生物知能機械学研究室

発表論文

2005

• Lan Guangping・馬書根, Development of a Novel Obstacle-negotiating Crawler Mechanism, [A] 第23 回日本ロボット学会学術講演会論文集, 2005, (CD-ROM).
• 柳田総司・馬書根・張磊・井上康介, 4 脚ロボットの安定余裕を保つ斜面全方位歩行, [A] 第23 回日本ロボット学会学術講演会論文集, 2005, (CD-ROM).
• 張磊・馬書根, 重心高さを生かした最適な胴体姿勢を有する 4 脚ロボットの全方位静歩行, [A] 日本機械学会ロボティクス・メカトロニクス講演会’05 講演論文集 (CD-ROM), 2005, .
• 佐藤智記・馬書根・井上康介, 蛇型ロボットの自律分散制御システムの開発, [A] 日本機械学会ロボティクス・メカトロニクス講演会’ 05 講演論文集 (CD-ROM), 2005.
• Xinyuan He, Shugen Ma, Bin Li, and Minghui Wang, Dynamic Analysis and Control of a New Reconfigurable Robot, [J] China Mechanical Engineering, 16-21, pp. 1889-1894, 2005, .
• Changlong Ye, Shugen Ma, Bin Li, Yuechao Wang, and Tao Jing, Dynamics Analysis on Serpentine Locomotion of a New Snake like Robot, [J] Robot, 27-6, pp. 555-560, 2005, .
• Minghui Wang, Shugen Ma, Bin Li, Yuechao Wang, and Xinyuan He, Design and Implementation of a Reconfigurable Planetary Robot Control System, [J] Robot, 27-3, pp. 273-277, 2005, .
• Liping Zhang, Shugen Ma, Bin Li, Zheng Zhang, Binggang Cao, Space Docking for Reconfigurable Planetary Robot System, [J] China Mechanical Engineering, 16-8, pp. 659-663, 2005, .
• Jinguo Liu, Yuechao Wang, Bin Li, Li Chen, and Shugen Ma, Bionic Research on Concertina Motion of a Snake-like Robot, [J] Chinese Journal of Mechanical Engineering, 41-5, pp. 108-113, 2005, .
• Zheng Zhang, Shugen Ma, Bin Li, Liping Zhang, Binggang Cao, OpenGL Based Experimental Platform for Simulation of Reconfigurable Planetary Robot System, [J] Journal of System Simulation, 17-4, pp. 885-888, 2005, .
• Xinyuan He, Shugen Ma, Bin Li, and Yuechao Wang, Mechanical Design of a Reconfigurable Planary Rover, [J] Chinese Journal of Mechanical Engineering, 41-12, pp. 190-195, 2005.
• Changlong Ye, Shugen Ma, Bin Li and Yuechao Wang, Analysis of snake-like robot’s head raising motion, [J] Chinese High Technology Letters, 15-3, pp. 25-31, 2005.
• Liping Zhang, Shugen Ma, Bin Li, Zheng Zhang, Guowei Zhang, Binggang Cao, Kineinatic Modeling and Trajectory Planning for Reconfigurable Planetary Robot System, [J] Xi’an Jiaotong Daxue Xuebao (Journal of Xi’an Jiaotong University) (China), 39-1, pp. 87-91, 2005.
• Liping Zhang, Shugen Ma, Bin Li, Zheng Zhang, Guowei Zhang, and Binggang Cao, BP Networks Based Trajectory Planning and Inverse Kinematics of a Reconfigurable Mars Rover, [BC] in the Book (Lecture Notes in Computer Science) ``Advances in Neural Networks ISNN 2005: Second International Symposium on Neural Networks, 2005, Chongqing, China, Proceedings, Part III” Edited by Jun Wang, Xiaofeng Liao, and Zhang Yi, Springer-Verlag, pp.247--253.
• 馬 書根, 平成17年5月 雑誌の特別取材 (No.3), pp. 1-8, 2005, .

2004

• Shugen Ma and Mitsuru Watanabe, Time Optimal Path-tracking Control of Kinematically Redundant Manipulators, [J] JSME Int. Journal, Series C: Dynamics, Control, Robotics, Design and Manufacturing, 47-2, pp. 582-590, 2004.
• Shugen Ma, A Kinetostatic Index to Measure the Task-Executing Ability of Robotic Manipulators with Limit-driven Characteristics of Actuators, [J] Int. J. of Advanced Robotics, 18-4, pp. 401-414, 2004.
• Shugen Ma and Mitsuru Watanabe, Dynamic Control of Curve-constrained Hyper-Redundant Manipulators, [J] Journal of Robotics and Mechatronics, 16-1, pp. 1-7, 2004.
• Zheng Zhang, Shugen Ma, Bin Li, Liping Zhang, and Binggang Cao, Development of an OpenGL Based Multi-robot Simulating Platform, [C] in Proc. the 8th International Conference on Control, Automation, Robotics and Vision (ICARCV 2004), pp. 1400-1405, 2004, Kunming, China.
• Liping Zhang, Shugen Ma, Bin Li, Zheng Zhang, Zaili Dong, and Binggang Cao, Position-Sensing Based Docking System of RPRS, [C] in Proc. the 8th International Conference on Control, Automation, Robotics and Vision (ICARCV 2004), pp. 278-282, 2004, Kunming, China.
• Xinyuan He, Shugen Ma, Bin Li, Yuechao Wang, and Changlong Ye, Analysis of Locomotion of A Planetary Rover on a Slope, [C] in Proc. the 2004 IEEE Conf. on Robotics, Automation and Mechatronics (Ram2004), pp. 1130-1134, 2004.
• Anshuka Srivastava, Shugen Ma and Kousuke Inoue, Development of a Sensor for Automatic Detection of Downey Mildew Disease, [C] in Proc. 2004 International Conference on Intelligent Mechatronics and Automation (ICIMA 2004), pp. 562-567, 2004, Chengdu, Sichuan, China.
• Xinyuan He, Shugen Ma, Bin Li, and Yuechao Wang, Mechanical design and dynamic analysis of planetary rover, [C] in Proc. 2004 IEEE Int. Conf. on Robotics and Biomimetics (ROBIO2004), pp. 660-664, 2004, Shenyang, China.
• Changlong Ye, Shugen Ma, Bin Li, and Yuechao Wang, Analysis of snake-like robots raising head, [C] in Proc. 2004 IEEE Int. Conf. on Robotics and Biomimetics (ROBIO2004), pp. 595-600, 2004, Shenyang, China.
• Changlong Ye, Shugen Ma, Bin Li, and Yuechao Wang, Twist-related Locomotion of a 3D snake-like robot, [C] in Proc. 2004 IEEE Int. Conf. on Robotics and Biomimetics (ROBIO2004), pp. 589-594, 2004, Shenyang, China.
• Bin Li, Shugen Ma, Yuechao Wang, Yang Lv, and Li Chen, Environment-Adaptable Locomotion of a Snake-Like Robot, [C] in Proc. 2004 IEEE Int. Conf. on Robotics and Biomimetics (ROBIO2004), pp. 584-588, 2004, Shenyang, China.
• Lei Zhang, Shugen Ma, Kousuke Inoue and Yoshinori Honda, Omni-directional Walking of a Quadruped Robot on a Slope, [C] in Proc. 2004 IEEE Int. Conf. on Robotics and Biomimetics (ROBIO2004), pp. 268-272, 2004, Shenyang, China.
• Shugen Ma, Guangping Lan, Yuki Tanabe, Ryo Sasaki, and Kousuke Inoue, A Serpentine Robot Based on 3 DOF Coupled-driven Joint, [C] in Proc. 2004 IEEE Int. Conf. on Robotics and Biomimetics (ROBIO2004), pp. 70-75, 2004, Shenyang, China.
• Jinguo Liu, Yuechao Wang, Shugen Ma, and Bin Li, Shape Control of Hyper-Redundant Modularized Manipulator Using Variable Structure Regular Polygon, [C] in Proc. 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’04), pp. 3924-3929, 2004, Sendai, Japan.
• Changlong Ye, Shugen Ma, Bin Li, and Yuechao Wang, Locomotion Control of a Novel Snake-like Robot, [C] in Proc. 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’04), pp. 925-930, 2004, Sendai, Japan.
• Shugen Ma, Yoshihiro Ohmameuda, and Kousuke Inoue, Dynamic Analysis of 3-dimensional Snake Robots, [C] in Proc. 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’04), pp. 767-772, 2004, Sendai, Japan.
• Jinguo Liu, Yuechao Wang, Bin Li, and Shugen Ma, Path Planning of a Snake-like Robot Based on Serpenoid Curve and Genetic Algorithms, [C] in Proc. 5th World Congress on Intelligent Control and Automation (WCICA2004), pp. 4860-4864, 2004, Hangzhou, China.
• Changlong Ye, Shugen Ma, Bin Li, and Yuechao Wang, Turning and side motion of snake-like robot, [C] in Proc. 2004 IEEE Int. Conf. on Robotics and Automation (ICRA’04), pp. 5075-5080, 2004, New Orleans, Louisiana, USA.
• Li Chen, Yuechao Wang, Shugen Ma, and Bin Li, Studies on Lateral Rolling Locomotion of A Snake Robot, [C] in Proc. 2004 IEEE Int. Conf. on Robotics and Automation (ICRA’04), pp. 5070-5074, 2004, New Orleans, Louisiana, USA.
• Kousuke Inoue, Shugen Ma, and Cheng Hua Jin, Neural Oscillator Network-Based Controller for Meandering Locomotion of Snake Like Robots, [C] in Proc. 2004 IEEE Int. Conf. on Robotics and Automation (ICRA’04), pp. 5064-5069, 2004, New Orleans, Louisiana, USA.
• Jean Bosco Mbede, Shugen Ma, Youssoufi Toure, Volker Graefe, and Lei Zhang, Robust Neuro-Fuzzy Navigation of Mobile Manipulator among Dynamic Obstacles, [C] in Proc. 2004 IEEE Int. Conf. on Robotics and Automation (ICRA’04), pp. 5051-5057, 2004, New Orleans, Louisiana, USA.
• 大豆生田 吉広・馬 書根・井上 康介, 3次元蛇型ロボットの動力学解析, [J] 日本機械学会論文集, 70-692, pp. 1077-1084, 2004.
• 馬 書根, 3自由度関節を有する蛇型ロボットの開発, [A] 文部科学省大都市大震災軽減化特別プロジェクト「被害者援助等の災害対策戦略の最適化 レスキューロボット等次世代防災基盤技術の開発」第2回国際シンポジウム論文集, pp. 251-259, 2004, 電気通信大学.
• 井上康介・金承華・馬書根, : 神経振動子を用いたヘビ型移動ロボットの分散制御 --遺伝的アルゴリズムによる神経ダイナミクスの探索--, [A] 第5 回計測自動制御学会システムインテグレーション部門講演会 (SI2004), 1-4, 2004.
• 張磊・馬書根・井上康介・本田良徳, 最適な胴体姿勢による 4 脚ロボットの全方位歩行, [A] 日本機械学会ロボティクス・メカトロニクス講演会’04 講演論文集 (CD-ROM), 2004.
• 田辺裕基・馬書根・井上康介, ロール回転型 2 自由度関節による 3 次元蛇型ロボットの開発, [A] 日本機械学会ロボティクス・メカトロニクス講演会’04 講演論文集 (CD-ROM), 2004.
• 田所直樹・馬書根・井上康介・田辺裕基, 蛇型ロボットの 3 次元斜面蛇行移動の運動解析, [A] 日本機械学会ロボティクス・メカトロニクス講演会’04 講演論文集 (CD-ROM), 2004.
• 本田良徳・馬書根・井上康介・張磊, 斜面における 4 脚ロボットの全方位歩行, [A] 日本機械学会ロボティクス・メカトロニクス講演会’04 講演論文集 (CD-ROM), 2004.
• 付清軍・馬書根・井上康介, モレイ型多関節ロボットアームの最短時間計画, [A] 日本機械学会ロボティクス・メカトロニクス講演会” 04 講演論文集 (CD-ROM), 2004.
• Changlong Ye, Shugen Ma, Bin Li, and Yuechao Wang, Locomotion Control of a Snake-like Robot with Omnidirectional Mechanisms, [J] China Mechanical Engineering, 15-24, pp. 2235-2240, 2004, .
• Li Chen, Yuechao Wang, Shugen Ma, and Bin Li, Analysis of Traveling Wave Locomotion of Snake Robot, [J] Chinese Journal of Mechanical Engineering, 40-12, pp. 38-43, 2004, .
• Bin Li, Shugen Ma, Yuechao Wang, Li Chen, and Yang Wang, Development of a Snake-like Robot with 3D Mobility, [J] Robot, 26-6, 2004, .
• Changlong Ye, Shugen Ma, Bin Li, and Yuechao Wang, Study on Turning and Sidewise Motion of a Snake-like Robot, [J] Chinese Journal of Mechanical Engineering, 40-10, pp. 119-123, 2004, .
• Xinyuan He, Shugen Ma, Bin Li and Yuechao Wang,, GPS-based Navigation Algorithm of Snake-like Robots, [J] High Technology Letters, 14-9, pp. 67-70, 2004.
• 柳田総司・馬書根・井上康介・本田良徳, クロール歩容による 4 足ロボットの安定余裕を保つ斜面全方位歩行, [A] 日本機械学会ロボティクス・メカトロニクス講演会’04 講演論文集 (CD-ROM), 2004.

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