生物知能機械学研究室

発表論文

2014

• Chaoquan Tang, Shugen Ma, Bin Li, Minghui Wang and Yuechao Wang, The study of snake robots biomimetic control method with the environments adaptability, [J] Science in China Series F: Information Sciences, 44-5, pp. 647-663, 2014, .

2013

• Yi Sun, Shugen Ma, Yang Yang and Huanyan Pu, Towards Stable and Efficient Legged Race-walking of an ePaddle-based Robot, [J] Mechatronics, 23-1, pp. 108-120, 2013, .
• Taiki Nishimura, Atsushi Kakogawa and Shugen Ma, Improvement of a Screw Drive In-pipe Robot with Pathway Selection Mechanism to Pass Through T-branches, [J] Journal of Robotics and Mechatronics, 25-2, pp. 340-346, 2013.
• Yunong Zhang, Dongsheng Guo and Shugen Ma, Different-Level Simultaneous Minimization of Joint-Velocity and Joint-Torque for Redundant Robot Manipulators, [J] Journal of Intelligent & Robotic Systems, 72-3, pp. 301-323, 2013, .
• Xiaodong Wu and Shugen Ma, Neurally Controlled Steering for Collision-free Behavior of a Snake Robot, [J] IEEE Transactions on Control Systems Technology, 21-6, pp. 2443-2449, 2013, .
• Yi Sun and Shugen Ma, A Versatile Locomotion Mechanism for Amphibious Robots: Eccentric Paddle Mechanism, [J] Int. J. of Advanced Robotics, 27-8, pp. 611-625, 2013, .
• Chao Ren and Shugen Ma, Dynamic Modeling and Analysis of an Omnidirectional Mobile Robot, [C] in Proc. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2013), pp. 4860-4865, 2013, Tokyo, Japan.
• Takahiro Matsuno, Atsushi Kakogawa and Shugen Ma, Development of a Suction Cup with a Disc Spring, [C] in Proc. 2013 IEEE International Conference on Robotics and Automation (ICRA2013), pp. 1362-1367, 2013, Karlsruhe, Germany.
• Yang Yang, Yi Sun and Shugen Ma, Motion Planning for Accessing Soft Terrain by an ePaddle Locomotion Mechanism, [C] in Proc. 2013 IEEE International Conference on Robotics and Automation (ICRA2013), pp. 403-408, 2013, Karlsruhe, Germany.
• Huayan Pu, Yi Sun, Yang Yang and Shugen Ma, Modeling of the Oscillating-paddling Gait for an ePaddle Locomotion Mechanism, [C] in Proc. 2013 IEEE International Conference on Robotics and Automation (ICRA2013), pp. 3429-3435, 2013, Karlsruhe, Germany.
• Chao Ren and Shugen Ma, Predictive Kinematic Control of an Omnidirectional Mobile Robot, in Proc. , [C] 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO2013), pp. 262-267, 2013, [優秀論文賞 Finalist].
• Mohamad Nor Norzalilah and Shugen Ma, Body Shape Control of a Snake-like Robot based on Phase Oscillator Network, in Proc. , [C] 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO2013), pp. 274-279, 2013, [優秀論文賞 Finalist].
• Huayan Pu, Shugen Ma, et al, Design and Locomotion Simulation of an Improved Eccentric Paddle Mechanism for Amphibious Robots, in Proc. , [C] 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO2013), pp. 510-515, 2013, [ バイオミメティックス優秀論文賞].
• Atsushi Kakogawa and Shugen Ma, Design of an Underactuated Parallelogram Crawler Module for an In-pipe Robot, in Proc., [C] 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO2013), pp. 1324-1329, 2013.
• Takahiro Matsuno, Shugen Ma, et al, Study on Air Inflow of a Passive Suction Cup, in Proc., [C] 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO2013), pp. 1330-1335, 2013.
• Huayan Pu, Jinglei Zhao, Yi Sun, Shugen Ma, et al, Efficiency Analysis of Epicyclic Gear Mechanism of the Improved ePaddle Mechanism via Virtual Power, in Proc., [C] 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO2013), pp. 2239-2244, 2013.
• Chao Ren and Shugen Ma, Analysis and Control of an Omnidirectional Mobile Robot, in Proc., [C] the 44th International Symposium on Robotics (ISR 2013), pp. 1-6, 2013, [Nominee, 優秀論文賞].
• Atsushi Kakogawa, Taiki Nishimura and Shugen Ma, Development of a Screw Drive In-pipe Robot for Passing through Bent and Branch Pipes, in Proc. , [C] the 44th International Symposium on Robotics (ISR 2013), pp. 1-6, 2013, [優秀論文賞].
• 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, 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.
• 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.
• 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.
• 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.

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