生物知能機械学研究室

発表論文

2020

• Dingxin Ge, Yongchen Tang, Shugen Ma, Takahiro Matsuno and Chao Ren, Pressing Attachment Approach for a Wall-Climbing Robot Utilizing Passive Suction Cups, [J] 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, [J] 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, [A] 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, [A] 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, [A] 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, [A] 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, [A] 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, [A] 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, [A] 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, [A] 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, [BC] 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, [J] 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, [J] IEEE Journal of Oceanic Engineering , 45-3, pp. 1558-1691, 2020, 10.1109/JOE.2019.2896398.

2019

• Zhe Qiu, Ryuta Ozawa and Shugen Ma, A force-sensorless Approach to Collision Detection based on Virtual Powers, Int. J. of Advanced Robotics, [J] 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, [J] 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, [J] Applied Sciences, 9-19, 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, [J] 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, [J] Applied Sciences, 9-18, 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, [J] 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, [J] 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, [J] Robotics and Autonomous Systems, 119, pp. 231-246, 2019, 10.1016/j.robot.2019.06.001.
• Yang Tian and Shugen Ma, A Rust Removed Region Detection for Automated Rust Detection during Grind- ing Work Process, [C] 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, [C] 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, [C] in Proc. the 2019 International Conference on Advanced Mechatronic Systems, pp. 28-33, 2019, Kusatsu, Japan.
• Atsushi Kakogawa and Shugen Ma, An In-pipe Inspection Module with an Omnidirectional Bent-pipe Self-adaptation Mechanism using a Joint Torque Control, [C] in Proc. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019), pp. 4347-4352, 2019, Macau, China.
• Anfan Zhang, Shugen Ma, Bin Li, Minghui Wang and Jian Chang, Parameter Optimization of Eel Robot Based on NSGA-II Algorithm, [C] in Proc. 2019 International Conference on Intelligent Robotics and Applications (ICIRA 2019), 8, pp. 3-15, 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, [C] in Proc. 2019 International Conference on Intelligent Robotics and Applications (ICIRA 2019), 8, pp. 489-500, 2019, (Pub. by Springer).
• Chaojun Wang, Wenchuan Jia, Yi Sun and Shugen Ma, Practical Kicking Motion Generation Method for NAO, [C] in Proc. 2019 IEEE International Conference on Mechatronics and Automation (ICMA 2019), 8, pp. 163-168, 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, [C] in Proc. 2019 IEEE International Conference on Mechatronics and Automation (ICMA 2019), 8, pp. 2518-2522, 2019.
• Chao Ren, Yutong Ding, Xiaohan Li and Shugen Ma, Structure-modified Extended State Observer based Tracking Control of an Omnidirectional Mobile Robot, [C] in Proc. 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM2019), 7, 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, [J] システム制御情報学会論文誌, 32-6, pp. 227-233, 2019.
• 海津祐貴・加古川篤・馬書根, 把持と引き上げが可能な空気圧グリッパーの開発, [A] 日本機械学会ロボティクス・メカトロニクス講演会’19 公演論文集-6, 2019.
• Guoteng Zhang, Yang Tian, Shugen Ma and Atsushi Kakogawa, Control System Design for the Quadruped Walking Platform TITAN-VIII, [A] 日本機械学会ロボティクス・メカトロニクス講演会’19 講演論文集, 2019, 広島.
• 沈雅怡・馬書根・加古川篤・田陽・張国騰・井上脩也, 水中における偏心パドル機構の新たな水泳方法の提案, [A] 日本機械学会ロボティクス・メカトロニクス講演会’19 講演論文集, 2019, 広島.
• 仇哲・小澤隆太・馬書根, A virtual power-based collision detection approach with adaptive contact force estimation, [A] 日本機械学会ロボティクス・メカトロニクス講演会’19 講演論文集, 2019, 広島.
• 世良文哉・加古川篤・馬書根, 8 インチガス管内検査ロボットの曲管走行のための関節角度制御, [A] 日本機械学会ロボティクス・メカトロニクス講演会’19 講演論文集, 2019, 広島, 日本.
• 柴田大地・加古川篤・馬書根, ベルヌーイの原理を利用した非接触水中壁面吸着機構の吸着力のモデル構築, [A] 日本機械学会ロボティクス・メカトロニクス講演会’19 講演論文集, 2019, 広島, 日本.

2018

• Yoshimichi Oka, Atsushi Kakogawa and Shugen Ma, Development of a Multilink-articulated Wheeled In-pipe Robot with Differential Mechanisms in Wheel and Link Axes, [C] in Proc. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), pp. 973-978, 2018, Madrid, Spain.
• Anfan Zhang, Shugen Ma, Bin Li, Minghui Wang and Jian Chang, Tracking Control of Tangential Velocity of Eel Robot Based on Iterative Learning Contro, [J] Robot, 40-6, pp. 769-778, 2018, 10.13973/j.cnki.robot.170590.
• Atsushi Kakogawa and Shugen Ma, Differential Elastic Joint for Multi-linked Pipeline Inspection Robots, [C] in Proc. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), pp. 949-954, 2018, Madrid, Spain, .
• Yang Tian, Guoteng Zhang, Jie Ma and Shugen Ma, Automated Rust Detection via Digital Image Recognition during Grinding Work Process, [C] in Proc. 2018 IEEE International Conference on Information and Automation (ICIA 2018), pp. 318-323, 2018, Wuyi Mountain, China.
• Yang Tian and Shugen Ma, An Analysis about the Problem of SLAM in Tunnel-like Environment with Serpentine Locomotion and Its Solution, [C] in Proc. 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO 2018), pp. 1626-1631, 2018, Kuala Lumpur, Malaysia.
• Guoteng Zhang, Yang Tian, Taihei Kawabata, and Shugen Ma, Modeling and Experimental Tests for the Voltage-Induced Response of a Circular Dielectric Elastomer Actuator, [C] in Proc. 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO 2018), pp. 916-921, 2018, Kuala Lumpur, Malaysia.
• Chao Ren, Yutong Ding, Shugen Ma, Passivity-Based Active Disturbance Rejection Control of an Omnidirectional Mobile Robot, [C] in Proc. 2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER2018), pp. 1513-1518, 2018.
• 大塚貴丈・井上脩也・馬捷・加古川篤・馬書根, 劣駆動型腱駆動アームを有する螺旋型円柱昇降ロボットの開発, [A] 日本機械学会ロボティクス・メカトロニクス講演会’18 講演論文集, 2018, 北九州.
• 田陽・黄品翰・馬書根, 配管追跡のための単眼カメラを用いた配管認識 ―直管の認識―, [A] 日本機械学会ロボティクス・メカトロニクス講演会’18 講演論文集, 2018, 北九州.
• 大谷修生・加古川篤・馬書根・田陽, 直列弾性把持機構を有する配管外走行ロボットの段差走行性能および曲部走破性能に関する実験的研究, [A] 日本機械学会ロボティクス・メカトロニクス講演会’18 講演論文集, 2018, 北九州.
• 加古川篤・小紫由基・馬書根, 影画像情報に基づく配管検査ロボットのエルボー管内自動走行システム　―第2 報：影の認識方法の改良および連続エルボー管での実験―, [A] 日本機械学会ロボティクス・メカトロニクス講演会’18 講演論文集, 2018, 北九州.
• 加古川篤・馬書根, 並列弾性アクチュエータを用いた高効率２次元ヘビ型ロボットの剛性設計, [A] 第62回システム制御情報学会研究発表講演会（SCI'18）論文集, 2018, 京都.
• 沈雅怡・馬書根・冨田拓基・張国騰・田陽・加古川篤, 偏心パドル機構を備えた全地形対応ロボットの開発, [A] 日本機械学会ロボティクス・メカトロニクス講演会’18 講演論文集, 2018, 北九州.

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