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KOTOSAKA Shinya
| Mechanical Science Division | Associate Professor |
| Department of Mechanical Engineering and System Design |
Performance information
■ Paper- WORMESH-I: Introducing a Robot Concept Bio-Inspired by Flatworms, Developing a Mechanical Model, and Creating Locomotion via Pedal Waves
Ryuichi Hodoshima; Kunihiko Sato; Ganegoda Vidanage Charaka Rasanga; Shinya Kotosaka
JOURNAL OF ROBOTICS AND MECHATRONICS, Volume：36, Number：6, First page：1468, Last page：1479, Dec. 2024, [Reviewed]
Flatworms exhibit remarkable pedal-wave-driven locomotion abilities through their dorsoventrally flattened, bilaterally symmetrical bodies, which glide smoothly across various surfaces. This study introduces a bio-inspired mobile robot prototype designed to mimic flatworm movement that leverage the advantages of pedal locomotion on challenging terrains. The robot design includes a mesh-like structure with interconnected body modules linked via multi-degree-of- freedom joints for enhanced movement versatility. A modified universal joint that functions as a constant- velocity joint connects the modules, thereby enabling complex motion patterns. We explored four types of traveling waves, inspired by gastropod locomotion to achieve diverse movements, including translational, spinning, and omnidirectional motions. This study comprehensively examines the movement characteristics and performance of the prototype, highlighting its potential applications in complex environments in which traditional locomotion methods are less effective.
FUJI TECHNOLOGY PRESS LTD, English, Scientific journal
DOI：https://doi.org/10.20965/jrm.2024.p1468
DOI ID：10.20965/jrm.2024.p1468, ISSN：0915-3942, eISSN：1883-8049, Web of Science ID：WOS:001381586200018 - Sidewinding locomotion of flatworm-like mesh robot WORMESH-II
Ganegoda V. C. Rasanga; Kengo Hiraishi; Ryuichi Hodoshima; Shinya Kotosaka
ROBOMECH JOURNAL, Volume：10, Number：1, Nov. 2023, [Reviewed]
WORMESH-II, which is the second prototype in the WORMESH series, is inspired by a flatten and soft-bodied fatworm, and its uniqueness is the use of multiple travelling waves for locomotion. In this paper, the sidewinding locomotions for WORMESH-II are talked about. This is because sidewinding is one of the most effective ways to traverse sandy terrain. The mathematical model of the sidewinding locomotion kinematics of WORMESH-II explains how synchronous multiple sidewinding waves can be used to control the movement of the robot effectively. Unlike WORMESH's pedal-wave locomotion, sidewinding gaits allow the robot to be manoeuvred in any direction without changing the joint sequence. Relative to the wave propagation direction, velocity in the longitudinal direction is dependent on the vertical component of sidewinding travelling waves. Moreover, velocity in the transverse direction depends on the horizontal component of sidewinding travelling waves. The velocity in the longitudinal direction becomes zero when the phase shift of the travelling waves equals pi rad. The angular velocity around the instantaneous centre of rotation depends on the wave amplitude of the horizontal component of the sidewinding travelling wave along the kinematic chains, and the turning radius is proportional to the amplitude gradient along the kinematic chains. The dynamic simulation of WORMESH-II and testing with the WORMESH-II prototype confirmed the proposed method, which was based on the metamathematical explanation of locomotion.
SPRINGERNATURE, English, Scientific journal
DOI：https://doi.org/10.1186/s40648-023-00263-x
DOI ID：10.1186/s40648-023-00263-x, ISSN：2197-4225, Web of Science ID：WOS:001103619700001 - The WORMESH-II flatworm-like mesh robot with 2-DOF double joints
Ganegoda V. C. Rasanga; Kengo Hiraishi; Ryuichi Hodoshima; Shinya Kotosaka
ROBOMECH JOURNAL, Volume：10, Number：1, Feb. 2023, [Reviewed]
This paper deals with the development of a flatworm-like mesh robot WORMESH-II, which is the second prototype in the WORMESH series inspired from a flattened and soft-bodied flatworm. The pedal locomotion is the primary locomotor of the flatworm that is continuous gliding propulsion along the bottom of the body. The significance of WORMESH series is use of multiple pedal waves to generate the locomotion. The WORMESH-II is a modular robot having a revolute joint system to interconnect two modules. Further, it contains two module types: control module (CM) and joint module (JM). Depending on their arrangements, WORMESH-II can be arranged in different module formations. First, this paper presents the design of WORMESH-II in which double joints capable of three-dimensional motion are introduced. Then, two locomotion gaits for translational and spinning locomotion are described for WORMESH-II in isotropic module formation. Three synchronized parallel pedal waves and one pedal wave loop by the new double joint mechanism were respectively utilized to generate translational and spinning motions of WORMESH-II for IMF. The proposed locomotion gaits were investigated by dynamics simulation and the experiment using the prototype of WORMESH-II. We have successfully demonstrated basic translational and spinning locomotion of WORMESH-II with the velocity of 2.8 mm/s and the angular velocity of 0.0043 rad/s, respectively.
SPRINGERNATURE, English, Scientific journal
DOI：https://doi.org/10.1186/s40648-023-00244-0
DOI ID：10.1186/s40648-023-00244-0, ISSN：2197-4225, Web of Science ID：WOS:000940215100001 - Task board for the World Robot Summit 2020
Mizuho Shibata; Hiroki Dobashi; Wataru Uemura; Shinya Kotosaka; Yusuke Maeda; Yasumichi Aiyama; Takeshi Sakaguchi; Yoshihiro Kawai; Akio Noda; Kazuhito Yokoi; Yasuyoshi Yokokohji
Advanced Robotics, First page：1, Last page：19, Oct. 2022, [Reviewed]
Informa UK Limited, English, Scientific journal
DOI：https://doi.org/10.1080/01691864.2022.2130711
DOI ID：10.1080/01691864.2022.2130711, ISSN：0169-1864, eISSN：1568-5535 - World Robot Summit 2020 Assembly Challenge -Summary of the Competition and Its Outcomes-
Yasuyoshi Yokokohji; Yoshihiro Kawai; Mizuho Shibata; Yasumichi Aiyama; Shinya Kotosaka; Wataru Uemura; Akio Noda; Hiroki Dobashi; Takeshi Sakaguchi; Yusuke Maeda; Kazuhito Yokoi
Advanced Robotics, Volume：36, Number：22, First page：1174, Last page：1193, 2022, [Reviewed], ［International magazine］
The World Robot Summit (WRS) is a robotic 'challenge and exposition' organized by the Japanese government to accelerate social implementation, research and development of robots working in realistic daily life, society, and industrial fields. In this paper, we introduce a robot competition of the Industrial Robotics Category of the WRS, called 'Assembly Challenge', which is organized by the WRS Industrial Robotics Competition Committee in order to promote the development of the next-generation production systems that can respond to new production demands in agile and lean manners. After the pre-competition held in Tokyo in October 2018, the main competition, the WRS 2020, was originally scheduled to be held in Aichi (partly in Fukushima) in 2020, which was also the Olympic year. However, due to the pandemic of COVID-19, the event was postponed, and the competition was actually held in Aichi in September 2021. In this paper, we introduce the contents and results of the WRS 2020 and analyze the results. We would also like to summarize the 5-year project since 2017 and discuss the outcomes of the WRS.
TAYLOR & FRANCIS LTD, English, Scientific journal
DOI：https://doi.org/10.1080/01691864.2022.2101348
DOI ID：10.1080/01691864.2022.2101348, ISSN：0169-1864, eISSN：1568-5535, Web of Science ID：WOS:000838566200001 - Task-board task for assembling a belt drive unit
Mizuho Shibata; Hiroki Dobashi; Wataru Uemura; Shinya Kotosaka; Yasumichi Aiyama; Takeshi Sakaguchi; Yoshihiro Kawai; Akio Noda; Kazuhito Yokoi; Yasuyoshi Yokokohji
ADVANCED ROBOTICS, Jan. 2020, [Reviewed]
A task board is a board for assembling parts, developed to test the abilities of a robot system to perform assembly operations associated with a manufacturing process. This study describes a task board that can serve as a basis for developing program modules for assembling a specific product. A properly designed task board can serve as a preliminary template for a specific assembly and can promote robotic assembly. This study analyzes the design of a Task-board task performed at the World Robot Summit 2018 (WRS 2018). The main competitive task at the WRS 2018 was the assembly of a belt drive unit. Analyses showed that the directions of assembly, especially the horizontal direction, were common difficulties in both Task-board and Assembly task competitions. Development of a task board for a specific assembly product requires an increase of its relevance to the assembly product, such as using the same workpieces or using similar assembly orientations.
TAYLOR & FRANCIS LTD, English, Scientific journal
DOI：https://doi.org/10.1080/01691864.2020.1717613
DOI ID：10.1080/01691864.2020.1717613, ISSN：0169-1864, eISSN：1568-5535, Web of Science ID：WOS:000509606800001 - Assembly Challenge: a robot competition of the Industrial Robotics Category, World Robot Summit–summary of the pre-competition in 2018*
Yasuyoshi Yokokohji; Yoshihiro Kawai; Mizuho Shibata; Yasumichi Aiyama; Shinya Kotosaka; Wataru Uemura; Akio Noda; Hiroki Dobashi; Takeshi Sakaguchi; Kazuhito Yokoi
Advanced Robotics, Volume：33, Number：17, First page：876, Last page：899, Sep. 2019, [Reviewed]
© 2019, © 2019 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group. The World Robot Summit (WRS) is a robotic ‘challenge and exposition’ organized by the Japanese government to accelerate social implementation, research and development of robots working in realistic daily life, society, and industrial fields. In this paper, we introduce a robot competition of the Industrial Robotics Category of the WRS, called ‘Assembly Challenge’, which is organized by the WRS Industrial Robotics Competition Committee in order to promote the development of the next-generation production systems that can respond to new production demands in agile and lean manners. Prior to the main competition in 2020, a pre-competition was held in 2018 with 16 participating teams from around the world. In this paper, we introduce the contents and results of this pre-competition, analyze the results, and give a perspective for the 2020 main competition.
TAYLOR & FRANCIS LTD, English, Scientific journal
DOI：https://doi.org/10.1080/01691864.2019.1663609
Dblp：https://dblp.uni-trier.de/db/journals/ar/ar33.html#YokokohjiKSAKUN19
Scopus：https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85074207026&origin=inward
Scopus Citedby：https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=85074207026&origin=inward
DOI ID：10.1080/01691864.2019.1663609, ISSN：0169-1864, eISSN：1568-5535, DBLP ID：journals/ar/YokokohjiKSAKUN19, SCOPUS ID：85074207026, Web of Science ID：WOS:000487205500001 - Risk Estimation of Human-coexistence-robot based on Movement History of Humans
Kotosaka Shinya; Kera Shouta; Hodoshima Ryuichi
Journal of the Robotics Society of Japan, Volume：34, Number：8, First page：535, Last page：543, 2016, [Reviewed], [Lead]
In recent years, the realization of human-coexistence robot for housework and care is expected. The human-coexistence robot, works around human, frequent contact with the human being is expected. Therefore, it is necessary to perform risk assessment beforehand. However, the statistics data of the past accident does not exist because the human-coexistence robot is a new device. In addition, it is also difficult to identify the working method and environment. Therefore, quantitative risk assessment cannot be performed by the conventional technique of risk assessment. In this research, the quantitative exposure frequency evaluation technique is proposed to estimate the collision risk of the human-coexistence robot that works under the environment for human activity. In this study, it is assumed that highly developed human-coexistence robot has the same as the human form, and works with the same way as human beings. And quantitative exposure frequency evaluation is performed by analyzing the movement of the human being who imitated the robot. For verification of the proposed method, the authors have performed an evaluation experiment on exposure frequency of human-type robot to perform the cleaning work, and show the experimental results.
The Robotics Society of Japan, Japanese
DOI：https://doi.org/10.7210/jrsj.34.535
DOI ID：10.7210/jrsj.34.535, ISSN：0289-1824, eISSN：1884-7145, CiNii Articles ID：130005281987, CiNii Books ID：AN00141189 - The ASURA I harvestman-like hexapod walking robot: compact body and long leg design
Ryuichi Hodoshima; Yoshikazu Ohura; Yuki Nishiyama; Akihiro Sakaki; Soichiro Watanabe; Shinya Kotosaka
ADVANCED ROBOTICS, Volume：30, Number：23, First page：1467, Last page：1483, 2016, [Reviewed]
This paper reports the design of a new hexapod walking robot, ASURA I, inspired by the physical features of a harvestman's behavior. ASURA I has a special mobile form with one compact body and much longer legs than conventional hexapod walking robots. This form enhances the walking performance of the robot on rocky or uneven terrain. Here, we present the design and analysis of the leg mechanism, body structure design, gait planning, and prototype development. The long legs (relative to the body) are managed by special parallel link mechanisms, which powerfully and effectively drive the leg joints. The leg mechanism is analyzed by its kinematics, singularity, and static characteristics. The leg length and weight of ASURA I is 1.3m and 27kg, respectively. The alternating tripod and wave gaits of ASURA I are successfully demonstrated in a series of walking experiments.
TAYLOR & FRANCIS LTD, English, Scientific journal
DOI：https://doi.org/10.1080/01691864.2016.1246978
DOI ID：10.1080/01691864.2016.1246978, ISSN：0169-1864, eISSN：1568-5535, Web of Science ID：WOS:000387551900001 - Development of ASURA I: Harvestman-like Hexapod Walking Robot -Approach for Long-legged Robot and Leg Mechanism Design
Ryuichi Hodoshima; Soichiro Watanabe; Yuki Nishiyama; Akihiro Sakaki; Yoshikazu Ohura; Shinya Kotosaka
2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), First page：4669, Last page：4674, 2013, [Reviewed]
In this paper, a harvestman-like hexapod walking robot named ASURA I is proposed and its leg mechanism design is discussed. Modeled on a harvestman in nature, the authors have introduced the concept of mobile form that has long legs and small body to ASURA I to enhance mobile performance on rough terrain. To develop long legs relative to body, special parallel link mechanism to drive leg joints powerfully and effectively is introduced to leg mechanism of ASURA I. First, we discuss design problems of leg mechanism in detail: leg length, DOF configuration, actuator selection and leg driving system. Then, analysis of kinematics, singularity and static characteristic of leg mechanism are reported. Finally, the prototype leg, which is 1.3 m in length and 3.2 kg in weight, has been developed and tested on some basic performance. The prototype successfully have demonstrated very basic motion.
IEEE, English, International conference proceedings
ISSN：2153-0858, Web of Science ID：WOS:000331367404109 - Education Method of Robotics with Jigsaw Method by Using RT Component
Yasuo Hayashibara; Shinya Kotosaka; Naomi Miyake; Tomomasa Sato
JOURNAL OF ROBOTICS AND MECHATRONICS, Volume：23, Number：5, First page：830, Last page：839, Oct. 2011, [Reviewed]
This paper introduces an education method of robotics with the jigsaw method by using the RT component. Robotics contains many areas of technologies, such as mechanism, electronics, and computer programming. Therefore, it may be a desirable academic discipline for studying current complex technologies. For studying robotics efficiently, we propose an education method of robotics based on the jigsaw method. The jigsaw method is an efficient method to induce collaborative learning. We apply the jigsaw method to practical training of controlling a real mobile robot. We design an education program according to the method and develop its educational tool. Our developed educational tool is portable and simple to use. It just consists of a small mobile robot, a range sensor, circuit boards, and a personal computer. The mobile robot is controlled through USB. Moreover, students make program by using RT component. The RT component is a standard software component in the field of robotics. By using the RT component, they can skip to creating programs to drive hardware. We executed an experimental lecture according to the educational program. Through the experiment, we discuss the effectiveness of the proposed method.
FUJI TECHNOLOGY PRESS LTD, English, Scientific journal
DOI：https://doi.org/10.20965/jrm.2011.p0830
DOI ID：10.20965/jrm.2011.p0830, ISSN：0915-3942, eISSN：1883-8049, Web of Science ID：WOS:000448910500024 - Trajectory Generation for Adaptive Motion by Phase Feedback - Synchronization of Multicycle Human Movement -
Takayuki Ubukata; Shinya Kotosaka; Hideyuki Ohtaki
JOURNAL OF ROBOTICS AND MECHATRONICS, Volume：21, Number：3, First page：342, Last page：352, Jun. 2009, [Reviewed], [Corresponding]
Synchronous motion is one of the important ability for the co-operation work by human. The focus of our research is to develop a robust and adaptive synchronous trajectory generation method for the robot. To be able to follow the uncertain action by human co-worker, the trajectory generation method must be required adaptability to frequency and phase of movement of human co-worker. Key techniques for our method are PLL (Phase Locked Loop), Fourier series approximation, wavelet transformation for trajectory. PLL technique achieves the phase synchronization with an arbitrary cyclic motion, like as human walking. Fourier series approximation of target trajectory allows us description of wide variety cyclic motion for the robot. More over, we can select the synchronous frequency from human movement with multiple cycles by wavelet transformation. The experiment of synchronization with 3-DOF manipulator and human demonstrator are carried out. As a result, we confirm synchronous performance and the effectiveness of proposed method.
FUJI TECHNOLOGY PRESS LTD, English, Scientific journal
DOI：https://doi.org/10.20965/jrm.2009.p0342
DOI ID：10.20965/jrm.2009.p0342, ISSN：0915-3942, eISSN：1883-8049, Web of Science ID：WOS:000448888100007 - Encoding of movement dynamics by Purkinje cell simple spike activity during fast arm movements under resistive and assistive force fields
Kenji Yamamoto; Mitsuo Kawato; Shinya Kotosaka; Shigeru Kitazawa
JOURNAL OF NEUROPHYSIOLOGY, Volume：97, Number：2, First page：1588, Last page：1599, Feb. 2007, [Reviewed]
It is controversial whether simple-spike activity of cerebellar Purkinje cells during arm movements encodes movement kinematics like velocity or dynamics like muscle activities. To examine this issue, we trained monkeys to flex or extend the elbow by 45 in 400 ms under resistive and assistive force fields but without altering kinematics. During the task movements after training, simplespike discharges were recorded in the intermediate part of the cerebellum in lobules V-VI, and electromyographic activity was recorded from arm muscles. Velocity profiles (kinematics) in the two force fields were almost identical to each other, whereas not only the electromyographic activities (dynamics) but also simple-spike activities in many Purkinje cells differed distinctly depending on the type of force field. Simple-spike activities encoded much larger mutual information with the type of force field than that with the residual small difference in the height of peak velocity. The difference in simple-spike activities averaged over the recorded Purkinje-cells increased similar to 40 ms before the appearance of the difference in electromyographic activities between the two force fields, suggesting that the difference of simple-spike activities could be the origin of the difference of muscle activities. Simple-spike activity of many Purkinje cells correlated with electromyographic activity with a lead of similar to 80 ms, and these neurons had little overlap with another group of neurons the simple-spike activity of which correlated with velocity profiles. These results show that simple- spike activity of at least a group of Purkinje cells in the intermediate part of cerebellar lobules V-VI encodes movement dynamics.
AMER PHYSIOLOGICAL SOC, English, Scientific journal
DOI：https://doi.org/10.1152/jn.00206.2006
DOI ID：10.1152/jn.00206.2006, ISSN：0022-3077, Web of Science ID：WOS:000244090500057 - Selective Utilization of Actuator for a Humanoid Robot by Singular Configuration
Kotosaka Shinya; Ohtaki Hideyuki
Journal of the Robotics Society of Japan, Volume：25, Number：8, First page：1259, Last page：1265, 2007, [Reviewed], [Lead]
In general, robot should not be operated while it is in a singular configuration since operation degenerates its degrees of freedom. However, humanoid robots are capable of performing tasks while in a state of singular configuration because humanoid robots have many degrees of freedom. In this paper, new task method is proposed for humanoid robots, featuring selective utilization of their actuators while in the singular configuration. First, we define the effective singular configuration for a task and introduce a classification for joints. Next, we propose a method to identify the joint as effectively having a singular configuration. Finally, we demonstrate physical simulation results that include leading a robot in the singular configuration through the task. The advantages of the proposed method are that it supports economizing the robot's energy consumption and applies more power to the hand.
The Robotics Society of Japan, Japanese, Scientific journal
DOI：https://doi.org/10.7210/jrsj.25.1259
DOI：https://doi.org/10.1299/transjsme.15-00405_references_DOI_HxIJhCqo1sZL5sVVKXiOOlqfROI
DOI ID：10.7210/jrsj.25.1259, ISSN：0289-1824, eISSN：1884-7145, CiNii Articles ID：10019787639, CiNii Books ID：AN00141189 - 紙製ばねの衝撃特性
大滝英征; 琴坂信哉; 長坂保美
Volume：39, Number：3, First page：42, Last page：49, 2004 - Acquisition and contextual switching of multiple internal models for different viscous force fields
Yasuhiro Wada; Yasuhiro Kawabata; Shinya Kotosaka; Kenji Yamamoto; Shigeru Kitazawa; Mitsuo Kawato
Neuroscience Research, Volume：46, Number：3, First page：319, Last page：331, Jul. 2003, [Reviewed]
Humans can learn an enormous number of motor behaviors in different environments. To explain this, the MOSAIC model proposes that multiple internal models are acquired in the brain, which can be switched. However, previous behavioral studies that examined arm-movement adaptations to multiple environments reported a rather limited learning capability. Hitherto, humans have been believed incapable of learning two opposite viscous force fields, which are both dynamic transformations and depend on the same state variable, presented in a random order with only a visual cue. In contrast, this study found that humans are capable of this. Elbow joint movements to specified targets were perturbed by either resistive or assistive viscous force fields generated by a single degree-of-freedom manipulandum. The resistive or assistive viscous force fields were cued by a blue or red color on a CRT screen, respectively. The squared distance between the end point and the target, and the variance of the joint angular velocities were used as kinematic performance indices. These movement errors decreased significantly as a function of the training days. Aftereffects and learning consolidation were demonstrated in the random presentation of the two force fields. Consequently, humans were able to learn the multiple and distinct internal models of the two force fields and appropriately switch them even for a random presentation cued only by color after several days of training. This study suggests that none of the previously proposed conditions for multiple internal model learning are necessary prerequisites, and indicates that the difficulty in learning is determined by the balance between the effectiveness of contextual information and the similarity of force fields. © 2003 Elsevier Science Ireland Ltd and the Japan Neuroscience Society. All rights reserved.
Elsevier Ireland Ltd, English, Scientific journal
DOI：https://doi.org/10.1016/S0168-0102(03)00094-4
DOI ID：10.1016/S0168-0102(03)00094-4, ISSN：0168-0102, PubMed ID：12804793, SCOPUS ID：0038172190 - 園児向けロボットのデザイン評価に関する研究 (機械要素,潤滑,工作,生産管理など)
大滝英征; 琴坂信哉; 佐藤伸介; 長坂保美
日本機械学会論文集．C編, Volume：69, Number：687, First page：3053, Last page：3060, 2003, [Reviewed]
Nowadays, some typical robots which communicate with patients or aged persons have been developed. They are used no longer serve the ordinary works but also recover good temper of users. For the children of kindergarten, exchanging greeting every morning is important chance to allay their uneasiness and become emotional action. Then we develop the robots which relief and exchange greeting for teachers of kindergarten. Because the shapes and faculties of robots affect the good temper, in this paper we produce some robots by way of trial and produced feeling test by the children of kindergarten. Through this test, we can grasp the most suitable shapes and faculties of robots which can communicate with children with a sense of incongruity. The data will be used when we construct an actual robots which exchange greetings with children.
The Japan Society of Mechanical Engineers, Japanese
DOI：https://doi.org/10.1299/kikaic.69.3053
DOI ID：10.1299/kikaic.69.3053, ISSN：0387-5024, CiNii Articles ID：110002379237, CiNii Books ID：AN00187463 - Synchronized Robot Motion by Neural Oscillators
Kotosaka Shin'ya; SCHAAL Stefan
JRSJ, Volume：19, Number：5, First page：580, Last page：583, Jul. 2001, [Reviewed], [Lead]
The Robotics Society of Japan, Japanese
DOI：https://doi.org/10.7210/jrsj.19.580
DOI ID：10.7210/jrsj.19.580, ISSN：0289-1824, CiNii Articles ID：10007438794, CiNii Books ID：AN00141189 - Fault-Tolerance of Functionally Adaptive and Robust Manipulator
KOTOSAKA Shin'ya; ASAMA Hajime; KAETSU Hayato; ENDO Isao
Transactions of the Japan Society of Mechanical Engineers. Series C., Volume：63, Number：609, First page：1671, Last page：1678, 1997, [Reviewed], [Lead]
Robots are required to have the ability to adapt their function according to the tasks to be carried out in an unexpected environment, and to execute tasks even if a part of the system is malfunctions. Fault Tolerance is a significant factor of functional adaptability. In this paper, a fault tolerant control method with a proxy control strategy for a distributed manipulator is proposed. A Byzantine fault model is assumed in the method, where in the behavior of the faulty part cannot be predicted. The method focuses on malfunction of CPU (central processing unit) which is the controller of the manipulator. The method consists of procedures for fault detection, localization, containment, system reconfiguration and error recovery. The fault detection procedure is based on communication using shared memory. A voting algorithm for fault location is proposed. The fault tolerance control method is implemented in a distributed manipulator with modular architecture, called Fun-ARM (functionally adaptive and robust manipulator). A reaching motion experiment with a CPU pseudo fault is shown, and the proposed fault-tolerant control method is verified.
The Japan Society of Mechanical Engineers, Japanese
DOI：https://doi.org/10.1299/kikaic.63.1671
DOI ID：10.1299/kikaic.63.1671, ISSN：0387-5024, CiNii Articles ID：110002385075, CiNii Books ID：AN00187463 - Development of an Infrared Sensory System with Local Communication Facility for Collision Avoidance of Multiple Robots, 共著
Shoji Suzuki; Yoshikazu Arai; Shinya Kotosaka; Hajima Asama; Hayato Kaetsu; Isao Endo
Journal of Robotics and Mechatronics, Volume：9, Number：5, First page：354, Last page：361, 1997, [Reviewed] - Task-Oriented Structural Design of Manipulators based on Operability Evaluation
KOTOSAKA Shinya; ASAMA Hajime; TAKATA Shozo; HIRAOKA Hiroyuki; KOHDA Takehisa; MATSUMOTO Akihiro; ENDO Isao
Journal of the Japan Society for Precision Engineering, Volume：61, Number：9, First page：1265, Last page：1269, Sep. 1995, [Reviewed], [Lead]
In this paper, a new method for designing the structure of manipulators based on evaluation of their adaptability to tasks is proposed. In the method, task directions are classified into three kinds of direction; operational direction, constrained direction and free direction. On each direction, condition of constraints by task environment is represented. The tasks are represented by a set of direction and condition of constraints. A new criterion, operability, is defined to quantify adaptability of manipulator to tasks, taking account of mobility in operational directions and immobility in constrained directions. The mobility and immobility is calculated based on the Jacobian matrix of manipulator. The operability evaluation method is implemented, and applied to structural design of manipulators, in which link parameters are optimized by the genetic algorithm. This system can derive suitable structure of manipulator to various tasks. The effectiveness of the system is shown concerning examples of welding tasks.
The Japan Society for Precision Engineering, Japanese
DOI：https://doi.org/10.2493/jjspe.61.1265
DOI ID：10.2493/jjspe.61.1265, ISSN：0912-0289, CiNii Articles ID：110001371896, CiNii Books ID：AN1003250X - Reliability Evaluation of Manipulators by Means of Probability of Task Achievement
KOTOSAKA Shinya; TAKATA Shozo; KOHDA Takehisa; ASAMA Hajime; HIRAOKA Hiroyuki; MATSUMOTO Akihiro; ENDO Isao
Journal of the Japan Society for Precision Engineering, Volume：61, Number：5, First page：717, Last page：721, May 1995, [Reviewed], [Lead]
This paper represents a new method for evaluating reliability of manipulators by means of probability of task achievement. Since, articulated manipulators have functional redundancies depending on assigned tasks, they may be able to achieve the task even with faulty joints. In the proposed method, reliability is evaluated taking this feature into account. First, the assigned task is resolved into task steps. Success conditions for achieving each step are obtained based on a manipulator model, which is represented in terms of DH parameters. Next, a success condition of whole task is computed from those of task steps. Finally, the probability of task achievement is evaluated by specifying failure rates of joints in the success condition of whole task. An illustrative example shows the evaluation of a seven DOF manipulator applied to an inspection task.
The Japan Society for Precision Engineering, Japanese
DOI：https://doi.org/10.2493/jjspe.61.717
DOI ID：10.2493/jjspe.61.717, ISSN：0912-0289, CiNii Articles ID：110001367551, CiNii Books ID：AN1003250X
- Design and Evaluation Method of Assembly Challenge for the WRS Industrial Robotics Category
KOTOSAKA Shinya; MAEDA Yusuke
Journal of The Society of Instrument and Control Engineers, Volume：61, Number：7, First page：488, Last page：491, 10 Jul. 2022
The Society of Instrument and Control Engineers, Japanese
DOI：https://doi.org/10.11499/sicejl.61.488
DOI ID：10.11499/sicejl.61.488, ISSN：0453-4662, eISSN：1883-8170 - On special issue “NEDO Feasibility Study Program”
Kotosaka Shinya; Yasukawa Yusuke
Journal of the Robotics Society of Japan, Volume：39, Number：2, First page：100, Last page：101, 2020
The Robotics Society of Japan, Japanese
DOI：https://doi.org/10.7210/jrsj.39.100
DOI ID：10.7210/jrsj.39.100, ISSN：0289-1824, eISSN：1884-7145, CiNii Articles ID：130008002458 - “Assembly Challenge”, a Robot Competition of the Industrial Robotics Category, World Robot Summit 2018
Yokokohji Yasuyoshi; Yokoi Kazuhito; Kawai Yoshihiro; Shibata Mizuho; Aiyama Yasumichi; Kotosaka Shinya; Uemura Wataru; Noda Akio; Dobashi Hiroki; Sakaguchi Takeshi
Journal of the Robotics Society of Japan, Volume：37, Number：3, First page：208, Last page：217, 2019
The Robotics Society of Japan, Japanese
DOI：https://doi.org/10.7210/jrsj.37.208
DOI ID：10.7210/jrsj.37.208, ISSN：0289-1824, CiNii Articles ID：130007634012, CiNii Books ID：AN00141189 - Social Implementation Robot Education
KOTOSAKA Shinya; NOGIWA Akihito
Journal of JSEE, Volume：63, Number：1, First page：1_25, Last page：1_30, 2015
Educational method that requires the social implementation is a technique aimed at training of the engineer who can create value based on social needs. Learners must build up their solutions by discovering and developing the social issues. In this paper, we discuss the needs and issues for the educational method and introduce a practice of the method incorporated with the robot education. By taking advantage of the robot technology, this approach can ensure the sufficient time to social implementation and reducing the workload of manufacturing.
Japanese Society for Engineering Education, Japanese
DOI：https://doi.org/10.4307/jsee.63.1_25
DOI ID：10.4307/jsee.63.1_25, ISSN：1341-2167, eISSN：1881-0764, CiNii Articles ID：130004855191 - On special issue “Robotics Education”
Kotosaka Shinya; Sato Tomomasa
Journal of the Robotics Society of Japan, Volume：31, Number：2, First page：117, Last page：117, 2013
The Robotics Society of Japan, Japanese
DOI：https://doi.org/10.7210/jrsj.31.117
DOI：https://doi.org/10.20965/jrm.2017.p1005_references_DOI_50aIXwdbWmKAs6i5sZsiV6KM1Qy
DOI ID：10.7210/jrsj.31.117, ISSN：0289-1824, eISSN：1884-7145, CiNii Articles ID：10031162027, CiNii Books ID：AN00141189 - Deriving the dynamic stress function using complex function and its application to the analysis of the stress distribution around an elliptical hole
Hideyuki Ohtaki; Shinya Kotosaka; Yasumi Nagasaka
INTERNATIONAL JOURNAL OF ENGINEERING SCIENCE, Volume：46, Number：1, First page：66, Last page：85, Jan. 2008, [Reviewed]
In the engineering field, analyzing the stress distribution of an elastic body to which an impact force is applied at its boundary is one of the most interesting problems. However, owing to the absence of a useful and easy method of analyzing the stress distribution of an arbitrarily shaped body, it is difficult to grasp the strength of an elastic body. Therefore, we first devise an easy and useful method employing the complex stress function and then analyze the stress distribution of a body that has an elliptical hole. (c) 2007 Elsevier Ltd. All rights reserved.
PERGAMON-ELSEVIER SCIENCE LTD, English
DOI：https://doi.org/10.1016/j.ijengsci.2007.06.003
DOI ID：10.1016/j.ijengsci.2007.06.003, ISSN：0020-7225, CiNii Articles ID：80018014217, Web of Science ID：WOS:000253094500005 - 位相フィードバックによるロボットの適応的運動軌道生成
琴坂信哉; 生方崇之; 大滝英征
First page：372, Last page：377, 2007 - 人間共存型ロボットの衝突安全性向上に関する研究
琴坂信哉
Volume：5 (18年度), First page：462, Last page：463, 2007 - 位相フィードバックによるロボットの適応的運動軌道生成
琴坂信哉; 生方崇之; 大滝英征
第12回ロボティクスシンポジア講演論文集, First page：372, Last page：377, 2007 - 人間共存型ロボットの衝突安全性向上に関する研究
琴坂信哉
総合研究機構研究プロジェクト研究成果報告書, Volume：5 (18年度), First page：462, Last page：463, 2007 - Study of the White Cane which can be Informed the Condition of the Pavement Block to the Visually Handicapped Person Using Linear Vibration Actuator
OTAKI Hideyuki; KADOI Hironori; KOTOSAKA Shinya; NAGASAKA Yasumi
Transactions of the Japan Society of Mechanical Engineers C, Volume：72, Number：724, First page：3962, Last page：3968, 2006, [Reviewed]
Bricks and blocks come to be used to the pavement and intersections etc., then a lot of small steps are arisen now, too. On such places it is difficult to find out textured paving block by visually handicapped person using percussion type cane. Therefore the new type white cane is designed which detects the steps condition using ultrasonic sensor installed grip part and draws the attention by the sound. In this research we designed a white cane that had the ancillary function in which it informed to the visually handicapped person's palm whether the block exists or not by the linear vibration actuator (it is called LOA). This cane has a characteristic which detect the color (yellow) of the textured pavement block in addition with the RGB color sensor while providing the function of the percussion typed cane. We made an example for trial purposes and the characteristic was examined. As a result we found that this cane assist the visually handicapped person to find textured paving block.
The Japan Society of Mechanical Engineers, Japanese
DOI ID：10.1299/kikaic.72.3962, ISSN：0387-5024, CiNii Articles ID：110006153492, CiNii Books ID：AN00187463 - Application on the Waste Fluid Purification of Pyrolysis Residue of the Paper
OHTAKI Hideyuki; KOTOSAKA Sinya; NAGASAKA Yasumi
Transactions of the Japan Society of Mechanical Engineers C, Volume：72, Number：722, First page：3419, Last page：3425, 2006, [Reviewed]
When the paper is incinerated under the multi oxygen environment: state of the oxidation, cellulose fiber with paper does the combustion as carbon dioxide also under the low degree temperature. On the other hand, when the paper is resolved under the small oxygen environment: state of reduction, cellulose is carbonized. The pyrolysis residue, as for tar, the china clay and Talc, etc. are changed the crystal grain and came to be also different compose chemically with the raw material. Then, authors have been studying the optimum carbonization method of cellulose and the use of the products. In this report, we deal with the result of using the pyrolysis residue to purify the waste fluid.
The Japan Society of Mechanical Engineers, Japanese
DOI ID：10.1299/kikaic.72.3419, ISSN：0387-5024, CiNii Articles ID：110004837639, CiNii Books ID：AN00187463 - ロープづりされた荷の振動(機械力学,計測,自動制御)
大滝英征; 琴坂信哉; 長坂保美
日本機械学会論文集．C編, Volume：72, Number：721, First page：2899, Last page：2904, 2006
Authors are aiming at system construction to make the load descent to the bottom of the hole and to make it turn for decided direction. The load is hung with two ropes, and the direction is done by rotating the top part where the rope is installed. In that case, the situation that a rope each other intersects along with the rotation of the top part. Therefore, the gyration is caused on the load. It is though that such behavior is the same one caused by the winch. However, most of the report for the winch is the one that the optimum conditions when the swing is not caused, and it transports it to the load in the straight line are induced. The rope for hanging temporarily causes intersection mutually, and when an irregular movement is caused, it is not analyzed. In this report, the gyration of the load for this case was analyzed.
The Japan Society of Mechanical Engineers, Japanese
DOI ID：10.1299/kikaic.72.2899, ISSN：0387-5024, CiNii Articles ID：110004811611, CiNii Books ID：AN00187463 - The production of the electromagnetic wave shielding structure by compounding the pyrolysis residue of paper
H.Ohtaki; S.Kotosaka; Y.Nagasaka
2005 - The production of the electromagnetic wave shielding structure by compounding the pyrolysis residue of paper
H.Ohtaki; S.Kotosaka; Y.Nagasaka
Proc. of ICCS/13 Conference, 2005 - The deformation of beams structured by thin walls
H Ohtak; H Wan; S Kotosaka; Y Nagasaka
COMPOSITE STRUCTURES, Volume：66, Number：1-4, First page：115, Last page：123, Oct. 2004
Nowadays our society demands the reuse of industrial products. Then we should not only re-investigate the materials of products but also originate a new design method of industrial products. We have investigated the cellular structure by using abandoned paper, because the cell's shape can be proposed arbitrarily by folding a paper. As examples, we have proposed the structure constructed by connecting many folded cells formed in a hexagonal cross area. This structure will have characteristics such as almost high rigidity, high stiffness, crushing stress, relative insensitivity to the overall loss of stability. To estimate the characteristics of these structures, we must analyze the deformation in loading. When the structure with thin walls formed by paper is loaded, the shape of deformation is different from that of the metal, wall swells and does not maintain its flatness. Therefore, we cannot apply the traditional theory of elasticity for the analysis. In this paper, we propose a new estimation method by analyzing the swelling. (C) 2004 Elsevier Ltd. All rights reserved.
ELSEVIER SCI LTD, English
DOI：https://doi.org/10.1016/j.compstruct.2004.04.029
DOI ID：10.1016/j.compstruct.2004.04.029, ISSN：0263-8223, Web of Science ID：WOS:000223854800013 - Analysis of negative Poisson's ratios of re-entrant honeycombs
H Ohtaki; GM Hu; Y Nagasaka; S Kotosaka
JSME INTERNATIONAL JOURNAL SERIES A-SOLID MECHANICS AND MATERIAL ENGINEERING, Volume：47, Number：2, First page：113, Last page：121, Apr. 2004
Materials or structures that contract in the transverse direction under uniaxial compression, or expand laterally when stretched are said to have negative Poisson's ratios. A theoretical approach to the prediction of negative Poisson's ratios of re-entrant honeycombs has been developed which is based on the large deflection model. The equations of the deflection curves of the inclined member of the re-entrant cell, strains and Poisson's ratios of re-entrant honeycombs in two orthogonal directions have been derived. The deformed shapes of the inclined members of the re-entrant cell are calculated. The negative Poisson's ratios of re-entrant honeycombs are no longer a constant at large deformation. They vary significantly with the strain. The effect of the geometric parameters of the cell on the Poisson's ratios is analyzed.
JAPAN SOC MECHANICAL ENGINEERS, English
DOI：https://doi.org/10.1299/jsmea.47.113
DOI ID：10.1299/jsmea.47.113, ISSN：1344-7912, CiNii Articles ID：110004820463, Web of Science ID：WOS:000221749600005 - 人間型ロボットの機構自由度の縮退を利用した動作 第四報 縮退可能関節の選択
琴坂信哉; 大滝英征
第9回ロボティクスシンポジア講演論文集, First page：398, Last page：403, 2004, [Reviewed] - Biologically Inspired Robotics by the Computational Theory
KOTOSAKA Shinya; NAKANO Eri
Journal of The Society of Instrument and Control Engineers, Volume：42, Number：9, First page：723, Last page：728, 2003
The Society of Instrument and Control Engineers, Japanese
DOI：https://doi.org/10.11499/sicejl1962.42.723
DOI ID：10.11499/sicejl1962.42.723, ISSN：0453-4662, eISSN：1883-8170, CiNii Articles ID：10011633579, CiNii Books ID：AN00072406 - Purkinje Cell Simple Spike Activity Encodes Movement Dynamics during Fast Arm Movement
YAMAMOTO Kenji; KAWATO Mitsuo; KOTOSAKA Shinya; KITAZAWA Shigeru
IEICE technical report. Neurocomputing, Volume：102, Number：98, First page：25, Last page：32, 23 May 2002
To elucidate whether the simple spike activity of cerebellar Purkinje cells codes movement dynamics or kinematics, a monkey was trained to extend and flex its forearm around the elbow joint under two different viscosity force fields. During the movements, joint angle velocity, electromyographic activities (EMGs) of the biceps and the triceps muscles as well as simple spike discharges of cerebellar Purkinje cells were recorded. Velocity profiles under the two force fields were nearly identical whereas EMG activities as well as simple spike activity were considerably different. We used an information measure to quantify these differences. The results suggest that simple spike activity encodes movement dynamics rather than kinematics.
The Institute of Electronics, Information and Communication Engineers, Japanese
ISSN：0913-5685, CiNii Articles ID：110003232387, CiNii Books ID：AN10091178 - 小脳単純スパイクの線形和はサル上肢筋電時系列を再構成する
山本 憲司; 川人 光男; 琴坂 信哉
Volume：101, Number：737, First page：159, Last page：166, 20 Mar. 2002
Japanese
ISSN：0913-5685, CiNii Articles ID：110003234327, CiNii Books ID：AA1123312X - Humanoid Robot 'DB'
Shinya Kotosaka; Tomohiro Shibata; Stefan Schaal
First page：279, Last page：284, 2001 - Using humanoid robots to study human behavior
CG Atkeson; JG Hale; F Pollick; M Riley; S Kotosaka; S Schaal; T Shibata; G Tevatia; A Ude; S Vijayakumar; M Kawato
IEEE INTELLIGENT SYSTEMS & THEIR APPLICATIONS, Volume：15, Number：4, First page：46, Last page：55, Jul. 2000
IEEE COMPUTER SOC, English
DOI：https://doi.org/10.1109/5254.867912
DOI ID：10.1109/5254.867912, ISSN：1094-7167, Web of Science ID：WOS:000088680000010 - Humanoid robot for brain research
KOTOSAKA Shin'ya; SCHAAL Stefan; SHIBATA Tomohiro
Volume：14, Number：5, First page：419, Last page：421, 01 Jun. 2000
English
ISSN：0169-1864, CiNii Articles ID：10010911174, CiNii Books ID：AA10679021 - Humanoid Robot for Brain Research
KATOSAKA Shinya; KAWATO Mitsuo
Journal of the Society of Mechanical Engineers, Volume：103, Number：975, First page：91, Last page：94, 2000
The Japan Society of Mechanical Engineers, Japanese
DOI：https://doi.org/10.1299/jsmemag.103.975_91
DOI ID：10.1299/jsmemag.103.975_91, ISSN：0021-4728, eISSN：2424-2675, CiNii Articles ID：110002437842, CiNii Books ID：AN00187394 - 学生会員メーリングリストからの話題
琴坂 信哉; 柴田 智広; 渋谷 恒司; 平木 雅彦
Volume：12, Number：7, First page：73, Last page：74, 15 Nov. 1994
Japanese
ISSN：0289-1824, CiNii Articles ID：10006720434, CiNii Books ID：AN00141189 - 学生会員メーリングリストからの話題
琴坂 信哉; 柴田 智広; 渋谷 恒司; 平木 雅彦
Volume：12, Number：6, First page：54, Last page：54, 15 Sep. 1994
Japanese
ISSN：0289-1824, CiNii Articles ID：10006720224, CiNii Books ID：AN00141189
- 相互慣性項を用いたマニピュレータの衝撃力軽減アプローチ
2009 - 相互慣性項を用いたマニピュレータの衝撃力軽減アプローチ
第14回ロボティクスシンポジア講演論文集, 2009 - 紙，セラミックス及びポリエチレンテレフタラート複合材料によるガス及び液体の吸着特性
2008 - 薄肉多角形筒体の軸圧縮変形
2008 - ハイブリッド型風車の基礎的研究
2008 - 位相フィードバック
2008 - 紙，セラミックス及びポリエチレンテレフタラート複合材料によるガス及び液体の吸着特性
日本機械学会2008年度年次大会講演論文集, 2008 - 薄肉多角形筒体の軸圧縮変形
日本機械学会2008年度年次大会講演論文集, 2008 - ハイブリッド型風車の基礎的研究
日本機械学会2008年度年次大会講演論文集, 2008 - 位相フィードバック
ロボティクス・メカトロニクス講演会2008講演概要集, 2008 - Encoding of movement dynamics by Purkinje cell simple spike activity during fast arm movements under resistive and assistive force fields
2007 - 磁力を用いた球体移動機構
2007 - MR流体を利用した膝関節サポータ開発に関する研究
2007 - 薄肉多角形体の軸圧縮変形
2007 - 紙を網織りして製作した車体構造
2007 - モータとゼンマイを用いたハイブリッド・エンジンの開発
2007 - ロボットの安全評価と防護柵によるリスク低減
2007 - ハイブリッド型風車の基礎的研究 第２報
2007 - 様々な教育段階に応用できるモジュール型教育ロボット
2007 - 位相フィードバックによるロボットの適応的運動軌道生成 ウェーブレット変換による周波数同調
2007 - マニピュレータ衝突時の安全性向上へアプローチ
2007 - ボール式不等速機構に関する研究
2007 - 多自由度ロボットにおける冗長自由度を用いた力学的補償動作
2007 - Encoding of movement dynamics by Purkinje cell simple spike activity during fast arm movements under resistive and assistive force fields
Society for Neuroscience abstracts, 2007 - 磁力を用いた球体移動機構
関東支部ブロック合同講演会2007さいたま 第3回埼玉ブロック大会講演論文集, 2007 - MR流体を利用した膝関節サポータ開発に関する研究
関東支部ブロック合同講演会2007さいたま 第3回埼玉ブロック大会講演論文集, 2007 - 薄肉多角形体の軸圧縮変形
関東支部ブロック合同講演会2007さいたま 第3回埼玉ブロック大会講演論文集, 2007 - 紙を網織りして製作した車体構造
関東支部ブロック合同講演会2007さいたま 第3回埼玉ブロック大会講演論文集, 2007 - モータとゼンマイを用いたハイブリッド・エンジンの開発
関東支部ブロック合同講演会2007さいたま 第3回埼玉ブロック大会講演論文集, 2007 - ロボットの安全評価と防護柵によるリスク低減
関東支部ブロック合同講演会2007さいたま 第3回埼玉ブロック大会講演論文集, 2007 - ハイブリッド型風車の基礎的研究 第２報
関東支部ブロック合同講演会2007さいたま 第3回埼玉ブロック大会講演論文集, 2007 - 様々な教育段階に応用できるモジュール型教育ロボット
関東支部ブロック合同講演会2007さいたま 第3回埼玉ブロック大会講演論文集, 2007 - 位相フィードバックによるロボットの適応的運動軌道生成 ウェーブレット変換による周波数同調
第25回日本ロボット学会学術講演会講演概要集, 2007 - マニピュレータ衝突時の安全性向上へアプローチ
ロボティクス・メカトロニクス講演会2007講演概要集, 2007 - ボール式不等速機構に関する研究
日本機械学会関東支部第13期総会講演会講演論文集, 2007 - 多自由度ロボットにおける冗長自由度を用いた力学的補償動作
日本機械学会関東支部第13期総会講演会講演論文集, 2007 - 緩衝材と相互慣性項の利用によるマニピュレータの衝突時の衝撃力軽減
2006 - 多重連結振動子による移動機構の研究
2006 - ハイブリッド型風車に関する研究
2006 - エネルギー回生搭載型ゼンマイ自転車
2006 - PLLを用いたロボットの適応的運動軌道生成
2006 - 冗長関節をカウンターウェイトとして用いる運動生成の提案
2006 - 緩衝材と相互慣性項の利用によるマニピュレータ衝突時の衝撃力軽減
2006 - 緩衝材と相互慣性項の利用によるマニピュレータの衝突時の衝撃力軽減
第24回日本ロボット学術講演会講演論文予稿集, 2006 - 多重連結振動子による移動機構の研究
ブロック合同講演会2006桐生講演論文集, 2006 - ハイブリッド型風車に関する研究
日本機械学会関東支部ブロック合同講演会2006桐生講演論文集, 2006 - エネルギー回生搭載型ゼンマイ自転車
日本設計工学会平成18年度春期研究発表講演会講演予稿集, 2006 - PLLを用いたロボットの適応的運動軌道生成
Proceedings 2006 JSME Conference on Robotics and Mechatronics, 2006 - 冗長関節をカウンターウェイトとして用いる運動生成の提案
日本機械学会関東支部第12期総会講演会論文集, 2006 - 緩衝材と相互慣性項の利用によるマニピュレータ衝突時の衝撃力軽減
日本機械学会関東支部第12期総会講演会論文集, 2006 - 相互慣性項を利用したマニピュレータの衝撃力軽減動作
2005 - PLLを用いた適応的運動軌道生成
2005 - リニア振動アクチュエータを用いた触刺激白杖の研究
2005 - ぜんまいを用いた自転車の走行エネルギー回生
2005 - 知的データキャリアを用いた自律荷物搬送ロボットのセンサレス化
2005 - 楽譜のページ捲り装置の開発
2005 - 横力を発生させる車輪機構に関する研究
2005 - 多自由度ロボットにおける機構自由度の縮退を利用した作業－縮退状況下にある関節の力学解析－
2005 - リニア振動アクチュエータを用いた触刺激白杖の研究
2005 - ハイブリッドエンジンの基礎的研究
2005 - アナログ・デジタル混合フィードバックを用いたロボットハンドの制御
2005 - モータとエアシリンダを直列に接続した機械的弾性可変関節の制御
2005 - 相互慣性項を利用したマニピュレータの衝撃力軽減動作
第23回日本ロボット学会学術講演会予稿集, 2005 - PLLを用いた適応的運動軌道生成
第23回日本ロボット学会学術講演会予稿集, 2005 - リニア振動アクチュエータを用いた触刺激白杖の研究
日本機械学会関東支部ブロック合同講演会2005足利講演論文集, 2005 - ぜんまいを用いた自転車の走行エネルギー回生
日本機械学会関東支部ブロック合同講演会2005足利講演論文集, 2005 - 知的データキャリアを用いた自律荷物搬送ロボットのセンサレス化
日本機械学会関東支部ブロック合同講演会2005足利講演論文集, 2005 - 楽譜のページ捲り装置の開発
日本機械学会関東支部ブロック合同講演会2005足利講演論文集, 2005 - 横力を発生させる車輪機構に関する研究
日本機械学会関東支部ブロック合同講演会2005足利講演論文集, 2005 - 多自由度ロボットにおける機構自由度の縮退を利用した作業－縮退状況下にある関節の力学解析－
ロボティクス・メカトロニクス講演会2005講演論文集, 2005 - リニア振動アクチュエータを用いた触刺激白杖の研究
2005 - ハイブリッドエンジンの基礎的研究
第44回卒業研究発表講演会 講演論文集, 2005 - アナログ・デジタル混合フィードバックを用いたロボットハンドの制御
第44回学生員卒業研究発表講演会 講演論文集, 2005 - モータとエアシリンダを直列に接続した機械的弾性可変関節の制御
第44回学生員卒業研究発表講演会 講演論文集, 2005 - 円筒内の衝撃波の伝播
2004 - 古紙の熱分解による導電性材料の作成に関する研究
2004 - 衝突時の衝撃力の予測に基づいた平面３自由度マニピュレータの衝撃力軽減動作
2004 - 紙の熱分解残渣物に関する研究
2004 - ハニカム構造の変形解析
2004 - 円筒内の衝撃波の伝播
ブロック合同講演会2004宮代講演論文集, 2004 - 古紙の熱分解による導電性材料の作成に関する研究
ブロック合同講演会2004宮代講演論文集, 2004 - 衝突時の衝撃力の予測に基づいた平面３自由度マニピュレータの衝撃力軽減動作
ブロック合同講演会2004宮代講演論文集, 2004 - 紙の熱分解残渣物に関する研究
ブロック合同講演会2004宮代講演論文集, 2004 - ハニカム構造の変形解析
日本機械学会関東支部第12期総会講演会論文集, 2004