生物知能機械学研究室

発表論文

2016

• Yanan Hu, Shugen Ma, Bin Li, Minghui Wang and Yuechao Wang, An Efficient Reconfiguration Planning Method for Mobile Type Modular Robot, [J] Robot, 38-4, pp. 467-485, 2016, 10.13973/j.cnki.robot.2016.0467, .
• Te Li, Shugen Ma, Bin Li, Minghui Wang and Yuechao Wang, Design and Motion Mechanism of a Screw Drive In- pipe Robot with Adaptability to In-pipe Environment, [J] Chinese Journal of Mechanical Engineering, 52-9, pp. 9-17, 2016, 10.3901/JME.2016.09.009 .
• Wenjuan Du, Shugen Ma, Bin Li, Minghui Wang and Shinichi Hirai, Parameter Optimization for Rolling Motion of Structure Variable Robots, [J] Chinese Journal of Mechanical Engineering, 52-17, pp. 127-136, 2016, 10.3901/JME.2016.17.127 .

2015

• 山本遼平・楊揚・孫翊・馬書根, 砂地におけるラグ作用力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 ’15 講演論文集, 2015.
• Xian Guo, Shugen Ma, Bin Li, Minghui Wang and Yuechao Wang, Velocity Tracking Control of a Snake-like Robot Based on the Dynamics-Control Unified Model, [J] ACTA AUTOMATICA SINICA (自動化学報), 41-11, pp. 1847-1856, 2015, .
• Nan Wang, Shugen Ma, Bin Li, Minghui Wang and Mingyang Zhao, A Model Transformation of Map Representation for Hierarchical SLAM That Can Be Used in the After-Earthquake Buildings, [J] ACTA AUTOMATICA SINICA (自動化学報), 41-10, pp. 1723-1733, 2015, .
• Xian Guo, Shugen Ma, Bin Li, Minghui Wang and Yuechao Wang, Dynamics-control Unified Model of a Snakelike Robot based on Differential Geometry, [J] Science in China Series F: Information Sciences, 45-8, pp. 1080-1094, 2015, .
• Minghui Wang, Shugen Ma, Bin Li and Nan Li, Steering for a Transformable Robot with Heterogeneous Modules in Narrow Space, [J] Robot, 37-2, pp. 161-1678, 2015, .
• Minghui Wang, Shugen Ma, Bin Li, Nan Li and Li Li, Underwater Propulsion Principle for a Non-superposition Amphibious Transformable Robot, [J] Journal of Mechanical Engineering, 51-3, pp. 1-9, 2015, .
• Yanan Hu, Shugen Ma, Bin Li, Minghui Wang and Yuechao Wang, Modular Dynamics Modeling Approach of Group Configuration of Wheel-manipulator Robots, [J] Chinese Journal of Mechanical Engineering, 51-1, pp. 24-33, 2015, .
• Yi Sun, Siyu Huang and Shugen Ma, Water-proof Design of an ePaddle-based Amphibious Robot -- Implementation of an Underwater Absolute Encoder --, [A] 日本機械学会ロボティクス・メカトロニクス講演会’15 講演論文集, 2015.
• 志村佳維・レイエスビナー　ファビアンエウヘニオ・周旋・馬書根, ヨー軸能動関節を有する蠕動運動型ロボットの旋回動作, [A] 日本機械学会ロボティクス・メカトロニクス講演会 ’15 講演論文集, 2015.
• Yang Tian, Victor Gomez and Shugen Ma, Experimental Verification of Double Guarantee Kidnapping Detection, [A] 日本機械学会ロボティクス・メカトロニクス講演会 ’15 講演論文集, 2015.
• 矢野巧人・馬書根, ハンドリング機能を有する劣駆動ロボットグリッパの開発, [A] 日本機械学会ロボティクス・メカトロニクス講演会 ’15 講演論文集, 2015.
• 松野孝博・馬書根, 吸着維持可能な受動吸盤のための板バネ接触点の導出, [A] 日本機械学会ロボティクス・メカトロニクス講演会 ’15 講演論文集, 2015.
• 周旋・唐文彬・レイエスビナー　ファビアンエウヘニオ・孫翊・馬書根, 蛇型ロボットの無線制御系の開発, [A] 日本機械学会ロボティクス・メカトロニクス講演会 ’15 講演論文集, 2015.
• 米山真人・馬書根・広瀬茂男, 揺動アーム型レベルワインダにおけるケーブル張力維持制御, [A] 日本機械学会ロボティクス・メカトロニクス講演会 ’15 講演論文集, 2015.
• Yang Yang, Yi Sun, Longhe Zheng and Shugen Ma, Development of an Active Legged Wheel for Accessing Sandy Terrain, [A] 日本機械学会ロボティクス・メカトロニクス講演会 ’15 講演論文集, 2015.
• 唐利旺・葛鼎新・松野孝博・馬書根, 受動吸盤を用いた壁面移動ロボットの安定走行のためのガイドレール 設計, [A] 日本機械学会ロボティクス・メカトロニクス講演会 ’15 講演論文集, 2015.
• Yi Sun Yang Yang, Longhe Zheng and Shugen Ma, Experimental Verification of Terrestrial Mobility of an Actively Lugged Wheel Mechanism, [A] 日本機械学会ロボティクス・メカトロニクス講演会 ’15 講演論文集, 2015.
• 加古川篤・馬書根, ホロノミックにロール回転可能な連結車輪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 ’15 講演論文集, 2015.
• 山上大樹・加古川篤・田陽・馬書根, 点配列レーザーを用いた配管形状計測のための撮影位置及び姿勢の補 正, [A] 日本機械学会ロボティクス・メカトロニクス講演会 ’15 講演論文集, 2015.
• Xian Guo, Shugen Ma, Bin Li, Minghui Wang and Yuechao Wang, Optimal Turning Gait for a Three-link Under- water Robot, [C] in Proc. 2015 IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER2015), pp. 1321-1326, 2015.
• Yi Sun, Siyu Huang, Shugen Ma and Qiquan Quan, Development of a Waterproof Servo Unit for Amphibious Robots, [C] in Proc. 2015 IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER2015), pp. 923-928, 2015.
• Atsushi Kakogawa, Taiju Yamagami, Tian Yang and Shugen Ma, Recognition of Pathway Directions based on Nonlinear Least Squares Method, [C] in Proc. 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO2015), pp. 1596-1601, 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.
• 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.
• 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.
• Jun Zou, Huayan Pu, Yayi Shen, Yi Sun, Wenchuan Jia, Shugen Ma, Jun Luo, and Shaorong Xie, Optimized Nonreciprocating Tripod Gait for a Hexapod Robot with Epicyclic-gear-based Eccentric Paddle Mechanism, [C] in Proc. 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO2015), pp. 564-569, 2015.
• Fabian Reyes, Wenbin Tang and Shugen Ma, Using a Planar Snake Robot as a Robotic Arm Taking Into Account the Lack of a Fixed Base: Feasible Region, [C] in Proc. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015), pp. 956-962, 2015, Hamburg, Germany, 10.1109/IROS.2015.7353486.
• Wenbin Tang, Fabian Reyes and Shugen Ma, Study on Rectilinear Locomotion based on a Snake Robot with Passive Anchor, [C] in Proc. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015), pp. 950-955, 2015, Hamburg, Germany.
• Yi Sun, Yang Yang, Shugen Ma and Huayan Pu, Modeling Paddle-aided Stair-climbing for a Mobile Robot based on Eccentric Paddle Mechanism, [C] in Proc. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015), pp. 4153-4158, 2015, Hamburg, Germany.
• Te Li, Shugen Ma, Bin Li, Minghui Wang and Yuechao Wang, Design and Locomotion Control Strategy for a Steerable In-pipe Robot, [C] in Proc. 2015 IEEE International Conference on Mechatronics and Automation (ICMA2015), pp. 1228-1233, 2015.
• Wenjuan Du, Shugen Ma, Bin Li and Minghui Wang, A low-CG Configuration Realization Method for Increasing the Stability of the TR-6 on a Slope, [C] in Proc. 2015 IEEE International Conference on Mechatronics and Automation (ICMA2015), pp. 1834-1839, 2015.
• Nan Wang, Shugen Ma, Bin Li, Minghui Wang and Mingyang Zhao, Subjective Exploration for Simultaneous Localization and Mapping used in Ruins, [C] in Proc. 2015 IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER2015), pp. 167-174, 2015.
• Yang Tian, Victor Gomez and Shugen Ma, Influence of Two SLAM Algorithms using Serpentine Locomotion in a Featureless Environment, [C] in Proc. 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO2015), pp. 182-187, 2015.

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.
• 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.
• 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.
• 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.
• 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.

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