the 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2017　375-382　2018

    Publisher: World Scientific Publishing Co. Pte. Ltd.

    DOI： 10.1142/9789813231047_0046 　

  93. From slime molds to soft deformable robots

    Akio Ishiguro, Takuya Umedachi

    Living Machines: A Handbook of Research in Biomimetic and Biohybrid Systems　390-394　2018/01/01

    Publisher: Oxford University Press

    DOI： 10.1093/oso/9780199674923.003.0040 　

  94. Weak DC motors generate earthworm locomotion without a brain

    Yoichi Masuda, Masato Ishikawa, Akio Ishiguro

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)　10928　304-315　2018

    Publisher: Springer Verlag

    DOI： 10.1007/978-3-319-95972-6_32 　

    ISSN： 1611-3349 0302-9743

  95. 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

  96. クモヒトデに学ぶ階層的な自律分散制御則の実機検証

    金内大地, 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-D15　2018

  97. 胴体の屈曲運動と地面への押し付けを活用するヘビ型ロボットの自律分散制御則

    松井尚輝, 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-D14　2018

  98. 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

  99. 胴体の屈曲運動を活用する自律分散型ムカデロボットの開発

    古川和貴, 安井浩太郎, 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-D17　2018

  100. 「手応え関数」の自動生成に基づく自律分散制御則の設計 ~ 一次元這行運動を用いた検証 ~

    佐藤光暁, 脇本竜, 加納剛史, 篠原歩, 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-D18　2018

  101. 「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

  102. フナムシの高速ロコモーションに学ぶ胴体の自由度を活用した多脚ロボットの自律分散制御

    池下義人, 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　115-120　2018

  103. 胴体の伸縮を活用する多脚ロボットの自律分散制御

    菊池 和気, 安井 浩太郎, 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　121-126　2018

  104. 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

  105. ヘビのコンセルティーナロコモーションを再現可能な自律分散制御則の実験的検証

    吉澤遼, 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　191-195　2018

  106. 脚運動と胴体の屈曲運動の協調を可能とする多脚ロボットの自律分散制御則

    佐々木瞭, 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　109-114　2018

  107. 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　32　794-808　2018

  108. Decentralized Control Mechanism Underlying Inter- and Intra-arm Coordination in Brittle Star’s Locomotion Peer-reviewed

    Takeshi Kano, Daichi Kanauchi, Hiroshi Aonuma, Akio Ishiguro

    Proc. 16th International Echinoderm conference　74-74　2018

  109. Snake-like Robot That Can Generate Versatile Gait Patterns by Using Tegotae-based Control Peer-reviewed

    Takeshi Kano, Ryo Yoshizawa, Akio Ishiguro

    Proc. Living machines 2018　249-254　2018

  110. Undulatory Swimming Locomotion Driven by CPG with Multimodal Local Sensory Feedback Peer-reviewed

    Kyoichi Akiyama, Kotaro Yasui, Jonathan Arreguit, Laura Paez, Kamilo Melo, Takeshi Kano, Auke Jan Ijspeert, Akio Ishiguro

    BIOMIMETIC AND BIOHYBRID SYSTEMS　10928　1-5　2018

    DOI： 10.1007/978-3-319-95972-6_1 　

    ISSN： 0302-9743

    eISSN： 1611-3349

  111. Decentralized Control Scheme for Swarm Robots with Self-Sacrifice Peer-reviewed

    Takeshi Kano, Munehiro Asally, Akio Ishiguro

    Proc. 2018 CONFERENCE ON ARTIFICIAL LIFE（ALIFE2018）　544-545　2018

  112. Decentralized Control Scheme for Coupling between Undulatory and Peristaltic Locomotion Peer-reviewed

    Takeshi Kano, Naoki Matsui, Akio Ishiguro

    Proc. 15th International Conference on the Simulation of Adaptive Behavior (SAB2018)　90-101　2018

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

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

    Proc. 15th International Conference on the Simulation of Adaptive Behavior (SAB2018)　56-65　2018

  114. Decentralized Control Scheme for Multi-legged Robot That Enables Well-balanced Coupling between Peristaltic and Legged Motions Peer-reviewed

    Takeshi Kano, Kotaro Yasui, Akio Ishiguro

    Proc. SICE annual conference　317-320　2018

  115. Swarm Robots Inspired by Friendship Formation Process

    Takeshi Kano, Naoki Matsui, Eiichi Naito, Takenobu Aoshima, Akio Ishiguro

    ArXiv　1808.03812　2018

  116. A 3D Mathamatical Model of Centiped Locomotion on Rough Terrain

    Yumino Hayase, Shota Fujii, Kotaro Yasui, Takeshi Kano, Akio Ishiguro, Ryo Kobayashi

    Proc. 11th European Conference on Mathematical and Theoretical Biology (ECMTB2018)　2018

  117. A brittle star-like robot capable of immediately adapting to unexpected physical damage Peer-reviewed

    Takeshi Kano, Eiki Sato, Tatsuya Ono, Hitoshi Aonuma, Yoshiya Matsuzaka, Akio Ishiguro

    Royal Society Open Science　4　(12)　171200-171200　2017/12/13

    Publisher: Royal Society Publishing

    DOI： 10.1098/rsos.171200 　

    ISSN： 2054-5703

  118. Mathematical Analysis for Non-reciprocal-interaction-based Model of Collective Behavior Peer-reviewed

    Takeshi Kano, Koichi Osuka, Toshihiro Kawakatsu, Akio Ishiguro

    Journal of the Physical Society of Japan　86　(12)　2017/11

  119. Tegotae-based decentralised control scheme for autonomous gait transition of snake-like robots Peer-reviewed

    Takeshi Kano, Ryo Yoshizawa, Akio Ishiguro

    BIOINSPIRATION & BIOMIMETICS　12　(4)　46009　2017/08

    DOI： 10.1088/1748-3190/aa7725 　

    ISSN： 1748-3182

    eISSN： 1748-3190

  120. Response to various periods of mechanical stimuli in Physarum plasmodium Peer-reviewed

    Takuya Umedachi, Kentaro Ito, Ryo Kobayashi, Akio Ishiguro, Toshiyuki Nakagaki

    JOURNAL OF PHYSICS D-APPLIED PHYSICS　50　(25)　2017/06

    DOI： 10.1088/1361-6463/aa6f4a 　

    ISSN： 0022-3727

    eISSN： 1361-6463

  121. Decentralized control mechanism underlying interlimb coordination of millipedes Peer-reviewed

    Takeshi Kano, Kazuhiko Sakai, Kotaro Yasui, Dai Owaki, Akio Ishiguro

    BIOINSPIRATION & BIOMIMETICS　12　(3)　18-28　2017/06

    DOI： 10.1088/1748-3190/aa64a5 　

    ISSN： 1748-3182

    eISSN： 1748-3190

  122. 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

  123. Decentralized Control of Earthworm-like Robot Based on Tegotae Function, Peer-reviewed

    Takeshi Kano, Akio Ishiguro

    Proceedings of The 8th International Symposium on Adaptive Motion of Animals and Machines（AMAM2017)　92-93　2017/06

  124. Decentralized Control Mechanism Underlying Interlimb Coordination of Centipedes Peer-reviewed

    Kotaro Yasui, Kazuki Kikuchi, Takeshi Kano, Yumino Hayase, Shigeru Kuroda, Hitoshi Aonuma, Ryo Kobayashi, Akio Ishiguro

    Proceedings of The 8th International Symposium on Adaptive Motion of Animals and Machines（AMAM2017)　82-83　2017/06

  125. 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

  126. A Minimal Model Describing Hexapedal Interlimb Coordination: The Tegotae-Based Approach Peer-reviewed

    Dai Owaki, Masashi Goda, Sakiko Miyazawa, Akio Ishiguro

    FRONTIERS IN NEUROROBOTICS　11　(29)　2017/06

    DOI： 10.3389/fnbot.2017.00029 　

    ISSN： 1662-5218

  127. Decentralized Control Rule Underlying Morphology-dependent Undulatory Locomotion

    佐々木瞭, 加納剛史, Auke Jan Ijspeert, 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)　2017　1A1-E11-E11　2017/05

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2017.1A1-E11 　

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    <p>Animals can change their locomotion patterns in response to changes in their body properties. Clarifying the underlying control mechanism will help develop highly adaptive bio-inspired robots. To address this issue, this study focuses on undulatory locomotion of animals having one-dimensional body structure. They propagate bodily waves to attain propulsive force effectively during undulatory locomotion, yet the direction of the wave propagation depends on the friction property between the body and the environment. To understand the essential mechanism underlying the friction-dependent wave propagation, here we propose a decentralized control mechanism by focusing on "Tegotae", a Japanese concept describing how well a perceived reaction matches an expectation. Specifically, Tegotae function, which quantifies Tegotae, is defined based on tangential and normal component of the friction force, and the control scheme is designed such that the Tegotae function is increased at each local controller.</p>

  128. Development of Ophiuroid-like Robot That Can Move via Arm Coordination Mechanism

    金内大地, 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)　2017　1A1-F08-F08　2017/05

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2017.1A1-F08 　

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    <p>Clarifying the control principle underlying animal locomotion is expected to provide us a novel design scheme for building highly adaptive and resilient robots. To this end, we have been investigating an ophiuroid as a model living organism, since it exhibits surprisingly adaptive and resilient behavior even though it is composed of primitive and decentralized nervous system. Recently, we have proposed a novel hierarchical decentralized control scheme, and successfully reproduced behavior of an ophiuroid via simulation by the proposed control scheme. In this study, we build a real physical ophiuroid-like robot for validating the proposed control scheme in the real world.</p>

  129. Swarm Robot that Generate Dynamic Pattern by Asymmetric Interaction

    松井尚輝, 加納剛史, 内藤栄一, 青島武伸, 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)　2017　1A1-F07-F07　2017/05

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2017.1A1-F07 　

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    <p>Swarm robotic systems have an advantage that they can execute difficult tasks that cannot be achieved by using a single robot. Self-organization is a useful method to control swarm robots because it enables to create collective behaviors from local interactions of agents that perform simple behavior. We previously proposed a simple model for self-organization that is based on asymmetric interactions, and demonstrated via simulation that various non-trivial patterns emerge. In this study, we examine the applicability of the proposed model to a swarm robotic system. As a first step, we developed five mobile agents and demonstrated via real-world experiments that they can reproduce simulation results.</p>

  130. Decentralized-Controlled Snake-like Robot That Can Alter Locomotion Patterns in Response to Environmental Changes

    吉澤遼, 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)　2017　1A1-E12-E12　2017/05

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2017.1A1-E12 　

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    <p>Snakes can alter their locomotion patterns in response to the environmental changes. Inspired by this ability, various snake-like robots have been developed thus far. However, they could not reproduce the innate behavior of real snakes. To address this issue, in our previous work, we proposed an autonomous decentralized control scheme based on Tegotae, a Japanese concept that describes how well a perceived reaction matches an expectation. It was demonstrated via simulation that two qualitatively different locomotion patterns, concertina locomotion in narrow aisles and scaffold-based locomotion in unstructured terrain, can be reproduced by using the Tegotae-based control without any parameter change. In this paper, we developed a robot to validate the Tegotae-based control in the real world.</p>

  131. Interlimb Coordination of Multi-legged Robot utilizing the Softness of the Body

    菊池和気, 安井浩太郎, 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)　2017　1A1-E08-E08　2017/05

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2017.1A1-E08 　

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    <p>Animals exhibit versatile locomotion patterns in response to the environment. To understand the underlying decentralized control mechanism, this study focuses on centipedes which exhibit highly versatile locomotion patterns. It is known that centipedes move by using their legs and body undulation. In addition to this, we report here that centipedes can move by combining expansion and contraction of the body trunk with leg motion when they climb up slippery sticks. We hypothesized that this behavior emerges by exploiting local forces generated at the junction between the body trunk and the legs as well as the ground reaction forces. On this basis, a simple autonomous decentralized control rule is proposed, and it is demonstrated via simulation that the above-mentioned behavior can be reproduced by the proposed mechanism.</p>

  132. Inter-limb coordination mechanism underlying sea roach's a uniqle gait transition

    池下義人, 加納剛史, 大脇大, 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)　2017　1A1-E07-E07　2017/05

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2017.1A1-E07 　

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    <p>Legged animals exhibit adaptive and resilient locomotion through their inter-limb coordination. Our motivation is to elucidate the inter-limb coordination mechanism underlying various legged animals from a unified viewpoint. Thus far, many studies have focused on animals with a few legs, e.g., bipeds and quadrupeds, and those with many legs, e.g., myriapods. However, the two extremes were not connected because those with intermediate number of legs, e.g., isopods, have been less studied. Accordingly, in this study, we focus on the locomotion of sea roaches which have 14 legs. As a first step, we observed the locomotion of sea roaches and found that they change their gait pattern depending on their walking speed and morphology.</p>

  133. Development of a Quadruped Robot That Can Utilize Tegotae form Body Support and Propulsion

    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)　2017　1A1-D09-D09　2017/05

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2017.1A1-D09 　

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    <p>Quadrupeds exhibit versatile gait patterns in response to morphology, environment conditions, and locomotion speed. The goal of this study is to understand the mechanism of adoptive interlimb coordination underlying quadrupeds. In our previous study, we designed interlimb coordination rule from the viewpoint of Tegotae from body support and propulsion. Tegotae is a Japanese concept describing how well a perceived reaction matches an expectation. As a result, we reproduced gait transition from walk to trot to gallop via two-dimensional simulations. In this study, we designed a physical quadruped robot in order to verify the proposed model in real world. Particularly, we focused on limb structures that can distinguish between vertical and horizontal components of ground reaction force. In addition, we designed compliance of the limbs for high speed locomotion.</p>

  134. A minimal model of collective behaviour based on non-reciprocal interactions Peer-reviewed

    Takeshi Kano, Koichi Osuka, Toshihiro Kawakatsu, Naoki Matsui, Akio Ishiguro

    Proceedings of the 14th European Conference on Artificial Life　237-244　2017/04

  135. Non-centralized and functionally localized nervous system of ophiuroids: evidence from topical anesthetic experiments Peer-reviewed

    Yoshiya Matsuzaka, Eiki Sato, Takeshi Kano, Hitoshi Aonuma, Akio Ishiguro

    BIOLOGY OPEN　6　(4)　425-438　2017/04

    DOI： 10.1242/bio.019836 　

    ISSN： 2046-6390

  136. A Quadruped Robot Exhibiting Spontaneous Gait Transitions from Walking to Trotting to Galloping Peer-reviewed

    Dai Owaki, Akio Ishiguro

    SCIENTIFIC REPORTS　7　(277)　2017/03

    DOI： 10.1038/s41598-017-00348-9 　

    ISSN： 2045-2322

  137. Decentralized control scheme for myriapod robot inspired by adaptive and resilient centipede locomotion Peer-reviewed

    Kotaro Yasui, Kazuhiko Sakai, Takeshi Kano, Dai Owaki, Akio Ishiguro

    PLOS ONE　12　(2)　e0171421　2017/02

    DOI： 10.1371/journal.pone.0171421 　

    ISSN： 1932-6203

  138. Myriapod Robot i-CentiPot via Passive Dynamics - Emergence of Various Locomotions for Foot Movement Peer-reviewed

    Tetsuya Kinugasa, Naoki Miyamoto, Koichi Osuka, Ryota Hayashi, Koji Yoshida, Dai Owaki, Akio Ishiguro

    2017 56TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)　7-9　2017

  139. A Simple Decentralized Control Scheme for Swarm Robots That can Perform Spatially Distributed Tasks in Parallel Peer-reviewed

    T. Kano, E. Naito, T. Aoshima, A. Ishiguro

    The 2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM 2017)　260-261　2017

  140. 不整地における触角を使ったムカデ歩行の数理モデル

    藤井翔太, 早瀬友美乃, 安井浩太郎, 加納剛史, 石黒章夫, 小林亮

    数理生物学会年会　2017

  141. 蛇行運動と蠕動運動の協調を可能とする自律分散制御則

    松井 尚輝, 吉澤 遼, 加納 剛史, 石黒 章夫

    SICE東北支部第313回研究集会　313-2　2017

  142. 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

  143. 胴体の伸縮運動と脚運動の協調を可能とする多脚ロボットの自律分散制御則

    菊池 和気, 安井 浩太郎, 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　3068-3072　2017

  144. 蛇行運動と蠕動運動の有機的なカップリングを可能とする自律分散制御則

    松井 尚輝, 吉澤 遼, 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　3D4-07　2017

  145. コンセルティーナロコモーションを発現可能な自律分散型ヘビロボット

    吉澤遼, 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　2862-2865　2017

  146. フナムシから学ぶ胴体の自由度を活用した高速多脚歩行

    池下義人, 加納剛史, 大脇大, 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　3056-3061　2017

  147. 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 　

  148. Earthworm-like Robot Driven by Tegotae-based Control

    千葉大徳, 加納剛史, 石黒章夫

    第22回創発システム・シンポジウム講演資料集　36-40　2017/01

  149. Understanding Hierarchical Decentralized Control Mechanism for Adaptive Ophiuroid Locomotion

    小野達也, 金内大地, 加納剛史, 青沼仁志, 石黒章夫

    第22回創発システム・シンポジウム講演資料集　7-12　2017/01

  150. Interlimb Coordination Control of Hexapod Locomotion Based on Tegotae from Body Support and Propulsion

    郷田将, 宮澤咲紀子, 大脇大, 石黒章夫

    第22回創発システム・シンポジウム講演資料集　1-6　2017/01

  151. Decentralized Control of Mobile Robot with Flexible Legs

    板山晋, 郷田将, 宮澤咲紀子, 加納剛史, 石黒章夫

    第22回創発システム・シンポジウム講演資料集　30-35　2017/01

  152. Decentralized Control Mechanism Underlying Adaptive Centipede Locomotion

    安井浩太郎, 菊池和気, 加納剛史, 早瀬友美乃, 黒田茂, 青沼仁志, 小林亮, 石黒章夫

    第22回創発システム・シンポジウム講演資料集　41-45　2017/01

  153. 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22回創発システム・シンポジウム講演資料集　46-50　2017/01

  154. Gait control in a soft robot by sensing interactions with the environment using self-deformation Peer-reviewed

    Takuya Umedachi, Takeshi Kano, Akio Ishiguro, Barry A. Trimmer

    ROYAL SOCIETY OPEN SCIENCE　3　(12)　160766　2016/12

    DOI： 10.1098/rsos.160766 　

    ISSN： 2054-5703

  155. On the Common Decentralized Control Mechanism Underlying Centipede and Millipede Locomotion

    安井浩太郎, 加納剛史, 小林亮, 石黒章夫

    システム・情報部門学術講演会2016 講演プログラム　2776-2779　2016/12

  156. Seamless Geit Transition from Low to High Speed Quadruped Locomotion by Changing the Contribution of Body Support and Propulsion

    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　304-6-304-6　2016/10

  157. 感覚モダリティ変換装具Auditory Footを用いた片麻痺患者における長期的歩行リハビリテーション

    大脇大, 関口雄介, 本田啓太, 石黒章夫, 出江紳一

    第10回モーターコントロール研究会予稿集　A29　2016/09

  158. A Case Study of Long-Term Walking Rehabilitation Using a Prosthesis That Transforms Sensory Modalities for Stroke Patients Peer-reviewed

    Dai Owaki, Yusuke Sekiguchi, Keita Honda, Akio Ishiguro, Shin-ichi Izumi

    Proceedings of the 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’16)　2016/08

  159. A minimal model for interlimb coordination in cricket swimming locomotion

    宮澤咲紀子, 郷田将, 大脇大, 加納剛史, 石黒章夫

    第22回創発システム・シンポジウム講演資料集　P-51-P-51　2016/08

  160. The Interlimb Coordination Mechanism in Isopoda

    池下義人, 大脇大, 加納剛史, 石黒章夫

    第22回創発システム・シンポジウム講演資料集　P-52-P-52　2016/08

  161. 足部の接地部位に応じた「手応え」を活用する二足歩行制御則の提案

    秋山恭一, 大脇大, 石黒章夫

    第22回創発システム・シンポジウム講演資料集　P-56-P-56　2016/08

  162. ヒモ状生物の適応的ロコモーションに内在する「手応え制御則」

    佐々木瞭, 加納剛史, Robin Thandiackal, Auke Jan Ijspeert, 石黒章夫

    第22回創発システム・シンポジウム講演資料集　P-42-P-42　2016/08

  163. 手応え制御で再現するヘビの多様なロコモーション

    吉澤遼, 加納 剛史, 石黒 章夫

    第22回創発システム・シンポジウム講演資料集　P-45-P-45　2016/08

  164. ムカデの示す多様な運動パターン

    菊池和気, 安井浩太郎, 加納剛史, 石黒章夫

    第22回創発システム・シンポジウム講演資料集　P-59-P-59　2016/08

  165. 「手応え関数」に基づく6 脚ロコモーションの自律分散制御則ー身体支持に着目した制御則設計ー

    郷田 将, 宮澤 咲紀子, 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（ROBOMEC2016），講演論文集(CD-ROM)　1A2-04a4　2016/06

  166. 「手応え関数」に基づく6脚ロコモーションの自律分散制御則 −推進力に着目した制御則設計−

    宮澤咲紀子, 郷田将, 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（ROBOMEC2016），講演論文集(CD-ROM)　1A2-04a3　2016/06

  167. ヘビ型ロボットにおける「手応え制御則」の実機検証

    加納剛史, 吉澤遼, 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)　1A2-03b4　2016/06

  168. 足場を活用して推進するクモヒトデのロコモーションに内在する自律分散制御則

    小野達也, 加納剛史, 青沼仁志, 松坂義哉, 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)　1A2-04b2　2016/06

  169. 「手応え関数」に基づく脚間協調制御則の 8 脚ロコモーションへの適応性の検証

    板山晋, 郷田将, 宮澤咲紀子, 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（ROBOMEC2016），講演論文集(CD-ROM)　1A2-05a4　2016/06

  170. ヒモ状生物のロコモーションに内在する「手応え制御則」

    佐々木瞭, 加納剛史, 風間俊哉, Robin Thandiackal,Auke Jan Ijspeert, 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)　1A2-04a6　2016/06

  171. 手応え制御によるヘビのコンセルティーナロコモーションの再現

    吉澤遼, 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（ROBOMEC2016），講演論文集(CD-ROM)　1A2-04a2　2016/06

  172. 「手応え関数」に基づくミミズ型ロボットの自律分散制御

    千葉大徳, 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（ROBOMEC2016），講演論文集(CD-ROM)　1A2-04b5　2016/06

  173. 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

  174. 「手応え関数」に基づく6脚歩行の脚間協調制御則の構築

    郷田将, 宮澤咲紀子, 板山晋, 大脇大, 加納剛史, 石黒章夫

    SICE東北支部第300回研究集会資料集　2016/02

  175. Modelling Oscillatory Behaviour of Slime Mould

    Takuya Umedachi, Akio Ishiguro

    Advances in Physarum Machines　479-488　2016/01/10

    Publisher: Springer International Publishing

    DOI： 10.1007/978-3-319-26662-6_24 　

    ISSN： 2194-7287

    eISSN： 2194-7295

  176. Autonomous decentralized control of traffic signals that can adapt to changes in traffic Peer-reviewed

    Takeshi Kano, Yuki Sugiyama, Akio Ishiguro

    Collective dynamics　1　(A5)　1-18　2016

  177. 足底感覚情報を用いた二足歩行制御の環境適応性に関する検証

    堀切舜哉, 大脇大, 西井淳, 石黒章夫

    システム・情報部門学術講演会2015 講演プログラム　2016/01

  178. 非対称相互作用から生み出されるコト 〜5素子系の理論解析〜

    加納剛史, 大須賀公一, 川勝年洋, 石黒章夫

    第28回自律分散システムシンポジウム予稿集　141-146　2016/01

  179. 「手応え制御」に基づくヘビ型ロボットの開発

    中島大樹, 加納剛史, 石黒章夫

    第28回自律分散システムシンポジウム予稿集　11-16　2016/01

  180. 「手応え関数」に基づく適応的二足歩行制御

    堀切舜哉, 大脇大, 西井淳, 石黒章夫

    第28回自律分散システムシンポジウム予稿集　2016/01

  181. 環境からの力覚情報を活用した多足類型ロボットの脚間協調制御

    酒井和彦, 安井浩太郎, 加納剛史, 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　67-72　2016/01

  182. 「手応え関数」に基づく6脚歩行の脚間協調制御則の設計

    郷田将, 宮澤咲紀子, 板山晋, 大脇大, 加納剛史, 石黒章夫

    第28回自律分散システムシンポジウム予稿集　193-198　2016/01

  183. 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

  184. 足底圧感覚の聴覚フィードバック装具がもたらす片麻痺患者の歩行への即時的効果

    大脇大, 関口雄介, 本田啓太, 石黒章夫, 出江紳一

    第28回自律分散システムシンポジウム予稿集　5-8　2016/01

  185. Short-term effect of prosthesis transforming sensory modalities on walking in stroke patients with hemiparesis Peer-reviewed

    Dai Owaki, Yusuke Sekiguchi, Keita Honda, Akio Ishiguro, Shin-Ichi Izumi

    Neural Plasticity　2016　(3)　205-210　2016

    Publisher: Hindawi Limited

    DOI： 10.1155/2016/6809879 　

    ISSN： 1687-5443 2090-5904

  186. Development of Decentralized-Controlled Myriapod Robot Based on Local Force Feedback

    KANO Takeshi, YASUI Kotaro, OWAKI Dai, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　(0)　1A2-03b3　2016

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2016.1A2-03b3 　

    More details Close

    <p>Legged animals exhibit adaptive and resilient locomotion through their inter-limb coordination. Our motivation is to elucidate the inter-limb coordination mechanism underlying various legged animals from a unified viewpoint. However, it still remains elusive because the locomotion mechanism of multi-legged animals has not been well studied. To address this issue, in our previous work, we focused on millipede and proposed an autonomous decentralized control scheme for myriapod locomotion on the basis of behavioral experiments. In this study, we performed real-world experiments with a multi-legged robot developed and reproduced myriapod locomotion farily well.</p>

  187. Local Reflexive Mechanism for Interlimb Coordination of Multi-legged Robot

    YASUI Kotaro, KANO Takeshi, OWAKI Dai, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　(0)　1A2-03b　2016

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2016.1A2-03b 　

    More details Close

    <p>Autonomous decentralized control could be the key to design adaptive multi-legged robots that can function in unpredictable and unstructured environments. To address this issue, we focus on centipedes with a large number of legs and aim to understand the ingenious decentralized control mechanism underlying their highly adaptive locomotion. For this purpose, we employed an approach to construct a simple mathematical model on the basis of behavioral experiments. We then found that the ground reaction force plays a significant role in generating rhythmic leg movement, and that the motion of each leg is likely affected by sensory input from its neighboring legs. On this basis, we proposed a two-dimensional model wherein a simple local reflexive mechanism was implemented. As a result, our simulated centipede robot could move adaptively in response to the changes in the environment, like real centipedes.</p>

  188. Decentralized Control Scheme for Myriapod Locomotion That Exploits Local Force Feedback Peer-reviewed

    Takeshi Kano, Kotaro Yasui, Dai Owaki, Akio Ishiguro

    BIOMIMETIC AND BIOHYBRID SYSTEMS, LIVING MACHINES 2016　9793　449-453　2016

    DOI： 10.1007/978-3-319-42417-0_45 　

    ISSN： 0302-9743

  189. TEGOTAE-Based Control Scheme for Snake-Like Robots That Enables Scaffold-Based Locomotion Peer-reviewed

    Takeshi Kano, Ryo Yoshizawa, Akio Ishiguro

    BIOMIMETIC AND BIOHYBRID SYSTEMS, LIVING MACHINES 2016　9793　454-458　2016

    DOI： 10.1007/978-3-319-42417-0_46 　

    ISSN： 0302-9743

    eISSN： 1611-3349

  190. Understanding Interlimb Coordination Mechanism of Hexapod Locomotion via "TEGOTAE"-Based Control Peer-reviewed

    Masashi Goda, Sakiko Miyazawa, Susumu Itayama, Dai Owaki, Takeshi Kano, Akio Ishiguro

    BIOMIMETIC AND BIOHYBRID SYSTEMS, LIVING MACHINES 2016　9793　441-448　2016

    DOI： 10.1007/978-3-319-42417-0_44 　

    ISSN： 0302-9743

  191. Decentralized Control Scheme for Centipede Locomotion Based on Local Reflexes Peer-reviewed

    Kotaro Yasui, Takeshi Kano, Dai Owaki, Akio Ishiguro

    BIOMIMETIC AND BIOHYBRID SYSTEMS, LIVING MACHINES 2016　9793　545-547　2016

    DOI： 10.1007/978-3-319-42417-0_60 　

    ISSN： 0302-9743

  192. "TEGOTAE"-Based Control of Bipedal Walking Peer-reviewed

    Dai Owaki, Shun-ya Horikiri, Jun Nishii, Akio Ishiguro

    BIOMIMETIC AND BIOHYBRID SYSTEMS, LIVING MACHINES 2016　9793　472-479　2016

    DOI： 10.1007/978-3-319-42417-0_49 　

    ISSN： 0302-9743

  193. 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

  194. Realization of Snakes' Concertina Locomotion by Using "TEGOTAE-Based Control" Peer-reviewed

    Ryo Yoshizawa, Takeshi Kano, Akio Ishiguro

    BIOMIMETIC AND BIOHYBRID SYSTEMS, LIVING MACHINES 2016　9793　548-551　2016

    DOI： 10.1007/978-3-319-42417-0_61 　

    ISSN： 0302-9743

    eISSN： 1611-3349

  195. 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

  196. Short-Term Effect of Prosthesis Transforming Sensory Modalities on Walking in Stroke Patients with Hemiparesis Peer-reviewed

    Dai Owaki, Yusuke Sekiguchi, Keita Honda, Akio Ishiguro, Shin-ichi Izumi

    NEURAL PLASTICITY　20　2016

    DOI： 10.1155/2016/6809879 　

    ISSN： 2090-5904

    eISSN： 1687-5443

  197. ムカデのロコモーションに内在する自律分散制御則

    安井浩太郎, 酒井和彦, 加納剛史, 大脇大, 石黒章夫

    SICE東北支部第299回研究集会資料集　2015/12

  198. 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)　275-278　2015/10

  199. Decentralized Control of 1D Crawling Locomotion by Exploiting ‘TEGOTAE’ from Environment Peer-reviewed

    Takeshi Kano, Hironori Chiba, Takuya Umedachi, Akio Ishiguro

    Proc. of The First International Symposium on Swarm Behavior and Bio-Inspired Robotics(SWARM2015)　279-282　2015/10

  200. TEGOTAE-based decentralized control mechanism underlying myriapod locomotion Peer-reviewed

    Kotaro Yasui, Kazuhiko Sakai, Takeshi Kano, Dai Owaki, Akio Ishiguro

    Proc. of The First International Symposium on Swarm Behavior and Bio-Inspired Robotics(SWARM2015)　page not shown　2015/10

  201. How Snakes Move by Selectively Utilizing Reaction Force

    Daiki Nakashima, Takeshi Kano, Akio Ishiguro

    第25回数理生物学会年会要旨集　P-25　2015/08

  202. Intra-limb Coordination Mechanism of Ophiuroid Locomotion

    Tatsuya Ono, Takeshi Kano, Hiotshi Aonuma, Yoshiya Matsuzaka, Akio Ishiguro

    第25回数理生物学会年会要旨集　P-29　2015/08

  203. Decentralized Control Mechanism Underlying Myriapod Locomotion

    Kotaro Yasui, Kazuhiko Sakai, Takeshi Kano, Dai Owaki, Akio Ishiguro

    第25回数理生物学会年会要旨集　P-27　2015/08

  204. クモヒトデのロコモーションに内在する腕内協調メカニズム

    小野達也, 加納剛史, 青沼仁志, 松坂義哉, 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-08　2015/08

  205. 環境からの手応えを活用する多足類の脚間協調制御

    安井浩太郎, 酒井和彦, 加納剛史, 大脇大, 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-07　2015/08

  206. 環境を友とする四脚ロボット

    鈴木朱羅, 大脇大, 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-10　2015/08

  207. 脚間の力学的相互作用および情報的相互作用を用いた六脚ロボットの歩行制御

    郷田 将, 大脇 大, 加納 剛史, 青沼 仁志, 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-13　2015/08

  208. 8～14脚を有する動物の脚間協調メカニズム

    安井浩太郎, 酒井和彦, 加納剛史, 大脇大, 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-14　2015/08

  209. 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

  210. TEGOTAE-based control for one-dimensional crawling locomotion Peer-reviewed

    Takeshi Kano, Hironori Chiba, Takuya Umedachi, Akio Ishiguro

    Proceedings of The 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM2015)　2015/06

  211. Snake-like robot that exhibits adaptive concertina locomotion Peer-reviewed

    Takeshi Kano, Hisashi Date, Kosuke Inoue, Akio Ishiguro

    Proceedings of The 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM2015)　2015/06

  212. Cricket switches locomotion patterns from walking to swimming by evaluating reaction forces from the environment Peer-reviewed

    Hitoshi Aonuma, Masashi Goda, Shigeru Kuroda, Takeshi Kano, Dai Owaki, Akio Ishiguro

    Proceedings of The 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM2015)　2015/06

  213. Experimental Verification of Bipedal Walking Control Exploiting Plantar Sensory Feedback Peer-reviewed

    Dai Owaki, Shun-ya Horikiri, Jun Nishii, Akio Ishiguro

    Proceedings of The 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM2015)　2015/06

  214. TEGOTAE-based CPG Control for Quadrupd Locomotion Peer-reviewed

    Dai Owaki, Shura Suzuki, Akio Ishiguro

    Proceedings of The 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM2015)　2015/06

  215. Implicit Stiffness Control Embedded in Nonlinear Spring Enables Stable and Robust Running Peer-reviewed

    Dai Owaki, Helmut Hauser, Akio Ishiguro

    Proceedings of The 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM2015)　2015/06

  216. Experimental Varification of Bipedal Walking Control That Exploits Plantar Sensation

    堀切舜哉, 大脇大, 西井淳, 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-S04　2015/05

  217. Development of Decentralized-Controlled Snake-like Robot That Exploits ``TEGOTAE" from Environment

    中島大樹, 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-S07　2015/05

  218. Decentralized Control Mechanism of Ophiuroid Locomotion by Exploiting "TEGOTAE" from Environment

    小野達也, 加納剛史, 青沼仁志, 松坂義哉, 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-S02　2015/05

  219. Tegotae-based CPG Control of Quadruped Robot

    鈴木朱羅, 大脇大, 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-S01　2015/05

  220. An Examination of Effects of Stiffness of Body Links for Interlimb Coordination in Quadrupedal Locomotion

    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

  221. TEGOTAE-based Interlimb Coordination underlying Multi-legged Robot

    酒井和彦, 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-S06　2015/05

  222. Decentralized Control of 1D Crawling Locomotion That Exploits Cutaneous Sensory Feedback

    千葉大徳, 加納剛史, 梅舘拓也, 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-S03　2015/05

  223. Soft-bodied amoeba-inspired robot that switches between qualitatively different behaviors with decentralized stiffness control Peer-reviewed

    Takuya Umedachi, Kentaro Ito, Akio Ishiguro

    ADAPTIVE BEHAVIOR　23　(2)　97-108　2015/04

    DOI： 10.1177/1059712314564784 　

    ISSN： 1059-7123

    eISSN： 1741-2633

  224. Enhancing adaptability of amoeboid robot by synergetically coupling two decentralized controllers inspired by true slime mold Peer-reviewed

    Takuya Umedachi, Shunya Horikiri, Ryo Kobayashi, Akio Ishiguro

    ADAPTIVE BEHAVIOR　23　(2)　109-121　2015/04

    DOI： 10.1177/1059712315573334 　

    ISSN： 1059-7123

    eISSN： 1741-2633

  225. Various Spatiotemporal Order Generated from Asymmetric Interactions

    加納剛史, 大須賀公一, 川勝年洋, 石黒章夫

    日本物理学会第70回年次大会予稿集（DVD版）　70　3073-3073　2015/03

    Publisher: The Physical Society of Japan (JPS)

    DOI： 10.11316/jpsgaiyo.70.1.0_3073 　

    ISSN： 2189-079X

  226. Design Principle of Resilient Behavior Inspired by Ophiuroids

    KANO Takeshi, ISHIGURO Akio

    Journal of The Society of Instrument and Control Engineers　54　(4)　254-259　2015

    Publisher: The Society of Instrument and Control Engineers

    DOI： 10.11499/sicejl.54.254 　

    ISSN： 0453-4662

  227. Special Issue on Autonomous Decentralized Systems on Locomotion

    ISHIGURO Akio, INAGAKI Shinkichi

    Journal of The Society of Instrument and Control Engineers　54　(4)　234-235　2015

    Publisher: The Society of Instrument and Control Engineers

    DOI： 10.11499/sicejl.54.234 　

    ISSN： 0453-4662

  228. Investigation of 'Koto' Underlying Resilient Ophiuroid Locomotion

    佐藤英毅, 小野達也, 加納剛史, 青沼仁志, 松坂義哉, 石黒章夫

    第27回自律分散システム・シンポジウム予稿集　89-93　2015/01

  229. Decentralized Control of Traffic Signals That Adapts to Changes in Traffic Volume

    加納剛史, 杉山雄規, 石黒章夫

    第27回自律分散システム・シンポジウム予稿集　173-178　2015/01

  230. `Koto' Generated from Asymmetric Interactions

    加納剛史, 大須賀公一, 川勝年洋, 石黒章夫

    第27回自律分散システム・シンポジウム予稿集　125-130　2015/01

  231. Auditory foot: A novel auditory feedback system regarding kinesthesia. Peer-reviewed

    Dai Owaki, Yusuke Sekiguchi, Akio Ishiguro, Shin-Ichi Izumi

    Proc. of 2015International Symposium on Micro-NanoMachatronics and Human Science(MHS2015)　1-3　2015

    Publisher: IEEE

    DOI： 10.1109/MHS.2015.7438295 　

  232. Minimal Model of Self-organization Induced by Asymmetric Interactions

    加納剛史, 大須賀公一, 川勝年洋, 石黒章夫

    第20回交通流のシミュレーションシンポジウム予稿集　11-14　2014/12

  233. Decentralized Control of Traffic Signals Based on Prediction of Impulses

    加納剛史, 杉山雄規, 石黒章夫

    第20回交通流のシミュレーションシンポジウム予稿集　47-50　2014/12

  234. クモヒトデのレジリアントなロコモーションに内在する自律分散制御則

    加納剛史, 佐藤英毅, 小野達也, 青沼仁志, 松坂義哉, 石黒章夫

    システム・情報部門学術講演会2014 講演プログラム　108-112　2014/11

  235. On the applicability of the decentralized control mechanism of snake locomotion to sea snake locomotion Peer-reviewed

    Toshiya Kazama, Takeshi Kano, Makoto Iima, Ryo Kobayashi, Akio Ishiguro

    Proceedings of The sixth international symposium on aero aqua bio-mechanisms (ISABMEC2014)　2014/11

  236. 身体構造に応じた振る舞いを発現するクモヒトデ型ロボットの実機開発

    佐藤英毅, 小野達也, 加納剛史, 青沼仁志, 松坂義哉, 石黒章夫

    第32回日本ロボット学会学術講演会，予稿集(CD-ROM)　1O2-03　2014/09

  237. ヘビの多様なロコモーションを再現可能な自律分散制御則の実機検証

    中島大樹, 佐竹冬彦, 伊達央, 加納剛史, 石黒章夫

    第32回日本ロボット学会学術講演会，予稿集(CD-ROM)　1O2-01　2014/09

  238. Concertina Locomotion を自発的に発現する ヘビ型ロボットの開発

    佐竹冬彦, 中島大樹, 加納剛史, 伊達央, 井上康介, 石黒章夫

    第32回日本ロボット学会学術講演会，予稿集(CD-ROM)　1O2-02　2014/09

  239. Simple Decentralized Control Scheme Can Reproduce Versatile Gait Patterns of Snakes Peer-reviewed

    Takeshi Kano, Hisashi Date, Akio Ishiguro

    NOLTA2014 Abstract Collection　20-23　2014/09

  240. Doing Well in Narrow Aisle! Decentralized Control Mechanism Underlying Adaptive Concertina Locomotion of Snakes Peer-reviewed

    Takeshi Kano, Fuyuhiko Satake, Hisashi Date, Kosuke Inoue, Akio Ishiguro

    NOLTA2014 Abstract Collection　32-35　2014/09

  241. Self-organization of Motile Oscillators Inspired by Friendship Formation Peer-reviewed

    Takeshi Kano, Koichi Osuka, Toshihiro Kawakatsu, Akio Ishiguro

    NOLTA2014 Abstract Collection　341-344　2014/09

  242. 足底感覚から生み出される「足応え」を活用した適応的二足歩行制御

    堀切舜哉, 大脇 大, 西井 淳, 石黒章夫

    第20回創発システム・シンポジウム講演資料集　45-45　2014/08

  243. 脚間協調現象に内在する通底原理の解明のための多脚ロボット実機プラットフォームの開発

    酒井和彦, 大脇大, 加納剛史, 石黒章夫

    第20回創発システム・シンポジウム講演資料集　51-51　2014/08

  244. Mathematical Model of Inter-arm Coordination Mechanism of Ophiuroids

    Takeshi Kano, Eiki Sato, Hitoshi Aonuma, Yoshiya Matsuzaka, Akio Ishiguro

    The Joint Annual Meeting of the Japanese Society for Mathematical Biology and the Society for Mathematical Biology 予稿集　2014/07

  245. A Simple Measure for Evaluating Gait Patterns during Multi-legged Locomotion Peer-reviewed

    Takeshi Kano, Dai Owaki, Akio Ishiguro

    SICE Journal of Control, Measurement, and System Integration　7　(4)　214-218　2014/07

    DOI： 10.9746/jcmsi.7.214 　

  246. Common mechanics of mode switching in locomotion of limbless and legged animals Peer-reviewed

    Shigeru Kuroda, Itsuki Kunita, Yoshimi Tanaka, Akio Ishiguro, Ryo Kobayashi, Toshiyuki Nakagaki

    JOURNAL OF THE ROYAL SOCIETY INTERFACE　11　(95)　1742-5662　2014/06

    DOI： 10.1098/rsif.2014.0205 　

    ISSN： 1742-5689

    eISSN： 1742-5662

  247. Mechanism of Quadruped Gait Transition Peer-reviewed

    Dai Owaki, Akio Ishiguro

    Dynamic Walking 2014　T308　2014/06

  248. Neural communication vs. physical communication between limbs: Which is essential for hexapod walking? Peer-reviewed

    Akio Ishiguro, Ken Nakamura, Takeshi Kano, Dai Owaki

    Dynamic Walking 2014　T406　2014/06

  249. ヘビ型ロボットによる等方的摩擦条件における蛇行推進

    伊達 央, 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（ROBOMEC2014），講演論文集(CD-ROM)　3A1X10　2014/05

  250. Self-swarming robots that exploit hydrodynamical interaction Peer-reviewed

    Ryo Fujiwara, Takeshi Kano, Akio Ishiguro

    ADVANCED ROBOTICS　28　(9)　639-645　2014/05

    DOI： 10.1080/01691864.2013.879365 　

    ISSN： 0169-1864

    eISSN： 1568-5535

  251. Design Principle of Resilient Robot Inspired by Ophiuroid Locomotion

    佐藤英毅, 加納剛史, 青沼仁志, 松坂義哉, 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（ROBOMEC2014），講演論文集(CD-ROM)　1A1-V05　2014/05

  252. Reconsidering Interlimb Coordination Mechanism of Hexapod Locomotionfrom Quadruped Locomotion

    中村憲, 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（ROBOMEC2014），講演論文集(CD-ROM)　1A1-W03　2014/05

  253. Development of Decentralized-Controlled Snake-like Robot That Exhibits Multiple Locomotion Patterns

    中島大樹, 佐竹冬彦, 伊達央, 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（ROBOMEC2014），講演論文集(CD-ROM)　1A1-V03　2014/05

  254. Decentralized-Controlled Amoeboid Robot with High Deformability Inspired by Plasmodium of True Slime Mold

    堀切舜哉, 梅舘拓也, 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（ROBOMEC2014），講演論文集(CD-ROM)　1A1-V01　2014/05

  255. Development of Decetralized-Controlled Snake-like Robot That Exhibits Concertina Locomotion in Narrow Space

    佐竹冬彦, 中島大樹, 加納剛史, 伊達央, 井上康介, 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（ROBOMEC2014），講演論文集(CD-ROM)　1A1-V04　2014/05

  256. Generation Mechanism of Canter Gait

    大脇大, 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（ROBOMEC2014），講演論文集(CD-ROM)　1A1-V02　2014/05

  257. Adaptive Walking Control of Bipedal Robot by Exploiting Plantar Sensation Generated from Deformable Feet

    大脇大, 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（ROBOMEC2014），講演論文集(CD-ROM)　1P2-U05　2014/05

  258. Decentralized-controlled multi-terrain robot inspired by flatworm locomotion Peer-reviewed

    Takeshi Kano, Yuki Watanabe, Fuyuhiko Satake, Akio Ishiguro

    ADVANCED ROBOTICS　28　(7)　523-531　2014/04

    DOI： 10.1080/01691864.2013.878667 　

    ISSN： 0169-1864

    eISSN： 1568-5535

  259. A Simple Model for Self-organization of Heterogeneous Elements Inspired by Friendship Formation Peer-reviewed

    Takeshi Kano, Koichi Osuka, Toshihiro Kawakatsu, Akio Ishiguro

    Proc. of the 3rd International Workshop on Spatiotemporal Pattern Formation in Biological and Active Matters　10　2014/03

  260. 交友関係の形成過程に着想を得た自己組織化の数理モデル

    加納剛史, 大須賀公一, 川勝年洋, 石黒章夫

    第57回数理社会学会大会予稿集　76　2014/03

  261. Decentralized control scheme for adaptive earthworm locomotion using continuum-model-based analysis Peer-reviewed

    Takeshi Kano, Ryo Kobayashi, Akio Ishiguro

    ADVANCED ROBOTICS　28　(3)　197-202　2014/02

    DOI： 10.1080/01691864.2013.861770 　

    ISSN： 0169-1864

    eISSN： 1568-5535

  262. 狭窄空間におけるヘビのロコモーションに内在する自律分散制御則の解明

    佐竹冬彦, 加納剛史, 伊達 央, 井上康介, 石黒章夫

    第26回自律分散システムシンポジウム資料集　171-176　2014/01

  263. クモヒトデの腕間協調メカニズムの数理モデル

    佐藤英毅, 加納剛史, 青沼仁志, 松坂義哉, 石黒章夫

    第26回自律分散システムシンポジウム資料集　177-182　2014/01

  264. Emergence of Dynamical Order in Heterogeneous Multi-body Systems - A Case Study with the Formation of Friendship in Human Society -

    加納剛史, 大須賀公一, 小林亮, 青沼仁志, 石川将人, 杉本靖博, 大脇大, 石黒章夫

    第26回自律分散システムシンポジウム資料集　243-248　2014/01

  265. On the Minimalist Model of Inter-limb Coordination Mechanism of Hexapod Locomotion

    中村憲, 大脇大, 加納剛史, 石黒章夫

    第26回自律分散システムシンポジウム資料集　209-212　2014/01

  266. 自発的歩容遷移を可能とする四脚ロボットのCPG制御

    森川玲於奈, 大脇大, 石黒章夫

    第26回自律分散システムシンポジウム資料集　133-136　2014/01

  267. CPG-based Control of Bipedal Robot That Exploits Plantar Sensation

    福田裕樹, 大脇大, 石黒章夫

    第26回自律分散システムシンポジウム資料集　205-208　2014/01

  268. CPG-BASED CONTROL OF BIPEDAL WALKING BY EXPLOITING PLANTAR SENSATION Peer-reviewed

    D. Owaki, A. Ishiguro

    MOBILE SERVICE ROBOTICS　335-342　2014

  269. Stabilization mechanism underlying passive dynamic running Peer-reviewed

    Dai Owaki, Koichi Osuka, Akio Ishiguro

    Advanced Robotics　27　(18)　1399-1407　2013/12/01

    DOI： 10.1080/01691864.2013.839087 　

    ISSN： 0169-1864 1568-5535

  270. 交友関係の自己組織化過程の数理モデル Peer-reviewed

    加納剛史, 大須賀公一, 小林亮, 青沼仁志, 石川将人, 杉本靖博, 大脇大, 石黒章夫

    第19回交通流シンポジウム予稿集　89-92　2013/12

  271. True-slime-mould-inspired hydrostatically coupled oscillator system exhibiting versatile behaviours Peer-reviewed

    Takuya Umedachi, Ryo Idei, Kentaro Ito, Akio Ishiguro

    BIOINSPIRATION & BIOMIMETICS　8　(3)　2013/09

    DOI： 10.1088/1748-3182/8/3/035001 　

    ISSN： 1748-3182

    eISSN： 1748-3190

  272. Decentralized Control Scheme for Bodily Wave Generation in Earthworm Locomotion Peer-reviewed

    Takeshi Kano, Ryo Kobayashi, Akio Ishiguro

    Traffic and Granular Flow '13 (TGF'13)　107　2013/09

  273. Decentralized Control Scheme for a Snake-like Robot That Enables Omni-directional Locomotion Peer-reviewed

    Takeshi Kano, Hisashi Date, Akio Ishiguro

    Workshop Digest of 2013 International Workshop pn Soft Robotics and Morphological Computation　P-32　2013/07

  274. Nonlinearity in Ankle Elasticity Enhances Robustness on Bipedal Walking Peer-reviewed

    Dai Owaki, Akio Ishiguro

    Workshop Digest of 2013 International Workshop pn Soft Robotics and Morphological Computation　P-9　2013/07

  275. Taming Highly Deformable Body without Centralized Control Mechanism: Lessons from True Slime Mold Peer-reviewed

    Akio Ishiguro

    Workshop Digest of 2013 International Workshop pn Soft Robotics and Morphological Computation　K-10　2013/07

  276. Considering Snake Locomotion with “Continuum Legs” Peer-reviewed

    Takeshi Kano, Hisashi Date, Akio Ishiguro

    Dynamic Walking 2013　2013/06

  277. Why do quadrupeds exhibits exclusively either trot or pace gaits? Peer-reviewed

    Dai Owaki, Leona Morikawa, Akio Ishiguro

    Dynamic Walking 2013　2013/06

  278. What is the key to postural stabilization on bipedal walking? Peer-reviewed

    Dai Owaki, Akio Ishiguro

    Dynamic Walking 2013　2013/06

  279. 不整地走破を目指した自律分散型大自由度ヘビロボットの開発

    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（ROBOMEC2013）講演論文集　2A1N05　2013/05

  280. ヒラムシに着想を得たマルチテレストリアルロボットの開発

    加納剛史, 佐竹冬彦, 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（ROBOMEC2013）講演論文集　2A1N06　2013/05

  281. ヘビのコンセルティーナロコモーションに内在する自律分散制御則の解明

    佐竹冬彦, 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（ROBOMEC2013）講演論文集　2A1O03　2013/05

  282. 筋肉群の協働的励起に基づく立位姿勢制御

    福田裕樹, 大脇大, 西井淳, 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（ROBOMEC2013）講演論文集　2A1-I06　2013/05

  283. 身体構造に応じた振る舞いが可能なクモヒトデに内在する自律分散制御則の解明

    佐藤英毅, 加納剛史, 青沼仁志, 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（ROBOMEC2013）講演論文集　2A1-O02　2013/05

  284. 脚間の力学的相互作用を活用した 6 脚ロボットの CPG 制御

    中村憲, 大脇大, 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（ROBOMEC2013）講演論文集　2A1-O07　2013/05

  285. 脚間の力学的相互作用を活用したCPG制御に基づく筋駆動四脚ロボット

    森川玲於奈, 大脇大, 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（ROBOMEC2013）講演論文集　2A1-O06　2013/05

  286. Development of sheet-like robot for multi-terrestrial locomotion Peer-reviewed

    Takeshi Kano, Yuki Watanabe, Fuyuhiko Satake, Akio Ishiguro

    Proc. of 6th International Symposium on Adaptive Motion of Animals and Machines　2013/03

  287. Toward realization of resilient locomotion: Lessons from the locomotion of arm-amputated ophiuroids Peer-reviewed

    Takeshi Kano, Shota Suzuki, Eiki Sato, Hitoshi Aonuma, Akio Ishiguro

    Proc. of 6th International Symposium on Adaptive Motion of Animals and Machines　2013/03

  288. From Walk to Trot to Bound: Quadruped Gait Transition Induced by Simple Local Force Feedback Mechanism Peer-reviewed

    Takeshi Kano, Dai Owaki, Akio Ishiguro

    Proc. of 6th International Symposium on Adaptive Motion of Animals and Machines　2013/03

  289. A fluid-filled soft robot that exhibits spontaneous switching among versatile spatiotemporal oscillatory patterns inspired by the true slime mold. International-journal

    Takuya Umedachi, Ryo Idei, Kentaro Ito, Akio Ishiguro

    Artificial life　19　(1)　67-78　2013

    DOI： 10.1162/ARTL_a_00081 　

    More details Close

    Behavioral diversity is an essential feature of living systems, enabling them to exhibit adaptive behavior in hostile and dynamically changing environments. However, traditional engineering approaches strive to avoid, or suppress, the behavioral diversity in artificial systems to achieve high performance in specific environments for given tasks. The goals of this research include understanding how living systems exhibit behavioral diversity and using these findings to build lifelike robots that exhibit truly adaptive behaviors. To this end, we have focused on one of the most primitive forms of intelligence concerning behavioral diversity, namely, a plasmodium of true slime mold. The plasmodium is a large amoeba-like unicellular organism that does not possess any nervous system or specialized organs. However, it exhibits versatile spatiotemporal oscillatory patterns and switches spontaneously between these. Inspired by the plasmodium, we built a mathematical model that exhibits versatile oscillatory patterns and spontaneously transitions between these patterns. This model demonstrates that, in contrast to coupled nonlinear oscillators with a well-designed complex diffusion network, physically interacting mechanosensory oscillators are capable of generating versatile oscillatory patterns without changing any parameters. Thus, the results are expected to shed new light on the design scheme for lifelike robots that exhibit amazingly versatile and adaptive behaviors.

  290. Muscle tissue actuator driven with light-gated ion channels channelrhodopsin Peer-reviewed

    Masahiro Shimizu, Kota Miyasaka, Koichiro Miyamoto, Toshifumi Asano, Tatsuo Yoshinobu, Hiromu Yawo, Toshihiko Ogura, Akio Ishiguro, Koh Hosoda

    Procedia CIRP　5　169-174　2013

    Publisher: Elsevier B.V.

    DOI： 10.1016/j.procir.2013.01.034 　

    ISSN： 2212-8271

  291. Analysis of implicit control structure in object clustering by distributed autonomous robots Peer-reviewed

    Yuichiro Sueoka, Yasuhiro Sugimoto, Daisuke Nakanishi, Masato Ishikawa, Koichi Osuka, Akio Ishiguro

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C　79　(800)　1046-1055　2013

    DOI： 10.1299/kikaic.79.1046 　

    ISSN： 0387-5024

  292. A Design Principle of the Decentralized Control and its Applications Peer-reviewed

    Ryo Kobayashi, Toshiyuki Nakagaki, Akio Ishiguro

    11TH INTERNATIONAL CONFERENCE OF NUMERICAL ANALYSIS AND APPLIED MATHEMATICS 2013, PTS 1 AND 2 (ICNAAM 2013)　1558　2440-2443　2013

    DOI： 10.1063/1.4826034 　

    ISSN： 0094-243X

  293. Analysis of Implicit Control Structure in Object Clustering by Distributed Autonomous Robots

    末岡裕一郎, 杉本靖博, 中西大輔, 石川将人, 大須賀公一, 石黒章夫

    日本機械学会論文集 C編(Web)　79　(800)　1046-1055 (WEB ONLY)　2013

    DOI： 10.1299/kikaic.79.1046 　

    ISSN： 1884-8354

  294. Simple robot suggests physical interlimb communication is essential for quadruped walking Peer-reviewed

    Dai Owaki, Takeshi Kano, Ko Nagasawa, Atsushi Tero, Akio Ishiguro

    JOURNAL OF THE ROYAL SOCIETY INTERFACE　10　(78)　2013/01

    DOI： 10.1098/rsif.2012.0669 　

    ISSN： 1742-5689

    eISSN： 1742-5662

  295. Minimalist CPG model for inter- and intra-limb coordination in bipedal locomotion Peer-reviewed

    Dai Owaki, Takeshi Kano, Atsushi Tero, Masakazu Akiyama, Akio Ishiguro

    Advances in Intelligent Systems and Computing　194　(2)　493-502　2013

    Publisher: Springer Verlag

    DOI： 10.1007/978-3-642-33932-5_45 　

    ISSN： 2194-5357

  296. Mechanism of snakes' gait transition

    加納剛史, 伊達央, 石黒章夫

    第25回自律分散システムシンポジウム資料集　25-30　2013/01

  297. Realization of Snake-like Robot with Large Degrees of Freedom That can Move on Unstructured Terrain

    佐藤貴英, 加納剛史, 石黒章夫

    第25回自律分散システムシンポジウム資料集　1-4　2013/01

  298. Highly Deformable Amoeboid Robot That Negotiates Environments by Using Pseudopods

    出井遼, 梅舘拓也, 伊藤賢太郎, 小林亮, 石黒章夫

    第25回自律分散システムシンポジウム資料集　139-144　2013/01

  299. Analysis of Spontaneous Pttern Switching of Fluid-Mass-Conserving Coupled Oscillator System Inspired by True Slime Mold

    伊藤賢太郎, 出井遼, 梅舘拓也, 小林亮, 石黒章夫

    第25回自律分散システムシンポジウム資料集　43-46　2013/01

  300. Generating situation-dependent behavior: Decentralized control of multi-functional intestine-like robot that can transport and mix contents Peer-reviewed

    Takeshi Kano, Toshihiro Kawakatsu, Akio Ishiguro

    Journal of Robotics and Mechatronics　25　(5)　871-876　2013

    Publisher: Fuji Technology Press

    DOI： 10.20965/jrm.2013.p0871 　

    ISSN： 1883-8049 0915-3942

  301. Obstacles are beneficial to me! Scaffold-based locomotion of a snake-like robot using decentralized control Peer-reviewed

    Takeshi Kano, Akio Ishiguro

    IEEE International Conference on Intelligent Robots and Systems　3273-3278　2013

    DOI： 10.1109/IROS.2013.6696821 　

    ISSN： 2153-0858 2153-0866

  302. Local reflexive mechanisms essential for snakes' scaffold-based locomotion Peer-reviewed

    Takeshi Kano, Takahide Sato, Ryo Kobayashi, Akio Ishiguro

    BIOINSPIRATION & BIOMIMETICS　7　(4)　046008-046008　2012/12

    DOI： 10.1088/1748-3182/7/4/046008 　

    ISSN： 1748-3182

    eISSN： 1748-3190

  303. Towards realization of multi-terrestrial locomotion: decentralized control of a sheet-like robot based on the scaffold-exploitation mechanism Peer-reviewed

    Takeshi Kano, Yuki Watanabe, Akio Ishiguro

    BIOINSPIRATION & BIOMIMETICS　7　(4)　046012-046012　2012/12

    DOI： 10.1088/1748-3182/7/4/046012 　

    ISSN： 1748-3182

  304. Decentralized Control of Large Degree-of-Freedom System Inspired by Ophiuroid Locomotion~Modeling of The Role of Nerve Ring in Intra-limb Coordination~

    鈴木翔太, 佐藤英毅, 加納剛史, 青沼仁志, 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 講演会予稿集（CD-ROM)　0949-0953　2012/12

  305. Realization of Hydrostatic Skeleton Robot That Exhibits Versatile Behaviors Inspired by Plasmodium of True Slime Mold

    出井遼, 梅舘拓也, 伊藤賢太郎, 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 講演会予稿集（CD-ROM)　0944-0948　2012/12

  306. 身体の力学的特性に応じた歩容生成を可能とするCPGモデル —トロット歩容とペース歩容の排他的発現の実験的検証−

    森川玲於奈, 大脇大, 石黒章夫

    第30回日本ロボット学会学術講演会，予稿集(CD-ROM)　2012/09

  307. Ophiuroid robot that self-organizes periodic and non-periodic arm movements Peer-reviewed

    Takeshi Kano, Shota Suzuki, Wataru Watanabe, Akio Ishiguro

    BIOINSPIRATION & BIOMIMETICS　7　(3)　034001-034001　2012/09

    DOI： 10.1088/1748-3182/7/3/034001 　

    ISSN： 1748-3182

    eISSN： 1748-3190

  308. 視界共有に着目した直感的ヘヒロボット操縦システ ムの構築

    砂田靖志, 佐藤貴英, 加納剛史, 石黒章夫, 小林亮

    第22回数理生物学会年会予稿集　P-33-P-33　2012/09

  309. 「這う」「泳ぐ」「飛ぶ」が可能なmulti-terrestrial robotの実現を目指して – 環境を活用して推進する自律分散型シートロボットの実機開発 -

    渡辺裕喜, 佐竹冬彦, 加納剛史, 石黒章夫

    第30回日本ロボット学会学術講演会，予稿集(CD-ROM)　1I2-3-1I2-3　2012/09

  310. 身体構造に応じた振る舞いを自己組織的に発現するクモヒトデの腕内協調メカニズム

    鈴木翔太, 佐藤英毅, 加納剛史, 石黒章夫

    第30回日本ロボット学会学術講演会，予稿集(CD-ROM)　1I2-4-1I2-4　2012/09

  311. 身体の力学的特性に応じた歩容生成を加納とるすCPGモデル-トロット歩容とベース歩容の排他的発現の実験的検証-

    森川玲於奈, 大脇大, 石黒章夫

    第30回日本ロボット学会学術講演会，予稿集(CD-ROM)　3I1-5-3I1-5　2012/09

  312. ミニマリストなCPGモデルから探る二脚ロコモーションに内在する脚間協調と脚内協調の発現機序

    福田裕樹, 大脇大, 石黒章夫

    第30回日本ロボット学会学術講演会，予稿集(CD-ROM)　3I1-6-3I1-6　2012/09

  313. 質的に異なる振る舞いを状況依存的に発現可能なアメーバ様ロボットの自律分散制御

    出井遼, 梅舘拓也, 伊藤賢太郎, 石黒章夫

    第30回日本ロボット学会学術講演会，予稿集(CD-ROM)　1D2-2-1D2-2　2012/09

  314. 多様な時空間振動パターンを創発する真正粘菌様ロボット

    梅舘拓也, 出井遼, 伊藤賢太郎, 石黒章夫

    第18回創発システム・シンポジウム講演資料集　P39-P39　2012/09

  315. 真正粘菌変形体から着想を得た適応的運動機能を生み出す数理モデル

    梅舘拓也, 出井遼, 伊藤賢太郎, 石黒章夫

    第22回数理生物学会年会予稿集　P-21-P-21　2012/09

  316. 粘菌の振動パターン間遷移を説明するためのシリンダー結合モデル

    伊藤賢太郎, 出井遼, 梅舘拓也, 石黒章夫

    第22回数理生物学会年会予稿集　P-39-P-39　2012/09

  317. 振動子に駆動されるシリンダー結合系に現れるパターン遷移

    伊藤賢太郎, 出井遼, 梅舘拓也, 石黒章夫

    日本物理学会講演概要集　21aAE-11-21aAE-11　2012/09

  318. 内部流体を介して相互作用するモジュール結合系における自発的振動パターン間遷移

    伊藤賢太郎, 出井遼, 梅舘拓也, 石黒章夫

    広島大学数理分子生命理学専攻第4回公開シンポジウム資料集　P38-P38　2012/09

  319. Gait Transition of Quadruped Robot without interlimb neural connections Peer-reviewed

    Dai Owaki, Leona Morikawa, Akio Ishiguro

    Dynamic Walking2012　2012/05

  320. Soft Deformable Feet Yield Sensory-motor Coordination for Adaptive Bipedal Walking Peer-reviewed

    Dai Owaki, Hiroki Fukuda, Akio Ishiguro

    Dynamic Walking2012　2012/05

  321. 意地でも自律分散制御にこだわってヘビ型ロボットの制御則を考える −変分原理と反応拡散方程式に基づいた制御則設計−

    佐藤貴英, 八重樫和之, 鈴木翔太, 渡辺裕喜, 平井明礼, 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（ROBOMEC2012），講演論文集(CD-ROM)　2A1K03-2A1K03　2012/05

  322. 非構造環境下での這行が可能な自律分散型ヘビロボット - 実機開発-

    平井明礼, 佐藤貴英, 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（ROBOMEC2012），講演論文集(CD-ROM)　2A1K04-2A1K04　2012/05

  323. 環境を活用して推進する自律分散型二次元シートロボット

    渡辺裕喜, 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（ROBOMEC2012），講演論文集(CD-ROM)　2A1K02-2A1K02　2012/05

  324. クモヒトデに学ぶ大自由度ソフトロボットの自律分散制御

    鈴木翔太, 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（ROBOMEC2012），講演論文集(CD-ROM)　2P1H04-2P1H04　2012/05

  325. 柔軟な身体から生み出される表在感覚情報を活用したミミズ型ロボットの自律分散制御則

    八重樫和之, 加納剛史, 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（ROBOMEC2012），講演論文集(CD-ROM)　1P1R07-1P1R07　2012/05

  326. 脚間協調と脚内協調の有機的整合が可能なCPGに基づく四脚ロコモーション制御

    彌本一輝, 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（ROBOMEC2012），講演論文集(CD-ROM)　2P1H01-2P1H01　2012/05

  327. 脚間の力学的相互作用を活用したCPG制御に基づく四脚歩容遷移の実験的検証

    森川玲於奈, 大脇大, 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（ROBOMEC2012），講演論文集(CD-ROM)　2P1-H02-2P1-H02　2012/05

  328. 足部の表在感覚情報をCPG制御に活用した適応的二脚歩行の実験的検証

    福田裕樹, 大脇大, 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（ROBOMEC2012），講演論文集(CD-ROM)　2P1-H03-2P1-H03　2012/05

  329. A decentralized control scheme for an effective coordination of phasic and tonic control in a snake-like robot Peer-reviewed

    Takahide Sato, Takeshi Kano, Akio Ishiguro

    BIOINSPIRATION & BIOMIMETICS　7　(1)　16005-16005　2012/03

    DOI： 10.1088/1748-3182/7/1/016005 　

    ISSN： 1748-3182

    eISSN： 1748-3190

  330. A true-slime-mold-inspired fluid-filled robot exhibiting versatile behavior Peer-reviewed

    Takuya Umedachi, Ryo Idei, Akio Ishiguro

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)　7375　262-273　2012

    DOI： 10.1007/978-3-642-31525-1_23 　

    ISSN： 0302-9743 1611-3349

  331. Biorobotic actuator with a muscle tissue driven by a photostimulation Peer-reviewed

    Masahiro Shimizu, Shintaro Yawata, Kota Miyasaka, Koichiro Miyamoto, Toshifumi Asano, Tatsuo Yoshinobu, Hiromu Yawo, Toshihiko Ogura, Akio Ishiguro

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)　7375　394-395　2012

    DOI： 10.1007/978-3-642-31525-1_58 　

    ISSN： 0302-9743 1611-3349

  332. Analysis of Implicit Control Structure in Object Clustering Phenomena Peer-reviewed

    Yuichiro Sueoka, Yasuhiro Sugimoto, Masato Ishikawa, Koichi Osuka, Akio Ishiguro

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012)　2012

  333. Novel control principle based on the discrepancy function

    Ryo Kobayashi, Toshiyuki Nakagaki, Akio Ishiguro

    RIMS Kokyuroku Bessatsu　B31　61-77　2012

    Publisher: Kyoto University

    ISSN： 1881-6193

  334. A decentralized control scheme for orchestrating versatile arm movements in ophiuroid omnidirectional locomotion Peer-reviewed

    Wataru Watanabe, Takeshi Kano, Shota Suzuki, Akio Ishiguro

    JOURNAL OF THE ROYAL SOCIETY INTERFACE　9　(66)　102-109　2012/01

    DOI： 10.1098/rsif.2011.0317 　

    ISSN： 1742-5689

    eISSN： 1742-5662

  335. 腕運動の自己組織的役割分担生成を可能とするクモヒトデ型ロボットの自律分散制御 Peer-reviewed

    渡邉航, 鈴木翔太, 加納剛史, 石黒章夫

    計測自動制御学会論文集　2012

    DOI： 10.9746/sicetr.49.48 　

  336. Fluid-Filled Soft-Bodied Amoeboid Robot Inspired by Plasmodium of True Slime Mold Peer-reviewed

    Takuya Umedachi, Ryo Idei, Toshiyuki Nakagaki, Ryo Kobayashi, Akio Ishiguro

    ADVANCED ROBOTICS　26　(7)　693-707　2012

    DOI： 10.1163/156855312X626316 　

    ISSN： 0169-1864

  337. Realization of a True Slime Mold-inspired Robot That Exhibits Versatile Spatio-temporal Oscillatory Patterns

    出井遼, 梅舘拓也, 石黒章夫

    第24回自律分散システム・シンポジウム予稿集　169-174　2012/01

  338. Autonomous Decentralized Control of A Two-dimensional Sheet-like Robot That can Move on Unstructured Terrain

    渡辺裕喜, 加納剛史, 石黒章夫

    第24回自律分散システム・シンポジウム予稿集　163-168　2012/01

  339. Decentralized Control Scheme That Enables Well-balanced Coupling between Inter-limb and Intra-limb Coordination for Quadruped Locomotion

    糸澤祐太, 彌本一輝, 大脇大, 加納剛史, 石黒章夫

    第24回自律分散システム・シンポジウム予稿集　15-20　2012/01

  340. SheetBot: Two-dimensional Sheet-like Robot As a Tool for Constructing Universal Decentralized Control Systems Peer-reviewed

    Takeshi Kano, Yuki Watanabe, Akio Ishiguro

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　3733-3738　2012

    DOI： 10.1109/ICRA.2012.6224833 　

    ISSN： 1050-4729

  341. Decentralized control scheme that enables scaffold-based peristaltic locomotion Peer-reviewed

    Akio Ishiguro, Kazuyuki Yaegashi, Takeshi Kano, Ryo Kobayashi

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)　7375　361-362　2012

    DOI： 10.1007/978-3-642-31525-1_42 　

    ISSN： 0302-9743 1611-3349

  342. Autonomous decentralized control mechanism in resilient ophiuroid locomotion Peer-reviewed

    Takeshi Kano, Shota Suzuki, Akio Ishiguro

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)　7375　363-364　2012

    DOI： 10.1007/978-3-642-31525-1_43 　

    ISSN： 0302-9743 1611-3349

  343. A soft-bodied snake-like robot that can move on unstructured terrain Peer-reviewed

    Takahide Sato, Takeshi Kano, Akihiro Hirai, Akio Ishiguro

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)　7375　390-391　2012

    DOI： 10.1007/978-3-642-31525-1_56 　

    ISSN： 0302-9743 1611-3349

  344. Intuitive navigation of snake-like robot with autonomous decentralized control Peer-reviewed

    Yasushi Sunada, Takahide Sato, Takeshi Kano, Akio Ishiguro, Ryo Kobayashi

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)　7375　398-399　2012

    DOI： 10.1007/978-3-642-31525-1_60 　

    ISSN： 0302-9743 1611-3349

  345. Snake-like Robot Driven by Decentralized Control Scheme for Scaffold-based Locomotion Peer-reviewed

    Takahide Sato, Takeshi Kano, Ryo Kobayashi, Akio Ishiguro

    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　132-138　2012

    DOI： 10.1109/IROS.2012.6385930 　

    ISSN： 2153-0858

  346. SheetBot: A Magic Carpet That Enables Scaffold-based Locomotion Peer-reviewed

    Takeshi Kano, Yuki Watanabe, Akio Ishiguro

    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　1434-1439　2012

    DOI： 10.1109/IROS.2012.6385525 　

    ISSN： 2153-0858

  347. Reconsidering Inter- and Intra-limb Coordination Mechanisms in Quadruped Locomotion Peer-reviewed

    Takeshi Kano, Dai Owaki, Akio Ishiguro

    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　4873-4878　2012

    DOI： 10.1109/IROS.2012.6385598 　

    ISSN： 2153-0858

  348. Listen to Body's Message: Quadruped Robot That Fully Exploits Physical Interaction between Legs Peer-reviewed

    Dai Owaki, Leona Morikawa, Akio Ishiguro

    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　1943-1948　2012

    DOI： 10.1109/IROS.2012.6385857 　

    ISSN： 2153-0858

  349. Adaptive Bipedal Walking through Sensory-motor Coordination Yielded from Soft Deformable Feet Peer-reviewed

    Dai Owaki, Hiroki Fukuda, Akio Ishiguro

    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　4257-4263　2012

    DOI： 10.1109/IROS.2012.6385894 　

    ISSN： 2153-0858

  350. Autonomous Decentralized Control of Snake-like Robot That Can Locomote on Unstructured Terrain

    加納剛史, 佐藤貴英, 小林亮, 石黒章夫

    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予稿集　475-478　2011/12

  351. Decentralized Control of Ophiuroid Robot That Exhibits Spontaneous Role Assignment of Arm Movements

    渡邉航, 鈴木翔太, 加納剛史, 石黒章夫

    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予稿集　479-482　2011/12

  352. Efficient Undulating Locomotion Driven by a Decentralized Control That Fully Exploits Multi-articular Muscles Peer-reviewed

    Takeshi Kano, Takahide Sato, Ryo Kobayashi, Akio Ishiguro

    Proc. of the 5th International Symposium on Adaptive Motion of Animals and Machines (AMAM2011)　69-70　2011/10

  353. A Fluid-filled Deformable Robot That Exhibits Spontaneous Switching among Versatile Spatio-temporal Oscillatory Patterns Inspired by True Slime Mold Peer-reviewed

    Takuya Umedachi, Ryo Idei, Akio Ishiguro

    Proc. of the 5th International Symposium on Adaptive Motion of Animals and Machines (AMAM2011)　65-66　2011/10

  354. Towards Understanding of Versatility of Animal Behavior: A Mathematical Model for Ophiuroid Omnidirectional Locomotion Peer-reviewed

    Wataru Watanabe, Shota Suzuki, Takeshi Kano, Akio Ishiguro

    Proc. of the 5th International Symposium on Adaptive Motion of Animals and Machines (AMAM2011)　7-8　2011/10

  355. Decentralized Control of an Earthworm-like Robot That Fully Exploits Mechanical Interaction Peer-reviewed

    Kazuyuki Yaegashi, Takeshi Kano, Ryo Kobayashi, Akio Ishiguro

    Proc. of the 5th International Symposium on Adaptive Motion of Animals and Machines (AMAM2011)　67-68　2011/10

  356. A CPG-based Control of Bipeda Locomotion by Exploiting Defrmable Feet Peer-reviewed

    Dai Owaki, Shota Kubo, Akio Ishiguro

    Proc. of the 5th International Symposium on Adaptive Motion of Animals and Machines (AMAM2011)　79-80　2011/10

  357. Understanding of decentralized control mechanism underlying earth-worm''s locomotion using a continuum model

    八重樫 和之, 加納 剛史, 小林 亮, 石黒 章夫

    第17回創発システム・シンポジウム予稿集　2011/09

  358. A Fluidic-interacted Modular Robot That Exhibits Versatile Spatio-temporal Oscillatory Patterns Inspired by Slime Mold

    梅舘 拓也, 出井 遼, 石黒 章夫

    第17回創発システム・シンポジウム予稿集　127-130　2011/09

  359. Fully Decentralized Control Inspired by Plasmodium of True Slime Mold

    梅舘 拓也, 出井 遼, 中垣 俊之, 小林 亮, 石黒 章夫

    第2回領域シンポジウム「越境する数学」?CREST研究報告会?　40　2011/09

  360. 大自由度二次元シート型ロボットの自律分散制御

    渡辺裕喜, 加納剛史, 石黒章夫

    第29回日本ロボット学会学術講演会予稿集　2O1-8　2011/09

  361. 流体場の力学情報を活用した群ロホ?ット

    藤原亮, 加納剛史, 石黒章夫

    第29回日本ロボット学会学術講演会予稿集　2O1-6　2011/09

  362. Coordination Mechanism of Arm Movements in Ophiuroid Locomotion

    鈴木翔太, 渡邉航, 加納剛史, 石黒章夫

    第21回日本数理生物学会予稿集　138　2011/09

  363. Mechanism of serpentine locomotion on irregular terrain

    加納剛史, 佐藤貴英, 小林亮, 石黒章夫

    第21回日本数理生物学会予稿集　133　2011/09

  364. 真正粘菌変形体が示す多様な時空間パターンの発現機序

    出井遼, 梅舘拓也, 伊藤賢太郎, 石黒章夫

    第21回日本数理生物学会予稿集　131　2011/09

  365. Mechanism of Self-organized Wave Propagation in Earthworm Locomotion

    八重樫和之, 加納剛, 小林亮, 石黒章夫

    第21回日本数理生物学会予稿集　130　2011/09

  366. A Fluid-filled Soft Robot That Exhibits Spontaneous Switching among Versatile Spatio-temporal Oscillatory Patterns Inspired by True Slime Mold Peer-reviewed

    Takuya Umedachi, Ryo Idei, Akio Ishiguro

    Proc. of 2nd International Conference on Morphological Computation ICMC2011　54-56　2011/09

  367. A CPG-based Decentralized Control by Exploiting Spontaneous Transition between Oscillayory and Exitatory Regimes Peer-reviewed

    Dai Owaki, Kou Nagasawa, Takeshi Kano, Atsuchi Tero, Akio Ishiguro

    Proc. of Dynamic Walking 2011　2011/07

  368. A CPG-based Adaptive Control of Bipeda Locomotion by Swtching between Ocsillayory and Exitatory Regimes Peer-reviewed

    Dai Owaki, Shota Kubo, Akio Ishiguro

    Proc. of Dynamic Walking 2011　2011/07

  369. On the applicability of the decentralized control mechanism extracted from the true slime mold: a robotic case study with a serpentine robot Peer-reviewed

    Takahide Sato, Takeshi Kano, Akio Ishiguro

    BIOINSPIRATION & BIOMIMETICS　6　(2)　26006-26006　2011/06

    DOI： 10.1088/1748-3182/6/2/026006 　

    ISSN： 1748-3182

  370. Experimental Verification of Adaptive Quadrupedal Contro Based on Spontaneous Transition between Oscillatory and Excitatory Regimes

    長澤 昂, 加納 剛史, 大脇 大, 手老 篤史, 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（ROBOMEC2011）予稿集　2P2-K03　2011/05

  371. Decentralized Control of an Earthworm-like Robot That Fully Exploits Physical Interaction

    八重樫 和之, 加納 剛史, 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（ROBOMEC2011）予稿集　1P1-O10　2011/05

  372. Self-Swarming Robots That Exploit Hydrodynamical Interaction

    藤原 亮, 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（ROBOMEC2011）予稿集　1A1-K04　2011/05

  373. Development of a Muscle Cell Actuator That Contracts by a Photostimulation

    八幡 慎太郎, 清水 正宏, 宮本 浩一郎, 宮坂 恒太, 浅野 豪文, 吉信 達夫, 八尾 寛, 小椋 利彦, 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（ROBOMEC2011）予稿集　1A2-E01　2011/05

  374. A Snake-like Robot That Self-Tunes Phase and Muscle Tonus

    佐藤貴英, 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（ROBOMEC2011）予稿集　2A1-J14　2011/05

  375. Experimental Verification of Decentralized Control That Enables Well-balanced Coupling between Phasic and Tonic Control-A Case Study with a Real Quadruped Robot-

    糸澤祐太, 佐藤貴英, 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（ROBOMEC2011）予稿集　2P2-J16　2011/05

  376. Decentralized Control of Robotic Ribbon Fin That FullyUtilizes Physical Interaction

    渡辺裕喜, 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（ROBOMEC2011）予稿集　1A2-M05　2011/05

  377. Adaptive Bipedal Walking Based on Spontaneous Transition between Oscillatory and Excitatory Regimes by Exploiting Sensory Information Stemming from Deformable Feet

    久保翔達, 熊原渉, 大脇大, 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（ROBOMEC2011）予稿集　2P2-K01　2011/05

  378. A CPG-based Control of Bipedal Locomotion by Exploiting Deformable Feet with Plantar Aponeurosis

    大脇大, 熊原渉, 久保翔達, 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（ROBOMEC2011）予稿集　2P2-I08　2011/05

  379. A Slime Mold-inspired Fluid-filled Robot That Exhibits Versatile Spatio-temporal Oscillatory Patterns

    出井遼, 梅舘拓也, 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（ROBOMEC2011）予稿集　1A1-K05　2011/05

  380. Decentralized Control of an Ophiuroid Robot Based on Spatiotemporal Activation of Oscillatory and Excitatory Properties

    渡邉航, 鈴木翔太, 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（ROBOMEC2011）予稿集　2P2-J15　2011/05

  381. Experimental Verification of Decentralized Control Scheme in an Ophiuroid Robot That Exhibits Omnidirectional Locomotion

    鈴木 翔太, 渡邉 航, 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（ROBOMEC2011）予稿集　2P2-K02-K02(1)"-"2P2-K02(4)"　2011/05

    Publisher: The Japan Society of Mechanical Engineers

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    Autonomous decentralized control is a key concept for understanding the mechanism underlying adaptive and versatile behavior of animals. Although the design methodology of decentralized control based on coupled oscillators has been proposed in previous studies, it cannot reproduce behavioral versatility of animals comprehensively. Therefore, our objective is to understand the behavioral versatility by focusing on ophiuroids as simple "best" model living organisms that exhibit spontaneous role assignment of rhythmic and non-rhythmic arm movements. We have previously modeled such movements using an active rotator model that can describe both oscillatory and excitatory properties. In this paper, we develop a real physical ophiuroid robot based on the proposal model, and we show by experiments that the robot successfully realizes omnidirectional locomotion with spontaneous role assignment of rhythmic and non-rhythmic arm movements.

  382. Decentralized Control of Multi-articular Serpentine Robot That Enables Efficient Propulsion

    加納剛史, 佐藤貴英, 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（ROBOMEC2011）予稿集　1P1-O12　2011/05

  383. A 2-D Passive-Dynamic-Running Biped With Elastic Elements Peer-reviewed

    Dai Owaki, Masatoshi Koyama, Shin&apos;ichi Yamaguchi, Shota Kubo, Akio Ishiguro

    IEEE TRANSACTIONS ON ROBOTICS　27　(1)　156-162　2011/02

    DOI： 10.1109/TRO.2010.2098610 　

    ISSN： 1552-3098

  384. An Oscillator Model That Enables Motion Stabilization and Motion Exploration by Exploiting Multi-Rhythmicity

    Dai Owaki, Satoshi Ishida, Atsushi Tero, Kentaro Ito, Koh Nagasawa, Akio Ishiguro

    ADVANCED ROBOTICS　25　(9-10)　1139-1158　2011

    DOI： 10.1163/016918611X574650 　

    ISSN： 0169-1864

  385. Experimental Verification of Decentralized Control That Enables Well-balanced Coupling between Phasic and Tonic Control-A Case Study with a Real Quadruped Robot-

    糸澤祐太, 佐藤貴英, 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（ROBOMEC2011）予稿集　2011

  386. Decentralized Control of an Earthworm-like Robot That Fully Exploits Physical Interaction

    八重樫 和之, 加納 剛史, 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（ROBOMEC2011）予稿集　2011

  387. Adaptive Bipedal Walking Based on Spontaneous Transition between Oscillatory and Excitatory Regimes by Exploiting Sensory Information Stemming from Deformable Feet

    久保翔達, 熊原渉, 大脇大, 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（ROBOMEC2011）予稿集　2011

  388. A Soft Deformable Amoeboid Robot Inspired by Plasmodium of True Slime Mold Peer-reviewed

    Takuya Umedachi, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi, Akio Ishiguro

    INTERNATIONAL JOURNAL OF UNCONVENTIONAL COMPUTING　7　(6)　449-462　2011

    ISSN： 1548-7199

    eISSN： 1548-7202

  389. 柔軟な足の変形から生み出される感覚情報を活用した 適応的二脚歩行制御

    久保翔達, 熊原渉, 加納剛史, 大脇大, 石黒章夫

    第22回自律分散システム・シンポジウムProceedings　247-252　2011/01

  390. Experimental Verification of Applicability of Decentralized Control Scheme Extracted from True Slime Mold- A Case Study with a Real Physical Quadruped Robot -

    長澤昂, 加納剛史, 大脇大, 手老篤史, 石黒章夫

    第22回自律分散システム・シンポジウムProceedings　51-56　2011/01

  391. Decentralized Control Algorithm Underlying Adaptive Small-intestinal Movements

    塚辺有哉, 加納剛史, 川勝年洋, 石黒章夫

    第22回自律分散システム・シンポジウムProceedings　221-226　2011/01

  392. Experimental Verification of Decentralized Control Scheme That Enables Well-balanced Coupling between Phasic and Tonic Control ?A Case Study with a Real Physical Serpentine Robot?

    佐藤貴英, 加納剛史, 石黒章夫

    第22回自律分散システム・シンポジウムProceedings　45-50　2011/01

  393. Decentralized Control of Scaffold-assisted Serpentine Locomotion That Exploits Body Softness Peer-reviewed

    Takeshi Kano, Takahide Sato, Ryo Kobayashi, Akio Ishiguro

    2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　5129-5134　2011

    DOI： 10.1109/ICRA.2011.5980465 　

    ISSN： 1050-4729

  394. Simulation of a Soft-bodied Fluid-driven Amoeboid Robot That Exploits Thixotropic Flow Peer-reviewed

    Takuya Umedachi, Masakazu Akiyama, Atsushi Tero, Akio Ishiguro

    2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　5123-5128　2011

    DOI： 10.1109/ICRA.2011.5980150 　

    ISSN： 1050-4729

    eISSN： 2577-087X

  395. An Oscillator Model That Enables Motion Stabilization and Motion Exploration by Exploiting Multi-Rhythmicity Peer-reviewed

    Dai Owaki, Satoshi Ishida, Atsushi Tero, Kentaro Ito, Koh Nagasawa, Akio Ishiguro

    ADVANCED ROBOTICS　25　(9-10)　1139-1158　2011

    DOI： 10.1163/016918611X574650 　

    ISSN： 0169-1864

  396. Decentralized Control of Multi-articular Snake-like Robot for Efficient Locomotion Peer-reviewed

    Takeshi Kano, Takahide Sato, Ryo Kobayashi, Akio Ishiguro

    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　1875-1880　2011

    DOI： 10.1109/IROS.2011.6048302 　

    ISSN： 2153-0858

  397. A Snake-like Robot Driven by a Decentralized Control That Enables Both Phasic and Tonic Control Peer-reviewed

    Takahide Sato, Takeshi Kano, Akio Ishiguro

    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　1881-1886　2011

    DOI： 10.1109/IROS.2011.6048245 　

    ISSN： 2153-0858

  398. Moving Right Arm in the Right Place: Ophiuroid-inspired Omnidirectional Robot Driven by Coupled Dynamical Systems Peer-reviewed

    Wataru Watanabe, Shota Suzuki, Takeshi Kano, Akio Ishiguro

    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　1895-1900　2011

    DOI： 10.1109/IROS.2011.6048849 　

    ISSN： 2153-0858

  399. Spontaneous Role Assignment of Arm Movements in an Ophiuroid Robot Based on Active Rotator Model

    渡邉航, 鈴木翔太, 加納剛史, 石黒章夫

    計測自動制御学会SI部門講演会SI2010予稿集　414-417　2010/12

  400. Coupling between Explicit and Implicit Control That Enables Stable Pseudo-passive Dynamic Running

    山口伸一, 久保翔達, 大脇大, 杉本靖博, 大須賀公一, 石黒章夫

    計測自動制御学会SI部門講演会SI2010予稿集　715-718　2010/12

  401. Self-organization of a Myofilament-actuator by Exploiting Mechanical Stimulus

    武田孟, 八幡慎太郎, 清水正宏, 宮本浩一郎, 宮坂恒太, 浅野豪文, 吉信達夫, 八尾寛, 小椋利彦, 石黒章夫

    計測自動制御学会SI部門講演会SI2010予稿集　777-780　2010/12

  402. Development of a Quadruped Robot Using Decentralized Control Scheme Extracted from True Slime Mold

    長澤昂, 加納剛史, 大脇大, 手老篤史, 石黒章夫

    計測自動制御学会SI部門講演会SI2010予稿集　418-421　2010/12

  403. Decentralized Control in Serpentine Locomotion That Fully Utilizes the Interaction with Environment

    加納剛史, 佐藤貴英, 小林亮, 石黒 章夫

    計測自動制御学会SI部門講演会SI2010予稿集　398-401　2010/12

  404. Adaptive Bipedal Walking That Exploits Sensory Information Stemming from Deformable Feet

    佐藤貴英, 加納剛史, 石黒 章夫

    計測自動制御学会SI部門講演会SI2010予稿集　1504-1507　2010/12

  405. Autonomous Decentralized Control in Real-time Adaptive Serpentine Locomotion

    加納剛史, 佐藤貴英, 小林亮, 石黒 章夫

    第53回自動制御連合講演会予稿集　823-826　2010/11

    DOI： 10.11511/jacc.53.0.196.0 　

  406. Locomotion Control of an Amoeboid Robot That Exploits Thixotropic Flow

    梅舘拓也, 秋山正和, 手老篤史, 石黒章夫

    第53回自動制御連合講演会予稿集　295-299　2010/11

  407. Enhancing the Stability of Passive Dynamic Runner by Exploiting the Upper Body

    大脇大, 久保翔達, 山口伸一, 手老篤史, マウスモリツ, モフロァクリストフ, サイファートアンドレ, 石黒章夫

    第53回自動制御連合講演会予稿集　284-289　2010/11

    DOI： 10.11511/jacc.53.0.130.0 　

  408. Adaptive Behavior by Exploiting Tensegrity Structure

    Kazuya Suzuki, Masahiro Shimizu, Takeshi Kano, Takuya Umedachi, Akio Ishiguro

    Proc. of The 3rd Student Organizing International Mini-Conference on Information Electronics Systems　pp.174 F7P-10　2010/10

  409. 運動安定化と運動探索をシームレスに統合可能なマルチリズミックオシレータモデルの提案 -一次元ホッピングロボットの跳躍運動への適用- Peer-reviewed

    大脇大, 坂井善行, 石田怜, 手老篤史, 石黒章夫

    計測自動制御学会論文集　46　(9)　562-571　2010/09

    Publisher:

    DOI： 10.9746/sicetr.46.562 　

    ISSN： 0453-4654

  410. Mathematical model of serpentine locomotion based on phasic and tonic control

    加納剛史, 佐藤貴英, 小林亮, 石黒 章夫

    第20回日本数理生物学会予稿集　67O-14　2010/09

  411. Mathematical Model of Decentralized Control Mechanism of Intestinal Peristaltic Movement

    塚辺有哉, 加納剛史, 川勝年洋, 石黒章夫

    第20回日本数理生物学会予稿集　125P-8　2010/09

  412. Mathematical Model of Spontaneous Role Assignment of Arm Movements in Ophiuroidea

    渡邉航, 鈴木翔太, 加納剛史, 石黒章夫

    第20回日本数理生物学会予稿集　130P-6　2010/09

  413. Mathematical model for one-dimensional crawling of earthworm based on autonomous decentralized cont

    八重樫和之, 加納剛史, 小林亮, 石黒章夫

    第20回日本数理生物学会予稿集　121P-4　2010/09

  414. Modeling of Amoeboid Locomotion That Exploits Thixotropic Flow

    梅舘拓也, 秋山正和, 手老篤史, 石黒章夫

    第20回日本数理生物学会予稿集　127P-10　2010/09

  415. Efficient Fabrication of a Myofilament-actuator by Exploiting Mechanical Stimulus

    武田孟, 八幡慎太郎, 清水正宏, 宮本浩一郎, 宮坂恒太, 浅野豪文, 吉信達夫, 八尾寛, 小椋利彦, 石黒章夫

    第28回日本ロボット学会学術講演会予稿集　AC2N2-2　2010/09

  416. Development of Serpentine Robot that Enables Both Phasic and Tonic Control

    佐藤貴英, 糸澤裕太, 加納剛史, 石黒章夫

    第28回日本ロボット学会学術講演会予稿集　AC3N3-1　2010/09

  417. Decentralized Control That Exploits Global Interaction Stemming from Fluidic Circuit -Experimental Verification using a Soft-bodied Amoeboid Robot-

    武田光一, 出井遼, 梅舘拓也, 中垣俊之, 小林亮, 石黒章夫

    第28回日本ロボット学会学術講演会予稿集　AC3N2-7　2010/09

  418. Autonomous Decentralized Control of a Fluid-driven Amoeboid Soft Robot

    Koichi Takeda, Ryo Idei, Takuya Umedachi, Toshiyuki Nakagaki, Ryo Kobayashi, Akio Ishiguro

    第259回SICE東北支部研究集会　259-9　2010/07

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    SICE東北支部研究奨励発表賞受賞

  419. 真正粘菌変形体から抽出した自律分散制御則の適用可能性の検証― ヘビ型ロボット実機による事例研究 ―

    Takahide Sato, Takeshi Kano, Akio Ishiguro

    第258回SICE東北支部研究集会　2010/06/24

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  420. An Explicit Control Law that Well Fits with the Implicit Control Law Underlying a Poincar´e Map for Passive Dynamic Running

    山口伸一, 久保翔達, 大脇大, 杉本靖博, 大須賀公一, 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（ROBOMEC2010）予稿集　2010　2A2-E19　2010/06

    Publisher: The Japan Society of Mechanical Engineers

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    In the present study, we discuss a design scheme for an explicit control law that well fits with the implicit control law underlying a Poincare map for passive dynamic running (PDR). In our previous study, we have found that an "implicit two-delay feedback structure" is an inherent stabilization mechanism in PDR. In this paper, we have designed an explicit control law based on our knowledge of the implicit control law in PDR and investigated the effect of the coupling between implicit and explicit control laws on the stability of PDR. Through our simulations, we have found that the proposed explicit control law plays a pivotal role to enhance the stability of running. To the best of our knowledge, this has not previously been addressed. The results obtained are expected to shed new light on the "well-coupling" between implicit and explicit control laws.

  421. Well-Balanced Coupling between Control and Mechanical Systems

    加納剛史, 佐藤貴英, 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（ROBOMEC2010）予稿集　2010　2A1-F24　2010/06

    Publisher: The Japan Society of Mechanical Engineers

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    A systematic way of designing autonomous decentralized control system is still lacking, despite its appealing concept. To alleviate this, we have so far developed a design scheme of interaction between the control and mechanical systems (i. e., brain-body interaction) based on "discrepancy function". However, it was still insufficient to fully describe the brain-body interaction, because the dynamics of spatial distribution of muscle tonus was not considered. In this paper, we propose a design scheme of the brain-body interaction in which not only phasic but also tonic control is considered, by taking serpentine locomotion as a practical example. Its validity is confirmed by simulations, where adaptive locomotion is emerged through the coordination of the phasic and tonic control.

  422. Development of a Micro-actuator by Exploiting Mechanical Stimulus Response of Muscle Cells

    武田孟, 八幡慎太郎, 清水正宏, 宮本浩一郎, 宮坂恒太, 吉信達夫, 小椋利彦, 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（ROBOMEC2010）予稿集　2010　2P1-B11(1)-2P1-B11(4)　2010/06

    Publisher: The Japan Society of Mechanical Engineers

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    Recently, robotic studies based on biological materials have been attracting a lot of attention, because of its intrinsic abilities. Biological materials have some interesting capabilities in such a way that tissues as devices can be self-organized, adaptable, self-repaired, and so on. Such significant abilities are based on cellular behavior that reflects mechanical stimuli during the development of the tissues. Under this circumstance, in this paper, we intend to deal with development of a micro-actuator by exploiting mechanical stimulus response of muscle cells. To do so, we carry out the induction of differentiation into myofilaments from a cultured myoblasts C2C12 under the periodic stretching forces for 70 hours. As a result, interestingly, we found that induction of differentiation into myofilament-like calls are promoted under the mechanical stimulus.

  423. Dynamic Self-assembly Based on Dynamic Equilibrium of Building and Scrapping

    清水正宏, 月舘統宇, 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（ROBOMEC2010）予稿集　2010　2A1-G09(1)-2A1-G09(4)　2010/06

    Publisher: The Japan Society of Mechanical Engineers

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    This paper discusses dynamic self-assembly of an autonomous decentralized multi-robotic system induced from a balance between building and scrapping of a swarm formation. To this end, we particularly focus on not only the effect of Virtual Spring but also asymmetrical interaction between robots, the former of which is used as an aggregation control mechanism of the swarm, and the latter of which destruct the geometrical structure generated. Simulation results indicated that the swarm maintains a specific shape, i.e., disc-like shape, by causing both building and scrapping. And then, by modifying degrees of aggregation and destruction, the swarm showed successfully various behavior, i.e., random walk or convection-like movement.

  424. 局所的な齟齬情報に基づくヘビ型ロボットの適応的自律分散制御方策

    佐藤貴英, 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（ROBOMEC2010）予稿集　2010　1A1-F02　2010/06

    Publisher: The Japan Society of Mechanical Engineers

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    A systematic way of designing autonomous decentralized control system is still lacking, despite its appealing concept. In order to alleviate this, we have so far proposed a design scheme for autonomous decentralized control leading to adaptive behaviors from the entire system, based on a so-called discrepancy function that extracts the discrepancies between body (i.e., mechanical system), brain (i.e., control system) and environments. This paper intensively investigates the validity of this design scheme under the real world constraints by taking a two-dimensional serpentine robot exhibiting undulatory slithering locomotion as a practical example. The experimental results show that the robot exhibits adaptive behavior against environmental changes as well as the robustness against malfunctions of body segments due to the local sensory feedback control. The results obtained are expected to shed a new light on methodology for autonomous decentralized control system.

  425. 原形質量保存則を活用した流体駆動型アメーバ様ソフトロボット

    武田光一, 梅舘拓也, 中垣俊之, 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（ROBOMEC2010）予稿集　2010　"1A1-E20(1)"-"1A1-E20(4)"　2010/06

    Publisher: The Japan Society of Mechanical Engineers

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    This paper presents a soft-bodied fluid-driven amoeboid robot inspired by plasmodium of true slime mold. Significant features of this robot are twofold: (1) the robot has fluidic circuit (i.e., nylon tubes filled with fluid) and truly soft and deformable body stemming from real-time tunable springs, the former serves as protoplasm and the latter is used for elastic actuators; and (2) a fully decentralized control using coupled oscillators with completely local sensory feedback mechanism is realized by exploiting the long-distance physical interaction between the body parts induced by the law of conservation of protoplasmic mass. Experimental result shows that this robot exhibits truly supple locomotion without relying on any hierarchical structure. The result obtained is expected to shed new light on design scheme for autonomous decentralized control system.

  426. グローバルエントレイメントを生起させるCPGと身体の連関様式の設計方策 〜四脚ロボットを用いた事例研究〜

    長澤昂, 加納剛史, 大脇大, 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（ROBOMEC2010）予稿集　2010　"2A1-A07(1)"-"2A1-A07(4)"　2010/06

    Publisher: The Japan Society of Mechanical Engineers

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    This paper aims to design CPG-based control from a minimalistic approach in order to gain a better understanding about how control and mechanical systems should be coupled so as to achieving the global entrainment. To this end, we deal with a quadruped robot as a practical example. Through modeling and simulations, we show that the following mechanisms are key to achieve the global entrainment: (1) a "compliant" mechanical structure that allows to generate a certain amount of discrepancy between control and mechanical systems, and (2) local sensory feedback based on ground reaction force. The results obtained are expected to shed a new light on design methodology for CPG-based decentralized locomotion control.

  427. Development of a Legged Robot That Enables Well-balanced Coupling between Phasic and Tonic Control

    糸澤祐太, Skarka Martin, 佐藤貴英, 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（ROBOMEC2010）予稿集　2010　"2A1-A02(1)"-"2A1-A02(4)"　2010/06

    Publisher: The Japan Society of Mechanical Engineers

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    A systematic way of designing autonomous decentralized control system is still missing, despite its appealing concept. In order to alleviate this, we have so far focused on serpentine locomotion, and have proposed a design scheme of interaction between the control and mechanical systems in which both the phasic and tonic control are taken into account. In this paper, we aim to verify the validity and universality of this design scheme by applying it to legged locomotion. As a first step, we develop a cart-pulling biped robot which has a simple mechanical structure. The preliminary experimental results show that phasic and tonic control are well-coordinated.

  428. Auronomous Motion Pattern Learning on Multi-degrees of Freedom Robots by Exploiting Multirhythmic Oscilator

    大脇大, 石田怜, 塚辺有哉, 手老篤史, 伊藤賢太郎, 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（ROBOMEC2010）予稿集　2010　2A2-F28(1)-2A2-F28(4)　2010/06

    Publisher: The Japan Society of Mechanical Engineers

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    Central pattern generators (CPGs) have been increasingly attracting roboticists in the hope that they enable robots to realize truly supple and agile locomotion under real world constraints. Thus far, various CPG models have been proposed, particularly in terms of motion stabilization against external perturbations, i.e., limit cycle behavior. On the other hand, biological CPGs have another crucial aspect that cannot be neglected, i.e., motion exploration. Here, note that motion stabilization and motion exploration should be performed in different time-scales. Now the following questions arise: how can different time-scales be embedded into a single CPG effectively?; and what is a good mathematical tool for describing the coexistence of different time-scales? To overcome these problems, this paper introduces a novel oscillator model in which the two functions of motion stabilization and motion exploration can be seamlessly integrated by exploiting the concept of multi-rhythmicity, without relying on any hierarchical structure, which in turn enables that learning is an integral part of the motor control system. We applied this model to the autonomous motion learning on multi-degrees of freedom robots (e.g., a quadruped robot) as a practical example. Simulation results indicate that the robot can successfully perform online learning without the need for a separation between learning and performance phases.

  429. グローバルエントレイメントを生起させるCPGと身体の連関様式の設計方策 ?四脚ロボットを用いた事例研究?

    長澤昂, 加納剛史, 大脇大, 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（ROBOMEC2010）予稿集　2010　"2A1-A07(1)"-"2A1-A07(4)"　2010/06

    Publisher: The Japan Society of Mechanical Engineers

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    This paper aims to design CPG-based control from a minimalistic approach in order to gain a better understanding about how control and mechanical systems should be coupled so as to achieving the global entrainment. To this end, we deal with a quadruped robot as a practical example. Through modeling and simulations, we show that the following mechanisms are key to achieve the global entrainment: (1) a "compliant" mechanical structure that allows to generate a certain amount of discrepancy between control and mechanical systems, and (2) local sensory feedback based on ground reaction force. The results obtained are expected to shed a new light on design methodology for CPG-based decentralized locomotion control.

  430. Fully decentralized control of a soft-bodied robot inspired by true slime mold Peer-reviewed

    Takuya Umedachi, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi, Akio Ishiguro

    BIOLOGICAL CYBERNETICS　102　(3)　261-269　2010/03

    DOI： 10.1007/s00422-010-0367-9 　

    ISSN： 0340-1200

  431. 結合振動子系から探る移動知の力学的共通原理

    清水正宏, 郷原一寿, 石黒章夫

    第5回移動知シンポジウムProceedings　2-28　2010/03

  432. Dynamic Self-assembly Based on Building and Scrapping of a Swarm Formation

    月舘統宙, 清水正宏, 菅原研, 石黒章夫

    第22回自律分散システム・シンポジウム　2010/01/30

  433. Rethinking CPG-based Control from a Minimalistic Approach -A case Study with a Quaruped Robot

    手老篤史, 長澤昴, 秋山正和, 加納剛史, 大脇大, 伊藤賢太郎, 小林亮, 石黒章夫

    第22回自律分散システム・シンポジウム　2010/01/30

  434. Development of an Amoeboid Soft-bodied Robot That Exploits Law of Conservation of Protoplasmic Mass

    武田光一, 梅舘拓也, 中垣俊之, 小林亮, 石黒章夫

    第22回自律分散システム・シンポジウム　2010/01/30

  435. Rethinking CPG-based Control from a Minimalistic Approach -A case Study with a Quaruped Robot

    手老篤史, 長澤昴, 秋山正和, 加納剛史, 大脇大, 伊藤賢太郎, 小林亮, 石黒章夫

    第22回自律分散システム・シンポジウム　2010/01/30

  436. Implicit Control Law in passive dynamic walking

    Koichi Osuka, Yasuhiro Sugimoto, Akio Ishiguro, Dai Owaki, Xin-Zhi Zheng

    Proceedings of the SICE Annual Conference　2788-2789　2010

    Publisher: Society of Instrument and Control Engineers (SICE)

  437. Implicit control law and explicit control law of Swiss Robot

    Yuichiro Sueoka, Koichi Osuka, Yasuhiro Sugimoto, Akio Ishiguro

    Proceedings of the SICE Annual Conference　1836-1839　2010

    Publisher: Society of Instrument and Control Engineers (SICE)

  438. Amoeboid Locomotion having High Fluidity by a Modular Robot Peer-reviewed

    Masahiro Shimizu, Akio Ishiguro

    INTERNATIONAL JOURNAL OF UNCONVENTIONAL COMPUTING　6　(2)　145-161　2010

    ISSN： 1548-7199

    eISSN： 1548-7202

  439. 真正粘菌変形体から着想を得た自律分散制御方策の実験的検証 Peer-reviewed

    梅舘拓也, 武田光一, 中垣俊之, 小林 亮, 石黒章夫

    計測自動制御学会論文集　46　(11)　706-712　2010

    Publisher: The Society of Instrument and Control Engineers

    DOI： 10.9746/sicetr.46.706 　

    ISSN： 0453-4654

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    This paper presents a fully decentralized control inspired by plasmodium of true slime mold and its validity using a soft-bodied amoeboid robot. The notable features of this paper are twofold: (1) the robot has truly soft and deformable body stemming from real-time tunable springs and a balloon, the former is utilized as an outer skin of the body and the latter serves as protoplasm; and (2) a fully decentralized control using coupled oscillators with completely local sensory feedback mechanism is realized by exploiting the long-distance physical interaction between the body parts induced by the law of conservation of protoplasmic mass. Experimental results show that this robot exhibits truly supple locomotion without relying on any hierarchical structure. The results obtained are expected to shed new light on design scheme for autonomous decentralized control system.

  440. Decentralized Control of Serpentine Locomotion That Enables Well-balanced Coupling between Phasic and Tonic Control

    Takeshi Kano, Takahide Sato, Ryo Kobayashi, Akio Ishiguro

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)　2010

    ISSN： 2153-0858

  441. A TWO-DIMENSIONAL PASSIVE DYNAMIC RUNNER WITH UPPER BODY

    D. Owaki, S. Kubo, S. Yamaguchi, A. Ishiguro, A. Tero, H-M Maus, C. Maufroy, A. Seyfarth

    EMERGING TRENDS IN MOBILE ROBOTICS　622-630　2010

  442. Decentralized Control of Serpentine Locomotion That Enables Well-balanced Coupling between Phasic and Tonic Control

    Takeshi Kano, Takahide Sato, Ryo Kobayashi, Akio Ishiguro

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)　2010

    ISSN： 2153-0858

  443. Taming Large Degrees of Freedom A Case Study with an Amoeboid Robot Peer-reviewed

    Takuya Umedachi, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi, Akio Ishiguro

    2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　3787-3792　2010

    DOI： 10.1109/ROBOT.2010.5509498 　

    ISSN： 1050-4729

    eISSN： 2577-087X

  444. A Two-Dimensional Passive Dynamic Running Biped with Knees Peer-reviewed

    Dai Owaki, Masatoshi Koyama, Shin'ichi Yamaguchi, Shota Kubo, Akio Ishiguro

    2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　5237-5242　2010

    DOI： 10.1109/ROBOT.2010.5509166 　

    ISSN： 1050-4729

  445. An Adaptive Decentralized Control of a Serpentine Robot Based on the Discrepancy between Body, Brain and Environment Peer-reviewed

    Takahide Sato, Wataru Watanabe, Akio Ishiguro

    2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　709-714　2010

    DOI： 10.1109/ROBOT.2010.5509236 　

    ISSN： 1050-4729

  446. Taming Large Degrees of Freedom A Case Study with an Amoeboid Robot Invited

    Takuya Umedachi, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi, Akio Ishiguro

    2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　3787-3792　2010

    DOI： 10.1109/ROBOT.2010.5509498 　

    ISSN： 1050-4729

    eISSN： 2577-087X

  447. A TWO-DIMENSIONAL PASSIVE DYNAMIC RUNNER WITH UPPER BODY Peer-reviewed

    D. Owaki, S. Kubo, S. Yamaguchi, A. Ishiguro, A. Tero, H-M Maus, C. Maufroy, A. Seyfarth

    EMERGING TRENDS IN MOBILE ROBOTICS　622-630　2010

  448. A CPG-BASED DECENTRALIZED CONTROL OF A QUADRUPED ROBOT BASED ON DISCREPANCY FUNCTION Peer-reviewed

    T. Kano, K. Nagasawa, D. Owaki, A. Tero, A. Ishiguro

    EMERGING TRENDS IN MOBILE ROBOTICS　157-164　2010

  449. TOWARD WELL-BALANCED COUPLING BETWEEN PHASIC AND TONIC CONTROL -A CASE STUDY WITH A SERPENTINE ROBOT- Peer-reviewed

    T. Kano, T. Sato, R. Kobayashi, A. Ishiguro

    EMERGING TRENDS IN MOBILE ROBOTICS　165-172　2010

  450. Decentralized Control of Serpentine Locomotion That Enables Well-balanced Coupling between Phasic and Tonic Control Peer-reviewed

    Takeshi Kano, Takahide Sato, Ryo Kobayashi, Akio Ishiguro

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)　2856-2861　2010

    DOI： 10.1109/IROS.2010.5651828 　

    ISSN： 2153-0858

  451. A CPG-based Decentralized Control of a Quadruped Robot Inspired by True Slime Mold Peer-reviewed

    Takeshi Kano, Koh Nagasawa, Dai Owaki, Atsushi Tero, Akio Ishiguro

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)　4928-4933　2010

    DOI： 10.1109/IROS.2010.5650318 　

    ISSN： 2153-0858

  452. A Soft-bodied Fluid-driven Amoeboid Robot Inspired by Plasmodium of True Slime Mold Peer-reviewed

    Takuya Umedachi, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi, Akio Ishiguro

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)　2401-2406　2010

    DOI： 10.1109/IROS.2010.5651149 　

    ISSN： 2153-0858

  453. Dual Structure of Mobiligence -Implicit Control and Explicit Control- Peer-reviewed

    Koichi Osuka, Akio Ishiguro, Xin-Zhi Zheng, Yasuhiro Sugimoto, Dai Owaki

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)　2407-2412　2010

    DOI： 10.1109/IROS.2010.5653968 　

    ISSN： 2153-0858

  454. Can Implicit Control Law be a Common Principle of Mobiligence?

    大須賀公一, 石黒章夫, 鄭心知

    SI2009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Proceedings　466-467　2009/12

  455. Study for Implicit Control Law of a mobile robot

    末岡裕一郎, 大須賀公一, 杉本靖博, 石黒章夫

    SI2009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Proceedings　468-469　2009/12

  456. Experimental Verification of a Modular Robot That Enables Adaptive Locomotive Function

    武田孟, 八幡慎太郎, 清水正宏, 石黒章夫

    計測自動制御学会システム・情報部門・学術講演会2009（SSI2009）　372-375　2009/11/24

  457. Can Implicit Control Law be a Key of Understanding Mobiligence?

    大須賀公一, 石黒章夫, 鄭心知

    計測自動制御学会 システム・情報部門 学術講演会 2009（SSI2009)　376-377　2009/11/24

  458. Fully Decentralized Control of a Soft-bodied Robot Inspired by Plasmodium of True Slime Mold

    梅舘拓也, 武田光一, 中垣俊之, 小林 亮, 石黒章夫

    計測自動制御学会 システム・情報部門 学術講演会 2009（SSI2009)　306-309　2009/11/24

  459. Implicit Control Law That Enables Stable Passive Dynamic Running Peer-reviewed

    Dai Owaki, Koichi Osuka, Akio Ishiguro

    The 3rd International Symposium on Mobiligence in Awaji　352-356　2009/11/19

  460. Implicit Control Law: A Common Principle of Mobiligence Peer-reviewed

    Koishi Osuka, Akio Ishiguro, Xin-Zhi Zheng, Yasuharu Sugimoto, Dai Owaki

    The 3rd International Symposium on Mobiligence in Awaji　96-101　2009/11/19

  461. A Collective Behavioral Approach to Understanding Mobiligence Peer-reviewed

    Masahiro Shimizu, Akio Ishiguro

    The 3rd International Symposium on Mobiligence in Awaji　102-107　2009/11/19

  462. An Amoeboid Robot Slimebot by Exploiting Nonlinear Oscillators

    清水正宏, 石黒章夫

    HUROBINT,ECSRA合同研究会　o2(発表番号)　2009/11/07

  463. phase control of coupled oscillators using multi-linear feedback Peer-reviewed

    加納剛史, 木下修一

    2009 International Symposium on Nonlinear Theory and its Applications　A1LC1-4014　34-37　2009/10/18

  464. Taming Many Degrees of Freedom Fully Decentralized Control of a Soft-bodied Robot Inspired by True Slime Mold Peer-reviewed

    Koichi Takeda, Takuya Umedachi, Akio Ishiguro

    The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems　SuT5　50-55　2009/10/11

  465. Robust control of coupled-oscillator system using multi-linear feedback

    加納剛史, 木下修一

    日本物理学会　2009/09/25

  466. Autonomous Decentralized Control of a Serpentine Robot by Exploiting the Discrepancy between Body, Brain and Environment

    佐藤貴英, 渡邉航, 糸澤祐太, 石黒章夫

    第24回生体・生理工学シンポジウム　2009/09/24

  467. Realization of a Passive Dynamic Running Biped with Knees

    小山真理, 山口伸一, 久保翔達, 大脇大, 石黒章夫

    第27回日本ロボット学会学術講演会予稿集　RSJ2009AC3P2-02　2009/09/15

  468. Fully Decentralized Control of a Soft-bodied Robot Inspired by the True Slime Mold

    梅舘拓也, 武田光一, 中垣俊之, 小林 亮, 石黒章夫

    第27回日本ロボット学会学術講演会予稿集　RSJ2009AC1M1-01　2009/09/15

  469. A Multi-rhythmic Oscillator Model for Motion Generation That can Exploits Body Dynamics

    石田怜, 長澤昂, 大脇大, 手老篤史, 伊藤賢太郎, 石黒章夫

    SICE東北支部45周年記念講演会予稿集　93-96　2009/09/07

  470. Self-assembly with Simple Robotic Agents Peer-reviewed

    Kazuya Suzuki, Tsunamihci Tsukidate, Masahiro Shimizu, Akio Ishiguro

    ICCAS-SICE 2009　2C16　(3)　2241-2246　2009/08/18

  471. Development of a 2D Passive Dynamic Running Biped

    山口伸一, 小山真理, 久保翔達, 大脇大, 石黒章夫

    第15回創発システム・シンポジウム　P09 105-108　2009/08/08

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    第15回創発システム・シンポジウム ベストポスター賞奨励賞

  472. Understanding Autonomous Decentralized Control of Many-Degree-of-Freedom from Amoeboid Locomotion

    武田光一, 梅舘拓也, 中垣俊之, 小林亮, 石黒章夫

    第15回創発システム・シンポジウム　P02 83-86　2009/08/08

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    第15回創発システム・シンポジウム ベストポスター優秀賞

  473. Experimental Verification of a Modular Robot That Enables Autonomous Decentralized Reconfiguration

    武田孟, 塚辺有哉, 清水正宏, 石黒章夫

    第15回創発システム・シンポジウム　P01 79-82　2009/08/08

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    第15回創発システム・シンポジウム ベストポスター賞奨励賞

  474. A Passive Dynamic Running by Exploiting ElasticElements

    小山真理, 山口伸一, 大脇大, 石黒章夫

    ロボティクス・メカトロニクス講演会2009予稿集　2P1-D05　2009/05/24

  475. Development of Multi-robotic System that Enables Self-assembly and Self-repair

    鈴木 雄也, 月舘 統宙, 清水 正宏, 石黒 章夫

    ロボティクス・メカトロニクス講演会2009予稿集　2A1-E12　2009/05/24

  476. Construction and Transportation by Exploiting Dynamic Self-assembly

    月舘統宙, 鈴木雄也, 清水正宏, 菅原研, 石黒章夫

    ロボティクス・メカトロニクス講演会2009予稿集　2A2-F16　2009/05/24

  477. Experimental Verification of Autonomous Decentralized Control Scheme- A Case Study with a Real Serpentine Robot -

    佐藤貴英, 渡邉航, 石黒章夫

    ロボティクス・メカトロニクス講演会2009予稿集　2A2-F21　2009/05/24

  478. Experimental Verification of a Soft-bodied Robot with Large D.O.F Inspired by True Slime Mold

    武田光一, 北村太一, 梅舘拓也, 中垣俊之, 小林亮, 石黒章夫

    ロボティクス・メカトロニクス講演会2009予稿集　2A2-F22　2009/05/24

  479. Experimental Verification of a Modular Robot That Enables Adaptive Reconfiguration

    清水 正宏, 石黒 章夫

    ロボティクス・メカトロニクス講演会2009予稿集　2A1-B08　2009/05/24

  480. Multi-timescale Integration underlying Passive Dynamic Locomotion by Exploiting Elastic Elements

    大脇 大, 石黒 章夫

    ロボティクス・メカトロニクス講演会2009予稿集　2P1-D04　2009/05/24

  481. A Multi-rhythmic Oscillator Model That Can Integrate Motion Generation with Motion Learning Seamlessly Invited

    石黒 章夫, 石田 怜, 大脇 大, 伊藤 賢太郎, 手老 篤史

    第48回日本生体医工学会大会　2009/04/23

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    招待論文

  482. 大自由度を持つからだをいかに巧みに制御するか～真正粘菌から学ぶ大自由度ロボットの自律分散制御方策～ Invited

    石黒 章夫

    第6回SICE生物制御システム調査研究会&移動知合同研究会　2009/03/11

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    招待講演

  483. 単純な運動機能を有する結合振動子系から探る移動知の発現原理～実機実験に向けたアメーバ様ロボットの製作～

    石黒章夫, 清水正宏, 郷原一寿

    移動知内部評価シンポジウム　2009/03/02

  484. 受動歩行と受動走行に内在する力学的共通原理

    大脇大, 大須賀公一, 石黒章夫

    移動知内部評価シンポジウム　2009/03/02

  485. Autonomous Decentralized Control That Exploits Local Feedback Based on the Discrepancy between Body, Brain and Environment - A Case Study with a Serpentine Robot - Peer-reviewed

    渡邉 航, 佐藤 貴英, 石黒 章夫

    リズム現象の研究会IV　Poster6　2009/01/23

  486. 受動歩行・受動走行に内在するリズム現象 Peer-reviewed

    大脇 大, 大須賀 公一, 石黒 章夫

    リズム現象の研究会IV　Poster11　2009/01/23

  487. 身体の大きさに依存して遷移するアメーバ型ロボットの適応戦略 Peer-reviewed

    清水正宏, 加藤拓真, 松澤亮, 石黒章夫

    リズム現象の研究会IV　Poster1　2009/01/23

  488. 原形質量保存側を活用した大自由度アメーバ様ロボットの 自律分散制御 Peer-reviewed

    梅舘拓也, 北村太一, 武田光一, 中垣俊之, 小林亮, 石黒章夫

    リズム現象の研究会IV　Poster5　2009/01/23

  489. A Multi-rhythmic Oscillator Model That Can Integrate Motion Stabilization with Motion Exploration

    石田 怜, 坂井 善行, 大脇 大, 手老 篤史, 石黒 章夫

    第21回 自律分散システム・シンポジウム　153-156　2009/01/22

  490. Development of a Soft and Supple Robot Inspired from True Slime

    武田 光一, 北村 太一, 梅舘 拓也, 中垣 俊之, 小林 亮, 石黒 章夫

    第21回 自律分散システム・シンポジウム　145-148　2009/01/22

  491. A Mechanism of the Generation of Adaptive Locomotion Based on the Discrepancy between Body, Brain and Environment - A Case Study with a Serpentine Robot -

    佐藤 貴英, 渡邉 航, 石黒 章夫

    第21回 自律分散システム・シンポジウム　149-152　2009/01/22

  492. A Multi-rhythmic Oscillator Model That Can Integrate Motion Stabilization with Motion Exploration

    石田 怜, 坂井 善行, 大脇 大, 手老 篤史, 石黒 章夫

    第21回自律分散システム・シンポジウムProceedings　2009/01/22

  493. Development of a Soft and Supple Robot Inspired from True Slime

    武田 光一, 北村 太一, 梅舘 拓也, 中垣 俊之, 小林 亮, 石黒 章夫

    第21回自律分散システム・シンポジウムProceedings　2009/01/22

  494. Generation Mechanism of Adaptive Locomotion Based on Discrepancy between Body, Brain and Environment - A Case Study with a Real Serpentine Robot -

    佐藤 貴英, 渡邉 航, 石黒 章夫

    第21回自律分散システム・シンポジウムProceedings　2009/01/22

  495. A Modular Robot Driven by Protoplasmic Streaming Peer-reviewed

    Takuya Umedachi, Thichi Kitamura, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi, Akio Ishiguro

    DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 8　193-+　2009

  496. A Modular Robot Driven by Protoplasmic Streaming Peer-reviewed

    Takuya Umedachi, Thichi Kitamura, Koichi Takeda, Toshiyuki Nakagaki, Ryo Kobayashi, Akio Ishiguro

    DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 8　193-+　2009

    DOI： 10.1007/978-3-642-00644-9-17 　

  497. モジュラーロボットの自律分散制御 ～「三人寄れば文殊の知恵」的な知能はいかにして実現できるのか～

    石黒章夫

    機械の研究　61　(7)　669-675　2009

    Publisher:

    ISSN： 0368-5713

  498. 自然で無理のない形態変形から生み出される適応的運動機能 Peer-reviewed

    石黒章夫, 清水正宏

    計測と制御　48　(9)　705-710　2009

  499. 受動的ロコモーションに埋め込まれた適応機能 Peer-reviewed

    大須賀公一, 石黒章夫

    計測と制御　48　(9)　711-717　2009

  500. Understanding the Common Principle underlying Passive Dynamic Walking and Running Peer-reviewed

    Dai Owaki, Koichi Osuka, Akio Ishiguro

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　3208-3213　2009

  501. A Fully Decentralized Control of a Serpentine Robot Based on the Discrepancy between Body, Brain and Environment

    Wataru Watanabe, Takahide Sato, Akio Ishiguro

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　2421-2426　2009

    DOI： 10.1109/IROS.2009.5354268 　

  502. A Fully Decentralized Control of a Serpentine Robot Based on the Discrepancy between Body, Brain and Environment

    Wataru Watanabe, Takahide Sato, Akio Ishiguro

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　2421-2426　2009

    DOI： 10.1109/IROS.2009.5354268 　

  503. An Amoeboid Modular Robot That Exhibits Real-time Adaptive Reconfiguration Peer-reviewed

    Masahiro Shimizu, Akio Ishiguro

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　Molll14.3　1496-1501　2009

    DOI： 10.1109/IROS.2009.5354279 　

  504. Understanding the Common Principle underlying Passive Dynamic Walking and Running Peer-reviewed

    Dai Owaki, Koichi Osuka, Akio Ishiguro

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　TulllT7.2　3208-3213　2009

    DOI： 10.1109/IROS.2009.5354661 　

  505. A Fully Decentralized Control of a Serpentine Robot Based on the Discrepancy between Body, Brain and Environment Peer-reviewed

    Wataru Watanabe, Takahide Sato, Akio Ishiguro

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　TulT13.4　2421-2426　2009

    DOI： 10.1109/IROS.2009.5354268 　

  506. Stable and Spontaneous Self-assembly of a Multi-robotic System by Exploiting Physical Interaction between Agents Peer-reviewed

    Kazuya Suzuki, Tsunamichi Tsukidate, Masahiro Shimizu, Akio Ishiguro

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　WelT13.1　4343-4348　2009

    DOI： 10.1109/IROS.2009.5354316 　

  507. On the Interaction between Autonomous Agents with a Slime Mold Like Robot

    加藤 拓真, 清水 正宏, Lungarella Max, 石黒 章夫

    計測自動制御学会SI部門講演会SI2008予稿集　15-16　2008/12/05

  508. A Multi-rhythmic Oscillator Model That Can Self-tune Frequency and Phase

    坂井 善行, 石田 怜, 大脇 大, 手老 篤史, 石黒 章夫

    計測自動制御学会SI部門講演会SI2008予稿集　131-132　2008/12/05

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    第9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（SI2008）優秀講演賞

  509. Experimental Verification of a Spontaneous Self-assembly by Exploiting Coupled Oscillators

    鈴木 雄也, 月舘 統宙, 中田 武志, 清水 正宏, 石黒 章夫

    計測自動制御学会SI部門講演会SI2008予稿集　133-134　2008/12/05

  510. An Autonomous Decentralized Control of a Soft and Supple Robot Inspired from True Slime Mold

    北村 太一, 梅舘 拓也, 武田 光一, 中垣 俊之, 小林 亮, 石黒 章夫

    計測自動制御学会SI部門講演会SI2008予稿集　139-140　2008/12/05

  511. Decentralized Control of a Serpentine Robot Based on Discrepancy between Body, Brain and Environment

    渡邉航, 佐藤貴英, 石黒章夫

    計測自動制御学会SI部門講演会SI2008予稿集　137-138　2008/12/05

  512. 周波数と位相の調整が可能なマルチリズミックオシレータモデル -一次元ホッピングロボットの跳躍学習への適用-

    坂井善行, 石田怜, 大脇大, 手老篤史, 石黒章夫

    第245回SICE東北支部研究集会　2008/10/24

  513. Adaptive Reconfiguration Induced from a Slime Mold Like Robot

    清水正宏, 加藤拓真, 松澤亮, 石黒章夫

    平成20年度無脊椎動物神経生物研究会　8　2008/09/15

  514. Development of a Simulator for Passive Dynamic Walking Based on Molecular Dynamics Method

    小山 真理, 山口 伸一, 大脇 大, 清水 正宏, 石黒 章夫

    第26回 日本ロボット学会学術講演会 予稿集　1O3-01　2008/09/09

  515. An Oscillator Model That Can Self-tune Frequency and Phase by Exploiting Multi-rhythmicity -A Case Study with a One-dimensional Hopping Robot-

    坂井 善行, 石田 怜, 大脇 大, 手老 篤史, 石黒 章夫

    第26回 日本ロボット学会学術講演会 予稿集　3O1-02　2008/09/09

  516. Development of a Modular Robot That Exhibits Amoeboid Adaptive Locomotion

    松澤 亮, 加藤 拓真, 清水 正宏, 石黒 章夫

    第26回 日本ロボット学会学術講演会 予稿集　2O2-04　2008/09/09

  517. On the Balance between Informational Interaction and Physical Interaction with Slime Mold Inspired Robot

    加藤 拓真, 清水 正宏, Max Lungarella, 石黒 章夫

    第26回 日本ロボット学会学術講演会 予稿集　3O2-07　2008/09/09

  518. Understanding of the Stabilization Mechanism underlying Passive Dynamic Running

    大脇 大, 大須賀 公一, 石黒 章夫

    第26回 日本ロボット学会学術講演会 予稿集　3B1-09　2008/09/09

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    日本ロボット学会 第24回研究奨励賞<br /> 受賞日：2009年9月16日

  519. Autonomous Decentralized Control of an Amoeboid Robot by Exploiting Global Interaction Stemming from Protoplasm

    北村 太一, 梅舘 拓也, 武田 光一, 中垣 俊之, 小林 亮, 石黒 章夫

    第26回 日本ロボット学会学術講演会 予稿集　3H1-05　2008/09/09

  520. What Is the Difference between Passive Dynamic Walking and Running?

    大脇 大, 大須賀 公一, 石黒 章夫

    第14回創発システム・シンポジウム　59-62　2008/08/17

  521. A Multi-rhythmic Oscillator Model That Can Self-tune Frequency and Phase -- A Case Study with a One-dimensional Hopping Robot --

    石田 怜, 坂井 善行, 大脇 大, 手老 篤史, 石黒 章夫

    第14回創発システム・シンポジウム「創発夏の学校2008」自律性と創発 講演資料集　99-102　2008/08/17

  522. Stabilization of Passive Dynamic Bipedal Walking by Exploiting Hyperextension of Knee Joints

    小山真理, 大脇大, 西井淳, 石黒章夫

    第14回創発システム・シンポジウム「創発夏の学校2008」自律性と創発 講演資料集　63-66　2008/08/17

  523. Interaction design of distributed autonomous system with Serpertine Robot

    佐藤 貴英, 渡邉 航, 石黒 章夫

    第14回創発システム・シンポジウム「創発夏の学校2008」自律性と創発 講演資料集　67-69　2008/08/17

  524. Understanding Autonomous Decentralized Control from Amoeboid Locomotion

    梅舘 拓也, 北村 太一, 武田 光一, 中垣 俊之, 小林 亮, 石黒 章夫

    第14回創発システム・シンポジウム「創発夏の学校2008」自律性と創発 講演資料集　85-88　2008/08/17

  525. Experimental Verification of a Spontaneous Self-assemblying Multi-robotic System with Coupled Oscillator System

    月舘 統宙, 鈴木 雄也, 中田 武志, 清水 正宏, 石黒 章夫

    第14回創発システム・シンポジウム「創発夏の学校2008」自律性と創発 講演資料集　55-58　2008/08/17

  526. 粘菌型ロボットから探る自律個間の相互作用様式のあり方に関する考察

    加藤 拓真, 清水 正宏, Max Lungarella, 石黒 章夫

    第244回SICE東北支部研究集会　2008/07/02

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    第244回SICE東北支部研究集会優秀発表奨励賞

  527. An Amoeboid Locomotion That Exploits Real-time Tunable Springs and Law of Conservation of Protoplasmic Mass Peer-reviewed

    Takuya Umedachi, Taichi Kitamura, Akio Ishiguro

    Journal of Robotics and Mechatronics　20　(3)　449-455　2008/06/20

    Publisher: Fuji Technology Press Ltd.

    DOI： 10.20965/jrm.2008.p0449 　

    ISSN： 0915-3942

    eISSN： 1883-8049

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    The control and mechanical systems of an embodied agent should be tightly coupled so as to emerge useful functionalities such as adaptivity. This indicates that the mechanical system as well as the control system should be responsible for a certain amount of computation for generating the behavior. However, there still leaves much to be understood about how such “computational offloading” from the control system to the mechanical system can be achieved. In order to intensively investigate this, here we particularly focus on the “softness” of the body, and show how the computational offloading derived from this property is exploited to simplify the control system and to increase the degree of adaptivity. To this end, we employ a two-dimensional amoeboid robot as a practical example, consisting of incompressive fluid (i.e. protoplasm) covered with an outer skin composed of a network of real-time tunable springs. Preliminary simulation results show that the exploitation of the “long-distant interaction” stemming from “the law of conservation of protoplasmic mass” allows us to simplify the control mechanism; and that adaptive amoeboid locomotion can be realized without the need of a central controller. The results obtained are expected to shed light on how control and mechanical systems should be coupled, and what the “brain-body-interaction” carefully designed brings to the resulting behavior.

  528. 可変弾性要素と原形質量保存則を活用したアメーバ様ロコモーションの実現

    北村太一, 梅舘拓也, 石黒章夫

    第243回SICE東北支部研究集会　243-6　2008/06/20

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    第243回SICE東北支部研究集会優秀発表奨励賞

  529. 自発的な自己組み立てを実現する群ロボットの開発

    鈴木雄也, 月舘統宙, 清水正宏, 石黒章夫

    第243回SICE東北支部研究集会　243-7　2008/06/20

  530. Development of an Amoeboid Modular Robot That Exhibits Adaptive Locomotion

    清水 正宏, 加藤 拓真, 石黒 章夫

    ロボティクス・メカトロニクス講演会2008予稿集　2008/06/05

  531. A Modular Robot with Heterogeneous Connectivity Mechanisms - Performance Evaluation Based on Complex Networks -

    加藤 拓真, 清水 正宏, Lungarella Max, 石黒 章夫

    ロボティクス・メカトロニクス講演会2008予稿集　2008/06/05

  532. Development of an Amoeboid Robot that Exploits the Law of Conservation of Protoplasmic Mass

    北村 太一, 梅舘 拓也, 石黒 章夫

    ロボティクス・メカトロニクス講演会2008予稿集　2008/06/05

  533. On the Coupling between Control and Mechanical Systems Based on Synergetic Activation Patterns of Muscles

    石田 怜, 松野 善幸, 大脇 大, 西井 淳, 石黒 章夫

    ロボティクス・メカトロニクス講演会2008予稿集　2008/06/05

  534. Experimental Verification of a Self-assemblying Multi-robotic System with Coupled Oscillators

    月舘 統宙, 鈴木 雄也, 清水 正宏, 石黒 章夫

    ロボティクス・メカトロニクス講演会2008予稿集　2008/06/05

  535. An Experimental Verification of High-Efficient Learning - A Case Study with a Serpentine Robot -

    佐藤 貴英, 渡邉 航, 石黒 章夫

    ロボティクス・メカトロニクス講演会2008予稿集　2008/06/05

  536. Stable Learning of Walking That Exploits the Change of Body Properties through Growth

    坂井 善行, 渡邉 航, 西井 淳, 石黒 章夫

    ロボティクス・メカトロニクス講演会2008予稿集　2008/06/05

  537. Self-assembly and Self-repair by Exploiting Coupled Nonlinear Oscillators with Simple Motile Function Peer-reviewed

    Kazuya Suzuki, Tsunamichi Tsukidate, Masahiro Shimizu, Akio Ishiguro

    the fourth meeting of Adaptive Motion of Animals and Machines (AMAM 2008) proceedings　162-163　2008/06/01

  538. Increasing Stability of Passive Dynamic Bipedal Walking by Exploiting Hyperextension of Knee Joints Peer-reviewed

    Akio Ishiguro, Masatoshi Koyama, Dai Owaki, Jun Nishii

    the fourth meeting of Adaptive Motion of Animals and Machines (AMAM 2008) proceedings　164　2008/06/01

  539. Understanding Mobiligence Through Amoeboid Locomotion -- A Case Study with a Modular Robot -- Invited Peer-reviewed

    Akio Ishiguro

    the fourth meeting of Adaptive Motion of Animals and Machines (AMAM 2008) proceedings　20-21　2008/06/01

  540. Adaptive Gait Transition between Passive Dynamic Walking and Running Peer-reviewed

    Dai Owaki, Koichi Osuka, Akio Ishiguro

    the fourth meeting of Adaptive Motion of Animals and Machines (AMAM 2008) proceedings　160-161　2008/06/01

  541. An Autonomous Decentralized Locomotion Control of an Amoeboid Robot That Exploits the Law of Conservation of Protoplasmic Mass

    Takuya Umedachi, Taichi Kitamura, Akio Ishiguro

    第3回移動知シンポジウム　2008/03/05

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    （ポスター発表）

  542. Adaptive Morphology Control of a Modular Robot by Exploiting Interaction between Control System and Mechanical System - Preliminary Verifications with a Real Physical Robotic System

    Masahiro Shimizu, Akio Ishiguro

    第3回移動知シンポジウム　2008/03/05

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    （ポスター発表）

  543. Understanding Mobiligence Based on Gait Transition between Passive Dynamic Walking and Running

    Dai Owaki, Koichi Osuka, Akio Ishiguro

    第3回移動知シンポジウム　2008/03/05

  544. Efficient Learning by Exploiting Long-distant Physical Interaction between Body Segments - An Experimental Verification with a 2D Serpentine Robot -

    Wataru Watanabe, Takahide Sato, Toshihiro Kawakatsu, Akio Ishiguro

    第3回移動知シンポジウム　2008/03/05

  545. Increasing Stability of Passive Dynamic Bipedal Walking by Exploiting Hyperextension of Knee Joints

    Masatoshi Koyama, Dai Owaki, Jun Nishii, Akio Ishiguro

    第3回移動知シンポジウム　2008/03/05

  546. Gait Transition between Passive Dynamic Walking and Running by Changing the Body Dynamics Properties

    大脇 大, 大須賀 公一, 石黒 章夫

    第20回 自律分散システム・シンポジウム　261-266　2008/01/24

  547. An Efficient Learning by Exploiting Long-distant Physical Correlation between Body Segments - A Case Study with a 2D Serpentine Robot -

    渡邉 航, 佐藤 貴英, 川勝 年洋, 石黒 章夫

    第20回 自律分散システム・シンポジウム　85-90　2008/01/24

  548. On the Spatiotemporal Activation of Muscles for Adaptive Walking

    松野 善幸, 石田 怜, 大脇 大, 西井 淳, 石黒 章夫

    第20回 自律分散システム・シンポジウム　273-278　2008/01/24

  549. A Dynamical System Approach to Understanding Mobiligence

    清水 正宏, 郷原 一寿, 石黒 章夫

    第20回 自律分散システム・シンポジウム　157-162　2008/01/24

  550. An Autonomous Decentralized Morphology Control of an Amoeboid Robot by Exploiting the Law of Conservation of Protoplasmic Mass

    梅舘 拓也, 北村 太一, 石黒 章夫

    第20回 自律分散システム・シンポジウム　57-62　2008/01/24

  551. Self-assembly by Exploiting Coupled Motile Oscillators

    鈴木 雄也, 月舘 統宙, 石黒 章夫

    第20回 自律分散システム・シンポジウム　183-186　2008/01/24

  552. Adaptive Modular Robots Through Heterogeneous Inter-Module Connections Peer-reviewed

    Masahiro Shimizu, Takuma Kato, Max Lungarella, Akio Ishiguro

    Journal of Robotics and Mechatronics　386-393　2008

  553. Rapid and Cheap Learning by Exploiting Biarticular Muscles - A Case Study With a Two-Dimensional Serpentine Robot Peer-reviewed

    Wataru Watanabe, Toshihiro Kawakatsu, Akio Ishiguro

    ADVANCED ROBOTICS　22　(15)　1683-1696　2008

    DOI： 10.1163/156855308X368976 　

    ISSN： 0169-1864

    eISSN： 1568-5535

  554. Adaptive reconfiguration of a modular robot through heterogeneous inter-module connections Peer-reviewed

    Masahiro Shimizu, Takuma Kato, Max Lungarella, Akio Ishiguro

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9　3527-+　2008

    DOI： 10.1109/ROBOT.2008.4543750 　

    ISSN： 1050-4729

  555. On the embodiment that enables passive dynamic bipedal running Peer-reviewed

    Dai Owaki, Koichi Osuka, Akio Ishiguro

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9　341-+　2008

    DOI： 10.1109/ROBOT.2008.4543231 　

    ISSN： 1050-4729

  556. A fully decentralized control of an amoeboid robot by exploiting the law of conservation of protoplasmic mass Peer-reviewed

    Takuya Umedachi, Taichi Kitamura, Akio Ishiguro

    Proceedings - IEEE International Conference on Robotics and Automation　1144-1149　2008

    DOI： 10.1109/ROBOT.2008.4543358 　

    ISSN： 1050-4729

  557. An efficient decentralized learning by exploiting biarticular muscles - A case study with a 2D serpentine robot - Peer-reviewed

    Wataru Watanabe, Takahide Sato, Akio Ishiguro

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9　3826-3831　2008

    DOI： 10.1109/ROBOT.2008.4543798 　

    ISSN： 1050-4729

  558. Gait Transition between Passive Dynamic Walking and Running by Changing the Body Elasticity Peer-reviewed

    Dai Owaki, Koichi Osuka, Akio Ishiguro

    2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7　2412-+　2008

    DOI： 10.1109/SICE.2008.4655088 　

  559. Self-assembly through the Local Interaction between "Embodied" Nonlinear Oscillators with Simple Motile Function Peer-reviewed

    Kazuya Suzuki, Tsunamichi Tsukidate, Takeshi Nakada, Masahiro Shimizu, Akio Ishiguro

    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS　1319-1324　2008

    DOI： 10.1109/IROS.2008.4650804 　

  560. A fully decentralized control of an amoeboid robot by exploiting the law of conservation of protoplasmic mass Peer-reviewed

    Takuya Umedachi, Taichi Kitamura, Akio Ishiguro

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9　1144-1149　2008

    DOI： 10.1109/ROBOT.2008.4543358 　

    ISSN： 1050-4729

    eISSN： 2577-087X

  561. On the Embodiment That Enables Stable Passive Dynamic Running

    大脇大, 大須賀公一, 石黒章夫

    第 8 回 計測自動制御学会 (SI2007) システムインテグレーション部門講演会論文集　281-282　2007/12/20

  562. On consideration of Layered Structure of Mobiligence Mechanism

    K.Osuka, J.Nishii, A.Ishiguro, X.Zheng

    第25回日本ロボット学会学術講演会後援概要集　2007/09/13

  563. 自然で無理のない形態変化から生み出される適応的運動機能

    石黒 章夫, 清水 正宏

    日本機械学会2007年度年次大会講演資料集（8）　2007　257-258　2007/09/09

    Publisher:

    DOI： 10.1299/jsmemecjsm.2007.8.0_257 　

  564. Emergent Adaptive Locomotion by Modular Robot That Exploits a Heterogeneous Connectivity Mechanism

    加藤 拓真, 石黒 章夫

    第13回創発システム・シンポジウム講演資料集　2007/08/17

  565. Spontaneous Self-assembly Toward Anisotropic Structure by a Multi-Robot System

    鈴木 雄也, 石黒 章夫

    第13回創発システム・シンポジウム講演資料集　135-138　2007/08/17

  566. An Amoeboid Robot That Exploits Real-time Tunable Springs and Law of Conservation of Protoplasmic Mass

    北村 太一, 梅舘 拓也, 石黒 章夫

    第13回創発システム・シンポジウム講演資料集　2007/08/17

  567. ``Cheap" Learning That Exploits Multiarticular Muscles - A Case Study with a 2D Serpentine Robot -

    渡邉 航, 石黒 章夫

    第13回創発システム・シンポジウム講演資料集　2007/08/17

  568. Amoeboid Locomotion Tells Us a Lot!: A Collective Behavioral Approach to Mobiligence Peer-reviewed

    Akio Ishiguro, Masahiro Shimizu

    Proc. of the 2nd International Symposium on Mobiligence　52-55　2007/07

  569. Amoeboid Locomotion That Exploits Real-time Tunable Springs and Law of Conservation of Protoplasmic Mass Peer-reviewed

    Takuya Umedachi, Akio Ishiguro

    Proc. of the 2nd International Symposium on Mobiligence　263-266　2007/07

  570. Stable Passive Dynamic Bipedal Running by Exploiting the Body Dynamics Properties Peer-reviewed

    Dai Owaki, Koichi Osuka, Akio Ishiguro

    Proc. of the 2nd International Symposium on Mobiligence　259-262　2007/07

  571. Cheap Learning That Exploits Multiarticular Muscles: A Case Study with a 2D Serpentine Robot Peer-reviewed

    Wataru Watanabe, Akio Ishiguro

    Proc. of the 2nd International Symposium on Mobiligence　267-270　2007/07

  572. Adaptive Amoeboid Locomotion Induced from Embodied Coupled Oscillators Peer-reviewed

    Masahiro Shimizu, Kazutoshi Gohara, Akio Ishiguro

    Proc. of the 2nd International Symposium on Mobiligence　271-274　2007/07

  573. Adaptive Selection between Passive Dynamic Walking and Running by Changing the Body Dynamics Properties

    Dai Owaki, Koichi Osuka, Akio Ishiguro

    ロボティクス・メカトロニクス講演会2007　1P1-E11　2007/05/10

  574. Real-time Adaptive Control of a Walking Biped by Exploiting a Pulsed-CPG

    Yoshiyuki Matsuno, Dai Owaki, Akio Ishiguro

    ロボティクス・メカトロニクス講演会2007　1P1-F03　2007/05/10

  575. Realization of Stable Quadruped Gait Transition by Changing Body Stiffness

    Yoshiyuki Sakai, Tomoki Sato, Dai Owaki, Akio Ishiguro

    ロボティクス・メカトロニクス講演会2007　2A1-A10　2007/05/10

  576. Well-balanced Coupling between Control and Mechanical Systems via Real-time Tunable Springs -- A Case Study with a 2D Serpentine Robot --

    Wataru Watanabe, Takuya Umedachi, Akio Ishiguro

    ロボティクス・メカトロニクス講演会2007　2A1-B11　2007/05/10

  577. An Amoeboid Robot That Exploits Real-time Tunable Springs and Law of Conservation of Protoplasmic Mass

    Takuya Umedachi, Akio Ishiguro

    ロボティクス・メカトロニクス講演会2007　2A1-G02　2007/05/10

  578. Self-assembly by a Multi-Robot System with a Spontaneous Connectivity Control Mechanism

    Kazuya Suzuki, Tomoki Maegawa, Masahiro Shimizu, Akio Ishiguro

    ロボティクス・メカトロニクス講演会2007　2A1-G03　2007/05/10

  579. Adaptive Morphology Control of a Modular Robot by Exploiting a Heterogeneous Connectivity Mechanism

    Masahiro Shimizu, Noriaki Kono, Lungarella Max, Akio Ishiguro

    ロボティクス・メカトロニクス講演会2007　2A1-G04　2007/05/10

  580. アメーバ様ロコモーションから移動知を探る

    Masahiro Shimizu, Akio Ishiguro

    第7回 計測自動制御学会制御部門大会　71-2-1　2007/03/06

  581. A Modular Robot That Exhibits Amoeboid Locomotion, Self-assembly, and Self-repair Invited Peer-reviewed

    Akio Ishiguro

    International Conference on Morphological Computation　2007/03

  582. Adaptive Motor Function Emerged from a Modular Robot That Has Heterogeneous Connectivity Mechanism

    Noriaki Kono, Masahiro Shimizu, Lungarella Max, Akio Ishiguro

    第19回 自律分散システム・シンポジウム資料　19　15-20　2007/01/29

  583. Spontaneous Self-reconfiguration Toward Anisotropic Structure

    Tomoki Maegawa, Kazuya Suzuki, Masahiro Shimizu, Akio Ishiguro

    第19回 自律分散システム・シンポジウム資料　19　151-156　2007/01/29

  584. Alleviation of Dependency on the Initial State in Quadruped Gate Transition by Changing Body Stiffness

    Tomoki Sato, Yoshiyuki Sakai, Dai Owaki, Akio Ishiguro

    第19回 自律分散システム・シンポジウム資料　19　213-218　2007/01/29

  585. Well-balanced Coupling between Control and Mechanical Systems Based on the Diversity in Motion Trajectory --A Case Study with a Bipedal Walking Robot--

    Dai Owaki, Yoshiyuki Matsuno, Akio Ishiguro

    第19回 自律分散システム・シンポジウム資料　19　219-222　2007/01/29

  586. Well-balanced Coupling between Control and Mechanical Systems Based on the Diversity in Motion Trajectory --A Case Study with a Bipedal Walking Robot--

    Wataru Watanabe, Takuya Umedachi, Akio Ishiguro

    第19回 自律分散システム・シンポジウム資料　19　233-238　2007/01/29

  587. On the task distribution between control and mechanical systems: A case study with an amoeboid modular robot

    Akio Ishiguro, Masahiro Shimizu

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)　4850　144-153　2007

    ISSN： 0302-9743 1611-3349

  588. Mechanical Dynamics That Enables Stable Passive Dynamic Bipedal Running- Enhancing Self-stability by Exploiting Nonlinearity in the Leg - Peer-reviewed

    Dai Owaki, Akio Ishiguro

    Journal of Robotics and Mechatronics　Vol.19　(No.4)　2007

  589. Development of a Real-Time Tunable Spring - Toward Independent Control of Position and Stiffness of Joints - Peer-reviewed

    Takuya Umedachi, Yasutake Yamada, Akio Ishiguro

    Journal of Robotics and Mechatronics　19　(1)　27-33　2007/01

  590. 単純な運動機能を有する結合振動子系から創発する知能

    石黒 章夫, 清水 正宏, 川勝 年洋

    物性研究　87　(4)　572-578　2007/01

    Publisher:

    ISSN： 0525-2997

  591. Efficient and adaptive control of walking biped by exploiting a pulsed-CPG Peer-reviewed

    Dai Owaki, Yoshiyuki Matsuno, Akio Ishiguro

    2007 IEEE/ICME INTERNATIONAL CONFERENCE ON COMPLEX MEDICAL ENGINEERING, VOLS 1-4　111-115　2007

    DOI： 10.1109/ICCME.2007.4381703 　

  592. A self-reconfigurable robotic system that exhibits amoebic locomotion Peer-reviewed

    Masahiro Shimizu, Akio Ishiguro

    2007 IEEE/ICME INTERNATIONAL CONFERENCE ON COMPLEX MEDICAL ENGINEERING, VOLS 1-4　101-106　2007

    DOI： 10.1109/ICCME.2007.4381701 　

  593. Improvement of learning efficiency by exploiting multiarticular muscles - A case study with a 2D serpentine robot Peer-reviewed

    Wataru Watanabe, Akio Ishiguro

    PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-8　2150-+　2007

    DOI： 10.1109/SICE.2007.4421344 　

  594. Adaptive amoeboid locomotion that exploits law of conservation of protoplasmic mass Peer-reviewed

    Takuya Umedachi, Akio Ishiguro

    PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-8　2145-2149　2007

  595. Emergent morphology control of a modular robot by exploiting the interaction between control and mechanical dynamics Peer-reviewed

    Masahiro Shimizu, Masayasu Takahashi, Toshihiro Kawakatsu, Akio Ishiguro

    DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 6　23-+　2007

  596. Real-time Adaptive Control of a Pseudo-passive Dynamic Walking Biped -Enhancing Adaptability by Exploiting a Pulsed-CPG-

    大脇大, 松野善幸, 石黒章夫

    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　23-24　2006/12/14

  597. A Conjecture of Adaptive Mechanism of Mobiligence

    大須賀 公一, 石黒 章夫, 鄭 心知

    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　862-663　2006/12/14

  598. 生命状態を持つような人工物はいかにして構築できるか － 単純な運動機能を有する結合振動子系からのアプローチ－ Invited

    石黒 章夫

    東北大学生体・生命工学研究会　2006/12

  599. 単純な運動機能を持つ結合振動子系から移動知を考える

    石黒 章夫

    身体・脳・環境の相互作用による適応的運動機能の発現 －移動知の構成論的理解－ 第1回 一般公開シンポジウム講演資料集　34-40-40　2006/12/01

  600. Efficient and Adaptive Bipedal Walking Control by Exploiting a Pulsed-CPG

    D. Owaki, Y. Matsuno, A. Ishiguro

    第49回 自動制御連合講演会　1-4　2006/11/25

    DOI： 10.11511/jacc.49.0.315.0 　

  601. 単純な運動機能を有する結合振動子系から創発する知能 －アメーバ様ロコモーションからのアプローチ－ Invited

    石黒 章夫

    北海道大学生命リズムと振動子ネットワーク　572-578　2006/10/18

  602. A modular robot that exhibits amoebic locomotion Peer-reviewed

    Akio Ishiguro, Masahiro Shimizu, Toshihiro Kawakatsu

    Robotics and Autonomous Systems　54　(8)　641-650　2006/08/31

    DOI： 10.1016/j.robot.2006.02.011 　

    ISSN： 0921-8890

  603. Realization of Self-Assembly and Self-Repair through the Interplay between Control and Mechanical Systems Peer-reviewed

    石黒 章夫, 松場 弘明, 前川 知毅, 清水 正宏

    日本ロボット学会誌　24　(7)　881-888　2006/07

    Publisher: The Robotics Society of Japan

    DOI： 10.7210/jrsj.24.881 　

    ISSN： 0289-1824

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    One of the most graceful phenomena widely observed in nature is self-assembly; living systems spontaneously form their body structure through the developmental process. While this remarkable phenomenon still leaves much to be understood in biology, the concept of self-assembly becomes undeniably indispensable also in artificial systems as they increase in size and complexity. Based on this consideration, this paper discusses the realization of selfassembly with the use of a modular robot. The main contributions of this paper are twofold: the first concerns the exploitation of emergent phenomena stemming from the interplay between the control and mechanical systems; the second is related to the implementation of different adhesiveness among the modules. Here, form generation by self-assembly is considered as the result of time evolution toward the most dynamically stable state. Owing to this, the proposed method also satisfies significant ability of self-repair. Preliminary simulation results show that stable and spontaneous self-assembly is achieved irrespective of the initial positional relationship among the modules. To our knowledge, this is a first study that deals with self-assembly in the field of modular robots by explicitly exploiting the interplay between control and mechanical systems.

  604. 単純な運動機能を有する結合振動子系から創発する知能 －生命状態を持つような人工物構築を目指して－ Invited

    石黒 章夫

    東北大学 第15回相互作用と賢さ研究会　2006/07

  605. Interaction Dynamics between Control and Mechanical Systems in Mobiligence - A Case Study with a Modular Robot -

    清水 正宏, 川勝 年洋, 石黒 章夫

    ロボティクス・メカトロニクス講演会2006　2006　1A1-D05-D05(1)"-"1A1-D05(4)"　2006/05/26

    Publisher: The Japan Society of Mechanical Engineers

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    Recently, it has been widely recognized that control and mechanical systems cannot be designed separately due to their tight interdependency. However, there still leaves much to be understood about how the relationship between control and mechanical systems should be. Therefore, as an initial step toward understanding "well-balanced coupling" between control and mechanical systems, this study describes a technique able to analyze the spatiotemporal structure of the dynamics stemming from the interplay among control/mechanical systems and the environment by taking a modular robot as a practical example. Owing to the fact that our modular robot "Slimebot" intrinsically has large degrees of freedom, we have successfully observed an interesting spatiotemporal structure in the interaction dynamics by employing the Navier-Stokes equation.

  606. Development of a Real-physical Modular Robot That Enables Emergent Morphology Control

    森 貴章, 清水 正宏, 石黒 章夫

    ロボティクス・メカトロニクス講演会2006　2006　1A1-D07-D07(1)"-"1A1-D07(4)"　2006/05/26

    Publisher: The Japan Society of Mechanical Engineers

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    This paper discusses experimental verifications of a two-dimensional modular robot called "Slimebot", consisting of many identical modules. The Slimebot exhibits adaptive reconfiguration by exploiting a fully decentralized algorithm able to control its morphology according to the environment encountered. One of the significant features of our approach is that we explicitly exploit "emergent phenomena" stemming from the interplay between control and mechanical systems in order to control the morphology in real time. To this end, we particularly focus on a "functional material" and a "mutual entrainment" between nonlinear oscillators, the former of which is used as a spontaneous connectivity control mechanism between the modules, and the latter of which acts as the core of the control mechanism for the generation of locomotion. Experimental results indicate that the proposed algorithm can induce locomotion, which allows us to successfully control the morphology of the modular robot in real time according to the situation without losing the coherence of the entire system.

  607. Realization of Adaptive Bipedal Running by Changing the Body Dynamics Properties

    大脇 大, 石黒 章夫

    ロボティクス・メカトロニクス講演会2006　2006　1A1-D10-D10(1)"-"1A1-D10(4)"　2006/05/26

    Publisher: The Japan Society of Mechanical Engineers

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    Recently, it has been widely recognized that control and mechanical systems cannot be designed separately due to their tight interdependency. However, there still leaves much to be understood about how well-balanced coupling between control and mechanical systems can be achieved. Therefore, as an initial step toward this goal, this study intensively discusses the effect of the intrinsic dynamics of a robot's body on the resulting behavior, in the hope that mechanical systems appropriately designed will allow us to significantly reduce the complexity of control algorithm required as well as to increase the robustness against the environmental perturbation. More precisely, we focus on the property of leg elasticity of a passive dynamic running biped, and investigate how this influences the stability of running. As a result, we have found that a certain type of nonlinearity in the leg elasticity plays a crucial role to enhance the robustness against the environmental perturbation. To the best of our knowledge, this has never been explicitly considered so far.

  608. Development of a Highly Implementable Real-time Tunable Spring - Application to an Antagonistically Driven Joint -

    梅舘 拓也, 田中 直人, 山田 康武, 石黒 章夫

    ロボティクス・メカトロニクス講演会2006　2006　1P1-B23-B23(1)"-"1P1-B23(4)"　2006/05/26

    Publisher: The Japan Society of Mechanical Engineers

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    Traditionally, robot control has been done typically by "highly precise control algorithms": the position of each movable body part is accurately determined at any time with vast amount of computation. This, however, causes serious problems, particularly in terms of adaptability and energy efficiency. On the other hand, an extreme approach has been gaining a lot of attention recently. A good instantiation is the passive dynamic walker, driven only by exploiting the intrinsic dynamics of its mechanical system. However, the mechanical system is not everything, just as the control system is not everything; "well-balanced" coupling between control and mechanical systems should be considered. In addition, the "meeting point" between the two systems should be flexibly varied according to the environment encountered. In light of these facts, this study intensively focuses on the stiffness of robots' joints, since this effectively influences the dominance relationship between control and mechanical systems. More specifically, the aim of this study is to develop a "real-time tunable spring" that can smoothly change its elasticity without changing its natural length, allowing robot's joints to change their position and stiffness independently.

  609. Stable of Gait-Transition of a Quadruped Robot by Dynamically Changing the Intrinsic Dynamics of the Robot's Body

    佐藤 智紀, 大脇 大, 石黒 章夫

    ロボティクス・メカトロニクス講演会2006　2006　2A1-E34-E34(1)"-"2A1-E34(3)"　2006/05/26

    Publisher: The Japan Society of Mechanical Engineers

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    Today's humanoid robots are controlled typically by "highly precise control algorithms": their joint angle trajectories are determined accurately at any time with vast amount of computation. This approach, however, causes serious problems, particularly in terms of energy efficiency and adaptability. On the other hand, recently, another extreme approach has been gaining a lot of attention. A good instantiation is the passive dynamic walker. One of the crucial points is that this approach has shed light on the fact that control system is not everything. More specifically, it is of highly importance to exploit intrinsic dynamics of a robot's body, leading to "cheap" control algorithms. In light of these facts, this paper deals with the transition between quadruped walking and running, particularly focusing on the stiffness of joints.

  610. Development of a Serpentine Robot by Exploiting Real-time Tunable Springs -Toward ""Well-balanced"" Coupling between Control and Mechanical Systems-

    渡邉 航, 山田 康武, 石黒 章夫

    ロボティクス・メカトロニクス講演会2006　2006　2A1-E36-E36(1)"-"2A1-E36(4)"　2006/05/26

    Publisher: The Japan Society of Mechanical Engineers

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    This study is intended to intensively deal with the interdependency between control and mechanical systems, and to discuss how these two systems should be coupled by taking a 2D serpentine robot consisting of multiple body segments as a case study. In order to realize "well-balanced" coupling between the control and mechanical systems, we propose to couple these systems via real-time tunable springs: each joint is controlled by an antagonistically driven mechanism where the joint stiffness can be flexibly altered. We expect this allows us not only to increase adaptability, but also to simplify the sensory feedback mechanism required.

  611. Intelligence Emerged through Carefully- Designed Interaction between Control and Mechanical Systems Invited

    Akio Ishiguro

    第50回システム制御情報学会研究発表講演会講演論文集　27-30　2006/05/10

  612. しぶとさやたくましさを持つ人工物構築を目指して －制御系と機構系の有機的な連関から創発する知能－ Invited

    石黒 章夫

    理化学研究所バイオ・ミメティックコントロール研究センター　2006/05

  613. Towards a "well-balanced" design: How should control and body systems be coupled? Peer-reviewed

    A Ishiguro, K Ishimaru, T Kawakatsu

    ADAPTIVE MOTION OF ANIMALS AND MACHINES　107-+　2006

  614. A Modular Robot That Self-Assembles Peer-reviewed

    Akio Ishiguro, Hiroaki Matsuba, Tomoki Maegawa, Masahiro Shimizu

    INTELLIGENT AUTONOMOUS SYSTEMS 9　585-+　2006

  615. Self-reconfiguration by a modular robot that has a cell-differentiation ability

    Tomoki Maegawa, Akio Ishiguro

    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13　4980-+　2006

  616. A development of a modular robot that enables adaptive reconfiguration Peer-reviewed

    Masahiro Shimizu, Takafumi Mori, Akio Ishiguro

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　174-+　2006

    DOI： 10.1109/IROS.2006.282216 　

  617. Self-assembly through the interplay between control and mechanical systems Peer-reviewed

    Akio Ishiguro, Tomoki Maegawa

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　631-+　2006

    DOI： 10.1109/IROS.2006.282546 　

  618. A development of a fully self-contained real-time tunable spring Peer-reviewed

    Takuya Umedachi, Akio Ishiguro

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　1662-1667　2006

    DOI： 10.1109/IROS.2006.282121 　

  619. Enhancing stability of a passive dynamic running biped by exploiting a nonlinear spring Peer-reviewed

    Dai Owaki, Akio Ishiguro

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　4923-+　2006

    DOI： 10.1109/IROS.2006.282452 　

  620. An adaptive morphology control of a modular robot Peer-reviewed

    Masahiro Shimizu, Takafumi Mori, Toshihiro Kawakatsu, Akio Ishiguro

    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13　2152-+　2006

    DOI： 10.1109/SICE.2006.315038 　

  621. Enhancing self-stability of a passive dynamic runner by exploiting nonlinearity in the leg elasticity Peer-reviewed

    Dai Owaki, Akio Ishiguro

    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13　2146-+　2006

    DOI： 10.1109/SICE.2006.315037 　

  622. Self-reconfiguration by a modular robot that has a cell-differentiation ability Peer-reviewed

    Tomoki Maegawa, Akio Ishiguro

    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13　4980-+　2006

    DOI： 10.1109/SICE.2006.315494 　

  623. Hardware implementation of neuromodulated neural network for a CPU-less autonomous mobile robot Peer-reviewed

    Seiji Tokura, Akio Ishiguro, Shigeru Okuma

    ADVANCED ROBOTICS　20　(12)　1341-1358　2006

    DOI： 10.1163/156855306778960572 　

    ISSN： 0169-1864

    eISSN： 1568-5535

  624. 制御系と機械系の有機的カップリングを活用したモジュラーロボットの創発的形態制御 Peer-reviewed

    清水正宏, 高橋正康, 川勝年洋, 石黒章夫

    日本ロボット学会誌　23　(6)　718-724　2005

    Publisher: The Robotics Society of Japan

    DOI： 10.7210/jrsj.23.718 　

    ISSN： 0289-1824

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    This paper discusses a fully decentralized algorithm able to control the morphology of a modular robot, consisting of many identical modules, according to the environment encountered. One of the significant features of our approach is that we explicitly exploit an"emergent phenomenon" stemming from the interplay between control and mechanical systems in order to control the morphology in real time. To this end, we particularly focus on a"functional material"and a"mutual entrainment"among the nonlinear oscillators, the former of which is used as a connection mechanism between the modules, and the latter of which plays as the core of the control mechanism for the generation of locomotion. Preliminary simulation results indicate that the proposed algorithm can induce"protoplasmic streaming, "which allows us to successfully control the morphology of modular robot in real time according to the situation without losing the coherence of the entire system.

  625. 多粒子系の動力学解析手法を応用した群ロボットの自律分散的形態制御 Peer-reviewed

    清水正宏, 川勝年洋, 石黒章夫

    計測自動制御学会論文集　41　(2)　126-134　2005

    Publisher: The Society of Instrument and Control Engineers

    DOI： 10.9746/sicetr1965.41.126 　

    ISSN： 0453-4654

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    This paper discusses a fully decentralized algorithm able to create a coherent swarm of autonomous mobile robots from the viewpoint of "computational physics". To this end, we particularly focus on the "Molecular Dynamics method" and the "Stokesian Dynamics method", both of which are widely used to investigate manybody systems. To verify the feasibility of our approach, this idea has been implemented to a swarm of 2-D radio-connected autonomous mobile robots as a practical example. Simulation results indicate that the proposed algorithm can control the shape of the swarm appropriately according to the current situation without losing the coherence of the swarm nor exchanging any global information among the modules. Furthermore, we have found that the local interaction which is used to exploit Stokesian Dynamics plays an essential role in order to maintain the coherence of the swarm particularly under an unstructured environment.

  626. Slimebot: A modular robot that exploits emergent phenomena Peer-reviewed

    M Shimizu, A Ishiguro, T Kawakatsu

    2005 IEEE International Conference on Robotics and Automation (ICRA), Vols 1-4　2982-2987　2005

    DOI： 10.1109/ROBOT.2005.1570567 　

    ISSN： 1050-4729

  627. On the Coupling between Control and Mechanical Systems －A Case Study with a Modular Robot－ Invited Peer-reviewed

    Akio Ishiguro

    PROCEEDINGS OF IEEE/RSJ 2005 IROS(INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS) WORKSHOP ON MORPHOLOGY, CONTROL, AND PASSIVE DYNAMICS　2005

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    査読?<br /> 招待論文?

  628. A modular robot that exploits a spontaneous connectivity control mechanism Peer-reviewed

    M Shimizu, A Ishiguro, T Kawakatsu

    2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4　2658-2663　2005

    DOI： 10.1109/IROS.2005.1545377 　

  629. Improvement of learning surface by exploiting the interplay between control and mechanical dynamics Peer-reviewed

    T Hasegawa, T Kawakatsu, A Ishiguro

    SICE 2004 ANNUAL CONFERENCE, VOLS 1-3　896-900　2004

  630. Real-time morphology control of a modular robot by exploiting the interaction between control and mechanical dynamics Peer-reviewed

    M Takahashi, M Shimizu, T Kawakatsu, A Ishiguro

    SICE 2004 ANNUAL CONFERENCE, VOLS 1-3　906-911　2004

  631. A passive dynamic walking quadruped with independently movable legs Peer-reviewed

    Y Yamada, T Kawakatsu, A Ishiguro

    SICE 2004 ANNUAL CONFERENCE, VOLS 1-3　901-905　2004

  632. How should control and body systems be coupled? A robotic case study Peer-reviewed

    Akio Ishiguro, Toshihiro Kawakatsu

    Lecture Notes in Artificial Intelligence　3139　107-118　2004

  633. 神経修飾機構を有するニューラルネットワークのハードウェア化とその自律移動ロボットへの実装 Peer-reviewed

    十倉征司, 石黒章夫, 大熊 繁

    電気学会論文誌C　124　(11)　2336-2343　2004

    Publisher: The Institute of Electrical Engineers of Japan

    DOI： 10.1541/ieejeiss.124.2336 　

    ISSN： 0385-4221

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    In order to construct truly autonomous mobile robots, the concept of packaging is highly indispensable: all parts such as controllers, power systems, and batteries should be embedded inside a body. Therefore, implementing a controller on hardware is one of the most promising ways, since this contributes to low power consumption, miniaturization, and so on. Another crucial requirement in the field of autonomous mobile robots is robustness. That is, autonomous mobile robots have to cope with their unpredictably changing environments in real time. In this study, to meet these requirements the concept of Dynamically Rearrangeable Electrical Circuit(DREC) is proposed. In addition, we implement DREC onto FPGAs as physical electronic circuits by using the diffusion-reaction mechanism of neuromodulation which is widely observed in biological nervous systems. We developed the DREC for the peg-pushing task as a practical example. We confirmed that the physical DREC can successfully regulate the behavior according to the situation by changing its properties in real time.

  634. Adaptive Shape Reconfiguration of a Decentralized Motile System Exploiting Molecular Dynamics and Stokesian Dynamics Methods Peer-reviewed

    Masahiro Shimizu, Akio Ishiguro, Masayasu Takahashi, Toshihiro Kawakatsu, Yuichi Masubuchi, Masao Doi

    JOURNAL OF ROBOTICS AND MECHATRONICS　16　(3)　271-277　2004

  635. 多型的なCPG回路モデルによる２脚ロボットの実時間行動遷移 Peer-reviewed

    藤井亮暢, 石黒章夫, Peter Eggenberger Hotz

    日本ロボット学会誌　22　(4)　478-484　2004

    Publisher: The Robotics Society of Japan

    DOI： 10.7210/jrsj.22.478 　

    ISSN： 0289-1824

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    In order to create agile locomotion for legged robots, so far various methods have been proposed with the concept of neural circuits, or so-called Central Pattern Generator (CPG) . In contrast to these approaches in which monolithic CPG neural circuits are employed to control locomotion, this paper focus on a polymorphic CPG neural circuit. This allows us to dynamically change the properties of CPG circuit according to the current situation in real-time. To this aim, the concept of neuromodulation mechanism is introduced to modulate a CPG circuit. To verify the feasibility of this approach, this concept is applied to the control of a 3-D biped robot which is intrinsically unstable. In order to explore the parameters of the CPG circuit with a neuromodulation mechanism, an evolutionary algorithm is employed in this study. Simulation results show that the neuromodulation mechanism dynamically changes synaptic weights of the CPG circuit. This synaptic change leads to creating different behaviors, such as walking behavior and stepping behavior, from the same circuit.

  636. Emergent Morphology Control of a Modular Robot by Exploiting the Interaction between Control and Mechanical Dynamics Peer-reviewed

    Masahiro Shimizu, Masayasu Takahashi, Toshihiro Kawakatsu, Akio Ishiguro

    PROCEEDINGS OF THE 7TH INTERNATIONAL SYMPOSIUM ON DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS　21-30　2004

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    査読?<br /> 招待論文?

  637. Don't Try to Control Everything!: An Emergent Morphology Control of a Modular Robot Peer-reviewed

    Akio Ishiguro, Masahiro Shimizu, Toshihiro Kawakatsu

    PROCEEDINGS OF IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　981-985　2004

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    査読?<br /> 招待論文?

  638. A Modular Robot That Exploits Emergent Phenomena Peer-reviewed

    Akio Ishiguro, Masahiro Shimizu, Toshihiro Kawakatsu

    HANDOUT PROCEEDINGS OF TSUKUBA WORKSHOP ON MODULAR ROBOTICS　13-18　2004

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    査読?<br /> 招待論文?

  639. Slimebot: A Modular Robot That Exploits Emergent Phenomena Peer-reviewed

    Akio Ishiguro, Masahiro Shimizu, Toshihiro Kawakatsu

    PROCEEDINGS OF 2004 INTERNATIONAL SYMPOSIUM ON NONLINEAR THEORY AND ITS APPLICATIONS　87-90　2004

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    査読?<br /> 招待論文?

  640. Adaptive swarming by exploiting hydrodynamic interaction based on Stokesian Dynamics Method Peer-reviewed

    M Shimizu, A Ishiguro, T Kawakatsu, Y Masubuchi, M Doi

    SICE 2003 ANNUAL CONFERENCE, VOLS 1-3　1546-1551　2003

  641. System principle on emergence of Mobiligence Peer-reviewed

    H Asama, M Yano, K Tsuchiya, K Ito, H Yuasa, J Ota, A Ishiguro, T Kondo

    SICE 2003 ANNUAL CONFERENCE, VOLS 1-3　1531-1534　2003

  642. Neuromodulated control of bipedal locomotion using a polymorphic CPG circuit Peer-reviewed

    A Ishiguro, A Fujii, PE Hotz

    ADAPTIVE BEHAVIOR　11　(1)　7-17　2003

    DOI： 10.1177/10597123030111001 　

    ISSN： 1059-7123

  643. Investigation of Interactions between Embodiment and its Controller Using a Passive Dynamic Walking Robot Peer-reviewed

    Kenta Kawasumi, Akinobu Fujii, Akio Ishiguro

    IEEJ Transactions on Electronics, Information and Systems　123　(5)　1031-1032　2003

    DOI： 10.1541/ieejeiss.123.1031 　

    ISSN： 1348-8155 0385-4221

  644. Toward a "well-balanced" design - How should control and body dynamics be coupled? Peer-reviewed

    K Ishimura, K Hayakawa, A Ishiguro, T Kawakatsu

    SICE 2003 ANNUAL CONFERENCE, VOLS 1-3　1541-1545　2003

  645. How Should Control and Body Dynamics be Balanced? －An Integrated Design by Exploiting the Interdependency between Control and Body Systems－ Peer-reviewed

    Akio Ishiguro, Toshihiro Kawakatsu

    ABSTRACT PROCEEDINGS OF DAGSTUHL SEMINAR ON EMBODIED ARTIFICIAL INTELLIGENCE　2003

    More details Close

    査読?<br /> 招待論文?

  646. A hard-wired polymorphic neural network for a CPU-less autonomous mobile robot Peer-reviewed

    S Tokura, A Ishiguro

    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4　1216-1221　2003

  647. How should control and body dynamics be coupled? A robotic case study Peer-reviewed

    A Ishiguro, K Ishimaru, K Hayakawa, T Kawakatsu

    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4　1727-1732　2003

  648. Coherent swarming from local interaction by exploiting molecular dynamics and Stokesian Dynamics methods Peer-reviewed

    M Shimizu, A Ishiguro, T Kawakatsu, Y Masubuchi, M Doi

    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4　1614-1619　2003

  649. System principle on emergence of mobiligence and its engineering realization Peer-reviewed

    H Asama, M Yano, K Tsuchiya, K Ito, H Yuasa, J Ota, A Ishiguro, T Kondo

    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4　1715-1720　2003

  650. Realization of a multiport gyrator using current mirror circuits Peer-reviewed

    Takeshi Kawashima, Akio Ishiguro, Shigeru Okuma

    Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)　139　(4)　41-47　2002/06

    DOI： 10.1002/eej.1167 　

    ISSN： 0424-7760

  651. An architecture of small-scaled neuro-hardware using probabilistically coded pulse neurons Peer-reviewed

    T Kawashima, A Ishiguro, S Okuma

    ELECTRICAL ENGINEERING IN JAPAN　139　(4)　48-55　2002/06

    DOI： 10.1002/eej.1168 　

    ISSN： 0424-7760

  652. An architecture of small-scaled neuro-hardware using probabilistically-calculated pulse neurons Peer-reviewed

    T Kawashima, A Ishiguro, S Okuma

    2001 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5　1520-1525　2002

    ISSN： 1062-922X

  653. Small-scaled neuro-hardware using probabilistically-coded pulse neurons with on-chip learning Peer-reviewed

    T Kawashima, A Ishiguro, S Okuma

    SICE 2002: PROCEEDINGS OF THE 41ST SICE ANNUAL CONFERENCE, VOLS 1-5　1865-1866　2002

  654. 神経修飾機構を有するCPG回路モデルを用いた歩行生成 Peer-reviewed

    藤井亮暢, 石黒章夫, Peter Eggenberger Hotz

    計測自動制御学会論文集　38　(11)　981-989　2002

    Publisher:

    DOI： 10.9746/sicetr1965.38.981 　

    ISSN： 0453-4654

  655. Analysis of the adaptability of an evolved neurocontroller with neuromodulations

    S Tokura, A Ishiguro, H Kawai, P Eggenberger

    INTELLIGENT AUTONOMOUS SYSTEMS 7　341-348　2002

  656. Emergence of bipedal locomotion using a polymorphic CPG circuit

    A Fujii, A Ishiguro, P Eggenberger

    INTELLIGENT AUTONOMOUS SYSTEMS 7　108-115　2002

  657. Evolving a CPG controller for a biped robot with neuromodulation

    A Fujii, A Ishiguro, P Eggenberger

    CLIMBING AND WALKING ROBOTS　17-24　2002

  658. Increasing evolvability of a locomotion controller using a passive-dynamic-walking embodiment

    A Ishiguro, K Kawasumi, A Fujii

    2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS　2581-2586　2002

  659. Generation of an adaptive controller CPG for a quadruped robot with neuromodulation mechanism Peer-reviewed

    A Fujii, N Saito, K Nakahira, A Ishiguro, P Eggenberger

    2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS　2619-2624　2002

  660. An architecture of small-scaled neuro-hardware using probabilistically-calculated pulse neurons Peer-reviewed

    Takeshi Kawashima, Akio Ishiguro, Shigeru Okuma

    Proceedings of the IEEE International Conference on Systems, Man and Cybernetics　3　1520-1525　2001

    DOI： 10.1109/ICSMC.2001.973499 　

    ISSN： 0884-3627

  661. 確率演算に基づいたパルスニューロンによるニューラルハードウェアの小規模化 Peer-reviewed

    川島 毅, 石黒章夫, 大熊 繁

    電気学会論文誌C, 121-3(2001), 586-593.　121　(3)　586-593　2001

  662. The effect of neuromodulations on the adaptability of evolved neurocontrollers

    Seiji Tokura, Akio Ishiguro, Hiroki Kawai, Peter Eggenberger

    ADVANCES IN ARTIFICIAL LIFE　2159　292-295　2001

    ISSN： 0302-9743

  663. Evolving bipedal locomotion with a dynamically-rearranging neural network

    Akinobu Fujii, Akio Ishiguro, Takeshi Aoki, Peter Eggenberger

    ADVANCES IN ARTIFICIAL LIFE　2159　509-518　2001

    ISSN： 0302-9743

  664. Evolving an adaptive controller for a quadruped-robot with dynamlically-rearranging neural networks

    K Otsu, A Ishiguro, A Fujii, T Aoki, P Eggenberger

    IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4　2036-2044　2001

  665. Incremental evolution of neurocontrollers with a diffusion-reaction mechanism of neuromodulators

    K Kawai, A Ishiguro, P Eggenberger

    IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4　2384-2391　2001

  666. 環境との相互作用を用いた自律移動ロボットの識別能力の実現 Peer-reviewed

    中村 弘, 石黒章夫, 内川嘉樹, Rolf Pfeifer

    日本ロボット学会誌　18　(7)　963-971　2000/07

    Publisher: The Robotics Society of Japan

    DOI： 10.7210/jrsj.18.963 　

    ISSN： 0289-1824

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    Conventional artificial intelligence and cognitive science approaches have been arguing the emergence of intelligence by completely separating the cognitive agent from its environment. In this paper, we intensively investigate and analyze the role of the system-environment interaction through the comparison between the information processing and embodied cognitive approaches. By taking account of this interaction, we experimentally show some of the hard classification problems suffering from the large input space and the ambiguities due to the perceptual aliasing problem can be greatly alleviated. To demonstrate this concept, we apply to a garbage-collecting task as a practical example.

  667. Exploiting Embodiment to Solve Some of the Hard Classification Problems: An Embodied Cognitive Science Approach Peer-reviewed

    Hiroshi Nakamura, Akio Ishiguro, Yoshiki Uchikawa, Rolf Pfeifer

    高速信号処理応用技術学会誌, 3-2(2000), 22-27.　3　(2)　22-27　2000/02

  668. Evolutionary construction of behavior arbitration mechanisms based on dynamically-rearranging neural networks Peer-reviewed

    Hiroshi Nakamura, Akio Ishiguro, Yoshiki Uchilkawa

    Proceedings of the 2000 Congress on Evolutionary Computation, CEC 2000　1　158-165　2000

    Publisher: IEEE Computer Society

    DOI： 10.1109/CEC.2000.870290 　

  669. Toward seamless transfer from simulated to real worlds: A dynamically-rearranging neural network approach Peer-reviewed

    P Eggenberger, A Ishiguro, S Tokura, T Kondo, Y Uchikawa

    ADVANCES IN ROBOT LEARNING, PROCEEDINGS　1812　44-60　2000

    ISSN： 0302-9743

  670. Evolutionary Creation of an Adaptive Controller for a Legged-Robot: A Dynamically- Rearranging Neural Network Approach

    Akinobu Fujii, Akio Ishiguro, Kei Otsu, Yoshiki Uchikawa, Takeshi Aoki, Peter Eggenberger

    PROCEEDINGS OF THE INTERNATIONAL SYMPOSIUM ON ADAPTIVE MOTION OF ANIMALS AND MACHINES　2000

  671. Evolving an Adaptive Controller for a Legged-Robot with Dynamically-Rearranging Neural Networks

    Akio Ishiguro, Kei Otsu, Akinobu Fujii, Yoshiki Uchikawa, Takeshi Aoki, Peter Eggenberger

    PROCEEDINGS SUPPLEMENT OF THE SIXTH INTERNATIONAL CONFERENCE ON THE SIMULATION OF ADAPTIVE BEHAVIOR　235-244　2000

  672. An architecture of small-scaled neuro-hardware using probabilistically-coded pulse neurons

    T Kawashima, A Ishiguro, S Okuma

    IECON 2000: 26TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4　657-663　2000

    DOI： 10.1109/IECON.2000.973227 　

    ISSN： 1553-572X

  673. 動的再編成機能を有する神経回路モデルを用いた歩容制御 Peer-reviewed

    藤井亮暢, 石黒章夫, 内川嘉樹, 青木 猛, Peter Eggenberger

    電気学会論文誌C　119　1567-1572　1999/12

  674. 進化ロボティクスにおける制御器の頑健性の実現 －動的再編成機構を有する神経回路モデルの提案－ Peer-reviewed

    近藤敏之, 石黒章夫, 内川嘉樹, Peter Eggenberger

    計測自動制御学会論文集　35　(11)　1407-1414　1999/11

    DOI： 10.9746/sicetr1965.35.1407 　

  675. 生体内免疫系を参考にした自律移動ロボットの行動調停機構の創発的生成に関する一手法 Invited Peer-reviewed

    近藤敏之, 石黒章夫, 内川嘉樹

    計測自動制御学会論文集　35　(2)　262-270-270　1999/02

    DOI： 10.9746/sicetr1965.35.262 　

  676. Reduction of the gap between simulated and real environments in evolutionary robotics: a dynamically-rearranging neural network approach

    Akio Ishiguro, Seiji Tokura, Toshiyuki Kondo, Yoshiki Uchikawa, Peter Eggenberger

    Proceedings of the IEEE International Conference on Systems, Man and Cybernetics　3　1999

    ISSN： 0884-3627

  677. Toward seamless transplantation from simulated to real worlds: a dynamically rearranging neural network approach Peer-reviewed

    A Ishiguro, S Tokura, Y Uchikawa, P Eggenberger

    ADVANCED ROBOTICS　13　(3)　273-275　1999

    ISSN： 0169-1864

    eISSN： 1568-5535

  678. Evolving Neural Controllers That Elicit Nontrivial Behaviors Using a Developmental Process Peer-reviewed

    Akio Ishiguro, Hideaki Iwaki, Akinobu Fujii, Yoshiki Uchikawa

    JOURNAL OF ARTIFICIAL LIFE AND ROBOTICS　3　106-111　1999

    DOI： 10.1007/BF02481256 　

  679. Autonomous Robot Control by a Neural Network with Dynamic Rearrangement Function

    Toshiyuki Kondo, Akio Ishiguro, Yoshiki Uchikawa, Peter Eggenberger

    PROCEEDINGS OF THE FOURTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS　324-329　1999

  680. Realization of robust controllers in evolutionary robotics: A dynamically-rearranging neural network approach

    T. Kondo, A. Ishiguro, S. Tokura, Y. Uchikawa, P. Eggenberger

    Proceedings of the 1999 Congress on Evolutionary Computation, CEC 1999　1　366-373　1999

    Publisher: IEEE Computer Society

    DOI： 10.1109/CEC.1999.781948 　

  681. Toward Seamless Transfer from Simulated to Real Worlds: A Dynamically-Rearranging Neural Network Approach

    Peter Eggenberger, Akio Ishiguro, Seiji Tokura, Toshiyuki Kondo, Takeshi Kawashima, Takeshi Aoki

    PROCEEDINGS OF THE EIGHTH EUROPEAN WORKSHOP ON LEARNING ROBOTS　4-13　1999

  682. 免疫情報処理機構に基づく行動調停システムの創発的進化 Peer-reviewed

    白井靖浩, 渡邊裕司, 石黒章夫, 内川嘉樹

    電気学会論文誌C　118　(10)　1465-1472　1998/10

    Publisher:

    ISSN： 0385-4221

  683. 免疫学的記憶保持機構に基づく自律分散システムの自己組織化の一手法 Peer-reviewed

    市川真吾, 久保敷悟, 石黒章夫, 内川嘉樹

    電気学会論文誌C　118　(6)　961-968　1998/06

    Publisher:

    ISSN： 0385-4221

  684. 表現型可塑性を参考にしたニューラルコントローラの進化的構築 Peer-reviewed

    近藤敏之, 石黒章夫, 内川嘉樹

    計測自動制御学会論文集　34　(6)　648-650　1998/06

    Publisher: The Society of Instrument and Control Engineers

    DOI： 10.9746/sicetr1965.34.648 　

    ISSN： 0453-4654

    More details Close

    Recently, Evolvable Hardware (EHW) has been attracting much concerns in Artificial Life community. EHW is the concept aiming to realize self construction abilities in hardware level, generally by combining Genetic Algorithms with FPGA (Field-Programmable Gate Array). Although EHW realizes high-speed processing, it still suffers from timeconsuming process to adapt itself to newly encountered environments particularly if it is applied to robotics. To overcome this drawback, in this paper we present a method that can realize on-line adaptation inspired from the concept called phenotypic plasticity.

  685. Autonomous Mobile Robot Behavior Control Using Immune Network Peer-reviewed

    Yuji Watanabe, Akio Ishiguro, Yoshiki Uchikawa

    JOURNAL OF ROBOTICS AND MECHATRONICS　10　(4)　326-332　1998/04

  686. A Method of Gait Coordination of Hexapod Robots Using Immune Networks Peer-reviewed

    Shingo Ichikawa, Satoru Kuboshiki, Akio Ishiguro, Yoshiki Uchikawa

    JOURNAL OF ARTIFICIAL LIFE AND ROBOTICS　2　19-23　1998

    DOI： 10.1007/BF02471147 　

  687. Emergent construction of a behavior arbitration mechanism based on the immune system Peer-reviewed

    Y Watanabe, A Ishiguro, Y Shirai, Y Uchikawa

    ADVANCED ROBOTICS　12　(3)　227-242　1998

    ISSN： 0169-1864

    eISSN： 1568-5535

  688. Evolving Neural Controllers that Elicit Non-trivial Behaviors Using Developmental Process

    Akio Ishiguro, Hideaki Iwaki, Akinobu Fujii, Yoshiki Uchikawa

    PROCEEDINGS OF THE THIRD INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS　119-124　1998

  689. Emergent construction of behavior arbitration mechanism based on the immune system

    Y Watanabe, A Ishiguro, Y Shirai, Y Uchikawa

    1998 IEEE INTERNATIONAL CONFERENCE ON EVOLUTIONARY COMPUTATION - PROCEEDINGS　481-486　1998

  690. Exploiting Embodiment to Solve Some of the Hard Classification Problems: An Embodied Cognitive Science Approach

    Hiroshi Nakamura, Akio Ishiguro, Yoshiki Uchikawa, Rolf Pfeifer

    PROCEEDINGS OF THE INTERNATIONAL WORKSHOP OF SIGNAL PROCESSING APPLICATIONS AND TECHNOLOGY OF JAPAN　163-177　1998

  691. Moderationism in the immune system: Gait acquisition of a legged robot using the metadynamics function

    A Ishiguro, S Ichikawa, T Shibata, Y Uchikawa

    1998 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5　3827-3832　1998

    ISSN： 1062-922X

  692. Evolutionary construction of an immune network-based behavior arbitration mechanism for autonomous mobile robots Invited Peer-reviewed

    Toshiyuki Kondo, Akio Ishiguro, Yuji Watanabe, Yasuhiro Shirai, Yoshiki Uchikawa

    Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)　123　(3)　1-10　1998

    Publisher: John Wiley and Sons Inc.

    DOI： 10.1002/(SICI)1520-6416(199805)123:3<1::AID-EEJ1>3.0.CO;2-C 　

    ISSN： 0424-7760

  693. 免疫ネットワークに基づく自律移動ロボットの分散型行動調停機構の創発的構築に関する一手法 Peer-reviewed

    石黒章夫, 近藤敏之, 渡邊裕司, 白井靖浩, 内川嘉樹

    電気学会論文誌C　117　(7)　865-873　1997/07

    Publisher:

    ISSN： 0385-4221

  694. 免疫情報処理機構に基づく分散型コンセンサス決定ネットワークの構築 －自律移動ロボットの行動調停への適用－ Peer-reviewed

    石黒章夫, 渡邊裕司, 近藤敏之, 内川嘉樹

    計測自動制御学会論文集　33　(6)　524-532　1997/06

    DOI： 10.9746/sicetr1965.33.524 　

  695. 免疫ネットワークを用いた６脚歩行ロボットの自律分散的歩容制御 －強化学習による歩容生成の一手法－ Peer-reviewed

    石黒章夫, 市川真吾, 久保敷悟, 武藤勝彦, 内川嘉樹

    日本機械学会論文集C　63　(609)　273-278　1997

    DOI： 10.1299/kikaic.63.1679 　

  696. A robot with a decentralized consensus-making mechanism based on the immune system

    A Ishiguro, Y Watanabe, T Kondo, Y Shirai, Y Uchikawa

    THIRD INTERNATIONAL SYMPOSIUM ON AUTONOMOUS DECENTRALIZED SYSTEMS - ISADS 97 - PROCEEDINGS　231-237　1997

  697. Emergent Construction of an Artificial Immune Network for Autonomous Mobile Robots

    Akio Ishiguro, Yasuhiro Shirai, Yuji Watanabe, Yoshiki Uchikawa

    PROCEEDINGS OF INTERNATIONAL SYMPOSIUM ON SYSTEM LIFE　101-108　1997

  698. Evolutionary Construction of a Neural Network Based on the Ontogenetic Process with Phenotypic Plasticity

    Akio Ishiguro, Toshiyuki Kondo, Kentaro Kato, Yoshiki Uchikawa

    PROCEEDINGS OF INTERNATIONAL SYMPOSIUM ON SYSTEM LIFE　139-144　1997

  699. Emergent construction of immune networks for autonomous mobile robots through the metadynamics function

    A Ishiguro, Y Shirai, Y Watanabe, Y Uchikawa

    FOURTH EUROPEAN CONFERENCE ON ARTIFICIAL LIFE　318-326　1997

    ISSN： 1089-4365

  700. Emergent construction of artificial immune networks for autonomous mobile robots

    A Ishiguro, T Kondo, Y Watanabe, Y Shirai, Y Uchikawa

    SMC '97 CONFERENCE PROCEEDINGS - 1997 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5　1222-1228　1997

    ISSN： 1062-922X

  701. 免疫情報処理機構に基づく自律移動ロボットの動的行動調停システムの一強化学習法 Peer-reviewed

    石黒章夫, 近藤敏之, 渡邊裕司, 内川嘉樹

    電気学会論文誌C　117　(1)　42-49　1997/01

    DOI： 10.1541/ieejeiss1987.117.1_42 　

  702. Immunoid: An immunological approach to decentralized behavior Arbitration of Autonomous mobile Robots Peer-reviewed

    Akio Ishiguro, Toshiyuki Kondo, Yuji Watanabe, Yoshiki Uchikawa

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)　1141　666-675　1996

    Publisher: Springer Verlag

    DOI： 10.1007/3-540-61723-X_1030 　

    ISSN： 1611-3349 0302-9743

  703. 情動機構を用いた自律移動ロボットの行動調停の一手法 Peer-reviewed

    石黒章夫, 持田哲司, 青木 猛, 内川嘉樹

    日本機械学会論文集C　62　(599)　234-241　1996

    DOI： 10.1299/kikaic.62.2750 　

  704. 免疫ネットワークを用いた自律移動ロボットの行動選択の一手法 Peer-reviewed

    石黒章夫, 渡邊裕司, 内川嘉樹

    日本機械学会論文集C　62　(598)　235-242　1996

    DOI： 10.1299/kikaic.62.2321 　

  705. A Method of Gait Coordination of Hexapod Robots Using Immune Networks

    Akio Ishiguro, Satoru Kuboshiki, Shingo Ichikawa, Yoshiki Uchikawa

    PROCEEDINGS OF THE FIRST INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS　128-131　1996

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    ・査読：不明<br /> ・招待論文：不明

  706. An Immunological Approach to Dynamic Behavior Arbitration for Autonomous Mobile Robots －Construction of Immune Networks through Learning－

    Akio Ishiguro, Toshiyuki Kondo, Yuji Watanabe, Yoshiki Uchikawa

    PROCEEDINGS OF THE FIRST INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS　132-137　1996

    More details Close

    ・査読：不明<br /> ・招待論文：不明

  707. Proposal of Decentralized Consensus-making Mechanisms Based on Immune System －Application to a Behavior Arbitration of an Autonomous Mobile Robot－

    Akio Ishiguro, Yuji Watanabe, Toshiyuki Kondo, Yoshiki Uchikawa

    PROCEEDINGS OF THE FIRST INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS　122-127　1996

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    ・査読：不明<br /> ・招待論文：不明

  708. An Immunological Approach to Behavior Control for Autonomous Mobile Robots －Construction of Immune Networks through Learning－

    Akio Ishiguro, Toshiyuki Kondo, Yuji Watanabe, Yoshiki Uchikawa

    PROCEEDINGS OF INTERNATIONAL WORKSHOP ON SOFT COMPUTING IN INDUSTRY　263-267　1996

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    ・査読：不明<br /> ・招待論文：不明

  709. Proposal of Consensus-Making Network Based on Immune System －Application to Action Arbitration for Autonomous Mobile Robots－

    Akio Ishiguro, Yuji Watanabe, Toshiyuki Kondo, Yoshiki Uchikawa

    PROCEEDINGS OF THE FIFTH ARTIFICIAL LIFE　38-42　1996

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    ・査読：不明<br /> ・招待論文：不明

  710. Decentralized consensus-making mechanisms based on immune system - Application to a behavior arbitration of an autonomous mobile robot

    A Ishiguro, Y Watanabe, T Kondo, Y Uchikawa

    1996 IEEE INTERNATIONAL CONFERENCE ON EVOLUTIONARY COMPUTATION (ICEC '96), PROCEEDINGS OF　82-87　1996

  711. Artificial Immune Network －Toward Our Goal, Human Mimetic Computation－

    Yoshiki Uchikawa, Takeshi Furuhashi, Akio Ishiguro

    HANDOUT PROCEEDINGS OF TUTORIALS OF THE FIRST INTERNATIONAL SYMPOSIUM ON NEURO-FUZZY SYSTEMS　1996

  712. Immunoid: An architecture for behavior arbitration based on the immune networks

    A Ishiguro, Y Shirai, T Kondo, Y Uchikawa

    IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3　1730-1738　1996

  713. Immunoid: A Robot with a Decentralized Behavior Arbitration Mechanisms Based on the Immune System

    Akio Ishiguro, Yuji Watanabe, Toshiyuki Kondo, Yoshiki Uchikawa

    PROCEEDINGS OF THE FOURTH INTEERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION　1600-1605　1996

  714. Immunoid: A Robot with a Decentralized Behavior Arbitration Mechanisms Based on the Immune System

    Akio Ishiguro, Yuji Watanabe, Toshiyuki Kondo, Yasuhiro Shirai, Yoshiki Uchikawa

    WORKSHOP NOTES OF THE INTERNATIONAL CONFERENCE ON MULTIAGENT SYSTEMS　82-92　1996

  715. Gait control of hexapod walking robots using mutual-coupled immune networks Peer-reviewed

    A Ishiguro, S Kuboshiki, S Ichikawa, Y Uchikawa

    ADVANCED ROBOTICS　10　(2)　179-195　1996

    DOI： 10.1163/156855396X00309 　

    ISSN： 0169-1864

  716. 免疫ネットワークを用いた６脚歩行ロボットの歩容獲得 Peer-reviewed

    市川真吾, 石黒章夫, 内川嘉樹

    日本ロボット学会誌　13　(3)　429.-432　1995/03

    DOI： 10.7210/jrsj.13.429 　

  717. 多層型ニューラルネットワークを用いた２自由度制御系の実現 Peer-reviewed

    青木 猛, 石黒章夫, 鈴木達也, 大熊 繁

    日本機械学会論文集C　61　(588)　131-136　1995

    DOI： 10.1299/kikaic.61.3289 　

  718. Dynamic Behavior Control for Autonomous Mobile Robots Using Immune Networks

    Akio Ishiguro, Yuji Watanabe, Yoshiki Uchikawa

    ABSTRACTS OF THE THIRD EUROPEAN CONFERENCE ON ARTIFICIAL LIFE　57-57　1995

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    ・査読：不明<br /> ・招待論文：不明

  719. An immunological approach to dynamic behavior control for autonomous mobile robots

    A ISHIGURO, Y WATANABE, Y UCHIKAWA

    IROS '95 - 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS: HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS, PROCEEDINGS, VOL 1　495-500　1995

  720. Behavior arbitration for autonomous mobile robots using emotion mechanisms

    T MOCHIDA, A ISHIGURO, T AOKI, Y UCHIKAWA

    IROS '95 - 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS: HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS, PROCEEDINGS, VOL 3　516-521　1995

  721. Gait coordination of hexapod walking robots using mutual-coupled immune networks

    A Ishiguro, S Kuboshiki, S Ichikawa, Y Uchikawa

    1995 IEEE INTERNATIONAL CONFERENCE ON EVOLUTIONARY COMPUTATION, VOLS 1 AND 2　672-677　1995

  722. Dynamic behavior arbitration of Autonomous mobile robots using immune networks

    T Kondo, A Ishiguro, Y Watanabe, Y Uchikawa

    1995 IEEE INTERNATIONAL CONFERENCE ON EVOLUTIONARY COMPUTATION, VOLS 1 AND 2　722-727　1995

  723. A METHOD OF ESTIMATION OF CURRENT DISTRIBUTION USING GENETIC ALGORITHMS WITH VARIABLE-LENGTH CHROMOSOMES Peer-reviewed

    Y TANAKA, A ISHIGURO, Y UCHIKAWA

    INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS IN MATERIALS　4　(4)　351-356　1994/06

    ISSN： 0925-2096

  724. 分類システムを用いた自律分散システムの構築 －６脚歩行ロボットの歩容獲得への適用－ Peer-reviewed

    山田康晴, 石黒章夫, 内川嘉樹

    日本機械学会論文集C　60　(580)　239-245　1994

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/kikaic.60.4245 　

    ISSN： 0387-5024

    More details Close

    It is difficult to control large complex systems by centralized control. Therefore, autonomous decentralized systems which have variety, flexibility and fault tolerability, have been studied recently. In this paper, we propose an autonomous decentralized system comprised of classifier systems. Classifier systems are parallel, message-passing, rule-based systems that learn through credit assignment and rule discovery (the genetic algorithm). In our method, each subsystem is controlled by an individual classifier system, and it generates production rules autonomously by exchanging information with adjacent subsystems. We test the system on a 6-legged robot, in computer simulations, which learns how to coordinate its legs so as to walk forward, as a practical example.

  725. A Comparison of Coding Method for Inverse Problems in Electromagnetics

    Yoshiaki Tanaka, Akio Ishiguro, Yoshiki Uchikawa

    PROCEEDINGS OF THE SECOND JAPAN-CZECH-SLOVAK JOINT SEMINAR ON ELECTROMAGNETICS　35-38　1994

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    ・査読：不明<br /> ・招待論文：不明

  726. A GAIT ACQUISITION OF A 6-LEGGED ROBOT USING IMMUNE NETWORKS

    A ISHIGURO, S ICHIKAWA, Y UCHIKAWA

    IROS '94 - INTELLIGENT ROBOTS AND SYSTEMS: ADVANCED ROBOTIC SYSTEMS AND THE REAL WORLD, VOLS 1-3　1034-1041　1994

  727. Fault diagnosis of plant systems using immune networks

    A ISHIGURO, Y WATANABE, Y UCHIKAWA

    MFI '94 - 1994 IEEE INTERNATIONAL CONFERENCE ON MULTISENSOR FUSION AND INTEGRATION FOR INTELLIGENT SYSTEMS　34-42　1994

  728. An analytical method for inverse problems in electromagnetics using genetic algorithms Peer-reviewed

    Yoshiaki Tanaka, Akio Ishiguro, Yoshiki Uchikawa

    IEEJ Transactions on Industry Applications　114　(6)　689-696　1994

    DOI： 10.1541/ieejias.114.689 　

    ISSN： 1348-8163 0913-6339

  729. A NEW PWM CONTROL METHOD FOR AC TO DC CONVERTERS WITH HIGH-FREQUENCY TRANSFORMER ISOLATION Peer-reviewed

    K INAGAKI, T FURUHASHI, A ISHIGURO, M ISHIDA

    IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS　29　(3)　486-492　1993/05

    DOI： 10.1109/28.222416 　

    ISSN： 0093-9994

  730. A Method of Estimation of Current Distribution Using Genetic Algorithms with Variable-Length Chromosomes

    Yoshiaki Tanaka, Akio Ishiguro, Yoshiki Uchikawa

    ABSTRACTS OF THE INTERNATIONAL SYMPOSIUM ON SIMULATION AND DESIGN OF APPLIED ELECTROMAGNETIC SYSTEMS　116-116　1993

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    ・査読：不明<br /> ・招待論文：不明

  731. A Neural Controller Based on Two-Degree-of-Freedom Controller

    Takeshi Aoki, Akio Ishiguro, Shigeru Okuma

    PROCEEDINGS OF THE IEEE INTERNATIONAL WORKSHOP ON NEURO-FUZZY CONTROL　293-296　1993

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    ・査読：不明<br /> ・招待論文：不明

  732. A METHOD OF 3D OBJECT RECONSTRUCTION BY FUSION VISION WITH TOUCH USING INTERNAL MODELS WITH GLOBAL AND LOCAL DEFORMATIONS

    Y YAMADA, A ISHIGURO, Y UCHIKAWA

    PROCEEDINGS : IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3　B782-B787　1993

  733. A GENETIC ALGORITHMS APPLICATION TO INVERSE PROBLEMS IN ELECTROMAGNETICS Invited Peer-reviewed

    Y TANAKA, A ISHIGURO, Y UCHIKAWA

    PROCEEDINGS OF THE FIFTH INTERNATIONAL CONFERENCE ON GENETIC ALGORITHMS　656-656　1993

  734. A DEVELOPMENT OF DYNAMIC DEFORMING ALGORITHMS FOR 3D SHAPE MODELING WITH GENERATION OF INTERACTIVE FORCE SENSATION

    K YAMAMOTO, A ISHIGURO, Y UCHIKAWA

    IEEE VIRTUAL REALITY ANNUAL INTERNATIONAL SYMPOSIUM　505-511　1993

  735. A NEURAL NETWORK COMPENSATOR FOR UNCERTAINTIES OF ROBOTICS MANIPULATORS Peer-reviewed

    A ISHIGURO, T FURUHASHI, S OKUMA, Y UCHIKAWA

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS　39　(6)　565-570　1992/12

    DOI： 10.1109/41.170976 　

    ISSN： 0278-0046

  736. An Estimation of Current Distribution Using Genetic Algorithms

    Akio Ishiguro, Yoshiaki Tanaka, Yoshiki Uchikawa

    ABSTRACTS OF THE INTERNATIONAL SYMPOSIUM ON NONLINEAR PHENOMENA IN ELECTROMAGNETIC FIELDS　88-88　1992

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    ・査読：不明<br /> ・招待論文：不明

  737. A Genetic Algorithms Application to Inverse Problems in Electromagnetics

    Yoshiki Uchikawa, Akio Ishiguro, Yoshiaki Tanaka

    PROCEEDINGS OF THE FIRST JAPAN-CZECH-SLOVAK JOINT SEMINAR ON ELECTROMAGNETICS　21-24　1992

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    ・査読：不明<br /> ・招待論文：不明

  738. Output voltage control method of PWM‐controlled cycloconverters with space vectors Peer-reviewed

    Akio Ishiguro, Takeshi Furuhashi, Shigeru Okuma, Yoshiki Uchikawa, Muneaki Ishida

    Electrical Engineering in Japan　111　(5)　117-126　1991

    DOI： 10.1002/eej.4391110512 　

    ISSN： 1520-6416 0424-7760

  739. Output Voltage Control Method for PWM-Controlled Cycloconverters Using Instantaneous Values of Input Line to Line Voltages Peer-reviewed

    Akio Ishiguro, Takeshi Furuhashi, Muneaki Ishida, Shigeru Okuma

    IEEJ Transactions on Industry Applications　111　(3)　201-208　1991

    DOI： 10.1541/ieejias.111.201 　

    ISSN： 1348-8163 0913-6339

  740. A Novel Control Method for Forced Commutated Cycloconverters Using Instantaneous Values of Input Line-to-Line Voltages Peer-reviewed

    Akio Ishiguro, Takeshi Furuhashi, Shigeru Okuma

    IEEE Transactions on Industrial Electronics　38　(3)　166-172　1991

    DOI： 10.1109/41.87583 　

    ISSN： 1557-9948 0278-0046

  741. A waveform control method for ac to dc converters with high‐frequency transformer isolation Peer-reviewed

    Katsuhisa Inagaki, Takeshi Furuhashi, Akio Ishiguro, Shigeru Okuma, Yoshiki Uchikawa, Muneaki Ishida

    Electrical Engineering in Japan　110　(6)　67-79　1990

    DOI： 10.1002/eej.4391100607 　

    ISSN： 1520-6416 0424-7760

  742. Generation method of switching patterns of PWM‐controlled cycloconverter Peer-reviewed

    Masami Iwasaki, Akio Ishiguro, Shigeru Okuma, Muneaki Ishida, Youngseok Kim, Koji Iwata

    Electrical Engineering in Japan　110　(5)　44-55　1990

    DOI： 10.1002/eej.4391100505 　

    ISSN： 1520-6416 0424-7760

  743. A Novel Control Method for Forced Commutated Cycloconverters Using Input Line to Line Voltages

    Akio Ishiguro, Takeshi Furuhashi, Shigeru Okuma

    PROCEEDINGS OF THE 1990 INTERNATIONAL POWER ELECTRONICS CONFERENCE　761-766　1990

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    ・査読：不明<br /> ・招待論文：不明

  744. A NEURAL-NETWORK COMPENSATOR FOR UNCERTAINTIES OF ROBOTIC MANIPULATORS

    S OKUMA, A ISHIGURO, T FURUHASHI, Y UCHIKAWA

    PROCEEDINGS OF THE 29TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6　3303-3307　1990

  745. A waveform control method of AC to DC converters with high-frequency links Peer-reviewed

    Katsuhisa Inagaki, Takeshi Furuhashi, Akio Ishiguro, Shigeru Okuma, Yoshiki Uchikawa, Muneaki Ishida

    IEEJ Transactions on Industry Applications　110　(5)　525-533　1990

    DOI： 10.1541/ieejias.110.525 　

    ISSN： 1348-8163 0913-6339

  746. Output Voltage Control Method of PWM-Controlled Cycloconverters with Space Vectors Peer-reviewed

    Akio Ishiguro, Takeshi Furuhashi, Shigeru Okuma, Yoshiki Uchikawa, Muneaki Ishida

    IEEJ Transactions on Industry Applications　110　(6)　655-663　1990

    DOI： 10.1541/ieejias.110.655 　

    ISSN： 1348-8163 0913-6339

  747. A New Control Method for Forced Commutated PWM Cycloconverters Using a Microprocessor

    Takeshi Furuhashi, Akio Ishiguro, Muneaki Ishida, Shigeru Okuma, Yoshiki Uchikawa

    CONFERENCE RECORD OF THE MAGLEV’S 89　173-178　1989

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    ・査読：不明<br /> ・招待論文：不明

  748. A NEW PWM CONTROL METHOD FOR AC TO DC CONVERTERS WITH HIGH-FREQUENCY TRANSFORMER ISOLATION

    K INAGAKI, T FURUHASHI, A ISHIGURO, K INAGAKI, T FURUHASHI, A ISHIGURO, M ISHIDA, S OKUMA

    CONFERENCE RECORD OF THE 1989 IEEE INDUSTRY APPLICATIONS SOCIETY ANNUAL MEETING, PTS 1-2　783-790　1989

  749. Generation Method of Switching Patterns of PWM-Controlled Cycloconverters Peer-reviewed

    Masami Iwasaki, Akio Ishiguro, Shigeru Okuma, Muneaki Ishida, Yongsok Kim, Koji Iwata

    IEEJ Transactions on Industry Applications　109　(2)　82-89　1989

    DOI： 10.1541/ieejias.109.82 　

    ISSN： 1348-8163 0913-6339

  750. A New Method of PWM Control for Forced Commutated Cycloconverters Using Microprocessors

    Akio Ishiguro, Katsuhisa Inagaki, Muneaki Ishida, Shigeru Okuma, Yoshiki Uchikawa, Koji Iwata

    CONFERENCE RECORD OF THE 23RD IEEE INDUSTRY APPLICATION SOCIETY ANNUAL MEETING　23　(1)　712-721　1988

    Publisher: Institute of Electrical and Electronics Engineers

    DOI： 10.1109/IAS.1988.25141 　

    More details Close

    ・査読：不明<br /> ・招待論文：不明

  751. A New Method of PWM Control for AC to DC Converters with High-Frequency Transformer Isolation

    Katsuhisa Inagaki, Takeshi Furuhashi, Akio Ishiguro, Muneaki Ishida, Shigeru Okuma, Yoshiki Uchikawa

    PROCEEDINGS OF THE POWER CONVERSION AND INTELLIGENT MOTION　314-323　1988

    More details Close

    ・査読：不明<br /> ・招待論文：不明

Show all ︎Show first 5

Misc. 191

  1. 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

  2. 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

  3. 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

  4. 多足類が示す多様な歩容に通底する制御原理は存在するのか?-自律分散制御に基づく一考察-

    杉山悠聖, 安井浩太郎, 石黒章夫

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

  5. 6脚歩行に内在する脚間協調制御原理を探る 身体の支持・推進に基づく自律分散制御則からの一考察

    水谷健人, 杉山悠聖, 安井浩太郎, 大脇大, 石黒章夫

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

  6. 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

  7. Exploring Inter-limb Coordination Mechanism of Insect-like Robots from Myriapods

    水谷健人, 杉山悠聖, 山一竜光, 安井浩太郎, 大脇大, 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

  8. 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

  9. 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

  10. 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

  11. 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

  12. 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

  13. 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

  14. Autonomous decentralized control in fluid behavior of worm blobs of aquatic oligochaetes

    森克哉, 脇田大輝, 石黒章夫, 小林亮, 加納剛史

    自律分散システム・シンポジウム(CD-ROM)　36th　2024

  15. 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

  16. トカゲ様歩行から探る身体に遍在する運動自由度間の協調制御原理に関する一考察

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

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

  17. 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

  18. Exploring Autonomous Decentralized Control Mechanism for Body-limb Coordination in Sprawling Locomotion

    前田慧史, 澤田悟空, 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, 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

  19. 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

  20. 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

  21. Why does the Fastest Quadruped Runner Show Rotary Gallop?

    浅岡雄也, 前田慧史, 天池隼斗, 鈴木朱羅, 鈴木朱羅, 小林亮, 石黒章夫

    自律分散システム・シンポジウム(CD-ROM)　35th　2023

  22. Design Theory of Highly Survivable Decentralized Systems Inspired by Community Formation of Vampire Bats

    川村松吉, 脇田大輝, 三上大志, 石黒章夫, 加納剛史

    自律分散システム・シンポジウム(CD-ROM)　35th　2023

  23. Are the Control Laws of Centipede Locomotion Applicable to Millipede Locomotion?

    山一竜光, 杉山悠聖, 清野源太, 安井浩太郎, 石黒章夫

    自律分散システム・シンポジウム(CD-ROM)　35th　2023

  24. Autonomous decentralized control mechanism of how Tubificinae worms’ blob collectively exploits uneven terrain

    三上大志, 脇田大輝, 小林亮, 石黒章夫, 加納剛史

    自律分散システム・シンポジウム(CD-ROM)　35th　2023

  25. Towards the Construction of Umwelt-based-Control Science

    大須賀公一, 岩本真裕子, 石黒章夫, 大脇大, 杉本靖博, 青沼仁志, 安井浩太郎, 佐倉緑, 岡田美智男

    自律分散システム・シンポジウム(CD-ROM)　35th　2023

  26. Toward Understanding Body-limb Coordination Mechanisms Underlying Multi-legged Locomotion

    清野源太, 山一竜光, 杉山悠聖, 安井浩太郎, 加納剛史, 石黒章夫

    自律分散システム・シンポジウム(CD-ROM)　35th　2023

  27. Robotic verification of a control principle that exhibits versatile locomotor patterns of myriapods

    杉山悠聖, 山一竜光, 安井浩太郎, 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

  28. 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

  29. 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

  30. 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

  31. Are the control laws of centipede locomotion applicable to millipede locomotion?-Verification using a multi-legged robot-

    山一竜光, 杉山悠聖, 安井浩太郎, 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

  32. 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

  33. Body-Limb Coordination Mechanisms Underlying Millipedes Locomotion

    山一竜光, 杉山悠聖, 安井浩太郎, 小林亮, 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

  34. 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

  35. 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

  36. Body-limb Coordination Mechanism for Versatile Galloping Patterns in Quadruped Locomotion

    浅岡雄也, 前田慧史, 服部祥英, 服部祥英, 鈴木朱羅, 鈴木朱羅, 小林亮, 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

  37. 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

  38. 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

  39. 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

  40. 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

  41. 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

  42. Interlimb Coordination Mechanism Underlying Spider Locomotion That Exploits Hydrostatic Skeletal System

    山地聡史, 安井浩太郎, 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

  43. Toward Realization of Quick, Smooth and Safe Movement: Tenuki Control for Multiple Autonomous Mobile Agents

    菅野健, 三上大志, 山田恭史, 岩本真裕子, 上山大信, 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

  44. 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

  45. We Want to Nicely Reproduce Snake’s Concertina Locomotion!

    佐藤明音, 大滝範幸, 安井浩太郎, 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

  46. Autonomous Decentralized Control Underlying Load-adaptive Locomotion of Myriapods

    大野篤史, 安井浩太郎, 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

  47. Design Theory of Highly Survivable System Inspired by Reciprocal Altruistic Behavior of Vampire Bats

    川村松吉, 三上大志, 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

  48. 開かれた環境に対応可能なロボット制御のための理論的基盤の構築を目指して

    石黒章夫

    科学技術振興機構研究開発戦略センター戦略提案・報告書 ワークショップ報告書(Web)　2022-WR-01　2022

  49. 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

  50. “Entangling, Untangling, and Moving Around”: Design Theory for Super-amorphous Swarm Robot Inspired by Tubificinae Blob

    三上大志, 加納剛史, 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)　2022　2022

    ISSN： 2424-3124

  51. 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

  52. 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

  53. 生物ロコモーションに潜む制御のカラクリを探る

    石黒章夫

    バイオメカニズム学術講演会講演予稿集(CD-ROM)　43rd　2022

  54. 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

  55. 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

  56. 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

  57. On the Decentralized Control of Snake-like Robots for Improving Adaptability

    大滝範幸, 安井浩太郎, 加納剛史, 石黒章夫

    自律分散システム・シンポジウム(CD-ROM)　33rd　2021

  58. 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

  59. Quickly, safely, and smoothly: Decentralized control of mobile agents that can cooperate with humans

    加納剛史, 岩本真裕子, 上山大信, 山田恭史, 石黒章夫

    立石科学技術振興財団助成研究成果集(Web)　(30)　2021

    ISSN： 0918-9939

  60. A Collision Avoidance Control of Multiple Mobile Agents Based on Active Sensing

    菅野健, 三上大志, 山田恭史, 岩本真裕子, 上山大信, 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

  61. 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

  62. 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

  63. サンショウウオから紐解く脚と胴体の協調運動を生み出す制御原理

    鈴木朱羅, 鈴木朱羅, 加納剛史, IJSPEERT Auke J., 石黒章夫

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

  64. A Study on Motor Control of Primitive Tetrapod Walking

    鈴木朱羅, 鈴木朱羅, 加納剛史, STANDEN Emily M., IJSPEERT Auke J., 石黒章夫

    自律分散システム・シンポジウム(CD-ROM)　33rd　2021

  65. A reaction-diffusion model for predicting new pattern formations of biofilm

    三上大志, 浅利宗弘, 加納剛史, 石黒章夫

    日本数理生物学会年会(Web)　30th　2020

  66. Mathematical Model of COVID-19 outbreak with Economic Activities

    加納剛史, 安井浩太郎, 安井浩太郎, 三上大志, 浅利宗弘, 石黒章夫

    日本数理生物学会年会(Web)　30th　2020

  67. Decentralized Control for Snake-like Robot That Can Reproduce Versatile Locomotion Patterns

    大滝範幸, 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

  68. 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

  69. Decentralized Control Mechanism Underlying Adaptive and Versatile Locomotion of Snakes

    加納剛史, 石黒章夫

    生物物理(Web)　60　(5)　2020

    ISSN： 1347-4219

  70. こんな数理モデルがあるのですが何かの説明になってないですか?

    加納剛史, 大須賀公一, 川勝年洋, 石黒章夫

    日本分子生物学会年会プログラム・要旨集(Web)　43rd　2020

  71. Autonomous Decentralized Control of Centipede Robot That Generates Situation-dependent Gait Patterns

    高野俊輔, 安井浩太郎, 加納剛史, 小林亮, 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)　21st　2020

  72. 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

  73. 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

  74. 動物ロコモーションから紐解く創発の余地を残した制御方策 Invited

    石黒 章夫

    システム/制御/情報　63　(6)　235-239　2019/06

  75. 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

  76. トカゲ様歩行に着想を得た脚と胴体の協調運動を生成する自律分散制御則

    鈴木朱羅, 加納剛史, IJSPEERT Auke J., 石黒章夫

    自律分散システム・シンポジウム(CD-ROM)　31st　2019

  77. Discussion : Symposium of Scholars : How can Robots Dialogue with Environment?

    小林 亮, 青沼 仁志, 岡田 美智男, 石黒 章夫, 大須賀 公一, 石川 将人

    システム・制御・情報 = Systems, control and information : システム制御情報学会誌　63　(6)　246-253　2019

    Publisher: システム制御情報学会

    ISSN： 0916-1600

  78. 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

  79. コオロギの脚切断後の筋電位パターンの変容

    大脇大, 杉本靖博, 石黒章夫, 石黒章夫, 青沼仁志, 青沼仁志

    自律分散システム・シンポジウム(CD-ROM)　30th　ROMBUNNO.1A2‐4　2018/01/28

  80. ムカデが足並みの疎密波の向きを変えるメカニズム

    安井浩太郎, 菊池和気, 加納剛史, 黒田茂, 青沼仁志, 早瀬友美乃, 小林亮, 石黒章夫

    自律分散システム・シンポジウム(CD-ROM)　30th　ROMBUNNO.1A3‐3　2018/01/28

  81. Decentralized Control Scheme That Well-integrates Peristaltic Movement with Friction Control

    KANTO Daiki, IWAMOTO Mayuko, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　(0)　1P1-E16　2018

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2018.1P1-E16 　

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    <p>Several animals such as snails and earthworms exhibit crawling locomotion by propagating the bodily wave of expansion and contraction to adapt to various environments. In this locomotion, not only expansion and contraction of the body but also friction with the environment is considered to be an important factor. However, existing studies has not sufficiently integrate peristaltic movement with friction control. Therefore, in this research, we propose a decentralized control of crawling locomotion that well-integrates peristaltic movement with adaptive friction control, and simulation results represent that a crawling locomotion with high environmental adaptability was realized.</p>

  82. An Ankle Foot Orthosis with Stiffness Change Using Spring-cam Mechanism

    OWAKI Dai, SEKIGUCHI Yusuke, HONDA Keita, HIROI Noriyoshi, FUKUSHI Ken-ichiro, NOZAKI Takeo, ISHIGURO Akio, IZUMI Shin-ichi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　(0)　2P1-P11　2017

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2017.2P1-P11 　

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    &lt;p&gt;Decreased gait speed is one of challenges for patients with hemiparesis to be overcome during walking rehabilitation. Joint stiffness, i.e. &lt;i&gt;resistance&lt;/i&gt; of the corresponding joint, which is defined as the ratio of its moment variation to its joint angle variation, is an essential factor to increase gait speed on walking in patients. Here, we propose an unconventional Ankle Foot Orthosis (AFO) that enables to change the joint stiffness in response to ankle flexion using spring-cam mechanism. In this maniscript, we verified the effect of developed orthosis on walking in one healthy subject. We confirmed the synergetic effect on inter-joint coordination, where increased ankle joint stiffness indirectly decreased both knee and hip joint stiffness, suggesting effectiveness for walking rehabilitation in patients.&lt;/p&gt;

  83. ロボットが解き明かす動物の生き生きとした振る舞いに内在する制御原理 Invited

    石黒 章夫

    体育の科学　66　(10)　733-737　2016

    Publisher: 杏林書院

    ISSN： 0039-8985

  84. Rethinking Interlimb Coordination Mechanism in Quadruped Locomotion Based on A Minimalist CPG Model Invited

    OWAKI Dai, ISHIGURO Akio

    Journal of The Society of Instrument and Control Engineers　54　(4)　272-277　2015/04

    Publisher: The Society of Instrument and Control Engineers

    DOI： 10.11499/sicejl.54.272 　

    ISSN： 0453-4662

  85. クモヒトデに学ぶレジリアントな振る舞いの設計原理 Invited

    加納剛史, 石黒章夫, 千葉大徳

    計測と制御　54　(4)　242-247　2015/04

  86. 1A1-V02 Generation Mechanism of Canter Gait(Robotic systems based on autonomous decentralized architecture)

    OWAKI Dai, ISHIGURO Akio

    2014　"1A1-V02(1)"-"1A1-V02(2)"　2014/05/24

    Publisher: The Japan Society of Mechanical Engineers

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    Many quadrupeds change their gait from a walk to a trot, and finally, to a gallop depending on the locomotion speed. These locomotion patterns are generated via the coordination between limbs, i.e., interlimb coordination, and are partly controlled by an intraspinal neural network called the central pattern generator (CPG). However, a proper understanding of interlimb coordination mechanism remains elusive. Here, we demonstrate the gait transition experiments with a simple quadruped robot, which limbs are coordinated by an unconventional CPG model that we previously proposed. By only changing a parameter of locomotion speed, our robot exhibited spontaneous gait transition from a walk to a trot, and then to a bound, even in the absence of direct neural interaction between the oscillators of the CPG. Very interestingly, we found a canter -an asymmetric, three-beat gait- in the transition from a trot to a bound. In this paper, we discuss the generation mechanism of canter gait.

  87. Fully Decentralized Control Inspired by True Slime Mold

    ISHIGURO Akio

    Journal of the Japan Society of Mechanical Engineers　117　(1143)　98-101,図巻頭1p　2014/02

    Publisher: The Japan Society of Mechanical Engineers

    ISSN： 0021-4728

  88. 真正粘菌に学ぶ無中枢制御法 Invited

    石黒 章夫

    日本機械学会誌　117　(1143)　30-33　2014/02

  89. 局所麻酔実験から探るクモヒトデの歩行制御の神経機構

    松坂義哉, 佐藤英毅, 加納剛史, 坂本一寛, 青沼仁志, 石黒章夫

    日本生理学雑誌　76　(1)　39　2014/01/01

    ISSN： 0031-9341

  90. 腕切断実験から探るクモヒトデの腕間協調メカニズム

    佐藤英毅, 加納剛史, 坂本一寛, 松坂義哉, 青沼仁志, 石黒章夫

    日本数理生物学会大会講演要旨集　23rd　172　2013

  91. 人間社会の生成崩壊ダイナミクスの数理モデル

    加納剛史, 大須賀公一, 小林亮, 青沼仁志, 石川将人, 杉本靖博, 大脇大, 石黒章夫

    日本数理生物学会大会講演要旨集　23rd　166　2013

  92. 2A1-O02 Clarification of Decentralized Control Mechanism Underlying Morphology-dependent Ophiuroid Locomotion(Robotic systems based on autonomous decentralized architecture)

    SATO Eiki, KANO Takeshi, AONUMA Hitoshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2013　(0)　_2A1-O02_1-_2A1-O02_4　2013

    Publisher: The Japan Society of Mechanical Engineers

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    Most robots are vulnerable to the change in their own morphology such as failures. To tackle this problem, we focus on ophiuroids, which have simple body with pentaradial symmetry. Although they are composed of primitive decentralized nervous system, they can move by self-organizing their arm movements adequately even when the arms are arbitrarily cut off. As a first step, we concentrate on an ophiuroid with one arm and aim to clarify its locomotion mechanism. We propose a simple autonomous decentralized control scheme on the basis of behavioral experiments, and confirm its validity via simulations.

  93. 2A1-K01 A Large Degree-of-Freedom Modular Robot Exhibiting Versatile Behavior Inspired by Plasmodium of True Slime Mold(Robotic Systems Based on Autonomous Decentralized Architecture)

    IDEI Ryo, UMEDACHI Takuya, ITO Kentaro, ISHIGURO Akio

    2012　"2A1-K01(1)"-"2A1-K01(4)"　2012/05/27

    Publisher: The Japan Society of Mechanical Engineers

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    This paper presents a mathematical model of a mobile modular robot that spontaneously switches locomotion patterns, inspired by plasmodium of true slime mold. Significant features of this robot are threefold: (1) each module of the robot has a truly soft and deformable body, stemming from elastic elements, filled with fluid, (2) these several identical modules are physically connected with fluid-filled tubes, which induces long-distance interaction between the modules; and (3) by exploiting the physical interaction between the body parts, a fully decentralized control using phase oscillators with completely local sensory feedback mechanism is realized. The preliminary simulation results show that altering softness of the body part according to the amount of attractant allows the robot to change locomotion direction spontaneously in a fully decentralized manner. The results obtained are expected to shed new light on the design scheme for life like robots that exhibit versatile, agile and adaptive behavior.

  94. 2A1-K05 Snake-like Robot Driven by Decentralized Control for Scaffold-based Locomotion : Mathematical Modeling(Robotic Systems Based on Autonomous Decentralized Architecture)

    KANO Takeshi, SATO Takahide, HIRAI Akihiro, KOBAYASHI Ryo, ISHIGURO Akio

    2012　"2A1-K05(1)"-"2A1-K05(4)"　2012/05/27

    Publisher: The Japan Society of Mechanical Engineers

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    Snakes actively utilize terrain irregularities and attain propulsion force by pushing their bodies against scaffolds. The objective of this study is to understand the mechanism underlying this locomotion. Our previous control scheme of a snake-like robot, in which the curvature derivative control method is combined with a reflexive mechanism using local pressures on the body wall, could not fully reproduce innate behavior of real snakes. In this study, we improve our previous control scheme. We show that the locomotion of a simulated robot with the improved control scheme is surprisingly in good agreement with the locomotion of a real snake.

  95. 2P1-I03 Development of a clustering robot named "Coronoc Robot" focusing on its body structure(Mobiligence)

    SUEOKA Yuichi, OSUKA Koichi, SUGIMOTO Yasuhiro, ISHIGURO Akio

    2012　"2P1-I03(1)"-"2P1-I03(2)"　2012/05/27

    Publisher: The Japan Society of Mechanical Engineers

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    It is considered that both Implicit Control Law and Explicit Control Law are necessary factors to understand "Mobiligence" of living things. In this research, we developed a simple clustering robot whose name was "Coronoc Robot" as one example to discuss Implicit Control Law. This robot was verified to cluster objects even if this robot has no sensors and no Explicit Control Law through its experiment. The systematic analysis shows that the Implicit Control Law can be extracted from the object clustering phenomena.

  96. Project "Innovations in Controlling Hyper Redundant and Flexible Systems Inspired by Biological Locomotion"(Laboratories)

    Kobayashi Ryo, Nakagaki Toshiyuki, Ishiguro Akio

    Bulletin of the Japan Society for Industrial and Applied Mathematics　22　(1)　62-64　2012

    Publisher: The Japan Society for Industrial and Applied Mathematics

    DOI： 10.11540/bjsiam.22.1_62 　

    ISSN： 0917-2270

  97. 2P2-K04 Relationship between a Implicit Control Law and Existence of a Wall in Swiss Robot Phenomena(Mobiligence)

    SUEOKA Yuichi, OSUKA Koichi, SUGIMOTO Yasuhiro, ISHIKAWA Masato, WADA Teruyo, ISHIGURO Akio

    2011　"2P2-K04(1)"-"2P2-K04(2)"　2011/05/26

    Publisher: The Japan Society of Mechanical Engineers

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    It is considered that both understanding of Implicit Control Law and Explicit Control Law is necessary to understand REAMA(Real-time environmental adaptive motion ability) of living things. To investigate Implicit Control Law, Swiss Robot is picked up. Swiss Robot shows interesting behavior through the interaction among very simple Explicit Control Law, mechanical systems and environment. In this paper, it is discussed that the effect from the walls which play important roles to understand the Swiss Robot phenomena.

  98. Investigating Design Principles of "Life-like" Robots from True Slime Mold and Ophiuroid Invited

    ISHIGURO Akio

    tits　16　(4)　68-71　2011/04

    Publisher: Japan Science Support Foundation

    DOI： 10.5363/tits.16.4_68 　

    ISSN： 1342-3363

  99. 生物ロコモーションに学ぶ大自由度システム制御の新展開

    小林亮, 中垣俊之, 石黒章夫

    越境する数学 CREST研究報告会 平成23年　26-29　2011

  100. 位相制御と筋緊張制御の有機的整合を可能とする自律分散制御則-小腸の蠕動運動モデルを用いた事例研究-

    塚辺有哉, 加納剛史, 石黒章夫, 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)　2010　2010

    ISSN： 2424-3124

  101. 2A1-A03 Study for existence of Implicit Control Law of Swiss Robot

    SUEOKA Yuichi, OSUKA Koichi, SUGIMOTO Yasuhiro, ISHIGURO Akio

    2010　"2A1-A03(1)"-"2A1-A03(4)"　2010

    Publisher: The Japan Society of Mechanical Engineers

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    Living things can move adaptively even if put it in an unknown environment and the ability is called REAMA (Realtime Environmental Adaptive Motion Ability). It is considered that Implicit Control Law is one of the common principle of REAMA arid both understanding of Implicit Control Law and Explicit Control Law is necessary to understand REAMA of living things. In this paper, Swiss Robot is picked up. Swiss Robot shows interesting behavior by interaction among very simple Explicit Control Law, mechanical systems and environment. Compared the result of experiments with that of simulations, Implicit Control Law of Swiss Robot is investigated.

  102. 2A2-E24 Passive Dynamic Running Biped with Upper Body

    OWAKI Dai, KUBO Shota, YAMAGUCHI Shin'ichi, TERO Atsushi, MAUS Moritz, MAUFROY Christophe, SEYFARTH Andre, ISHIGURO Akio

    2010　"2A2-E24(1)"-"2A2-E24(3)"　2010

    Publisher: The Japan Society of Mechanical Engineers

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    In this paper, we discuss the effect of upper body on the stability of passive dynamic running (PDR). To this end, we have modeled a passive dynamic running biped with upper body in a numerical simulator. Through our numerical simulations, we have found the following results: (i) Periodic stable solutions exist; (ii) The higher position of COM destabilizes PDR; and (iii) The inertia of upper body stabilizes PDR. Our results shed new light on the principles underlying bipedal locomotion; in particular to what extent of the stabilization mechanism can be explained by passive dynamics underlying whole body dynamics properties.

  103. Implicit Control Law Embedded in Control System Solves Problem of Adaptive Function!? Invited

    OSUKA Koichi, ISHIGURO Akio, ZHENG Xin-Zhi, SUGIMOTO Yasuhiro, OWAKI Dai

    JRSJ　28　(4)　491-502　2010

    Publisher: The Robotics Society of Japan

    DOI： 10.7210/jrsj.28.491 　

    ISSN： 0289-1824

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    In this note, we consider a control system that underlies in a biological system. We point out the existence of the Problem of Inseparability in the control system. To understand the principle of mobile adaptability embedded in the control system, we have to solve the Problem of Indivisibility. To solve the problem, we propose a concept of Implicit control law. Finally, we show the Implicit control law plays an important role for constructing the adaptive function of living thing and robot.

  104. Toward Understanding the Mechanism Underlying Animals' Agile Locomotion : A Robotic Approach Based on a "Brain-less" Living Organism

    ISHIGURO Akio

    IEICE technical report. ME and bio cybernetics　109　(279)　1-1　2009/11/05

    Publisher: The Institute of Electronics, Information and Communication Engineers

  105. 自然で無理のない形態変形から生み出される適応的運動機能

    石黒 章夫, 清水 正宏

    計測と制御　48　(9)　705-710　2009/09

    Publisher: (社)計測自動制御学会

  106. 受動的ロコモーションに埋め込まれた適応機能

    大須賀, 公一, 石黒 章夫

    計測と制御　48　(9)　711-717　2009/09

    Publisher: (社)計測自動制御学会

  107. How Should Biological Oscillation be Exploited in Robotics?

    Akio Ishiguro, Masahiro Shimizu

    細胞工学　26　(7)　779-785　2007/07

    Publisher: 秀潤社

    ISSN： 0287-3796

  108. 単純な運動機能を持つ結合振動子系から創発する知能

    石黒章夫, 清水正宏, 川勝年洋

    物性研究　87　(4)　572-578　2007/01/20

    Publisher: 物性研究刊行会

    ISSN： 0525-2997

  109. しぶとく、たくましく、打たれ強い人工物の構築を目指して ～第15回相互作用と賢さ研究会レポート～

    Robot Watch

    Robot Watch　2006/08/09

  110. 知の基盤としてのしぶとさの創成

    石黒 章夫

    日本ロボット学会誌　24　(7)　800-803　2006/07

    Publisher: The Robotics Society of Japan

    DOI： 10.7210/jrsj.24.800 　

    ISSN： 0289-1824

  111. 実世界の性質を利用した知覚と制御

    伊藤一之, 大須賀公一, 石黒章夫, 古山宣洋

    日本ロボット学会誌　24　(7)　807-811　2006/07

  112. Self-Assembly and Self-Repair by Exploiting the Interplay between Control and Mechanical Systems

    MATSUBA Hiroaki, MAEGAWA Tomoki, SHIMIZU Masahiro, ISHIGURO Akio

    18　61-66　2006/01/26

  113. A Dynamical System Approach to Understanding Mobiligence : A Case Study with a Modular Robot

    SHIMIZU Masahiro, KAWAKATSU Toshihiro, ISHIGURO Akio

    18　217-222　2006/01/26

  114. Stability Analysis of a Passive Dynamic Runner with Nonlinear Springs

    OWAKI Dai, ISHIGURO Akio

    18　111-116　2006/01/26

  115. Toward Artifacts That Exhibit Graceful Performance Degradation

    石黒 章夫

    日本機械学会誌　109　(1049)　281-284　2006/01

  116. ウェルバランスト・コントロールを目指して －受動歩行機械を起点とした一考察－

    石黒章夫, 大脇 大

    システム制御情報学会誌　49　(10)　417-412　2005/10

    Publisher: Institute of Systems, Control and Information Engineers

    DOI： 10.11509/isciesci.49.10_417 　

    ISSN： 0916-1600

  117. 移動知発現のための制御系と機構系の設計指針 －モジュラーロボットを用いた事例研究－

    石黒章夫, 清水正宏

    計測と制御　44　(9)　634-639　2005/09

    Publisher: The Society of Instrument and Control Engineers

    DOI： 10.11499/sicejl1962.44.634 　

    ISSN： 0453-4662

  118. 1P1-S-005 Improvement of Learning Efficiency by Exploiting the Interplay between Control and Mechanical Systems : A Case Study with a Serpentine Robot(Emergent Dynamic Approach for Intelligence,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Hasegawa Takaomi, Kawakatsu Toshihiro, Ishiguro Akio

    2005　76-76　2005/06/09

    Publisher: The Japan Society of Mechanical Engineers

  119. 1P2-S-005 Development of a Real-time Tunable Spring : Toward Independent Control of Position and Stiffness of Joints(Flexible Mechanism,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Umedachi Takuya, Kishi Hiroaki, Yamada Yasutake, Ishiguro Akio

    2005　120-120　2005/06/09

    Publisher: The Japan Society of Mechanical Engineers

  120. 1A1-S-008 Development of a Modular Robot That Enables Self-Assembly(Self-organization Robot System,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Matsuba Hiroaki, Shimizu Masahiro, Ishiguro Akio

    2005　32-32　2005/06/09

    Publisher: The Japan Society of Mechanical Engineers

  121. 1A1-S-006 Slimebot: A Modular Robot That Exploits Emergent Phenomena : A Preliminary Experiment with a Real Physical Modular Robot(Self-organization Robot System,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Shimizu Masahiro, Kawakatsu Toshihiro, Ishiguro Akio

    2005　32-32　2005/06/09

    Publisher: The Japan Society of Mechanical Engineers

  122. 1A1-S-009 Development of a Modular Robot with High Fluidity : Induction of Protoplasmic Streaming Inspired by Sol-Gel Transition(Self-organization Robot System,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Kono Noriaki, Shimizu Masahiro, Kawakatsu Toshihiro, Ishiguro Akio

    2005　33-33　2005/06/09

    Publisher: The Japan Society of Mechanical Engineers

  123. A Modular Robot Driven by Protoplasmic Streaming

    KONO Noriaki, SHIMIZU Masahiro, KAWAKATSU Toshihiro, ISHIGURO Akio

    20　(1)　95-96　2005/06/01

    ISSN： 0915-6089

  124. Development of a Modular Robot That Enables Self-Assembly and Self-Repair

    MATSUBA Hiroaki, SHIMIZU Masahiro, ISHIGURO Akio

    20　(1)　64-65　2005/06/01

    ISSN： 0915-6089

  125. 1A1-S-044 Transition between Bipedal Walking and Running by Exploiting a Real-time Tunable Spring(Biped Robot 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Owaki Dai, Ishiguro Akio

    41-41　2005

    Publisher: The Japan Society of Mechanical Engineers

  126. Development of a Passive Dynamic Running Biped with Kness

    Uchida K, Ishiguro A

    2004　69-70　2004/06/18

    Publisher: The Japan Society of Mechanical Engineers

  127. Cheap and Rapid Learning Inspired from the Protein Folding Problem

    Hasegawa T, Kawakatsu T, Ishiguro A

    2004　63-64　2004/06/18

    Publisher: The Japan Society of Mechanical Engineers

  128. Emergent Morphology Control of a Modular Robot Exploiting the Interaction between Control and Body Dynamics

    Takahashi M, Shimizu M, Kawakatsu T, Ishiguro A

    2004　65-65　2004/06/18

    Publisher: The Japan Society of Mechanical Engineers

  129. A Consideration of Well-balanced Coupling between Control and Body Systems through a Synthetic Approach : A Case Study with a Multi-legged Robot

    Hayakawa K, Kawakatsu T, Ishiguro A

    2004　64-64　2004/06/18

    Publisher: The Japan Society of Mechanical Engineers

  130. Development of a Real-time Tunable Elastic Element with ER Fluid

    Umedachi T, Aoki T, Masubuchi Y, Doi M, Ishiguro A

    2004　111-111　2004/06/18

    Publisher: The Japan Society of Mechanical Engineers

  131. 進化ロボティクスの現状と今後の展望

    石黒章夫

    日本シミュレーション学会誌　23　(3)　197-205　2004/03

  132. 制御系と身体系の有機的調和を目指して －多脚歩行ロボットを用いた事例研究－

    石黒章夫, 川勝年洋

    計測と制御, 42-9(2003), 712-717.　42　(9)　712-717　2003/09

    Publisher: The Society of Instrument and Control Engineers

    DOI： 10.11499/sicejl1962.42.712 　

    ISSN： 0453-4662

  133. An architecture of Small-scaled Neuro-hardware Using Probabilistically-coded Pulse Neurons with On-Chip Learning (特集 R&D--車の未来を拓く基礎技術)

    川島 毅, 石黒 章夫, 大熊 繁

    デンソ-テクニカルレビュ-　8　(1)　20-26　2003/05

    Publisher: デンソ-

    ISSN： 1342-4114

  134. 分子シミュレーション技法を応用した移動群ロボットの自律分散制御(ソフトマターの物理学2003-普遍性と多様性-,研究会報告)

    清水 正宏, 石黒 章夫, 増渕 雄一, 土井 正男, 川勝 年洋

    物性研究　81　(2)　325-326　2003

    Publisher: 物性研究刊行会

    ISSN： 0525-2997

  135. Decentralized Morphology Control of a Modular Robot Exploiting Stokesian Dynamics

    Shimizu M., Ishiguro A., Kawakatsu T., Masubuchi Y., Doi M.

    2003　111-111　2003

    Publisher: The Japan Society of Mechanical Engineers

  136. Behavior Generation and Segmentation using a Neuromodulated Neural Network

    Tokura S., Ishiguro A., Eggenberger Hotz Peter

    2003　82-82　2003

    Publisher: The Japan Society of Mechanical Engineers

  137. Toward Well-balanced Coupling between Control and Mechanical Systems

    Ishimaru K., Hayakawa K., Ishiguro A., Kawakatsu T.

    2003　82-82　2003

    Publisher: The Japan Society of Mechanical Engineers

  138. Enlarging Attractor Basin of a Quadruped Passive Dynamic Walker : Exploitation of cooperative phenomena by increasing degrees of freedom

    Nishii Y., Ishiguro A., Kawakatu T.

    2003　63-63　2003

    Publisher: The Japan Society of Mechanical Engineers

  139. Investigation of Nonlinear Oscillator Models for Legged Robots

    Saito N., Ishiguro A.

    2003　63-63　2003

    Publisher: The Japan Society of Mechanical Engineers

  140. Enlarging Attractor Basin of a Bipedal Passive Dynamic Walker by Exploiting Cooperative Phenomena

    Kawasumi K., Hayakawa M., Ishiguro A., Kawakatsu T.

    2003　8-8　2003

    Publisher: The Japan Society of Mechanical Engineers

  141. Adaptive Control for a Legged-Robot Using a Polymorphic Neural Circuit

    ISHIGURO Akio

    14　303-308　2002/01/25

  142. Quantitative Investigation of Adaptability of Dynamically-Rearranging Neural Networks

    Kawai H., Tokura S., Ishiguro A., Eggenberger Peter

    2002　46-46　2002

    Publisher: The Japan Society of Mechanical Engineers

  143. A Design of a Multi-legged Robot by Exploiting the Interaction Dynamics between Control and Mechanical Systems

    Ishimaru K., Nakagawa Y., Ishiguro A., Kawakatsu T.

    2002　46-46　2002

    Publisher: The Japan Society of Mechanical Engineers

  144. Behavior Modulation of a Biped Robot Using a Polymorphic Neural Circuit

    Fujii A., Ishiguro A., Eggenberger Peter

    2002　47-47　2002

    Publisher: The Japan Society of Mechanical Engineers

  145. Construction of a Complete CPU-less Robot Using an in silico Neuromodulation Mechanism

    Sugiyama M., Tokura S., Ishiguro A., Kawashima T.

    2002　80-80　2002

    Publisher: The Japan Society of Mechanical Engineers

  146. Autonomous Decentralized Control of a Modular Robot Using a Molecular Dynamics Method

    Shimizu M., Ishiguro A., Masubuchi Y., Taniguchi T., Doi M.

    2002　61-61　2002

    Publisher: The Japan Society of Mechanical Engineers

  147. Creation of Decentralized Control Rules for a Multi-legged Robot Using a Genetic Programming

    Nakagawa Y., Ishiguro A.

    2002　61-61　2002

    Publisher: The Japan Society of Mechanical Engineers

  148. Adaptive Control of a Quadruped Robot with a Neuromodulation Mechanism

    Saito N., Nakahira K., Ishiguro A., Eggenberger Peter

    2002　67-67　2002

    Publisher: The Japan Society of Mechanical Engineers

  149. 2P1-E4 Evolutionary Creation of Control Rules for Autonomous Decentralized System

    Nakagawa Y., Watarai H., Ishiguro A.

    2001　58-58　2001/06/08

    Publisher: The Japan Society of Mechanical Engineers

  150. 2P1-N8 An Architecture of Small-scaled Neuro-hardware Using Probabilistically-coded Pulse Neurons

    Kawashima T., Ishiguro A.

    2001　66-66　2001/06/08

    Publisher: The Japan Society of Mechanical Engineers

  151. 2P2-C6 Hardware Implementation of Polymorphic Neural Circuits for Mobile Robots

    Sugiyama M., Ishiguro A., Kawashima T.

    2001　70-70　2001/06/08

    Publisher: The Japan Society of Mechanical Engineers

  152. 2A1-E4 Emergence of Bipedal locomotion with Dynamically-Rearranging Neural Networks

    Fujii A., Ishiguro A., Aoki T., Eggenberger Peter

    2001　45-45　2001/06/08

    Publisher: The Japan Society of Mechanical Engineers

  153. 2P1-B8 Quantitative Evaluation of Robustness of Dynamically-Rearranging Neural Controller

    Kawai H., Tokura S., Eggenberger Peter, Ishiguro A.

    2001　55-55　2001/06/08

    Publisher: The Japan Society of Mechanical Engineers

  154. 2P1-B2 Evolutionary Creation of an Adaptive Controller for a Quadruped Robot

    Otsu K., Fujii A., Ishiguro A., Aoki T., Eggenberger Peter

    2001　54-54　2001/06/08

    Publisher: The Japan Society of Mechanical Engineers

  155. きびきびと動くロボットを目指して －「心身一元論」に立脚した人工知能システムの構築に向けて－

    石黒章夫

    電気学会論文誌C　121　(1)　48-49　2001/01

    ISSN： 0385-4221

  156. An Architecture of a Small-Scale Digital Neuro-hardware

    KAWASHIMA Takeshi, ISHIGURO Akio, OKUMA Shigeru

    IEICE technical report. Neurocomputing　99　(613)　23-28　2000/02/04

    Publisher: The Institute of Electronics, Information and Communication Engineers

    ISSN： 0913-5685

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    In this article, we present an architecture of a neuro-hardware that can be realized on a small-scale circuit compared to the conventional approach. In order to reduce the scale of the circuits, the architecture employs a new method of computing the membrane potential and the sigmoid function by encapsulating the probability properties into relative delay between two pulses. Proposed architecture enables to integrate more than one hundred of neurons on a latest FPGA chip, which is thirteen times as many as conventional architecture.

  157. Evolutionary Acquisition of Behavior Arbitration Mechanisms Based on Dynamically-Rearranging Neural Networks

    NAKAMURA Hiroshi, ISHIGURO Akio, UCHIKAWA Yoshiki, EGGENBERGER Peter

    12　467-470　2000/01/21

  158. 1A1-32-045 モデレーショニズムに基づく歩行ロボットの自律分散的歩容獲得

    渡会 大徳, 石黒 章夫, 内川 嘉樹

    ロボティクス・メカトロニクス講演会講演概要集　2000　36-36　2000

    Publisher: 一般社団法人日本機械学会

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    自律分散システムは, 複数のサブシステム間の局所的な相互作用を通して, システム全体として合目的的な挙動を発現させる制御手法であり, 耐故障性, 適応性, 拡縮性等の優れた特徴を有している。しかしながら, 未だ明確な設計手法が存在しないのが現状である。本研究ではモデレーショニズムに着目し, 歩行ロボットの自律分散的な歩容獲得法を提案する。

  159. 2P1-31-032 動的再編成ニューラルネットワークを用いた頑健な歩行制御器の実現

    藤井 亮暢, 大津 啓, 石黒 章夫, 内川 嘉樹, 青木 猛, Eggenberger Peter

    ロボティクス・メカトロニクス講演会講演概要集　2000　80-80　2000

    Publisher: 一般社団法人日本機械学会

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    ロボットの制御器を進化的計算手法を用いて構築する進化ロボティクスでは, 制御器が環境変動に対し頑健に対処できない問題(adaptability問題)が存在する。この問題に対し, 筆者らは多型・多義性を有する動的再編成ニューラルネットワークを提案し, これによりロボットが環境との相互作用を積極的に利用し, 高い適応能力を有することを確認している。本研究では, 環境変動に対し安定かつエネルギー消費を最小にする行動を発現する歩行ロボットの制御器構築を目指す。

  160. 2P2-61-091 FPGA を用いた動的再編成ニューラルネットワークのハードウェア化

    高畑 敦志, 石黒 章夫, 川島 毅, 内川 嘉樹

    ロボティクス・メカトロニクス講演会講演概要集　2000　104-105　2000

    Publisher: 一般社団法人日本機械学会

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    昆虫は脊椎動物に比較して, 極めて小規模な脳神経系を有しているのにもかかわらず, 非常に柔軟かつ多様な行動を発現することが可能である。筆者らは, 神経系の多型性・多義性に着目した動的再編成ニューラルネットワークの研究を進めている。本研究では, 小型ロボットへの実装を目指し, 本ニューラルネットワークを小規模回路で実現可能な手法に関しての考察を行う。そして, 提案する手法をFPGAに実装し, その能力の検証を行う。

  161. 2P1-31-031 発生過程を導入した動的再編成機能ニューラルコントローラの進化的構築

    十倉 征司, 石黒 章夫, 内川 嘉樹, Eggenberger Peter

    ロボティクス・メカトロニクス講演会講演概要集　2000　80-80　2000

    Publisher: 一般社団法人日本機械学会

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    進化ロボティクスの研究においては, シミュレーション上で進化させた個体は実環境で適切に機能することが困難であるという問題がある。そこで本研究では, 個体発生過程の概念を取り入れることにより, 環境とロボットとの相互作用の調整方法やネットワークの構造を進化の対象とする, 自律移動ロボットコントローラの進化的構築手法を提案し, その妥当性を定量的に検証する。

  162. Realization of Robust Controllers Using Dynamically-Rearranging Neural Networks

    TOKURA Seiji, ISHIGURO Akio, KONDO Toshiyuki, UCHIKAWA Yoshiki, EGGENBERGER Peter

    9　209-214　1999/10

  163. An Architecture of a Small-Scale Digital Neurohardware

    KAWASHIMA Takeshi, ISHIGURO Akio, HASHIYAMA Tomonori, OKUMA Shigeru

    9　215-216　1999/10

  164. 免疫情報処理機構を参考にしたロボットの知能発現

    市川真吾, 石黒章夫, 内川 嘉樹

    システム制御情報学会誌　43　(4)　196-201　1999/04

    Publisher: Institute of Systems, Control and Information Engineers

    DOI： 10.11509/isciesci.43.4_196 　

    ISSN： 0916-1600

  165. An Autonomous Gait Acquisition of Multi-legged Walking Robots Based on Moderationism in the Immune system

    ICHIKAWA Shingo, SHIBATA Takanori, ISHIGURO Akio, UCHIKAWA Yoshiki

    11　45-48　1999/01/18

  166. Gait Control for Legged Robots Using Neural Networks with Dynamically-Rearranging Function

    FUJII Akinobu, ISHIGURO Akio, UCHIKAWA Yoshiki, AOKI Takeshi, EGGENBERGER Peter

    11　35-38　1999/01/18

  167. 動的再編成機能を有するニューラルネットワークの提案: シミュレーションと実環境間のギャップ吸収

    石黒章夫

    第38回計測自動制御学会学術講演会(SICE'99)講演論文集　359-360　1999

  168. A new method of PWM control for forced commutated cycloconverters using microprocessors

    Ishiguro Akio, Inagaki Katsuhisa, Ishida Muneaki, Okuma Shigeru, Uchikawa Yoshiki, Iwata Koji

    Conference Record of the 1988 IEEE Industry Applications Society Annual Meeting　712-721　1998/10

    Publisher: IEEE

  169. 動的再編成機能を有する神経回路モデルの提案-自律移動ロボットの行動制御への応用-

    石黒章夫

    第11回自律分散システムシンポジウム資料　213-218　1998

  170. Behavior Arbitration for Autonomous Mobile Robot Using Immune Networks : Metadynamics function Using Genetic Algorism

    SHIRAI Yasuhiro, WATANABE Yuji, ISHIGURO Akio, UCHIKAWA Yoshiki

    7　349-352　1997/11/10

  171. A Method for Constructing Neural Controllers Using Incremental Evolution : Realization of Controller for Walking on Rough Terrain

    IWAKI Hideaki, FUJII Akinobu, ISHIGURO Akio, UCHIKAWA Yoshiki

    7　465-468　1997/11/10

  172. 柔らかい人工知能を目指して(4) : 免疫情報処理機構の工学的応用

    石黒 章夫, 児玉 哲司, 古橋 武, 内川 嘉樹

    名古屋大学大型計算機センターニュース　28　(2)　136-149　1997/05/31

    Publisher: 名古屋大学

    ISSN： 0387-6292

  173. Autonomous Decentralized Gait Control of a 6-Legged Walking Robot Using Immune Networks (Gait Generation through Reinforcement Learning)

    ISHIGURO Akio, ICHIKAWA Shingo, KUBOSHIKI Satoru, MUTO Katsuhiko, UCHIKAWA Yoshiki

    Transactions of the Japan Society of Mechanical Engineers. Series C.　63　(609)　1679-1684　1997/05

    Publisher: The Japan Society of Mechanical Engineers

    ISSN： 0387-5024

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    Biological systems in living organisms can be regarded as the ultimate among distributed information processing systems and have been expected to provide feasible ideas to engineering fields, especially robotics. Among these systems, the immune system plays a role in protecting living organisms against countless foreign substances in order to cope with a dynamically changing environment. This ability is exactly what we need for an autonomous mobile robot. Therefore, in this paper, we focus on the immune system and apply it to a gait control problem of a 6-legged walking robot. We aim at realizing an action selection mechanism through a decentralized learning method inspired from the immune network architecture. The validity of our proposed method is confirmed by simulations.

  174. 免疫システムに基づくロボット制御と創発

    石黒章夫, 内川嘉樹

    日本ロボット学会　15　(5)　684-688　1997/05

    Publisher: The Robotics Society of Japan

    DOI： 10.7210/jrsj.15.684 　

    ISSN： 0289-1824

  175. Emergent Construction of a Neural Controller for on Autonomous Mobile Robot Using the Ontogenetic Process with Phenotypic Plasticity

    ISHIGURO A., NAKAMURA H., KATO K., AOKI T., UCHIKAWA Y.

    24　1-6　1997/03/18

  176. Evolutionary Acquisition of Control System for Four-legged Walking Robots

    ISHIGURO Akio, IWAKI Hideaki, FUKUMORI Tsutomu, UCHIKAWA Yoshiki

    9　155-158　1997/01/16

  177. Autonomous Gait Acquisition of a 6-Legged Walking Robot Using a Reinforcement Learning Method

    ISHIGURO Akio, NAKAMURA Hiroshi, UCHIKAWA Yoshiki

    9　107-110　1997/01/16

  178. A Cooperative Gait Acquisition for 6-Legged Walking Robots Using Evolution Strategy

    ICHIKAWA Shingo, ISHIGURO Akio, UCHIKAWA Yoshiki

    9　145-148　1997/01/16

  179. Verification of Behavior Arbitration for an Autonomous Mobile Robot Based on the Immune Networks : Adjustments of affinities among antibodies by Evolution Strategy

    ISHIGURO Akio, SHIRAI Yasuhiro, KONDO Toshiyuki, UCHIKAWA Yoshiki

    9　239-242　1997/01/16

  180. Evolutionary Acquisition of Control System for Four-legged Walking Robots on Rough Terrain

    ISHIGURO Akio, IWAKI Hideaki, UCHIKAWA Yoshiki

    6　366-369　1996/10/18

  181. Verification of Behavior Arbitration for an Autonomous Mobile Robot Based on the Immune Networks

    ISHIGURO Akio, SHIRAI Yasuhiro, KONDO Toshiyuki, UCHIKAWA Yoshiki

    6　165-168　1996/10/18

  182. A Method for Behavior Arbitration in Autonomous Mobile Robots Using Emotion Mechanisms

    ISHIGURO Akio, MOCHIDA Tetsuji, AOKI Takeshi, UCHIKAWA Yoshiki

    Transactions of the Japan Society of Mechanical Engineers. Series C.　62　(599)　2750-2757　1996/07/25

    Publisher: The Japan Society of Mechanical Engineers

    ISSN： 0387-5024

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    The conventional AI (artificial intelligence) technology has been criticized for its many drawbacks, one of which is brittleness under hostile dynamically changing environments. To overcome this problem, other approaches, such as behavior-based AI, new AI, emergent computation and animat approach, have been proposed and their usefulness has been confirmed. Since computational ability of mobile robots is limited in general, it is required that robots arbitrate output behaviors appropriately using obtained sensory data. On the other hand, in living organisms, there are two systems for coping with a dynamically changing environment: 1) the immune system and 2) the emotion system. Based on this, we present a new method for behavior arbitration in autonomous mobile robots by paying close attention to the emotion system in living organisms. We confirm the feasibility of our proposed method by applying it to an obstacle avoidance problem of a mobile robot as a practical example.

  183. Method of Action Selection of an Autonomous Mobile Robot Using the Immune Networks

    ISHIGURO Akio, WATANABE Yuji, UCHIKAWA Yoshiki

    Transactions of the Japan Society of Mechanical Engineers. Series C.　62　(598)　2321-2328　1996/06/25

    Publisher: The Japan Society of Mechanical Engineers

    ISSN： 0387-5024

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    Recently, in artificial intelligence technology, much attention has been focused on the approaches based on behavior (behavior-based AI) that demonstrate robustness and flexibility to dynamically changing environments. On the other hand, the immune system plays important roles in maintaining its own system in dynamically changing environments. Therefore, we believe that the immune system can provide a new paradigm suitable for dynamic problems dealing with unknown environments rather than static problems. We propose a new approach to behavior-based AI by focusing our attention to the biological immune system. The basic principle of our proposed method is that the immune system equipped with the robot selects the simple action (antibody) which is suitable for the current situation(antigen). We confirm the feasibility of our proposed method by applying it to the behavior control of an autonomous mobile robot in a cluttered environment as an example.

  184. Construction of Decentralized Consensus-Making Network Based on Immune Systems : Application to Dynamic Action Selection for Autonomous Mobile Robots

    ISHIGURO Akio, KONDO Toshiyuki, WATANABE Yuji, UCHIKAWA Yoshiki

    8　365-370　1996/01/17

  185. 免疫情報処理機構に基づく自律移動ロボットの行動制御の一手法

    石黒 章夫, 渡邊 裕司, 内川 嘉樹

    電気学会研究会資料. IIS, 産業システム情報化研究会　1995　(1)　79-88　1994/03/09

  186. リカレントネットワ-クを用いた2自由度制御系の設計

    青木 猛, 石黒 章夫, 大熊 繁

    名古屋市工業研究所研究報告　(79)　p22-25　1994

    Publisher: 名古屋市工業研究所

    ISSN： 0369-3333

  187. A Method of Dynamic Deformation of Virtual Objects with Generating Interactive Force.

    山本健詞, 近藤英男, 石黒章夫, 内川嘉樹

    計測自動制御学会学術講演会予稿集　33rd　(Domestic Session)　1994

  188. A Method of Shape Modeling of Virtual Objects with Generating Interactive Force.

    山本健詞, 近藤英男, 石黒章夫, 内川嘉樹

    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

  189. 先端工学における逆問題解析手法(Ⅶ) －遺伝的アルゴリズムを用いた逆問題解析の一手法－

    石黒章夫, 内川嘉樹

    日本AEM学会誌　2　(4)　68-76　1994

    ISSN： 0919-4452

  190. A Development of Dynamic Deforming Algorithms with Generation of Interactive Forces for 3D shape Modeling.

    山本健詞, 石黒章夫, 内川嘉樹

    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

  191. 3D Shape Modeling Algorithms with Generation of Interactive Forces.

    山本健詞, 石黒章夫, 内川嘉樹

    日本ロボット学会学術講演会予稿集　11th　(1)　1993

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Books and Other Publications 23

  1. ロボット工学ハンドブック(第3版)

    日本ロボット学会

    コロナ社　2023/02/27

    ISBN: 4339046795

  2. Neural Computation in Embodied Closed-lopp Systems for The Generation of Complex Behavior

    ISHIGURO Akio

    Frontiers in Neurorobotics　2018/10

  3. Living Machines: A Handbook of Research in Biomimetics and Biohybrid Systems

    Akio Ishiguro, Takuya Umedachi

    Oxford University Press　2018

  4. ロボット制御学ハンドブック

    大脇大, 石黒章夫

    近代科学社　2017

  5. Advances in Physarum Machines (Vol. 21 of the series Emergence, Complexity and Computation）

    Takuya Umedachi, Akio Ishiguro

    Springer International Publishing　2016/01

  6. 知能の原理 ー身体性に基づく構成論的アプローチー

    細田 耕, 石黒 章夫

    共立出版　2010

  7. 50 Years of Artificial Intelligence: Essays Dedicated to the 50th Anniversary of Artificial Intelligence

    Akio Ishiguro, Masahiro Shimizu, Eds. M. Lungarella, F. Iida, J. Bongard, R. Pfeife

    Springer　2008

  8. DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 6

    Masahiro Shimizu, Masayasu Takahashi, Toshihiro Kawakatsu, Akio Ishiguro

    Springer　2007

  9. 粘菌～驚くべき生命力の謎～

    石黒 章夫, 清水 正宏

    誠文堂新光社　2007/01

  10. ロボット研究者からのメッセージ

    石黒 章夫

    オーム社　2007/01

  11. ADAPTIVE MOTION OF ANIMALS AND MACHINES

    H. Kimura, K. Tsuchiya, A. Ishiguro, H. Witte

    Springer　2006/01

  12. Intelligent Autonomous Systems 9

    Eds. T. Arai

    IOS Press　2006/01

  13. EMBODIED ARTIFICIAL INTELLIGENCE (LECTURE NOTES IN ARTIFICIAL INTELLIGENCE (Eds. F. Iida et al.)

    Akio Ishiguro, Toshihiro Kawakatsu

    Springer　2004

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    種別？

  14. AI事典 第２版（土屋 俊 他 編集）

    Akio Ishiguro

    KYORITSU SHUPPAN　2003

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    著書名の英訳？ 種別？

  15. Understanding Intelligence

    Akio Ishiguro, Hiroshi Kobayashi, Koh Hosoda

    KYORITSU SHUPPAN　2001

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    種別？ 共著・編著区分？

  16. 知の創発 －ロボットは知恵を獲得できるか－（伊藤宏司 編著）

    Akio Ishiguro, Yoshiki Uchikawa

    NTT Publishing　2000

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    著書名の英訳？ 種別？

  17. ADVANCES IN ROBOT LEARNING (LECTURE NOTES IN ARTIFICIAL INTELLIGENCE (Eds. J. Wyatt and J. Demiris))

    Peter Eggenberger, Akio Ishiguro, Seiji Tokura, Toshiyuki Kondo, Takeshi Kawashima

    Springer　2000

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    種別？

  18. Immunity-Based Systems and Its Applications

    Akio Ishiguro

    Corona Publishing　1998

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    種別？

  19. ARTIFICIAL IMMUNE SYSTEMS AND THEIR APPLICATIONS (Ed. D. Dasgupta)

    Yuji Watanabe, Akio Ishiguro, Yoshiki Uchikawa

    Springer　1998

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  20. SOFT COMPUTING FOR INTELLIGENT ROBOTIC SYSTEMS (Eds. L.C. Jain and T. Fukuda)

    Akio Ishiguro, Yuji Watanabe, Toshiyuki Kondo, Yoshiki Uchikawa

    Physica-Verlag　1998

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  21. PARALLEL PROBLEM SOLVING FROM NATURE (LECTURE NOTE IN COMPUTER SCIENCE (Eds. H-M. Voigt et al.)

    Akio Ishiguro, Toshiyuki Kondo, Yuji Watanabe, Yoshiki Uchikawa

    Springer　1996

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    種別？

  22. SIMULATION AND DESIGN OF APPLIED ELECTROMAGNETIC SYSTEMS (Ed. T. Honma)

    Yoshiaki Tanaka, Akio Ishiguro, Yoshiki Uchikawa

    Elsevier　1994

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  23. NONLINEAR PHENOMENA IN ELECTROMAGNETIC FIELDS (Eds. T. Furuhashi and Y. Uchikawa)

    Akio Ishiguro, Yoshiaki Tanaka, Yoshiki Uchikawa

    Elsevier　1992

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Presentations 256

  1. Investigating Control Principle Underlying Animal Locomotion: A Tegota-based Control Approach Invited

    Akio Ishiguro

    The 8th International Symposium on Swarm Behavior and Bio-inspired Robotics　2024/09/19

  2. Development of quadruped robot that can exploit shoulder hammock structure

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

    IEEE/SICE International Symposium on System Integration(SII2020)　2020/01/15

  3. Decentralized Coordination Mechanism between Neck and Limbs for Efficient Quadrupedal Walking

    Akira Fukuhara, Shura Suzuki, Takeshi Kano, Akio Ishiguro

    IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2019)　2019/11/06

  4. On the Determinant of Spontaneous Gait Transition in Legged Locomotion," SICE Annual Conference International-presentation

    A. Fukuhara, D. Owaki, T. Kano, A. Ishiguro

    SICE Annual Conference　2019/09

  5. Inter- and intra-limb coordination mechanism under limited actuator capabilities in adaptive quadruped locomotion International-presentation

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

    International Symposium on Adaptive Motion in Animals and Machines　2019/08

  6. A salamander robot driven by cross-coupled sensory feedback control between legs and trunk International-presentation

    S. Suzuki, T. Kano, A. J. Ijspeert, A. Ishiguro

    International Symposium on Adaptive Motion in Animals and Machines　2019/08

  7. Decentralized control scheme for adaptive body-limb coordination in centipede walking International-presentation

    K. Yasui, K. Furukawa, A. Fukuhara, T. Kano, A. Ishiguro

    International Symposium on Adaptive Motion in Animals and Machines　2019/08

  8. Non-trivial behaviors emerging from a simple decentralized rules (Part 2): A case study with swarming of individuals International-presentation

    T. Kano, N. Matsui, E. Naito, T. Aoshima, A. Ishiguro

    International Symposium on Adaptive Motion in Animals and Machines　2019/08

  9. A reaction-diffusion model for simulating the oscillatory expansion of biofilms International-presentation

    T. Mikami, M. Asally, T. Kano, A. Ishiguro

    The 2019 Conference on Artificial LIFE　2019/08

  10. Robotics-inspired Biology: Simple Decentralized Control Mechanism Reproduces Versatile Gait Patterns in Quadruped Locomotion

    Akira Fukuhara, Takeshi Kano, Akio Ishiguro

    International Congress of Vertebrate Morphology (ICVM2019)　2019/07/22

  11. 3D Movement of Snake Robot Driven by Tegotae-based Control International-presentation

    T. Kano, N. Matsui, A. Ishiguro

    Living Machines　2019/07

  12. Undulatory swimming control with local exteroceptive sensory feedback International-presentation

    Robin Thandiackal, Kamilo Melo, Laura Paez, Takeshi Kano, Akio Ishiguro, Auke Ijspeert

    The Society for Integrative and Comparative Biology (SICB) Annual Meeting　2019/03

  13. 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, William Sellers, 石黒章夫

    日本古生物学会第168回例会　2019/01/25

  14. An agent-based model for the community of vampire bats that survive by sharing food International-presentation

    T. Mikami, T. Kano, A. Ishiguro

    International Symposium on Swarm Behavior and Bio-Inspired Robotics　2019

  15. Efficient Quadrupedal Walking Via Decentralized Coordination Mechanism between Limbs and Neck International-presentation

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

    IEEE/RSJ International Conference on Intelligent Robots and Systems　2019

  16. Non-trivial behaviors emerging from a simple decentralized rules (Part 1): A case study with one-dimensional crawling locomotion International-presentation

    T. Kano, D. Kanto, A. Ishiguro

    International Symposium on Adaptive Motion in Animals and Machines　2019

  17. Engineering Application of Non-Reciprocal-Interaction-Based (NRIB) Model: Swarm Robotic System That Can Perform Spatially Distributed Tasks in Parallel International-presentation

    T. Kano, E. Naito, T. Aoshima, A. Ishiguro

    The 2019 Conference on Artificial LIFE　2019

  18. バクテリアに着想を得たサバイバビリティの高いシステムの設計に関する一考察

    三上 大志, 浅利 宗弘, 加納 剛史, 石黒 章夫

    第31回自律分散システム・シンポジウム　2019/01

  19. 脚運動と胴体の屈曲運動の協調が可能なムカデ型ロボットの自律分散制御

    古川 和貴, 安井 浩太郎, 福原 洸, 加納 剛史, 石黒 章夫

    第31回自律分散システム・シンポジウム　2019/01

  20. ムカデの歩行・遊泳間の遷移に内在する自律分散制御則

    安井 浩太郎, 古川 和貴, 加納 剛史, Emily Standen, 青沼 仁志, 石黒 章夫

    第31回自律分散システム・シンポジウム　2019/01

  21. トカゲ様歩行に着想を得た脚と胴体の協調運動を生成する自律分散制御則

    鈴木 朱羅, 加納 剛史, Auke J. Ijspeert, 石黒 章夫

    第31回自律分散システム・シンポジウム　2019/01

  22. 胴体の屈曲運動と地面への押し付けを活用する自律分散型ヘビロボット

    松井 尚輝, 加納 剛史, 石黒 章夫

    第31回自律分散システム・シンポジウム　2019/01

  23. ヘビ型ロボットの稼働環境の拡幅化に向けた自律分散制御に関する一考察

    秋山 恭一, Laura Paez, Kamilo Melo, 加納 剛史, Auke Jan Ijspeert, 石黒 章夫

    第31回自律分散システム・シンポジウム　2019/01

  24. 適応的歩行を生み出す身体的制約を考慮した自律分散制御

    齊藤 空良, 須田 渉, 福原 洸, 加納 剛史, 石黒 章夫

    第31回自律分散システム・シンポジウム　2019/01

  25. 回転対称な身体を有するクモヒトデの進行方向はどのように決まるのか？

    金内 大地, 加納 剛史, Elizabeth, G. Clark, 青沼 仁志, 石黒 章夫

    第31回自律分散システム・シンポジウム　2019/01

  26. あらゆる環境下で推進可能なヘビ型ロボットの実現に向けて 〜手応え制御則の再考察〜

    秋山 恭一, 加納剛史, 石黒章夫

    計測自動制御学会東北支部第320回研究集会　2018/12

  27. ヘビのコンセルティーナロコモーションを再現可能な自律分散制御則の実験的検証-

    吉澤遼, 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　2018/01/29

  28. 脚運動と胴体の屈曲運動の協調を可能とする多脚ロボットの自律分散制御則

    佐々木瞭, 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　2018/01/28

  29. 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　2018/01/28

  30. 胴体の伸縮を活用する多脚ロボットの自律分散制御

    菊池 和気, 安井 浩太郎, 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　2018/01/28

  31. フナムシの高速ロコモーションに学ぶ胴体の自由度を活用した多脚ロボットの自律分散制御

    池下義人, 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　2018/01/28

  32. ムカデが足並みの疎密波の向きを変えるメカニズム

    安井浩太郎, 菊池和気, 加納剛史, 黒田茂, 青沼仁志, 早瀬友美乃, 小林亮, 石黒章夫

    第30回自律分散システムシンポジウム　2018/01/28

  33. Weak DC Motors Generate Earthworm Locomotion without a Brain International-presentation

    Yoichi Masuda, Masato Ishikawa, Akio Ishiguro

    Living Machines 2018: Biomimetic & Biohybrid Systems　2018

  34. Decentralized Control Mechanism Underlying Inter- and Intra-arm Coordination in Brittle Star’s Locomotion International-presentation

    Takeshi Kano, Daichi Kanauchi, Hitoshi Aonuma, Akio Ishiguro

    The 16th International Echinoderm conference　2018

  35. Snake-like Robot That Can Generate Versatile Gait Patterns by Using Tegotae-based Control International-presentation

    Takeshi Kano, Ryo Yoshizawa, Akio Ishiguro

    Living machines 2018　2018

  36. Undulatory Swimming Locomotion Driven by CPG with Multimodal Local Sensory Feedback International-presentation

    Kyoichi Akiyama, Kotaro Yasui, Jonathan Arreguit, Laura Paez, Kamilo Melo, Takeshi Kano, Auke Jan Ijspeert, Akio Ishiguro

    Living machines 2018　2018

  37. Decentralized Control Scheme for Swarm Robots with Self-Sacrifice International-presentation

    Takeshi Kano, Munehiro Asally, Akio Ishiguro

    THE 2018 CONFERENCE ON ARTIFICIAL LIFE（ALIFE2018）　2018

  38. Decentralized Control Scheme for Coupling between Undulatory and Peristaltic Locomotion, International-presentation

    Takeshi Kano, Naoki Matsui, Akio Ishiguro

    The 15th International Conference on the Simulation of Adaptive Behavior (SAB2018)　2018

  39. Minimal Model for Body-Limb Coordination in Quadruped High-Speed Running International-presentation

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

    The 15th International Conference on the Simulation of Adaptive Behavior (SAB2018)　2018

  40. Decentralized Control Scheme for Multi-legged Robot That Enables Well-balanced Coupling between Peristaltic and Legged Motions International-presentation

    Takeshi Kano, Kotaro Yasui, Akio Ishiguro

    SICE annual conference　2018

  41. A 3D Mathamatical Model of Centiped Locomotion on Rough Terrain International-presentation

    Yumino Hayase, Shota Fujii, Kotaro Yasui, Takeshi Kano, Akio Ishiguro, Ryo Kobayashi

    11th European Conference on Mathematical and Theoretical Biology (ECMTB2018)　2018

  42. 一次元這行運動における伸縮制御と摩擦制御の連関手法

    関東大樹, 岩本真裕子, 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)　2018

  43. 「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）　2018

  44. 「手応え関数」の自動生成に基づく自律分散制御則の設計 ~ 一次元這行運動を用いた検証 ~

    佐藤光暁, 脇本竜, 加納剛史, 篠原歩, 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）　2018

  45. 胴体の屈曲運動を活用する自律分散型ムカデロボットの開発

    古川和貴, 安井浩太郎, 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）　2018

  46. 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）　2018

  47. 胴体の屈曲運動と地面への押し付けを活用するヘビ型ロボットの自律分散制御則

    松井尚輝, 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）　2018

  48. クモヒトデに学ぶ階層的な自律分散制御則の実機検証

    金内大地, 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）　2018

  49. 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）　2018

  50. フナムシから学ぶ胴体の自由度を活用した高速多脚歩行

    池下義人, 加納剛史, 大脇大, 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　2017/12/22

  51. コンセルティーナロコモーションを発現可能な自律分散型ヘビロボット

    吉澤遼, 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　2017/12/22

  52. 蛇行運動と蠕動運動の有機的なカップリングを可能とする自律分散制御則

    松井 尚輝, 吉澤 遼, 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　2017/12/22

  53. 胴体の伸縮運動と脚運動の協調を可能とする多脚ロボットの自律分散制御則

    菊池 和気, 安井 浩太郎, 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　2017/12/22

  54. 胴体の屈曲運動機能を有する多脚ロボットの自律分散制御

    佐々木瞭, 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　2017/12/22

  55. 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　2017/12/22

  56. 蛇行運動と蠕動運動の協調を可能とする自律分散制御則

    松井 尚輝, 吉澤 遼, 加納 剛史, 石黒 章夫

    SICE東北支部第313回研究集会　2017/12/09

  57. A Minimal Model for Body-limb Coordination in Quadruped Locomotion International-presentation

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

    The 8th International Symposium on Adaptive Motion of Animals and Machines（AMAM2017)　2017/06/27

  58. Decentralized Control of Earthworm-like Robot Based on Tegotae Function, International-presentation

    Takeshi Kano, Akio Ishiguro

    The 8th International Symposium on Adaptive Motion of Animals and Machines（AMAM2017)　2017/06/27

  59. Decentralized Control Mechanism Underlying Interlimb Coordination of Centipedes International-presentation

    Kotaro Yasui, Kazuki Kikuchi, Takeshi Kano, Yumino Hayase, Shigeru Kuroda, Hitoshi Aonuma, Ryo Kobayashi, Akio Ishiguro

    The 8th International Symposium on Adaptive Motion of Animals and Machines（AMAM2017)　2017/06/27

  60. フナムシ特有の歩容変化から学ぶ脚間協調制御則

    池下義人, 加納剛史, 大脇大, 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）　2017/05/10

  61. 身体の摩擦異方性の変化に適応可能な屈曲推進運動の自律分散制御則

    佐々木瞭, 加納剛史, Auke Jan Ijspeert, 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）　2017/05/10

  62. 柔軟な腕の協調により推進可能なクモヒトデ型ロボットの開発

    金内大地, 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）　2017/05/10

  63. 非対称相互作用により動的秩序を生み出す群ロボット

    松井尚輝, 加納剛史, 内藤栄一, 青島武伸, 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）　2017/05/10

  64. 環境変化に呼応してロコモーション様式を改変可能な自律分散型ヘビロボット

    吉澤遼, 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）　2017/05/10

  65. Spring-cam機構を用いた可変剛性足関節装具

    大脇大, 関口雄介, 本他啓太, 広井典良, 福司謙一郎, 野崎岳夫, 石黒章夫, 出江紳一

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2017）　2017/05/10

  66. クモヒトデの適応的ロコモーションに内在する階層的な自律分散制御則の解明

    小野達也, 金内大地, 加納剛史, 青沼仁志, 石黒章夫

    第29回自律分散システム・シンポジウム　2017/01/30

  67. 身体支持と推進のTegotaeに基づく6 脚ロコモーションの脚間協調制御則

    郷田将, 宮澤咲紀子, 大脇大, 石黒章夫

    第29回自律分散システム・シンポジウム　2017/01/30

  68. 柔軟な脚を有する移動ロボットの自律分散制御

    板山晋, 郷田将, 宮澤咲紀子, 加納剛史, 石黒章夫

    第29回自律分散システム・シンポジウム　2017/01/30

  69. ムカデの適応的ロコモーションに内在する自律分散制御則

    安井浩太郎, 菊池和気, 加納剛史, 早瀬友美乃, 黒田茂, 青沼仁志, 小林亮, 石黒章夫

    第29回自律分散システム・シンポジウム　2017/01/30

  70. 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　2017/01/30

  71. 手応え制御に基づくミミズ型ロボット

    千葉大徳, 加納剛史, 石黒章夫

    第29回自律分散システム・シンポジウム　2017/01/30

  72. Myriapod Robot i-CentiPot via Mechanical Passivity International-presentation

    Tetsuya Kinugasa, Naoki Miyamoto, Koichi Osuka, Ryota Hayashi, Koji Yoshida, Dai Owaki, Akio Ishiguro

    SICE Annual Conference　2017

  73. ムカデとヤスデのロコモーションに通底する自律分散制御則に関する考察

    安井浩太郎, 加納剛史, 小林亮, 石黒章夫

    第17回計測自動制御学会システムインテグレーション部門講演会(SI2016)　2016/12/15

  74. 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　2016/10/21

  75. 感覚モダリティ変換装具Auditory Footを用いた片麻痺患者における長期的歩行リハビリテーション

    大脇大, 関口雄介, 本田啓太, 石黒章夫, 出江紳一

    第10回モーターコントロール研究会　2016/09/01

  76. 動物の生き生きとした振る舞いに内在する制御原理を探る

    第22回創発システムシンポジウム　2016/08/24

  77. ミニマルな脚間協調制御則でコオロギの遊泳ロコモーションの再現に挑む

    宮澤咲紀子, 郷田将, 大脇大, 加納剛史, 石黒章夫

    第22回創発システムシンポジウム　2016/08/24

  78. 等脚類の脚間協調メカニズム

    池下義人, 大脇大, 加納剛史, 石黒章夫

    第22回創発システムシンポジウム　2016/08/24

  79. 足部の接地部位に応じた「手応え」を活用する二足歩行制御則の提案

    秋山恭一, 大脇大, 石黒章夫

    第22回創発システムシンポジウム　2016/08/24

  80. ヒモ状生物の適応的ロコモーションに内在する「手応え制御則」

    佐々木瞭, 加納剛史, Robin Thandiackal, Auke Jan Ijspeert, 石黒章夫

    第22回創発システムシンポジウム　2016/08/24

  81. 手応え制御で再現するヘビの多様なロコモーション

    吉澤遼, 加納 剛史, 石黒 章夫

    第22回創発システムシンポジウム　2016/08/24

  82. ムカデの示す多様な運動パターン

    菊池和気, 安井浩太郎, 加納剛史, 石黒章夫

    第22回創発システムシンポジウム　2016/08/24

  83. A Case Study of Long-Term Walking Rehabilitation Using a Prosthesis That Transforms Sensory Modalities for Stroke Patients International-presentation

    Dai Owaki, Yusuke Sekiguchi, Keita Honda, Akio Ishiguro, Shin-ichi Izumi

    The 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’16)　2016/08/16

  84. Decentralized Control Scheme for Myriapod Locomotion That Exploits Local Force Feedback International-presentation

    T. Kano, K. Yasui, D. Owaki, A. Ishiguro

    5th International Conference, Living machines 2016　2016/07/19

  85. TEGOTAE-based Control Scheme for Snake-like Robots That Enables Scaffold-based Locomotion International-presentation

    T. Kano, R. Yoshizawa, A. Ishiguro

    5th International Conference, Living machines 2016　2016/07/19

  86. Understanding Interlimb Coordination Mechanism of Hexapod Locomotion via “TEGOTAE”-based Control International-presentation

    Masashi Goda, Sakiko Miyazawa, Susumu Itayama, Dai Owaki, Takeshi Kano, Akio Ishiguro

    5th International Conference, Living machines 2016　2016/07/19

  87. Decentralized Control Scheme for Centipede Locomotion Based on Local Reflexes International-presentation

    Kotaro Yasui, Takeshi Kano, Dai Owaki, Akio Ishiguro

    5th International Conference, Living machines 2016　2016/07/19

  88. "TEGOTAE"-based Control of Bipedal Walking International-presentation

    Dai Owaki, Shun-ya Horikiri, Jun Nishii, Akio Ishiguro

    5th International Conference, Living machines 2016　2016/07/19

  89. Quadruped Gait Transition from Walk to Pace to Rotary Gallop by Exploiting Head Movements International-presentation

    Shura Suzuki, Dai Owaki, Akira Fukuhara, Akio Ishiguro

    5th International Conference, Living machines 2016　2016/07/19

  90. Realization of Snakes' Concertina Locomotion by Using "TEGOTAE-based Control" International-presentation

    Ryo Yoshizawa, Takeshi Kano, Akio Ishiguro

    5th International Conference, Living machines 2016　2016/07/19

  91. Leg Stiffness Control Based on "TEGOTAE" for Quadruped Locomotion International-presentation

    Akira Fukuhara, Dai Owaki, Takeshi Kano, Akio Ishiguro

    5th International Conference, Living machines 2016　2016/07/19

  92. TEGOTAE-based Control: A Key to Understanding Control Principle Underlying Animals’ Adaptive Behavior International-presentation

    Akio Ishiguro

    JSPS UK-Japan Workshop on Biologically Inspired Soft Robotics　2016/07/14

  93. 局所反射に基づくムカデの脚間協調制御則

    安井浩太郎, 加納剛史, 大脇大, 石黒章夫

    東北大学附置研究所若手アンサンブルワークショップ　2016/07/12

  94. Understanding the mechanism of snakes’ scaffold-based locomotion from the viewpoint of TEGOTAE-based control International-presentation

    Takeshi Kano, Ryo Yoshizawa, Akio Ishiguro

    The European Conference on Mathematical and Theoretical Biology（ECMTB2016)　2016/07/11

  95. 環境からの力覚情報を活用した自律分散型多脚ロボットの開発

    加納剛史, 安井浩太郎, 大脇 大, 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 in Yokohama（ROBOMEC2016）　2016/06/09

  96. 「手応え関数」に基づく6 脚ロコモーションの自律分散制御則ー身体支持に着目した制御則設計ー

    郷田 将, 宮澤 咲紀子, 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 in Yokohama（ROBOMEC2016）　2016/06/09

  97. 「手応え関数」に基づく6脚ロコモーションの自律分散制御則 −推進力に着目した制御則設計−

    宮澤咲紀子, 郷田将, 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 in Yokohama（ROBOMEC2016）　2016/06/09

  98. 局所反射に基づく多脚ロボットの脚間協調制御則

    安井浩太郎, 加納剛史, 大脇大, 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 in Yokohama（ROBOMEC2016）　2016/06/09

  99. ヘビ型ロボットにおける「手応え制御則」の実機検証

    加納剛史, 吉澤遼, 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 in Yokohama（ROBOMEC2016）　2016/06/09

  100. 足場を活用して推進するクモヒトデのロコモーションに内在する自律分散制御則

    小野達也, 加納剛史, 青沼仁志, 松坂義哉, 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 in Yokohama（ROBOMEC2016）　2016/06/09

  101. 「手応え関数」に基づく脚間協調制御則の 8 脚ロコモーションへの適応性の検証

    板山晋, 郷田将, 宮澤咲紀子, 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 in Yokohama（ROBOMEC2016）　2016/06/09

  102. ヒモ状生物のロコモーションに内在する「手応え制御則」

    佐々木瞭, 加納剛史, 風間俊哉, Robin Thandiackal,Auke Jan Ijspeert, 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 in Yokohama（ROBOMEC2016）　2016/06/09

  103. 手応え制御によるヘビのコンセルティーナロコモーションの再現

    吉澤遼, 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 in Yokohama（ROBOMEC2016）　2016/06/09

  104. 「手応え関数」に基づくミミズ型ロボットの自律分散制御

    千葉大徳, 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 in Yokohama（ROBOMEC2016）　2016/06/09

  105. 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 in Yokohama（ROBOMEC2016）　2016/06/09

  106. 「手応え関数」に基づく6脚歩行の脚間協調制御則の構築

    郷田将, 宮澤咲紀子, 板山晋, 大脇大, 加納剛史, 石黒章夫

    SICE東北支部第300回研究集会　2016/02/19

  107. 非対称相互作用から生み出されるコト 〜5素子系の理論解析〜

    加納剛史, 大須賀公一, 川勝年洋, 石黒章夫

    第28回自律分散システムシンポジウム　2016/01/21

  108. 「手応え制御」に基づくヘビ型ロボットの開発

    中島大樹, 加納剛史, 石黒章夫

    第28回自律分散システムシンポジウム　2016/01/21

  109. 「手応え関数」に基づく適応的二足歩行制御

    堀切舜哉, 大脇大, 西井淳, 石黒章夫

    第28回自律分散システムシンポジウム　2016/01/21

  110. 環境からの力覚情報を活用した多足類型ロボットの脚間協調制御

    酒井和彦, 安井浩太郎, 加納剛史, 大脇大, 石黒章夫

    第28回自律分散システムシンポジウム　2016/01/21

  111. 「手応え関数」に基づく6脚歩行の脚間協調制御則の設計

    郷田将, 宮澤咲紀子, 板山晋, 大脇大, 加納剛史, 石黒章夫

    第28回自律分散システムシンポジウム　2016/01/21

  112. 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　2016/01/21

  113. 足底圧感覚の聴覚フィードバック装具がもたらす片麻痺患者の歩行への即時的効果

    大脇大, 関口雄介, 本田啓太, 石黒章夫, 出江紳一

    第28回自律分散システムシンポジウム　2016/01/21

  114. 足底感覚情報を用いた二足歩行制御の環境適応性に関する検証

    堀切舜哉, 大脇大, 西井淳, 石黒章夫

    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（SI2015）　2015/12/14

  115. ムカデのロコモーションに内在する自律分散制御則

    安井浩太郎, 酒井和彦, 加納剛史, 大脇大, 石黒章夫

    SICE東北支部第299回研究集会　2015/12/05

  116. Auditory Foot: A Novel Auditory Feedback System Regarding Kinesthesia International-presentation

    Dai Owaki, Yusuke Sekiguchi, Akio Ishiguro, Shin-ichi Izumi

    2015International Symposium on Micro-NanoMachatronics and Human Science(MHS2015)　2015/11/23

  117. New Hypothesis for the Mechanism of Quadruped Gait Transition International-presentation

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

    The First International Symposium on Swarm Behavior and Bio-Inspired Robotics(SWARM2015)　2015/10/28

  118. Decentralized Control of 1D Crawling Locomotion by Exploiting ‘TEGOTAE’ from Environment International-presentation

    Takeshi Kano, Hironori Chiba, Takuya Umedachi, Akio Ishiguro

    The First International Symposium on Swarm Behavior and Bio-Inspired Robotics(SWARM2015)　2015/10/28

  119. TEGOTAE-based decentralized control mechanism underlying myriapod locomotion International-presentation

    Kotaro Yasui, Kazuhiko Sakai, Takeshi Kano, Dai Owaki, Akio Ishiguro

    The First International Symposium on Swarm Behavior and Bio-Inspired Robotics(SWARM2015)　2015/10/28

  120. クモヒトデのロコモーションに内在する腕内協調メカニズム

    小野達也, 加納剛史, 青沼仁志, 松坂義哉, 石黒章夫

    第21回創発システムシンポジウム　2015/08/30

  121. 環境からの手応えを活用する多足類の脚間協調制御

    安井浩太郎, 酒井和彦, 加納剛史, 大脇大, 石黒章夫

    第21回創発システムシンポジウム　2015/08/30

  122. 環境を友とする四脚ロボット

    鈴木朱羅, 大脇大, 石黒章夫

    第21回創発システムシンポジウム　2015/08/30

  123. 脚間の力学的相互作用および情報的相互作用を用いた六脚ロボットの歩行制御

    郷田 将, 大脇 大, 加納 剛史, 青沼 仁志, 石黒 章夫

    第21回創発システムシンポジウム　2015/08/30

  124. 8~14脚を有する動物の脚間協調メカニズム

    安井浩太郎, 酒井和彦, 加納剛史, 大脇大, 石黒章夫

    第21回創発システムシンポジウム　2015/08/30

  125. 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　2015/08/30

  126. How Snakes Move by Selectively Utilizing Reaction Force

    中島大樹, 加納剛史, 石黒章夫

    第25回数理生物学会年会　2015/08/26

  127. Intra-limb Coordination Mechanism of Ophiuroid Locomotion

    小野達也, 加納剛史, 青沼仁志, 松坂義哉, 石黒章夫

    第25回数理生物学会年会　2015/08/26

  128. Decentralized Control Mechanism Underlying Myriapod Locomotion

    Kotaro Yasui, Kazuhiko Sakai, Takeshi Kano, Dai Owaki, Akio Ishiguro

    第25回数理生物学会年会　2015/08/26

  129. 自律分散制御則から切り拓く四脚ロコモーションの発現機序

    福原洸, 大脇大, 加納剛史, 石黒章夫

    東北大学附置研究所若手アンサンブルワークショップ　2015/07/23

  130. TEGOTAE-based control for one-dimensional crawling locomotion International-presentation

    Takeshi Kano, Hironori Chiba, Takuya Umedachi, Akio Ishiguro

    The 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM2015)　2015/06/21

  131. Snake-like robot that exhibits adaptive concertina locomotion International-presentation

    Takeshi Kano, Hisashi Date, Kosuke Inoue, Akio Ishiguro

    The 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM2015)　2015/06/21

  132. Cricket switches locomotion patterns from walking to swimming by evaluating reaction forces from the environment International-presentation

    Hitoshi Aonuma, Masashi Goda, Shigeru Kuroda, Takeshi Kano, Dai Owaki, Akio Ishiguro

    The 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM2015)　2015/06/21

  133. Experimental Verification of Bipedal Walking Control Exploiting Plantar Sensory Feedback International-presentation

    Dai Owaki, Shun-ya Horikiri, Jun Nishii, Akio Ishiguro

    The 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM2015)　2015/06/21

  134. TEGOTAE-based CPG Control for Quadrupd Locomotion International-presentation

    Dai Owaki, Shura Suzuki, Akio Ishiguro

    The 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM2015)　2015/06/21

  135. Implicit Stiffness Control Embedded in Nonlinear Spring Enables Stable and Robust Running International-presentation

    Dai Owaki, Helmut Hauser, Akio Ishiguro

    The 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM2015)　2015/06/21

  136. A Minimal CPG Model for Interlimb Coordination in Quadruped Locomotion International-presentation

    Dai Owaki, Akio Ishiguro

    IEEE Robotics & Automation Society CPGs Workshop (ICRA2015 CPG Workshop)　2015/05/30

  137. Load-dependent Interlimb Coordination for Bipedal Walking International-presentation

    Dai Owaki, Shun-ya Horikiri, Jun Nishii, Akio Ishiguro

    IEEE Robotics & Automation Society CPGs Workshop (ICRA2015 CPG Workshop)　2015/05/30

  138. 足底感覚情報を活用した二足歩行制御の実験的検証

    堀切舜哉, 大脇大, 西井淳, 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）　2015/05/17

  139. 環境からの手応えを活用する自律分散型ヘビロボット

    中島大樹, 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）　2015/05/17

  140. 環境からの手応えを活用するクモヒトデのロコモーションに内在する自律分散制御則

    小野達也, 加納剛史, 青沼仁志, 松坂義哉, 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）　2015/05/17

  141. 環境からの手応えを活用する四脚ロボットのCPG制御

    鈴木朱羅, 大脇大, 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）　2015/05/17

  142. 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）　2015/05/17

  143. 環境からの手応えを活用した超多脚ロボットの脚間協調制御

    酒井和彦, 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）　2015/05/17

  144. 皮膚感覚フィードバックを活用した一次元這行運動の自律分散制御則

    千葉大徳, 加納剛史, 梅舘拓也, 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）　2015/05/17

  145. -生き物の「コト」に学ぶ人工物の設計とは？－

    大阪大学機械工学系技術交流会　2015/05/08

  146. 非対称相互作用から生み出される多様な時空間秩序

    加納剛史, 大須賀公一, 川勝年洋, 石黒章夫

    日本物理学会第70回年次大会　2015/03/21

  147. クモヒトデのレジリアントな振る舞いに内在する「コト」の究明

    佐藤英毅, 小野達也, 加納剛史, 青沼仁志, 松坂義哉, 石黒章夫

    第27回自律分散システム・シンポジウム　2015/01/22

  148. 交通量の変動に適応可能な交通信号の自律分散制御

    加納剛史, 杉山雄規, 石黒章夫

    第27回自律分散システム・シンポジウム　2015/01/22

  149. 非対称相互作用から生み出されるコト

    加納剛史, 大須賀公一, 川勝年洋, 石黒章夫

    第27回自律分散システム・シンポジウム　2015/01/22

  150. Order formation through asymmetric interactions International-presentation

    Takeshi Kano, Koichi Osuka, Toshihiro Kawakatsu, Akio Ishiguro

    International Conference on Mathematical Modeling and Applications (ICCMA2014) –crowd dynamics-　2015/01/09

  151. 非対称相互作用に起因する秩序形成のミニマルモデル

    加納剛史, 大須賀公一, 川勝年洋, 石黒章夫

    第20回交通流のシミュレーションシンポジウム　2014/12/04

  152. 力積予測に基づく交通信号の自律分散制御

    加納剛史, 杉山雄規, 石黒章夫

    第20回交通流のシミュレーションシンポジウム　2014/12/04

  153. クモヒトデのレジリアントなロコモーションに内在する自律分散制御則

    加納剛史, 佐藤英毅, 小野達也, 青沼仁志, 松坂義哉, 石黒章夫

    計測自動制御学会 システム・情報部門 学術講演会 2014（SSI2014）　2014/11/21

  154. On the applicability of the decentralized control mechanism of snake locomotion to sea snake locomotion International-presentation

    Toshiya Kazama, Takeshi Kano, Makoto Iima, Ryo Kobayashi, Akio Ishiguro

    The sixth international symposium on aero aqua bio-mechanisms (ISABMEC2014)　2014/11/13

  155. Simple Decentralized Control Scheme Can Reproduce Versatile Gait Patterns of Snakes International-presentation

    Takeshi Kano, Hisashi Date, Akio Ishiguro

    2014 International Symposium on Nonlinear Theory and its Applications（NOLTA2014）　2014/09/14

  156. Doing Well in Narrow Aisle! Decentralized Control Mechanism Underlying Adaptive Concertina Locomotion of Snakes International-presentation

    Takeshi Kano, Fuyuhiko Satake, Hisashi Date, Kosuke Inoue, Akio Ishiguro

    2014 International Symposium on Nonlinear Theory and its Applications（NOLTA2014）　2014/09/14

  157. Self-organization of Motile Oscillators Inspired by Friendship Formation International-presentation

    Takeshi Kano, Koichi Osuka, Toshihiro Kawakatsu, Akio Ishiguro

    2014 International Symposium on Nonlinear Theory and its Applications（NOLTA2014）　2014/09/14

  158. 身体構造に応じた振る舞いを発現するクモヒトデ型ロボットの実機開発

    佐藤英毅, 小野達也, 加納剛史, 青沼仁志, 松坂義哉, 石黒章夫

    第32回日本ロボット学会学術講演会（RSJ2014）　2014/09/04

  159. ヘビの多様なロコモーションを再現可能な自律分散制御則の実機検証

    中島大樹, 佐竹冬彦, 伊達央, 加納剛史, 石黒章夫

    第32回日本ロボット学会学術講演会（RSJ2014）　2014/09/04

  160. Concertina Locomotion を自発的に発現する ヘビ型ロボットの開発

    佐竹冬彦, 中島大樹, 加納剛史, 伊達央, 井上康介, 石黒章夫

    第32回日本ロボット学会学術講演会（RSJ2014）　2014/09/04

  161. 足底感覚から生み出される「足応え」を活用した適応的二足歩行制御

    堀切舜哉, 大脇 大, 西井 淳, 石黒章夫

    第20回創発システムシンポジウム　2014/08/31

  162. 脚間協調現象に内在する通底原理の解明のための多脚ロボット実機プラットフォームの開発

    酒井和彦, 大脇大, 加納剛史, 石黒章夫

    第20回創発システムシンポジウム　2014/08/31

  163. 狭窄空間におけるヘビのロコモーションに内在する自律分散制御則の解明

    佐竹冬彦, 加納剛史, 伊達 央, 井上康介, 石黒章夫

    第26回自律分散システムシンポジウム　2014/01/23

  164. クモヒトデの腕間協調メカニズムの数理モデル

    佐藤英毅, 加納剛史, 青沼仁志, 松坂義哉, 石黒章夫

    第26回自律分散システムシンポジウム　2014/01/23

  165. 「個性」を持つ粒子集団が創り出す動的秩序 ～人間社会における交友関係を採り上げた事例研究～

    加納剛史, 大須賀公一, 小林亮, 青沼仁志, 石川将人, 杉本靖博, 大脇大, 石黒章夫

    第26回自律分散システムシンポジウム　2014/01/23

  166. 6 脚歩行における脚間協調メカニズムのミニマリストモデルを探る

    中村憲, 大脇大, 加納剛史, 石黒章夫

    第26回自律分散システムシンポジウム　2014/01/23

  167. 自発的歩容遷移を可能とする四脚ロボットのCPG制御

    森川玲於奈, 大脇大, 石黒章夫

    第26回自律分散システムシンポジウム　2014/01/23

  168. 足底感覚情報を活用した二脚ロボットのCPG制御

    福田裕樹, 大脇大, 石黒章夫

    第26回自律分散システムシンポジウム　2014/01/23

  169. 交友関係の自己組織化過程の数理モデル

    加納剛史, 大須賀公一, 小林亮, 青沼仁志, 石川将人, 杉本靖博, 大脇大, 石黒章夫

    第19回交通流のシュミレーションシンポジウム　2013/12/16

  170. Obstacles Are Beneficial to Me! Scaffold-based Locomotion of a Snake-like Robot Using Decentralized Control International-presentation

    Takeshi Kano, Akio Ishiguro

    2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. (IROS 2013)　2013/11/03

  171. Decentralized Control Scheme for Bodily Wave Generation in Earthworm Locomotion International-presentation

    Takeshi Kano, Ryo Kobayashi, Akio Ishiguro

    Traffic and Granular Flow '13 (TGF'13)　2013/09/25

  172. Decentralized Control Scheme for a Snake-like Robot That Enables Omni-directional Locomotion International-presentation

    Takeshi Kano, Hisashi Date, Akio Ishiguro

    2013 International Workshop on Soft Robotics and Morphological Computation　2013/07/14

  173. Nonlinearity in Ankle Elasticity Enhances Robustness on Bipedal Walking International-presentation

    Dai Owaki, Akio Ishiguro

    2013 International Workshop on Soft Robotics and Morphological Computation　2013/07/14

  174. Taming Highly Deformable Body without Centralized Control Mechanism: Lessons from True Slime Mold International-presentation

    Akio Ishiguro

    2013 International Workshop on Soft Robotics and Morphological Computation　2013/07/14

  175. Considering Snake Locomotion with “Continuum Legs” International-presentation

    Takeshi Kano, Hisashi Date, Akio Ishiguro

    Dynamic Walking 2013　2013/06/10

  176. Why do quadrupeds exhibits exclusively either trot or pace gaits? International-presentation

    Dai Owaki, Leona Morikawa, Akio Ishiguro

    Dynamic Walking 2013　2013/06/10

  177. What is the key to postural stabilization on bipedal walking? International-presentation

    Dai Owaki, Akio Ishiguro

    Dynamic Walking 2013　2013/06/10

  178. 不整地走破を目指した自律分散型大自由度ヘビロボットの開発

    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（ROBOMEC2013）　2013/05/23

  179. ヒラムシに着想を得たマルチテレストリアルロボットの開発

    加納剛史, 佐竹冬彦, 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（ROBOMEC2013）　2013/05/23

  180. ヘビのコンセルティーナロコモーションに内在する自律分散制御則の解明

    佐竹冬彦, 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（ROBOMEC2013）　2013/05/23

  181. 筋肉群の協働的励起に基づく立位姿勢制御

    福田裕樹, 大脇大, 西井淳, 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（ROBOMEC2013）　2013/05/23

  182. 身体構造に応じた振る舞いが可能なクモヒトデに内在する自律分散制御則の解明

    佐藤英毅, 加納剛史, 青沼仁志, 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（ROBOMEC2013）　2013/05/23

  183. 脚間の力学的相互作用を活用した 6 脚ロボットの CPG 制御

    中村憲, 大脇大, 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（ROBOMEC2013）　2013/05/23

  184. 脚間の力学的相互作用を活用したCPG制御に基づく筋駆動四脚ロボット

    森川玲於奈, 大脇大, 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（ROBOMEC2013）　2013/05/23

  185. Development of sheet-like robot for multi-terrestrial locomotion International-presentation

    Takeshi Kano, Yuki Watanabe, Fuyuhiko Satake, Akio Ishiguro

    6th International Symposium on Adaptive Motion of Animals and Machines（AMAM2013)　2013/03/11

  186. Toward realization of resilient locomotion: Lessons from the locomotion of arm-amputated ophiuroids International-presentation

    Takeshi Kano, Shota Suzuki, Eiki Sato, Hitoshi Aonuma, Akio Ishiguro

    6th International Symposium on Adaptive Motion of Animals and Machines（AMAM2013)　2013/03/11

  187. From Walk to Trot to Bound: Quadruped Gait Transition Induced by Simple Local Force Feedback Mechanism International-presentation

    Takeshi Kano, Dai Owaki, Akio Ishiguro

    6th International Symposium on Adaptive Motion of Animals and Machines（AMAM2013)　2013/03/11

  188. ヘビの「歩容」遷移メカニズム

    加納剛史, 伊達央, 石黒章夫

    第25回自律分散システムシンポジウム　2013/01/25

  189. 不整地走破が可能な大自由度ヘビ型ロボットの実機実現

    佐藤貴英, 加納剛史, 石黒章夫

    第25回自律分散システムシンポジウム　2013/01/25

  190. 仮足を出し入れして環境に適応する超軟性アメーバ様ロボット

    出井遼, 梅舘拓也, 伊藤賢太郎, 小林亮, 石黒章夫

    第25回自律分散システムシンポジウム　2013/01/25

  191. 真正粘菌に着想を得た流体質量保存結合振動子系における自発的パターン間遷移の解析

    伊藤賢太郎, 出井遼, 梅舘拓也, 小林亮, 石黒章夫

    第25回自律分散システムシンポジウム　2013/01/25

  192. クモヒトデのロコモーションから学ぶ大自由度系の自律分散制御 ~上位神経系の介在を考慮した腕内協調のモデル化~

    鈴木翔太, 佐藤英毅, 加納剛史, 青沼仁志, 石黒章夫

    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（SI2012）　2012/12/18

  193. 真正粘菌変形体に着想を得た多様な振る舞いを示す静水力学的骨格ロボットの実機実現

    出井遼, 梅舘拓也, 伊藤賢太郎, 石黒章夫

    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（SI2012）　2012/12/18

  194. Snake-like Robot Driven by Decentralized Control Scheme for Scaffold-based Locomotion International-presentation

    Takahide Sato, Takeshi Kano, Ryo Kobayashi, Akio Ishiguro

    2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. (IROS 2012)　2012/10/07

  195. SheetBot: A Magic Carpet That Enables Scaffold-based Locomotion International-presentation

    Takeshi Kano, Yuki Watanabe, Akio Ishiguro

    2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. (IROS 2012)　2012/10/07

  196. Reconsidering Inter- and Intra-limb Coordination Mechanisms in Quadruped Locomotion International-presentation

    Takeshi Kano, Dai Owaki, Akio Ishiguro

    2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. (IROS 2012)　2012/10/07

  197. Listen to Body's Message: Quadruped Robot That Fully Exploits Physical Interaction between Legs International-presentation

    Dai Owaki, Leona Morikawa, Akio Ishiguro

    2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. (IROS 2012)　2012/10/07

  198. Adaptive Bipedal Walking through Sensory-motor Coordination Yielded from Soft Deformable Feet International-presentation

    Dai Owaki, Hiroki Fukuda, Akio Ishiguro

    2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. (IROS 2012)　2012/10/07

  199. 振動子に駆動されるシリンダー結合系に現れるパターン遷移

    伊藤賢太郎, 出井遼, 梅舘拓也, 石黒章夫

    日本物理学会　2012/09/18

  200. 「這う」「泳ぐ」「飛ぶ」が可能なmulti-terrestrial robotの実現を目指して – 環境を活用して推進する自律分散型シートロボットの実機開発 -

    渡辺裕喜, 佐竹冬彦, 加納剛史, 石黒章夫

    第30回日本ロボット学会学術講演会　2012/09/17

  201. 身体構造に応じた振る舞いを自己組織的に発現するクモヒトデの腕内協調メカニズム

    鈴木翔太, 佐藤英毅, 加納剛史, 石黒章夫

    第30回日本ロボット学会学術講演会　2012/09/17

  202. 身体の力学的特性に応じた歩容生成を加納とるすCPGモデル-トロット歩容とベース歩容の排他的発現の実験的検証-

    森川玲於奈, 大脇大, 石黒章夫

    第30回日本ロボット学会学術講演会　2012/09/17

  203. ミニマリストなCPGモデルから探る二脚ロコモーションに内在する脚間協調と脚内協調の発現機序

    福田裕樹, 大脇大, 石黒章夫

    第30回日本ロボット学会学術講演会　2012/09/17

  204. 質的に異なる振る舞いを状況依存的に発現可能なアメーバ様ロボットの自律分散制御

    出井遼, 梅舘拓也, 伊藤賢太郎, 石黒章夫

    第30回日本ロボット学会学術講演会　2012/09/17

  205. 視界共有に着目した直感的ヘヒロボット操縦システ ムの構築

    砂田靖志, 佐藤貴英, 加納剛史, 石黒章夫, 小林亮

    第22回数理生物学会年会予稿集　2012/09/10

  206. 真正粘菌変形体から着想を得た適応的運動機能を生み出す数理モデル

    梅舘拓也, 出井遼, 伊藤賢太郎, 石黒章夫

    第22回数理生物学会年会予稿集　2012/09/10

  207. 粘菌の振動パターン間遷移を説明するためのシリンダー結合モデル

    伊藤賢太郎, 出井遼, 梅舘拓也, 石黒章夫

    第22回数理生物学会年会予稿集　2012/09/10

  208. 内部流体を介して相互作用するモジュール結合系における自発的振動パターン間遷移

    伊藤賢太郎, 出井遼, 梅舘拓也, 石黒章夫

    広島大学数理分子生命理学専攻第4回公開シンポジウム　2012/09/06

  209. 多様な時空間振動パターンを創発する真正粘菌様ロボット

    梅舘拓也, 出井遼, 伊藤賢太郎, 石黒章夫

    第18回創発システム・シンポジウム講演資料集　2012/09/01

  210. Autonomous Decentralized Control Mechanism in Resilient Ophiuroid Locomotion International-presentation

    Takeshi Kano, Shota Suzuki, Akio Ishiguro

    The International Conference on Biomimetic & Biohybrid Systems　2012/07/09

  211. Decentralized Control Scheme That Enables Scaffold-Based Peristaltic Locomotion International-presentation

    Akio Ishiguro, Kazuyuki Yaegashi, Takeshi Kano, Ryo Kobayashi

    The International Conference on Biomimetic & Biohybrid Systems　2012/07/09

  212. A Soft-Bodied Snake-Like Robot That Can Move on Unstructured Terrain International-presentation

    Takahide Sato, Takeshi Kano, Akihiro Hirai, Akio Ishiguro

    The International Conference on Biomimetic & Biohybrid Systems　2012/07/09

  213. A True-Slime-Molde-Inspired Fluid-Filled Robot Exhibiting Versatile Behavior International-presentation

    Takuya Umedachi, Ryo Idei, Akio Ishiguro

    The International Conference on Biomimetic & Biohybrid Systems　2012/07/09

  214. Intuitive Navigation of Snake-Like Robot with Autonomous Decentralized Control International-presentation

    Yasushi Sunada, Takahide Sato, Takeshi Kano, Akio Ishiguro, Ryo Kobayashi

    The International Conference on Biomimetic & Biohybrid Systems　2012/07/09

  215. Biorobotic Actuator with a Muscle Tissue Driven by a Photostimulation International-presentation

    Masahiro Shimizu, Shintaro Yawata, Kota Miyasaka, Koichiro Miyamoto, Toshifumi Asano, Tatsuo Yoshinobu, Hiromu Yawo, Toshihiko Ogura, Akio Ishiguro

    The International Conference on Biomimetic & Biohybrid Systems　2012/07/09

  216. Minimalist CPG Model for Inter- and Intra-limb Coordination in Bipedal Locomotion International-presentation

    Dai Owaki, Takeshi Kano, Atsushi Tero, Masakazu Akiyama, Akio Ishiguro

    The 12th International Conference on Intelligent Autonomous System　2012/06/26

  217. 真正粘菌変形体に着想を得た多様な振る舞いを示す大自由度モジュラーロボット

    出井遼, 梅舘拓也, 伊藤賢太郎, 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（ROBOMEC2012）　2012/05/28

  218. 非構造環境下での這行が可能な自律分散型ヘビロボット 〜数理モデリング〜

    加納剛史, 佐藤貴英, 平井明礼, 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（ROBOMEC2012）　2012/05/28

  219. 環境を活用して推進する自律分散型二次元シートロボット

    渡辺裕喜, 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（ROBOMEC2012）　2012/05/28

  220. クモヒトデに学ぶ大自由度ソフトロボットの自律分散制御

    鈴木翔太, 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（ROBOMEC2012）　2012/05/28

  221. 非構造環境下での這行が可能な自律分散型ヘビロボット — 実機開発 —

    平井明礼, 佐藤貴英, 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（ROBOMEC2012）　2012/05/28

  222. 足部の表在感覚情報をCPG制御に活用した適応的二脚歩行の実験的検証

    福田裕樹, 大脇大, 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（ROBOMEC2012）　2012/05/28

  223. 脚間協調と脚内協調の有機的整合が可能なCPGに基づく四脚ロコモーション制御

    彌本一輝, 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（ROBOMEC2012）　2012/05/28

  224. 脚間の力学的相互作用を活用したCPG制御に基づく四脚歩容遷移の実験的検証

    森川玲於奈, 大脇大, 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（ROBOMEC2012）　2012/05/28

  225. 柔軟な身体から生みだされる表在感覚情報を活用したミミズ型ロボットの自律分散制御

    八重樫和之, 加納剛史, 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（ROBOMEC2012）　2012/05/28

  226. 意地でも自律分散制御にこだわってヘビ型ロボットの制御則を考える 変分原理と反応拡散方程式に基づいた制御則設計

    佐藤貴英, 八重樫和之, 鈴木翔太, 渡辺裕喜, 平井明礼, 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（ROBOMEC2012）　2012/05/28

  227. Soft Deformable Feet Yield Sensory-motor Coordination for Adaptive Bipedal Walking International-presentation

    Dai Owaki, Hiroki Fukuda, Akio Ishiguro

    7th Annual Dynamic Walking Conference　2012/05/21

  228. Gait Transition of Quadruped Robot without interlimb neural connections International-presentation

    Dai Owaki, Leona Morikawa, Akio Ishiguro

    7th Annual Dynamic Walking Conference　2012/05/21

  229. SheetBot: Two-dimensional Sheet-like Robot As a Tool for Constructing Universal Decentralized Control Systems International-presentation

    Takeshi Kano, Yuki Watanabe, Akio Ishiguro

    2012 IEEE International Conference on Robotics and Automation　2012/05/14

  230. 多様な時空間振動パターンを創発する真正粘菌様ロボットの実機実現

    出井遼, 梅舘拓也, 石黒章夫

    第24回自律分散システム・シンポジウム　2012/01/27

  231. 流体場を介した力学的相互作用に基づく群ロボットの自発的群れ形成

    藤原亮, 加納剛史, 石黒章夫

    SICE東北支部 第269回研究集会　2011/12/12

  232. A Fluid-filled Deformable Robot That Exhibits Spontaneous Switching among Versatile Spatio-temporal Oscillatory Patterns Inspired by True Slime Mold International-presentation

    Takuya Umedachi, Ryo Idei, Akio Ishiguro

    The 5th International Symposium on Adaptive Motion of Animals and Machines (AMAM2011)　2011/10/11

  233. 真正粘菌変形体が示す多様な時空間パターンの発現機序

    出井遼, 梅舘拓也, 伊藤賢太郎, 石黒章夫

    第21回日本数理生物学会　2011/09/13

  234. A Fluid-filled Soft Robot That Exhibits Spontaneous Switching among Versatile Spatio-temporal Oscillatory Patterns Inspired by True Slime Mold International-presentation

    Takuya Umedachi, Ryo Idei, Akio Ishiguro

    2nd International Conference on Morphological Computation ICMC2011　2011/09/12

  235. 真正粘菌変形体から着想を得た自律分散制御方策

    梅舘 拓也, 出井 遼, 中垣 俊之, 小林 亮, 石黒 章夫

    第2回領域シンポジウム「越境する数学」?CREST研究報告会?　2011/09/07

  236. 粘菌振動子から着想を得た流体連結型モジュラーロボットが示す多様な時空間振動パターン

    梅舘 拓也, 出井 遼, 石黒 章夫

    第17回創発システム・シンポジウム　2011/09/03

  237. CPG-based Adaptive Control of Bipedal Locomotion by Switching between Oscillatory and Excitatory Regimes International-presentation

    Akio Ishiguro, Shota Kubo, Dai Owaki

    Dynamic Walking 2011　2011/07/18

  238. 粘菌振動子をモチーフにした流体駆動型ロボットが示す多様な時空間振動パターン

    出井遼, 梅舘拓也, 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（ROBOMEC2011）　2011/05/27

  239. 光入力駆動が可能な筋細胞アクチュエータの開発

    八幡 慎太郎, 清水 正宏, 宮本 浩一郎, 宮坂 恒太, 浅野 豪文, 吉信 達夫, 八尾 寛, 小椋 利彦, 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（ROBOMEC2011）　2011/05/27

  240. Simulation of a Soft-bodied Fluid-driven Amoeboid Robot That Exploits Thixotropic Flow International-presentation

    Takuya Umedachi, Masakazu Akiyama, Atsushi Tero, Akio Ishiguro

    2011 IEEE International Conference on Robotics and Automation　2011/05/10

  241. 「生き生きとした動き」のからくりを探る - 「脳なし」から「脳」を考えるアプローチ -

    ブレインウェア研究会　2009/12/22

  242. 生命状態を持つような人工物はいかにして構築できるか － 単純な運動機能を有する結合振動子系からのアプローチ－

    生体・生命工学研究会　2006/12

  243. A Development of a Modular Robot That Enables Adaptive Reconfiguration International-presentation

    Masahiro Shimizu, Takafumi Mori, Akio Ishiguro

    IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　2006/10/10

  244. 単純な運動機能を有する結合振動子系から創発する知能 －アメーバ様ロコモーションからのアプローチ－

    生命リズムと振動子ネットワーク　2006/10

  245. 単純な運動機能を有する結合振動子系から創発する知能 －生命状態を持つような人工物構築を目指して－

    第15回相互作用と賢さ研究会　2006/07

  246. しぶとさやたくましさを持つ人工物構築を目指して －制御系と機構系の有機的な連関から創発する知能－

    理化学研究所バイオ・ミメティックコントロール研究センター　2006/05

  247. 制御系と機構系の有機的連関から創発する知能 －しぶとさやたくましさを持つ人工物構築を目指して－

    第50回システム制御情報学会研究発表会講演会　2006/05

  248. On the Coupling between Control and Mechanical Systems -A Case Study with a Modular Robot-

    IEEE/RSJ 2005 IROS(International Conference on Intelligent Robots and Systems) Workshop on Morphology, Control, and Passive Dynamics　2005/08

  249. 量的な変化から質的な変化をいかにして生み出すか？ －大自由度を有するモジュラーロボットの創発的形態制御－

    「生物と工学から見た社会性」勉強会　2005/02

  250. 創発の概念はロボティクスにどのように活かされるべきか？ －事例研究を通しての考察－

    第6回計測自動制御学会「力学系・生物系の本質から制御を考える調査研究会」研究会　2004/09

  251. A Modular Robot That Exploits Emergent Phenomena

    TSUKUBA WORKSHOP ON MODULAR ROBOTICS　2004/09

  252. How Should Control and Body Dynamics be Coupled? -An Integrated Design by Exploiting the Interdependency between Control and Body Systems International-presentation

    International Seminar Dagstuhl Castle　2003/07

  253. 環境委任性から身体委任性へ －Well-balanced Designを目指して－

    社会的知能発生学研究会　2002/07

  254. 環境委任性から身体委任性へ －有限な計算資源から興味深い振る舞いを発現させるには？－

    第2回計測自動制御学会「力学系・生物系の本質から制御を考える調査研究会」研究会　2002/06

  255. 進化ロボティクス －環境と身体から生まれる知能－

    日本機械学会「複雑系・非線形系のモデリング」に関する調査研究分科会　2001/05

  256. きびきびと動く歩行ロボットはいかにして構築できるか？ －多型性を有するニューラルコントローラの進化的構築

    第30回日本臨床神経生理学会学術大会　2000/12

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Industrial Property Rights 4

  1. 可変弾性機素とこれを用いた関節，車両，及び動的吸振装置

    梅舘拓也, 石黒章夫

    Property Type: Patent

  2. ロボットの制御装置，ロボットおよびロボットの制御方法

    服部 祥英, 福原 洸, 加納 剛史, 石黒 章夫

    Property Type: Patent

  3. 信号機の制御装置，および，信号機の制御方法

    加納剛史, 石黒章夫, 杉山雄規

    Property Type: Patent

  4. 制御装置，運動モジュール，ロボットおよび制御方法

    加納剛史, 石黒章夫, 千葉大徳

    Property Type: Patent

Research Projects 33

  1. Decoding Morphology-independent Flexible Motor Control Function by Artificially Altering Animal Morphology

    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 (International Collaborative Research)

    Institution: Tohoku University

    2023/09/08 - 2027/03/31

  2. イトミミズの多芸多彩な集団行動から紐解く合目的的自己組織化現象の発現原理

    加納 剛史, 脇田 大輝, 小林 亮, 石黒 章夫

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業

    Category: 基盤研究(B)

    2023/04/01 - 2027/03/31

    More details Close

    現在の群ロボットはタスクが明確に決められており，発揮する機能は画一的である．この問題解決のため，柔軟な身体を持つ動物の群れに着目し，群れ全体の生存に必要な様々な機能を発揮する自律分散制御原理を探る．特に，多様な機能発現を可能な個体内―個体間協調が連関した自律分散制御則が内在していると考えられるイトミミズの群れに着目する．イトミミズは，細長い柔軟な身体を絡まらせて塊形成し自己防衛するが，移動時は塊形状を変化させて効率的に集団移動し，高い生存能力を発揮する．この能力に内在する個体内―個体間協調が連関した自律分散制御則を，行動観察実験・数理モデリング・ロボット実機実験により解明し，環境に応じて多様な機能を発揮可能なサバイバビリティの高いソフトスワームロボットの実現を目指す． 2023年度は，イトミミズ個体が塊の中でどのように動いているかを明らかにするため，以下の実験を行った： 1) 塊の中に小さな紙片や混ぜて行動実験を行い，底面から観察した．その結果，紙片は辺縁部から中央にかけて移動し，中央部で消滅している様子が観察された．この事実は，塊の中で3次元的な対流が起きていることを示唆している． 2) 塊の中に澱粉を混ぜて観察を行った．その結果，複数の個体が束をなして動き，その束が時間と共に生成と消滅をランダムに繰り返すことを発見した． 上記2つの実験結果は，今後の数理モデリングする上で重要な知見となる．

  3. イトミミズの多芸多彩な集団行動から紐解く合目的的自己組織化現象の発現原理

    加納 剛史, 小林 亮, 石黒 章夫, 脇田 大輝

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業

    Category: 基盤研究(B)

    Institution: 東北大学

    2023/04/01 - 2027/03/31

  4. Canalization-based Control

    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

    2022/04 - 2027/03

  5. Synthetic Paleontology: A Novel Approach to Reconstructing Locomotion of Extinct Animals

    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. 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

    2020/04/01 - 2024/03/31

  7. 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 Fund for the Promotion of Joint International Research (Fostering Joint International Research (B))

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

    Institution: Tohoku University

    2019/10/07 - 2023/03/31

  8. 昆虫のゾンビ化から紐解く生物の多様な振る舞いの源泉 Competitive

    大須賀 公一

    Offer Organization: 日本学術振興会

    System: 科学研究費補助金 基盤研究(S)

    2017/06 - 2022/03

  9. 自由な身体形態をもつ生物・ロボットのロコモーション:進化の隙間から空想生物まで Competitive

    石川 将人

    Offer Organization: 日本学術振興会

    System: 科学研究費補助金 挑戦的研究（萌芽）

    2019/06 - 2021/03

  10. Robotics-inspired biology: decoding flexibility of motor control by studying amphibious locomotion Competitive

    ISHIGURO Akio

    Offer Organization: Human Frontier Science Program

    System: Research Grant

    2017/09 - 2020/08

  11. マルチテレストリアルロコモーションから解き明かす生物の多様な振る舞いの発現機序 Competitive

    石黒 章夫

    Offer Organization: 日本学術振興会

    System: 科学研究費補助金 基盤研究(A)

    2016/04 - 2020/03

  12. 環境を友とする制御法の創成 Competitive

    小林 亮

    Offer Organization: （独）科学技術振興機構

    System: 戦略的創造研究推進事業（JST CREST）

    2014/08 - 2020/03

  13. Understanding Interlimb Coordination Mechanism Based on Walking Intervention with Prosthetic Legs

    Owaki Dai, Miyazawa Sakiko, Goda Masashi, Ishiguro Akio

    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

    2016/04/01 - 2019/03/31

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    This study aims to elucidate the interlimb coordination mechanism in adaptive insect locomotion with the intervention method into walking by using prosthetic legs. To this end, at the first fiscal year, we developed a simultaneous recording system of leg motions and leg muscle electromyography (EMG) by using high-speed camera and EMG amplifier. Then, using the developed system, we simultaneously measured leg motions and muscle activities in cricket walking before and after leg amputation. By analyzing the obtained data in 5 female crickets, we found that muscle activation timings of the both middle legs tend to be in-phase synchronization pattern from anti-phase synchronization pattern according to the “amount” of remaining leg parts. In the final fiscal year, we conducted a preliminary prosthetic experiments, suggesting that gait patterns were “reproduced” with the prosthetic legs even after leg amputation.

  14. 生物ロコモーションの本質理解から切り拓く大自由度ロボットの革新的自律分散制御技術 Competitive

    石黒 章夫

    Offer Organization: 国立研究開発法人 新エネルギー・産業技術総合研究開発機構

    System: 次世代ロボット中核技術開発

    2015/04 - 2017/03

  15. Decentralized Control Scheme for Traffic Signals Inspired by Inter-limb Coordination of Multi-legged Animals

    Kano Takeshi, SUGIYAMA YUKI, ISHIGURO AKIO

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research Grant-in-Aid for Challenging Exploratory Research

    Category: Grant-in-Aid for Challenging Exploratory Research

    Institution: Tohoku University

    2014/04/01 - 2016/03/31

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    Although various control schemes of traffic signals have been developed, they could not adapt to unpredictable changes in the amount of traffic. To tackle this problem, we here propose an autonomous decentralized control scheme of traffic signals on the basis of physics consideration of the inter-limb coordination of quadrupeds. More specifically, impulses given by red signals or preceding cars are calculated at each traffic signal by using optimal velocity model, and traffic signals are switched so that the impulses are reduced. We performed simulations with changing number of cars, and the results showed that the proposed control scheme works properly under all conditions examined.

  16. 特異な対称構造を持つクモヒトデから探る振る舞いの多様性の発現機序 Competitive

    石黒 章夫

    Offer Organization: 日本学術振興会

    System: 科学研究費補助金 基盤研究(A)

    2012/04 - 2016/03

  17. Design of Multi-terrestrial Robot from Common Principle Underlying Animal Locomotion

    ISHIGURO Akio, KANO Takeshi

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research

    Category: Grant-in-Aid for Challenging Exploratory Research

    Institution: Tohoku University

    2013/04/01 - 2015/03/31

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    In this study, we aimed to develop multi-terrestrial robots that can exhibit various locomotion patterns such as crawling, swimming, and flying in response to the environment. We tackled this issue by focusing on a simple principle that animals move by exploiting the various features in their surrounding environments as scaffolds. Our achievements were twofold: 1) We developed a sheet-like robot that can both crawl on the ground and swim in water, inspired by the locomotion of a flatworm having a sheet-like body structure. 2) Through a simulation study, we found a common control principle underlying crawling of land snakes and swimming of sea snakes.

  18. Mathematical study for unified understanding of legged locomotion from the evolutionary view point

    KOBAYASHI Ryo, ISHIGURO Akio

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research Grant-in-Aid for Challenging Exploratory Research

    Category: Grant-in-Aid for Challenging Exploratory Research

    Institution: Hiroshima University

    2013/04/01 - 2015/03/31

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    We studied the legged locomotion which is adopted by vertebrate and arthropod (two biggest animal groups on earth) from the mechanical view point and from the evolutionary view point. Once animals obtain legs in the evolutionary process, it seems that the number of legs decrease (or at least, not increase). We observed the walking/running of ghost crab which can run exceptionally fast in arthropod and changes the number of operating legs according to the moving velocity. We proposed a mathematical model of the locomotion of ghost crab, and clarified why the number of operating legs decreases as the velocity increases by the analysis of the model. By this, we gave a plausible reason of decrease legs in evolution. Also, we proposed a platform for describing the locomotion of animals and its control, which was named "dynamic flow graph",

  19. 生物ロコモーションに学ぶ大自由度システム制御の新展開 Competitive

    小林 亮

    Offer Organization: （独）科学技術振興機構

    System: 戦略的創造研究推進事業（JST CREST）

    2008/08 - 2014/03

  20. ダイナミックテンセグリティから探る個体発生的時間スケールの構造適応様式 Competitive

    石黒 章夫

    Offer Organization: 日本学術振興会

    System: 科学研究費補助金 挑戦的萌芽研究

    2011/04 - 2013/03

  21. A Collective Behavioral Approach with Coupled Oscillators to Understanding Mobiligence

    ISHIGURO Akio

    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

    Institution: Tohoku University

    2008 - 2009

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    This study is intended to intensively investigate the brain-body coupling, i.e., how control and mechanical systems should be coupled. One of the significant features of this study is that we have employed a minimalistic approach. More specifically, we have focused on an "embodied" coupled nonlinear oscillator systems by which we have generated one of the most primitive yet flexible locomotion, i.e., amoeboid locomotion, in the hope that this primitiveness allows us to investigate the question effectively. Simulations we have done strongly support that there exists a "well-balanced" coupling, under which significant abilities such as real-time adaptability and fault tolerance emerge.

  22. A Dynamical Approach to Self-assembly Inspired by Ontogenetic Process

    ISHIGURO Akio, SHIMIZU Masahiro

    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

    2007 - 2009

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    This study discussed the realization of self-assembly with the use of a multi-robotic system each of which has simple motile function. A significant feature of this study is that form generation by self-assembly is considered as the result of time evolution toward the most dynamically stable state. Owing to this, the proposed method also satisfies significant ability of self-repair without making any modification to the proposed algorithm. We also validated our proposed method by building about 20 real physical robotic agents. Experimental results show that stable and spontaneous self-assembly is achieved.

  23. Discovery and Development of Dynamical Common Principle of Mobiligence-Common Understanding of Artificial and Living Things

    OSUKA Koichi, ZHENG Xin-zhi, ADACHI Jiro, ISHIGURO Akio, SHIMIZU Masahieo, OHGANE Kinishige

    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

    Institution: Kobe University

    2005 - 2009

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    Not only artificial objects but also living things, all objects which can adapt to un-known environment have to have a kind of adaptive ability. We call the ability as Mobiligence. We assume that there exist common principles of the adaptive ability. Therefore in this research, we discover the common principle by means of dynamical formulation.

  24. Improvement of Learning Surface by Carefully-designed Interaction between Control and Mechanical Systems

    ISHIGURO Akio, KAWAKATSU Toshihiro

    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: Nagoya University

    2004 - 2005

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    In the field of robotics, traditionally, a so-called "hardware first, software last" based design approach has been employed and thus the interplay between control and mechanical systems has not been investigated in depth to date. Recently, however, it has been widely accepted that the emergence of intelligence is strongly influenced by not only control systems but also embodiments, which is the physical properties of a robots' body. In light of these facts, this study intends to deal with the interdependency between control and mechanical systems, particularly from the viewpoint of learning. More specifically, the aim of this study is to clearly answer the following questions : (1) how should control and mechanical systems be coupled? ; and (2) what sort of interesting phenomena will emerge under such a well-balanced coupling. To this end, a decentralized control of a snake-like robot consisting of multiple body segments was mainly employed as a practical example. Despite its simplicity, the obtained results strongly suggest that there exist a best coupling between the control and body dynamics, which has never been clearly mentioned so far. This approach is totally different from the concept of the recent "learning theories" where people accept singularities in the learning surface and search for a high-functional and sophisticated algorithm. If we take advantage of such degrees of freedom in the body dynamics, we can modify the landscape of the learning surface so that it does not have a singularity. This allows us to expect that even a "cheap" algorithm can satisfy the requirements for the finite-time convergence and the robustness.

  25. 多脚歩行ロボットの自律分散制御を可能とする機械系ダイナミクスの改変

    石黒 章夫

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業 若手研究(B)

    Category: 若手研究(B)

    Institution: 名古屋大学

    2002 - 2003

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    近年,ロボットの知能は,制御系単体から創り出されるものではなく,制御系(脳)と機械系(身体系),そして環境(生態学的ニッチ)の三者間の相互作用ダイナミクスを通して発現(創発)する,ということが広く認知されつつある.このことは,ロボットを設計する際には,与えられた機械系(身体性)のダイナミクスを積極的に活用するような制御方策(dynamics-based controlと呼ばれている)を採用することのみならず,制御方策の潜在能力を引き出すように機械系のダイナミクス(あるいは,より広い意味でモーフォロジー)をも併せて改変することの重要性を示唆している.しかしながら,このような観点からの研究は緒に就いたばかりであり,制御系と機械系のダイナミクスの適切な「結合のさせ方」に関して議論している研究は,依然として皆無に等しいのが現状である. そこで本研究は,システム全体として適切な性能を発現できるような,制御系と機械系ダイナミクスの「有機的な」結合のさせ方を数理的に考察することを目的とする.具体的には,複数の体節から構成される多脚歩行ロボットの自律分散的歩容制御問題を取り上げる.そして,任意の脚間初期位相差からエネルギー消費を最小とするような適切な歩容への収束性が,「体節間の情報のやりとり(換言すれば,神経回路の張り巡らせ方)」と「体節間の力学的干渉(換言すれば,背骨の剛性:これまでの多脚歩行ロボットに見られる「かちかち」の背骨では,脚間の長距離相関が生じてしまい,歩容の収束性が劣化する恐れがある)」の両者によって規定されることを示し,これらの適切な結合ダイナミクスの設計方法を明らかにする. 平成14年度では,上記の問題設定のもとで,歩容の収束性が,制御系ダイナミクスと機械系ダイナミクスの両者から構成される結合システム行列の優対角性によって規定されることを数理的に明らかにした.また,シミュレータを構築し,体節間を非線形バネで接続し,その剛性が歩容の収束性に大きな影響を与えることを数値実験的に確認した. 平成15年度では,本年度に構築したシミュレータを用いて,ハンドチューニングによるパラメータの最適化を行った.得られたパラメータを用いて位相収束特性を司る行列の固有値解析を行った結果,スペクトル半径が1.0以下となっていることが確認できた.これらの結果を通して,制御系と機械系の両ダイナミクスを調節する意義が明らかとなった.今後は,PCクラスタを用いてパラメータの最適化作業を進める予定である.

  26. Visual Prosthesis -Study of hybrid retinal implant-

    MIYAKE Yuzo, KONDO Mineko, WATANABE Masami, ISHIGURO Akio, KONDO Nagako

    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

    2000 - 2003

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    (1) Simulation of visual prosthesis in virtual system : It is essential to determine the specifications which meet the minimal needs in daily lives of patients. For this purpose, a prosthetic vision simulator was developed, which enables to experience prosthetic vision in the visual space. Experimental results suggested that the electric current intensity in simulation has small effects to the reading ability. (2) Imaging signal analysis : To get proper electrical stimulation to the retina, the special hardware was developed with a compact curcuit. We proved this device is essential for retinal prosthesis. (3) Evaluation of electrical stimulus to visual neuron : To investigate the most suitable stimulus condition of the electrical pulse to the retina, normal and retinal degenerated rats were used. We found that short wave stimuli are more effective than pulse waves. Using cats, the visual evoked response from the visual cortex were evaluated changing the pulse width, pulse intensity and distance of electrodes by putting the stimulus electrode array on the lateral geniculate. We found that the pulse intensity influences the response more than pulse width. (4) The modification of stimulus electrode for human retina : Several modifications were made for the retinal exoplant in human. The optical coherence tomography was found to be a good monitor to check the depth and location of the exoplant. (5) Survival and axonal regeneration of retinal ganglion cells in adult cats : We introduced several methods to rescure the axotomized cat retinal ganglion cells from apotosis and regulate their axons ; transplantation of the peripheral nerve, intraocular injections of neurotrophic factors, or an antiapotopic drug.

  27. Evolutionary Creation of Adaptive Neurocontrollers Inspired by the Dynamically Rearranging Function in Biological Nervous Systems

    ISHIGURO Akio

    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: Nagoya University

    2000 - 2001

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    Recently the Evolutionary Robotics (ER) approach has been attracting a lot of concern in the field of robotics and artificial life. In contrast to the conventional approaches where designers have to construct controllers in a top-down manner, the methods employed in the ER approach have significant advantages since they can autonomously and efficiently construct controllers by taking embodiment (e.g. mechanical dynamics, physical size and shape of robots, sensor/motor properties and disposition etc.) and the interaction dynamics between the robot and its environment into account. In light of these facts, in this research project, an evolutionary creation of adaptive neurocontrollers has been investigated. To this end, the concept of neuromodulation, allowing to evolve neural networks which can adjust not only the synaptic weights but also the structure of the neural network by blocking and/or activating synapses or neurons according to the current situation has been introduced. This idea has been applied to the control of a peg-pushing robot and a legged robot, which is intrinsically unstable. Simulations have been conducted and the results have showed that this approach is remarkably promising.

  28. 表現型可塑性を有する個体発生過程に基づくロボットの神経回路・形態の創発的形成

    石黒 章夫

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業

    Category: 奨励研究(A)

    Institution: 名古屋大学

    1997 - 1999

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    近年,ロボットのコントローラあるいは形態をも進化的手法により,ボトムアップ的に構築することを目指す進化ロボティクスと呼ばれる分野が注目を集めている.進化ロボティクスは,設計者がロボットの身体性や,ロボットとその環境との間に存在する相互作用を陽に意識しなくとも,コントローラの構築に反映されるため,強力な設計手法となりうる.また,コントローラとしてニューラルネットワークを用いた場合,ニューラルネットワークはセンサ入力とアクチュエータ出力を直接結びつける極めて低次レベルのコントローラの記述法であり,このため逆に高い創発性が期待できるという優れた特徴を有している. ところで,進化過程には通常多大の計算時間を必要とするため,進化過程は必然的にシミュレータ上で行う.しかしながら,シミュレーション環境と実環境は似て非なるものであり(摩擦やノイズ,センサの個体差などの不確定要素が多数実世界には存在する),また進化は通常経験させた環境に特化する傾向にあるため,進化させた個体が実環境ではしばしば適切に機能しないという問題が指摘されている. そこで,本研究では,「シミュレーションから実環境へのシームレスな移行」の実現を目的とし,「コントローラの構築において,何を進化の対象とするか?」という根元的な問題から考察を行った.その結果,行動主体(ロボット)と環境との間に存在するフィードバックループの調節の仕方を進化の対象とすることにより,この問題が大幅に緩和されることがわかった.ここで,状況に応じてフィードバックルーブを調節するということは,シナプス荷重に全情報を埋め込んでいた従来の一義的なモデルと異なり,ニューラルコントローラの構造が多義的・多型的になることを意味している.そこで,この機能を実現するために,実際の生物で観測される,神経修飾物質(ニューロモデュレータ)による神経回路の動的再編成現象に着目し,モデルを構築した. 提案する手法の妥当性を検証するために,ペグを光源までロボットが押すというタスクを例に取り,シミュレーションと実機を用いた実験を通して検証した.その結果,シナプス荷重を進化の対象とする従来手法は,シミュレーションでは高い評価を得ていた個体が,実環境に移行するとその機能が破綻した.一方,提案する手法では,実環境においてもシミュレーションと同様の機能が発現することが確認できた. 本手法は,進化と学習というこれまで乖離して扱われていた概念を有機的に融合することができ,かつ環境変動に対して,高い頑健性を有することが確認された.このため,学術的のみならず産業的にも極めて高い価値を有するものと確信する.

  29. A Study on Modeling of Human Kansei

    FURUHASHI Takeshi, KODAMA Tetsuji, ISHIGURO Akio, UCHIKAWA Yoshiki

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research

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

    Institution: Nagoya University

    1997 - 1998

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    This research project was aiming at developing methods for modeling of human Kansei. This project was carried out in three approaches : (a) modeling using fuzzy neural network, (b) modeling using genetic algorithm, (c) modeling using immune system. Main results were obtained in (a) and (b) approaches. These results are summarized as follows : (a)Modeling using fuzzy neural network Two of the most important steps in modeling of Kansei are : (1) selection of apppropriate combination of input variables which greatly influence the outputs, and (2) appropriate division of input space which is spanned by the selected input variables. This research project developed a method for the selection of input variables using fuzzy neural networks and genetic algorithm. This project also developed two methods for the division of input space. One put emphasis on comprehensibility of identified fuzzy rules. The other was to obtain concise models. The developed method could identify balanced models with precision and conciseness. (b)Modeling using genetic algorithm This research project developed a method using genetic algorithm for identification of fuzzy rules from data unevenly distributed in the input space. The problems in this type of fuzzy modeling were that the genetic algorithm needed much computation time and the acquired fuzzy rules were difficult to understand. The combination of input variables and the shapes of membership functions varied in each fuzzy rule. This research project developed a method for acceleration of rule identification and a method for clarification of identified fuzzy rules. The developed methods could extract acquired rules by minimizing the degradation of precision of fuzzy rules.

  30. 免疫ネットワークを用いた6脚歩行ロボットの自律分散的歩容制御に関する研究

    石黒 章夫

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業

    Category: 奨励研究(A)

    Institution: 名古屋大学

    1996 - 1996

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    生体内情報処理機構の一つである免疫系に関しては近年医学・生理学的研究が飛躍的に進み,次第にその機能原理が明らかになりつつある.それによると,免疫系はウィルス等の抗原を排除する様々な種類の抗体間で密接に連絡を取り合ってネットワークを形成し,自律分散的に機能していることがわかってきた.しかしながら免疫系は,他の生体内情報処理機構である脳神経系,遺伝系に比べて工学的見地からの研究は皆無に等しく,その機能の工学的模擬ならびに応用は新たな並列分散的情報処理機構の構築に有用であると考えられる. そこで本研究では上記の考察に基づき,自律分散制御の適切な問題である多脚歩行ロボットの歩容(歩行パターン)獲得を例にとり,免疫学的見地からのアプローチを試みた.平成8年度の研究では,免疫系の有する機能の中でも重要な一つである『記憶保持機能』に着目した手法の開発を行った. 提案する手法では,歩行ロボットの各脚に脚を上げる,前後に漕ぐ,下げるといった基本的な要素行動を各種リンパ球細胞(B細胞)として用意する.各脚に取り付けられた関節角センサの値は抗原として作用し,現在の状況に即した要素行動に相当するB細胞が刺激され,抗体を分泌しながらその濃度を上昇させる.分泌された抗体は同時に行動したい他脚のB細胞を刺激してその濃度を変化させる.ここで,転倒/非転倒を検出するセンサからの信号を基に,適切なつながりを有するB細胞の濃度を上昇させ,不適切なB細胞の組を低く抑える強化学習メカニズムを導入した.その結果,適切な歩容を実現するB細胞の組がネットワークを形成し,高濃度に維持されていく一種の免疫学的記憶機能が実現できた. 今後の課題としては,ネットワークの大規模化,対故障性の検証等が挙げられる.さらに免疫系の観点から新しい連想記憶メカニズムの実現を試みていきたいと考えている.

  31. 免疫情報処理機構を参考にした自律移動ロボットの動的行動制御に関する基礎的研究

    内川 嘉樹, 石黒 章夫, 児玉 哲司, 古橋 武

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業

    Category: 重点領域研究

    Institution: 名古屋大学

    1996 - 1996

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    近年、人工知能の分野では、動的に変動する環境の中でもロバストかつ柔軟に作動する行動に基づくアプローチ(行動型人工知能)が注目を集めている。しかしながら、適切な行動出力を得るためにはどのような要素行動を用意し,そして要素行動間の行動調停をいかに行うかが大きな問題となっている。 一方、生体内の情報処理機構の一つである免疫系は、各種リンパ球細胞が相互にコミュニケーションをとることにより、高度な情報処理機能をシステムレベルで実現していることが明らかになってきた。この機能は、脳神経系とは異なる新しい並列分散処理アルゴリズムを提供するものと期待される。 上記の考察に基づき、申請者らは免疫系の工学モデルの構築ならびにその人工知能分野への応用に関する研究を進めている。平成7年度からの研究では、自律移動ロボットの動的行動選択問題への適用を念頭に置き、センサが検知する内外環境に関する情報を抗原に、またロボットの取り得る各種要素行動を抗体と捉え、抗体を他の抗体に対して自律性・従属性を主張する相反する二つの部位で表現しネットワークを構成することにより、状況(抗原)に応じた適切な行動(抗体)が選択可能であることを示した。本手法は、最終的なコンセンサス決定がネットワークダイナミクスを通して並列分散的・ボトムアップ的に行われるため、広範な応用範囲を持つものと期待できる。しかしながら,各種抗体は設計者がトップダウン的に用意していたため、複雑な免疫ネットワークの構成は困難であるという問題を有していた. そこで平成8年度の研究においては,環境との相互作用により得られる強化信号に基づき,適切な行動調停を可能とする免疫ネットワークの自律的構築手法の検討を行った.シミュレーションの結果,良好な学習能力を有していることが確認できた.今後の課題としては,メタダイナミクス機能の工学的実現等が挙げられる.

  32. 免疫情報処理機構を参考にした自律移動ロボットの動的行動制御に関する基礎的研究

    内川 嘉樹, 石黒 章夫, 児玉 哲司, 古橋 武

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業

    Category: 重点領域研究

    Institution: 名古屋大学

    1995 - 1995

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    近年、人工知能の分野では、従来の機能的分解に基づくアプローチの限界が指摘されはじめ、動的に変動する環境の中でもロバストかつ柔軟に作動する行動に基づくアプローチ(行動型人工知能)が注目を集めている。このアプローチは、センサ情報から独自に認識・判断して駆動系に命令を出す多数のエージェント(要素行動)を用意し、そのエージェント間の競合・協調の結果としてシステム全体の動作を動的・創発的に発生させるものである。しかしながら、適切な行動出力を得るためにに要素行動間の行動調停をいかに行うかが大きな問題となっている。 一方、生体内の情報処理機構の一つである免疫系は、最近の医学・生理学の研究を通して、各種リンパ球細胞が体液中を単にばらばらに浮遊しているのではなく、相互にコミュニケーションをとることにより、高度な情報処理機能をシステムレベルで実現していることが明らかになってきた。この機能は、脳神経系とは異なる新しい並列分散処理アルゴリズムを提供するものと期待される。 上記の考察に基づき、申請者らは免疫系の工学モデルの構築ならびにその人工知能分野への応用に関する研究を進めている。平成7年度の研究では、自律移動ロボットの動的行動選択問題への適用を念頭に置き、ロボットのセンサが検知する外部環境に関する情報を抗原に、またロボットの取り得る各種要素行動を抗体と捉え、抗体を他の抗体に対して自律性・従属性を主張する相反する二つの部位で表現し、ネットワークを構成することにより、状況(抗原)に応じた適切な行動(抗体)が選択可能であることを示した。本手法は、ファジィ推論等とは異なり、最終的なコンセンサス決定がネットワークダイナミクスを通して並列分散的・ボトムアップ的に行われるため、広範な応用範囲を持つものと期待できる。また、遺伝的アルゴリズムを用いた抗体間の結合親和性の調整および強化学習機構を用いた抗体間の結合の自律的生成も併せて試み良好な結果を得た。

  33. 免疫ネットワークを用いた多脚歩行ロボットの歩容の自己組織化

    石黒 章夫

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業

    Category: 奨励研究(A)

    Institution: 名古屋大学

    1994 - 1994

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    生体内情報処理機構の重要な一つである免疫系に関しては近年医学・生理学的研究が飛躍的に進み、次第にその機能原理が明らかになりつつある。それによると、免疫系はウィルス等の抗原を排除する様々な種類の抗体間で密接に連絡を取り合ってネットワークを形成し、システムレベルで機能していることがわかってきた。また免疫系は同時に免疫寛容、免疫記憶、学習機能といった工学的見地から眺めても非常に興味深い機能も併せて有している。しかしながら、免疫系は、他の生体内情報処理機構である脳神経系、遺伝系に比べて工学的見地からの研究は皆無に等しく、その機能の工学的模擬ならびに応用は新たな自律分散情報処理機構の構築に有用であると考えられる。 そこで本研究では、自律分散制御の適切な問題である多脚歩行ロボットの歩容(歩行パターン)獲得を例にとり、免疫学的見地からのアプローチを試みた。平成6年度の研究では、免疫系の有する重要な機能の一つである『自己・非自己の識別機能』に着目した手法の開発を行った。具体的には、歩行ロボットの各脚にコントローラを用意し、これを抗体を見なし、これらを結合することにより免疫ネットワークを構成する。ここで各コントローラの状態変数を抗体の濃度に対応させる。ロボットが転倒することなく歩行できる適切な歩行パターンを阻害する脚運動をウィルスに冒された非自己の脚と考え、このような脚を上述の免疫ネットワークを用いて検出・排除を繰り返すことにより、任意の脚状態から適切な歩容を獲得することが可能となった。 今後の課題としては、環境に応じた様々な歩容の実現ならびに抗原の存在を陽に用いた免疫ネットワークの工学的実現が挙げられる。現在これらの問題を解決する新しい免疫ネットワークの構築を行っている。

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Social Activities 6

  1. こんにちは変形菌！

    令和2年度企画展「こんにちは変形菌！」

    2020/07/18 - 2020/08/30

  2. 動物の生き生きとした振る舞いに内在するからくり（制御原理）を探る

    日本の研究，最前線

    2018/03/28 -

  3. 粘菌が拓く，新しいロボット技術の世界

    粘菌の世界

    2017/05/15 -

  4. ロボコンマガジン2012年1月号第29回日本ロボット学会学術講演会レポート

    2012/01 -

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    第29回日本ロボット学会学術講演会レポート 「魚群のように振る舞うロボット」

  5. 東北大学サイエンスカフェ 第49回 生き物とロボットのあいだ～イグノーベル賞受賞研究から生まれた新しいロボット制御法とは？

    2009/07/24 -

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    今回の講演では、真正粘菌という単細胞生物に着目することで浮かび上がってきた、生き物の巧みなからくりを使った新しいロボットの制御法を紹介したいと思います。現在のロボットと生き物の間に存在する大きな溝を埋めることにつながるかもしれません。

  6. 粘菌の賢さ解明，日本人受賞2年連続 イグ・ノーベル賞

    2008/10/03 -

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Media Coverage 40

  1. 「首長竜（プレシオサウルス）」はどう「泳いでいた」のか．ロボットを使って解明

    Yahooニュース

    2024/11

  2. 東北大と神奈川大，生物規範型制御方式から首長竜の遊泳様式を復元

    日本経済新聞

    2024/10

  3. ムカデ

    NHK　ヴィランの言い分

    2024/05

  4. 「陸上と水中 柔軟に適応」ムカデの興味深い動き解明

    科学新聞

    2019/12

    Type: Internet

  5. 陸上と水中で動きを変えて自在に移動するムカデの制御メカニズムを解明――水陸両用ロボットなどへの応用に期待

    fabcross for エンジニア

    2019/12

    Type: Internet

  6. Comment les mille-pattes passent-ils si facilement de la marche à la nage?

    ICI Radio-Canada

    2019/12

    Type: Internet

  7. Something in the way it moves -Studying a centipede sheds light on adaptive locomotion

    Cosmos

    2019/12

    Type: Internet

  8. How centipedes navigate through land and water

    Science Daily

    2019/12

    Type: Internet

  9. 東北大など、ムカデの運動制御メカニズムを再現し得る数理モデル構築に接近

    国立環境研究所 環境展望台

    2019/12

    Type: Internet

  10. 水陸自在のムカデ、運動制御の仕組みを解明 ロボット工学への応用も 東北大ら

    財経新聞

    2019/12

    Type: Internet

  11. ロボに脳は必要か？ 無意識歩行の謎に迫る 工学と生物学の両面で研究進む

    日刊工業新聞

    2018/08

  12. 想定外の故障に「即座に」適応可能なクモヒトデ型移動ロボットを開発

    JST　JST news

    2018/03

    Type: Promotional material

  13. クモヒトデ型ロボット

    国立科学博物館　milsil

    2018/03

    Type: Promotional material

  14. 生物に学ぶロボット(2) 壊れても動き続ける「ヒトデ」

    日本経済新聞

    2018/02

    Type: Newspaper, magazine

  15. クモヒトデから着想！東北大学が故障をものともしない5本腕の移動型ロボットを開発 〜故障などの”想定外を想定するAI”も実現可能に？〜

    EMIRA

    2018/01

    Type: Internet

  16. クモヒトデがモデルのロボ 腕一本でも移動再開 災害現場でタフな活躍期待

    読売新聞

    2018/01

    Type: Newspaper, magazine

  17. Bioinspired robot easily adapts to lost appendages

    News Atlas

    2017/12

    Type: Internet

  18. Brittle stars inspire new generation robots able to adapt to physical damage

    Phys Org

    2017/12

    Type: Internet

  19. 脚とれても歩き続けるロボ 宇宙や災害現場で活用，故障を前提に機能設計

    日刊工業新聞

    2017/12

    Type: Newspaper, magazine

  20. ５本腕のクモヒトデ型ロボット登場 想定外にも対処、東北大など開発

    産経新聞

    2017/12

    Type: Newspaper, magazine

  21. Losing arms doesn’t bother starfish bot

    Asian Scientist

    2017/12

    Type: Internet

  22. 走る速さに合わせて足並みを変える四脚ロボット

    子供の科学

    2017/06

  23. ガリレオＸ「バイオミメティクス 生物模倣が拓く未来」

    BSフジ

    2012/06/10

    Type: TV or radio program

    More details Close

    石黒研のヘビロボットが紹介された．

  24. NHK教育テレビ「大！天才テレビくん」

    NHK教育テレビ

    2011/10/26

    Type: TV or radio program

    More details Close

    ヘビ型ロボット・クモヒトデ型ロボットの紹介

  25. 第27回日本ロボット学会学術講演会レポート

    ロボコンマガジン2010年1月号

    2009/12

    Type: Newspaper, magazine

  26. 東北大協力の出前講座で学ぶ -学法福島高-

    福島民報

    2009/09/09

    Type: Newspaper, magazine

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    2009/09/07 東北産業活性センター出前講座 「生き物とロボットのあいだ」

  27. ヘビ型ロボット 蛇行 滑らかに ---東北大「関節」ごとに制御---

    日経産業新聞　日経産業新聞

    2009/09/03

    Type: Newspaper, magazine

  28. 情報知能システム総合学科が拓く明日への技術 -東北大学工学部-

    教育応援プロジェクト Vol．3

    2009/09

    Type: Newspaper, magazine

  29. # 第49回 生き物とロボットのあいだ～イグノーベル賞受賞研究から生まれた新しいロボット制御法とは？

    仙台CATV

    2009/09

    Type: TV or radio program

    More details Close

    講演内容 地球から遙か遠くの天体へ宇宙探査機をピンポイントで到達させるなど、近年の最先端知能化技術の発展ぶりには目を見張るものがあります。しかしその一方で、単純な生き物ですら示すような、しなやかに環境に適応していく能力を工学的に実現するのはきわめて難しいのです。何とも皮肉なことではありませんか！では生き物はいったいどのような「からくり」を使ってこのような優れた振る舞いを実現しているのでしょうか？さらにはロボットがあたかも生き物のように「生き生きと」振る舞うためにはどのような工夫が必要なのでしょうか？ 今回の講演では、真正粘菌という単細胞生物に着目することで浮かび上がってきた、生き物の巧みなからくりを使った新しいロボットの制御法を紹介したいと思います。現在のロボットと生き物の間に存在する大きな溝を埋めることにつながるかもしれません。

  30. 中央集権より分散型 ロボット制御 動き生き生き

    河北新報

    2009/08/15

    Type: Newspaper, magazine

  31. 粘菌ロボットに関する研究紹介

    雑誌AXIS2009年 06月号（未来技術報告）

    2009/06

    Type: Newspaper, magazine

  32. 脳も神経もない「粘菌」の驚くべき能力を発見！イグノーベル賞受賞

    東北大学工学部広報誌「あおば萌ゆ」

    2009/04

    Type: Other

  33. 粘菌の力をロボット分野に応用し生き物のように自在に動くシステムを研究

    朝日ウィル（Vol.927，表紙）

    2009/01/27

    Type: Newspaper, magazine

  34. 石黒東北大院教授にイグ・ノーベル賞

    河北新報

    2008/11/08

    Type: Newspaper, magazine

  35. イグ・ノーベル賞受賞研究について

    NetRush サイエンスジャーナル

    2008/10/23

    Type: Other

  36. サイエンス・ゼロ（ロボット研究者も注目！粘菌の不思議な動き）

    NHK教育テレビ

    2008/05/24

    Type: TV or radio program

    More details Close

    粘菌ロボットの紹介

  37. アメーバのように動くモジュラーロボット

    Newton（積水化学）

    2007/08

    Type: Newspaper, magazine

    More details Close

    現在、開発されているロボットのほとんどは、綿密な構造設計とプログラミングによって、コンピュータで完全制御され動いています。しかし、高精度がゆえに稼働環境の変化に対応できず、制御に失敗したり故障することも少なくありません。そうしたなか、特別な制御システムを使わず、環境の変化にゆるやかに対応できるロボットの開発が始まりました。単純で原始的な生物、粘菌の「生存脳機能」に着目した、変幻自在に動くロボットです。生き残っていくために必要な根源的な知能、それが「生存能機能」であり、その発現のメカニズムをまねてロボットを動かそうという試みです。（記事抜粋）

  38. 背骨の柔らかい四脚ロボ試作 犬の歩行・走行を再現

    日刊工業新聞

    2007/04/06

    Type: Newspaper, magazine

    More details Close

    - 東北大が試作 -

  39. 芽はぐくむ研究室 東北大学・石黒章夫教授

    日刊工業新聞

    2007/04/02

    Type: Newspaper, magazine

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    ”脱・頭でっかち”ロボ試作 「しぶとさ」「たくましさ」持つ自律分散型

  40. しぶとく、たくましく、打たれ強い人工物の構築を目指して～第15回相互作用と賢さ研究会レポート～

    インプレス Robot Watch

    2006/08/09

    Type: Other

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    「我々の目的は何かというと、しぶとく、たくましく、打たれ強く、そこそこ動くシステム。稼働環境が想定時から逸脱してもそこそこ動くというのは、とてつもなく難しい。そういったシステムの設計原理というのはどういう風なものなのかは、すごく知りたいわけです」と、東北大学大学院工学研究科電気・通信工学専攻の教授である石黒章夫氏は、『単純な運動機能を有する結合振動子系から創発する知能 ～生命状態を持つような人工物の構築を目指して』と題された講演において、自らの研究のモチベーションを示した。（記事より抜粋）

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    大自由度を有するアメーバ型・ヘビ型・多脚型ロボットの自律分散制御則の設計と実験的検証を行う

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