生物知能機械学研究室

発表論文

2023

• 實川隼人・田陽・張陽・馬書根, 軟磁性体の配置による吸着方向変換可能な永久磁石車輪の開発, [A] 第41回日本ロボット学会学術講演会, 2023, 仙台, 日本.
• 大平健生・田陽・劉佳欣・馬書根, 能動パドルの格納動作による砂地走行性能への影響, [A] 第41回日本ロボット学会学術講演会, 2023, 仙台, 日本.
• Zhiqing Li, Chao Fan, Shugen Ma, Fuchun Zhang and Hongxing Zhou, Anti-collision Motion Control of the Industrial Manipulator Based on 3D Point Cloud, [C] in Proc. 2023 6th International Conference on Electronics Technology (ICET), pp. 1294-1299, 2023, Chengdu, China.
• Feiyang Lv, Lili Wu, Taisheng Ma, Chao Ren, and Shugen Ma, Trajectory Tracking Control of an Underwater Swimming Manipulator with System Constraints and Uncertainties, [C] in Proc. 42nd Chinese Control Conference (ACC2023), pp. 4510-4515, 2023, Tianjin, China.
• Atsushi Kakogawa and Shugen Ma, Effect of underactuated parallelogram shape-shifting for environmental adaptation movement of a three modular in-pipe robot, [J] Frontiers in Robotics and AI (section Field Robotics), 10-1234835, pp. 1-14, 2023, 10.3389/frobt.2023.1234835.
• Mingyuan Wang, Jianjun Yuan, Sheng Bao, Liang Du and Shugen Ma, Research on Self-Stiffness Adjustment of Growth-Controllable Continuum Robot (GCCR) Based on Elastic Force Transmission, [J] Biomimetics,, 8-433, pp. 1-20, 2023, 10.3390/biomimetics8050433.
• Chao Ren, Jingyi Zhang, Liang Hu, and Shugen Ma, Practical Issues in Data-driven Model-free Adaptive Control for an Omnidirectional Mobile Manipulator, [J] ISA Transactions, 2023, 10.1016/j.isatra.2023.07.024.
• Zhengguo Zhu, Weiliang Zhu, Guoteng Zhang, Teng Chen, Yibin Li, Xuewen Rong, Rui Song, Daoling Qin, Qiang Hua and Shugen Ma, Design and Control of BRAVER: a Bipedal Robot Actuated via Proprioceptive Electric Motors, [J] Autonomous Robots, pp. 1-15, 2023, 10.1007/s10514-023-10117-5.
• Guoteng Zhang, Shugen Ma, Jinguo Liu, Xianwu Zeng, Lingyu Kong and Yibin Li, Q-Whex: A Simple and Highly Mobile Quasi-wheeled Hexapod Robot, [J] Journal of Field Robotics, 40, pp. 1444-1459, 2023, 10.1002/rob.22186.
• Atsushi Kakogawa, Kenya Murata and Shugen Ma, Automatic T-branch Travel of an Articulated Wheeled Inpipe Inspection Robot Using Joint Angle Response to Environmental Changes, [J] IEEE Transaction 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.
• 郭超儀・田陽・張陽・馬書根, 同一振動源による吸着と検査が可能なタイル壁面ロボット, [A] 日本機械学会ロボティクス・メカトロニクス講演会’23 講演論文集, 2023, 名古屋.
• 李洋・田陽・劉佳欣・馬書根, 非対称弾性ラグを用いた車輪の開発, [A] 日本機械学会ロボティクス・メカトロニクス講演会’23 講演論文集, 2023, 名古屋.
• Akane Yamaguchi, Jiaxin Liu, Takeki Ohira, Yang Tian, and Shugen Ma, Load Effect of an Eccentric Paddle Mechanism on Sandy Terrain, [A] 日本機械学会ロボティクス・メカトロニクス講演会’23 講演論文集, 2023, 名古屋.
• Kazuto Yamamoto, Yang Zhang, Yang Tian, Shugen Ma, An Intestinal Crawling Robot with Anisotropic Kirigami Skin, [A] 2023 JSME The Robotics and Mechatronics Conference (ROBOMECH), 2023, Nagoya, Japan.
• 関谷奏・廣瀬千大・村田憲哉・小林勇輝・加古川篤・馬書根, 面外曲げ走行可能な V 字型配管内検査ロボットの開発, [A] 日本機械学会ロボティクス・メカトロニクス講演会’23 講演論文集, 2023, 名古屋.
• 村田憲哉・廣瀬千大・加古川篤・馬書根, 下水道圧送管内点検のための実用的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’23 講演論文集, 2023, 名古屋.
• 村田憲哉・久寿米木麻琴・加古川篤・馬書根, 押し付け力による弾性体の摩擦係数変化を考慮したオムニホイールの材料検討, [A] 日本機械学会ロボティクス・メカトロニクス講演会’23 講演論文集, 2023, 名古屋.
• 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.
• Huaying Zhu, Zhiqing Li, Shugen Ma, Longchuan Li, and Shuai Kang, Modeling and Simulation of an Eel-like Robot with Hybrid Control System, [C] in Proc. OCEAN 2023-Limerick, pp. 1-7, 2023, Limerick, Ireland.

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) .
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.

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