BioInMech Lab

Publications

2022

• Chao Ren, Hongjian Jiang, Chunli Li, Weichao Sun and Shugen Ma, Koopman Operator-based Robust Data-Driven Control for Wheeled Mobile Robots, IEEE/ASME Transaction on Mechatronics,, 2022, 10.1109/TMECH.2022.3203518, (Earlier Access)
• Yingzi Chen, Zhiqing Li, Longchuan Li, Shugen Ma, Fuchun Zhanga and Chao Fan, An anti-drone device based on capture technology, Biomimetic Intelligence and Robotics, 2-3, pp. 1-7, 2022, 10.1016/j.birob.2022.100060, (Open Access)
• Chao Ren, Hongjian Jiang, Chaoxu Mu and Shugen Ma,, Conditional Disturbance Negation based Control for an Omnidirectional Mobile Robot: an Energy Perspective, IEEE Robotics and Automation Letters, 7-4, pp. 11641-11648, 2022, 10.1109/LRA.2022.3204815
• Atsushi Kakogawa, Kenya Murata, and Shugen Ma, Automatic T-Branch Travel of an Articulated Wheeled In-Pipe Inspection Robot Using Joint Angle Response to Environmental Changes, IEEE Transactions on Industrial Electronics (Early Access), pp. 1-10, 2022, 10.1109/TIE.2022.3201301
• Xiaohan Li, CHao Ren and Shugen Ma, Optimal Path Following Control with Efficient Computation for Snake Robots Subject to Multiple Constraints and Unknown Frictions, IEEE Robotics and Automation Letters, 7-4, pp. 9151-9158, 2022, 10.1109/LRA.2022.3190642
• Liang Du, Shugen Ma, Keisuke Tokuda, Yang Tian and Longchuan Li, Bidirectional Locomotion of Soft Inchworm Crawler Using Dynamic Gaits, Frontiers in Robotics and AI (section Soft Robotics), 9-899850, pp. 1-10, 2022, 10.3389/frobt.2022.899850
• Yongchen Tang, Guoteng Zhang, Dingxin Ge, Chao Ren and Shugen Ma, Undulatory Gait Planning Method of Multi-legged Robot with Passive-spine, Biomimetic Intelligence and Robotics, 2-100028, pp. 1-8, 2022, 10.1016/j.birob.2021.100028, (Open Access)
• Yoshimichi Oka, Atsushi Kakogawa, Yang Tian, and Shugen Ma, Control Technique of a V-shaped In-Pipe Robot Composed of Two Underactuated Roll-Pitch Joints, Advanced Robotics, 36-4, pp. 205-216, 2022, 10.1080/01691864.2021.2012513
• Zhong Huang, Shugen Ma, Hosain Bagheri, Chao Ren and Hamidreza Marvi, The Impact of Dorsal Fin Design on the Swimming Performance of a Snake-like Robot, IEEE Robotics and Automation Letters, 7-2, pp. 4939-4944, 2022, 10.1109/LRA.2022.3153903
• Yang Tian, Chengxiao Ding, Yueh Feng Lin, Shugen Ma, Longchuan Li, Automatic Feature Type Selection in Digital Photogrammetry of Piping, Computer-Aided Civil and Infrastructure Engineering, 37-10, pp. 1335-1348, 2022, 10.1111/mice.12840 ,
• Zhong Huang, Shugen Ma, Ziming Lin, Kaijia Zhu, Peng Wang, Reza Ahmed, Chao Ren, Hamid Marvi, Impact of caudal fin geometry on the swimming performance of a snake-like robot, Ocean Engineering, 245-110372, pp. 1-10, 2022, 10.1016/j.oceaneng.2021.110372
• Yang Tian, Guoteng Zhang, Kenji Morimoto and Shugen Ma, Automated Rust Removal: Rust Detection and Visual Servo Control, Automation in Construction, 134-104043, pp. 1-11, 2022, 10.1016/j.autcon.2021.104043
• Chao Ren, Chunli Li, Liang Hu, Xiaohan Li and Shugen Ma, Adaptive Model Predictive Control for an Omnidirectional Mobile Robot with Friction Compensation and Incremental Input Constraints, Transactions of the Institute of Measurement and Control, 44-4, pp. 835-847, 2022, 10.1177/01423312211021321
• Chao Ren, Yutong Ding, Liang Hu, Jinguo Liu, Zhaojie Ju and Shugen Ma, Active Disturbance Rejection Control of Euler ‒ Lagrange Systems Exploiting Internal Damping, IEEE Transactions on Cybernetics, 52-6, pp. 4334-4345, 2022, 10.1109/TCYB.2020.3026190
• Longchuan Li, Shugen Ma, Isao Tokuda, Makoto Nokata, Yang Tian, Liang Du and Zhiqing Li, Mathematical Design for a NovelWalking Support Device that Leverages Passive Dynamics and Coupling Effects, in Proc. 2022 IEEE International Conference on Robotics and Automation (ICRA2022), pp. 200-206, 2022
• 徳田祥吾・李龍川・馬書根・田 陽, 共振現象による劣駆動蠕動型ロボットの開発, 第40回日本ロボット学会学術講演会, 2022, 東京, 日本
• 大平健生・田陽・馬書根, ひれを持つ水陸両用車輪ロボットの開発, 第40回日本ロボット学会学術講演会, 2022, 東京, 日本
• 實川隼人・田陽・馬書根, 劣駆動三角車輪を用いた磁性面受動走行ロボットの開発, 第40回日本ロボット学会学術講演会, 2022, 東京, 日本
• 廣瀬千大・加古川篤・馬書根, 配管の長距離経路作図に向けた被牽引センシングシステムの開発, 第40回日本ロボット学会学術講演会, 2022, 東京, 日本
• 村田憲哉・加古川篤・馬書根, 連結車輪型管内検査ロボットの長距離走行に向けて, 第40回日本ロボット学会学術講演会, 2022, 東京, 日本
• 馬振軒・李龍川・松野孝博・野方誠・馬書根, 体内蠕動移動ロボットの設計と実験, 日本機械学会ロボティクス・メカトロニクス講演会`22講演論文集, 2022, 北海道
• 林岳峰・田陽・李昕宇・馬書根, 注意機構に基づく配管認識ネットワークの開発, 日本機械学会ロボティクス・メカトロニクス講演会’22 講演論文集, 2022, 北海道
• 廣瀬千大・加古川篤・馬書根, 被牽引式センシングユニットを用いた配管経路作図システム, 日本機械学会ロボティクス・メカトロニクス講演会’22 講演論文集, 2022, 北海道
• 太田駿介・村田憲哉・加古川篤・馬書根, 配管内検査ロボットのケーブル摩擦軽減ユニットの開発, 日本機械学会ロボティクス・メカトロニクス講演会’22 講演論文集, 2022, 北海道
• 村田憲哉・加古川篤・馬書根, １自由度能動関節のみを用いた連結車輪型管内移動ロボットのT字管走行, 日本機械学会ロボティクス・メカトロニクス講演会’22 講演論文集, 2022, 北海道

2021

• Yang Tian, Shugen Ma and Genki Kotani, Inner pressure prediction of suction cup based on Bernoulli equation, Measurement: Sensors, 18-100139, pp. 1-7, 2021, 10.1016/j.measen.2021.100139
• Yuanyuan Jia and Shugen Ma, A Decentralized Bayesian Approach for Snake Robot Control, IEEE Robotics and Automation Letters, 6-4, pp. 6955-6960, 2021, 10.1109/LRA.2021.3095307
• Chunli Li, Chao Ren, Yutong Ding, Tong Zhang,Wei Li, Xinshan Zhu and Shugen Ma, Non-singular Terminal Sliding Mode Control of an Omnidirectional Mobile Manipulator based on Extended State Observer, International Journal of Intelligent Robotics and Applications, 5, pp. 219-234, 2021, 10.1007/s41315-021-00184-1
• Yuanyuan Jia and Shugen Ma, A Coach-Based Bayesian Reinforcement Learning Method for Snake Robot Control, IEEE Robotics and Automation Letters, 6-2, pp. 2319-2326, 2021, USA, 10.1109/LRA.2021.3061372,
• Atsushi Kakogawa, Yuki Kaizu, Shugen Ma, Sensor-less and Control-less Underactuated Grippers with Pull-in Mechanisms for Grasping Various Objects, Frontiers in Robotics and AI, 8, pp. 1-19, 2021, 10.3389/frobt.2021.631242
• Atsushi Kakogawa, Taihei Kawabata and Shugen Ma, Plate-springed Parallel Elastic Actuator for Efficient Snake Robot Movement, IEEE/ASME Transactions on Mechatronics, 26-6, pp. 3051-3063, 2021, 10.1109/TMECH.2021.3052037,
• Longchuan Li, Shugen Ma, Isao Tokuda, Fumihiko Asano, Makoto Nokata, Yang Tian and Liang Du, Generation of Efficient Rectilinear Gait Based on Dynamic Morphological Computation and Its Theoretical Analysis, IEEE Robotics and Automation Letters, 6-2, pp. 841-848, 2021, 10.1109/LRA.2021.3052421
• Yichen Liang, Chao Ren, Xiaohan Li and Shugen Ma, Simultaneous Gait Generation and Path Tracking Control of Snake Robot Using MPC, in Proc. 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO 2021), pp. 2024-2029, 2021, Sanya, China
• Yu Zhang, Shiqiang Wang, Sha He, Wenchuan Jia, Jianjun Yuan, Peihang Yu, Shugen Ma and Sheng Bao, Analysis on Ride Comfort of a Novel Eight Wheel Vehicle, in Proc. 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO 2021), pp. 1947-1952, 2021, Sanya, China
• Zhaojiang Yu, Jianjun Yuan, Dianzhen Guo, Liang Du, Sheng Bao and Shugen Ma, Underactuated Picking Gripper for Grasping and Cutting Citrus, in Proc. 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO 2021), pp. 1935-1940, 2021, Sanya, China
• Tong Zhou, Jianjun Yuan, Shugen Ma, Tieshi Zhao, Sheng Bao, Liang Du, Weiwei Wan, Zhongying Liu and Ye Zhang, Integration Mode of Standing Balance and Trajectory Training based on Lower Limb Rehabilitation Exoskeleton, in Proc. 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO 2021), pp. 1252-1257, 2021, Sanya, China
• Yuhui Cen, Jianjun Yuan, Sheng Bao, Liang Du, Shugen Ma and Weiwei Wan, An Integrated Software System Designed for Upper Limb Rehabilitation Robot, in Proc. 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO 2021), pp. 1228-1233, 2021, Sanya, China
• Zhiyan Cao, Tianxu Bao, Wenchuan Jia, Shugen Ma and Jianjun Yuan, Towards a More Practical Data-driven Biped Walking Control, in Proc. 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO 2021), pp. 1058-1064, 2021, Sanya, China
• Yimin He, Congcong Wang, Sheng Bao, Jianjun Yuan, Liang Du, Shugen Ma and Weiwei Wan, A Joint Friction Model of Robotic Manipulator for Low-speed Motion, in Proc. 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO 2021), pp. 545-550, 2021, Sanya, China
• Mingyuan Wang, Liang Du, Jianjun Yuan, Shugen Ma and Sheng Bao, A Bio-inspired Continuum Robot for Out-Pipe Climbing and Confined Space Navigating, in Proc. 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO 2021), pp. 74-79, 2021, Sanya, China
• Xiang Zeng, Wenchuan Jia, Shugen Ma, Xin Luo, Yi Sun, Jianjun Yuan and Yu Zhang, Research on Passive Energy-Regulated Bionic Shell for Lateral Fall Recovery Behavior of Large Quadruped Robots, in Proc. 2021 International Conference on Intelligent Robotics and Applications (ICIRA 2021), pp. 246-257, 2021, Yantai, China, Pub. by Springer
• Jiacheng Yu, Wenchuan Jia, Yi Sun, Shugen Ma, Jianjun Yuan, and Quan Zhan, Modeling of Passive Dynamic Walking Behavior of the Asymmetric Spatial Rimless Wheel on Slope, in Proc. 2021 International Conference on Intelligent Robotics and Applications (ICIRA 2021), pp. 482-493, 2021, Yantai, China, Pub. by Springer
• Mingyuan Wang, Sheng Bao, Jianjun Yuan and Shugen Ma, Design and Analysis of a Robotic Out-pipe Grinding System with Friction Actuating, in Proc. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2021), pp. 2467-2472, 2021, Prague, Czech Republic
• Guoteng Zhang, Yibin Li and Shugen Ma, Trotting and Pacing Locomotion of a Position-Controlled Quadruped Robot, in Proc. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2021), pp. 7456-7463, 2021, Prague, Czech Republic
• Geqi Lin, Wenchuan Jia, Shugen Ma, Jianjun Yuan and Yi Sun, Research and Analysis of Comprehensive Optimization Method for Energy Consumption and Trajectory Error of the Leg Structure Based on Virtual Model Control, in Proc. 2021 IEEE International Conference on Mechatronics and Automation (ICMA 2021), pp. 1094-1099, 2021, Takamatsu, Japan
• Feng Zhuo, Wenchuan Jia, Shugen Ma, Jianjun Yuan and Yi Sun, Variable Artificial Potential Field Method for Gait Generation of Quadruped Robot, in Proc. 2021 IEEE International Conference on Mechatronics and Automation (ICMA 2021), pp. 1176-1181, 2021, Takamatsu, Japan
• Dianzhen Guo, Zhaohan Yuan, Sheng Baa, Jianjun Yuan, Shugen Ma and Liang Du, Visualized Small-size Pipeline Model Building Using Multilink-articulated Wheeled In-pipe Inspection Robot, in Proc. 2021 IEEE International Conference on Real-time Computing and Robotics (RCAR2021), pp. 492-497, 2021, Xining, China
• Jiaxin Lai, Hanyue Lei, Sheng Bao, Jianjun Yuan and Shugen Ma,, Design of a Portable Indoor Guide Robot for Blind People, in Proc. 2021 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM2021), pp. 592-597, 2021, Chongqing, China
• Yoshimichi Oka, Atsushi Kakogawa, Shugen Ma, A Wheeled V-shaped In-pipe Robot with Clutched Underactuated Joints, in Proc. 2021 IEEE International Conference on Robotics and Automation, pp. 11459-11462, 2021, Xia'an , China
• Longchuan Li, Shugen Ma, Isao Tokuda, Fumihiko Asano, Makoto Nokata, Yang Tian, Liang Du, Synergetic Effect between Limbs and Spine Dynamics in Quadruped Walking Robots, in Proc. 2021 IEEE International Conference on Robotics and Automation, pp. 6818-6823, 2021, Xi'an, China, 10.1109/ICRA48506.2021.9561851

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