BioInMech Lab

Publications

2021

• 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, 2021, 10.1177/01423312211021321, (Earlier Access)
• 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, 2021, 10.1109/TMECH.2021.3052037, (Earlier Access)
• 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
• 藤村遼・加古川篤・馬書根, 車輪エンコーダとジャイロセンサを搭載した被牽引ユニットによる配管マッピング, 日本機械学会ロボティクス・メカトロニクス講演会’21 講演論文集, 2021, (Online Poster Session)
• 岡義倫・加古川篤・馬書根, クラッチ付き劣駆動関節を有するV 字車輪型管内移動ロボットの開発, 日本機械学会ロボティクス・メカトロニクス講演会’21 講演論文集, 2021, (Online Poster Session)
• 太田駿介・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検, 日本機械学会ロボティクス・メカトロニクス講演会’21 講演論文集, 2021, (Online Poster Session)
• 伊藤巧・馬書根・田陽, 遊泳可能な受動体節多脚歩行ロボットの開発, 日本機械学会ロボティクス・メカトロニクス講演会’21 講演論文集, 2021, (Online Poster Session)
• 林岳峰・田陽・馬書根, 深層学習による配管画像認識手法の評価, 日本機械学会ロボティクス・メカトロニクス講演会’21 講演論文集, 2021, (Online Poster Session)
• 徳田圭佑・杜亮・田陽・馬書根, 単一誘電エラストマーアクチュエータによる前後移動可能なロボットの開発, 日本機械学会ロボティクス・メカトロニクス講演会’21 講演論文集, 2021, (Online Poster Session)

2020

• 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, 2020, 10.1109/TCYB.2020.3026190, (Earlier Access)
• Xiaohan Li, Chao Ren, Shugen Ma and Xinshan Zhu, Compensated model-free adaptive tracking control scheme for autonomous underwater vehicles via extended state observer, Ocean Engineering, 217, pp. 1-15, 2020, 10.1016/j.oceaneng.2020.107976
• Dingxin Ge, Yongchen Tang, Shugen Ma, Takahiro Matsuno and Chao Ren, Pressing Attachment Approach for a Wall-Climbing Robot Utilizing Passive Suction Cups, Robotics, 9-2, pp. 1-16, 2020, 10.3390/robotics9020026
• Zhe Qiu, Ryuta Ozawa and Shugen Ma, Adaptive Virtual Power-based Collision Detection and Isolation with Link Parameter Estimation, Advanced Robotics, 34-12, pp. 814-825, 2020, 10.1080/01691864.2020.1751707
• Chao Ren, Yutong Ding, Shugen Ma, A Structure-improved Extended State Observer based Control with Applica- tion to an Omnidirectional Mobile Robot, ISA Transactions, 101, pp. 335-345, 2020, 10.1016/j.isatra.2020.01.024, 　
• Guoteng Zhang, Shugen Ma, Yayi Shen and Yibin Li, A Motion Planning Approach for Nonprehensile Ma- nipulation and Locomotion Tasks of a Legged Robot, IEEE Transactions on Robotics, 36-3, pp. 855-874, 2020, 10.1109/TRO.2019.2961049, 　
• Yayi Shen, Huayan Pu and Shugen Ma, Realizing Efficient Front Crawl Stroke With a Wheel-Paddle-Integrated Mechanism: Inspired by Human Competitive Swimming, IEEE Journal of Oceanic Engineering , 45-3, pp. 1558-1691, 2020, 10.1109/JOE.2019.2896398
• Chao Ren, Jingyi Zhang,Wei Li and Shugen Ma, A Novel Data-driven Model Free Adaptive Tracking Control with Application to an Omnidirectional Mobile Manipulator, in Proc. 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2020), pp. 1002-1007, 2020, Boston (Virtual Conference), USA
• Haonan Sun, Yang Tian, Shugen Ma and Shuya Inoue, Evaluation of Energy Efficiency of an Eccentric Paddle Mechanism on Sandy Terrain, in Proc. 2020 IEEE International Conference on Real-time Computing and Robotics (RCAR2020), pp. 262-267, 2020, Asahikawa (Virtual Conference), Japan
• Shugen Ma, Liang Du, Erina Tsuchiya and Mana Fuchimi, Paper-Made Grippers for Soft Food Grasping, in Proc. 17th International Conference on Ubiquitous Robots, pp. 362-367, 2020, Kyoto, Japan
• Zhaohan Yuan, Jianjun Yuan and Shugen Ma, Design and Implementation of a Pipeline Inspection Robot with Camera Image Compensation, in Proc. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2020), pp. 6398-6403, 2020, Las Vegas, USA, (Virtual)
• Jianjun Yuan, Renming Guan and Shugen Ma, A Robotic Gripper Design and Integrated Solution Towards Tunnel Boring Construction Equipment, in Proc. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2020), pp. 2650-2655, 2020, Las Vegas, USA, (Virtual)
• Yayi Shen, Shugen Ma, Guoteng Zhang and Syuya Inoue, Locomotion Performance of a Configurable Paddle- Wheel Robot over Dry Sandy Terrain, in Proc. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2020), pp. 6453-6458, 2020, Las Vegas, USA, (Virtual)
• Guoteng Zhang, Shugen Ma and Yibin Li, Contact Force Estimation and Regulation of a Position-controlled Floating Base System without Joint Torque Information, in Proc. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2020), pp. 3967-3974, 2020, Las Vegas, USA, (Virtual)
• Yuanyuan Jia and Shugen Ma, A Bayesian-Based Controller for Snake Robot Locomotion in Unstructured Environments, in Proc. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2020), pp. 7752-7757, 2020, Las Vegas, USA, (Virtual)
• Atsushi Kakogawa and Shugen Ma, A Multi-link In-pipe Inspection Robot Composed of Active and Passive Compliant Joints, in Proc. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2020), pp. 6472-6478, 2020, Las Vegas, USA, (Virtual)
• 櫛谷侑太郎・馬書根・加古川篤, 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’20 講演論文集, 2020, (Online Poster Session)
• 小川恭平・加古川篤・川村貞夫・馬書根, ロボット用せん断支持型高分子弾性要素の機械特性, 日本機械学会ロボティクス・メカトロニクス講演会’20 講演論文集, 2020, (Online Poster Session)
• 勝間洋平・馬書根・加古川篤, バイナリ制御を用いたヘビ型ロボットの高効率な運動の検討, 日本機械学会ロボティクス・メカトロニクス講演会’20 講演論文集, 2020, (Online Poster Session)
• 枌原弘樹・田陽・馬書根, 劣駆動を用いた磁性面受動走行ロボットの開発, 日本機械学会ロボティクス・メカトロニクス講演会’20 講演論文集, 2020, (Online Poster Session)
• Chengxiao Ding・Shugen Ma・Yang Tian, Development of a Tiny and Lightweight 3D Measurement Device, 日本機械学会ロボティクス・メカトロニクス講演会’20 講演論文集, 2020, (Online Poster Session)
• 加藤貫太・馬書根・ 田陽・柴田大地, 完全非接触な安定把持機構の検討, 日本機械学会ロボティクス・メカトロニクス講演会’20 講演論文集, 2020, (Online Poster Session)
• 柴田大地・馬書根・田陽・加藤貫太, ベルヌーイグリッパーのエネルギー損失要素の特定, 日本機械学会ロボティクス・メカトロニクス講演会’20 講演論文集, 2020, (Online Poster Session)
• 冨田拓基・田陽・馬書根, 光反射による錆教習データを用いた機械学習の錆検出性能評価, 日本機械学会ロボティクス・メカトロニクス講演会’20 講演論文集, 2020, (Online Poster Session)
• Atsushi Kakogawa and Shugen Ma, Robotic Search and Rescue through In-Pipe Movement, IntechOpen "Unmanned Robotic Systems and Applications", pp. 1-14, 2020, 10.5772/intechopen.88414

2019

• Zhe Qiu, Ryuta Ozawa and Shugen Ma, A force-sensorless Approach to Collision Detection based on Virtual Powers, Int. J. of Advanced Robotics, Int. J. of Advanced Robotics, 33-23, pp. 1209-1224, 2019, 10.1080/01691864.2019.1686420
• Atsushi Kakogawa, Yuki Komurasaki, and Shugen Ma, Shadow-based Operation Assistant for a Pipeline-inspection Robot using Variance of Pixel-number to the Luminance, Journal of Robotics and Mechatronics, 31-6, pp. 772-780, 2019, 10.20965/jrm.2019.p0772
• Lei Zhang, Shuangshuang Gao, Shugen Ma, Zenghui Gao and Ang Li, Research on Low Energy Consumption Static Postures of Bionic Feet, Applied Sciences, 9, pp. 3749, 2019, 10.3390/app9183749
• Chao Ren, Yutong Ding, Shugen Ma, Liang Hu, Xinshan Zhu, Passivity-based Tracking Control of an Omnidirectional Mobile Robot using only One Geometrical Parameter, Control Engineering Practice, 90-9, pp. 161-168, 2019, 10.1016/j.conengprac.2019.07.002
• Kundong Wang , Youwei Ma, Haoxuan Shan and Shugen Ma, A Snake-Like Robot with Envelope Wheels and Obstacle-Aided Gaits, Applied Sciences, 9, pp. 3749, 2019, 10.3390/app9183749
• Chao Ren, Yutong Ding, Xiaohan Li, Xinshan Zhu and Shugen Ma, Extended State Observer based Robust Friction Compensation for Tracking Control of an Omnidirectional Mobile Robot, ASME Journal of Dynamic Systems, Measurement and Control, 141-10, 2019, 10.1115/1.4043488
• Chao Ren, Xiaohan Li, Xuebo Yang and Shugen Ma, Extended State Observer based Sliding Mode Control of an Omnidirectional Mobile Robot with Friction Compensation, IEEE Transaction on Industrial Electronics, 66-12, pp. 9480-9489, 2019, 10.1109/TIE.2019.2892678
• Yongchen Tang, Guoteng Zhang, Shugen Ma and Dingxin Ge, Omni-directional Gait of a Passive-spine Hexapod, Robotics and Autonomous Systems, 119, pp. 231-246, 2019, 10.1016/j.robot.2019.06.001
• 加古川篤・川端泰平・馬書根, 並列弾性アクチュエータを用いたヘビ型ロボットの低速運動時におけるエネルギー消費抑制, システム制御情報学会論文誌, 32-6, pp. 227-233, 2019
• Yang Tian and Shugen Ma, A Rust Removed Region Detection for Automated Rust Detection during Grind- ing Work Process, in Proc. 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO 2019), 12, pp. 2163-2168, 2019
• Atsushi Kakogawa, Taihei Kawabata, and Shugen Ma, Plate Springed Parallel Elastic Actuators for Efficient Movement of a Planar Snake Robot, in Proc. IEEE/ASME Int. Conf. Advanced Intelligent Mechatronics (AIM 2019), 7, pp. 235-240, 2019, Hong Kong, China
• Fumiya Sera, Atsushi Kakogawa, and Shugen Ma, Joint Angle Control of an 8-inch Gas Pipeline Inspection Robot to Pass through Bends, in Proc. the 2019 International Conference on Advanced Mechatronic Systems, pp. 28-33, 2019, Kusatsu, Japan

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