生物知能機械学研究室

発表論文

2020

• 櫛谷侑太郎・馬書根・加古川篤, 1自由度能動関節のみを用いた連結車輪型管内移動ロボットの T 字管走行, [A] 日本機械学会ロボティクス・メカトロニクス講演会’20 講演論文集, 2020, (Online Poster Session).
• Zhe Qiu, Ryuta Ozawa and Shugen Ma, Adaptive Virtual Power-based Collision Detection and Isolation with Link Parameter Estimation, [J] Advanced Robotics, 34-12, pp. 814-825, 2020, 10.1080/01691864.2020.1751707.
• Dingxin Ge, Yongchen Tang, Shugen Ma, Takahiro Matsuno and Chao Ren, Pressing Attachment Approach for a Wall-Climbing Robot Utilizing Passive Suction Cups, [J] Robotics, 9-2, pp. 1-16, 2020, 10.3390/robotics9020026.
• Xiaohan Li, Chao Ren, Shugen Ma and Xinshan Zhu, Compensated model-free adaptive tracking control scheme for autonomous underwater vehicles via extended state observer, [J] Ocean Engineering, 217, pp. 1-15, 2020, 10.1016/j.oceaneng.2020.107976.
• Atsushi Kakogawa and Shugen Ma, A Multi-link In-pipe Inspection Robot Composed of Active and Passive Compliant Joints, [C] in Proc. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2020), pp. 6472-6478, 2020, Las Vegas, USA, (Virtual).
• Yuanyuan Jia and Shugen Ma, A Bayesian-Based Controller for Snake Robot Locomotion in Unstructured Environments, [C] in Proc. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2020), pp. 7752-7757, 2020, Las Vegas, USA, (Virtual).
• Guoteng Zhang, Shugen Ma and Yibin Li, Contact Force Estimation and Regulation of a Position-controlled Floating Base System without Joint Torque Information, [C] in Proc. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2020), pp. 3967-3974, 2020, Las Vegas, USA, (Virtual).
• Yayi Shen, Shugen Ma, Guoteng Zhang and Syuya Inoue, Locomotion Performance of a Configurable Paddle- Wheel Robot over Dry Sandy Terrain, [C] in Proc. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2020), pp. 6453-6458, 2020, Las Vegas, USA, (Virtual).
• Jianjun Yuan, Renming Guan and Shugen Ma, A Robotic Gripper Design and Integrated Solution Towards Tunnel Boring Construction Equipment, [C] in Proc. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2020), pp. 2650-2655, 2020, Las Vegas, USA, (Virtual).
• Zhaohan Yuan, Jianjun Yuan and Shugen Ma, Design and Implementation of a Pipeline Inspection Robot with Camera Image Compensation, [C] in Proc. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2020), pp. 6398-6403, 2020, Las Vegas, USA, (Virtual).
• Shugen Ma, Liang Du, Erina Tsuchiya and Mana Fuchimi, Paper-Made Grippers for Soft Food Grasping, [C] in Proc. 17th International Conference on Ubiquitous Robots, pp. 362-367, 2020, Kyoto, Japan.
• Haonan Sun, Yang Tian, Shugen Ma and Shuya Inoue, Evaluation of Energy Efficiency of an Eccentric Paddle Mechanism on Sandy Terrain, [C] in Proc. 2020 IEEE International Conference on Real-time Computing and Robotics (RCAR2020), pp. 262-267, 2020, Asahikawa (Virtual Conference), Japan.
• Chao Ren, Jingyi Zhang,Wei Li and Shugen Ma, A Novel Data-driven Model Free Adaptive Tracking Control with Application to an Omnidirectional Mobile Manipulator, [C] in Proc. 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2020), pp. 1002-1007, 2020, Boston (Virtual Conference), USA.

2021

• Longchuan Li, Shugen Ma, Isao Tokuda, Fumihiko Asano, Makoto Nokata, Yang Tian and Liang Du, Generation of Efficient Rectilinear Gait Based on Dynamic Morphological Computation and Its Theoretical Analysis, [J] IEEE Robotics and Automation Letters, 6-2, pp. 841-848, 2021, 10.1109/LRA.2021.3052421.
• Yuanyuan Jia and Shugen Ma, A Coach-Based Bayesian Reinforcement Learning Method for Snake Robot Control, [J] IEEE Robotics and Automation Letters, 6-2, pp. 2319-2326, 2021, USA, 10.1109/LRA.2021.3061372, .
• Atsushi Kakogawa, Taihei Kawabata and Shugen Ma, Plate-springed Parallel Elastic Actuator for Efficient Snake Robot Movement, [J] IEEE/ASME Transactions on Mechatronics, 26-6, pp. 3051-3063, 2021, 10.1109/TMECH.2021.3052037, .
• Atsushi Kakogawa, Yuki Kaizu, Shugen Ma, Sensor-less and Control-less Underactuated Grippers with Pull-in Mechanisms for Grasping Various Objects, [J] Frontiers in Robotics and AI, 8, pp. 1-19, 2021, 10.3389/frobt.2021.631242.
• 徳田圭佑・杜亮・田陽・馬書根, 単一誘電エラストマーアクチュエータによる前後移動可能なロボットの開発, [A] 日本機械学会ロボティクス・メカトロニクス講演会’21 講演論文集, 2021, (Online Poster Session).
• 林岳峰・田陽・馬書根, 深層学習による配管画像認識手法の評価, [A] 日本機械学会ロボティクス・メカトロニクス講演会’21 講演論文集, 2021, (Online Poster Session).
• 伊藤巧・馬書根・田陽, 遊泳可能な受動体節多脚歩行ロボットの開発, [A] 日本機械学会ロボティクス・メカトロニクス講演会’21 講演論文集, 2021, (Online Poster Session).
• 太田駿介・加古川篤・馬書根, 配管内検査ロボットのケーブル摩擦軽減ユニットの検, [A] 日本機械学会ロボティクス・メカトロニクス講演会’21 講演論文集, 2021, (Online Poster Session).
• 岡義倫・加古川篤・馬書根, クラッチ付き劣駆動関節を有するV 字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’21 講演論文集, 2021, (Online Poster Session).
• 藤村遼・加古川篤・馬書根, 車輪エンコーダとジャイロセンサを搭載した被牽引ユニットによる配管マッピング, [A] 日本機械学会ロボティクス・メカトロニクス講演会’21 講演論文集, 2021, (Online Poster Session).
• Chunli Li, Chao Ren, Yutong Ding, Tong Zhang,Wei Li, Xinshan Zhu and Shugen Ma, Non-singular Terminal Sliding Mode Control of an Omnidirectional Mobile Manipulator based on Extended State Observer, [J] International Journal of Intelligent Robotics and Applications, 5, pp. 219-234, 2021, 10.1007/s41315-021-00184-1.
• Yuanyuan Jia and Shugen Ma, A Decentralized Bayesian Approach for Snake Robot Control, [J] IEEE Robotics and Automation Letters, 6-4, pp. 6955-6960, 2021, 10.1109/LRA.2021.3095307.
• Longchuan Li, Shugen Ma, Isao Tokuda, Fumihiko Asano, Makoto Nokata, Yang Tian, Liang Du, Synergetic Effect between Limbs and Spine Dynamics in Quadruped Walking Robots, [C] in Proc. 2021 IEEE International Conference on Robotics and Automation, pp. 6818-6823, 2021, Xi'an, China, 10.1109/ICRA48506.2021.9561851.
• Jiacheng Yu, Wenchuan Jia, Yi Sun, Shugen Ma, Jianjun Yuan, and Quan Zhan, Modeling of Passive Dynamic Walking Behavior of the Asymmetric Spatial Rimless Wheel on Slope, [C] in Proc. 2021 International Conference on Intelligent Robotics and Applications (ICIRA 2021), pp. 482-493, 2021, Yantai, China, Pub. by Springer.
• Yang Tian, Shugen Ma and Genki Kotani, Inner pressure prediction of suction cup based on Bernoulli equation, [J] Measurement: Sensors, 18-100139, pp. 1-7, 2021, 10.1016/j.measen.2021.100139.
• Yoshimichi Oka, Atsushi Kakogawa, Shugen Ma, A Wheeled V-shaped In-pipe Robot with Clutched Underactuated Joints, [C] in Proc. 2021 IEEE International Conference on Robotics and Automation, pp. 11459-11462, 2021, Xia'an , China.
• Jiaxin Lai, Hanyue Lei, Sheng Bao, Jianjun Yuan and Shugen Ma,, Design of a Portable Indoor Guide Robot for Blind People, [C] in Proc. 2021 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM2021), pp. 592-597, 2021, Chongqing, China.
• Dianzhen Guo, Zhaohan Yuan, Sheng Baa, Jianjun Yuan, Shugen Ma and Liang Du, Visualized Small-size Pipeline Model Building Using Multilink-articulated Wheeled In-pipe Inspection Robot, [C] in Proc. 2021 IEEE International Conference on Real-time Computing and Robotics (RCAR2021), pp. 492-497, 2021, Xining, China.
• Feng Zhuo, Wenchuan Jia, Shugen Ma, Jianjun Yuan and Yi Sun, Variable Artificial Potential Field Method for Gait Generation of Quadruped Robot, [C] in Proc. 2021 IEEE International Conference on Mechatronics and Automation (ICMA 2021), pp. 1176-1181, 2021, Takamatsu, Japan.
• Geqi Lin, Wenchuan Jia, Shugen Ma, Jianjun Yuan and Yi Sun, Research and Analysis of Comprehensive Optimization Method for Energy Consumption and Trajectory Error of the Leg Structure Based on Virtual Model Control, [C] in Proc. 2021 IEEE International Conference on Mechatronics and Automation (ICMA 2021), pp. 1094-1099, 2021, Takamatsu, Japan.
• Guoteng Zhang, Yibin Li and Shugen Ma, Trotting and Pacing Locomotion of a Position-Controlled Quadruped Robot, [C] in Proc. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2021), pp. 7456-7463, 2021, Prague, Czech Republic.
• Mingyuan Wang, Sheng Bao, Jianjun Yuan and Shugen Ma, Design and Analysis of a Robotic Out-pipe Grinding System with Friction Actuating, [C] in Proc. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2021), pp. 2467-2472, 2021, Prague, Czech Republic.
• Xiang Zeng, Wenchuan Jia, Shugen Ma, Xin Luo, Yi Sun, Jianjun Yuan and Yu Zhang, Research on Passive Energy-Regulated Bionic Shell for Lateral Fall Recovery Behavior of Large Quadruped Robots, [C] in Proc. 2021 International Conference on Intelligent Robotics and Applications (ICIRA 2021), pp. 246-257, 2021, Yantai, China, Pub. by Springer.
• Mingyuan Wang, Liang Du, Jianjun Yuan, Shugen Ma and Sheng Bao, A Bio-inspired Continuum Robot for Out-Pipe Climbing and Confined Space Navigating, [C] in Proc. 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO 2021), pp. 74-79, 2021, Sanya, China.
• Yimin He, Congcong Wang, Sheng Bao, Jianjun Yuan, Liang Du, Shugen Ma and Weiwei Wan, A Joint Friction Model of Robotic Manipulator for Low-speed Motion, [C] in Proc. 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO 2021), pp. 545-550, 2021, Sanya, China.
• Zhiyan Cao, Tianxu Bao, Wenchuan Jia, Shugen Ma and Jianjun Yuan, Towards a More Practical Data-driven Biped Walking Control, [C] in Proc. 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO 2021), pp. 1058-1064, 2021, Sanya, China.
• Yuhui Cen, Jianjun Yuan, Sheng Bao, Liang Du, Shugen Ma and Weiwei Wan, An Integrated Software System Designed for Upper Limb Rehabilitation Robot, [C] in Proc. 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO 2021), pp. 1228-1233, 2021, Sanya, China.
• Tong Zhou, Jianjun Yuan, Shugen Ma, Tieshi Zhao, Sheng Bao, Liang Du, Weiwei Wan, Zhongying Liu and Ye Zhang, Integration Mode of Standing Balance and Trajectory Training based on Lower Limb Rehabilitation Exoskeleton, [C] in Proc. 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO 2021), pp. 1252-1257, 2021, Sanya, China.
• Zhaojiang Yu, Jianjun Yuan, Dianzhen Guo, Liang Du, Sheng Bao and Shugen Ma, Underactuated Picking Gripper for Grasping and Cutting Citrus, [C] in Proc. 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO 2021), pp. 1935-1940, 2021, Sanya, China.
• Yu Zhang, Shiqiang Wang, Sha He, Wenchuan Jia, Jianjun Yuan, Peihang Yu, Shugen Ma and Sheng Bao, Analysis on Ride Comfort of a Novel Eight Wheel Vehicle, [C] in Proc. 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO 2021), pp. 1947-1952, 2021, Sanya, China.
• Yichen Liang, Chao Ren, Xiaohan Li and Shugen Ma, Simultaneous Gait Generation and Path Tracking Control of Snake Robot Using MPC, [C] in Proc. 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO 2021), pp. 2024-2029, 2021, Sanya, China.

2022

• Chao Ren, Yutong Ding, Liang Hu, Jinguo Liu, Zhaojie Ju and Shugen Ma, Active Disturbance Rejection Control of Euler ‒ Lagrange Systems Exploiting Internal Damping, [J] IEEE Transactions on Cybernetics, 52-6, pp. 4334-4345, 2022, 10.1109/TCYB.2020.3026190.
• Longchuan Li, Shugen Ma, Isao Tokuda, Makoto Nokata, Yang Tian, Liang Du and Zhiqing Li, Mathematical Design for a NovelWalking Support Device that Leverages Passive Dynamics and Coupling Effects, [C] in Proc. 2022 IEEE International Conference on Robotics and Automation (ICRA2022), pp. 200-206, 2022.
• Chao Ren, Chunli Li, Liang Hu, Xiaohan Li and Shugen Ma, Adaptive Model Predictive Control for an Omnidirectional Mobile Robot with Friction Compensation and Incremental Input Constraints, [J] Transactions of the Institute of Measurement and Control, 44-4, pp. 835-847, 2022, 10.1177/01423312211021321.
• Yang Tian, Guoteng Zhang, Kenji Morimoto and Shugen Ma, Automated Rust Removal: Rust Detection and Visual Servo Control, [J] Automation in Construction, 134-104043, pp. 1-11, 2022, 10.1016/j.autcon.2021.104043.
• Zhong Huang, Shugen Ma, Ziming Lin, Kaijia Zhu, Peng Wang, Reza Ahmed, Chao Ren, Hamid Marvi, Impact of caudal fin geometry on the swimming performance of a snake-like robot, [J] Ocean Engineering, 245-110372, pp. 1-10, 2022, 10.1016/j.oceaneng.2021.110372.
• Yang Tian, Chengxiao Ding, Yueh Feng Lin, Shugen Ma, Longchuan Li, Automatic Feature Type Selection in Digital Photogrammetry of Piping, [J] Computer-Aided Civil and Infrastructure Engineering, 37-10, pp. 1335-1348, 2022, 10.1111/mice.12840 , .

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