生物知能機械学研究室

発表論文

2019

• 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

• 張国騰・川端泰平・馬書根・加古川篤, 誘電エラストマーアクチュエータで駆動するイモムシロボットの開発, [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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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, .
• Guoteng Zhang, Shugen Ma, Felix Liang and Yibin Li, Quadruped Locomotion Control Based on Two Bipeds Jointly Carrying Model, [C] in Proc. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), pp. 1732-1738, 2018, Madrid, Spain.
• 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.
• Atsushi Kakogawa and Shugen Ma, Design of a Multilink-articulated Wheeled Pipeline Inspection Robot using Only Passive Elastic Joints, [J] Advanced Robotics, 32-1, pp. 37-50, 2018, 10.1080/01691864.2017.1393348, (Selected and extended paper from IROS 2016).
• Atsushi Kakogawa, Soo Jeon, and Shugen Ma, Stiffness Design of a Resonance-based Planar Snake Robot with Parallel Elastic Actuators, [J] IEEE Robotics and Automation Letters (RA-L), 3-2, pp. 1284-1291, 2018, 10.1109/LRA.2018.2797261.
• Xian Guo, Shugen Ma, Bin Li and Yongchun Fang, A Novel Serpentine Gait Generation Method for Snakelike Robots Based on Geometry Mechanics, [J] IEEE/ASME Transaction on Mechantronics, 23-3, pp. 1249-1258, 2018, 10.1109/TMECH.2018.2809786.
• Yayi Shen, Guoteng Zhang, Yang Tian and Shugen Ma, Development of a Wheel-Paddle Integrated Quadruped Robot for Rough Terrain and its Verification on Hybrid Mode, [J] IEEE Robotics and Automation Letters, 3-4, pp. 4062-4067, 2018, 10.1109/LRA.2018.2862431.
• Anfan Zhang, Shugen Ma, Bin Li and Minghui Wang, Tracking Control of Tangential Velocity of Eel Robot Based on Iterative Learning Control, [J] Robot, 40-6, pp. 769-778, 2018, 10.13973/j.cnki.robot.170590.
• Shugen Ma, Jialian Zhao and Cho Ren, Passivity-based Active Disturbance Rejection Control of an Omni-directional Mobile Robot, [J] Control and Decision, 33-6, pp. 1081-1086, 2018, 10.13195/j.kzyjc.2017.0114.
• Anfan Zhang, Shugen Ma, Bin Li and Minghui Wang, Curved Path Following Control for Planar Eel Robots, [J] Robotics and Autonomous Systems, 108, pp. 129-139, 2018, 10.1016/j.robot.2018.06.014.
• Atsushi Kakogawa, Soo Jeon, and Shugen Ma, Stiffness Design of a Resonance-based Planar Snake Robot with Parallel Elastic Actuators, [C] in Proc. 2018 IEEE International Conference on Robotics and Automation (ICRA 2018), 3-2, pp. 1284-1291, 2018, Brisbane, Australia, (Published in IEEE Robotics and Automation Letters, 2018).
• Atsushi Kakogawa, Yoshimichi Oka, and Shugen Ma, Multi-link Articulated Wheeled In-pipe Robot with Underactuated Twisting Joints, [C] in Proc. 2018 IEEE International Conference on Mechatronics and Automation (ICMA 2018), pp. 942-947, 2018, Changchun, China, Toshio Fukuda Best Paper Award in Mechatronics.
• Guoteng Zhang, Shugen Ma and Yibin Li, Dynamic Modelling and Motion Planning for the Nonprehensile Manipulation and Locomotion Tasks of the Quadruped Robot, [C] in Proc. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), pp. 8013-8018, 2018, Madrid, Spain.
• Guoteng Zhang, Shugen Ma and Yibin Li, Nonprehensile Pushing Manipulation Strategies for a Multi-limb Robot, [C] in Proc. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), pp. 6634-6639, 2018, Madrid, Spain.

2017

• 松野孝博・唐利旺・馬書根, 受動吸盤を用いた壁面移動ロボットの可搬能力の向上, [A] 日本機械学会ロボティクス・メカトロニクス講演会’17 講演論文集, 2017.
• Fabian Reyes and Shugen Ma, Snake Robots in Contact with the Environment: Influence of the Friction on the Applied Wrench, [C] in Proc. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2017), pp. 5790-5795, 2017, Vancouver, Canada.
• 松野孝博・馬書根, 事前に壁面環境の情報を必要としない吸盤内負圧減衰の実時間予測, [A] 日本機械学会ロボティクス・メカトロニクス講演会’17 講演論文集, 2017.
• 松野孝博・馬書根・加古川篤, 飛び移り座屈現象を利用した吸着持続可能な板バネ懸架吸盤の開発, [J] 日本機械学会論文集, 83-845, pp. 16-372, 2017, DOI:10.1299/transjsme.16-00372.
• Fabian Reyes and Shugen Ma, Studying Slippage on Pushing Applications with Snake Robots, [C] in Proc. 2017 IEEE International Conference on Real-time Computing and Robotics (RCAR2017), pp. 575-580, 2017.
• Anfan Zhang, Shugen Ma, Bin Li, MinghuiWang and YuechaoWang, Modeling and Simulation of an Underwater Planar Eel Robot in Non-inertial Frame, [C] in Proc. 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER2017), pp. 840-845, 2017.

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