生物知能機械学研究室

発表論文

2013

• Nan Wang, Shugen Ma, Bin Li and Minghui Wang, A hybrid map representation for simultaneous localization and mapping of the internal ruins environment, in Proc. , [C] 2013 IEEE International Conference on Information and Automation (ICIA2013), pp. 1060-1065, 2013.
• Yi Sun and Shugen Ma, An Oscillating Paddling Gait for an ePaddle Hybrid Locomotion Mechanism, [A] 日本機械学会ロボティクス・メカトロニクス講演会’13 講演論文集, 2013.
• Yi Sun, Siyu Huang, Yang Yang and Shugen Ma, Improved Design of a Prototype Module for a Novel 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’13 講演論文集, 2013.
• 松野孝博・馬書根, 壁面移動のための受動吸盤の開発, [A] 日本機械学会ロボティクス・メカトロニクス講演会’13 講演論文集, 2013.
• 西村太貴・加古川篤・馬書根, 経路選択可能な螺旋駆動型管内移動ロボットの機構改良, [A] 日本機械学会ロボティクス・メカトロニクス講演会’13 講演論文集, 2013.
• 楊揚・馬書根・孫翊, 水陸両用ロボットの軟弱地盤における運動性能の検証実験, [A] 日本機械学会ロボティクス・メカトロニクス講演会’13 講演論文集, 2013.
• Wenjuan Du, Shugen Ma and Bin Li, et al., Method to Seek the Deformed Shape and to Find the Rolling Direction of Tensegrity Robots , [J] Chinese Science Bulletin, 58-2, pp. 97-103, 2013, .
• Nan Wang, Shugen Ma, Bin Li Minghui Wang Mingyang Zhao, Simultaneous Localization and Mapping based on Morphological Characteristics of the Seismic Damage of the Interior Ruins, [J] Chinese Science Bulletin, 58-2, pp. 104-111, 2013, .
• Nan Wang, Shugen Ma, Bin Li Minghui Wang Mingyang Zhao, Simultaneous Localization and Mapping Based on the Hybrid Metric-Topological Map in the Ruins Environment, [J] Robot, 35-6, pp. 762-768, 2013, .
• Yanan Hu, Shugen Ma, Bin Li, Minghui Wang and Yuechao Wang, Research on obstacle-negotiation performance of a reconfigurable wheel-manipulator robot based on screw’s dynamics formulation, [J] Chinese High Technology Letters, 23-10, pp. 1053-1060, 2013, .
• Guizhi Yang, Shugen Ma, Bin Li, Minghui Wang and Yuechao Wang, A Hierarchical Connectionist Central Pat- tern Generator Model for Controlling the Three-dimensional Gaits of Snake-like Robots, [J] ACTA AUTOMATICA SINICA (自動化学報), 39-10, pp. 1611-1622, 2013, .
• Shuai Guo, Shugen Ma, Bin Li, Minghui Wang and Yuechao Wang, A Data Association Approach based on Multi-rules in VorSLAM, [J] ACTA AUTOMATICA SINICA (自動化学報), 39-6, pp. 883-894, 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, .

2012

• Changlong Ye, Guangming Lv, Shugen Ma and Huichao Ni, Development of a Variable Parallelogram Tracked Mobile Robot, [C] in Proc. 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO2012), pp. 2156-2160, 2012, Guangzhou, China.
• Nan Li, Minghui Wang, Shugen Ma, Bin Li and Yuechao Wang, Mechanism-parameters Design Method of an Amphibious Transformable Robot Based on Multi-objective Genetic Algorithm, [J] Chinese Journal of Mechanical Engineering, 48-17, pp. 10-20, 2012, .
• Shumei Yu, Minghui Wang, Shugen Ma, Bin Li and Yuechao Wang, Development of an Amphibious Snake-like Robot and its Gaits on Ground and in Water, [J] Chinese Journal of Mechanical Engineering, 48-9, pp. 18-25, 2012, .
• Nan Li, Shugen Ma, Bin Li, Minghui Wang and Yuechao Wang, A Dynamic Shape-shifting Method for a Transformable Tracked Robot, [J] Chinese High Technology Letters, 22-4, pp. 403-409, 2012, .
• Changlong Ye, Huaiyong Li, Shugen Ma and Huichao Ni, Kinematics Study on an Omnidirectional Mobile Robot with MY Wheels, [J] Robot, 34-2, pp. 144-151, 2012, .
• Nan Li, Minghui Wang, Shugen Ma, Bin Li and Yuechao Wang, Online Stair-Climbing Control Based On the Combined Motion Planning of a Transformable Tracked Robot, [J] Chinese Journal of Mechanical Engineering, 48-1, pp. 47-56, 2012.
• 吉田佑・馬書根, 受動吸盤を用いた壁面移動ロボットの開発, [A] 第 17 回ロボティクスシンポジア講演論文集, 2012.
• Yi Sun and Shugen Ma, Rotational Paddling with an ePaddle Hybrid Locomotion Mechanism, [A] 日本機械学会ロ ボティクス・メカトロニクス講演会 ’12 講演論文集, 2012.
• 西村紘幸・馬書根, 引き込み動作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 ’12 講演論文集, 2012.
• 西村太貴・加古川篤・馬書根, 経路選択可能な螺旋駆動型管内移動ロボットの開発, [A] 日本機械学会ロ ボティクス・メカトロニクス講演会 ’12 講演論文集, 2012.
• Chuanguo Li, Yi Sun and Shugen Ma, Analysis of Friction Energy of a Wheeled Snake-like Robot, [A] 日本機械学会ロ ボティクス・メカトロニクス講演会 ’12 講演論文集, 2012.
• 松野孝博・馬書根, 壁面移動ロボットのための受動吸盤の開発, [A] 日本機械学会ロ ボティクス・メカトロニクス講演会 ’12 講演論文集, 2012.
• 吉田佑・松野孝博・馬書根, 壁面移動ロボットの吸着安定のための支持尾設計, [A] 日本機械学会ロ ボティクス・メカトロニクス講演会 ’12 講演論文集, 2012.
• 藤田和宏・楊揚・孫翊・馬書根, 水中における水陸両用ロボット用推進機構の性能検証, [A] 日本機械学会ロ ボティクス・メカトロニクス講演会 ’12 講演論文集, 2012.
• 馬書根, 研究の国際協力のすすめ -- 日本からアジア，そして世界へ --, [J] 日本ロボット学会誌，Vol.30, No.10, 30-10, pp. 20-21, 2012.
• Liyuan Weng, Min Li, Zhenbang Gong and Shugen Ma, Underwater Object Detection and Localization Based on Multi-Beam Sonar Image Processing, [C] in Proc. 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO2012), pp. 514-519, 2012, Guangzhou, China.
• Shugen Ma, Chao Ren and Changlong Ye, An Omnidirectional Mobile Robot: Concept and Analysis, [C] in Proc. 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO2012), pp. 920-925, 2012, Guangzhou, China.
• Atsushi Kakogawa and Shugen Ma, Stiffness Design of Springs for a Screw Drive In-pipe Robot to Pass through Curved Pipes and Vertical Straight Pipes, [J] Int. J. of Advanced Robotics, 26-3, pp. 253-276, 2012.
• Nan Li, Shugen Ma, Bin Li, Minghui Wang and Yuechao Wang, An Online Stair-Climbing Control Method for a Transformable Tracked Robot, [C] in Proc. 2012 IEEE International Conference on Robotics and Automation (ICRA2012), pp. 923-929, 2012, Saint Paul, Minnesota, USA.
• Shuai Guo, Shugen Ma, Bin Li, Minghui Wang, and Yuechao Wang, A new hybrid metric map representation by using Voronoi diagram and its application to SLAM, [C] in Proc. 2012 IEEE International Conference on Information and Automation (ICIA2012), pp. 400-405, 2012, Shenyang, China.
• Changlong Ye, Huichao Ni and Shugen Ma, Development of an Omni-directional wheel with differential structure, [C] in Proc. 2012 IEEE International Conference on Mechatronics and Automation (ICMA2012), pp. 1633-1638, 2012, Shenyang, China.
• Taiki Nishimura, Atsushi Kakogawa and Shugen Ma, Pathway Selection Mechanism of a Screw Drive In-pipe Robot in T-branches, [C] in Proc. 8th IEEE International Conference on Automation Science and Engineering (CASE2012), pp. 612-617, 2012, Seoul, Korea.
• Yi Sun, Shugen Ma, Yang Yang, Planning of Legged Racewalking Gait for an ePaddle-based Amphibious Robot, [C] in Proc. 10th International IFAC Symposium on Robot Control (SYROCO2012), pp. 218-223, 2012, Dubrovnik, Croatia, [Identifier 10.3182/20120905-3-HR-2030.00115].
• Shugen Ma, Shuai Guo, Minghui Wang and Bin Li, Data Association for a Hybrid Metric Map Representation, [C] in Proc. 2012 IEEE International Conference on Multisensor Fusion and Information Integration (MFI2012), pp. 168-173, 2012, Hamburg, Germany.
• Guizhi Yang, Shugen Ma, Bin Li and Minghui Wang,, A Hierarchical Connectionist CPG Controller for Controlling the Snake-like Robot’s 3-dimensional Gaits, [C] in Proc. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), pp. 822-827, 2012, Vilamoura, Algarve, Portugal.
• Yongchen Tang, Shugen Ma, Yi Sun, Dingxin Ge, A Multi-legged Robot with Less Actuators by Applying Passive Body Segment Joint, [C] in Proc. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), pp. 1828-1833, 2012, Vilamoura, Algarve, Portugal.
• Mohamad Nor Norzalilah and Shugen Ma, A Simplified CPGs Network with Phase Oscillator Model for Locomotion Control of Snake-like Robot, [C] in Proc. 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO2012), pp. 1299-1304, 2012, Guangzhou, China.
• Hiroyuki Nishimura, Atsushi Kakogawa and Shugen Ma, Development of an Underactuated Robot Gripper Capable of Retracting Motion, [C] in Proc. 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO2012), pp. 2161-2166, 2012, Guangzhou, China.
• Yi Sun, Shugen Ma, Kazuhiro Fujita, Yang Yang and Huayan Pu, Modeling the Rotational Paddling of an ePaddle-Based Amphibious Robot, [C] in Proc. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), pp. 610-615, 2012, Vilamoura, Algarve, Portugal.
• Nan Li, Shugen Ma, Minghui Wang, Bin Li and Yuechao Wang, An Optimization Design Method for the mechanism parameters of an Amphibious Transformable Robot, [C] in Proc. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), pp. 2282-2288, 2012, Vilamoura, Algarve, Portugal.
• Huayan Pu, Yi Sun, Shugen Ma and Zhenbang Gong, Experimental Study on Oscillating Paddling Gait of an Eccentric Paddle Mechanism, [C] in Proc. 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO2012), pp. 817-192, 2012, Guangzhou, China, [優秀論文賞Finalist].

2011

• 厳煌・馬書根, 全方位移動ロボットの安定走行, [A] 日本機械学会ロボティクス・メカトロニクス講演会’11 講演論文集, 2011, [CD-ROM].
• 加古川篤・馬書根, 曲管内走行可能な螺旋駆動型管内移動ロボットのための最適なバネ定数の設計, [A] 日本機械学会ロボティクス・メカトロニクス講演会’11 講演論文集, 2011, [CD-ROM].
• Yi Sun and Shugen Ma, Terrestrial Gait Experiments for ePaddle Locomotion Mechanism, [A] 第 29 回日 本ロボット学会学術講演会論文集, 2011, [CD-ROM].
• Atsushi Kakogawa and Shugen Ma, Experimental Verification of Analytical Torques Enabling a Screw Drive In-pipe Robot to Pass through Bent Pipes, [C] in Proc. 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO2011), pp. 1742-1747, 2011, Phuket, Thailand.
• Changlong Ye, Huaiyong Li, and Shugen Ma, Kinematic Analysis of an Omnidirectional Mobile Robot with MY Wheels, [C] in Proc. 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO2011), pp. 1748-1753, 2011, Phuket, Thailand.
• 加古川篤・馬書根, 螺旋駆動型管内移動ロボットの曲管内走行時のトルク解析とその検証実験, [A] 第 29 回日本ロボット学会学術講演会論文集, 2011, [CD-ROM].

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