BioInMech Lab

Publications

2021

• 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
• 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
• 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
• 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
• 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
• 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)
• 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,
• 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,
• 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

2020

• 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, 　
• 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)
• 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
• 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
• 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, 　
• 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

2019

• 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
• Anfan Zhang, Shugen Ma, Bin Li, Minghui Wang and Jian Chang, Parameter Optimization of Eel Robot Based on NSGA-II Algorithm, in Proc. 2019 International Conference on Intelligent Robotics and Applications (ICIRA 2019), 8, pp. 3-15, 2019, (Pub. by Springer)
• Zhong Huang, Detian Kong, Chao Ren, Shan Li and Shugen Ma, Performance Study of an Underwater Snake-like Robot with a Flexible Caudal Fin, in Proc. 2019 IEEE International Conference on Mechatronics and Automation (ICMA 2019), 8, pp. 2518-2522, 2019
• Chaojun Wang, Wenchuan Jia, Yi Sun and Shugen Ma, Practical Kicking Motion Generation Method for NAO, in Proc. 2019 IEEE International Conference on Mechatronics and Automation (ICMA 2019), 8, pp. 163-168, 2019, (Pub. by Springer)
• Shan Li, Xian Guo, Junfang Zhou, Chao Ren and Shugen Ma, An Efficient Turning Control Method Based on Coordinating Driving for an Underwater Snake-Like Robot with a Propeller, in Proc. 2019 International Conference on Intelligent Robotics and Applications (ICIRA 2019), 8, pp. 489-500, 2019, (Pub. by Springer)

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