生物知能機械学研究室

発表論文

2013

• Chaoquan Tang, Shugen Ma, Bin Li and Minghui Wang, Self-adaptable Biomimetic Control Strategy for SnakeRobots Based on Neural Stepping Stimulation Mechanism, [J] Chinese Journal of Mechanical Engineering, 49-1, pp. 53-62, 2013, .

2014

• Mohamad Nor Norzalilah and Shugen Ma, A Simplified CPGs Network with Phase Oscillator Model for Locomotion Control of a Snake-like Robot, [J] Journal of Intelligent & Robotic Systems, 75-1, pp. 71-86, 2014, .
• Mohamad Nor Norzalilah and Shugen Ma, Smooth Transition for CPG-based Body Shape Control of a Snake-like robot, [J] Bioinspiration & Biomimetics, 9-1, 2014, 10.1088/1748-3182/9/1/016003, .
• Jinglei Zhao, Huayan Pu, Yi Sun, Shugen Ma, Yayi Shen, Jun Luo and Zhenbang Gong, Stability Analysis and Gait Planning of a Quadruped Robot based on the Eccentric Paddle Mechanism, [J] Control and Intelligent Systems, 42-4, 2014.
• Yaqi Jing, Qinghao Meng, Peifeng Qi, Ming Zeng, Wei Li and Shugen Ma, Electronic Nose with a New Feature Reduction Method and a Multi-linear Classifier for Chinese Liquor Classification, [J] Review of Scientific Instruments, 85-5, pp. 55004-55004, 2014, .
• Huayan Pu, Yi Sun, Shugen Ma, Zhenbang Gong and Jun Luo, Experimental Study on the Oscillating Paddling Gait of an ePaddle Mechanism with Flexible Configuration, [J] Int. J. of Advanced Robotics, 28-11, pp. 769-780, 2014, .
• Yang Yang, Yi Sun and Shugen Ma, Drawbar Pull of a Wheel with an Actively Actuated Lug on Sandy Terrain, [J] Journal of Terramechanics, 56, pp. 17-24, 2014, .
• Yang Yang, Yi Sun, Shugen Ma and Ryohei Yamamoto, Characteristics of Normal and Tangential Forces acting on a sSingle Lug during Translational Motion in Sandy Soil, [J] Journal of Terramechanics, 55, pp. 47-59, 2014, .
• Yang Yang, Yi Sun, Ryohei Yamamoto and Shugen Ma, Influence of Moving Direction on Normal Force Acting on a Single Lug during Translational Motion in Sandy Soil, [C] in Proc. 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO2014), pp. 425-430, 2014.
• Yayi Shen, Huayan Pu, Yi Sun, Jinglei Zhao, Shugen Ma,Jun Luo and Zhenbang Gong, Improved Effective Design of the Eccentric Paddle Mechanism for Amphibious Robots, [C] in Proc. 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO2014), pp. 437-442, 2014, [ バイオミメティックス優秀論文賞 Finalist].
• Ryohei Yamamoto, Yang Yang, Yi Sun and Shugen Ma, Characteristics of Lug-Soil Interaction Forces Acting on a Rotating Lug in Sandy Soil, [C] in Proc. 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO2014), pp. 451-456, 2014.
• Fabian Reyes and Shugen Ma, On Planar Grasping with Snake Robots: Form-closure with Enveloping Grasps, [C] in Proc. 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO2014), pp. 556-561, 2014, Bali, Indonesia, 10.1109/ROBIO.2014.7090389.
• Xian Guo, Shugen Ma, Bin Li and Minghui Wang, Locomotion Control of a Snake-like Robot Based on Velocity Disturbance, [C] in Proc. 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO2014), pp. 582-587, 2014.
• Masato Yoneyama, Shugen Ma and Shigeo Hirose, Development of Unicorn Reel: Hermetic Traction-Controllable Cable Reel with Passive-Lever Level Winder, [C] in Proc. 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO2014), pp. 1180-1185, 2014.
• Atsushi Kakogawa and Shugen Ma, Speed Analysis for Three Driving Modules of an In-pipe Inspection Robots for Passing through Bent Pipes, [C] in Proc. 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO2014), pp. 1731-1736, 2014.
• Yang Tian and Shugen Ma, A Double Guarantee Kidnapping Detection in Simultaneous Localization and Mapping, [C] in Proc. 2014 IEEE International Conference on Multisensor Fusion and Information Integration for Intelligent Systems (MFI2014), 2014.
• Ryohei Yamamoto, Yang Yang, Yi Sun and Shugen Ma, Influences of Lug Motion on Lug-soil Reaction Forces in Sandy Soil, [C] in Proc. 2014 IEEE International Conference on Automation Science and Engineering (CASE2014), pp. 176-181, 2014.
• Changlong Ye, Cuojing Ma and Shugen Ma, Development of a Throwable Shape-shifting Spherical Robot, [C] in Proc. 2014 IEEE International Conference on Mechatronics and Automation (ICMA2014), pp. 641-645, 2014.
• Wenjuan Du, Shugen Ma, Bin Li, Minghui Wang and Shinichi Hirai, Dynamic Simulation for 6-strut Tensegrity Robots, [C] in Proc. 2014 IEEE International Conference on Information and Automation (ICIA2014), pp. 871-875, 2014.
• Yang Yang, Yi Sun, Ryohei Yamamoto and Shugen Ma, Characteristics of Tangential Force Acting on a Single Lug with Translational Motion in Sandy Soil, [C] in Proc. 4th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER2014), pp. 31-36, 2014, [優秀学生論文賞 Finalist].
• Norzalilah Mohamad Nor and Shugen Ma, CPG-Based Locomotion Control of a Snake-Like Robot for Obstacle Avoidance, [C] in Proc. 2014 IEEE International Conference on Robotics and Automation (ICRA2014), pp. 347-352, 2014.
• Atsushi Kakogawa, Shugen Ma and Shigeo Hirose, An In-Pipe Robot with Underactuated Parallelogram Crawler Modules, [C] in Proc. 2014 IEEE International Conference on Robotics and Automation (ICRA2014), pp. 1687-1692, 2014.
• Chao Ren and Shugen Ma, A Continuous Dynamic Model for an Omnidirectional Mobile Robot, [C] in Proc. 2014 IEEE International Conference on Robotics and Automation (ICRA2014), pp. 2919-2924, 2014.
• Yang Yang, Yi Sun and Shugen Ma, Effect of Lug Sinkage Length to Drawbar Pull of a Wheel with an Ac- tively Actuated Lug on Sandy Terrain, [C] in Proc. 2014 IEEE International Conference on Robotics and Automation (ICRA2014), pp. 2932-2937, 2014.
• 加古川篤・馬書根, 劣駆動平行四辺形クローラ機構を有する３モジュール型配管検査ロボット, [A] 日本機械学会ロボティクス・メカトロニクス講演会’14 講演論文集, 2014.
• 楊揚・孫翊・山本遼平・馬書根, 能動ラグ付車輪の砂地における駆動力の安定化制御, [A] 日本機械学会ロボティクス・メカトロニクス講演会’14 講演論文集, 2014.
• 山本遼平・楊揚・孫翊・馬書根, 砂地におけるラグパラメータと牽引力の関係, [A] 日本機械学会ロボティクス・メカトロニクス講演会’14 講演論文集, 2014.
• 松野孝博・馬書根, 受動吸盤内への空気流入量の推定, [A] 日本機械学会ロボティクス・メカトロニクス講演会’14 講演論文集, 2014.
• 米山真人・馬書根・広瀬茂男, 揺動アーム型レベルワインダを用いたケーブルリールの提案, [A] 日本機械学会ロボティクス・メカトロニクス講演会’14 講演論文集, 2014.
• 周旋・馬書根, 伸縮関節を有するヘビ型ロボットの蠕動運動に関する研究, [A] 日本機械学会ロボティクス・メカトロニクス講演会’14 講演論文集, 2014.
• Bin Samsudin Muhammad Izzat and Shugen Ma, Development of a Buoyancy and Depth Control Module for an Underwater Amphibious Robot, [A] 日本機械学会ロボティクス・メカトロニクス講演会’14 講演論文集, 2014.
• Norzalilah Mohamad Nor and Shugen Ma, CPG-based Locomotion Control of a Snake-like Robot for Passing through a Variable Width of Path, [A] 日本機械学会ロボティクス・メカトロニクス講演会’14 講演論文集, 2014.
• Yi Sun and Shugen Ma, Kinematics and Dynamics Modeling of the Planetary Gear Transmission in An Eccentric Paddle Mechanism, [A] 日本機械学会ロボティクス・メカトロニクス講演会’14 講演論文集, 2014.
• Chao Ren and Shugen Ma, Active Disturbance Rejection Control of a MY Wheel-II Assembly, [A] 日本機械学会ロボティクス・メカトロニクス講演会’14 講演論文集, 2014.
• Guizhi Yang,Shugen Ma, Bin Li and Minghui Wang, An HCCPG Model-based 3D Gait Control of a Snake-like Robot, [J] Robot, 36-6, pp. 697-703, 2014, .
• Te Li, Shugen Ma, Bin Li, Minghui Wang and Yuechao Wang, Control Strategies of Energy Optimization for an In-pipe Robot with Inclining-Angle-Adjustable Screw Rollers, [J] Chinese Journal of Mechanical Engineering, 50-17, pp. 8-16, 2014, .
• Changlong Ye, Bao Guo, Guojing Ma and Shugen Ma, Design and Strength Analysis of the Differential Omnidirectional Wheel, [J] Robot, 36-4, pp. 498-502, 2014, .
• Chaoquan Tang, Shugen Ma, Bin Li, Minghui Wang and Yuechao Wang, The study of snake robots biomimetic control method with the environments adaptability, [J] Science in China Series F: Information Sciences, 44-5, pp. 647-663, 2014, .

2015

• Dingxin Ge, Takahiro Matsuno, Yi Sun, Chao Ren, Yongchen Tang and Shugen Ma, Quantitative Study on the Attachment and Detachment of a Passive Suction Cup, [J] Vacuum, 116, pp. 13-20, 2015, .
• Xian Guo, Shugen Ma, Bin Li, Minghui Wang and Yuechao Wang, Modeling and Optimal Torque Control of a Snake-like Robot based on the Fiber Bundle Theory, [J] Science in China Series F: Information Sciences, 58-3, pp. 32205-32205, 2015.
• Chao Ren, Shugen Ma, Yi Sun and Changlong Ye, A Continuous Dynamic Modeling Approach for an Omnidirec- tional Mobile Robot, [J] Int. J. of Advanced Robotics, 29-4, pp. 253-271, 2015, .
• Te Li, Shugen Ma, Bin Li, Minghui Wang and Yuechao Wang, Fuzzy Theory based Control Method for an In-pipe Robot to Move in Variable Resistance Environment, [J] Chinese Journal of Mechanical Engineering, 28-6, pp. 1213-1221, 2015, 10.3901/CJME.2015.0717.096, .
• Yao Zhang, Bin Xian, and Shugen Ma, Continuous Robust Tracking Control for Magnetic Levitation System with Unidirectional Input, [J] IEEE Transaction on Industrial Electronics, 62-9, pp. 5971-5980, 2015, 10.1109/TIE.2015.2434791 , .
• Yongchen Tang, Shugen Ma, Yi Sun and Dingxin Ge, Planar Legged Walking of a Passive-spine Hexapod Robot, [J] Int. J. of Advanced Robotics, 29-23, pp. 1510-1525, 2015, 10.1080/01691864.2015.1070105 , .
• Chao Ren and Shugen Ma, Generalized Proportional Integral Observer based Control of an Omnidirectional Mobile Robot, [J] Mechatronics, 26, pp. 36-44, 2015, .
• Mengli Cao, Qinghao Meng, Jiaying Wang, Bing Luo, Yaqi Jing and Shugen Ma, Learning to Rapidly Re-Contact the Lost Plume in Chemical Plume Tracing, [J] Sensors, 15, pp. 7512-7536, 2015, DOI:10.3390/s150407512, .
• Huayan Pu, Jinglei Zhao, Yi Sun, Shugen Ma, Jun Luo, Zhenbang Gong, Non-reciprocating Legged Gait for Robot with Epicyclic-gear-based Eccentric Paddle Mechanism, [J] Robotics and Autonomous Systems, 68, pp. 36-46, 2015, .
• Wenbin Tang and Shugen Ma, Analysis of Rectilinear Motion of a Three-segment Snake Robot Considering Coulomb’s Dry Friction, [C] in Proc. 2015 IEEE International Conference on Robotics and Automation (ICRA2015), pp. 3723-3728, 2015.
• Chao Ren and Shugen Ma, Passivity-based Model Free Control of an Omnidirectional Mobile Robot, [C] in Proc. The IEEE/IES International Conference on Mechatronics, ICM2015, pp. 262-267, 2015, ロボティクスセッション優秀論文賞.
• Yanan Hu, Shugen Ma, Bin Li, Minghui Wang and Yuechao Wang, Reconfiguration Planning for Wheel-manipulator Robots, [C] in Proc. 2015 IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER2015), pp. 529-534, 2015.

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