生物知能機械学研究室

発表論文

2016

• Yao Song, Qing-Hao Meng, Bing Luo, Ming Zeng, Shugen Ma and Pei-Feng Qi, A Wind Estimation Method for Quadrotors using Inertial Measurement Units, [C] in Proc. 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO2016), pp. 426-431, 2016.
• Takahiro Matsuno and Shugen Ma, Realtime Prediction of Suction Cup ’s Negative Pressure Decrement without Previous Measurement of Air Inflow Speed, [C] in Proc. 2016 IEEE International Conference on Real-time Computing and Robotics (RCAR2016), pp. 105-110, 2016, 優秀学生論文賞 Finalist.
• Yang Tian, Takahiro Matsuno and Shugen Ma, Implementation of Integrating a Scan-matching based SLAM into a Snake-like Robot under Robot Operating System, [A] 日本機械学会ロボティクス・メカトロニクス講演会 ’16 講 演論文集, 2016.
• 加古川篤・馬書根, ロール回転可能な蛇型配管内検査ロボットの防水防塵設計, [A] 日本機械学会ロボティクス・ メカトロニクス講演会 ’16 講演論文集, 2016.
• 山上大樹・加古川篤・田陽・小紫由基・馬書根, 管内形状に基づく配管内検査ロボットの自律曲管走破シス テム, [A] 日本機械学会ロボティクス・メカトロニクス講演会 ’16 講演論文集, 2016.
• 小紫由基・加古川篤・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律走破システム, [A] 日本機械学会ロボティクス・メカトロニクス講演会 ’16 講演論文集, 2016.
• 松本久宗・Reyes Fabian・馬書根, ヘビ型ロボット用防塵防水関節の設計, [A] 日本機械学会ロボティクス・メカ トロニクス講演会 ’16 講演論文集, 2016.
• 大塚貴友・孫翊・馬書根, 乾燥砂でのラグ耕鋤におけるラグ作用力と砂地の隆起体積の関係の定量的検討, [A] 日本機械学会ロボティクス・メカトロニクス講演会 ’16 講演論文集, 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 .

2017

• Yanan Hu, Shugen Ma, Bin Li, Minghui Wang and Yuechao Wang, Dynamic Modeling of Reconfigurable Robots with Independent Locomotion and Manipulation Ability, [J] International Journal of Robotics and Automation, 32-3, 2017, DOI:10.2316/Journal.206.2017.3.206-4381.
• Yayi Shen, Huayan Pu, Yi Sun, Shugen Ma, Shaorong Xie, Jun Luo and Wenchuan Jia, Generating Vectored Thrust with the Rotational Paddling Gait of an ePaddle-EGM mechanism: Modeling and Experimental Verifications, [J] IEEE Journal of Oceanic Engineering, 42-3, pp. 522-531, 2017, 10.1109/JOE.2016.2576181.
• Te Li, Shugen Ma, Bin Li, Minghui Wang, Zhiqiang Li and Yongqing Wang, Development of an In-pipe Robot with Differential Screw Angles for Curved Pipes and Vertical Straight Pipes, [J] ASME Journal of Mechanisms and Robotics, 9-5, pp. 51014-11, 2017, 10.1115/1.4037617.
• Fabian Reyes and Shugen Ma, Studying Slippage on Pushing Applications with Snake Robots, [J] Robotics and Biomimetics, 4-9, pp. 1-12, 2017, 10.1186/s40638-017-0065-3, Open Access.
• Yang Tian and Shugen Ma, Kidnapping Detection and Recognition in Previous Unknown Environment, [J] Journal of Sensors, 2017, pp. 1-15, 2017, DOI:10.1155/2017/6468427.
• KundongWang,Wencan Gao and Shugen Ma, Snake-Like Robot with Fusion Gait for High Environmental Adaptability:Design, Modeling, and Experiment, [J] Applied Sciences, 7-11, pp. 1133, 2017, 10.3390/app7111133.
• Zhongshu Huang, Wenchuan Jia, Yi Sun, Shugen Ma, Zhiwei Wang, Huayan Pu and Yingzhong Tian, Design and analysis of a transformable spherical robot for multi-mode locomotion, [C] in Proc. 2017 IEEE International Conference on Mechatronics and Automation (ICMA2017), pp. 1469-1473, 2017.
• Liangyu Bi, Wenchuan Jia, Yi Sun, Shugen Ma and Handi Liu, Stiffness Analysis and Verification of One 3 - RPS Parallel Sensor, [C] in Proc. 2017 IEEE International Conference on Mechatronics and Automation (ICMA2017), pp. 1457-1462, 2017.
• Jiang Yang, Wenchuan Jia, Yi Sun, Huayan Pu, Shugen Ma, Li Chen and Bin Han, Mechanical Design of a Compact and Dexterous Quadruped Robot, [C] in Proc. 2017 IEEE International Conference on Mechatronics and Automation (ICMA2017), pp. 1450-1456, 2017.
• Yayi Shen, Yi Sun, Huayan Pu and Shugen Ma, Experimental Verification of the Oscillating Paddling Gait for an ePaddle-EGM Amphibious Locomotion Mechanism, [C] in Proc. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2017), 2-4, pp. 2322-2327, 2017, Vancouver, Canada, 10.1109/LRA.2017.2707124, (Published in IEEE Robotics and Automation Letters, 2017).
• Wenchuan Jia, Jiang Yang, Liangyu Bi, Quan Zhang, Yi Sun, Huayan Pu and Shugen Ma, Modelling and Analysis of the Passive Planar Rimless Wheel Mechanism in Universal Domain, [C] in Proc. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2017), pp. 4969-4975, 2017, Vancouver, Canada.
• Atsushi Kakogawa, Yuki Komurasaki and Shugen Ma, Anisotropic Shadow-based Operation Assistant for a Pipeline-inspection Robot using a Single Illuminator and Camera, [C] in Proc. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2017), pp. 1305-1310, 2017, Vancouver, Canada.
• 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.
• Wenchuan Jia, Zhongshu Huang, Yi Sun, Huayan Pu and Shugen Ma, Toward A Novel Deformable Robot Mechanism to Transition between Spherical Rolling and Quadruped Walking, [C] n Proc. 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO2017), pp. 1539-1544, 2017.
• Dongmei Wei, Chao Ren, Mingyuan Zhang, Xiaohan Li, Shugen Ma and Chaoxu Mu, Position/force control of a holonomic-constrained mobile manipulator based on active disturbance rejection control, [C] in Proc. 43rd Annual Conference of the IEEE Industrial Electronics Society (IECON 2017), pp. 6751-6756, 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.
• 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.
• 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.
• 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・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.
• 加古川篤・小紫由基・馬書根, ２リンク車輪型空調ダクト内清掃ロボットの開発, [A] 日本機械学会ロボティクス・メカトロニクス講演会’17 講演論文集, 2017.
• 岡義倫・加古川篤・馬書根, 車軸と体軸に差動機構を有する連結車輪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’17 講演論文集, 2017.
• レイエスファビアン・松本久宗・馬書根, ３Ｄプリンターで製作可能なモジュール式ヘビ型ロボットの設計，制御，及びプログラミング, [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.
• 向井奨・馬書根・加古川篤, 剛体と弾性体を組み合わせた 1 自由度回転脚による地盤反力の変動抑制, [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.
• 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, 2017.
• Yanan Hu, Shugen Ma, Bin Li, Minghui Wang and Yuechao Wang, An Energy Suboptimal Reconguration Planning Approach to Wheel-manipulator Robots, [J] ACTA AUTOMATICA SINICA (自動化学報), 43-8, pp. 1359-1369, 2017, DOI: 10.16383/j.aas.2017.c150752.
• Shenxiang Wang, Chao Ren and Shugen Ma, Active Disturbance Rejection Control with Friction Compensation for an Omnidirectional Mobile Robot, [J] Control Theory & Applications, 34-10, pp. 1286-1292, 2017, 10.7641/CTA.2017.70088.
• Hui Feng, Biao Sun and Shugen Ma, One-bit Compressed Sensing Reconstruction for Block Sparse Signals, [J] Acta Physica Sinica (物理学報), 66-18, pp. 202, 2017, 10.7498/aps.66.180202.

2018

• 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.

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