生物知能機械学研究室

発表論文

2023

• Huayan Zhang, Yitong Xue, Yang Tian, Zhe Qiu, Jun Zhang, and Shugen Ma, Performance Evaluation of Low Frame Rate RGB-D SLAM in Piping Environments, [A] 2023 JSME Information, Intelligence and Precision Equipment Division, pp. 215-218, 2023, Kitakyushu, Japan.
• Hareesh Chitikena, Filippo Sanfilippo and Shugen Ma, Robotics in Search and Rescue (SAR) Operations: An Ethical and Design Perspective Framework for response phase, [J] Applied Sciences, 13-3, pp. 1800, 2023, 10.3390/ app13031800, (Open Access) .
• Atsushi Kakogawa, Kenya Murata, and Shugen Ma, Automatic T-Branch Travel of an Articulated Wheeled In-Pipe Inspection Robot Using Joint Angle Response to Environmental Changes, [J] IEEE Transactions on Industrial Electronics, 70-7, pp. 7041-7050, 2023, 10.1109/TIE.2022.3201301.
• Chao Ren, Hongjian Jiang, Chunli Li, Weichao Sun and Shugen Ma, Koopman Operator-based Robust Data-Driven Control for Wheeled Mobile Robots, [J] IEEE/ASME Transaction on Mechatronics,, 28-1, pp. 461-472, 2023, 10.1109/TMECH.2022.3203518.

2022

• 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.
• 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.
• 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 , .
• Zhong Huang, Shugen Ma, Hosain Bagheri, Chao Ren and Hamidreza Marvi, The Impact of Dorsal Fin Design on the Swimming Performance of a Snake-like Robot, [J] IEEE Robotics and Automation Letters, 7-2, pp. 4939-4944, 2022, 10.1109/LRA.2022.3153903.
• Yoshimichi Oka, Atsushi Kakogawa, Yang Tian, and Shugen Ma, Control Technique of a V-shaped In-Pipe Robot Composed of Two Underactuated Roll-Pitch Joints, [J] Advanced Robotics, 36-4, pp. 205-216, 2022, 10.1080/01691864.2021.2012513.
• Yongchen Tang, Guoteng Zhang, Dingxin Ge, Chao Ren and Shugen Ma, Undulatory Gait Planning Method of Multi-legged Robot with Passive-spine, [J] Biomimetic Intelligence and Robotics, 2-100028, pp. 1-8, 2022, 10.1016/j.birob.2021.100028, (Open Access) .
• 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, 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.
• 村田憲哉・加古川篤・馬書根, 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’22 講演論文集, 2022, 北海道.
• 太田駿介・村田憲哉・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’22 講演論文集, 2022, 北海道.
• 廣瀬千大・加古川篤・馬書根, 被牽引式センシングユニットを用いた配管経路作図システム, [A] 日本機械学会ロボティクス・メカトロニクス講演会’22 講演論文集, 2022, 北海道.
• 林岳峰・田陽・李昕宇・馬書根, 注意機構に基づく配管認識ネットワークの開発, [A] 日本機械学会ロボティクス・メカトロニクス講演会’22 講演論文集, 2022, 北海道.
• Xiaohan Li, CHao Ren and Shugen Ma, Optimal Path Following Control with Efficient Computation for Snake Robots Subject to Multiple Constraints and Unknown Frictions, [J] IEEE Robotics and Automation Letters, 7-4, pp. 9151-9158, 2022, 10.1109/LRA.2022.3190642.
• 馬振軒・李龍川・松野孝博・野方誠・馬書根, 体内蠕動移動ロボットの設計と実験, [A] 日本機械学会ロボティクス・メカトロニクス講演会`22講演論文集, 2022, 北海道.
• Liang Du, Shugen Ma, Keisuke Tokuda, Yang Tian and Longchuan Li, Bidirectional Locomotion of Soft Inchworm Crawler Using Dynamic Gaits, [J] Frontiers in Robotics and AI (section Soft Robotics), 9-899850, pp. 1-10, 2022, 10.3389/frobt.2022.899850.
• Chao Ren, Hongjian Jiang, Chaoxu Mu and Shugen Ma,, Conditional Disturbance Negation based Control for an Omnidirectional Mobile Robot: an Energy Perspective, [J] IEEE Robotics and Automation Letters, 7-4, pp. 11641-11648, 2022, 10.1109/LRA.2022.3204815.
• Yingzi Chen, Zhiqing Li, Longchuan Li, Shugen Ma, Fuchun Zhanga and Chao Fan, An anti-drone device based on capture technology, [J] Biomimetic Intelligence and Robotics, 2-3, pp. 1-7, 2022, 10.1016/j.birob.2022.100060, (Open Access) .
• 廣瀬千大・加古川篤・馬書根, 配管の長距離経路作図に向けた被牽引センシングシステムの開発, [A] 第40回日本ロボット学会学術講演会, 2022, 東京, 日本.
• 實川隼人・田陽・馬書根, 劣駆動三角車輪を用いた磁性面受動走行ロボットの開発, [A] 第40回日本ロボット学会学術講演会, 2022, 東京, 日本.
• Atsushi Kakogawa, Chihiro Hirose, Shugen Ma, A Standards-Based Pipeline Route Drawing System Using a Towed Sensing Unit, [C] in Proc. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), pp. 7167-7173, 2022, Kyoto, Japan.
• 大平健生・田陽・馬書根, ひれを持つ水陸両用車輪ロボットの開発, [A] 第40回日本ロボット学会学術講演会, 2022, 東京, 日本.
• 徳田祥吾・李龍川・馬書根・田 陽, 共振現象による劣駆動蠕動型ロボットの開発, [A] 第40回日本ロボット学会学術講演会, 2022, 東京, 日本.
• 小林勇輝・加古川篤・馬書根, 8インチ中圧ガス管内検査ロボットの開発とその実用化に向けて, [A] 第40回日本ロボット学会学術講演会, 2022, 東京, 日本.
• Atsushi Kakogawa, Kenya Murata, Shugen Ma, Vertical Bend and T-branch Travels of an Articulated Wheeled In-pipe Inspection Robot by Combining Its Joint Angle and Torque Controls, [C] in Proc. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), pp. 13254-13259, 2022, Kyoto, Japan.
• Yiming Cao, Longchuan Li, Shugen Ma, A Creeping Snake-Like Robot with Partial Actuation, [C] in Proc. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), pp. 1202-1207, 2022, Kyoto, Japan.
• Longchuan Li, Shugen Ma, Isao Tokuda, Yang Tian, Yiming Cao, Makoto Nokata, Zhiqing Li, Embodying Rather Than Encoding: Undulation with Binary Input, [C] in Proc. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), pp. 1196-1201, 2022, Kyoto, Japan.
• 村田憲哉・加古川篤・馬書根, 連結車輪型管内検査ロボットの長距離走行に向けて, [A] 第40回日本ロボット学会学術講演会, 2022, 東京, 日本.
• Yuanyuan Jia and Shugen Ma, A Distributed Coach-Based Reinforcement Learning Controller for Snake Robot Locomotion, [C] in Proc. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2022), pp. 1321-1328, 2022, Kyoto, Japan.
• Yuhui Cen, Jianjun Yuan, Shugen Ma, Jingjing Luo and Hongbo Wang, Trajectory Optimization Algorithm of Trajectory Rehabilitation Training Mode for Rehabilitation Robot, [C] in Proc. 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO 2022), pp. 2155-2158, 2022, Xishuangbanna, China.
• MingyuanWang, Liang Du, Sheng Bao, Jianjun Yuan, Jinshu Zhou and Shugen Ma, Design of a modular continuum robot with alterable compliance using tubular-actuation, [C] in Proc. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2022), pp. 1923-1928, 2022, Kyoto, Japan.
• Kaijia Zhu, Lili Wu, Chao Ren, XIaohan Li and Shugen Ma, Path Following Controller for Snake Robots Based on Data-driven MPC and Extended State Observer, [C] in Proc. 41st Chinese Control Conference (ACC2022), pp. 5592-5597, 2022, Hefei, China.
• Yanran Chen, Shugen Ma, Longchuan Li, Zhiqing Li and Yulin Yang, CSA-SVM Method for Internal Cavitation Defects Detection and Its Application of District Heating Pipes, [C] in Proc. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2022), pp. 6242-6249, 2022, Kyoto, Japan.
• Xiaomeng Hu, Liang Du, Weiwei Wan, Jianjun Yuan and Shugen Ma, Multi-Objective Geometric Optimization of a Multi-Link Manipulator Using Parameterized Design Method, [C] in Proc. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2022), pp. 7310-7316, 2022, Kyoto, Japan.
• Hongkai Zhang, Jianjun Yuan, Shijie Guo, Hesheng Wang, Shugen Ma, Sheng Bao and Liang Du, LNC Assisted Localization and Mapping in Pipe Environment, [C] in Proc. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2022), pp. 8567-8572, 2022, Kyoto, Japan.
• Taisheng Ma, LiliWu, Ziming Lin, Chao Ren and Shugen Ma, Energy Optimization of an Underwater Swimming Manipulator with Rotary Thrusters and Rolling Joints, [C] in Proc. 41st Chinese Control Conference (ACC2022), pp. 3717-3722, 2022, Hefei, China.

2021

• 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.
• 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.
• 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.
• 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.
• 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.
• 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).
• 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, 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.
• 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, .
• 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).

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