顔写真

ワタナベ マサヒロ
渡辺 将広
Masahiro Watanabe
所属
タフ・サイバーフィジカルAI研究センター
職名
助教
学位
  • 博士(工学)(東京工業大学)

  • 修士(工学)(東京工業大学)

経歴 2

  • 2020年1月 ~ 継続中
    東北大学 タフ・サイバーフィジカルAI研究センター 助教

  • 2018年4月 ~ 2019年12月
    東北大学 大学院情報科学研究科 応用情報科学専攻 特任助教(研究)

学歴 3

  • 東京工業大学 大学院理工学研究科 機械制御システム専攻

    2015年4月 ~ 2018年3月

  • 東京工業大学 大学院理工学研究科 機械制御システム専攻

    2013年4月 ~ 2015年3月

  • 東京工業大学 工学部 機械宇宙学科

    2012年4月 ~ 2013年3月

委員歴 6

  • Frontiers in Robotics and AI Review Editor

    2023年10月 ~ 継続中

  • 計測自動制御学会 東北支部 事業幹事

    2023年4月 ~ 継続中

  • 自動制御連合講演会2023 実行委員会委員

    2023年1月 ~ 継続中

  • 一般社団法人日本ロボット学会 第41回日本ロボット学会学術講演会 実行委員 事務委員長

    2023年1月 ~ 継続中

  • IEEE Robotics and Automation Society Japan Joint Chapter Treasurer

    2022年1月 ~ 継続中

  • 一般社団法人日本ロボット学会 日本ロボット学会 会誌編集委員会委員

    2021年4月 ~ 2023年3月

︎全件表示 ︎最初の5件までを表示

所属学協会 5

  • 計測自動制御学会

    2023年3月 ~ 継続中

  • AAAS (American Association for the Advancement of Science)

    2019年12月 ~ 継続中

  • IEEE (Institute of Electrical and Electronics Engineers)

    2018年8月 ~ 継続中

  • 一般社団法人 日本ロボット学会

    2014年7月 ~ 継続中

  • 一般社団法人 日本機械学会

    2014年4月 ~ 継続中

研究キーワード 1

  • ソフトロボティクス,レスキューロボット,ロボット機構,フルードパワー,アクチュエータ

研究分野 2

  • 情報通信 / 機械力学、メカトロニクス /

  • 情報通信 / ロボティクス、知能機械システム /

受賞 30

  1. 第4回優秀研究・技術賞

    2023年9月 一般社団法人日本ロボット学会 反射型駆動ハンド機構 ハエトリグサの閉葉開始機序から抽能した接触カウンタ含有要素

  2. ROBOMECH表彰(学術研究分野)

    2023年6月 一般社団法人日本機械学会 ロボティクス・メカトロニクス部門一般表彰 干渉回避スリット構造によるポロイダル方向への動力伝達機構 ― 能動全方向車輪としての活用―

  3. Robosoft2023 Best Poster Award

    2023年4月 IEEE Robotics and Automation Society Variable Length-Angle and Stiffness Joint Mechanism That Enables Extension, Contraction and Rotation Elements by S-Shape Folded Flat Tube

  4. Robosoft2023 Best Student Paper Award Finalist

    2023年4月 Journal Micromachines, MDPI Balloon Pin Array Gripper: Mechanism for Deformable Grasping with Two-Step Shape Adaptation

  5. 第18回競基弘賞 技術業績賞

    2023年1月 特定非営利活動法人国際レスキューシステム研究機構 ドローン輸送が可能な小型瓦礫内探索ロボットの開発

  6. 一般社団法人日本機械学会 ロボティクス・メカトロニクス部門 ROBOMECH表彰

    2022年6月 一般社団法人日本機械学会 袋内の MR 流体に磁束を伝播する磁性ピンアレイグリッパ機構

  7. 一般社団法人日本機械学会 ロボティクス・メカトロニクス部門 ベストデモンストレーション表彰

    2022年6月 一般社団法人日本機械学会 任意の形状保持と可変剛性を実現する空圧式弾性線状体

  8. Best Poster Award

    2022年4月 IEEE, Robosoft2022

  9. SI2022優秀講演賞

    2021年12月 第22回計測自動制御学会システムインテグレーション部門講演会 色相別重畳マーカによる相対姿勢推定に基づく吊り下げ式移動可能ポートへのドローン連続自動離着陸システム

  10. SI2022優秀講演賞

    2021年12月 第22回計測自動制御学会システムインテグレーション部門講演会 2軸湾曲揺動メカニズム ラムダ形リンクを有する2自由度球面パラレルリンク機構の荷重測定と3次元湾曲計上リンクによる可動域拡大化手法の提案

  11. SI2022優秀講演賞

    2021年12月 第22回計測自動制御学会システムインテグレーション部門講演会 弾性ベルト循環式エンドエフェクタ機構 弾性履帯による対象物への内部なじみ接触が可能な大型バルブ操作用効果器

  12. SI2022優秀講演賞

    2021年12月 第22回計測自動制御学会システムインテグレーション部門講演会 可変幅式滑着切替え車輪メカニズム 風力発電ブレード補修ロボットのための前縁非接触式移動機構

  13. 日本ロボット学会第2回優秀研究・技術賞

    2021年9月 第38回日本ロボット学会学術講演会 弾性履帯の形状適応により高踏破性を可能とする移動メカニズム

  14. 日本ロボット学会第2回優秀研究・技術賞

    2021年9月 第38回日本ロボット学会学術講演会 非密閉式水圧駆動トーラス機構 ー先端能動首振りにより任意方向操舵を可能とする長尺伸縮メカニズムー

  15. SI2020優秀講演賞

    2020年12月 第21回計測自動制御学会システムインテグレーション部門講演会 柔軟スパイラル磁気歯車機構 ー回転及び伸縮変形の2軸交差駆動に基づく螺旋式伝達体の考案・具現化ー

  16. ROBOMECH表彰(学術研究分野)

    2020年5月 一般社団法人日本機械学会 ロボティクス・メカトロニクス部門一般表彰 1次元柔剛切替メカニズムを活用した耐火性トーラスグリッパ機構

  17. 日本機械学会ロボメカ部門 ベストプレゼンテーション表彰

    2020年5月 日本機械学会 履帯上で進行波により全方向移動可能なクローラ機構

  18. SI2019優秀講演賞

    2019年12月 第20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 極小剛を網羅配置した保護外皮メカニズム

  19. SI2019優秀講演賞

    2019年12月 第20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 交差型ヘリカル歯車機構に基づく能動双リング式全方向駆動車輪

  20. SI2019優秀講演賞

    2019年12月 第20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 微小操作力での把持状態切替を可能とするIBマグネット式万力機構

  21. レスキュー工学奨励賞

    2019年12月 第20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 飛行輸送体から投入可能な探査用小型群ロボット

  22. 第34回 日本ロボット学会研究奨励賞

    2019年9月 日本ロボット学会 加圧すると“縮む”ベローズ機構 第36回学術講演会 / 3K3-04

  23. MHS2019 Best Paper Award

    2019年4月 MHS2019 Nemertea Proboscis Inspired Extendable Mechanism

  24. SI2018優秀講演賞

    2019年3月 第19回公益社団法人計測自動制御学会システムインテグレーション部門講演会 スクリュー式差動回転機構全方向サスペンション・クローラ化による不整地踏破性の向上

  25. 第8回 ロボット大賞, 文部科学大臣賞

    2018年10月 文部科学大臣 耐切創性式の柔剛切替グリッパ機構 「Omni-Gripper」

  26. World Robot Summit 2018 Competition, Disaster Robotics, Standard Disaster Robotics Challenge, 日本ロボット学会賞

    2018年10月 日本ロボット学会

  27. World Robot Summit 2018 Competition, Disaster Robotics, Standard Disaster Robotics Challenge, 1st Place, 経済産業大臣賞

    2018年10月 経済産業省

  28. 機械力学・計測制御部門 部門一般表彰 オーディエンス表彰

    2018年8月 一般社団法人日本機械学会 腹足類の運動を参考とした柔軟シート形空気圧アクチュエータ

  29. IEEE Robotics and Automation Society Japan Joint Chapter Young Award

    2017年3月 IEEE Robotics and Automation Society (RAS) Japan Joint Chapter

  30. 2014年度 白星会機械制御システム専攻ベストプレゼンテーション賞

    2015年3月

︎全件表示 ︎最初の5件までを表示

論文 72

  1. Hyperboloidal Pneumatic Artificial Muscle with Braided Straight Fibers 査読有り

    Masahiro Watanabe, Kenjiro Tadakuma, Satoshi Tadokoro

    IEEE Robotics and Automation Letters 1-8 2024年

    出版者・発行元:Institute of Electrical and Electronics Engineers (IEEE)

    DOI: 10.1109/lra.2024.3377565  

    eISSN:2377-3766 2377-3774

  2. Bio-Inspired Protective Skin Mechanism with an Exhaustive Arrangement of Tiny Rigid Bodies 査読有り

    Kenjiro Tadakuma, Hikaru Tetsui, Shoya Shimizu, Issei Onda, Masahiro Watanabe, Satoshi Tadokoro

    The 11th International Symposium on Adaptive Motion of Animals and Machines (AMAM 2023) 174-175 2023年6月

  3. Gripper Mechanism Utilizing Biological Exoskeleton Structure and Movement -Invention and Embodiment of a Gripping Mechanism using the Opening and Closing Movements of Armadillidiidae- 査読有り

    Kenjiro Tadakuma, Shoya Shimizu, Issei Onda, Masahiro Watanabe, Satoshi Tadokoro

    The 11th International Symposium on Adaptive Motion of Animals and Machines (AMAM 2023) 172-173 2023年6月

  4. Worm-inspired robot with variable stiffness mechanism including fluidic bellows

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

    The 11th International Symposium on Adaptive Motion of Animals and Machines (AMAM 2023) 148-149 2023年6月

  5. Reflexive Driven Gripper Mechanism Contact counter element inspired from the mechanism by which the Venus Flytrap snaps shut 査読有り

    Shoya Shimizu, Kenjiro Tadakuma, Kazuki Abe, Masahiro Watanabe, Satoshi Tadokoro

    The 11th International Symposium on Adaptive Motion of Animals and Machines (AMAM 2023) 130-131 2023年6月

  6. Variable Length-Angle and Stiffness Joint Mechanism That Enables Extension, Contraction and Rotation Elements by S-Shape Folded Flat Tube 査読有り

    Kagetora Takahashi, Kenjiro Tadakuma, Masahiro Watanabe, Kazuki Abe, Satoshi Tadokoro

    6th IEEE-RAS International Conference on Soft Robotics (RoboSoft) 2023年4月

  7. Balloon Pin Array Gripper: Mechanism for Deformable Grasping with Two-Step Shape Adaptation 査読有り

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

    6th IEEE-RAS International Conference on Soft Robotics (RoboSoft) 2023年4月

  8. Permanent-Magnetically Amplified Robotic Gripper With Less Clamping Width Influence on Compensation Realized by a Stepless Width Adjustment Mechanism 査読有り

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

    IEEE Robotics and Automation Letters 8 (2) 736-743 2023年2月

    出版者・発行元:Institute of Electrical and Electronics Engineers (IEEE)

    DOI: 10.1109/lra.2022.3224664  

    eISSN:2377-3766 2377-3774

  9. Folded, Articulated Manipulator with Inflatable Skin Enabling Bending and Extension Using a Tension Cutoff Mechanism.

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

    CASE 1-8 2023年

    DOI: 10.1109/CASE56687.2023.10260421  

  10. Tube Mechanism with 3-axis Rotary Joints Structure to Achieve Variable Stiffness Using Positive Pressure 査読有り

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

    IEEE Robotics and Automation Letters 1-8 2023年

    出版者・発行元:Institute of Electrical and Electronics Engineers (IEEE)

    DOI: 10.1109/lra.2023.3234767  

    eISSN:2377-3766 2377-3774

  11. SMURF Software Architecture for Low Power Mobile Robots: Experience in Search and Rescue Operations 査読有り

    Frédéric Py, Giulia Robbiani, Giancarlo Marafioti, Yu Ozawa, Masahiro Watanabe, Kenichi Takahashi, Satoshi Tadokoro

    The 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR2022) 2022年11月8日

  12. Hardware Design and Tests of Two-Wheeled Robot Platform for Searching Survivors in Debris Cones 査読有り

    Masahiro Watanabe, Yu Ozawa, Kenichi Takahashi, Tetsuya Kimura, Kenjiro Tadakuma, Giancarlo Marafioti, Satoshi Tadokoro

    The 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR2022) 1-8 2022年11月

  13. Anisotropic-Stiffness Belt in Mono Wheeled Flexible Track for Rough Terrain Locomotion 査読有り

    Yu Ozawa, Masahiro Watanabe, Kenjiro Tadakuma, Satoshi Tadokoro

    The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) 1-6 2022年10月

  14. Experimental Study of the Mechanical Properties of a Spherical Parallel Link Mechanism With Arc Prismatic Pairs 査読有り

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

    IEEE Robotics and Automation Letters 7 (4) 11221-11227 2022年10月

    出版者・発行元:Institute of Electrical and Electronics Engineers (IEEE)

    DOI: 10.1109/lra.2022.3192760  

    eISSN:2377-3766 2377-3774

    詳細を見る 詳細を閉じる

    A two-degrees-of-freedom spherical parallel link mechanism (2-DOF SPM) was designed to ensure that it only has rotational degrees of freedom in two directions around a fixed center. In general, 2-DOF SPM includes passive rotating pairs, and at least two actuators are needed to change the end-effector posture. The arrangement of the links and pairs determines the characteristics and performance of SPM, so 2-DOF SPMs were designed considering various requirements, such as output torque, accuracy, and space constraints for applications. To satisfy these requirements, arc prismatic pairs can be used in SPMs. In order to use in SPMs, as for arc prismatic pairs, the concrete configuration and design methods for arc prismatic pairs have been studied. Furthermore, in order to compensate for the influence of friction on the positioning error, the control model considering the friction has been proposed by constructing a feedback loop containing experimentally found parameters. However, the conventional model is not a mechanical model of friction. Therefore, it is not suitable for calculating the friction force and understanding how the limit of the workspace changes due to the influence of friction. In this study, we construct a mechanical friction model considering the intersection angle change between the input and the rail slide direction. In addition, using the friction model, we clarify the influences of friction on the workspace and driving the SPM to realize high-performance 2-DOF SPM. First, we theoretically clarified the influence of friction on the workspace by considering the case of a slider-type differential-drive 2-DOF SPM. Second, the driving torque was experimentally measured, and the influence of friction on driving was examined.

  15. Toroidal Origami Monotrack: Mechanism to Realize Smooth Driving and Bending for Closed-Skin-Drive Robots 査読有り

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

    The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) 1-8 2022年10月

  16. Heterogeneous robots coordination for industrial plant inspection and evaluation at World Robot Summit 2020 査読有り

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

    Advanced Robotics 36 (21) 1-18 2022年8月26日

    出版者・発行元:Informa UK Limited

    DOI: 10.1080/01691864.2022.2111230  

    ISSN:0169-1864

    eISSN:1568-5535

    詳細を見る 詳細を閉じる

    This paper describes a plant inspection robot team consisting of three types of robots that won the World Robot Summit 2020 plant disaster prevention challenge. There is a social demand to use robots for industrial plant inspection tasks to decrease the workload and risks of human operators. In this study, the authors developed a plant inspection system using a tracked vehicle, a mecanum-wheeled vehicle, and an unmanned aerial vehicle (UAV). The roles between work-related tasks and visual inspection tasks are divided by two operators, resulting in efficient operation. Experimental results show that the tracked vehicle can conduct challenging tasks such as climbing up the stairs and large-valve operations. The results also showed that the visual inspection task was performed 58% faster by the mecanum vehicle in a narrow passage and 48% faster by the UAV on the stairs, as compared with the tracked vehicle in the same situations. The analysis of the competition results showed that we obtained points in 57% (160/280) of the work-related tasks and 85% (170/200) of the visual inspection tasks as well as 92% (110/120) of the emergency response tasks in the final round.

  17. Highly Articulated Tube Mechanism With Variable Stiffness and Shape Restoration Using a Pneumatic Actuator 査読有り

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

    IEEE Robotics and Automation Letters 7 (2) 3664-3671 2022年4月

    出版者・発行元:Institute of Electrical and Electronics Engineers (IEEE)

    DOI: 10.1109/lra.2022.3147246  

    eISSN:2377-3766 2377-3774

    詳細を見る 詳細を閉じる

    Recently, soft robotics research has focused on mechanisms to control the stiffness of robot structures. There are several types of variable stiffness mechanisms that can change the stiffness of such structures by altering friction force. Among these, the negative-pressurization method applies negative pressure to the particles or layers that are filled inside a bag so that they contact each other and increase stiffness. However, the maximum driving pressure that can be achieved using the negative-pressurization method is 0.1 MPa, which limits the stiffness. In this study, we devised a new fluid-driven mechanism that can change the stiffness through positive pressurization using pneumatic artificial muscles. The proposed structure constructed with hollow beads and inner muscles can hold arbitrary joint angles by the contraction force generated when a pressure is applied. We measured the torque in the pitch direction due to friction when the internal pressure and inner segment diameter were changed. We confirmed that the error between the measured and theoretical torque value was within a 20% at any inner diameter. Also, since a pneumatic artificial muscle is enclosed inside the structure, an actuation effect can occur when the pressure is applied. We measured the restoring angle and force of this effect when the valve opening ratio and inner segment diameter were changed. We confirmed the function that can change the shape restoration characteristics by changing the flow rate with a single rubber tube. Our approach will help design effective stiffening mechanisms using positive pressurization in soft robotics applications. In future, we will design a tensioner mechanism for arbitrarily changing the distance of segments in the axial direction, and we will investigate the holding torque, restoring angle and force when the distance of the segments is changed.

  18. 張力調整型先端折返しベルト付き柔剛切替ヘラ機構

    髙橋 優太, 釼持 優人, 髙橋 景虎, 佐野 峻輔, 金田 侑, 荒木 秀和, 戸島 亮, 池内 宏樹, 阿部 一樹, 渡辺 将広, 多田隈 建二郎, 昆陽 雅司, 田所 諭

    ロボティクス・メカトロニクス講演会講演概要集 2022 2A2-J05 2022年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2022.2a2-j05  

    eISSN:2424-3124

  19. Organic Fluid Actuator

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

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2022 2A2-J07 2022年

    出版者・発行元:Japan Society of Mechanical Engineers

    DOI: 10.1299/jsmermd.2022.2a2-j07  

    eISSN:2424-3124

  20. Fluidic Variable Resistance Mechanism that Memorizes Fluid Flow

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

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2022 2A2-J10 2022年

    出版者・発行元:Japan Society of Mechanical Engineers

    DOI: 10.1299/jsmermd.2022.2a2-j10  

    eISSN:2424-3124

  21. Extreme High Step Climbing: Nonlinear Analysis of a Highly-Deformable-Tracked Robot 査読有り

    Yu Ozawa, Masahiro Watanabe, Kenjiro Tadakuma, Satoshi Tadokoro

    IEEE/ASME Transactions on Mechatronics 1-11 2022年

    出版者・発行元:Institute of Electrical and Electronics Engineers (IEEE)

    DOI: 10.1109/tmech.2022.3216714  

    ISSN:1083-4435

    eISSN:1941-014X

  22. Inflated Bendable Eversion Cantilever Mechanism with Inner Skeleton for Increased Stiffness 査読有り

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

    IEEE Robotics and Automation Letters 1-8 2022年

    出版者・発行元:Institute of Electrical and Electronics Engineers (IEEE)

    DOI: 10.1109/lra.2022.3221340  

    eISSN:2377-3766 2377-3774

  23. Permanent-magnetically Amplified Brake Mechanism Compensated and Stroke-Shortened by a Multistage Nonlinear Spring 査読有り

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

    IEEE Robotics and Automation Letters 7 (3) 1-1 2022年

    出版者・発行元:Institute of Electrical and Electronics Engineers (IEEE)

    DOI: 10.1109/lra.2022.3143231  

    eISSN:2377-3766 2377-3774

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    Electromagnetic (EM) brakes are widely used but consume electricity continuously to maintain their activated state. In this letter, for efficient braking and idling of robots and vehicles, we proposed a concept of a brake mechanism using a permanent magnet for the amplification of the pressing force between brake pads, allowing for the brake torque to be steplessly regulated by a minimal external force. The prototype of the proposed mechanism was developed with a newly devised compensation spring - not the conventional conical coil springs - comprising two linear springs to shorten the pad-detaching stroke. For proof of concept, evaluation experiments based on the Japanese Industrial Standards were conducted. Both the maximum static and average dynamic friction torques increased to 161.0% and 192.9%, respectively, when identical pads of an EM brake were used for comparison. Power saving was also achieved when braking for longer than 0.43 s; the torque-energy efficiency increased by 8.7 when measured for 1.0 s, successfully revealing the effectiveness of the proposed principle. Further, based on the force-displacement characteristic of the compensated magnet, the theoretical response time was numerically analyzed as 13.6 ms - comparable to the contrasted EM brake - validating the actual behavior of 14.0 ms.

  24. Design and Control Method of a Planar Omnidirectional Crawler Mechanism 査読有り

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

    Journal of Mechanical Design 144 (1) 2022年1月1日

    出版者・発行元:ASME International

    DOI: 10.1115/1.4051354  

    ISSN:1050-0472

    eISSN:1528-9001

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

  25. Two-Sheet Type Rotary-Driven Thin Bending Mechanism Realizing High Stiffness 査読有り

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

    IEEE Robotics and Automation Letters 6 (4) 8333-8340 2021年10月

    出版者・発行元:Institute of Electrical and Electronics Engineers (IEEE)

    DOI: 10.1109/lra.2021.3105744  

    eISSN:2377-3766 2377-3774

  26. Internally-Balanced Displacement-Force Converter for Stepless Control of Spring Deformation Compensated by Cam with Variable Pressure Angle 査読有り

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

    IEEE Robotics and Automation Letters 6 (3) 4576-4583 2021年7月

    DOI: 10.1109/LRA.2021.3060383  

    eISSN:2377-3766

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    The force required to drive a mechanism can be compensated by adding an equivalent load in the opposite direction. By reversing the input and output of the load compensation, we proposed the concept of a displacement-force converter that enables the deformation of the elastic element to be controlled steplessly by a minimal external force. Its principle was proved in our previous study, but challenges arose owing to the use of a wire and pulley. Here, we introduce a new compensation method using a noncircular cam that generates a compensation torque due to the contact force from the follower, which is split in the tangential direction of the cam by the pressure angle varying at rotation. Using a prototype for proof of concept, the maximum control force required for the extension of the spring was successfully reduced by 23.2%. Furthermore, uniform forces were obtained between extension and compression so that the difference between them decreased from 543% to 49% relative to compression. Thus, actuators and current supplies requiring less power could be selected. Moreover, the prototype model was incorporated into a variable stiffness mechanism of a soft robotic gripper as a wire tensioner to show the expandability of the displacement-force converter.

  27. 2-DOF Spherical Parallel Mechanism Capable of Biaxial Swing Motion with Active Arc Sliders 査読有り

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

    IEEE Robotics and Automation Letters 6 (3) 4680-4687 2021年7月

    DOI: 10.1109/LRA.2021.3064187  

    eISSN:2377-3766

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    Most articulated robots comprise multiple joints and links that control the position and posture of the end effector. The kinematic pair arrangement determines characteristics such as output force. The link configurations can be classified as serial link and parallel link mechanisms. A typical parallel link mechanism is the spherical parallel mechanism (SPM), designed to ensure that the end effector has only rotational degrees of freedom. However, the kinematic pair arrangement has not been sufficiently examined in two degrees of freedom (2-DOF) SPMs. Herein, we present a basic design method for the proposed 2-DOF SPM curved biaxial swing mechanism, with inputs comprising arc sliders. The swinging area of the passive link was small, and infinite rotation around a certain axis was achieved without collision or transfer to a singular posture. Using the kinematics of this mechanism, we clarified the linear roll output and non-linear pitch output. Moreover, we fabricated a prototype and measured its basic drive characteristics. The results revealed that the output performance was greatly dependent on the rotation angle, high movable range in the roll axis, and low movable range in the pitch axis.

  28. 能動自己修復性ロボット血管機構:— 吸水性表面による修復能力の向上 — 招待有り 査読有り

    猪股 翔平, 古川 英光, 昆陽 雅司, 田所 諭, 山﨑 裕太, 志賀 郁也, 亀岡 将成, MD Nahin, Islam Shiblee, 恩田 一生, 髙根 英里, 渡辺 将広, 多田隈 建二郎

    ロボティクス・メカトロニクス講演会講演概要集 2021 (0) 2P3-H08 2021年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2021.2P3-H08  

    eISSN:2424-3124

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

  29. Magnetic Pin-Array Gripper Mechanism that Propagates Magnetic Flux to MR Fluid in Pouches

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

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2021 1A1-A06 2021年

    出版者・発行元:Japan Society of Mechanical Engineers

    DOI: 10.1299/jsmermd.2021.1a1-a06  

    eISSN:2424-3124

  30. Eversion Robotic Mechanism with Hydraulic Skeleton to Realize Steering Function 査読有り

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

    IEEE Robotics and Automation Letters 1-1 2021年

    出版者・発行元:Institute of Electrical and Electronics Engineers (IEEE)

    DOI: 10.1109/lra.2021.3073653  

    eISSN:2377-3774

  31. Mono-Wheeled Flexible Track Capable of Climbing High Steps and Adapting to Rough Terrains 査読有り

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

    The IEEE International Symposium on Safety, Security, and Rescue Robotics 2020 PN: 29 148-153 2020年11月

    DOI: 10.1109/SSRR50563.2020.9292576  

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    In regions prone to disasters, the instability of the ground and risk of collapse are the primary factors limiting rescue operations. For ensuring the safety and effectiveness of these operations, a remotely controlled search robot is desired. Accordingly, projects are being conducted for exploring rapid and comprehensive rescue response by deploying a mass of small searching robots from aerial drones. As the payload of drones is limited, the robots must be small and lightweight; however, mobile robots with high mobility on rough terrain typically possess complex structures and tend to be heavy. In this study, we propose a novel mobile mechanism with a simple structure and high mobility that is composed of an elastic track belt, which deforms to adapt to irregular obstacles and is driven by a single sprocket. The system was evaluated and compared with a general wheel robot on the basis of its performance in step-climbing tests. The ratio of the maximum height climbed by the proposed mechanism to its wheel diameter is 145%, and its maximum height is 2.9 times than that achieved by the conventional robot. Furthermore, the results are superior when compared to those of the conventional continuous-track-type mechanisms. Overall, our method can be applied to any miniaturized robot that is required to possess high mobility on rough terrains.

  32. Toward Enabling a Hundred Drones to Land in a Minute 査読有り

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

    2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) MoAT12.5 1238-1245 2020年10月24日

    出版者・発行元:IEEE

    DOI: 10.1109/iros45743.2020.9341360  

  33. Toward Enabling a Hundred Drones to Land in a Minute 査読有り

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

    2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 1238-1245 2020年10月

    出版者・発行元:IEEE

    DOI: 10.1109/IROS45743.2020.9341360  

  34. Radial-Layer Jamming Mechanism for String Configuration 査読有り

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

    IEEE Robotics and Automation Letters 5 (4) 5221-5228 2020年10月

    出版者・発行元:Institute of Electrical and Electronics Engineers (IEEE)

    DOI: 10.1109/LRA.2020.2983679  

    eISSN:2377-3766

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    © 2016 IEEE. In the soft robotics field, soft structures are required for safe human interactions, adaptive shape grippers, and haptic interfaces. Conversely, rigid structures are necessary for high force transmission devices and precise position control applications. The tunable stiffness mechanism is a crucial technology in such areas, and various methods were proposed. Extant studies examine fixing the segments of the string by the tension of a tendon to instantly stiffen the structure and they can be constituted with rigid materials. However, the conventional wire tensioning mechanism exhibits a limitation in the holding torque, and the optimum segment morphology and stiffening performance are not clear. In the study, we demonstrate a new tendon-driven jamming mechanism referred to as a 'radial-layer jamming' with multiple layered joints that can realize high holding torque. Three basic segment structures are presented, and the design method is demonstrated. We measured the holding torque of the joints and compared the torque between three different designs. The results indicate that all three structures can control the holding torque by the pulling force of the wire. Furthermore, the findings suggest that the radial layer jamming can maintain the joints as fixed even if it has an extended structure. The holding force of the radial layer jamming did not significantly decrease when compared to other structures even if the number of joints increased. These layered approaches can contribute to the performance improvement of various variable stiffness mechanisms that utilize friction.

  35. Bundled Rotary Helix Drive Mechanism Capable of Smooth Peristaltic Movement 査読有り

    Masahiro Watanabe, Kenjiro Tadakuma, Masashi Konyo, Satoshi Tadokoro

    IEEE Robotics and Automation Letters 5 (4) 5537-5544 2020年10月

    出版者・発行元:Institute of Electrical and Electronics Engineers (IEEE)

    DOI: 10.1109/LRA.2020.2986993  

    eISSN:2377-3766

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    © 2016 IEEE. Herein, we focus on the design method of a robot, named Wave Wheel, capable of generating a smooth continuous peristaltic wave, which is driven by a bundled rotary helix drive mechanism. Wave Wheel mainly consists of a braided mesh tube, multiple helices that are arranged on the circumference, and spur gears. When a single motor rotates the helices, the wheel generates peristaltic waves. The proposed mechanism has some unique characteristics: (i) In principle, smooth peristalsis can be generated with a simple structure. (ii) It can be driven by a single motor and can propagate waves at high speed by infinite rotation of the shaft. (iii) The structure is a circle in the transversal plane and can be used as an omnidirectional drive wheel. The basic design method, such as waveform, velocity, and the collision condition are discussed from a geometrical point of view. Based on the model accounting for the mechanical constraints, we have designed and fabricate a prototype robot and experimentally tested it. The prototype (diameter of 57 mm) reached the top speed of the peristaltic locomotion of 43 mm/s when angular velocity of the helix was 60 rad/s. We obtained the trajectory of the mesh surface by motion capture, and the result showed that the velocity was not constant on the whole surface but periodically changed with time due to the sliding between the mesh and the helix.

  36. Retraction Mechanism of Soft Torus Robot with a Hydrostatic Skeleton 査読有り

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

    IEEE Robotics and Automation Letters 5 (4) 6900-6907 2020年10月

    出版者・発行元:Institute of Electrical and Electronics Engineers (IEEE)

    DOI: 10.1109/LRA.2020.3019736  

    eISSN:2377-3766

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    © 2016 IEEE. Soft robots have attracted much attention in recent years owing to their high adaptability. Long articulated soft robots enable diverse operations, and tip-extending robots that navigate their environment through growth are highly effective in robotic search applications. Robots that extend from the tip can lengthen their body without friction from the environment. However, the flexibility of the thin membrane inhibits the retraction motion of the tip due to buckling. Two methods have been proposed to resolve this issue; increasing the pressure of the internal fluid to reinforce rigidity, and mounting an actuator at the tip. The disadvantage of the former is that the increase is limited by the membrane pressure resistance, while the second method leads to robot complexity. In this letter, we present a tip-retraction mechanism with a hydrostatic skeleton that can prevent buckling and takes advantage of the friction from the external environment. Water is used as the internal fluid to increase ground pressure with the environment, which is different from the conventional methods that use pneumatic. We explore the failure pattern of the retraction motion and propose solutions by using a hydrostatic skeleton robot. Additionally, we develop a prototype robot that successfully retracts by using the proposed methodology. Our solution can contribute to the advancement of mechanical design in the soft robotics field with applications to soft snakes and manipulators.

  37. Fire-Resistant Deformable Soft Gripper Based on Wire Jamming Mechanism 査読有り

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

    2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020 740-747 2020年5月

    出版者・発行元:IEEE

    DOI: 10.1109/RoboSoft48309.2020.9116036  

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    © 2020 IEEE. Able to grasp objects of any shape and size, universal grippers using variable stiffness phenomenon such as granular jamming have been developed for disaster robotics application. However, as their contact interface is mainly composed of unrigid and burnable silicone rubber, conventional soft grippers are not applicable to objects with sharp sections such as broken valves and glass fragments, especially on fire. In this research, the authors proposed a new method of variable stiffness mechanism using a string of beads that can be composed of cut-resistant and incombustible metals, arrange the mechanism to form a torus gripper, and conducted experiments to show its effectiveness.

  38. Internally-Balanced Magnetic Mechanisms Using a Magnetic Spring for Producing a Large Amplified Clamping Force 査読有り

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

    Proceedings - IEEE International Conference on Robotics and Automation 1840-1846 2020年5月

    出版者・発行元:IEEE

    DOI: 10.1109/ICRA40945.2020.9197151  

    ISSN:1050-4729

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    © 2020 IEEE. To detach a permanent magnet using a control force much smaller than its original attractive force, the internally-balanced magnetic unit (IB Magnet) was invented. It has been applied to magnetic devices such as wall-climbing robots, ceiling-dangling drones, and modular swarm robots. In contrast to its significant reduction rate with regard to the control force, the IB Magnet has two major problems in its nonlinear spring, which serves the purpose of cancelling out the internal force on the magnet. These problems include the complicated design procedure and the trade-off relationship between balancing the precision and the volume of the mechanism. This paper proposes a principle for a new balancing method for the IB Magnet. This method uses a like-pole pair of magnets as a magnetic spring, whose repulsive force should equal the attractive force of an unlike-pole pair. To verify the proposed principle, a prototype of the IB Magnet was designed using a magnetic spring and verified through experiments such that its reduction rate is comparable to those of conventional IB Magnets. Moreover, a robotic clamp was developed as an application example that contains the proposed IB Magnets as its internal mechanism.

  39. Development of the multifunctional rescue robot FUHGA2 and evaluation at the world robot summit 2018 査読有り

    Tatsuya Takemori, Masato Miyake, Tomoaki Hirai, Xixun Wang, Yuto Fukao, Mau Adachi, Kaiyo Yamaguchi, Suomi Tanishige, Yusuke Nomura, Fumitoshi Matsuno, Toshiaki Fujimoto, Akito Nomura, Hikaru Tetsui, Masahiro Watanabe, Kenjiro Tadakuma

    Advanced Robotics 34 (2) 119-131 2020年1月17日

    出版者・発行元:Informa UK Limited

    DOI: 10.1080/01691864.2019.1697751  

    ISSN:0169-1864

    eISSN:1568-5535

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    © 2019, © 2019 Informa UK Limited, trading as Taylor & Francis Group and The Robotics Society of Japan. Robots are needed in rescue activities and the inspection of infrastructure. We developed the rescue robot FUHGA2 so that it has various functions. FUHGA2 has high mobility, with main crawlers covering the body and four sub-crawlers, high dexterity using a long six-axis arm, and high searching ability using various sensors. Furthermore, a novel parallel gripper unit with wire-jamming mechanism is mounted at the tip of the arm, which can change its hardness and fit its shape to an object. Additionally, high Maneuvering is achieved by displaying sensor information to the operator clearly and intuitive operation command design. FUHGA2 won the World Robot Summit 2018 Standard Disaster Robotics Challenge, which is a competition for rescue robots. We achieved high scores in all categories of tasks. In this paper, we describe the development of FUHGA2 and the performance evaluation results from the World Robot Summit 2018.

  40. 薄型化を可能にする2軸湾曲揺動メカニズム

    西城 直人, 渡辺 将広, 信時 正嗣, 鈴木 信太郎, 多田隈 建二郎, 昆陽 雅司, 田所 諭

    ロボティクス・メカトロニクス講演会講演概要集 2020 1A1-I08 2020年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2020.1A1-I08  

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    <p>Various researches are conducted to reduce the influence of winds and waves for safer work environment on offshore operations and to negate the tilt due to acceleration of vehicle for improved comfortableness. Conventional researches have adopted active mechanism like six-degree-of-freedom parallel mechanism that absorbs the sway by constantly keeping its motion base horizontal to suppress such influences. However, current swing machines require vast areas to be installed since their swing mechanisms are large and their bottom structures are thick. Here, we propose a new swing mechanism "Omni-Swing" which is relatively thin and can be applied to curved surfaces. The mechanism is embodied to a real machine and experiments are conducted to verify its basic characteristic in this paper.</p>

  41. 極小剛を網羅配置した保護外皮メカニズム:― ウロコ状機構の耐穿刺性・伸縮性・耐脱鱗性の評価 ―

    鉄井 光, 渡辺 将広, 多田隈 建二郎, 昆陽 雅司, 田所 諭

    ロボティクス・メカトロニクス講演会講演概要集 2020 1P2-J09 2020年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2020.1P2-J09  

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    <p>Soft actuators have advantages, including large deformation, safety and adaptability to the environment, and shock absorbance. However, they are weak against sharp objects due to their soft bodies. This paper proposes a protective skin mechanism with an exhaustive arrangement of tiny rigid bodies. Small pieces were sewed on an elastic sheet by Kevlar strings. We conducted some measurements of puncture resistance, elasticity, and descaling resistance of scale mechanisms. The results showed that the proposed scale mechanism had only a 150% larger elasticity than a simple silicone sheet. Also, approximately 15 N was required for descaling, which is seven times large force compared to the glued scale. There was no puncture even when pricked with a needle.</p>

  42. 自己修復機能を実現するソフトロボット血管機構

    猪股 翔平, 田所 諭, 飯島 哲朗, 山﨑 裕太, 恩田 一生, 高橋 知也, 渡辺 将広, 多田隈 建二郎, 古川 英光, 昆陽 雅司

    ロボティクス・メカトロニクス講演会講演概要集 2020 1P2-J16 2020年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2020.1P2-J16  

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    <p>Soft robots have a problem that they easily punctured or torn by contact with a sharp edge due to their soft bodies made of weak materials. To solve this fundamental issue, we proposed a robotic blood vessel mechanism that enables the robot to heal their bodies themselves. This mechanism realizes the self-healing function of soft robots like blood closing and healing wounds. We have created some test pieces consists of elastomer and inner blood that reacts by two-liquid mixing. In addition, we constructed a twisted helical type vascular mechanism, which is constructed by the gel produced by two-liquid mixing. In this paper, we demonstrate the concept of the robotic blood vessel mechanism and show the results of the basic experiments.</p>

  43. 飛行体の安定・連続着陸のための吊り下げ式ポートシステム:―離発着のロバスト性向上のための受動位置決め機構の考案―

    藤倉 大貴, 多田隈 建二郎, 渡辺 将広, 岡田 佳都, 大野 和則, 田所 諭

    ロボティクス・メカトロニクス講演会講演概要集 2020 2A2-B06 2020年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2020.2A2-B06  

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    <p>Currently, drone research and development has received significant attention worldwide. Particularly, delivery services employ drones as it is a viable method to improve delivery efficiency by using a several unmanned drones. However, regarding the takeoff and landing port of the drones, the continuous landing of multiple drones has not been realized. Here, we propose a new port system, "EAGLES Port," that allows several drones to continuously land and takeoff in a short time. Experiments verified that the landing time efficiency of the proposed port is ideally 7.5 times higher than that of conventional vertical landing systems. Moreover, the system can tolerate 270 mm of horizontal positional error, ± 40° of angular error of drones, and up to 1.9 m/s of drone's approach speed. This technology significantly contributes to the scalability of drone usage. Therefore, it is critical for the development of a future drone port for automated drone swarms.</p>

  44. 超薄型化と高剛性化を両立可能な能動湾曲メカニズム:-笹舟構造に着目した球状変形機構の考案-

    高橋 知也, 渡辺 将広, 多田隈 建二郎, 昆陽 雅司, 田所 諭

    ロボティクス・メカトロニクス講演会講演概要集 2020 2P2-G09 2020年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2020.2P2-G09  

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    <p>Thinning is one of the important themes in mechanism development. But it is difficult to increase the stiffness of a thin actuator. Body stiffness depends on moment of inertia of area and Young's modulus. Since the thin actuator maintains a constant cross section while bending. Even if sheet metal material with a high Young's modulus is used, its stiffness cannot be increased because its cross section is a thin rectangular shape. The purpose of this study is that the development of a thin actuator with high stiffness. We proposed a bending mechanism that improves stiffness with changing the cross-sectional shape from the initial state. We succeeded in improving stiffness by transforming two metal plates into a structure like a bamboo boat. We designed and created prototype and confirmed that the rigidity increased while bending.</p>

  45. Tip Extending Torus Mechanism based on Nemertea Proboscis

    Tomoya TAKAHASHI, Natsumi HOKABE, Masahiro WATANABE, Hiroshi KAJIHARA, Takeshi YAMASAKI, Kenjiro TADAKUMA, Masashi KONYO, Satoshi TADOKORO

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020 (0) 1P2-J12 2020年

    出版者・発行元:Japan Society of Mechanical Engineers

    DOI: 10.1299/jsmermd.2020.1p2-j12  

    eISSN:2424-3124

  46. Design and Control of Parallel Gripper with Linear and Curved Trajectory Consisting of only Revolute Pairs 査読有り

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

    Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020 557-562 2020年1月

    出版者・発行元:IEEE

    DOI: 10.1109/SII46433.2020.9025997  

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    © 2020 IEEE. A parallel gripper that can grasp an object notjust between the fingers, using the linear trajectory, but also in front of the fingers, using the curved trajectory, is proposed. With an aim to make it dust-and-waterproof, the link structure is designed to combine two mechanisms consisting of only revolute pairs, called the Chebyshev's lambda mechanism and double parallel link. The former constrains the fingertips on the trajectory and the latter always keeps the gripping face of the fingertip vertical. As a trigger of grasping motion, it is also possible to detect contact between the fingertip and grasping target on the basis of the actuators' backdrive, without any sensors on the fingertip. Kinematic analysis, control methods, and experiments with a fabricated gripper are also presented.

  47. Nemertea Proboscis Inspired Extendable Mechanism 査読有り

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

    MHS 2019 - 30th 2019 International Symposium on Micro-NanoMechatronics and Human Science 2019年12月1日

    出版者・発行元:IEEE

    DOI: 10.1109/MHS48134.2019.9249086  

    詳細を見る 詳細を閉じる

    © 2019 IEEE. In this research, we aim to establish a design theory and implementation method for an inflatable robot mechanism that can branch and divide freely based on the core technology that a robot freely shapes its structure with a shape memory function. As a first step of our investigation, we present an initial prototype model of branched torus mechanism using inflatable structure inspired by the nemertea proboscis We developed the basic prototype mechanical model of this proboscis structure and did some experiments to understand the basic performance of this configuration. As explained above, we confirmed the basic performances of the first prototype mechanical models based on nemertea proboscis and this mechanical configuration can be used for the expandable gripper, the branched stent graft, the distributer of the tiny mobile robots into the real fields.

  48. Basic Performance of Planar Omnidirectional Crawler during Direction Switching using Disturbance Degree of Ground Evaluation Method 査読有り

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

    IEEE International Conference on Intelligent Robots and Systems 2732-2739 2019年11月

    出版者・発行元:IEEE

    DOI: 10.1109/IROS40897.2019.8968507  

    ISSN:2153-0858

    eISSN:2153-0866

    詳細を見る 詳細を閉じる

    © 2019 IEEE. We introduced the disturbance degree of ground and proposed an evaluation method to measure the mobile performance of a crawler on soft ground during direction switching. First, we developed a planar omnidirectional crawler, which had a configuration with two left and right unit crawlers for performing turning motion, as the target for evaluation. Second, by utilizing the proposed disturbance degree of ground evaluation method, we investigated how the turning and translational motions of the crawler mechanism affected soft ground by measuring the flow of sand on a horizontal surface. It was quantitatively shown that translational motion switched the travel direction with lesser disturbance to the road surface compared to turning motion. We confirmed that ground disturbance could be evaluated during direction switching using the proposed method.

  49. Small Swarm Search Robot System with Rigid-Bone Parachute Rapidly Deployable from Aerial Vehicles 査読有り

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

    2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019 88-93 2019年9月

    出版者・発行元:IEEE

    DOI: 10.1109/SSRR.2019.8848955  

    詳細を見る 詳細を閉じる

    © 2019 IEEE. In this research, the authors aim to construct a system of the small swarm search robot dropped from aerial vehicles to realize the efficient wide area exploration for rapid disaster response. The authors propose a jumping mechanism using an internally balanced magnet unit and a rigid bone parachute mechanism that can prevent entanglement and move effectively on rough terrains such as rubbles or narrow spaces. For this purpose, the platform of the robot requires small dimensions and mass to transport by aerial vehicles and enter confined spaces. However, if the diameter of the wheel is reduced, the height of the step that can be overcome decreases, and the mobility performance on a rough train would also decrease. For that reason, the authors propose a mechanism that can jump over the debris and a parachute mechanism that does not get caught by the debris, the environment, and itself. In this paper, the authors first show the basic concept and requirements of the swarm search robot. Next, the basic design of the mechanical structure and electrical system are shown, and the prototype of the two-wheeled robot is fabricated as a platform. Finally, experiments using the prototypes are conducted to verify the principle of the jumping mechanism and parachute mechanism and to discuss their effectiveness.

  50. アリクイ舌構造を生物抽能する連続吐出メカニズム

    林 聡輔, 清水 杜織, 郡司 芽久, 渡辺 将広, 多田隈 建二郎, 昆陽 雅司, 田所 諭

    ロボティクス・メカトロニクス講演会講演概要集 2019 1P1-H05 2019年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2019.1P1-H05  

    詳細を見る 詳細を閉じる

    <p>In this paper, we developed a robot as a simplified physics simulator to elucidate the tongue of the anteater and exploit its moving principle. Furthermore, the middle term purpose of the research is to extract the functions of the soft switching bodies entering and leaving at high frequency, implement them as mechanism elements, and utilize as an application such as cleaning devices. As a long term, the major objective is to lead to an interactive academic development of both biology and robot engineering.</p>

  51. 組織を三次元曲面に切離可能な能動湾曲式超薄型メス機構

    渡辺 将広, 林 聡輔, 清水 杜織, 郡司 芽久, 多田隈 建二郎, 昆陽 雅司, 田所 諭

    ロボティクス・メカトロニクス講演会講演概要集 2019 1P2-G01 2019年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2019.1P2-G01  

    詳細を見る 詳細を閉じる

    <p>We propose an active bending thin scalpel mechanism capable of separating tissue into a three-dimensional curved surface. Many mechanical tools have been developed, however, it has been difficult to separate a tissue into a curved shape. In this paper, we develop a scalpel that can realize active bending motion with a thin structure. The basic principle of the bending is demonstrated, and the prototype scalpel is fabricated. The basic bending experiment is conducted, and the target tissue was separated using the proposed prototype.</p>

  52. 軸方向伸展拘束型トーラスバルーン機構

    鉄井 光, 猪股 翔平, 林 聡輔, 清水 杜織, 渡辺 将広, 多田隈 建二郎, 昆陽 雅司, 田所 諭

    ロボティクス・メカトロニクス講演会講演概要集 2019 1P2-G03 2019年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2019.1P2-G03  

    詳細を見る 詳細を閉じる

    <p>We propose an axially-reinforced torus balloon mechanism that can grasp complex shape objects by wrapping and adapting its shape. Several soft grippers using a balloon have been proposed which consist of elastic rubber materials. However, since the traction force does not transmit efficiently due to its soft body, it had difficulty in grasping heavy objects. To solve this problem, we constructed a torus balloon that is axially reinforced by inextensible fibers. The fabrication method is presented, and the stress-strain property is measured of the torus membrane. A basic grasping test was conducted to show its effectiveness.</p>

  53. Hot-Ice現象を活用した全方向包み込み式なじみグリッパ機構:- 第4報:微小粒子の添加による結晶化時の剛性向上 -

    清水 杜織, 林 聡輔, 渡辺 将広, 多田隈 建二郎, 昆陽 雅司, 田所 諭

    ロボティクス・メカトロニクス講演会講演概要集 2019 1P2-C05 2019年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2019.1P2-C05  

    詳細を見る 詳細を閉じる

    <p>Able to grasp objects of any shape and size, universal grippers that use jamming phenomenon to change their own stiffness have been developed. The authors have focused on the Hot-Ice phenomenon of supersaturated sodium acetate solution as a means of variable stiffness. However, since the crystallization occurs rapidly and the crystals cannot grow large, the whole solid lacks stiffness to grasp heavy objects successfully. In this research, the authors proposed a new method of enhancing the stiffness of crystalized phase of the solution by adding insoluble fine particles. They conducted experiments to show the effectiveness of filler addition on further stiffening.</p>

  54. 2次元ファスナ機構

    林 聡輔, 清水 杜織, 緑川 俊貴, 髙根 英里, 渡辺 将広, 多田隈 建二郎, 昆陽 雅司, 田所 諭

    ロボティクス・メカトロニクス講演会講演概要集 2019 2P1-B08 2019年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2019.2P1-B08  

    詳細を見る 詳細を閉じる

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

  55. 細胞シート貼付を可能にする軸方向伸展拘束型トーラス機構

    猪股 翔平, 清水 将伍, 佐野 和紀, 昆陽 雅司, 田所 諭, 鉄井 光, 林 聡輔, 清水 杜織, 渡辺 将広, 多田隈 建二郎, 清水 達也, 関根 秀一, 本間 順

    ロボティクス・メカトロニクス講演会講演概要集 2019 2A2-T05 2019年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2019.2A2-T05  

    詳細を見る 詳細を閉じる

    <p>We propose an axially-reinforced torus mechanism capable of transferring a soft cell sheet. Several soft grippers using a balloon have been proposed which consist of elastic rubber materials. However, since the traction force does not transmit efficiently due to its soft body, it had difficulty realize the tip storing motion to peel and release the cell sheet. To solve this problem, we constructed a torus balloon that is axially reinforced by inextensible fibers. The fabrication method is presented, and the stress-strain property is measured of the torus membrane. A basic grasping test was conducted to show its effectiveness.</p>

  56. 柔剛切替えが可能なジャミング膜グリッパ機構:― 構造の洗練化の過程とこれまでの取り組みの総括 ―

    多田隈 建二郎, 林 聡輔, 清水 杜織, 鉄井 光, 髙根 英里, 渡辺 将広, 昆陽 雅司, 田所 諭

    ロボティクス・メカトロニクス講演会講演概要集 2019 2P1-E07 2019年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2019.2P1-E07  

    詳細を見る 詳細を閉じる

    <p>This research relates to the device and realization of tufted jamming membrane gripper and expansion of the gripper function. Our team have developed and realized jamming membrane gripper which can push a button and pick up a complex shape object. We carried out basic characteristic evaluating experiment of the gripper to confirm that the gripper can turn the valve handle and push a button. From the experiment, we confirmed the validity of the gripper mechanism. In this paper, we report the process of sophistication of the structure and the research outline.</p>

  57. 双配置型構造により大変形可能な袋グリッパ機構

    渡辺 将広, 藤本 敏彰, 鉄井 光, 向出 陸央, 猪股 翔平, 金田 侑, 多田隈 建二郎, 昆陽 雅司, 田所 諭

    ロボティクス・メカトロニクス講演会講演概要集 2019 2P1-H03 2019年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2019.2P1-H03  

    詳細を見る 詳細を閉じる

    <p>This paper proposes a jamming gripper mechanism capable of large deformation by double symmetric arrangement. Several soft grippers have been proposed that can grasp complex shape objects by pressing the gripper to the object and passively deform it. However, it requires large pressing force and small deformation can be realized. Thus, we arranged the two grippers symmetrically to make the internal granular material easy to move between the grippers of each other. We conducted a grasping experiment to verify the effectiveness of the proposed gripper.</p>

  58. Floating Displacement-Force Conversion Mechanism as a Robotic Mechanism.

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

    CoRR abs/1907.09955 2019年

  59. 吸引捕食を生物抽能した劣駆動グリッパ機構:― 負圧生成式引寄せ機能の実現 ―

    林 聡輔, 清水 杜織, 髙根 英里, 渡辺 将広, 郡司 芽久, 多田隈 建二郎, 昆陽 雅司, 田所 諭

    ロボティクス・メカトロニクス講演会講演概要集 2019 (0) 2A2-Q05 2019年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2019.2A2-Q05  

    詳細を見る 詳細を閉じる

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

  60. 面状全方向クローラ機構:― 第9報:方向切替進行時の路面乱動抑制効果 ―

    髙根 英里, 清水 杜織, 林 聡輔, 渡辺 将広, 多田隈 建二郎, 鏡 慎吾, 永谷 圭司, 昆陽 雅司, 田所 諭

    ロボティクス・メカトロニクス講演会講演概要集 2019 (0) 2A2-D09 2019年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2019.2A2-D09  

    詳細を見る 詳細を閉じる

    <p>We propose a planar omnidirectional crawler mobile mechanism for the mobile basis of search and rescue robots. One of the advantages of the planar omnidirectional crawler mechanism is that it allows the robot to move in any direction without causing large slippage on soft ground because it does not require a turning motion when the robot switches its traveling direction. This study realized a configuration with two left and right unit crawlers that enables a turning motion. By using this prototype machine, we investigated how the turning and translational motions of the crawler mechanism exert influence on the imitating soft ground by measuring the flow of sand on the horizontal surface. As a result, the translational motion was quantitatively shown to switch the travel direction with less degree of disturbance to the road surface than the turning motion.</p>

  61. 軸方向推進の観点からの全方向駆動メカニズム:― 第2報 軸方向波動伝播ホイール機構およびスクリュー式差動回転機構の車両化 ―

    林 聡輔, 昆陽 雅司, 田所 諭, 清水 杜織, 野村 陽人, 西村 礼貴, 緑川 俊貴, 髙根 英里, 渡辺 将広, 多田隈 建二郎, 多田隈 理一郎

    ロボティクス・メカトロニクス講演会講演概要集 2019 (0) 1P2-M03 2019年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2019.1P2-M03  

    詳細を見る 詳細を閉じる

    <p>The omnidirectional motion can move any direction without changing the direction of its own. The authors have developed Wave-wheel mechanism and Screw-type differential rotating mechanism. Also, the stepping performance were improved by extending the ground point from point to line. In addition, we have evaluated the motion characteristics of one unit and made high rigidity. In this paper, we examined the composition for vehiclization. In the vehicle configuration, the minimum necessary two units are arranged in parallel, and these are actually realized. We conducted experiments using actual mechanisms and confirmed that the inventive principle is also effective for vehicle construction, omnidirectional motion.</p>

  62. 交差型ヘリカル歯車機構に基づく能動双リング式全方向駆動車輪:― 斜め方向移動の高円滑化 ―

    緑川 俊貴, 林 聡輔, 清水 杜織, 髙根 英里, 渡辺 将広, 多田隈 理一郎, 多田隈 建二郎, 昆陽 雅司, 田所 諭

    ロボティクス・メカトロニクス講演会講演概要集 2019 (0) 1P2-L03 2019年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2019.1P2-L03  

    詳細を見る 詳細を閉じる

    <p>In this paper, the control method which can move in the diagonal direction for active omni-directional wheel mechanism with dual-rings is proposed. Active dual-ring wheel with high performance on step traverse had been developed. However, it was difficult for this mechanism to move in the diagonal direction because a rotation direction of the ring wheel is reversed at constant period of the wheel. Thus, the authors proposed a control method for diagonal direction movement. Next, the wheel path was simulated to confirm the validity of the proposed method. Finally, the effectiveness of proposed control method was verified by experiments.</p>

  63. 微小操作力での弾性体圧縮が可能な永電IBマグネット跳躍機構:- 第1報:基本構成と動作モデルの検証 -

    清水 杜織, 林 聡輔, 髙根 英里, 渡辺 将広, 多田隈 建二郎, 昆陽 雅司, 田所 諭

    ロボティクス・メカトロニクス講演会講演概要集 2019 (0) 1P1-K07 2019年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2019.1P1-K07  

    詳細を見る 詳細を閉じる

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

  64. 伸展分岐可能な柔軟トーラス駆動機構

    林 聡輔, 清水 杜織, 渡辺 将広, 緑川 俊貴, 髙根 英里, 多田隈 建二郎, 昆陽 雅司, 田所 諭

    ロボティクス・メカトロニクス講演会講演概要集 2019 (0) 1P1-H04 2019年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2019.1P1-H04  

    詳細を見る 詳細を閉じる

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

  65. 履帯上での進行波生成により全方向移動可能なクローラ機構

    渡辺 将広, 林 聡輔, 清水 杜織, 高根 英里, 多田隈 理一郎, 多田隈 建二郎, 昆陽 雅司, 田所 諭

    ロボティクス・メカトロニクス講演会講演概要集 2019 (0) 2P2-A14 2019年

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1299/jsmermd.2019.2P2-A14  

    詳細を見る 詳細を閉じる

    <p>In this paper, we proposed a planar omnidirectional crawler mechanism for the mobile basis of search and rescue robots. Several omnidirectional mechanisms have been proposed, however, few planar omnidirectional tracks have been studied. To realize these tracks, two types of mechanisms are proposed by using a crawler belt generating traveling waves. The prototype mechanisms were fabricated, and the effectiveness of the proposed principle of the omnidirectional transmission was verified.</p>

  66. Flexible Sheet Actuator That Generates Bidirectional Traveling Waves 査読有り

    Masahiro Watanabe, Hideyuki Tsukagoshi

    2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 2018年7月

    出版者・発行元:IEEE

    DOI: 10.1109/aim.2018.8452700  

  67. Suitable configurations for pneumatic soft sheet actuator to generate traveling waves 査読有り

    Masahiro Watanabe

    Advanced Robotics 32 (7) 363-374 2018年4月3日

    出版者・発行元:Informa UK Limited

    DOI: 10.1080/01691864.2017.1392347  

    ISSN:0169-1864 1568-5535

    eISSN:1568-5535

  68. 腹足類の運動を参考とした柔軟シート形アクチュエータ 査読有り

    渡辺 将広, 塚越 秀行

    ロボティクス・メカトロニクス講演会講演概要集 2017 2A1-M04 2017年5月

    出版者・発行元:一般社団法人 日本機械学会

    DOI: 10.1109/icra.2017.7989074  

    詳細を見る 詳細を閉じる

    <p>In this paper, we propose a method to create a various waveform for a pneumatic sheet actuator that generates traveling waves called "Wavy-sheet". Wavy-sheet is a soft actuator that can generate traveling waves. By arranging the inner tubes, various waveforms can be designed that has different characteristics such as amplitude, velocity, and stiffness. First, we derived a combination of waveforms. The result showed that there are mainly three kinds of waveforms that are actuated by three chambers. Next, amplitude and velocity had been analyzed. Finally, prototypes of the actuators had been fabricated and characteristics were measured by some experiments. The results showed that each wave has different characteristics and it is effective to select the waveform depending on the application.</p>

  69. Snail Inspired Mobile Robot Using Fluid Adhesion to Travel on Rough Concrete Surface

    Hideyuki Tsukagoshi, Masahiro Watanabe, Masami Nakano

    CRF-75 2016年10月

  70. Rheological Properties of Snail’s Mucus Enabling Adhesive Crawling Locomotion

    Masahiro Watanabe, Hideyuki Tsukagoshi, Masami Nakano

    Twelfth International Conference on Flow Dynamics (ICFD2015) CRF-80 2015年10月

  71. Aerial manipulator with perching and door-opening capability 査読有り

    Hideyuki Tsukagoshi, Masahiro Watanabe, Takahiro Hamada, Dameitry Ashlih, Ryuma Iizuka

    2015 IEEE International Conference on Robotics and Automation (ICRA) 2015年5月

    出版者・発行元:IEEE

    DOI: 10.1109/icra.2015.7139845  

  72. Aerial manipulator aimed for door opening mission 査読有り

    Hideyuki Tsukagoshi, Takahiro Hamada, Masahiro Watanabe, Ryuma Iizuka, Ashlih Dameitry

    2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) 2014年10月

    出版者・発行元:IEEE

    DOI: 10.1109/ssrr.2014.7017685  

︎全件表示 ︎最初の5件までを表示

MISC 46

  1. 双ベルト式円状断面クローラ機構

    栢分 崚汰郎, 佐野 峻輔, 阿部 一樹, 渡辺 将広, 多田隈建二郎, 多田隈理一郎, 田所 諭

    第41回日本ロボット学会学術講演会 (RSJ2023) 2023年9月10日

  2. 磁気対向配置型移動メカニズム

    清水 翔也, 栢分 崚汰郎, 釼持 優人, 恩田 一生, 阿部 一樹, 渡辺 将広, 渡辺 哲陽, 多田隈 建二郎, 昆陽 雅司, 田所 諭

    第41回日本ロボット学会学術講演会 (RSJ2023) 2023年9月10日

  3. 反射型形状変化メカニズム

    栢分 崚汰郎, 清水 翔也, 恩田 一生, 佐野 峻輔, 阿部 一樹, 渡辺 将広, Galipon Josephine, 多田隈理一郎, 多田隈 建二郎, 昆陽 雅司, 田所 諭

    第41回日本ロボット学会学術講演会 (RSJ2023) 2023年9月10日

  4. 定常1方向入力による差動式高頻度大出力駆動メカニズム

    高橋 知也, 渡辺 将広, 多田隈 建二郎, 田中 一敏

    第41回日本ロボット学会学術講演会 (RSJ2023) 2023年9月10日

  5. 可変幅式滑着切替え車輪メカニズム-風力発電ブレード補修ロボットのための前縁非接触式移動機構-

    佐野(林)峻輔, 竹囲年延, 高橋知也, 恩田一生, 阿部一樹, 渡辺将広, 多田隈建二郎, 田所諭

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 22nd 2021年

  6. 膜破損時にも柔剛切替機能を維持可能な被覆式ジャミンググリッパ機構-基本保持特性の評価-

    恩田一生, 小澤悠, 高橋知也, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    日本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年

    ISSN:2424-3124

  7. 軸方向推進の観点からの全方向駆動メカニズム-繊毛振動体の実機具現化と交差型ヘリカル歯車機構による移動体化-

    恩田一生, 高橋知也, 小澤悠, 清水杜織, 高根英里, 渡辺将広, 多田隈建二郎, 多田隈理一郎, 昆陽雅司, 田所諭

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2020 2020年

    ISSN:2424-3124

  8. 可食自励振動メカニズム

    小澤悠, 恩田一生, 高橋知也, 清水杜織, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    日本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年

    ISSN:2424-3124

  9. 交差型ヘリカル歯車機構に基づく能動双リング式全方向駆動車輪-グローサによる不整地走破性の向上-

    緑川俊貴, 高根英里, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2020 2020年

    ISSN:2424-3124

  10. 加圧により高剛性化するジャミング転移機構-流体駆動式柔剛切替メカニズムの考案と具現化-

    恩田一生, 小澤悠, 渡辺将広, 高根英里, 多田隈建二郎, 昆陽雅司, 田所諭

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2020 2020年

    ISSN:2424-3124

  11. 高速開傘と絡まり抑制を可能にする剛体棒パラシュート機構

    小澤悠, 恩田一生, 高橋智也, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2020 2020年

    ISSN:2424-3124

  12. 円状断面構造化を基本核とする全方向移動・駆動メカニズム

    高橋優太, 恩田一生, 高橋知也, 小澤悠, 高根英里, 渡辺将広, 多田隈理一郎, 多田隈建二郎, 昆陽雅司, 田所諭

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

  13. 径方向多段構造を有する加圧式1次元ジャミング転移機構-内外相互スライドにより非接触推進を可能とする柔剛切替え索状体-

    恩田一生, 渡辺将広, 高根英里, 多田隈建二郎, 昆陽雅司, 田所諭

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

  14. 弾性履帯の形状適応により高踏破性を可能とする移動メカニズム

    小澤悠, 渡辺将広, 多田隈建二郎, 高根英里, 田所諭

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

  15. 能動多関節式径方向層状柔剛切替えメカニズム-不定形対象物への形状適応を可能とする線状機構-

    向出陸央, 渡辺将広, 高橋知也, 小澤悠, 多田隈建二郎, 昆陽雅司, 田所諭

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

  16. 非密閉式水圧駆動トーラス機構-先端能動首振りにより任意方向操舵を可能とする長尺伸縮メカニズム-

    高橋知也, 渡辺将広, 高根英里, 多田隈建二郎, 昆陽雅司, 田所諭

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

  17. 磁気鍵トリガ式連結分離機構

    高橋昌己, 清水杜織, 岡田佳都, 岡田佳都, 高橋知也, 藤倉大貴, 高根英里, 大野和則, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

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

  18. 膜破損時の内容物飛散防止・漏出抑制を可能とする柔剛切替グリッパ機構

    金田侑, 恩田一生, 渡辺将広, 西谷誠治, 戸島亮, 高根英里, 多田隈建二郎, 昆陽雅司, 田所諭

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

  19. 能動自己修復性ソフトロボット血管機構-螺旋状血管経路による貫通傷に対する基礎修復能力実験-

    猪股翔平, 山崎裕太, 志賀郁也, 亀岡将成, SHIBLEE MD Nahin Islam, 渡辺将広, 高根英里, 多田隈建二郎, 古川英光, 昆陽雅司, 田所諭

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

  20. 柔軟スパイラル磁気歯車機構-回転及び伸縮変形の2軸交差駆動に基づく螺旋式伝達体の考案・具現化-

    高根英里, 高橋優太, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 21st 2020年

  21. 磁性ピンアレイ・膜袋複合グリッパ機構-柔軟膜内全域への磁気伝搬を可能とする把持メカニズム-

    釼持優人, 恩田一生, 高根英里, 渡辺将広, 金田侑, 西谷誠治, 戸島亮, 多田隈建二郎, 昆陽雅司, 田所諭

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 21st 2020年

  22. 断面2次モーメント式柔剛切替機構

    高橋優太, 高根英里, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 21st 2020年

  23. 径方向層状ジャミング機構

    向出陸央, 清水杜織, 小澤悠, 高橋知也, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    日本ロボット学会学術講演会予稿集(CD-ROM) 37th 2019年

  24. 膜破損時にも柔剛切替機能を維持可能な被覆式ジャミング機構-柔剛切替膜メカニズムと1次元ジャミング機構の統合体-

    恩田一生, 小澤悠, 高橋知也, 清水杜織, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    日本ロボット学会学術講演会予稿集(CD-ROM) 37th 2019年

  25. ヒモムシ吻の伸展・湾曲・分岐構造を抽能したトーラス機構

    高橋知也, 波々伯部夏美, 小澤悠, 渡辺将広, 柁原宏, 山崎剛史, 多田隈建二郎, 昆陽雅司, 田所諭

    日本ロボット学会学術講演会予稿集(CD-ROM) 37th 2019年

  26. 交差型ヘリカル歯車機構に基づく能動双リング式全方向駆動車輪-第2報:横方向段差・溝踏破性能の定量比較-

    緑川俊貴, 恩田一生, 高橋知也, 小澤悠, 高根英里, 渡辺将広, 多田隈建二郎, 多田隈理一郎, 昆陽雅司, 田所諭

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 20th 2019年

  27. 飛行輸送体から投入可能な探査用小型群ロボット-第2報:剛体棒パラシュート機構の統合機による着陸・分離実験-

    小澤悠, 清水杜織, 恩田一生, 向出理央, 猪股翔平, 山田健斗, 矢内智大, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 20th 2019年

  28. 柔軟式流体貯蔵タンク機構

    猪俣翔平, 高橋知也, 小澤悠, 清水杜織, 高根英里, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 20th 2019年

  29. 微小操作力での把持状態切替を可能とするIBマグネット式万力機構

    清水杜織, 小澤悠, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 20th 2019年

  30. ピッチ軸型ラックチェーン機構-実機具現化における噛合率向上のためのガイド構造の導入-

    西城直人, 清水杜織, 小澤悠, 高橋知也, 恩田一生, 高根英里, 渡辺将広, 多田隈理一郎, 多田隈建二郎, 昆陽雅司, 田所諭

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 20th 2019年

  31. 極小剛を網羅配置した保護外皮メカニズム-耐脱鱗性を有する伸縮自在な柔剛兼備ウロコ状機構の考案と具現化-

    鉄井光, 清水杜織, 小澤悠, 高橋知也, 恩田一生, 高根英里, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 20th 2019年

  32. 微小操作力での柔剛切替を可能とするIBマグネット式MR流体グリッパ機構-第1報:基本構成と磁石配列によるIBマグネットの小型強力化-

    清水杜織, 林聡輔, 鉄井光, 猪股翔平, 向出陸央, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2019 2019年

    ISSN:2424-3124

  33. 柔剛切替可能な連続櫛状関節機構

    向出陸央, 藤本敏彰, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2019 2019年

    ISSN:2424-3124

  34. 1次元柔剛切替メカニズムを活用した耐火性トーラスグリッパ機構

    清水杜織, 林聡輔, 藤本敏彰, 向出陸央, 猪股翔平, 緑川俊貴, 鉄井光, 高根英里, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2019 2019年

    ISSN:2424-3124

  35. ポリゴナル折紙駆動体:収縮動作が可能な剛体ベローズ機構-基本変形特性の導出-

    渡辺将広, 林聡輔, 清水杜織, 多田隈建二郎, 昆陽雅司, 田所諭

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2019 2019年

    ISSN:2424-3124

  36. 可食バネ要素-型から造る螺旋状可食弾性構造-

    小澤悠, 清水杜織, 高橋知也, 恩田一生, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    日本ロボット学会学術講演会予稿集(CD-ROM) 37th 2019年

  37. 可食柔剛切替メカニズム

    清水杜織, 林聡輔, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2019 2019年

    ISSN:2424-3124

  38. 可食反射型駆動メカニズム-反射的動作のための圧力-駆動連結機構-

    小澤悠, 高橋知也, 清水杜織, 高根英里, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 20th 2019年

  39. 磁気復元力生成により内部補償を実現するマグネット機構-第3報:大型強力化と平行指グリッパ機構の実機具現化-

    清水杜織, 藤本敏彰, 林聡輔, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    日本ロボット学会学術講演会予稿集(CD-ROM) 36th 2018年

  40. 1次元柔剛切替メカニズムを活用したトーラスグリッパ機構-線状ジャミング転移機構を基軸とした構造例-

    藤本敏彰, 清水杜織, 藤田政宏, 高根英里, 林聡輔, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    日本ロボット学会学術講演会予稿集(CD-ROM) 36th 2018年

  41. 加圧すると“縮む“ベローズ機構-ポリゴナル折紙駆動体-

    渡辺将広, 林聡輔, 藤本敏彰, 清水杜織, 多田隈建二郎, 昆陽雅司, 田所諭

    日本ロボット学会学術講演会予稿集(CD-ROM) 36th 2018年

  42. 軸方向波動伝播ホイール機構 第4報 駆動基礎部の高剛性化および車両構成

    西村礼貴, 藤本敏彰, 林聡輔, 清水杜織, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 19th 2018年

  43. 小型移動体投入のための高剛性骨格パラシュート機構

    林聡輔, 緑川俊貴, 藤川匠, 清水杜織, 高根英里, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 19th 2018年

  44. 飛行輸送体から投入可能な探査用小型群ロボット-第1報:基本概念と本体・跳躍機構の具体的構成-

    清水杜織, 藤川匠, 緑川俊貴, 林聡輔, 高根英里, 渡辺将広, 多田隈建二郎, 昆陽雅司, 田所諭

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 19th 2018年

  45. スクリュー式差動回転機構-全方向サスペンション・クローラ化による不整地踏破性の向上-

    野村陽人, 藤本敏彰, 林聡輔, 清水杜織, 渡辺将広, 多田隈理一郎, 多田隈建二郎, 昆陽雅司, 田所諭

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 19th 2018年

  46. 1P1-S03 カタツムリの粘液特性を参考とした壁面移動ロボット : 第1報:粘液特性と移動原理の基礎的考察

    渡辺 将広, 塚越 秀行

    ロボティクス・メカトロニクス講演会講演概要集 2015 "1P1-S03(1)"-"1P1-S03(4)" 2015年5月17日

    出版者・発行元:一般社団法人日本機械学会

    詳細を見る 詳細を閉じる

    This research describes the development of a mobile robot to achieve adhesive locomotion on walls and ceilings. To achieve the objective, we focus on adhesive locomotion of a snail and study basic principles of the locomotion. Although it is known that snails ejecting mucus while moving, the precise mechanism was unclear. Therefore, to examine the movement and characteristic of snail, basic experiments were performed using Euhadra peliomphala. Next, we examine the principle of snail type adsorption. As a result, the snail mucus unique rheology characteristic had been shown. Using these experimental results and findings, we developed a snail-type mobile robot and the possibility of snail type adhesive locomotion robot had been implemented.

︎全件表示 ︎最初の5件までを表示

講演・口頭発表等 3

  1. 太く短く高収縮でしなやかな鼓型空気圧人工筋肉の開発

    渡辺将広

    東北大学 タフ・サイバーフィジカル AI研究センター シンポジウム 2023年4月20日

  2. ドローン輸送が可能な小型瓦礫内探索ロボットの開発

    渡辺将広

    第十八回竸基弘賞授賞式及び記念講演 2023年1月16日

  3. メカ屋が考える“いいかげん”ロボットの価値

    渡辺将広

    異分野融合で“いいかげん”を科学するソフトロボット学,主 催:科研費新学術領域研究「ソフトロボット学」,共 催:日本ロボット学会ソフトロボティクス研究専門委員会 2020年5月17日

産業財産権 16

  1. アクチュエータ、それを用いた移動体、搬送装置

    塚越秀行, 渡辺将広

    産業財産権の種類: 特許権

    権利者: 国立大学法人東京工業大学

  2. 運搬装置

    多田隈建二郎, 髙橋優太, 釼持悠人, 髙橋景虎, 阿部一樹, 渡辺将広, 昆陽雅司, 田所諭

    産業財産権の種類: 特許権

  3. 入出力遮断機構

    多田隈建二郎, 渡辺将広, 恩田一生, 剱持優人, 昆陽雅司, 田所諭

    産業財産権の種類: 特許権

  4. 変形機構およびグリッパ

    高橋知也, 渡辺将広, 多田隈建二郎, 髙根英里, 昆陽雅司, 田所諭

    産業財産権の種類: 特許権

  5. 剛性可変変形体および剛性可変機構

    渡辺将広, 恩田一生, 髙橋知也, 多田隈建二郎

    産業財産権の種類: 特許権

  6. 磁気着脱機構および連結体の連結分離システム

    多田隈建二郎, 渡辺将広, 髙根英里, 高橋昌己, 昆陽雅司, 田所諭, 岡田佳都, 大野和則, 高橋知也

    産業財産権の種類: 特許権

  7. 可変剛性連結体

    多田隈建二郎, 向出陸央, 恩田一生, 渡辺将広, 昆陽雅司, 田所諭

    産業財産権の種類: 特許権

  8. 自己修復機構およびソフトロボット

    多田隈建二郎, 猪股翔平, 渡辺将広, 昆陽雅司, 田所諭

    産業財産権の種類: 特許権

  9. 剛性可変連結体

    渡辺将広, 恩田一生, 多田隈建二郎, 昆陽雅司, 田所諭

    産業財産権の種類: 特許権

  10. 多重螺旋回転装置

    渡辺将広, 藤本敏彰, 多田隈建二郎, 昆陽雅司, 田所諭, 西村礼貴

    産業財産権の種類: 特許権

  11. 受動型案内機構および飛行体着陸システム

    渡辺将広, 藤倉大貴, 多田隈建二郎, 岡田佳都, 大野和則, 田所諭

    産業財産権の種類: 特許権

  12. 吸着グリッパ

    多田隈建二郎, 渡辺将広, 金田侑, 戸島亮

    産業財産権の種類: 特許権

  13. 回転伝達機構

    多田隈建二郎, 髙根英里, 渡辺将広, 昆陽雅司, 田所諭

    産業財産権の種類: 特許権

  14. 飛行体離着陸システム、飛行体用離着陸装置および飛行体

    多田隈建二郎, 田所諭, 大野和則, 岡田佳都, 渡辺将広, 藤倉大貴

    特許第6789558号

    産業財産権の種類: 特許権

  15. 表面循環装置

    渡辺 将広, 林 聡輔, 多田隈 建二郎, 昆陽 雅司, 田所 諭

    産業財産権の種類: 特許権

  16. アクチュエータ

    渡辺 将広, 清水 杜織, 多田隈 建二郎, 昆陽 雅司, 田所 諭

    産業財産権の種類: 特許権

︎全件表示 ︎最初の5件までを表示

共同研究・競争的資金等の研究課題 4

  1. 双曲面状編組構造により大径短軸でも高出力で柔軟な鼓型空圧人工筋の開発

    2022年4月 ~ 2024年3月

  2. 袋状折紙構造体の循環により不整地でも高走破が可能な超密閉式履帯駆動メカニズム

    渡辺 将広

    提供機関:Japan Society for the Promotion of Science

    制度名:Grants-in-Aid for Scientific Research Grant-in-Aid for Early-Career Scientists

    研究種目:Grant-in-Aid for Early-Career Scientists

    研究機関:Tohoku University

    2021年4月 ~ 2024年3月

    詳細を見る 詳細を閉じる

    今年度は,ベローズ型の折り紙構造の履帯を有するクローラ式索状ロボットToroidal Origami Monotrackの開発,索状体の曲げ変形のモデル化と曲げ限界の導出,履帯の駆動抵抗や曲げモーメントの測定,を主に行った. ロボットの開発では,折り紙ベローズ状に複数回屈曲される履帯とボディとの摺動抵抗を軽減するローラ装置,ボディを2方向に湾曲する機構,ピンチローラ式の履帯駆動装置,非伸縮で薄く閉じた構造を有する履帯,の設計と製作を行った.全ての機構は3Dプリンタ等で製作され,電子部品とともに1つの索状体試作機に統合された.試作機の挙動を観察することにより,提案する袋状の完全気密構造を有する履帯駆動機構が移動するのに問題がないことが確認された. 索状体の曲げ変形のモデル化と曲げ限界の導出では,折り紙ベローズ構造の履帯の幅や長さ,弛みなどの幾何学的なパラメータが,ボディの最大曲率にどのように影響を与えるのかを定式化した.これにより,索状体の旋回性能や首のもたげ限界を概算できるようになった.さらに,履帯の弛み量と最大曲げ量は相反するものであり,設定した最大曲げ量を達成するために必要な最小履帯弛み量が設計できるようになった.これは,履帯の弛みによって生じるシワの発生を抑えることにつながり,駆動抵抗の軽減やスタックの防止に貢献する. 履帯の駆動抵抗や曲げモーメントの測定では,試作した索状体の履帯を循環駆動する際に必要な力や曲げモーメントを実測した.履帯の折り紙ベローズ構造の違いにより,曲げモーメントや駆動力が変化することが確認され,曲げやすさと駆動抵抗は相反する性能であることがわかった. 以上により,提案する袋状折紙駆動体に基盤技術を開発が進展した.

  3. 任意の形状保持・可変剛性を実現する空圧式弾性索状体の開発

    2021年3月 ~ 2023年2月

  4. 履帯上での進行波生成により任意方向移動を可能とする超柔軟無限軌道メカニズムの研究

    渡辺 将広

    提供機関:Japan Society for the Promotion of Science

    制度名:Grants-in-Aid for Scientific Research

    研究種目:Grant-in-Aid for Research Activity Start-up

    研究機関:Tohoku University

    2018年8月24日 ~ 2020年3月31日

    詳細を見る 詳細を閉じる

    本研究では,履帯上での進行波の生成により任意方向移動を可能とする超柔軟無限軌道メカニズムを構築し,高い不整地踏破性を示す移動機構の実現を目的とする.本年度は進行波を生成クローラの履帯の構成要素となる進行波生成装置・アクチュエータの開発を主に行った. まず,進行波生成装置として柔軟性や耐衝撃性に優れる流体駆動アクチュエータに着目した.複数の圧力室を順次加圧することで各節が伸縮運動を行い,蠕動運動を生成するユニットを開発した.試作実験により,簡素な構成で実現できることがわかったが,応答の遅れから推進速度が十分得られないことが明らかとなった. 続いて,進行波を機構的に生成する機械装置を2つ開発した.第1の装置は,チェーン状のリンク内に単一の螺旋状の駆動軸を配置した機構である.大きな推進速度が得られるものの,構造上耐荷重性に限界があることや,コンパクトな設計が困難な点が明らかとなった.次の第2に装置は,メッシュチューブ内に螺旋状の駆動軸を円周配置した蠕動運動生成機構である.軸対称構造で連続的な波を生成可能,全周囲に推進力を生成可能という特徴を有する.それぞれ試作した結果,モータの回転数によって速度を制御しやすいこと,地面に対して駆動力を伝達しやすいこと,剛体部品で構成されるため履帯との取り付けがしやすいなどの製作上のメリットがあることが明らかとなった. 以上の進行波により1軸方向に推進するユニットに関して,その推進原理の検証を達成したことが,本年度の成果である.

社会貢献活動 7

  1. (やわらかな)ロボットからくりを作ってみよう

    第21回夏休み子ども科学キャンパス

    2023年8月3日 ~ 2023年8月3日

  2. ロボテスEXPO 2022

    実演見学バスツアー,インフラ点検・災害対応エリア 市街地フィールド 瓦礫,東北大学_SMURF

    2022年9月15日 ~ 2022年9月16日

  3. (やわらかな)ロボットからくりをつくってみよう

    第20回夏休み子ども科学キャンパス

    2022年8月4日 ~ 2022年8月5日

  4. (やわらかな)ロボットからくりを作ってみよう

    第14回 秋休み子ども科学キャンパス

    2019年10月15日 ~ 2019年10月16日

  5. (やわらかな)ロボットからくりを作ってみよう

    第19回 夏休み子ども科学キャンパス

    2019年8月8日 ~ 2019年8月9日

  6. ロボットからくりを作ってみよう

    第13回 秋休み子ども科学キャンパス

    2018年10月9日 ~ 2018年10月10日

  7. ロボットからくりを作ってみよう

    第18回 夏休み子ども科学キャンパス

    2018年7月31日 ~ 2018年8月1日

︎全件表示 ︎最初の5件までを表示

メディア報道 3

  1. CURSOR Small Scale Field Test 1 2, SMURF, Brignoles, France, 28 - 30 September 2021

    YouTube https://www.youtube.com/watch?v=7pjvfWo2KM4&t=163s

    2021年12月13日

  2. 密着して何でもつかむ、小型グリッパー 東北大が開発

    日刊工業新聞

    2019年7月12日

    メディア報道種別: 新聞・雑誌

  3. 「柔らかさ」ロボを変える 生物のぜん動運動に着目 東工大 手が届かない場所点検

    日経産業新聞

    2018年1月18日

    メディア報道種別: 新聞・雑誌