Updated on 2022/11/02

写真a

 
KAMEGAWA Tetsushi
 
Organization
Faculty of Interdisciplinary Science and Engineering in Health Systems Associate Professor
Position
Associate Professor
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Degree

  • Doctor of Philosophy in Engineering ( 2004.9   Tokyo Institute of Technology )

  • Master of Engineering ( 2001.3   Tokyo Institute of Technology )

  • Bachelor of Engineering ( 1999.3   Tokyo Institute of Technology )

Research Interests

  • ロボット工学

  • レスキューロボット

  • ヘビ型ロボット

  • 医療ロボット

Research Areas

  • Informatics / Mechanics and mechatronics

  • Informatics / Robotics and intelligent system

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Control and system engineering

Education

  • Tokyo Institute of Technology   総合理工学研究科   知能システム科学専攻 博士後期課程

    2001.4 - 2004.9

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  • Tokyo Institute of Technology   総合理工学研究科   知能システム科学専攻 博士前期課程

    1999.3 - 2001.4

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    Country: Japan

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  • Tokyo Institute of Technology   工学部   機械宇宙学科

    1995.4 - 1999.3

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    Country: Japan

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Research History

  • Okayama University   学術研究院(ヘルスシステム統合科学学域)   Associate Professor

    2021.4

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  • Okayama University   Graduate School of Interdisciplinary Science and Engineering in Health Systems   Associate Professor

    2020.4 - 2021.3

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  • Okayama University   Graduate School of Interdisciplinary Science and Engineering in Health Systems   Lecturer

    2018.4 - 2020.3

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  • カーネギーメロン大学   客員研究員

    2012.6 - 2012.11

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  • Okayama University   自然科学研究科   Lecturer

    2008.4 - 2018.3

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  • Okayama University   自然科学研究科   Assistant Professor

    2007.4 - 2008.3

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  • Okayama University   自然科学研究科   Research Assistant

    2006.4 - 2007.3

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  • NPO国際レスキューシステム研究機構   研究員

    2004.12 - 2006.3

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  • ローマ大学   客員研究員

    2004.9 - 2004.12

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Professional Memberships

  • THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS

    2008

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  • THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS

    2005

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  • THE JAPAN SOCIETY OF MECHANICAL ENGINEERS

    2005

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  • THE ROBOTICS SOCIETY OF JAPAN

    2000

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Committee Memberships

  • 日本機械学会ロボティクスメカトロニクス部門   表彰委員会  

    2013 - 2015   

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    Committee type:Academic society

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  • 日本ロボット学会   会誌編集委員  

    2013 - 2015   

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    Committee type:Academic society

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  • システム制御情報学会   災害対応システム調査研究交流会 常任委員  

    2011 - 2015   

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    Committee type:Academic society

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  • 日本機械学会   校閲委員  

    2011 - 2014   

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    Committee type:Academic society

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  • 日本機械学会   ロボティクス・メカトロニクス部門 代議員  

    2011 - 2013   

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    Committee type:Academic society

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  • 日本機械学会   ロボティクス・メカトロニクス部門 広報委員会  

    2007 - 2011   

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    Committee type:Academic society

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  • 計測自動制御学会   レスキュー工学部会委員  

    2006   

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    Committee type:Academic society

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Papers

  • Estimation of Needle Puncturing Form during Slight Needle Movement Based on Force Data for Robotic Automated Puncturing Function

    Takayuki Matsuno, Hikaru Murakami, Tetsushi Kamegawa, Nanako Sakai, Takao Hiraki, Yuichiro Toda

    Journal of Medical Robotics Research   07 ( 02n03 )   2022.6

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    Publishing type:Research paper (scientific journal)   Publisher:World Scientific Pub Co Pte Ltd  

    In this paper, we focused on the medical procedure to insert needles under computer tomography (CT) guidance as a target for the robotization of medical surgery, which is one of Interventional Radiology (IR). IR is a general term for treatments that use devices to visualize patients’ bodies. During surgery, our developed robot, known as Zerobot, specializes in inserting a needle into the patient under CT guidance. Its surgery is less invasive and more effective in treating small cancer tumors because the temperature of the inserted needle tip is controlled. Zerobot was originally designed to be remotely controlled by doctors, and first-in-human feasibility trials in 2018 confirmed its surgical capability. We are currently focusing on the automatic insertion function to reduce the workload of doctors. In an animal experiment, Zerobot was unable to insert the needle into the animal during IR surgery if the needle was bent. As a result, the goal of this research is to have the robot function automatically so that the needle does not bend during surgery. We propose a method for estimating the form of the needle using a force sensor. There are three different types of needle forms. Next, the proposed method distinguishes between these needle forms by measuring the difference in force sensor data when the needle root is moved slightly. In addition, we conducted tests to confirm the efficacy of the proposed method.

    DOI: 10.1142/s2424905x22410045

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  • Study on propulsion of a snake robot with torque propagation based on modified curvature derivatives Reviewed

    Yongdong Wang, Tetsushi Kamegawa, Akio Gofuku

    Proceedings of 2021 IEEE International Conference on Mechatronics and Automation   663 - 668   2021.8

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  • Robotic CT-guided out-of-plane needle insertion: comparison of angle accuracy with manual insertion in phantom and measurement of distance accuracy in animals Reviewed

    Toshiyuki Komaki, Takao Hiraki, Tetsushi Kamegawa, Takayuki Matsuno, Jun Sakurai, Ryutaro Matsuura, Takuya Yamaguchi, Takanori Sasaki, Toshiharu Mitsuhashi, Soichiro Okamoto, Mayu Uka, Yusuke Matsui, Toshihiro Iguchi, Hideo Gobara, Susumu Kanazawa

    EUROPEAN RADIOLOGY   30 ( 3 )   1342 - 1349   2020.3

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:SPRINGER  

    Objectives To evaluate the accuracy of robotic CT-guided out-of-plane needle insertion in phantom and animal experiments. Methods A robotic system (Zerobot), developed at our institution, was used for needle insertion. In the phantom experiment, 12 robotic needle insertions into a phantom at various angles in the XY and YZ planes were performed, and the same insertions were manually performed freehand, as well as guided by a smartphone application (SmartPuncture). Angle errors were compared between the robotic and smartphone-guided manual insertions using Student's t test. In the animal experiment, 6 robotic out-of-plane needle insertions toward targets of 1.0 mm in diameter placed in the kidneys and hip muscles of swine were performed, each with and without adjustment of needle orientation based on reconstructed CT images during insertion. Distance accuracy was calculated as the distance between the needle tip and the target center. Results In the phantom experiment, the mean angle errors of the robotic, freehand manual, and smartphone-guided manual insertions were 0.4 degrees, 7.0 degrees, and 3.7 degrees in the XY plane and 0.6 degrees, 6.3 degrees, and 0.6 degrees in the YZ plane, respectively. Robotic insertions in the XY plane were significantly (p < 0.001) more accurate than smartphone-guided insertions. In the animal experiment, the overall mean distance accuracy of robotic insertions with and without adjustment of needle orientation was 2.5 mm and 5.0 mm, respectively. Conclusion Robotic CT-guided out-of-plane needle insertions were more accurate than smartphone-guided manual insertions in the phantom and were also accurate in the in vivo procedure, particularly with adjustment during insertion.

    DOI: 10.1007/s00330-019-06477-1

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  • Robotic needle insertion during computed tomography fluoroscopy-guided biopsy: prospective first-in-human feasibility trial. Reviewed International journal

    Takao Hiraki, Tetsushi Kamegawa, Takayuki Matsuno, Jun Sakurai, Toshiyuki Komaki, Takuya Yamaguchi, Koji Tomita, Mayu Uka, Yusuke Matsui, Toshihiro Iguchi, Hideo Gobara, Susumu Kanazawa

    European radiology   30 ( 2 )   927 - 933   2020.2

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    INTRODUCTION: This was a prospective, first-in-human trial to evaluate the feasibility and safety of insertion of biopsy introducer needles with our robot during CT fluoroscopy-guided biopsy in humans. MATERIALS AND METHODS: Eligible patients were adults with a lesion ≥ 10 mm in an extremity or the trunk requiring pathological diagnosis with CT fluoroscopy-guided biopsy. Patients in whom at-risk structures were located within 10 mm of the scheduled needle tract were excluded. Ten patients (4 females and 6 males; mean [range] age, 72 [52-87] years) with lesions (mean [range] maximum diameter, 28 [14-52] mm) in the kidney (n = 4), lung (n = 3), mediastinum (n = 1), adrenal gland (n = 1), and muscle (n = 1) were enrolled. The biopsy procedure involved robotic insertion of a biopsy introducer needle followed by manual acquisition of specimens using a biopsy needle. The patients were followed up for 14 days. Feasibility was defined as the distance of ≤ 10 mm between needle tip after insertion and the nearest lesion edge on the CT fluoroscopic images. The safety of robotic insertion was evaluated on the basis of machine-related troubles and adverse events according to the Clavien-Dindo classification. RESULTS: Robotic insertion of the introducer needle was feasible in all patients, enabling pathological diagnosis. There was no machine-related trouble. A total of 11 adverse events occurred in 8 patients, including 10 grade I events and 1 grade IIIa event. CONCLUSION: Insertion of biopsy introducer needles with our robot was feasible at several locations in the human body. KEY POINTS: • Insertion of biopsy introducer needles with our robot during CT fluoroscopy-guided biopsy was feasible at several locations in the human body.

    DOI: 10.1007/s00330-019-06409-z

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  • Development of a separable search-and-rescue robot composed of a mobile robot and a snake robot Reviewed

    Tetsushi Kamegawa, Taichi Akiyama, Satoshi Sakai, Kento Fujii, Kazushi Une, Eitou Ou, Yuto Matsumura, Toru Kishutani, Eiji Nose, Yusuke Yoshizaki, Akio Gofuku

    Advanced Robotics   34 ( 2 )   132 - 139   2020.1

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Informa UK Limited  

    DOI: 10.1080/01691864.2019.1691941

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  • Three-Dimensional Reflexive Behavior by a Snake Robot with Full Circumference Pressure Sensors Reviewed

    Tetsushi Kamegawa, Taichi Akiyama, Yosuke Suzuki, Toru Kishutani, Akio Gofuku

    Proceedings of the 2020 IEEE/SICEInternational Symposium on System Integration   897 - 902   2020.1

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  • Measurement of Needle Trajectory Correction in Doctor’s Procedure for Automation of CT-guided Needle Insertion Robot Reviewed

    Tetsushi Kamegawa, Kazuma Takayama, Takayuki Matsuno, Takao Hiraki, Jun Sakurai, Toshiyuki Komaki, Ryutaro Matsuura, Takanori Sasaki, Akio Gofuku

    Journal of Japan Society of Computer Aided Surgery   22 ( 1 )   14 - 20   2020

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    Authorship:Lead author   Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Japan Society of Computer Aided Surgery  

    DOI: 10.5759/jscas.22.14

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  • Development of a Gripper with Variable Stiffness for a CT-Guided Needle Insertion Robot. Reviewed

    Kento Yokouchi, Tetsushi Kamegawa, Takayuki Matsuno, Takao Hiraki, Takuya Yamaguchi, Akio Gofuku

    JOURNAL OF ROBOTICS AND MECHATRONICS   32 ( 3 )   692 - 700   2020

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    Authorship:Corresponding author   Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.20965/jrm.2020.p0692

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  • Odometry of 3-Dimensional Snake-like Robot and its Application Reviewed

    Taro ABE, Hisashi Date, Tetsushi Kamegawa, Yosuke Suzuki

    2019 IEEE International Symposium on Safety, Security, and Rescue Robotics   1 - 6   2019.9

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  • Implementation of Helical Wave Propagation Motion in Snake Robot Moving on Exterior of a Pipe Reviewed

    Wei Qi, Tetsushi Kamegawa, Akio Gofuku

    International Journal of Advanced Mechatronic Systems   7 ( 6 )   359 - 367   2019.4

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  • Robotic Insertion of Various Ablation Needles Under Computed Tomography Guidance: Accuracy in Animal Experiments Reviewed

    Takao Hiraki, Takayuki Matsuno, Tetsushi Kamegawa, Toshiyuki Komaki, Jun Sakurai, Ryutaro Matsuura, Takuya Yamaguchi, Takanori Sasaki, Toshihiro Iguchi, Yusuke Matsui, Hideo Gobara, Susumu Kanazawa

    European Journal of Radiology   105   162 - 167   2018.8

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Elsevier Ireland Ltd  

    Objective: To evaluate the accuracy of robotic insertion of various ablation needles at various locations under computed tomography (CT) guidance in swine. Materials and methods: The robot was used for CT-guided insertion of four ablation needles, namely a single internally cooled radiofrequency ablation (RFA) needle (Cool-tip), a multi-tined expandable RFA needle (LeVeen), a cryoablation needle (IceRod), and an internally cooled microwave ablation needle (Emprint). One author remotely operated the robot with the operation interface in order to orient and insert the needles under CT guidance. Five insertions of each type of ablation needle towards 1.0-mm targets in the liver, kidney, lung, and hip muscle were attempted on the plane of an axial CT image in six swine. Accuracy of needle insertion was evaluated as the three-dimensional length between the target centre and needle tip. The accuracy of needle insertion was compared according to the type of needle used and the location using one-way analysis of variance. Results: The overall mean accuracy of all four needles in all four locations was 2.8 mm. The mean accuracy of insertion of the Cool-tip needle, LeVeen needle, IceRod needle, and Emprint needle was 2.8 mm, 3.1 mm, 2.5 mm, and 2.7 mm, respectively. The mean accuracy of insertion into the liver, kidney, lung, and hip muscle was 2.7 mm, 2.9 mm, 2.9 mm, and 2.5 mm, respectively. There was no significant difference in insertion accuracy among the needles (P =.38) or the locations (P =.53). Conclusion: Robotic insertion of various ablation needles under CT guidance was accurate regardless of type of needle or location in swine.

    DOI: 10.1016/j.ejrad.2018.06.006

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  • Helical wave propagation motion for a snake robot on a vertical pipe containing a branch Reviewed

    Wei Qi, Tetsushi Kamegawa, Akio Gofuku

    Artificial Life and Robotics   2018.1

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    © 2018, ISAROB. Snake robots could be utilized in many fields because of their hyper-redundant properties, although there are still control problems when they are operated in complex environments. For example, a helical rolling motion has been used to climb a pipe. By using this kind of motion, a snake robot can move along the inside or outside of a pipe. However, this motion has limitations when the robot moves along a pipe containing a high gap or a branch point. In this study, we propose a type of motion for snake robots that involves wrapping around the outside of a pipe to overcome a branch point on it. This new motion uses a hyperbolic function to make a helical wave curve, which is then propagated by shifting the shape of the hyperbolic function along the body of the snake robot. The joint angles of the snake robot are derived by calculating the curvature and torsion of the curve on the basis of the formula of the continuous curve model. Finally, the results of simulations performed using the Robot Operating System and Gazebo programs are shown to validate the effectiveness of the new motion.

    DOI: 10.1007/s10015-018-0479-1

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  • Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment. Reviewed

    Akisato Nagao, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki

    IJMA   6 ( 4 )   190 - 200   2018

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    DOI: 10.1504/IJMA.2018.10016616

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  • Robotically Driven CT-guided Needle Insertion: Preliminary Results in Phantom and Animal Experiments Reviewed

    Takao Hiraki, Tetsushi Kamegawa, Takayuki Matsuno, Jun Sakurai, Yasuzo Kirita, Ryutaro Matsuura, Takuya Yamaguchi, Takanori Sasaki, Toshiharu Mitsuhashi, Toshiyuki Komaki, Yoshihisa Masaoka, Yusuke Matsui, Hiroyasu Fujiwara, Toshihiro Iguchi, Hideo Gobara, Susumu Kanazawa

    RADIOLOGY   285 ( 2 )   454 - 461   2017.11

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    Purpose: To evaluate the accuracy of the remote-controlled robotic computed tomography (CT)-guided needle insertion in phantom and animal experiments.
    Materials and Methods: In a phantom experiment, 18 robotic and manual insertions each were performed with 19-gauge needles by using CT fluoroscopic guidance for the evaluation of the equivalence of accuracy of insertion between the two groups with a 1.0-mm margin. Needle insertion time, CT fluoroscopy time, and radiation exposure were compared by using the Student t test. The animal experiments were approved by the institutional animal care and use committee. In the animal experiment, five robotic insertions each were attempted toward targets in the liver, kidneys, lungs, and hip muscle of three swine by using 19-gauge or 17-gauge needles and by using conventional CT guidance. The feasibility, safety, and accuracy of robotic insertion were evaluated.
    Results: The mean accuracies of robotic and manual insertion in phantoms were 1.6 and 1.4 mm, respectively. The 95% confidence interval of the mean difference was 20.3 to 0.6 mm. There were no significant differences in needle insertion time, CT fluoroscopy time, or radiation exposure to the phantom between the two methods. Effective dose to the physician during robotic insertion was always 0 mSv, while that during manual insertion was 5.7 mSv on average (P&lt;.001). Robotic insertion was feasible in the animals, with an overall mean accuracy of 3.2 mm and three minor procedure-related complications.
    Conclusion: Robotic insertion exhibited equivalent accuracy as manual insertion in phantoms, without radiation exposure to the physician. It was also found to be accurate in an in vivo procedure in animals. (C) RSNA, 2017

    DOI: 10.1148/radiol.2017162856

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  • Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment Reviewed

    Akisato Nagao, Takayuki Matsuno, Kazusi Kimura, Tetsushi Kamegawa, Mamoru Minami, Takao Hiraki

    2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017   451 - 457   2017.8

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:Institute of Electrical and Electronics Engineers Inc.  

    A medical procedure called Interventional Radiology(IR) is paid much attention in recent years. IR can be performed percutaneously while a doctor observes patient's fluoroscopic image. Therefore this surgical method is low-invasiveness method. In this surgery, computed tomography (CT) equipment is often used. But a doctor is exposed to strong radiation from CT. Thus, we have developed a remote-controlled surgery support robot called 'Zerobot'. Because Zerobot is placed front of CT equipment by human, an angle offset from installation target position occurs. If a doctor punctures without noticing that Zerobot has an installation angle offset, there is danger of hurting the part that should not be hurt around a target cancer. In order to solve this problem, we propose an angle offset compensation method and the installation angle offset derivation method using a CT equipment is proposed. Then, effectiveness of proposed method is confirmed through experiments.

    DOI: 10.1109/ICMA.2017.8015859

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  • Trot Gait for a Quadruped Walking Robot on Unknown Slope Using ZMP Reviewed

    35 ( 4 )   317 - 326   2017.5

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    Authorship:Lead author   Language:Japanese  

    DOI: 10.7210/jrsj.35.317

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  • Needle pose adjustment based on force information with needle puncturing robot. Reviewed

    Kazushi Kimura, Takayuki Matsuno, Kohei Sugiyama, Akisato Nagao, Tetsushi Kamegawa, Mamoru Minami, Takao Hiraki

    IEEE/SICE International Symposium on System Integration(SII)   626 - 631   2017

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    Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/SII.2017.8279291

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  • Recognition of a Bending Pipe by a Snake Robot with Pressure Sensors Mounted on the Entire Circumference of the Robot’s Body Reviewed

    Taichi Akiyama, Tetsushi Kamegawa, Yosuke Suzuki, Akio Gofuku

    Proceedings of The 2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics   2017

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  • Helical wave propagate motion on a vertical pipe with a branch for a snake robot" Reviewed

    Wei Qi, Tetsushi Kamegawa, Akio Gofuku

    Proceedings of The 2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics   2017

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  • Needle Tip Position Accuracy Evaluation Experiment for Puncture Robot in Remote Center Control. Reviewed

    Kohei Sugiyama, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Hirotaka Nakaya, Masayuki Nakamura, Akira Yanou, Mamoru Minami

    J. Robotics Mechatronics   28 ( 6 )   911 - 920   2016.12

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    © 2016 Fuji Technology Press Ltd. All Rights Reserved. In recent years, a medical procedure called interventional radiology (IR) has been attracting considerable attention. Doctors can perform IR percutaneously while observing the fl roscopic image of patients. Therefore, this surgical method is less invasive. In this surgery, computed tomography (CT) equipment is often used for precise fl roscopy. However, doctors are exposed to strong radiation from the CT equipment. In order to overcome this problem, we have developed a remote-controlled surgical assistance robot called Zerobot. In animal puncture experiment, the operation of Zerobot was based on joint control. Therefore, during a surgery, the tip of the needle moves when a surgeon orders for a change in the direction of the needle. This makes the robot less user-friendly because the surgeon tracks the trajectory of the tip of the needle. This problem can be solved by using remote center control.

    DOI: 10.20965/jrm.2016.p0911

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  • Development of a Prototype of Puncturing Robot for CT-guided Intervention Reviewed

    Hajime Ishii, Tetsushi Kamegawa, Hiroki Kitamura, Takayuki Matsuno, Takao Hiraki, Akio Gofuku

    PROCEEDINGS OF THE 2016 IEEE 11TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA)   1020 - 1025   2016

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    Interventional radiology is a minimally invasive image-guided procedure. In the case of using computed tomography (CT) as an image-guidance for interventional radiology, the radiation exposure is a major problem to an operator who stands close to a CT gantry. To solve this problem, we are developing a remote-controlled puncturing robot which has five degrees of freedom. In this paper, we describe the details of the prototype robot and show experimental results to evaluate the robot's repeatability and a result of puncturing to a phantom.

    DOI: 10.1109/ICIEA.2016.7603732

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  • Proposal of helical wave propagate motion for a snake robot to across a branch on a pipe Reviewed

    Wei Qi, Tetsushi Kamegawa, Akio Gofuku

    2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)   821 - 826   2016

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    Hyper redundant snake robots have a possibility of utilizing in many fields, although there are control complexity problems when it is applied to complicated environment. For example, helical rolling motion have been used to climb a pipe. By using the helical rolling motion, a snake robot can move along the inside or the outside of a pipe. However, this motion has limitation when it moves in a pipe with a high gap or a branch point. In this study, we propose a motion of a snake robot, which wraps around the outside of a pipe, to overcome a branch point on a pipe. The new motion uses a hyperbolic function to make a helical wave curve. The helical wave curve is propagated by changing the parameter of hyperbolic function. Then, the joint angles of a snake robot is derived by calculating curvature and torsion of the curve based on the formula of continuous curve model. Finally, the result of simulational experiment on ROS and Gazebo are shown to validate the effectiveness of the new motion.

    DOI: 10.1109/SII.2016.7844101

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  • Sound-based Online Localization for an In-pipe Snake Robot Reviewed

    Yoshiaki Bando, Hiroki Suhara, Motoyasu Tanaka, Tetsushi Kamegawa, Katsutoshi Itoyama, Kazuyoshi Yoshii, Fumitoshi Matsuno, Hiroshi G. Okuno

    2016 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR)   207 - 213   2016

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    This paper presents a sound-based online localization method for an in-pipe snake robot with an inertial measurement unit (IMU). In-pipe robots, in particular, snake robots need online localization for autonomous inspection and for remote operator supports. The GPS is denied in a pipeline, and conventional odometry-based localization may deteriorate due to slippage and sudden unintended movements. By putting a microphone on the robot and a loudspeaker at the entrance of the pipeline, their distance can be estimated by measuring the time of flight (ToF) of a reference sound emitted from the loudspeaker. Since the sound propagation path in the pipeline is necessary for estimating the robot location, the proposed sound-based online localization method simultaneously estimates the robot location and the pipeline map by combining the distance obtained by the ToF and orientation estimated by the IMU. The experimental results showed that the error of the distance estimation was less than 7% and the accuracy of the pipeline map was more than 68.0%.

    DOI: 10.1109/SSRR.2016.7784300

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  • Development of Instantaneously Puncture System for CT Fluoroscopy-guided Interventional Radiology Reviewed

    Akira Heya, Tetsushi Kamegawa, Takayuki Matsuno, Takao Hiraki, Akio Gofuku

    2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)   2016-November   2369 - 2374   2016

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    There is minimally invasive method called Interventional Radiology (IR) that achieves an operation by using diagnostic imaging equipment such as Computed Tomography (CT). IR has advantages that it is a minimally invasive method and it is applied widely such as lung cancer treatment, liver cancer treatment, biopsy, and so on. However, it has a problem that doctors are exposed by X-ray due to a procedure in the vicinity of the CT gantry. To solve this problem, we have developed a robot so we calling "Zerobot". Zerobot has six DOF and controlled remotely. We previously conducted animal experiment using a rabbit to evaluate Zerobot. As a result, percutaneous puncture was impossible without epidermis cutting. Therefore, we developed a new function called instantaneously puncture that can achieve high speed and short stroke puncture like a human operator. In this paper, overview of Zerobot is described first. Then, measurement of puncture speed of a human operator is described. Furthermore, design and system structure of instantaneously puncture system is described. Finally, we present results of animal experiment using the instantaneously puncture system.

    DOI: 10.1109/IROS.2016.7759369

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  • On special issue "Basic Knowledge and Unsolved Problems in Robotics—Message for Young Researchers—"

    Kamegawa Tetsushi, Tanaka Motoyasu

    JRSJ   33 ( 4 )   209 - 209   2015

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    Language:Japanese   Publisher:The Robotics Society of Japan  

    DOI: 10.7210/jrsj.33.209

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  • Reactive motion for a snake-like robot in a crowded space Reviewed

    Tetsushi Kamegawa, Tsubasa Watanabe, Suxiang Yuan, Akio Gofuku

    International Journal of Nuclear Safety and Simulation   6 ( 2 )   109 - 115   2015

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  • 螺旋尺取り方式を用いて円柱を移動するヘビ型ロボットの提案 Reviewed

    亀川 哲志, 斉 偉, 五福 明夫

    計測自動制御学会論文集   51 ( 1 )   2015

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  • Correction methods for underwater scan data measured by general-purpose laser range finders Reviewed

    FUJIWARA Tomofumi, KAMEGAWA Tetsushi, HASEGAWA Jun, GOFUKU Akio

    TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A   81 ( 831 )   2015

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    We propose a method that corrects effects of refractions and absorptions for underwater scan data obtained by general-purpose laser range finders (LRFs) using HOKUYO UTM-30LX (Top-URG). For measurements by LRFs in water, it is known that refractions make measurement distances longer and absorptions make reflection intensities weaker. In order to confirm those characteristics of measurements in water, we first conduct two basic experiments that Top-URG measures a target in the environment with the assumed turbid deep-sea and evaluate an accuracy and a performance of Top-URG in water. The first basic experiment is that Top-URG measures surroundings in a sink filled with water by changing the turbidity of the water. The second basic experiment is conducted by changing a location and an angle of a target. Next, we develop a method that (1) corrects scan data of Top-URG by considering a refractive index of water and (2) eliminates scan data with low reliabilities based on reflection intensities obtained by Top-URG using automatically calculated thresholds. We evaluate those two methods by using two types of target objects and seven situations. Our developed methods can correct distorted scan points by refractions in water and can eliminate ghost scan points which are not existent. We confirm that their performances for underwater scan data are effective enough to use Top-URG in water.

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  • Reaction Force Analysis of Puncture Robot for CT-guided Interventional Radiology in Animal Experiment Reviewed

    Kohei Sugiyama, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Hirotaka Nakaya, Akira Yanou, Mamoru Minami

    2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)   7 - 12   2015

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    A medical procedure called Interventional Radiology (IR) is paid much attention in recent years. IR can be performed percutaneously while a doctor observes patient's fluoroscopic image. It has advantage that invasiveness is low compared with conventional surgery. In order to take patient's fluoroscopic image, computed tomography (CT) equipment is often used. In this case, it is problem that the doctor is exposed to radiation because the doctor should conduct the procedure close to CT equipment. Thus, we have developed a robot called "Zerobot" which has six DOF and remote-control feature with dedicated input device. In this paper, first, overview of Robotic IR is described. Then, we describes about animal puncture experiment of Zerobot, and discuss the result of puncture reaction force analysis in the experiment.

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  • Development of a prototype of snake-like robot with contact sensors that moves in obstacles by reflexive behavior Reviewed

    Suxiang Yuan, Tetsushi Kamegawa, Akio Gofuku

    Proceedings of The First International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM2015)   2015

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    Tsubasa Watanabe, Tetsushi Kamegawa, Akio Gofuku

    Proceedings of The First International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM2015)   2015

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  • Development of a real-time 3D laser scanner with wide FOV and an interface using a HMD for teleoperated mobile robots Reviewed

    Tomofumi Fujiwara, Tetsushi Kamegawa, Akio Gofuku

    International Journal of Nuclear Safety and Simulation   6 ( 2 )   132 - 141   2015

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  • Evaluation of snake robot's behavior using randomized EARLI in crowded obstacles Reviewed

    Tetsushi Kamegawa, Ryoma Kuroki, Akio Gofuku

    12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings   2014.1

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    We have proposed EARLI (Extended Asymmetrical Reverse Lateral Inhibition) which is a behavior of snake robot's obstacle aided locomotion. The idea of EARLI starts with an original idea of lateral inhibition. Joints rotate in reverse direction compared with the original lateral inhibition. Information of contact affects not only adjacent joints but also a couple of neighboring joints away from the contacting link. Distribution of torque are empirically set asymmetrically in order to propel a snake robot forward. The algorithm of EARLI is implemented to a model of snake robot in ODE (Open Dynamics Engine) to see its behavior and to verify its effectiveness. In this paper, we introduce randomized EARLI to avoid getting stuck in crowded obstacles when the snake robot uses only one pattern of EARLI. In addition, efficiency of the snake robot's locomotion is evaluated by measuring power of snake robot's joints. It is verified that the snake robot can move in crowded obstacles effectively by using random EARLI behavior.

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  • CT Phantom for Development of Robotic Interventional Radiology Reviewed

    Hirotaka Nakaya, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Takuya Inoue, Akira Yanou, Mamoru Minami, Akio Gofuku

    2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)   82 - 87   2014

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    There is a surgical method called Interventional Radiology (IVR) as one of lung cancer treatments. It has a problem that doctors are exposed to radiation because IVR is conducted in CT apparatus. In order to avoid the problem, a robotic IVR system that doctors conduct the puncture with a robot is developed. An operation test is necessary to develop the robotic IVR system, however, an experiment with real patients is rejected based on ethic regulation. Therefore, a phantom is used for experiments instead of patients. A phantom is a model of human used for both evaluation and adjustment of medical imaging equipments such as CT and MRI. However, ready-made phantoms can not be punctured, because they are only aimed to radiography and their surface are hard. Therefore a phantom for CT-IVR which can be punctured is developed.

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  • Evaluation of Plane Detection with RANSAC According to Density of 3D Point Clouds. Reviewed

    Tomofumi Fujiwara, Tetsushi Kamegawa, Akio Gofuku

    CoRR   abs/1312.5033   2013

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    Tomofumi Fujiwara, Tetsushi Kamegawa, Akio Gofuku

    PROCEEDINGS OF THE 2013 IEEE 8TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA)   1863 - 1869   2013

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    When an operator teleoperates a rescue robot, it is necessary for the operator to understand the relationship between the robot and its environment while indirect-vision driving. A LRF (Laser Range Finder) installed on a rotating stage is often used for scanning the environment in order to give the operator spatial information, while there is a trade-off between its scanning speed and point density. To solve the problem, we implement plane detection by RANSAC (RANdom SAmple Consensus) algorithm, integration of overlapped planes using tables and drawing them as convex hulls. The experimental results show that the scanning speed could be improved because the result of 3D scanning with a low point density shows a good match for that with a high point density by using the implemented methods.

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  • Modeling and Control of a Snake-Like Robot Using the Screw-Drive Mechanism Reviewed

    Hiroaki Fukushima, Shogo Satomura, Toru Kawai, Motoyasu Tanaka, Tetsushi Kamegawa, Fumitoshi Matsuno

    IEEE TRANSACTIONS ON ROBOTICS   28 ( 3 )   541 - 554   2012.6

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    In this paper, we develop a new type of snake-like robot using screw-drive units that are connected by active joints. The screw-drive units enable the robot to generate propulsion on any side of the body in contact with environments. Another feature of this robot is the omnidirectional mobility by combinations of screws' angular velocities. We also derive a kinematic model and apply it to trajectory tracking control. Furthermore, we design a front-unit-following controller, which is suitable for manual operations. In this control system, operators are required to command only one unit in the front; then, commands for the rest of the units are automatically calculated to track the path of the preceding units. Asymptotic convergence of the tracking error of the front-unit-following controller is analyzed based on a Lyapunov approach for the case of constant curvature. The effectiveness of the control method is demonstrated by numerical examples and experiments.

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  • A Stirrer Driven by a Spherical Stepping Motor Reviewed

    Wanli Shan, Akio Gofuku, Mitsunobu Shibata, Tomoaki Yano, Tetsushi Kamegawa

    PRZEGLAD ELEKTROTECHNICZNY   88 ( 7B )   48 - 51   2012

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    This study applies the spherical stepping motor the authors developed to the driving device of a stirrer and develops a proto-type stirrer. The developed stirrer is composed of a rotor, a stator, a control PC, an electric-magnet excitation circuit, and a power supply. The rotor is composed of double spherical shell in order to contain liquid in its inner spherical shell. Totally 91 permanent magnets are arranged in the rotor. On the other hand, 80 electro-magnets are arranged on the stator. The applicability of the stirrer to material production is evaluated by stirring experiments.

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  • Proposal of EARLI for the Snake Robot's Obstacle Aided Locomotion Reviewed

    Tetsushi Kamegawa, Ryoma Kuroki, Matthew Travers, Howie Choset

    2012 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR)   1 - 6   2012

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    In this paper, EARLI (Extended Asymmetrical Reverse Lateral Inhibition) is proposed for the snake robot's obstacle aided locomotion and behavior. The idea of EARLI starts with an original idea of lateral inhibition; although joints rotate in reverse direction compared with the original lateral inhibition; and information of contact affects not only adjacent joints but also a couple of neighboring joints away from a contacting link. Furthermore, distribution of adding torque is empirically set asymmetrically in order to propel the snake robot forward. The algorithm of EARLI is implemented to ODE (Open Dynamics Engine) to see its behavior in simulation environments and to verify its effectiveness. As a result, a behavior emerges in which the the snake robot is pushing obstacles for longer times and moving greater distances than when using original lateral inhibition. In addition, continuous pushing behavior is also observed when an obstacle is located behind the the snake robot.

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  • Development of a practical mobile robot platform for NBC disasters and its field test Reviewed

    Kazuyuki Kon, Hiroki Igarashi, Fumitoshi Matsuno, Noritaka Sato, Tetsushi Kamegawa

    2012 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2012   1 - 6   2012

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    In this research, we present development of a mobile robot platform integrated with off-the-shelf sensors and equipments for disaster response. The proposed platform aims to offer an opportunity for researchers and engineers to let their effort on developing more advanced methods related to disaster response, allowing for further development from R&amp
    D to practical or business purpose. Unlike the applications including research and education or military and civil defense forces, it is expected that the platform can be utilized for practical use with small initial budget and less effort for development. In this paper, we explain the development scheme of the proposed platform, which focuses on the outdoor environmental monitoring, and the progress on the development including its hardware and software configuration. Furthermore some experimental results, carried out in the nuclear power plant, are also shown. © 2012 IEEE.

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  • Development of a Mixing Machine Driven by a Spherical Motor Reviewed

    GOFUKU Akio, SHAN Wanli, SHIBATA Mitsunobu, YAMANISHI Akihiro, KAMEGAWA Tetsushi

    TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A   77 ( 778 )   2400 - 2406   2011.12

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    This study develops a mixing machine driven by a spherical motor that can rotate around any axis. The developed mixing machine is composed of a rotor, a stator, a control PC, an electro-magnet excitation circuit, and a power supply. The rotor that its outer diameter is 200 [mm] is composed of double spherical shells in order to contain liquid in its inner spherical shell. Totally 91 permanent magnets are arranged in almost spherical symmetry on the inner surface of the outer spherical shell. On the other hand, 80 electro-magnets are arranged on the stator of a semi-spherical shell. The applicability of the mixing machine to material production under the condition of small influence of gravitational force is evaluated by mixing experiments to dissolve salt of 50 [g] in water of 200 [g]. The mixing performance is compared for five mixing methods. The results show that the mixing performance of the method to change randomly the rotation direction is only slightly lower than that of the method of rotating continuously around a horizontal axis that exhibits the highest mixing performance. © 2011 The Japan Society of Mechanical Engineers.

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  • Design and Implementation of Grouped Rescue Robot System Using Self-Deploy Networks Reviewed

    Tetsushi Kamegawa, Noritaka Sato, Michinori Hatayama, Yojiro Uo, Fumitoshi Matsuno

    JOURNAL OF FIELD ROBOTICS   28 ( 6 )   977 - 988   2011.11

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    In this study, we propose a new system for searching the inside of a damaged building using grouped rescue robots. Because the assumed target environment is broad and variable, the proposed system is designed to have adaptability, scalability, and usability. The system consists of robots, sensors, a network, a communication protocol, user interfaces, and database management systems; their complementary capabilities allow them to satisfy the requirements for the system. This study presents the requirements and design of the proposed system, briefly describes each element, and provides examples of how the elements function as an integrated system. (C) 2011 Wiley Periodicals, Inc.

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  • An analysis about a possibility of continuous walk for a quadruped robot using leg-grope movement Reviewed

    Kazuyuki Ishida, Tetsushi Kamegawa, Akio Gofuku

    2011 IEEE/SICE International Symposium on System Integration, SII 2011   1287 - 1292   2011

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    Currently, various rescue robots are developed to use them at a disaster site. It is suggested that legged-robots are useful on uneven and fragile terrain because a legged-robot can choose a grounding point discretely. In the previous study, leg-grope movement was proposed for a quadruped robot walking on fragile terrain. However, the walking experiment by using the leg-grope movement was carried out only for one cycle of walking gait, and the possibility of continuous walk that using the leg-grope movement has not analyzed yet. In this paper, we studied whether the leg-grope movement can be carried out continuously or not. As a result, we found the region for the leg-grope movement will never extend in future steps. Therefore, once the region for the leg-grope movement becomes small, the region cannot recover its groping area. The proposed leg-grope movement has to satisfy severe condition for a quadruped robot to walk continuously. © 2011 IEEE.

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  • V-shift control for snake robot moving the inside of a pipe with helical rolling motion Reviewed

    Tetsushi Kamegawa, Toshimichi Baba, Akio Gofuku

    9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011   1 - 6   2011

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    A snake robot would be applied to a machine that goes into a narrow space to investigate the inside of a structure. Recently, multiple locomotion modes of snake robots have been realized. In the previous study, we also achieved some kind of locomotion modes such as undulatory locomotion mode, sidewinding locomotion mode, lateral rolling locomotion mode and helical rolling locomotion mode to move along a pipe. The shape of the robot in each locomotion mode is calculated by using mathematical continuum curve model respectively. However, it is necessary to change these shape smoothly when the environment where the snake robot is moving changes. It is relatively easy to achieve this in the case that the snake robot moves along its body, namely it moves to a tangential direction, by using the traditional shift control. In this paper, we propose a s-shift control and a v-shift control for a snake robot moving vertical direction to its body. In this paper, the v-shift control is installed to an experimental snake robot and the locomotion performance of robot is evaluated for the pipe composed of a straight pipe and an elbow pipe. As a result, the snake robot could successfully changes its locomotion mode to move the inside of the pipes with two types of helical rolling motion. © 2011 IEEE.

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  • Development of a holonomic omnidirectional vehicle driven by a spherical motor and proposal of a spherical deceleration driving method Reviewed

    Wanli Shan, Akio Gofuku, Tetsushi Kamegawa, Mitsunobu Shibata

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   77 ( 784 )   4630 - 4640   2011

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    This paper presents a prototype of holonomic omnidirectional moving vehicle driven by a spherical motor that rotates in all directions. This paper also proposes a method called spherical deceleration driving method that can increase the driving torque by tilting the rotation axis of the spherical motor. Experimental results to evaluate the moving performance of the prototype vehicle by the spherical deceleration driving method show that the measured driving forces are almost coincident with the theoretical values within the range that the driving torque of the spherical motor does not exceed the maximum static frictional force between the motor surface and floor. In addition, the driving force can be increased up to about twice the value at the inclination angle of 0 °. On the other hand, the measured moving speeds are well agreed with the theoretical speeds if the slip between the surface of the rotor of sperical motor and road surface does not exist. © 2011 The Japan Society of Mechanical Engineers.

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  • Hardware-software integration of a practical mobile robot platform Reviewed

    H. Shin, K. Kon, H. Igarashi, Y. Anbe, K. Kim, S. Hanamoto, R. Yamasaki, S. Toyoshima, N. Sato, T. Kamegawa, F. Matsuno

    2011 IEEE/SICE International Symposium on System Integration, SII 2011   1263 - 1268   2011

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    In this research, we present a development of a mobile robot platform integrated with off-the-shelf sensors and equipment for disaster response. Unlike the applications including research and education or military and civil defense forces, it is expected that the platform can be utilized for practical use with small initial budget and less effort for development. The platform offers an opportunity for researchers and engineers to let their effort on developing more advanced methods, allowing for further development from R&amp
    D to practical or business purpose. In order to accomplish these challenges, we also construct an advantageous system for researchers and engineers in both academic and industry by means of disclosing and providing information about hardware and software as an open-source. Some experiments are also shown for validation of the basic functions of the platform. © 2011 IEEE.

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  • Stereoscopic presentation of 3D scan data obtained by mobile robot Reviewed

    Tomofumi Fujiwara, Tetsushi Kamegawa, Akio Gofuku

    9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011   178 - 183   2011

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    It is necessary for rescue workers to understand the internal environment of a damaged building. A laser scanner mounted on a rotating platform on a mobile robot is commonly used for acquiring the 3D information of the building. In this study, a stereoscopic presentation system that displays 3D scan data is constructed in order to improve the cognitive ability of an operator who teleoperates the robot. Two types of experiments that an end user evaluates the constructed system are conducted and the experimental results show a good tendency to use the stereoscopic presentation. © 2011 IEEE.

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  • Front-Unit-Following Control of a Snake-like Robot Using Screw Drive Mechanism Reviewed

    FUKUSHIMA Hiroaki, TANAKA Motoyasu, KAMEGAWA Tetsushi, MATSUNO Fumitoshi

    JRSJ   28 ( 6 )   707 - 714   2010.7

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    This paper presents a front-unit-following control method for a snake-like robot using screw drive mechanism. The operators are required to command only one unit in the head, then commands for the rest of the units are automatically calculated to track the path of the preceding units. Asymptotic tracking error is investigated based on a Lyapunov approach for the case of a constant curvature. Furthermore, the effectiveness of the proposed method is investigated by computer simulations and laboratory experiments.

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  • Detection of Footholds with Leg-grope and Safety Walking for Quadruped Robots on Weak Terrain Reviewed

    KAMEGAWA Tetsushi, SUZUKI Takashi, OTANI Kouichi, MATSUNO Fumitoshi

    JRSJ   28 ( 2 )   215 - 222   2010.3

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    When a legged-robot walks on an irregular terrain such as a stricken area, some footholds may be collapsed by an external force that caused by the walking robot, and consequently the robot stumbles and falls. In this study we propose locomotion method that will not cause large collapse of the environment while the robot walks on the weak area. First, we define the weak environment that has possibility to collapse the field, then a strategy to walk on the weak environment is shown. Next, the condition of center of gravity of the robot and the leg-grope sequence is derived based on statics. Furthermore, experimental results to verify the proposed method are shown by using a quadruped legged-robot.

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  • A snake robot propelling inside of a pipe with helical rolling motion Reviewed

    Toshimichi Baba, Yoshihide Kameyama, Tetsushi Kamegawa, Akio Gofuku

    Proceedings of the SICE Annual Conference   2319 - 2325   2010.1

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    Recently, multiple locomotion gaits of snakes have been realized by snake robots. A snake robot would be applied to going into a narrow space to investigate the inside of a long and slim pipe and to executing some simple work by using its slim body. In this paper, we achieve a new locomotion mode that propels a snake robot the inside of a pipe with helical rolling motion, in addition to previously achieved locomotion modes. A structure of the snake robot is constructed by connecting many units in series. The unit has a pitch axis, a yaw axis and two passive wheels. A shape of the robot is calculated by using mathematical continuum curve model. In addition, we present a method that the shape of snake robot is adjusted to a diameter of a pipe automatically. Moreover, we indicate a possibility of a new locomotion mode which conduct helical rolling motion with conical spiral form in order to improve a position of a camera while the snake robot investigates the inside of a pipe. © 2010 SICE.

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  • Development of a spherical motor driven by electro-magnets Reviewed

    Seiji Ikeshita, Akio Gofuku, Tetsushi Kamegawa, Takakazu Nagai

    JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY   24 ( 1 )   43 - 46   2010.1

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    This paper presents a spherical motor driven by electro-magnets that can rotate omnidirectionally with some degrees of rotation angle error independent of rotation direction. The spherical motor is composed of a spherical rotor, a semi-spherical stator, a control PC, a control circuit, and a DC power supply. The rotor has 92 neodymium magnets. On the other hand, 84 electro-magnets are arranged on the stator. Each electro-magnet can be excited to north or south magnetic pole. The control PC calculates the posture of the rotor after a small time interval and generates the pattern of excitation of electro-magnets in order to rotate the rotor to its calculated posture. The results of the performance of the developed spherical motor show that the maximum torque is 0.24 (N . m), the maximum rotation speed is 2.5 (rad/s), and the average error of rotation angle is several degrees.

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  • Realization of cylinder climbing locomotion with helical form by a snake robot with passive wheels Reviewed

    Tetsushi Kamegawa, Takaaki Harada, Akio Gofuku

    ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7   4316 - 4321   2009

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    Recently, multiple locomotion gaits of snake have been realized by snake robots. However, previous locomotion gaits are mainly limited on two-dimensional plane. In this study, we make a snake robot that can move in three-dimensional space by connecting several units serially. The each unit is composed by assembling one pitch axis and one yaw axis, and it can have two passive wheels. We realize previously achieved basic locomotion gaits and simple cylinder climbing locomotion. In addition, we also realize cylinder climbing locomotion with helical form by the snake robot using mathematical continuum model.

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  • Development of a Spherical Motor to Rotate in All Directions Reviewed

    GOFUKU Akio, NAGAI Takakazu, IKESHITA Seiji, SHIBATA Mitsunobu, KAMEGAWA Tetsushi

    Transactions of the Japan Society of Mechanical Engineers C   74 ( 747 )   2713 - 2720   2008.11

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    This paper studies a spherical motor driven by electro-magnetic force. The spherical motor is composed of a rotor and a stator. The rotor has 32 permanent magnets positioned at the vertices of a geometric configuration combined with a regular dodecahedron and a regular icosahedron. There are 84 electro-magnets in the stator. The electro-magnets are excited to make the rotor rotate in omnidirection by the pattern such that the electro-magnets near the rotation goal positions of permanent magnets in the rotor after a small time step are excited to the attractive pole and the electro-magnets apart from the permanent magnets to the repulsive pole. A simulation program is developed for the purpose of designing the structure and excitation method of electro-magnets and evaluating rotation performance. A prototype spherical motor is developed and the motor is confirmed to rotate is omnidirection by the experiments and simulations for rotation performance evaluation.

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  • Development of an Intelligent Mark and Its Recognition Device to Support Robot Activities Reviewed

    SHIBATA Mitsunobu, GOFUKU Akio, KAMEGAWA Tetsushi

    Transactions of the Japan Society of Mechanical Engineers C   74 ( 745 )   2331 - 2333   2008.9

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    This study develops an intelligent mark and its recognition system. Robots need information about its environment and/or objects in order to do effectively the tasks required. Intelligent marks are used by attaching on objects and can send the information such as object category, weight, and so on by an infrared ray communication. Robots get the data of an object by the recognition system. The recognition system also measures relative position of an object by calculating the difference of reaching time between infrared rays and ultrasonic waves sent from the intelligent mark. This study evaluates experimentally the communication range and the accuracy of relative position measurements to confirm the applicability of the intelligent mark and its recognition system.

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  • Development of grouped rescue robot platforms for information collection in damaged buildings Reviewed

    Tetsushi Kamegawa, Kenta Saikai, Shinjirou Suzuki, Akio Gofuku, Seiji Oomura, Tsuyoshi Horikiri, Fumitoshi Matsuno

    2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7   1583 - +   2008

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    Authorship:Lead author   Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    We are developing new mobile robot platforms to achieve a given mission. The concept of developing robot is high-functional and grouped rescue robots. The robot group consists of two type of robot, one is high functional pioneer type, and the other is relatively small and high mobility semi-automatics surveyor type. The pioneer type equips a manipulator to eliminate light weight obstacles and open doors and also the pioneer type loads adhoc wireless relay devices and its distribution mechanism to expand wireless radio connection area. ne surveyor types equip flipper arm to achieve high mobility. To complete the mission, the pioneer type robots expand the area where surveyor robots can move and can connect to a wireless network, and then the surveyor robots search detail of damaged building in the expanded area. Until now, we have developed prototype of each pioneer and surveyor robot platforms. The robots have sensors such as a Web camera, CMOS fish-eye cameras, a LRF, an attitude sensor, IR sensors and rotary encoders. We have also implemented three control methods, and confirmed an effectiveness of each control method. Finally, we conducted two robots at the same time to confirm that it is possible to operate plural robots by using something autonomous control method.

    DOI: 10.1109/SICE.2008.4654926

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  • Path-Tracking Control of a Snake-like Robot Using Screw Drive Mechanism Reviewed

    Hiroaki Fukushima, Motoyasu Tanaka, Tetsushi Kamegawa, Fumitoshi Matsuno

    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS   1624 - +   2008

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    This paper presents a path-tracking control method for a snake-like robot using screw drive mechanism. The operators are required to command only one unit in the head, then commands for the rest of the units are automaticatly calculated to track the path of the preceding units. Although the velocity commands for exact path tracking can be calculated using past command signals due to the omni-directional property of the robot, a simpler control law without using past signals is adopted from the implementation viewpoint. Asymptotic tracking error is investigated based on a Lyapunov approach for the case of a constant curvature. Furthermore, the effectiveness of the proposed method is investigated by computer simulations and laboratory experiments.

    DOI: 10.1109/IROS.2008.4650867

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  • Development of a Remote-controlled Double Headed Snake-like Rescue Robot KOHGA Reviewed

    KAMEGAWA Tetsushi, MATSUNO Fumitoshi

    JRSJ   25 ( 7 )   1074 - 1081   2007.10

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    The long and thin snake-like robots have became popular for searching narrow spaces, such as debris of the collapsed buildings under the impact of large-scale disasters. Till now, most of the previous research efforts on snake-like robots have primarily focused on development of its mobility or its locomotion. In this research we present the development of a snake-like robot under remote control operation. The present paper gives a detailed description of the mechanism and the construction of the developed snake-like rescue robot KOHGA. This double headed snake-like rescue robot KOHGA can present an operator the image from the viewpoint of a robot&#039;s rear side by changing its form into scorpion shape mode. The usefulness of the scorpion mode is amply verified by performing several successful experiments.

    DOI: 10.7210/jrsj.25.1074

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  • レーザポインタを用いた手術指導支援システムの開発とポインティング指示誤差の評価 Reviewed

    光岡 和彦, 高見 公章, 五福 明夫, 亀川 哲志, 橋詰 博行

    日本遠隔医療学会雑誌   3 ( 2 )   306 - 308   2007.10

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    本論文では、外科手術において、遠隔から執刀医をアドバイスできるシステムを検討した。そのシステムの具体例として、離れた場所の画像を見るためのWebカメラと、遠隔からでもポインティング指示を可能とするレーザポインタを備えた執刀医支援ロボットと、それを操作するための遠隔指示インタフェースから構成される手術指導支援システムを開発した。そして、手術指導の想定応用場面に類似したタスクに対する被験者実験によって、レーザポインタによる指示精度を評価しシステムの有用性を示した。(著者抄録)

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  • Control of a Snake-like Robot Using the Screw Drive Mechanism Reviewed

    SATOMURA Shogo, HARA Masaya, FUKUSHIMA Hiroaki, KAMEGAWA Tetsushi, IGARASHI Hiroki, MATSUNO Fumitoshi

    JRSJ   25 ( 5 )   779 - 784   2007.7

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    In this paper, we develop a prototype of a new snake-like robot using the screw drive mechanism, and design a control system for trajectory tracking. First, we explain the outline of the snake-like robot using the screw drive units and joint units, as well as the principle of the screw drive mechanism. Next, in order to achieve the trajectory tracking of the robot, we derive a kinematic model. Finally, the validity of the derived model and the effectiveness of the proposed control system are demonstrated by simulations and experiments.

    DOI: 10.7210/jrsj.25.779

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  • Development of an unit type robot "KOHGA2" with stuck avoidance ability Reviewed

    Hitoshi Miyanaka, Norihiko Wada, Tetsushi Kamegawa, Noritaka Sato, Shingo Tsukui, Hiroki Igarashi, Fumitoshi Matsuno

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10   3877 - +   2007

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    To search victims in the narrow space at the disaster site, we have developed the snake-like rescue robot called "KOHGA". The robot is constructed by connecting multiple crawler vehicles serially by active joints. KOHGA has a problem that obstacles are caught to the joints and then the robot is stuck. To solve this problem, we developed an unit assembled robot "KOHGA2". It can be rearranged. The robot can swing crawler-arms and avoid the stuck. In this paper, we report the construction of the hardware and the control system of KOHGA2, the basic mobility performance, and the stuck avoidance strategy.

    DOI: 10.1109/ROBOT.2007.364073

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  • Development of three-legged modular robots and demonstration of collaborative task execution Reviewed

    Masaki Ohira, Ranajit Chatterjee, Tetsushi Kamegawa, Fumitoshi Matsuno

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10   3895 - +   2007

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    Our research perspective is to develop mechanisms for gathering information efficiently in disaster sites. Ideally this requires mechanisms with capabilities of flexible, on-site, adaptation of the overall shape and of the locomotion strategy to unknown and unstable environments. We have been developing three-legged modular robots which can be interconnected to cooperatively achieve multiple locomotion modes and collaboratively perform tasks that cannot be done by a single module. In this paper, we report the development of experimental modular robots and experimentations with their cooperative activities which evolve out of their various inter-connectivity options.

    DOI: 10.1109/ROBOT.2007.364076

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  • Control of a snake-like robot using the screw drive mechanism Reviewed

    Masaya Hara, Shogo Satomura, Hiroaki Fukushima, Tetsushi Kamegawa, Hiroki Igarashi, Furnitoshi Matsuno

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10   3883 - +   2007

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    In this paper, we develop a prototype of a new snake-like robot using the screw drive mechanism, and design a control system design for trajectory tracking. First, we explain the outline of the snake-like robot using the screw drive units and joint units, as well as the principle of the screw drive mechanism. Next, in order to achieve the trajectory tracking of the robot, we derive a kinematic model. Finally, the validity of the derived model and the effectiveness of the proposed control system are demonstrated by simulations and experiments.

    DOI: 10.1109/ROBOT.2007.364074

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  • Introduction of mission unit on information collection by on-rubble mobile platform of development of rescue robot systems (DDT) project in Japan Reviewed

    Fumitoshi Matsuno, Shigeo Hirose, Iwaki Akiyama, Takao Inoh, Michele Guarnieri, Naoji Shiroma, Tetsushi Kamegawa, Kazunori Ohno, Noritaka Sato

    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13   1056 - +   2006

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    Intelligent rescue systems with high information and robot technology have been expected to mitigate disaster damages, especially in Japan after the 1995 Hanshin-Awaji Earthquake, In development of robots for search and rescue tasks it is important to develop a robot which can actually work in a real disaster site. Several robots were used for the search and detection operation in the collapsed World Trade Center building in September 2001. From 2002 "Special Project for Earthquake Disaster Mitigation in Urban Areas" (5 yeras project) launched by Ministry of Education, Culture Sports, Science and Technology Japan. It aims at significant mitigation the earthquake disaster damage on the scale of the Great Hanshin Earthquake in densely populated areas in big city regions such as Tokyo metropolitan area and Keihanshin area. In this paper, we introduce the activities of the mission unit on the information collection by on-nibble mobile platforms.

    DOI: 10.1109/SICE.2006.314767

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  • Guidelines for human interface design of rescue robots Reviewed

    Yasuyoshi Yokokohji, Takashi Tubouchi, Akichika Tanaka, Tomoaki Yoshida, Eiji Koyanagi, Fumitoshi Matsuno, Shigeo Hirose, Hiroyuki Kuwahara, Fumiaki Takemura, Takao Ino, Kensuke Takita, Naoji Shiroma, Tetsushi Kamegawa, Yasushi Hada, Koichi Osuka, Taro Watasue, Tetsuya Kimura, Hiroaki Nakanishi, Yukio Horiguchi, Satoshi Tadokoro, Kazunori Ohno

    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13   1612 - +   2006

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    In this paper, we summarize the findings and know-hows in the individual developments and try to establish guidelines of human-interface design of rescue robots. These guidelines would be useful for the future development of rescue robots. Preliminary guidelines were set from some case studies of the DDT project and RoboCup Rescue. A trial towards the standardized interface is also shown.

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  • Evaluation of snake-like rescue robot "KOHGA" for usability of remote control Reviewed

    T Kamegawa, T Yamasaki, F Matsuno

    2005 IEEE International Workshop on Safety, Security and Rescue Robots   2005   25 - 30   2005

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    In this paper we will discuss the usability of remote control for a snake-like rescue robot named KOHGA. This robot is one of many snake-like robots developed for search and rescue operations. KOHGA is constructed by connecting multiple crawler vehicles serially, thus resulting a long and thin structure. This is a great advantage as the robot can have both the capability to climb over obstacles, and as well as the ability to enter narrow spaces. Moreover, KOHGA can transform into a Scorpion Configuration, where the two CCD cameras positioned at robot's both ends, will provide to the operator a clear view of both the robot and its surroundings. In this paper, the design concept of KOHGA and the evaluation experiments for usability of remote control method are discussed in detail.

    DOI: 10.1109/SSRR.2005.1501269

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  • Development of rescue robotic systems for both daily and emergency use Reviewed

    Naoji Shiroma, Yu Huan Chiu, Tetsushi Kamegawa, Fumitoshi Matsuno, Fumitoshi Matsuno

    2004 1st IEEE Technical Exhibition Based Conference on Robotics and Automation, Proceedings, TExCRA 2004   85 - 86   2004.12

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    In order to improve our life further, it is our inspiration to develop efficient robotic systems that can assist our usual need. The system that we are developing not only bring forward efficiency and credibility for daily usage or research platform, but when natural catastrophes like earthquake happens to strike, our robotic system is also capable of entering post-disaster sites and collect information about victim states that will be transmitted to the human rescuers, so that a more accurate and efficient rescue mission can be carried out. This paper will present the up-to-date information about our robotic system development of two different types of robots, the snake-type and the wheel-type. © 2004 IEEE.

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  • Development of the snake-like rescue robot "KOHGA" Reviewed

    T Kamegawa, T Yamasaki, H Igarashi, F Matsuno

    2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS   2004   5081 - 5086   2004

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    In this paper we report the development of a new rescue robot platform. The robot is constructed by connecting multiple crawler vehicles serially, resulting a long and thin structure so that it can enter narrow space. The units are connected by 2-DOF active joints and 3-DOF passive joints, so that the robot can have both the capability to climb over obstacles as well as adaptation to irregular surfaces. Basic steering and experiments for the robot are also shown.

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  • Cooperative task execution by a multiple robot team and its operators in search and rescue operations. Reviewed

    Noritaka Sato, Fumitoshi Matsuno, Tatsuhiro Yamasaki, Tetsushi Kamegawa, Naoji Shiroma, Hiroki Igarashi

    2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28 - October 2, 2004   1083 - 1088   2004

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  • Analysis of Twisting Mode of Locomotion and GA based Montion Planning for Transition of Locomotion Modes of 3-Dimensional Snake-like Robot Reviewed

    KAMEGAWA Tstsushi, MATSUNO Fumitosi

    JRSJ   21 ( 5 )   509 - 516   2003.7

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    We analyze the the lateral rolling type of locomotion, present path planning of shape transition, and develop a 3-dimensional snake-like robot. First we propose one of a lateral rolling type of locomotion &amp;ldquo;Twisting mode&amp;rdquo; and analyze the principle of the locomotion based on statics. Next, the motion planning using Genetic Algorithm for transition of locomotion modes is explained and simulation results for the GA research are shown. Finally, we explain the designed prototype system and experimental results are shown.

    DOI: 10.7210/jrsj.21.509

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  • Extended QDSEGA for controlling real robots - Acquisition of locomotion patterns for snake-like robot Reviewed

    K Ito, T Kamegawa, F Matsuno

    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS   1   791 - 796   2003

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    Reinforcement learning is very effective for robot learning. Because it does not need prior knowledge and has higher capability of reactive and adaptive behaviors. In our previous works, we proposed new reinforce learning algorithm: "Q-learning with Dynamic Structuring of Exploration Space Based on Genetic Algorithm (QDSEGA)". It is designed for complicated systems with large action-state space like a robot with many redundant degrees of freedom. However the application of QDSEGA is restricted to static systems.
    A snake-like robot has many redundant degrees of freedom and the dynamics of the system are very important to complete the locomotion task. So application of usual reinforcement learning is very difficult.
    In this paper, we extend layered structure of QDSEGA so that it becomes possible to apply it to real robots that have complexities and dynamics. We apply it to acquisition of locomotion pattern of the snake-like robot and demonstrate the effectiveness and the validity of QDSEGA with the extended layered structure by simulation and experiment.

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  • Snake robots to the rescue! Reviewed

    Erkmen, I, AM Erkmen, FT Matsuno, R Chatterjee, T Kamegawa

    IEEE ROBOTICS & AUTOMATION MAGAZINE   9 ( 3 )   17 - 25   2002.9

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    The use of autonomous intelligent robots in search and rescue (SAR) is a new and challenging field of robotics dealing with tasks in extremely hazardous and complex disaster environments. Intelligent, biologically inspired mobile robots and, in particular serpetine mechanisms have turned out to be widely used robot types, providing effective, immediate, and reliable responses to many SAR operations. This paper outlines the challenges of serpentine search robot hardware, sensor-based path planning, and control design.

    DOI: 10.1109/MRA.2002.1035210

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  • Serpentine Search Robots in Rescue Operations Reviewed

    Ismet Erkmen, Aydan M. Erkmen, Fumitoshi Matsuno, Ranajit Chatterjee, Tetsushi Kamegawa

    IEEE Robotics and Automation Magazine   9 ( 3 )   17 - 25   2002

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  • Proposition of twisting mode of locomotion and GA based motion planning for transition of locomotion modes of 3-dimensional snake-like robot Reviewed

    T Kamegawa, F Matsuno, R Chatterjee

    2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS   2   1507 - 1512   2002

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    We present a new type of locomotion mode, path planning of shape transition, and design and implementation of a 3-dimensional hyper-redundant snake-like robot. First we explain the multiple locomotion modes, for example ring mode, inching mode, bridge mode, and so on. We propose a new type of locomotion "Twisting mode" and analyze the principle of the locomotion based on statics. Next, the motion planning using Genetic Algorithm for transition of locomotion modes is explained and simulation result for the GA research is shown. Finally, we explain the designed prototype system and experimental results are shown.

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Books

  • 医工連携による機器・材料の開発

    亀川哲志, 松野隆幸, 平木隆夫( Role: Contributor ,  第7章 CTガイド下針穿刺ロボットの開発)

    シーエムシー出版  2021.2 

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  • Disaster Robotics --Results from the ImPACT Tough Robotics Challenge--

    ( Role: Contributor ,  Chapter 6 Development of Tough Snake Robot Systems, Springer)

    2019.2 

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  • ロボット制御学ハンドブック

    ( Role: Contributor ,  16.6.3 螺旋捻転運動によりパイプ内を移動するヘビ型ロボット)

    近代科学社  2017 

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  • システム工学実験 : Unix環境でのプログラム開発とODEを使った動力学シミュレーション

    亀川, 哲志( Role: Sole author)

    岡山大学出版会  2014.3  ( ISBN:9784904228371

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  • Rescue Robotics, DDT Project on Robots and Systems for Urban Search and Rescue

    ( Role: Contributor ,  Chapter 6 On-Rubble Robot Systems for the DDT Project, Chaper 7 Design Guidelines for Human Interface for Rescue Robots)

    Springer  2009 

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  • 次世代のプラント運転支援技術

    ( Role: Contributor ,  第3章 次世代のプラント運転支援システム構築のための要素技術,第13節 ロボットの移動機構)

    大学教育出版  2007 

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  • 新版 ロボット工学ハンドブック

    ( Role: Contributor ,  第8編 ロボット応用システム 第4章特殊環境・特殊作業への応用(図4.4 ヘビ型ロボット用2自由度ユニットの図))

    コロナ社  2005 

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MISC

  • CTガイド下IVR用針穿刺ロボット(Zerobot) Invited

    平木隆夫, 亀川哲志, 松野隆幸, 谷本圭司

    山陽技術雑誌   69   3 - 5   2021

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  • 移動ロボットによる画像認識を考慮した壁面調査アルゴリズム Invited

    吉﨑悠介, 亀川哲志

    画像ラボ   31 ( 11 )   19 - 26   2020.11

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  • CTガイド下IVR用針穿刺ロボット(Zerobot)の開発 現況と将来展望 Invited Reviewed

    平木 隆夫, 亀川 哲志, 松野 隆幸, 櫻井 淳, 小牧 稔幸, 金澤 右

    日本インターベンショナルラジオロジー学会雑誌   34 ( Suppl. )   155 - 155   2019.5

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  • ロボット下IVRの現状と将来展望 CTガイド下IVR用針穿刺ロボットの現状と将来展望

    平木 隆夫, 金澤 右, 小牧 稔幸, 亀川 哲志, 松野 隆幸, 櫻井 淳

    臨床画像   35 ( 4 )   474 - 479   2019.4

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  • CTガイド下針穿刺ロボット(Zerobot)の現状と今後の展望

    平木隆夫, 亀川哲志, 松野隆幸, 櫻井淳, 金澤右

    Bio Clinica   34 ( 3 )   303‐307 - 307   2019.3

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    CTガイド下に行うIVRには、がんの治療であるアブレーションや生検、ドレナージなど様々な手技がある。針を穿刺するのみで実施可能であるため低侵襲であり、超高齢化社会におけるがん医療として需要が高まっている。我々は、2012年からCTガイド下IVR用の針穿刺ロボット(Zerobot)を開発している。様々な非臨床試験によりロボットの安全性と性能を評価した後、2018年にはFirst-in-Humanの臨床試験を特定臨床研究として実施した。今後は治験を実施し、ロボットの薬事承認すなわち製品化を目指す予定である。(著者抄録)

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  • Zerobot®: A Remote-controlled Robot for Needle Insertion in CT-guided Interventional Radiology Developed at Okayama University.

    Takao Hiraki, Tetsushi Kamegawa, Takayuki Matsuno, Toshiyuki Komaki, Jun Sakurai, Susumu Kanazawa

    Acta medica Okayama   72 ( 6 )   539 - 546   2018.12

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    Since 2012, we have been developing a remote-controlled robotic system (Zerobot®) for needle insertion during computed tomography (CT)-guided interventional procedures, such as ablation, biopsy, and drainage. The system was designed via a collaboration between the medical and engineering departments at Okayama University, including various risk control features. It consists of a robot with 6 degrees of freedom that is manipulated using an operation interface to perform needle insertions under CT-guidance. The procedure includes robot positioning, needle targeting, and needle insertion. Phantom experiments have indicated that robotic insertion is equivalent in accuracy to manual insertion, without physician radiation exposure. Animal experiments have revealed that robotic insertion of biopsy introducer needles and various ablation needles is safe and accurate in vivo. The first in vivo human trial, therefore, began in April 2018. After its completion, a larger clinical study will be conducted for commercialization of the robot. This robotic procedure has many potential advantages over a manual procedure: 1) decreased physician fatigue; 2) stable and accurate needle posture without tremor; 3) procedure automation; 4) less experience required for proficiency in needle insertion skills; 5) decreased variance in technical skills among physicians; and 6) increased likelihood of performing the procedure at remote hospitals (i.e., telemedicine).

    DOI: 10.18926/AMO/56370

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  • Development and Future Extension of Snake-like Robots on ImPACT TRC Project Reviewed

    松野 文俊, 亀川 哲志, 竹森 達也, 田中 基康, 多田隈 建二郎, 鈴木 陽介, 坂東 宜昭, 糸山 克寿, 奥乃 博, 藤原 始史

    日本ロボット学会誌 = Journal of the Robotics Society of Japan   35 ( 10 )   720 - 726   2017.12

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    DOI: 10.7210/jrsj.35.720

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  • 特集連載記事 岡山大学におけるプラント安全技術関連の研究・教育

    鈴木 和彦, 五福 明夫, 亀川 哲志, 麓 敦子

    保全学 = Maintenology   15 ( 4 )   8 - 17   2017.1

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  • ImPACT TRC太索状ロボットのシステム統合化と評価実験 Reviewed

    松野文俊, 伊藤一之, 亀川哲志, 田中基康, 有泉亮, 奥乃博, 大道武生, 芦澤怜史, 鈴木陽介, 多田隈建二郎, 伊達央, 藤原始史, 竹森達也, 坂東宜昭

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2017 ( 0 )   1P2 - Q01   2017

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    Language:Japanese   Publisher:一般社団法人 日本機械学会  

    DOI: 10.1299/jsmermd.2017.1P2-Q01

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  • Development of a snake robot moving in a pipe with helical rolling motion:-Integration of a snake robot with tactile pressure sensors and a sound-based localization sensor and its demonstration- Reviewed

    KAMEGAWA Tetsushi, SUZUKI Yosuke, BANDO Yoshiaki, G. Okuno Hiroshi, Qi Wei, SUHARA Hiroki, MATSUDA Eriko, AKIYAMA Taichi, SAKAI Satoshi, TAKEMORI Tatsuya, FUJIWARA Tomofumi, MATSUNO Fumitoshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017 ( 0 )   1P2 - Q02   2017

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    <p>We are developing a snake robot for using it in a real plant to inspect pipes in the plant. The snake robot is constructed by connecting pitch axis and yaw axis alternately. The snake robot can move the inside and outside of a pipe with helical rolling motion. We integrated the snake robot with tactile pressure sensors and a sound-based localization sensor to make it high functional system for pipe inspection. The integrated snake robot was demonstrated in a test field with straight pipes and bending pipes to show the ability of mobility of the snake robot and the functions of sensors.</p>

    DOI: 10.1299/jsmermd.2017.1P2-Q02

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  • 【穿刺とドレナージ〜IVRの基礎と応用】 CT透視下IVR用針穿刺ロボット(Zerobot)の開発

    平木 隆夫, 亀川 哲志, 松野 隆幸, 櫻井 淳, 桐田 泰三, 三宅 徹, 谷本 圭司, 金澤 右

    Rad Fan   14 ( 9 )   61 - 64   2016.7

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    我々は、CT透視下IVR用針穿刺ロボットを開発している。ロボットは、6自由度の動作が可能で、術者が遠隔よりマスターコントローラを操作することにより、CT透視下の針穿刺が可能である。本ロボットを使用すれば、手ブレのない正確な針穿刺が術者被曝ゼロで可能となる。今後は製販業者と連携し、臨床試験(治験)の実施、医療機器の承認・上市を目指したい。(著者抄録)

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  • CT透視下で針穿刺を行うロボットの開発

    亀川哲志, 松野隆幸, 平木隆夫

    Isotope News (Web)   ( 746 )   2016

  • 2A2-O01 Development of Crank Mechanism One-Legged Jumping Robot with a Hip Joint

    NISHIMOTO Sho, MATSUOKA Haruki, KAMEGAWA Tetsushi, GOFUKU Akio

    2015   "2A2 - O01(1)"-"2A2-O01(4)"   2015.5

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    We have developed one-legged jumping robots using crank mechanism. The robot has a spring and a motor and it succeeded in continuous jumping supported by a stand to restrain its motion in the vertical direction of one degree of freedom. In this study, we improved the one-legged jumping robot in order to remove the stand from the robot and to jump continuously without falling in three degrees of freedom on a vertical two-dimensional plane. The robot is constructed by adding a hip joint to the previous robot. We also developed smaller robot. Some experiments are conducted to verify the robot. The experimental results of implementing a posture stabilization control are shown.

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  • 2P1-Q02 A Proposal of Across-pipe Motion for a Snake Robot

    KOMATSU Makoto, KAMEGAWA Tetsushi, GOFUKU Akio

    2015   "2P1 - Q02(1)"-"2P1-Q02(4)"   2015.5

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    Researches for snake robots has been studied and they are hoped to be made practicable. In this research, it is assumed that environments where snake robots work constructed by pipes which are arranged parallel and densely. We made a snake robot which has joints of yaw and pitch using servo motor Dynamixel XL-320, and software to control the robot. This robot is so tiny that we accomplish a task of elevation in the mock environment using helical-rolling motion. In addition, we propose a new motion so we call as across-pipes motion which can move from a pipe to another pipe.

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  • CT透視下針穿刺用ロボット開発の歩み 術者被ばくゼロのIVRを目指して

    平木 隆夫, 亀川 哲志, 松野 隆幸, 金澤 右

    IVR: Interventional Radiology   29 ( 4 )   375 - 381   2014.12

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    CT透視システムは、血管内治療のガイディングツールとして極めて有用である。しかし、術者はCTガントリーの近くで手技を行うため、CT透視を用いている間に被曝する。術者が遠隔操作するロボットで針穿刺を行えば、術者の被曝は避けることができる。著者らは、術者の被曝ゼロを実現する遠隔操作可能なCT透視ガイド下針穿刺用のロボットの開発を行っている。これまでのロボット開発の歩みと今後の展望について述べた。

    DOI: 10.11407/ivr.29.375

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    Other Link: https://search.jamas.or.jp/index.php?module=Default&action=Link&pub_year=2014&ichushi_jid=J02793&link_issn=&doc_id=20141229330006&doc_link_id=10.11407%2Fivr.29.375&url=https%3A%2F%2Fdoi.org%2F10.11407%2Fivr.29.375&type=J-STAGE&icon=https%3A%2F%2Fjk04.jamas.or.jp%2Ficon%2F00007_2.gif

  • Development of a robot for CT fluoroscopy-guided interventional procedures

    平木 隆夫, 金澤 右, 亀川 哲志

    月刊新医療   41 ( 8 )   120 - 122   2014.8

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  • From RoboCup Rescue to Disaster-Response Operations Reviewed

    MATSUNO Fumitoshi, KAMEGAWA Tetsushi, SATO Noritaka, KON Kazuyuki

    計測と制御 = Journal of the Society of Instrument and Control Engineers   52 ( 6 )   495 - 502   2013.6

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  • 0716 Evaluation and Improvement of GUI for remote control of plural rescue robots

    NISHIHASHI Tetsuro, KAMEGAWA Tetsushi, GOFUKU Akio, SATO Noritaka, MATSUNO Fumitoshi

    2009 ( 22 )   119 - 119   2010.1

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  • Rescue robot systems - Development of high-functionality multiple robot system and robust/scalable information infrastructure

    Fumitoshi Matsuno, Tetsushi Kamegawa, Noritaka Sato, Michinori Hatayama, Hisashi Mizumoto, Shinsuke Oh-hara, Yojiro Uo, Keiichi Shima

    Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO   87 - 91   2010

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    We have constructed a new system for searching the inside of damaged buildings by grouped robots. Especially, we developed a new wireless ad-hoc network system called 'Robohoc network' system. It is necessary to communicate information such as commands to robots and sensor data to an operator including video images stably with considering not to break down all network performance. In this paper, an outline of each constructed element and an example of methodology how to integrate each element such as robots, network, user interface and data server are shown. ©2010 IEEE.

    DOI: 10.1109/ARSO.2010.5679618

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  • Improvement of a simulator of spherical motor driven by electromagnets

    YAMANISHI Akihiro, GOFUKU Akio, KAMEGAWA Tetsushi, IKESHITA Seiji

    2009 ( 47 )   35 - 39   2009.10

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  • 1A2-H03 Evaluation of plural rescue robots remote control GUI and multi hop wireless network device distributing system

    NISHIHASHI Tetsuro, MATSUSHITA Fumiya, MURAKAMI Norihiko, KAMEGAWA Tetsushi, GOFUKU Akio, SATO Noritaka, OOMURA Seiji, UO Youjiro, MATSUNO Fumitoshi

    2009   "1A2 - H03(1)"-"1A2-H03(4)"   2009.5

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    We developed new rescue robot system that plural rescue robots are remotely controlled by one operator. In this system, a pioneer type robot put multi hop wireless network devices to extend area that surveyor type robots are able to search victims and surroundings in a damaged building. In this paper, evaluation of GUI interface to operate plural rescue robots and distributing system of wireless network device are shown.

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  • 2P1-B03 Improvement of a spherical-motor driven by electro-magnetic force

    Yamanishi Akihiro, Ikeshita Seiji, Gofuku Akio, Shibata Mitsunobu, Kamegawa Tetsushi

    2009   "2P1 - B03(1)"-"2P1-B03(4)"   2009.5

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    A prototype spherical motor driven by electro-magnets was studied and developed in the previous study. The whole radius is 110[mm], the rotor radius is 50[mm], the maximum torque is 0.06[Nm], and the maximum rotation angular velocity is 6.5[rad/sec]. This paper reports the several investigations to improve the performance of the motor and to decrease its size. In improving performance, the new spherical motor is developed, where 92 permanent magnets are attached on inner surface of the rotor. The new motor outputs about 3 times torque of the prototype. On the other hands, in designing small spherical motor, the specifications of electro-magnet and permanent magnet are examined using an extended simulator for a small spherical motor whose whole radius is 25[mm] and rotor radius is 15[mm].

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  • 1502 Simultaneous localization and mapping for multiple mobile robots with LRF

    Yoshida Kohei, KAMEGAWA Tetsushi, GOFUKU Akio

    2009 ( 47 )   515 - 516   2009.2

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  • On-rubble robot systems for the DDT Project

    Fumitoshi Matsuno, Takashi Tsubouchi, Shigeo Hirose, Iwaki Akiyama, Takao Inoh, Michele Guarnieri, Kenji Kawashima, Takahiro Sasaki, Naoji Shiroma, Tetsushi Kamegawa, Kazunori Ohno, Satoshi Tadokoro, Noritaka Sato, Yoshikazu Inoue, Takahide Takeuchi, Hideyuki Tsukagoshi, Masashi Sasaki, Ato Kitagawa, Takahiro Tanaka, Yasuhiro Masutani, Haruo Soeda, Koichi Osuka, Masamitsu Kurisu, Tomoharu Doi, Tadahiro Kaneda, Xin-Zhi Zheng, Hiroshi Sugimoto, Noriyuki Matsuoka, Teruaki Azuma, Masahiro Hatsuda

    Rescue Robotics: DDT Project on Robots and Systems for Urban Search and Rescue   105 - 129   2009

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    Intelligent rescue systems with advanced information and robot technology have been expected to mitigate disaster damage, particularly in Japan after the 1995 Hanshin-Awaji Earthquake. It is important that the robots developed for search and rescue tasks can actually work at a real disaster site. Several robots were used for the search and detection operation in the collapsed World Trade Center building in September 2001. In 2002, the DDT Project (Special Project for Earthquake Disaster Mitigation in Urban Areas, III-4 Development of Advanced Robots and Information Systems for Disaster Response) was launched by MEXT (Ministry of Education, Culture, Sports, Science and Technology, Japan). It was a 5-year project for 2002-2007. It aimed at developing necessary technologies for mitigating the damage caused by large-scale earthquakes of the scale of the Great Hanshin-Awaji Earthquake, occurring in densely populated areas in big city regions such as the Tokyo metropolitan area and Keihanshin area. In this paper, we introduce the activities of the mission unit for the information collection by on-rubble mobile platforms. © 2009 Springer London.

    DOI: 10.1007/978-1-84882-474-4_6

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  • Design guidelines for human interface for rescue robots

    Yasuyoshi Yokokohji, Takashi Tsubouchi, Akichika Tanaka, Tomoaki Yoshida, Eiji Koyanagi, Fumitoshi Matsuno, Shigeo Hirose, Hiroyuki Kuwahara, Fumiaki Takemura, Takao Inoh, Kensuke Takita, Naoji Shiroma, Tetsushi Kamegawa, Yasushi Hada, Xin-Zhi Zheng, Koichi Osuka, Taro Watasue, Tetsuya Kimura, Hiroaki Nakanishi, Yukio Horiguchi, Satoshi Tadokoro, Kazunori Ohno

    Rescue Robotics: DDT Project on Robots and Systems for Urban Search and Rescue   131 - 144   2009

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    In this chapter, we summarize the findings and knowhow in the individual developments of rescue robots and attempt to establish design guidelines for the human interface for rescue robots. The guidelines for image display were established on the basis of some case studies in the DDT project and RoboCupRescue. Since the established guidelines are general and independent of the purpose of a robot, we decided to build a standardized image display prototype. After introducing some implementation examples based on our guidelines, the standardized image display prototype is presented. The established guidelines would be useful for the future development of rescue robots. Further, the prototype image display is a good example of a standardized interface testbed. © 2009 Springer London.

    DOI: 10.1007/978-1-84882-474-4_7

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  • C05 A computer simulator of a driven by electro-magnets

    IKESHITA Seiji, NAGAI Takakazu, GOFUKU Akio, KAMEGAWA Tetsushi

    2008   97 - 98   2008.10

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  • C08 Development of grouped rescue robot platforms for information collection in damaged buildings : Design of software for remote operating of plural robots under ad-hoc network

    KAMEGAWA Tetsushi, SATO Noritaka, MATSUNO Fumitoshi, FUJITA Sho, SHIMA Keiichi, UO Yojiro

    2008   103 - 104   2008.10

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  • C09 Obstacle avoidance in a narrow space by a connected vehicle with infrared sensor

    OGINO Hiroyuki, KAMEGAWA Tetsushi, GOFUKU Akio

    2008   105 - 106   2008.10

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  • 1A1-C03 Development of spherical-motor by the electromagnet drive

    IKESHITA Seiji, GOFUKU Akio, NAGAI Takakazu, SHIBATA Mitsunobu, KAMEGAWA Tetsushi

    2008   "1A1 - C03(1)"-"1A1-C03(2)"   2008.6

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    This study develops a spherical motor driven by electromagnetic force. The motor is composed of a rotor and stator. The rotor has permanent magnets. The stator has electromagnets. The electromagnets are excited to rotate the rotor by the excitation pattern generated in a control PC. We confirmed that the spherical motor rotates in omnidirection by rotation experiments.

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  • 1116 Evaluation of a remote advice system with a laser pointer for a surgeon doctor

    TAKAMI Kimiaki, GOFUKU Akio, KAMWGAWA Tetsushi

    2008 ( 46 )   439 - 440   2008.2

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  • 2A1-A03 Realization of cylinder climbing locomotion by a wheeled snake-like robot

    HARADA Takaaki, KAMEGAWA Tetsushi, GOFUKU Akio

    2007   "2A1 - A03(1)"-"2A1-A03(4)"   2007.5

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    Recently, multiple locomotion gaits of snake has been realized by snake-like robots. For example, undulation propulsion, side winding propulsion and measuring worm propulsion are realized. In addition, a locomtion gait called "lateral rolling" that real snake does not achieve is realized. However, those previous locomotion gaits are limited on two-dimensional plane. In this study, we develop a snake-like robot that is constructed by assembling five units. One unit is composed by one pitch axis and one yaw axis, and can have two passive wheels. We realize previously presented locomotion gaits of snake with this robot. In addition, we realize cylinder climbing locomotion in three-dimensional plane that this robot coils itself to a cylinder and climbs it by lateral rolling.

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  • 1205 Localization and mapping for a mobile robot with LRF in the environment which include moving objects

    NISHIMURA Tomoki, KAMEGAWA Tetsushi, GOFUKU Akio

    2007 ( 45 )   455 - 456   2007.3

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  • 1106 Analysis and control for a snake like robot moving on a cylinder surface

    KUBO Kazuyuki, KAMEGAWA Tetsushi, GOFUKU Akio

    2007 ( 45 )   417 - 418   2007.3

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  • 1105 Realization of cylinder climbing locomotion by a snake-like robot which has multiple locomotion modes

    HARADA Takaaki, KAMEGAWA Tetsushi, GOFUKU Akio

    2007 ( 45 )   415 - 416   2007.3

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  • 1116 Dynamical simulation and connected cooperative control method for the rescue crawler vehicle HELIOS Carrier

    KAWAHARA Fumiaki, KAMEGAWA Tetsushi, MATSUNO Fumitoshi, GOFUKU Akio

    2007 ( 45 )   437 - 438   2007.3

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  • RTLinux/Pro V1.1を使ったロボット開発事例 4足ロボット歩行用アプリケーションの構築

    亀川哲志

    インターフェイス増刊 Embedded Unix   2   100 - 105   2007

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  • 2P2-D29 Development of three legged modular robot and achievement of cooperation working

    OHIRA Masaki, KAMEGAWA Tetsushi, MATSUNO Fumitoshi

    2006   "2P2 - D29(1)"-"2P2-D29(4)"   2006

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    We have developed three legged modular robot. The robot unites mutually and achieves works that cannot be done one module by cooperating each other. Our research aim is to gather information efficiently in the disaster scene. In this paper,we report the construction of hardware and software of the developed robot, and experiment of cooperation working.

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  • 2P2-D20 Detection of footholds with leg-grope and safety walking for quadruped robots on irregular terrain

    OTANI Kouichi, KAMEGAWA Tetsushi, MATSUNO Fumitoshi

    2006   "2P2 - D20(1)"-"2P2-D20(4)"   2006

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    When a legged-robot walks on an irregular terrain such as a stricken area, some footholds may be collapsed by the force that the robot generates during its walking, and consequently the robot stumbles and falls. In this study we propose locomotion method that will not cause collapse of the environment by the robot walking. Furthermore, we propose a new knowledge for "leg-grope" and its domain that can detect the footholds without strumbling and falling.

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  • 2P2-D28 Development of unit-type rescue robot "KOHGA2"

    MIYANAKA Hitoshi, WADA Norihiko, KAMEGAWA Tetsushi, IGARASHI Hiroki, MATSUNO Fumitoshi

    2006   "2P2 - D28(1)"-"2P2-D28(4)"   2006

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    To search victims in the narrow space at the disaster scene, We have developed the snake-like rescue robot called "KOHGA". The robot is constructed by connecting multiple crawler vehicles serially, and each vehicle is connected by joints. KOHGA has a problem that obstacles are caught in the joints and then the robot is stuck. To solve this problem, we developed "KOHGA2", which is unit-type robot and can be rearranged. The robot can rotate crawlers and avoid stuck by using the crawler arms. In this paper, we report the construction of hardware and system of KOHGA2, basic mobility performance, and the stuck avoidance strategy.

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  • 2P2-D27 Development and test of fundamental action of Snake-Like Robot with Driving Mechanism based on Screw Principle

    HARA Masaya, SATOMURA Syougo, KAMEGAWA Tetsushi, IGARASHI Hiroki, MATSUNO Fumitoshi

    2006   "2P2 - D27(1)"-"2P2-D27(4)"   2006

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    In this paper, we propose a snake-like robot with new driving mechanism based on screw principle to drive on or into debris in the stricken area for searching task. We report the construction of hardware and software of this robot , and control strategy for this robot.

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  • ヘビ型レスキューロボットKOHGA--遠隔操作性を考慮したヘビ型ロボットの開発 (大学ベンチャー(1))

    亀川 哲志, 松野 文俊

    画像ラボ   16 ( 7 )   55 - 60   2005.7

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  • Control for serially connected multiple-vehicle robot "KOHGA"

    Kamegawa T, Yamasaki T, Matsuno F

    2004   123 - 123   2004.6

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  • 1P1-A1 Development and Control of 3-dimensional Hyper Redundant Robot with Multiple Modes of Locomotion : 2nd Report : Realization of V-shape Vode of Locomotion

    Kamegawa T., Matsuno F.

    2001   19 - 19   2001.6

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Presentations

  • Consideration of a System that a Mobile Robot Automatically Recovers from the Case of Lost Wireless Communication

    Sota Nakano, Tetsushi Kamegawa, Akio Gofuku

    Proceedings of STSS/ISOFIC/ISSNP 2021  2021.11 

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  • Examination of a System that Remotely Controls a Mobile Robot by 3D Stereoscopic Vision Using a Stereo Camera and HMD

    Taiga Teshima, Tetsushi Kamegawa, Akio Gofuku

    Proceedings of STSS/ISOFIC/ISSNP 2021  2021.11 

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  • Simulation of Needle Bending Estimation in Puncture Robot

    2021.5.26 

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    Event date: 2021.5.26

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  • Simulation to Detect Collision with a Patient for a Puncture Robot on Preplanning of surgery

    SAKAI Nanako, MATSUNO Takayuki, KIDO Naoki, KAMEGAWA Tetsushi, HIRAKI Takao, TODA Yuichiro, MINAMI Mamoru

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2020  The Japan Society of Mechanical Engineers

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    Event date: 2020

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    <p>In recent years, interventional radiology (IR) which is a medical procedure has been attracting considerable attention. Since this surgical method is less invasive, the number of this surgery tends to increase. However, doctors are exposed to strong radiation in the case under CT-guidance. In order to overcome this problem, we developed remote-controlled IR assistance robot. When doctors operate by remote control, there is possibility that parts of the robot collide with peripheral devices or a patient. Especially, if in the case of collision with the patient, it could become a serious incident. Accordingly, it is important to build a suitable path plan of the needle insertion before the surgery. Doctors, however, currently, do not have methods to grasp the possibility of the collision. Therefore, a simulation which detect collision with a patient in the advanced planning is proposed in this paper. The effectiveness of proposed simulation is confirmed.</p>

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  • Abnormal Insertion Detection by GMRF Mixture Model for Needle Insertion Robot

    立花優伍, 亀川哲志, 松野隆幸, 平木隆夫, 五福明夫

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2020 

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  • The development of needle gripper of a remote needle release mechanism for CT guided needle puncture robot

    三木雄太, 亀川哲志, 谷本圭司, 松野隆幸, 平木隆夫, 五福明夫

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2020 

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  • Needle Bend Restrain Algorithms by Using a Floating Mechanism

    MIYAMOTO Takaaki, MATSUNO Takayuki, MURAKAMI Hikaru, KAMEGAWA Tetsushi, HIRAKI Takao, TODA Yuichiro, MINAMI Mamoru

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2020  The Japan Society of Mechanical Engineers

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    Event date: 2020

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    <p>In recent years, interventional radiology (IR) which is a medical procedure has been attracting considerable attention. Since this surgical method is less invasive, but doctors are exposed to strong radiation in the case under CT-guidance. In order to overcome this problem, we developed remote-controlled IR assistance robot. We are currently developing an automated puncture system. Deviation of puncture point on body surface causes needle deflection during the automatic puncture. Because the needle deflection grows with the inserted depth, it makes the needle difficult to reach the target tumor. So as to solve them, the floating mechanism is developed to suppress needle deflection. Displacement sensor on floating mechanism can measure the movement of the floating part. In addition, the puncture reaction force can be measured by the force sensor on the robot. Algorithms to suppress the needle deflection using this information are proposed in this paper.</p>

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  • Development of a simulator using Coopeliasim for a CT-guided needle insertion robot

    梅枝正典, 亀川哲志, 平木隆夫, 松野隆幸, 五福明夫

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2020 

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  • Detection of abnormal states of insertion by a force sensor for a CT-guided needle insertion robot

    TACHIBANA Yugo, KAMEGAWA Tetsushi, MATSUNO Takayuki, HIRAKI Takao, TANIMOTO Keiji, GOFUKU Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2019  The Japan Society of Mechanical Engineers

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    Event date: 2019

    Language:Japanese  

    <p>A remote-controlled robot for CT-guided needle insertion has been developed to prevent a doctor from radiation exposure. However, it is difficult for a doctor to recognize abnormal states of insertion when the doctor uses the robot because the doctor cannot obtain force sense information from the needle directly. Such an abnormal state occurs when a needle contacts with a bone. Therefore, we propose detecting abnormal states of insertion if force sensor value exceed a threshold and stopping the robot automatically. First, we conducted experiments to determine thresholds. We measured force values when a doctor feels the sign of plastic deformation in needles. In consideration of the stop time delay, thresholds were set by subtracting the rise values of force from the measured force values. Then, we verified that the robot can stop appropriately by the thresholds without occurring plastic deformation.</p>

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  • ロボティックIVRにおけるマニピュレータと周辺環境との接触判定アルゴリズム

    城戸脩希, 松野隆幸, 亀川哲志, 平木隆夫, 見浪護

    日本ロボット学会学術講演会予稿集(CD-ROM)  2019 

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    Event date: 2019

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  • CT透視ガイド下針穿刺ロボツトの臨床試験により得られた穿刺力データの解析

    亀川哲志, 松野隆幸, 平木隆夫

    日本ロボット学会学術講演会予稿集(CD-ROM)  2019 

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    Event date: 2019

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  • CT透視ガイド下針穿刺ロボットの半自動化のためのシステム構築

    斎藤奎介, 亀川哲志, 松野隆幸, 平木隆夫, 五福明夫

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2019 

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    Event date: 2019

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  • 穿刺手術ロボットのボリュームCT画像を用いた針の姿勢補正手法の検討

    松野隆幸, 亀川哲志, 平木隆夫, 見浪護

    ロボティクスシンポジア予稿集  2019 

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    Event date: 2019

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  • The Study about Estimating a Form of Needle by Using a Force Sensor Information for Puncture Robot

    MURAKAMI Hikaru, MATSUNO Takayuki, KIMURA Kazushi, KAMEGAWA Tetsushi, HIRAKI Takao, MINAMI Mamoru, TODA Yuichiro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2019  The Japan Society of Mechanical Engineers

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    Event date: 2019

    Language:Japanese  

    <p>In recent years, interventional radiology (IR) which is a medical procedure has been attracting considerable attention. Since this surgical method is less invasive, but doctors are exposed to strong radiation in the case under CT-guidance. In order to overcome this problem, we developed remote-controlled IR assistance robot. As a research topic, automated needle puncturing by the robot is focused on. However, currently the robot cannot obtain CT image in real time. So, the robot cannot obtain the form of needle based on CT image and cannot control state of needle accurately. On the other hands, we aim that the robot moves automatically for restraining a bend of needle. As the first step for this, the method to estimate a form of needle by using a force sensor information is proposed in this paper. If a form of the needle is displayed in user interface, it become easy for doctors to remove a bend of the needle during surgery with remote-controlled IR assistance robot. Additionally, we conducts the experiment to confirm effectiveness of proposed method.</p>

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  • CT透視下IVRロボットの自動穿刺に関する研究

    松野隆幸, 城戸脩希, 村上輝, 亀川哲志, 平木隆夫, 戸田雄一郎, 見浪護

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2019 

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    Event date: 2019

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  • CTガイド下IVR用針穿刺ロボットZerobotの開発 Invited

    亀川哲志

    第29回日本コンピュータ外科学会 シンポジウム(1)「本邦におけるロボット支援手術の今後の展開」  2020.11.22 

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    Presentation type:Symposium, workshop panel (nominated)  

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  • ロボット技術の社会実装に向けて -災害対応ロボットと医療ロボットー Invited

    亀川哲志

    計測自動制御学会中国支部 講演会  2019.9.27 

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    Presentation type:Public lecture, seminar, tutorial, course, or other speech  

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  • ヘビ型ロボットの開発と応用性 Invited

    亀川哲志

    日本原子力学会2018秋の大会 企画セッション プラント運転・保守へのロボット技術の適用  2018.9.5 

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    Presentation type:Oral presentation (invited, special)  

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  • ボリュームCT画像情報を用いた針穿刺ロボットの姿勢修正に関する研究

    松野隆幸, 亀川哲志, 平木隆夫, 木村和志, 城戸脩希, 見浪護

    日本ロボット学会学術講演会予稿集(CD-ROM)  2018.9.4 

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  • ヘビ型ロボットの開発と応用性

    亀川哲志

    日本原子力学会秋の大会予稿集(CD-ROM)  2018.8.20 

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  • ImPACT TRCにおけるタフなヘビ型ロボットの開発

    亀川哲志, QI Wei, 須原大貴, 松田絵梨子, 秋山太一, 酒井聡志, 宇根和志, 竹森達也, 藤原始史, 松野文俊, 鈴木陽介, 坂東宜昭, 糸山克寿, 奥乃博

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6.1 

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  • スポンジゴムチューブで全身を覆った防塵防水ヘビ型ロボットの開発

    酒井聡志, 亀川哲志, 五福明夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6.1 

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  • 角ダクト内移動のためのヘビ型ロボットの楕円螺旋捻転運動

    宇根和志, 亀川哲志, 五福明夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6.1 

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  • 螺旋縦波運動により配管外周の分岐点をすり抜けるヘビ型ロボットの実現

    QI Wei, 亀川哲志, 五福明夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6.1 

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  • CT透視ガイド下針穿刺ロボットの自動ターゲティングの実現

    斎藤奎介, 亀川哲志, 松野隆幸, 平木隆夫, 五福明夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6.1 

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  • CTガイド下針穿刺ロボットの術前レジストレーション機能の実現 3次元画像による穿刺経路の確認

    松野隆幸, 亀川哲志, 平木隆夫, 木村和志, 城戸脩希, 見浪護

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6.1 

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  • CT透視ガイド下針穿刺ロボットのためのジャミング転移現象を利用した剛性可変グリッパの試作

    横内健人, 亀川哲志, 松野隆幸, 平木隆夫, 五福明夫, 多田隈建二郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6.1 

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  • 全身感じるヘビ型ロボットの開発

    秋山太一, 亀川哲志, 鈴木陽介, 藤原始史, 五福明夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6.1 

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  • Snake Robot Teleoperation and Information Visualization Interface for Pipe Inspection

    藤原 始史, 竹森 達也, 斉 偉, 亀川 哲志, 鈴木 陽介, 坂東 宜昭, 奥乃 博, 松野 文俊

    システム制御情報学会研究発表講演会講演論文集  2018.5.16 

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  • Proposal of a needle trajectory correction policy for a needle insertion robot based on a doctor's insertion

    高山 和真, 亀川 哲志, 松野 隆幸, 平木 隆夫, 五福 明夫

    システム制御情報学会研究発表講演会講演論文集  2018.5.16 

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  • Calibration of kinematic parameters for a CT-guided needle insertion robot

    斎藤 奎介, 亀川 哲志, 松野 隆幸, 平木 隆夫, 五福 明夫

    システム制御情報学会研究発表講演会講演論文集  2018.5.16 

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  • Evaluation of a stiffness changeable gripper for a CT-guided needle insertion robot

    横内 健人, 亀川 哲志, 松野 隆幸, 平木 隆夫, 五福 明夫

    システム制御情報学会研究発表講演会講演論文集  2018.5.16 

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  • Development and Future Extension of Snake-like Robots on ImPACT TRC Project

    松野 文俊, 亀川 哲志, 竹森 達也, 田中 基康, 多田隈 建二郎, 藤田 政宏, 鈴木 陽介, 坂東 宜昭, 糸山 克寿, 奥乃 博, 藤原 始史, 伊達 央, 有泉 亮

    システム制御情報学会研究発表講演会講演論文集  2018.5.16 

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  • 岡山大学におけるCT透視下針穿刺ロボットの研究開発の概要

    システム制御情報学会研究発表講演会  2018 

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  • 螺旋捻転運動を基本として狭隘空間を移動するヘビ型ロボットの開発

    システム制御情報学会研究発表講演会  2018 

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  • 穿刺ロボット手術のためのCT画像を用いた針の姿勢補正

    システム制御情報学会研究発表講演会  2018 

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  • 針のCT撮像を利用したCT透視ガイド下針穿刺ロボットのレジストレーションおよびターゲティングの自動化

    亀川 哲志, 石井 創, 松野 隆幸, 平木 隆夫, 五福 明夫

    日本コンピュータ外科学会誌  2017.10 

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  • 穿刺ロボットにおける針のたわみ力を用いた軌道生成

    ロボティクス・メカトロニクス講演会2017  2017 

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  • ImPACT-TRC 太索状ロボットのシステム統合化と評価実験

    ロボティクス・メカトロニクス講演会2017  2017 

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  • 移動ロボットにおける CAN の脆弱性をついた DOS 攻撃となりすましの実証

    ロボティクス・メカトロニクス講演会2017  2017 

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  • ヘビ型ロボットが螺旋捻転運動を用いて配管内を進む際の清掃能力の検証

    ロボティクス・メカトロニクス講演会2017  2017 

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  • ヘビ型ロボットが配管内を螺旋捻転運動で推進する際の螺旋ピッチの影響

    ロボティクス・メカトロニクス講演会2017  2017 

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  • 螺旋捻転運動で配管を走破するヘビ型ロボットの開発 -接触圧力センサならびに音響位置推定センサとの統合と実証実験-

    ロボティクス・メカトロニクス講演会2017  2017 

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  • 配管内検査のためのヘビ型ロボットの遠隔操作インタフェース

    横幹連合コンファレンス  2017 

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  • CT透視下IVR用針穿刺ロボットにおける穿刺支援 機能の開発

    日本ロボット学会学術講演会  2017 

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  • 音響センサを用いた配管内探査ヘビ型ロボットの3次元位置推定

    日本ロボット学会学術講演会  2017 

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  • CT ガイド下針穿刺ロボットの自動化に関する研究

    第29回「電磁力関連のダイナミクス」シンポジウム  2017 

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  • 臨床試験に向けた CT ガイド下針穿刺ロボットの開発

    第29回「電磁力関連のダイナミクス」シンポジウム  2017 

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  • バーチャルシャシーを用いたヘビ型ロボットの状態提示インタフェース

    ロボティクス・メカトロニクス講演会2017  2017 

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  • 全周に圧力センサを搭載したヘビ型ロボットによる曲管の認識

    ロボティクス・メカトロニクス講演会2017  2017 

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  • ImPACT TRC 太索状ロボット研究開発の現状と将来展開

    横幹連合コンファレンス  2017 

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  • 配管内探査ロボットのための音響センサを用いた自己位置推定

    横幹連合コンファレンス  2017 

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  • 螺旋捻転運動で配管内を移動するヘビ型ロボットの構築

    横幹連合コンファレンス  2017 

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  • CT透視下針穿刺用ロボット(Zerobot)の開発:第三世代ロボットの紹介

    平木 隆夫, 亀川 哲志, 松野 隆幸, 櫻井 淳, 桐田 泰三, 金澤 右

    日本医学放射線学会秋季臨床大会抄録集  2016.8 

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  • 螺旋捻転運動により直管をつなぐ曲管を走破するヘビ型ロボットの実現

    ロボティクス・メカトロニクス講演会2016  2016 

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  • IVR ロボットのリモートセンタに基づく軌道生成法による操作性の改良

    ロボティクス・メカトロニクス講演会2016  2016 

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  • CTガイド下IVR用ロボット(第二世代)の開発:術者被曝ゼロの実現

    第75回日本医学放射線学会  2016 

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  • ゲインシフトによるヘビ型ロボットのU字曲管外周に沿った移動の実現

    ロボティクス・メカトロニクス講演会2016  2016 

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  • 術者の放射線被ばくを低減するCT-IVRロボットの提案

    松野 隆幸, 亀川 哲志, 平木 隆夫

    日本コンピュータ外科学会誌  2015.10 

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  • CT-IVR ロボットの穿刺速度に関する検証

    RSJ 第33回日本ロボット学会学術講演会  2015 

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  • 視線傾向を用いたレスキューロボット操作ユーザインタフェースの評価

    ヒューマンインタフェースシンポジウム 2015  2015 

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  • 100リンクヘビ型ロボットByaco の開発(ハードウェアの構築)

    第16回計測自動制御学会システムインテグレーション部門講演会(SI2014)  2015 

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  • 1A1-D04 Development of a puncture robot for computed tomography-guided interventional radiology : Evaluation of positioning performance of a puncture robot

    ISHII Hajime, KAMEGAWA Tetsushi, MATSUNO Takayuki, HIRAKI Takao, GOFUKU Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2015 

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    Interventional radiology is a minimally invasive image-guided procedure that can be performed percutaneously. When computed tomography (CT) is used as an image-guidance for interventional radiology, the radiation exposure is a major problem to an operator who stands close to a CT gantry. To solve this problem, we are developing a remote control needle puncture robot which has five degrees of freedom. However, evaluation of the positioning performance of the robot was not conducted. In this paper, evaluation criteria of positioning performance required for a needle puncture robot is determined, and the performance of the robot is evaluated.

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  • 2P1-Q02 A Proposal of Across-pipe Motion for a Snake Robot

    KOMATSU Makoto, KAMEGAWA Tetsushi, GOFUKU Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2015 

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    Researches for snake robots has been studied and they are hoped to be made practicable. In this research, it is assumed that environments where snake robots work constructed by pipes which are arranged parallel and densely. We made a snake robot which has joints of yaw and pitch using servo motor Dynamixel XL-320, and software to control the robot. This robot is so tiny that we accomplish a task of elevation in the mock environment using helical-rolling motion. In addition, we propose a new motion so we call as across-pipes motion which can move from a pipe to another pipe.

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  • CTガイド下針穿刺 ロボットの開発 第1報 動物実験による性能評価

    第16回計測自動制御学会システムインテグレーション部門講演会(SI2014)  2015 

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  • レール軌道上移動式橋梁点検ロボットの提案と試作機の開発

    第16回計測自動制御学会システムインテグレーション部門講演会(SI2014)  2015 

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  • CTガイド下針穿刺ロボットの開発 第3報 簡易型ロボット操作システム

    第16回計測自動制御学会システムインテグレーション部門講演会(SI2014)  2015 

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  • CTガイド下針穿刺ロボットの開発 第2報 平行リンク機構による針把持部の力学解析と術者への力覚提示

    第16回計測自動制御学会システムインテグレーション部門講演会(SI2014)  2015 

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  • 100リンクヘビ型ロボットByacoの開発(ヘビ型ロボットの基本モーションの実装)

    第16回計測自動制御学会システムインテグレーション部門講演会(SI2014)  2015 

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  • CTガイド下針穿刺ロボットの開発 第4報 手先機構の改良設計

    第16回計測自動制御学会システムインテグレーション部門講演会(SI2014)  2015 

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  • 2A2-O01 Development of Crank Mechanism One-Legged Jumping Robot with a Hip Joint

    NISHIMOTO Sho, MATSUOKA Haruki, KAMEGAWA Tetsushi, GOFUKU Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2015 

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    We have developed one-legged jumping robots using crank mechanism. The robot has a spring and a motor and it succeeded in continuous jumping supported by a stand to restrain its motion in the vertical direction of one degree of freedom. In this study, we improved the one-legged jumping robot in order to remove the stand from the robot and to jump continuously without falling in three degrees of freedom on a vertical two-dimensional plane. The robot is constructed by adding a hip joint to the previous robot. We also developed smaller robot. Some experiments are conducted to verify the robot. The experimental results of implementing a posture stabilization control are shown.

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  • 1A1-F06 Improvement of Operability of IVR Robot by Inverse Kinematics

    SUGIYAMA Kohei, INOUE Takuya, MATSUNO Takayuki, KAMEGAWA Tetsushi, HIRAKI Takao, YANOU Akira, MINAMI Mamoru, GOFUKU Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2015 

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    There is a surgical method called Interventional Radiology (IVR). We have been developing surgery support robot of IVR. IVR has the advantage that invasiveness is low, therefore the number of IVR surgery has been increasing in recent years. In lung cancer treatments, however, it has the problem that doctors are exposed to radiation because IVR is conducted in CT equipment. The purpose of this study is to avoid the problem by operating remote steerable IVR robot. IVR robot with 5 DOF have been developed in the prior study. Previously, each joint was controlled independently. Therefore, when the posture of needle is changed, the position also should be corrected manually. To improve operability of IVR robot, the forward kinematics and the inverse kinematics is solved. Finally, accuracy of needle tip position is evaluated.

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  • 3P1-C03 Development of the 3rd prototype of robotic interventional radiology(Medical Robotics and Mechatronics (2))

    KITAMURA Hiroki, KAMEGAWA Tetsushi, KAWAHARA Hiroshi, MATSUNO Takayuki, HIRAKI Takao, GOFUKU Akio, MINAMI Mamoru

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2014 

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    Interventional Radiology (IVR) is a minimally invasive procedure that can be usually performed percutaneously. IVR has an advantage in that it is less invasive than conventional surgical intervention. On the other hand, IVR has a disadvantage in that operators are exposed to radiation during procedure when fluoroscopy or computed tomography (CT) is used as an image-guidance. To solve this problem, we are developing a remote controlled robot that handles a needle for CT-guided IVR. In this paper, our 3rd prototype IVR robotic system is reported. The 3rd prototype robot is consist of five degrees of freedom, three liner mechanism and two rotational mechanism. Especially, round guild rail is adopted for the 2nd degree of freedom. We also adopt parallel link mechanism for the hand part of the robot. The developed prototype was used in a real operation room with CT machine and achieve puncturing a phantom. The experimental result is also reported in this paper.

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  • 3A1-C04 Development and Evaluation of Phantom for CT-IVR(Medical Robotics and Mechatronics (1))

    NAKAYA Hirotaka, MATSUNO Takayuki, KAMEGAWA Tetsushi, HIRAKI Takao, INOUE Takuya, MINAMI Mamoru, YANOU Akira, GOFUKU Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2014 

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    There is a surgical method called Interventional Radiology (IVR) as one of lung cancer treatments. It has a problem that doctors are exposed to radiation because IVR is conducted in CT equipment. In order to avoid the problem, a robotic IVR system that doctors conduct the operation with a robot is developed. An operation test is necessary to develop the robotic IVR system, however, an experiment with real patients is rejected based on ethic regulation. Therefore, we use a phantom in experiments instead of patients. A phantom is a model of human used for evaluation and adjustment of medical imaging equipments such as CT and MRI. However, ready-made phantoms can not be punctured, because they are only aimed for radiography and their surface are hard. Therefore a phantom for CT-IVR which can be punctured is developed.

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  • 狭隘空間で側面が接触した際に反射的な動作を行うヘビ型ロボットの試作

    第15回計測自動制御学会システムインテグレーション部門講演会  2014 

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  • 618 Evaluation of an interface for a rescue robot by measuring eye fixation

    OKADA Shogo, KAMEGAWA Tetsushi, GOFUKU Akio

    The Proceedings of Conference of Chugoku-Shikoku Branch  2014 

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  • Top-URGを用いた水中計測の基礎実験と考察

    第15回計測自動制御学会システムインテグレーション部門講演会  2014 

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  • 未知の斜面における4脚歩行ロボットのZMPに基づくトロット歩容

    第15回計測自動制御学会システムインテグレーション部門講演会  2014 

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  • 移動ロボットのためのRTミドルウェアを用いたシステム設計に関する検討

    計測自動制御学会システム・情報部門学術講演会2014  2014 

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  • 跳躍ロボットのカメラ映像からオプティカルフローを用いてブレの少ない画像を選択するアルゴリズムの検証

    計測自動制御学会システム・情報部門学術講演会2014  2014 

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  • 拡張反側抑制を用いたヘビ型ロボットの障害物利用推進

    第32回日本ロボット学会学術講演会  2014 

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  • 車両連結型ロボットの冗長性を加味したパーティクルフィルタによる自己位置推定

    計測自動制御学会システム・情報部門学術講演会2014  2014 

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  • ロボティックIVRのためのPHANTOM Omniを用いた遠隔操作システムの構築

    計測自動制御学会システム・情報部門学術講演会2014  2014 

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  • 一脚ジャンピングロボットの小型化に関する研究

    計測自動制御学会システム・情報部門学術講演会2014  2014 

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  • MR流体を用いたヘビ型ロボットのための小型ダンパの開発

    計測自動制御学会システム・情報部門学術講演会2014  2014 

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  • G151011 Study on Attitude Stability Control for a One-Legged Robot

    MATSUOKA Haruki, GOFUKU Akio, KAMEGAWA Tetsushi

    The Proceedings of Mechanical Engineering Congress, Japan  2013 

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    In this study,we study a one-legged robot.A one-legged robot has a problem that the robot falls down if it has no stand.This study deals with an attitude stabilization control to continuously jump without falling.First,models of the robot and equations of motion are derived.The attitude control is achieved by PID control.As a result of simulation,it is confirmed that the robot can continuously jump without falling.

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  • G151012 A method of recognizing a step with infrared sensor for a monopode jumping robot

    NAGAMURA Hiroki, GOFUKU Akio, KAMEGAWA Tetsushi

    The Proceedings of Mechanical Engineering Congress, Japan  2013 

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    There are studies on a monopode jumping robot.In order to avoid an obstacle for a monopode jumping robot,the robot has to recognize the obstacle.In this study,three infrared sensors are attached on front and rear of the robot and recognize environment.It is assumed that there is a step as an obstacle.The robot recognizes a step when a point measured by rear sensor is on the plane estimated by front three sensors.The experimental results show evaluation of the recognition accuracy.

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  • G151053 Development of a monitoring system for checking residual quantity of battery using RT middle ware

    MORISHITA Yusaku, KAMEGAWA Tetsushi, GOFUKU Akio

    The Proceedings of Mechanical Engineering Congress, Japan  2013 

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    We developed a system that battery voltage of the mobile robot is converted to AD value and it is monitored on a PC.If the battery residual quantity falls below a certain value,the mobile robot will return to the initial position autonomously.Autonomous traveling control is achieved by the right/left hand method.In order to return exactly to the starting position,we propose a method to detect a landmark near the starting position.The system is developed by RT middleware.Comparison between the final position and the starting position of the mobile robot is shown by experimental result.

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  • 2A1-K05 Design and development of prototypes of robotic interventional radiology(Surgical Robotics and Mechatronics (1))

    KITAMURA Hiroki, KAMEGAWA Tetsushi, GOFUKU Akio, HIRAKI Takao

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2013 

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    Interventional Radiology (IVR) is a kind of surgical operation using real-time CT images and needles. IVR has an advantage that it is a lower invasive operation than a general surgical operation. On the other hand, IVR has a disadvantage that operators are exposed to radiation of X rays from a CT machine while they conduct the operation. To solve this problem, we propose developing a serial link robot as a remote controlled robot. In this paper, prototypes of robotic interventional radiology are described. First, specifications for the robotic IVR are described. Next, first version of prototype is designed and results of preliminary experiment for artifact are shown. In the second version, we have constructed a 3DOF mechanism and its driving system which is commanded by a joystick controller. Finally, experimental results of the developed prototype system are shown.

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  • G151016 Generating of Trot Gait of a Quadruped Robot based on an Inverted Pendulum Model

    KITAGO Junichi, KAMEGAWA Tetsushi, GOFUKU Akio

    The Proceedings of Mechanical Engineering Congress, Japan  2013 

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    Legged robots have been studied and developed as a mobile robotic platform.In many types of legged robots,a quadruped robot has both compactness and stability.To make a quadruped robot be useful,it is required to walk dynamically and to move fast.We propose an algorithm to achieve a dynamic gait pattern.The dynamic gait which we deal with is trot gait that the robot swings the pair of the legs on the diagonal line at the same time.Generally,in order to estimate the motion of the robot walking dynamically,we have to calculate the complex dynamics.Therefore we model the quadruped robot by an inverted pendulum in order to simplify the equation of motion of the robot.Then we generate the trot gait patterns by using the equation of motion of the inverted pendulum.The quadruped robot does not always walk correctly.Therefore we propose the swing leg trajectory which is composed of ellipse and straight lines in order to reduce the influence of wrong behaviors of the robot.We conducted experiments that the quadruped robot was walked by the trot pattern which we made.As a result,the quadruped robot walked successfully.

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  • G151031 Basic study on SLAM utilizing the redundancy of an articulated vehicle robot

    ENDO Yuki, KAMEGAWA Tetsushi, GOFUKU Akio

    The Proceedings of Mechanical Engineering Congress, Japan  2013 

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    In this study,we study an articulated vehicle robot which achieves self-localization and mapping on two dimensional space.Each vehicle of the robot equips infrared sensors to measure the distance and encoders to measure the amount of rotation of the crawler.We propose an algorithm to improve the self-localization estimated by odometry.It is realized by using the ICP scan matching algorithm with scaned range data by infrared sensors redundantly.The experimental results shows the validity of the proposed method.

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  • G151015 Three-dimensional self-localization using ICP scan matching by a stairs climbing mobile robot

    HASEGAWA Jun, KAMEGAWA Tetsushi, GOFUKU Akio

    The Proceedings of Mechanical Engineering Congress, Japan  2013 

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    There are some methods for self-localization for a mobile robot.For example,odometory calculates the robot's movement by rotation of wheels,and ICP algorithum calculates the robot's movement by the scan data of LRF obtained at two points.In this research,we realize three-dimensional self-localization by using odometry and ICP scan matching algorithum together.In addition,we conduct a stairs climbing experiments using a mobile robot developed in our laboratory,and we examine the usefulness of the self-localization method.

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  • 806 Modeling and analysis of hopping robot using movement of center of gravity

    OKI Takuji, GOFUKU Akio, KAMEGAWA Tetsushi

    The Proceedings of Conference of Chugoku-Shikoku Branch  2012 

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  • 2A2-J12 Development of dynamic operation permission system used quantitative influence inference(Mechanism and Control for Actuator)

    Sasaki Ryo, Gofuku Akio, Kamegawa Tetsushi, Wada Yosuke

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2011 

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    When a robot system is developed by normal motors that rotate around one axis, the necessary number of motors is the same as that of joints resulting in a large and complicated system. On the other hand, spherical motors will realize a small and simple mechanism because they can rotate in various direction. A group of spherical motors that can rotate in 360 degrees is proposed by applying the working principle of planer stepping motor to spherical motors. There are various types in arranging permanent magnets on the rotor and electro-magnets on the stator. This study utilizes the arrangement in which a permanent magnet is placed on the apex of a truncated octahedron for the rotor and on electro-magnet is placed on either the apex of a regular dodecahedron or the middle point of two apexes for the stator. This study develops a spherical motor that can rotate around six axes and demonstrates the rotation around their axes.

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  • 302 Control of multiple vehicles connected robot KOHGA

    MATSUMOTO Takuya, KAMEGAWA Tetsushi, GOFUKU Akio

    The Proceedings of Conference of Chugoku-Shikoku Branch  2011 

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  • 1P1-O11 Sidewinding locomotion of snake robot considering a center of turning point(Biorobotics)

    URUSHIBARA Hideyuki, KAMEGAWA Tetsushi, GOFUKU Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2011 

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    This paper proposes a method of turning for sidewinding locomotion of snake robot. Sidewinding locomotion is employed by a snake in the desert. It was shown that this locomotion can be generated by a repetitive traveling wave. However, most study of this locomotion is realized only straight forward locomotion. Sidewinding locomotion is considered as a curve along an helix of cylinder. We propose method to turn a direction of snake robot by changing a form of a snake robot from helix of cylinder to helix of cone. In addition, we consider a center of turning point to make a snale robot turning around arbitrary radius. We applied this method to the snake robot. Experimental results of a turning radius and turning speed are shown.

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  • 2A1-F06 The recognition of a long rope by image processing and a control technique of the jump cycle for a jumping robot(Robots for Amusement and Entertainment)

    Mori Yuji, Gofuku Akio, Kamegawa Tetsushi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2011 

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    Recently, jumping robots are studied in various organizations because the improvement of the speed of robots, the addition of avoiding ability the of the obstacle, and the enlargement of action range are expected if the jump movement of robots is achieved. And, it is necessary for a robot to adjust its action for the change of the environment. So, this study aims at developing a jumping robot that can jump a long rope. A one legged jumping robot that can change the jump cycle by using the air pressure was developed in the previous study. This paper examines the method of measuring rotational period of the rope by an image processing and the method of controlling the jump cycle by using the measurement results. It is confirmed that the jump cycle of the jumping robot can control appropriately by experiments.

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  • 1P1-D05 3D shape reconstruction in the inside of a building using a LRF and a camera by a mobile robot(3D Measurement/Sensor Fusion)

    FUKUNAGA Toshinori, KAMEGAWA Tetsushi, GOFUKU Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2011 

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    In this paper, we perform 3D shape reconstruction in the inside of a building by making use of 3D range information from a LRF and image from a camera equipped with a mobile robot. Abstractly, the mobile robot equip with a LRF mounted on a 2 D.O.F. (the pitch axis and the yawing axis) stand to get 3D scan data. Images from the camera are mapped on the corresponding 3D scan data by using a technique of texture mapping. Experimental results in a real environment by using a proposing method are shown. As a result, the robot moves and takes a picture from two or more points, and the mapping from these images to one 3D scanning data is achieved.

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  • 1P1-L14 Implementation of motion tracking algorithm using a function of video motion detection of a network camera(Vision System for Mobile Robot)

    AKASE Tooru, KAMEGAWA Tetsushi, GOFUKU Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2011 

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    Near future, robots are required to play a new role to cooperate and coexist with human. Therefore, this study focus on a high intelligence robot which have autonomous ability. An objective of this study is to construct a quadruped walking robot with a network camera that tracks a moving object autonomously. Thereby, this study explore a mechanism of intelligent robots. As a first study, we propose motion tracking algorithm using a network camera which has a function of video motion detection. In addition, to verify the algorithm, we conduct some experiments such as motion tracking of network camera using the algorithm, changing the behavior of a quadruped walking robot using the algorithm.

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  • 2P1-L06 Construction of decentralized architecture with CANopen for multiple vehicle connected snake like robot KOHGA(RT Middleware and Open System)

    MATSUI Fumiaki, KAMEGAWA Tetsushi, GOFUKU Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2011 

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    Some snake like robots that connects plural vehicles in serial are studied as a rescue robot. These robots are expected to be able to connect various equipment according to a requirement for a disaster scene. However, in the case that the equipments adopt different standard, it is difficult to assemble them easily. Multiple vehicle connected snake like robot KOHGA developed in the previous work is using CAN communication between microcomputers for control. In this study, CANopen is adopted as communication protocol between microcomputers of KOHGA, aiming at modularity. CANopen is one of open networks based on CAN communication. In addition, the delay problem, when a command transmitted to the next vehicle, is improved by installing CANopen and constructing a new decentralized architecture for KOHGA.

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  • 0716 Evaluation and Improvement of GUI for remote control of plural rescue robots

    NISHIHASHI Tetsuro, KAMEGAWA Tetsushi, GOFUKU Akio, SATO Noritaka, MATSUNO Fumitoshi

    The Proceedings of the Bioengineering Conference Annual Meeting of BED/JSME  2010 

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  • Improvement of a simulator of spherical motor driven by electromagnets

    YAMANISHI Akihiro, GOFUKU Akio, KAMEGAWA Tetsushi, IKESHITA Seiji

    電気学会研究会資料. LD, リニアドライブ研究会  2009.10.26 

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  • 兄弟型移動ロボットプラットフォームの開発

    シンポジム「ロボット群による被災建造物内の情報インフラ構築と情報収集システム」  2009 

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  • ヘビ型ロボットの車輪接触方向を考慮した円柱表面をうねり推進するための連続曲線の導出

    第27回日本ロボット学会学術講演会  2009 

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  • 複数台のレスキューロボットを遠隔操縦するための GUIと被災地用マルチホップ無線ネットワーク機器を自動配置するシステムの評価

    ロボティクス・メカトロニクス講演会2009  2009 

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  • 電磁石駆動式球面モータの改良

    ロボティクス・メカトロニクス講演会2009  2009 

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  • LRFを用いた複数台移動ロボットのSLAMに関する研究

    日本機械学会中国四国支部第47 期総会・講演会  2009 

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  • 2P1-B03 Improvement of a spherical-motor driven by electro-magnetic force

    Yamanishi Akihiro, Ikeshita Seiji, Gofuku Akio, Shibata Mitsunobu, Kamegawa Tetsushi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2009 

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    A prototype spherical motor driven by electro-magnets was studied and developed in the previous study. The whole radius is 110[mm], the rotor radius is 50[mm], the maximum torque is 0.06[Nm], and the maximum rotation angular velocity is 6.5[rad/sec]. This paper reports the several investigations to improve the performance of the motor and to decrease its size. In improving performance, the new spherical motor is developed, where 92 permanent magnets are attached on inner surface of the rotor. The new motor outputs about 3 times torque of the prototype. On the other hands, in designing small spherical motor, the specifications of electro-magnet and permanent magnet are examined using an extended simulator for a small spherical motor whose whole radius is 25[mm] and rotor radius is 15[mm].

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  • 1502 Simultaneous localization and mapping for multiple mobile robots with LRF

    Yoshida Kohei, KAMEGAWA Tetsushi, GOFUKU Akio

    The Proceedings of Conference of Chugoku-Shikoku Branch  2009 

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  • 1A2-H03 Evaluation of plural rescue robots remote control GUI and multi hop wireless network device distributing system

    NISHIHASHI Tetsuro, MATSUSHITA Fumiya, MURAKAMI Norihiko, KAMEGAWA Tetsushi, GOFUKU Akio, SATO Noritaka, OOMURA Seiji, UO Youjiro, MATSUNO Fumitoshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2009 

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    We developed new rescue robot system that plural rescue robots are remotely controlled by one operator. In this system, a pioneer type robot put multi hop wireless network devices to extend area that surveyor type robots are able to search victims and surroundings in a damaged building. In this paper, evaluation of GUI interface to operate plural rescue robots and distributing system of wireless network device are shown.

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  • 1A1-C03 Development of spherical-motor by the electromagnet drive

    IKESHITA Seiji, GOFUKU Akio, NAGAI Takakazu, SHIBATA Mitsunobu, KAMEGAWA Tetsushi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2008 

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    This study develops a spherical motor driven by electromagnetic force. The motor is composed of a rotor and stator. The rotor has permanent magnets. The stator has electromagnets. The electromagnets are excited to rotate the rotor by the excitation pattern generated in a control PC. We confirmed that the spherical motor rotates in omnidirection by rotation experiments.

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  • C08 Development of grouped rescue robot platforms for information collection in damaged buildings : Design of software for remote operating of plural robots under ad-hoc network

    KAMEGAWA Tetsushi, SATO Noritaka, MATSUNO Fumitoshi, FUJITA Sho, SHIMA Keiichi, UO Yojiro

    The Proceedings of Conference of Kyushu Branch  2008 

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  • C09 Obstacle avoidance in a narrow space by a connected vehicle with infrared sensor

    OGINO Hiroyuki, KAMEGAWA Tetsushi, GOFUKU Akio

    The Proceedings of Conference of Kyushu Branch  2008 

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  • 動的環境下におけるLRFを用いた移動ロボットのSLAMに関する研究

    SICE関西支部 若手研究発表会  2008 

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  • CPGネットワークに基づくヘビ型ロボットの移動制御

    SICE関西支部 若手研究発表会  2008 

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  • 電磁石駆動の球面モータの開発

    ロボティクス・メカトロニクス講演会2008  2008 

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  • 螺旋形態で円柱を昇降するヘビ型ロボットの実現

    第26回日本ロボット学会学術講演会  2008 

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  • 螺旋形態で円柱を昇降するヘビ型ロボットの実現

    SICE関西支部 若手研究発表会  2008 

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  • レーザポインタを用いた執刀医への遠隔アドバイスシステムの評価

    日本機械学会中国四国支部第46 期総会・講演会講演  2008 

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  • 1116 Evaluation of a remote advice system with a laser pointer for a surgeon doctor

    TAKAMI Kimiaki, GOFUKU Akio, KAMWGAWA Tetsushi

    The Proceedings of Conference of Chugoku-Shikoku Branch  2008 

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  • C05 A computer simulator of a driven by electro-magnets

    IKESHITA Seiji, NAGAI Takakazu, GOFUKU Akio, KAMEGAWA Tetsushi

    The Proceedings of Conference of Kyushu Branch  2008 

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  • LRF搭載移動ロボットによる群移動に関する研究 ―第1報:LRFによるターゲット認識の基礎実験―

    第9回(社)計測自動制御学会システムインテグレーション部門講演会  2008 

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  • 通信負荷と操作負荷を考慮した複数台レスキューロボットの操作インタフェース

    第9回(社)計測自動制御学会システムインテグレーション部門講演会  2008 

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  • 車両連結ロボットの赤外線センサを用いた狭隘地での障害物回避

    日本機械学会 中国四国支部・九州支部合同企画 岡山講演会  2008 

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  • 3次元ヘビ型ロボットを対象としたCPGネットワークの構築

    計測自動制御学会 第18回インテリジェント・システム・シンポジウム (FAN2008)  2008 

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  • 被災建物内探索用兄弟型レスキューロボットの開発 ―アドホックネットワーク環境下における複数台遠隔操縦のためのソフトウェアデザイン―

    日本機械学会 中国四国支部・九州支部合同企画 岡山講演会  2008 

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  • 多様な移動形態をもつヘビ型ロボットによるcylinder climbingの実現

    日本機械学会中国四国支部 第45期総会・講演会  2007 

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  • 円柱表面を移動するヘビ型ロボットの解析と制御

    日本機械学会中国四国支部 第45期総会・講演会  2007 

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  • 1116 Dynamical simulation and connected cooperative control method for the rescue crawler vehicle HELIOS Carrier

    KAWAHARA Fumiaki, KAMEGAWA Tetsushi, MATSUNO Fumitoshi, GOFUKU Akio

    The Proceedings of Conference of Chugoku-Shikoku Branch  2007 

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  • 車輪付きヘビ型ロボットによるcylinder climbingの実現

    ロボティクス・メカトロニクス講演会2007  2007 

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  • 被災建物内探索用兄弟型レスキューロボットの開発

    第8回(社)計測自動制御学会システムインテグレーション部門講演会予稿集  2007 

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  • 被災者探索クローラ車両HELIOS Carrierの動力学シミュレーションと連結時の協調操舵に関する研究

    日本機械学会中国四国支部 第45期総会・講演会  2007 

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  • 移動物体を含む環境内におけるLRFを用いた移動ロボットの自己位置推定に関する研究

    日本機械学会中国四国支部 第45期総会・講演会  2007 

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  • 1105 Realization of cylinder climbing locomotion by a snake-like robot which has multiple locomotion modes

    HARADA Takaaki, KAMEGAWA Tetsushi, GOFUKU Akio

    The Proceedings of Conference of Chugoku-Shikoku Branch  2007 

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  • 2A1-A03 Realization of cylinder climbing locomotion by a wheeled snake-like robot

    HARADA Takaaki, KAMEGAWA Tetsushi, GOFUKU Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2007 

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    Recently, multiple locomotion gaits of snake has been realized by snake-like robots. For example, undulation propulsion, side winding propulsion and measuring worm propulsion are realized. In addition, a locomtion gait called "lateral rolling" that real snake does not achieve is realized. However, those previous locomotion gaits are limited on two-dimensional plane. In this study, we develop a snake-like robot that is constructed by assembling five units. One unit is composed by one pitch axis and one yaw axis, and can have two passive wheels. We realize previously presented locomotion gaits of snake with this robot. In addition, we realize cylinder climbing locomotion in three-dimensional plane that this robot coils itself to a cylinder and climbs it by lateral rolling.

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  • 1205 Localization and mapping for a mobile robot with LRF in the environment which include moving objects

    NISHIMURA Tomoki, KAMEGAWA Tetsushi, GOFUKU Akio

    The Proceedings of Conference of Chugoku-Shikoku Branch  2007 

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  • 1106 Analysis and control for a snake like robot moving on a cylinder surface

    KUBO Kazuyuki, KAMEGAWA Tetsushi, GOFUKU Akio

    The Proceedings of Conference of Chugoku-Shikoku Branch  2007 

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  • 組み替え可能なユニット構造をもつレスキューロボットKOHGA2の開発

    ROBOMEC2006  2006 

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  • ネジ推進機構を持つヘビ型ロボット改良機(ネジヘビ2)の開発と基本動作試験

    ROBOMEC2006  2006 

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  • 3脚モジュラーロボットの開発と協調作業の実現

    ROBOMEC2006  2006 

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  • 2連結クローラ車両HELIOS Carriersの走行制御システム開発

    第7回(社)計測自動制御学会システムインテグレーション部門講演会  2006 

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  • 2P2-D20 Detection of footholds with leg-grope and safety walking for quadruped robots on irregular terrain

    OTANI Kouichi, KAMEGAWA Tetsushi, MATSUNO Fumitoshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2006 

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    When a legged-robot walks on an irregular terrain such as a stricken area, some footholds may be collapsed by the force that the robot generates during its walking, and consequently the robot stumbles and falls. In this study we propose locomotion method that will not cause collapse of the environment by the robot walking. Furthermore, we propose a new knowledge for "leg-grope" and its domain that can detect the footholds without strumbling and falling.

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  • インテリジェントマークにより情報化された対象物の移動マニピュレータによる収集動作の実現

    第24回日本ロボット学会学術講演会  2006 

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  • HELIOS Carrier連結用受動関節アームの開発

    第7回(社)計測自動制御学会システムインテグレーション部門講演会  2006 

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  • 不整地における足探り動作を用いた4脚ロボットの足場認識と歩行

    ROBOMEC2006  2006 

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  • 瓦礫除去のためのカメラ画像による物体の積み重なり認識とISMによる階層化モデルの作成

    第24回日本ロボット学会学術講演会  2006 

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  • 2P2-D28 Development of unit-type rescue robot "KOHGA2"

    MIYANAKA Hitoshi, WADA Norihiko, KAMEGAWA Tetsushi, IGARASHI Hiroki, MATSUNO Fumitoshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2006 

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    Language:Japanese  

    To search victims in the narrow space at the disaster scene, We have developed the snake-like rescue robot called "KOHGA". The robot is constructed by connecting multiple crawler vehicles serially, and each vehicle is connected by joints. KOHGA has a problem that obstacles are caught in the joints and then the robot is stuck. To solve this problem, we developed "KOHGA2", which is unit-type robot and can be rearranged. The robot can rotate crawlers and avoid stuck by using the crawler arms. In this paper, we report the construction of hardware and system of KOHGA2, basic mobility performance, and the stuck avoidance strategy.

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  • 2P2-D29 Development of three legged modular robot and achievement of cooperation working

    OHIRA Masaki, KAMEGAWA Tetsushi, MATSUNO Fumitoshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2006 

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    We have developed three legged modular robot. The robot unites mutually and achieves works that cannot be done one module by cooperating each other. Our research aim is to gather information efficiently in the disaster scene. In this paper,we report the construction of hardware and software of the developed robot, and experiment of cooperation working.

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  • 2P2-D27 Development and test of fundamental action of Snake-Like Robot with Driving Mechanism based on Screw Principle

    HARA Masaya, SATOMURA Syougo, KAMEGAWA Tetsushi, IGARASHI Hiroki, MATSUNO Fumitoshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2006 

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    In this paper, we propose a snake-like robot with new driving mechanism based on screw principle to drive on or into debris in the stricken area for searching task. We report the construction of hardware and software of this robot , and control strategy for this robot.

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  • 車両多連結ヘビ型ロボットKOHGAの操舵

    ROBOMEC2004  2004 

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  • Control for serially connected multiple-vehicle robot "KOHGA"

    Kamegawa T, Yamasaki T, Matsuno F

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2004 

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  • 車両多連結ヘビ型レスキューロボットKOHGAの開発

    第21回日本ロボット学会学術講演会  2003 

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  • レスキュー活動におけるロボットとオペレータの協調に関する考察

    第4回(社)計測自動制御学会システムインテグレーション部門講演会  2003 

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  • 車両多連結ヘビ型レスキューロボットKOHGAの設計

    第4回(社)計測自動制御学会システムインテグレーション部門講演会  2003 

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  • 1P1-A1 Development and Control of 3-dimensional Hyper Redundant Robot with Multiple Modes of Locomotion : 2nd Report : Realization of V-shape Vode of Locomotion

    Kamegawa T, Matsuno F

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2001 

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Industrial property rights

  • 穿刺ロボットの制御装置

    亀川哲志,松野隆幸,平木隆夫,谷本圭司

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    Applicant:国立大学法人 岡山大学

    Application no:特願2021-061796  Date applied:2021.3.31

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  • 穿刺ロボットシステム

    亀川哲志, 松野隆幸, 平木隆夫, 谷本圭司

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    Applicant:国立大学法人 岡山大学

    Application no:特願2021-61795  Date applied:2021.3.31

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  • 穿刺針把持装置及びこの穿刺針把持装置を備えた穿刺ロボット

    亀川哲志, 松野隆幸, 平木隆夫, 三木雄太, 谷本圭司

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    Applicant:国立大学法人 岡山大学

    Application no:特願2020-098854  Date applied:2020.6.5

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  • 穿刺ロボット及び穿刺制御用プログラム

    平木隆夫, 小牧稔幸, 亀川哲志, 松野隆幸

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    Applicant:国立大学法人 岡山大学

    Application no:特願2019-068038  Date applied:2019.3.29

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  • 穿刺計画装置及び穿刺制御システム

    平木隆夫, 亀川哲志, 松野隆幸, 谷本圭司

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    Applicant:国立大学法人 岡山大学

    Application no:特願2018-166967  Date applied:2018.9.6

    Announcement no:特開2020-039406  Date announced:2021.3.19

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  • 穿刺ロボット及び穿刺制御用プログラム

    杉山晃平, 亀川哲志, 松野隆幸, 平木隆夫

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    Applicant:国立大学法人 岡山大学

    Application no:PCT/JP2018/013938  Date applied:2018.3.30

    Publication no:WO2018/207498  Date published:20181115

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  • 穿刺ロボット

    北村 浩基, 部矢 明, 難波 孝文, 亀川 哲志, 松野 隆幸, 平木 隆夫

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    Applicant:国立大学法人 岡山大学

    Application no:PCT/JP2016/078920  Date applied:2016.9.29

    Announcement no:特開2018-0206926 A1 

    Publication no:WO2017/065016  Date published:2017420

    Patent/Registration no:特許第6440177号  Date registered:2018.11.30 

    J-GLOBAL

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  • 全方位回転球面モータおよびこの回転制御方法

    五福 明夫, 永井 孝和, 柴田 光宣, 池下 聖治, 亀川 哲志

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    Applicant:五福 明夫

    Application no:特願2008-172778  Date applied:2008.6.3

    Announcement no:特開2009-296864  Date announced:2009.12.17

    J-GLOBAL

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Works

  • WRS2020 (World Robot Summit) 福島大会 出場

    2021.10.6
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    2021.10.10

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  • Medtec Japan 出展

    2019.3.18
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    2019.3.20

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  • くらしとすまいの安全・安心未来展 出展

    2019.1.16
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    2019.1.17

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  • WRS2018 (World Robot Summit) 東京大会 出場

    2018.10.17
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    2018.10.21

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  • Medtec Japan 出展

    2018.4.18
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    2018.4.20

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  • ロボデックス(産学連携ロボットフォーラム) 出展

    2018.1.17
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    2018.1.19

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  • 危機管理産業展 (RISCON TOKYO) 出展

    2017.10.10
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    2017.10.13

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  • ライフサイエンスワールド 出展

    2016.5.11
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    2016.5.13

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  • Medtec Japan 出展

    2016.4.20

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  • イノベーションジャパン 出展

    2015.8.27
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    2015.8.28

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  • ロボットランド 出展

    2015.7.18
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    2015.8.31

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  • JAPAN ROBOT WEEK RT交流プラザ 出展

    2014.10.15
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    2014.10.17

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  • イノベーションジャパン 出展

    2014.9.10
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    2014.9.12

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  • 第25回国民文化祭 出展

    2010.10.31

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  • 国際ロボット展 出展

    2005.11.30
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    2005.12.3

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  • 日本科学未来館 出展

    2005.11.23

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  • SECURITY SHOW 出展

    2005.3.2
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    2005.3.4

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  • ロボカップ世界大会 出場

    2004.6.27
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    2004.7.5

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  • 大阪市立科学館 出展

    2004.5.5

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  • 東京国際消防防災展 出展

    2003.11.20
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    2003.11.23

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  • 国際ロボット展 出展

    2003.11.19
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    2003.11.20

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  • ロボカップ世界大会 出場

    2003.7.2
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    2003.7.11

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  • ロボカップ世界大会 出場

    2002.6.19
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    2002.6.25

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  • ロボフェスタ 出展

    2001.11.16
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    2001.11.25

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Awards

  • 論文賞(優秀症例賞)

    2021.11   日本コンピューター外科学会   CT 透視ガイド下針穿刺ロボットの自動化のための医師の手技中における針の軌道修正の調査

    亀川哲志, 高山和真, 松野隆幸, 平木隆夫, 櫻井淳, 小牧稔幸, 松浦龍太郎, 佐々木崇了, 五福明夫

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  • Encouragement Award (奨励賞)

    2021.10   World Robot Summit 2020, Disaster Robotics Category, Plant Disaster Prevention Challenge,  

    チームOshinobi

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  • 教育貢献賞

    2021.3   岡山大学工学部   ロボット教材を活用したリモート学生実験メニュー開発への貢献

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  • 優秀講演賞

    2020.12   第21回計測自動制御学会システムインテグレーション部門講演会   ヘビ型ロボットにおける活性化ウィンドウを用いた局所的形状生成

    紀洲谷 暢,中野 大輝,亀川 哲志,五福 明夫

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  • 優秀講演賞

    2020.12   第21回計測自動制御学会システムインテグレーション部門講演会   アクティブビジョンを用いた移動ロボットによる壁面調査アルゴリズムの検証

    吉﨑 悠介,亀川 哲志,五福 明夫

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  • 社会貢献賞

    2020.3   岡山大学工学部   制御工学・システム工学分野の講演会開催等学会活動への貢献

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  • ベストティーチャー賞

    2020.3   岡山大学工学部  

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  • 特別賞

    2020.3   岡山大学工学部   岡山県の寄付講座設置への貢献

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  • 社会貢献賞

    2019.3   岡山大学工学部   西日本豪雨災害による半田山土砂崩れ現場でのロボットを用いた調査活動における貢献

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  • 研究功績賞

    2018.3   岡山大学工学部   IVR医療用ロボット研究の功績に対して

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  • 研究功績賞

    2016   岡山大学工学部   ヘビ型ロボットの多様な移動形態に関する研究による貢献

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    Country:Japan

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  • 優秀講演賞

    2016   第16回計測自動制御学会システムインテグレーション部門講演会   100リンクヘビ型ロボットByacoの開発(ヘビ型ロボットの基本モーションの実装)

    松田絵梨子,須原大貴,亀川哲志,五福明夫

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    Country:Japan

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  • 学術業績賞

    2016   第11回竸基弘賞   ヘビ型ロボットの多様な移動形態に関する研究

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    Country:Japan

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  • 優秀賞

    2016   岡山大学知恵の見本市   CAN通信を用いた遠隔操縦移動ロボットの構築

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  • 優秀賞

    2015   岡山大学知恵の見本市   CT透視下針穿刺用医療ロボットの開発

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    Country:Japan

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  • 優秀講演賞

    2014.12   第15回計測自動制御学会システムインテグレーション部門講演会   未知の斜面における4脚歩行ロボットのZMPに基づくトロット歩容

    北郷淳一,亀川哲志,五福明夫

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    Country:Japan

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  • 優秀講演賞

    2013.12   第14回計測自動制御学会システムインテグレーション部門講演会   螺旋尺取り方式を用いて移動するヘビ型ロボットの提案

    斉偉, 亀川哲志, 五福明夫

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    Country:Japan

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  • 奨励賞

    2011.11   第20回計測自動制御学会中国支部学術講演会   CANopenとRTミドルウェアを用いたTITAN-VIIIのアーキテクチャのモジュール化

    梶谷哲平, 亀川哲志, 五福明夫

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  • Interactive Organized Session Paper Wards

    2008.8   SICE Annual Conference 2008   Development of grouped rescue robot platforms for information collection in damaged buildings

    Tetsushi Kamegawa, Kenta Saikai, Shinjirou Suzuki, Akio Gofuku, Seiji Oomura, Tsuyoshi Horikiri and Fumitoshi Matsuno

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    Country:Japan

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  • 優秀講演賞

    2006.12   第7回計測自動制御学会システムインテグレーション部門   HELIOS Carrier連結用受動関節アームの開発

    井上慶重, 竹内崇英, 伊能崇雄, 佐々木高宙, 城間直司, 亀川哲志, 佐藤徳孝, Guarnieri Michele, 滝田謙介, 大野和則, 川嶋健嗣, 田所諭, 広瀬茂男, 坪内孝司, 松野文俊

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Research Projects

  • 岡山発の革新的医療用針穿刺ロボットの開発:次世代ロボットのための基盤技術の開発

    2021.06 - 2022.02

    岡山県  特別電源所在県科学技術振興事業 

    亀川哲志, 諸岡健一, 松野隆幸, 平木隆夫

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    Authorship:Principal investigator 

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  • 岡山発の革新的医療用針穿刺ロボットの開発:手技計画の簡便化と安全機能の強化

    2020.06 - 2021.02

    岡山県  特別電源所在県科学技術振興事業 

    松野隆幸, 亀川哲志, 平木隆夫

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  • 複雑環境における3次元ヘビ型ロボットの適応的振る舞い生成

    Grant number:20K04380  2020.04 - 2023.03

    日本学術振興会  科学研究費助成事業 基盤研究(C)  基盤研究(C)

    亀川 哲志

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    Grant amount:\4290000 ( Direct expense: \3300000 、 Indirect expense:\990000 )

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  • 岡山発の革新的医療用針穿刺ロボットの開発:治験のための新たな安全機構およびインタフェースの開発

    2019.06 - 2020.02

    岡山県  特別電源所在県科学技術振興事業 

    平木隆夫, 松野隆幸, 亀川哲志

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  • 針穿刺ロボットを用いたがんに対する低侵襲治療「CT透視ガイド下アブレーション」の検証的医師主導治験

    2019.04 - 2022.03

    日本医療研究開発機構(AMED)  革新的がん医療実用化研究事業 

    代表, 平木隆夫

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    Authorship:Coinvestigator(s) 

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  • CT透視下IVR用針穿刺ロボットにおける半自動穿刺システムの開発

    Grant number:19K08174  2019.04 - 2022.03

    日本学術振興会  科学研究費助成事業 基盤研究(C)  基盤研究(C)

    小牧 稔幸, 平木 隆夫, 亀川 哲志, 松野 隆幸, 金澤 右, 櫻井 淳, 松井 裕輔

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    Grant amount:\4290000 ( Direct expense: \3300000 、 Indirect expense:\990000 )

    我々はCT透視ガイド下針穿刺ロボットを研究開発している。本ロボットはこれまで、術者がコントローラを操作してロボットの動きをすべて遠隔操作していた。術者による遠隔操作では、精度良く標的に穿刺できることをファントム試験、動物試験など非臨床試験で実証した。2018年度にはFirst-in-human臨床試験を実施し、本ロボットは臨床での使用も可能であることを確認した。
    我々はロボットを段階的に自動化することを目指している。これまでの研究により、医師が用手で針穿刺を行う際にどのように軌道修正を行っているのかについてのデータ解析を行い、適切なフィードバックを実施するための指針を得た。また、ロボットを用いた穿刺手技のうち、針先を刺入点へと移動させるターゲティング行程、および狙った標的へ向け針を挿入する穿刺行程において、一部を自動化する半自動化穿刺システムを開発した。
    半自動化のシステムでは、 CT 画像上の腫瘍、刺入点、および針先位置の認識とポインティング操作や、ロボットを動作させるタイミングを送る操作は術者の判断により行う。一方で、刺入点へ針先を移動させる制御や、標的の方向に対する現在の針先方向のずれの算出、ずれを補正するための針姿勢修正動作ならびに穿刺動作、これらに伴う逆運動学計算は、ロボット内部の計算機および操作インタフェースのソフトウェアとして実装されている。
    開発したシステムの有効性や妥当性は、岡山大学病院のIVRセンターにてファントム実験を実施することで検証している。

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  • がんの低侵襲治療を可能にする針穿刺ロボット(Zerobot)の改良:製品化に向けた安全性向上のための機能開発

    2018.06 - 2019.02

    岡山県  特別電源所在県科学技術振興事業 

    亀川哲志, 松野隆幸, 平木隆夫

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  • 遠隔操作型針穿刺ロボットを用いたCT透視ガイド下生検の臨床試験(FIH試験)

    Grant number:18K07677  2018.04 - 2021.03

    日本学術振興会  科学研究費助成事業 基盤研究(C)  基盤研究(C)

    平木 隆夫, 金澤 右, 櫻井 淳, 小牧 稔幸, 松野 隆幸, 松井 裕輔, 亀川 哲志

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    Grant amount:\4420000 ( Direct expense: \3400000 、 Indirect expense:\1020000 )

    本研究の目的は、我々が開発したCTガイド下IVR用針穿刺ロボット(Zerobot)を用いたCT透視ガイド下生検の臨床試験(First-in-Human試験)を実施することである。まず、試験を特定臨床研究としてjRCTに登録し(登録番号:jRCTs0621800)、その後、昨年度上旬に臨床試験を開始し、昨年度中に予定症例数10例(女性4例、男性6例;平均年齢72歳)の試験プロトコル手技を実施した。10例の病変の内訳は、腎腫瘍4例、肺腫瘍3例、副腎腫瘍1例、縦隔腫瘍1例、筋腫瘍1例であった。全例でZerobotを用いた生検導入針穿刺は実行可能であった。Zerobotの不具合はみられなかった。有害事象は8例で計11個生じた(グレードIIIa 1個、グレードI10個)。よって、Zerobotを用いた生検導入針穿刺は、人における様々な部位で安全に実行可能であることが示された。
    今年度は、臨床試験の成果発表を主に行った。まず4月には横浜で開催された第78回日本医学放射線学会にて発表を行い、Gold medalを受賞した。次に欧州放射線学会の機関誌であるEuropean Radiologyに論文として発表を行った。それ以外にも多くの研究会や展示会等で本臨床試験の結果を講演内で発表してした。また、jRCTには本年1月付で終了届書を提出し、3月には実施医療機関の長である病院長に終了の報告を行った。

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  • CTガイド下針穿刺ロボットを用いた3次元穿刺技術の開発

    Grant number:17K10439  2017.04 - 2021.03

    日本学術振興会  科学研究費助成事業 基盤研究(C)  基盤研究(C)

    櫻井 淳, 平木 隆夫, 亀川 哲志, 松野 隆幸, 金澤 右, 松井 裕輔, 小牧 稔幸

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    Grant amount:\4550000 ( Direct expense: \3500000 、 Indirect expense:\1050000 )

    2019年度には、岡山大学で開発したCT透視ガイド下穿刺ロボット(Zerobot)によって高精度な3次元穿刺が可能であることを証明した非臨床ファントム試験、動物試験の結果の解析と論文投稿を行った。研究結果の概略としては、ファントム試験において、平均の穿刺誤差角度はロボットにおいてXY平面上で0.4度、YZ平面上で0.6度、穿刺補助装置を用いた用手法においてXY平面上で3.7度、YZ平面上で0.6度であり、ロボットの方がより高精度であった。動物試験において、平均の穿刺誤差距離は穿刺中の針軸調整を加えた群で2.5mm、調整を加えない群で5.0mmであり、調整を加えない群でも高精度な結果が得られ、さらに調整を加えることで精度は向上した。本研究論文はEuropean Radiology誌に掲載された。
    上記、非臨床試験の結果をうけて、さらにシステムの改良、開発を進めた。高精度ターゲティングに関して開発した、ロボットの構造的なパラメータを補正するキャリブレーションの手法を用いた運動学パラメータの補正、CTガントリー平面に対するロボット設置の垂直度を取得し補正する手法、CT画像の針姿勢情報を基にロボットの初期関節角度を補正するアルゴルリズムなどの調整、改良を行った。さらに、穿刺中に生じた針のズレ修正のために開発した方法論(特許出願済み)に関しても、システム面での改良を進めた。
    すでに非臨床試験で十分に高精度な穿刺精度を実現できることが示されたが、ロボット自体の機能改良などに合わせて、三次元穿刺に関わるシステムの修正や改良も合わせて実施した。

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  • CT透視ガイド下針穿刺ロボットのための包み込み式なじみグリッパの開発

    2017.04 - 2018.03

    ちゅうごく産業創造センター  新産業創造創出研究会 

    亀川 哲志

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    Authorship:Principal investigator  Grant type:Competitive

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  • Realization of secure and reliable communication in a remote control type / autonomous mobile system in the IoT era

    Grant number:16H01723  2016.04 - 2019.03

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (A)  Grant-in-Aid for Scientific Research (A)

    Nogami Yasuyuki

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    Grant amount:\39390000 ( Direct expense: \30300000 、 Indirect expense:\9090000 )

    In this research, using a specific drive system such as an electric vehicle and robot capable of autonomous driving and remote control, the advanced security technology (data authentication, device authentication, secure key update) we have clarified the security level that is realized without any problems by verifying how much the real-time performance is affected. Specifically, for the CAN system, data authentication with message authentication code that is generated by AES, random number generator, and lightweight encryption has been implemented. Then, side-channel attack has been demonstrated experimentally, key update function as the countermeasure using elliptic pairing-based cryptography has been also implemented. Their real-time processing could be realized.

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  • Development of a snake-like robot realizing three dimensional motion with obstacle aided behavior

    Grant number:15K05898  2015.04 - 2018.03

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C)  Grant-in-Aid for Scientific Research (C)

    Kamegawa Tetsushi

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    Grant amount:\4940000 ( Direct expense: \3800000 、 Indirect expense:\1140000 )

    In this research, a snake-like robot aims to move in a complicated narrow space utilizing dynamical interaction with the surrounding environment. We have developed a new snake-like robot which can measure pressure around its whole body as well as can achieve make three dimensional movement. We have verified the robot can measure pressure in real time when it moves the inside of 200mm straight and bending pipes. We also studied an algorithm to change the shape reflectively in a pipe by pressure measured by a snake-like robot.

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  • 狭所用索状能動移動機構に関する開発

    2015 - 2017

    住友重機械工業  共同研究 

    亀川哲志

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    Authorship:Principal investigator 

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  • CTガイド下針穿刺ロボットのためのインターフェイスの開発

    2015

    岡山県  特別電源所在県科学技術振興事業 

    亀川 哲志

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  • 配管をタフに走破して作業もするヘビ型ロボットの開発

    2014 - 2018

    内閣府  革新的研究開発推進プログラム(ImPACT) タフ・ロボティクス・チャレンジ 

    田所 諭, 亀川哲志

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    Authorship:Principal investigator  Grant type:Competitive

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  • CT透視下針穿刺用医療ロボットの開発~ロボティックIVRの時代へ~

    2014 - 2016

    日本医療研究開発機構研究費 

    平木 隆夫

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    Grant type:Competitive

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  • ロボティックIVRのためのインターフェイスの開発

    2014

    岡山県  特別電源所在県科学技術振興事業 

    亀川 哲志

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  • Development of CT-fluoroscopy-guided needle insertion robot: Free physicians from radiation

    Grant number:25461882  2013.04 - 2016.03

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C)  Grant-in-Aid for Scientific Research (C)

    Hiraki Takao, GOBARA Hideo, KANAZAWA Susumu, MATSUNO Takayuki, FUJIWARA Hiroyasu, KAMEGAWA Tetsushi

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    Grant amount:\4940000 ( Direct expense: \3800000 、 Indirect expense:\1140000 )

    In 2013, a prototype robot was developed and phantom studies were performed. Robot was remotely controlled with controller and a needle was successfully inserted into a target 2 cm in size without radation exposure to a physician. In 2014 and 2015, the prototype robot was improved. In 2014, backlash during motion was improved. More needle insertion strength and faster insertion speed were applied. Usability of interface was also improved, and presentation of force sense to a physician was acheived. In 2015, hand section of the robot was made smaller and lighter. Further, mechanism of needle attachment and removal was simplified.

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  • Obstacle aided locomotion for a snake-like robot based on reactive motion

    Grant number:25820088  2013.04 - 2015.03

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for Young Scientists (B)  Grant-in-Aid for Young Scientists (B)

    KAMEGAWA Tetsushi

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    Grant amount:\4290000 ( Direct expense: \3300000 、 Indirect expense:\990000 )

    In this research, I have proposed an algorithm that a snake-like robot moves reactively based on information of contact sensor, such that the snake-like robot utilizes obstacles existing in an environment. The effectiveness of proposed algorithm is verified by experiments of a dynamical simulation model and a real mechanical model. From the experimental results, it is verified that the snake-like robot realize an efficient locomotion by the reactive motion. On the other hand, I also confirmed that we need another algorithm that considers friction force between a robot and an obstacle to improve the locomotion.

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  • Development of snake robot that climbs a cylinder by helical rolling motion

    Grant number:21760199  2009 - 2010

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for Young Scientists (B)  Grant-in-Aid for Young Scientists (B)

    KAMEGAWA Tetsushi

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    Grant amount:\2600000 ( Direct expense: \2000000 、 Indirect expense:\600000 )

    Most of previous snake robot's movements are restricted on a two dimensional plane. In this study, we realized a snake robot which moves the inside and the outside of a cylinder by helical rolling motion. The snake robot is constructed by assembling pitch joints and yaw joints alternately so that it can move in the three dimensional environment. The automatic coiling control to adjust to the diameter of a cylinder is implemented. In addition, some experiments was conducted that the snake robot moves the inside of a curvilinear pipe by shifting its shape gradually. Moreover, the contact force affected to a cylinder was analyzed based on mathematical model.

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  • 小型球面モータの開発

    2008

    岡山県  特別電源所在県科学技術振興事業 

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    Authorship:Collaborating Investigator(s) (not designated on Grant-in-Aid) 

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  • 半自律高機能移動ロボット群による被災建造物内の情報インフラ構築と情報収集システムの開発

    2006 - 2008

    独立行政法人新エネルギー・産業技術総合開発機構(「NEDO技術開発機構」)  21世紀ロボットチャレンジプログラム,戦略的先端ロボット要素技術開発プロジェクト,被災建造物内移動RTシステム 

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    Authorship:Collaborating Investigator(s) (not designated on Grant-in-Aid) 

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  • レスキューロボット等の高度な次世代防災インフラ構築

    2001 - 2006

    文部科学省  大都市大震災軽減化特別プロジェクト 

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  • Practice on Systems EngineeringI (2022academic year) 1st semester  - 火5~8

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Social Activities

  • Development of snake robot and medical robot toward social implementation

    Role(s):Lecturer

    JICA Knowledge Co-Creation Program  Short-term Program of Innovative Asia: Okayama University  2021.10.28

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  • ヘビ型ロボットと医療ロボット,どこが違うのか?

    Role(s):Lecturer

    ひろしま医工学スクール  2021.3.27

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  • ベネッセSTEAMフェスタ

    Role(s):Advisor

    ベネッセ  2021.3.21

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    Type:Science festival

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  • 高校生探究成果発表会

    Role(s):Advisor

    金沢大学  2021.3.13

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    Type:Research consultation

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  • 最先端のロボット研究と社会を考える

    Role(s):Lecturer, Informant

    岡山大学  SDGsユース  2021.2.20

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  • CTガイド下針穿刺ロボット(Zerobot)の開発

    Role(s):Lecturer

    東京都医工連携HUB機構講演  2021.1.14

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  • CT透視ガイド下針穿刺ロボット Zerobotの研究開発

    Role(s):Lecturer

    岡山大学大学院ヘルスシステム統合科学研究科  2020年度市民講演会「私の/私たちのいのちとヘルス(健康)」第1回 ~医療を支援するロボット研究開発の視点から~  2020.12.6

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  • 岡山操山中学校校外学習

    Role(s):Advisor

    岡山操山中学  2019.11.7

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  • CT透視ガイド下針穿刺ロボットZerobotの開発

    Role(s):Lecturer

    東京都医工連携HUB機構講演  2019.9.27

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  • ロボテックInterventional Radiology 『Zerobot』(クラス3)

    Role(s):Lecturer

    川崎医大メディカルアーク  2019.2.7

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  • 見せてもらおうか岡山ロボット研究所の性能とやらを

    Role(s):Planner

    人と科学の未来館サイピア  2018.8.4 - 2018.8.31

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  • 強いロボット~現場を指揮する中堅研究者による最前線のタフ技術~ ヘビ型ロボットの研究開発

    Role(s):Lecturer

    日本ロボット学会  第110回ロボット工学セミナー  2017.11.12

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    Type:Seminar, workshop

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  • 防災・減災のためのロボット・ドローンの利活用と今後の展望

    Role(s):Lecturer

    危機管理産業展  危機管理セミナー  2017.10.12

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    Type:Seminar, workshop

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  • ヘビ型ロボットの多様な移動形態に関する研究

    Role(s):Lecturer

    笠岡高等学校  科学技術人材育成の取り組みに係る講演会  2017.9.29

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    Type:Lecture

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  • NHK高専ロボコン審判員

    Role(s):Organizing member

    NHK  高専ロボコン  2016.10.23

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    Type:TV or radio program

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  • ヘビ型ロボットの多様な移動形態に関する研究

    Role(s):Lecturer

    第16回レスキューロボットコンテスト 講演会  2016.8.7

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    Type:Lecture

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  • ヘビ型ロボットの多様な移動形態に関する研究

    Role(s):Lecturer

    第11回竸基弘賞 学術業績賞 受賞記念講演  2016.1.13

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    Type:Lecture

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  • 多様な移動形態をもつヘビ型ロボットの開発

    Role(s):Lecturer

    津山市  セミナー「開発研究者が語る 暮らしを支えるロボット 暮らしを変えるロボット」  2014.10.26

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    Type:Seminar, workshop

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  • ロボティックIVRの開発

    Role(s):Lecturer

    第17回おかやま生体信号研究会  2014.3.20

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    Type:Seminar, workshop

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  • 遠隔探査ロボット技術

    Role(s):Lecturer

    おかやまレスキュー活動支援システム研究会  2012.11.20

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    Type:Seminar, workshop

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  • ロボットの共同研究はむずかしい?― ヘビ型ロボットの事例 ―

    Role(s):Lecturer

    岡山大学ダイバーシティ推進本部  平成23年度第2回研究スキルアップ講座  2011.10.14

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    Type:Seminar, workshop

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  • レスキューロボット開発裏話

    Role(s):Lecturer

    おかやまロボット研究会  2010.8.2

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Media Coverage

  • 形にして実行 Newspaper, magazine

    日刊工業新聞  2021.11

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  • World Robot Summit 福島大会 技術育む競技会 Newspaper, magazine

    日刊工業新聞  2021.10

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  • 「あなたなら」の防災教育、STEAM活用で意識作り Internet

    日経新聞電子版  2021.2

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  • 「あなたなら」の防災教育、問題解決の意識育む Newspaper, magazine

    日経産業新聞  2021.2

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  • 岡山大開発 ロボ治験へ Newspaper, magazine

    山陽新聞  2020.8

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  • 医師の代わりに組織採取 針穿刺ロボ 岡山大、臨床試験に成功 Newspaper, magazine

    日刊工業新聞  2019.9

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  • 岡山大開発がん医療ロボ 臨床試験 安全に終了 Newspaper, magazine

    山陽新聞  2019.8

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  • 岡山大学で開発した医療用針穿刺ロボット(Zerobot)の初めての臨床試験を実施,10例全例で成功 Internet

    innavi net  2019.8

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  • 医療ロボットの話 TV or radio program

    山陽放送RSK  朝耳らじお内「技術の森」  2019.1

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  • ヘビ型ロボットの話 TV or radio program

    山陽放送RSK  朝耳らじお内「技術の森」  2019.1

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  • レスキューロボ,救助犬スーツ・・・安全な街へ防災最前線 Newspaper, magazine

    神戸新聞  2019.1

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  • ロボット社会の実現には技術課題が山積みだ WRS 競技から見えた可能性と課題より Internet

    日刊工業新聞  ニュースイッチ  2018.12

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  • 次世代の先導者:災害救助ロボ,現場で活躍 人名助ける未来 目前に Newspaper, magazine

    日経産業新聞  次世代の先導者  2018.11

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  • WRSに出場している災害対応ロボット TV or radio program

    TBS  ニュース23  2018.10

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  • ポスト平成の未来学 第11部 あすからの安心・安全 災害現場の味方 救える命 ロボが探す Newspaper, magazine

    日経新聞  2018.9

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  • 医療ロボ 初の臨床試験 岡山大 遠隔操作で腫瘍採取 Newspaper, magazine

    山陽新聞  2018.6

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  • 医療ロボットで「針生検」 Newspaper, magazine

    読売新聞  2018.6

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  • 岡山大 医療用遠隔操作ロボ「Zerobot」を開発 Newspaper, magazine

    毎日新聞  2018.4

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  • 新医療用ロボット 臨床研究が始まる Newspaper, magazine

    朝日新聞  2018.4

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  • 岡山大 がん治療ロボ開発 Newspaper, magazine

    山陽新聞  2018.3

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  • 社会を豊かにするロボット技術,複雑な配管内の情報を提供できるヘビ型ロボットの開発に成功 Promotional material

    碧い風  2018.3

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  • VRの世界,VRは災害現場でも利用できる Promotional material

    リビング岡山  2018.1

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  • くねくね前進 配管スイスイ Newspaper, magazine

    山陽新聞  2017.8

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  • 難所すいすいヘビ型ロボ Newspaper, magazine

    産経新聞  2017.8

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  • 曲管内走破ロボ開発 Newspaper, magazine

    日刊工業新聞  2017.8

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  • ロボット開発 使われることが大事 Newspaper, magazine

    山陽子ども新聞  2017.4

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  • 災害救助ロボお披露目 東北大などが開発 Internet

    日本経済新聞(電子版)  2016.6

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  • 開発中の医療機器紹介 岡山大でイベント 企業に協力呼びかけ Newspaper, magazine

    山陽新聞  2016.2

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  • レスキュー技術3人表彰 競基弘賞 ヘビ型ロボットなど研究 Newspaper, magazine

    神戸新聞  2016.1

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  • 災害ロボ研究 3氏表彰 神戸で「競基弘賞」 岡山大院講師ら Newspaper, magazine

    産経新聞  2016.1

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  • 競基弘賞に亀川・広瀬・木村さん 被災施設確認ヘビ型ロボット開発など Newspaper, magazine

    読売新聞  2016.1

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  • IVR治療向け穿刺ロボ 放射線透視で遠隔操作 岡山大が開発 Newspaper, magazine

    日刊工業新聞  2015.11

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  • 手術支援ロボ開発中 医師の放射線被ばく防げ Newspaper, magazine

    山陽新聞  2015.10

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  • ヘビ型ロボ 探索用途に 岡山大が技術 Newspaper, magazine

    日刊工業新聞  2014.10

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  • 岡山大学レスキューロボット開発 TV or radio program

    NHK岡山放送局  岡山ニュースもぎたて!  2013.7

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  • ヘビ型ロボット TV or radio program

    日本テレビ  たけしの超新説研究所 最新科学が歴史を暴く  2012.3

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  • 3Dでロボ操作支援 Newspaper, magazine

    山陽新聞  2011.8

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  • ロボット研究 岡山大 Newspaper, magazine

    山陽子ども新聞  2011.4

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  • 「機械の日」でロボ操作体験 Newspaper, magazine

    山陽新聞  2009.8

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  • 特集・夢 ロボット研究最前線 TV or radio program

    山陽放送  RSKイブニングニュース  2009.1

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  • レスキューロボットデモンストレーション@後楽園 TV or radio program

    NHK岡山放送局  日本一の桃太郎スペシャル  2008.12

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  • ロボット連携 被災者捜索 Newspaper, magazine

    日本経済新聞  2008.11

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  • トピックス:ロボットを操縦 Newspaper, magazine

    山陽新聞  2008.8

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  • 研究進むレスキューロボット TV or radio program

    NHK岡山放送局  ニュースコア6「日本一の桃太郎」  2008.6

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  • レスキューロボット TV or radio program

    NHK  おはよう日本  2008.6

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  • 災害救助ロボ研究活発 Newspaper, magazine

    山陽新聞  2007.8

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  • 本誌に載らなかった写真と、撮影余話――日本:ロボット救助隊員 Internet

    ナショナルジオグラフィック日本語版(Web)  2006.7

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  • ファンタジスタはロボット――ロボカップ2005開催 Internet

    ITmedia  2005.7

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Academic Activities

  • International Program Committee

    Role(s):Planning, management, etc.

    27th International Symposium on Artificial Life and Robotics / 7th International Symposium on BioComplexity / 5th International Symposium on Swarm Behavior and Bio-Inspired Robotics (AROB-ISBC-SWARM 2022)  2022.1.25 - 2022.1.27

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    Type:Competition, symposium, etc. 

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  • Local Arrangement Committee

    Role(s):Planning, management, etc.

    International Symposium on Socially and Technically Symbiotic Systems / International Symposium on Future I&C for Nuclear Power Plants / International Symposium on Symbiotic Nuclear Power Systems(STSS/ISOFIC/ISSNP 2021)  2021.11.15 - 2021.11.17

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    Type:Competition, symposium, etc. 

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  • Committee, Registration Chair

    Role(s):Planning, management, etc.

    The 15th International Symposium on Distributed Autonomous Robotic Systems 2021 / The 4th International Symposium on Swarm Behavior and Bio-Inspired Robotics 2021 (DARS-SWARM2021)  2021.6.1 - 2021.6.4

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    Type:Competition, symposium, etc. 

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  • 実行委員(登録・プログラム・庶務)

    Role(s):Planning, management, etc.

    システム制御情報学会 第65回システム制御情報学会研究発表講演会(SCI21)  2021.5.26 - 2021.5.28

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    Type:Competition, symposium, etc. 

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  • 実行委員(奨励賞・技術賞選考)

    Role(s):Planning, management, etc.

    計測自動制御学会 中国支部学術講演会  2019

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    Type:Competition, symposium, etc. 

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  • 特集号(Special Issue on Disaster Response Robot - Selected Papers from WRS2018) ゲストAE

    Role(s):Planning, management, etc.

    Advanced Robotics  2019

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    Type:Academic society, research group, etc. 

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  • 特集号(Special Issue on Disaster Robotics – ImPACT Tough Robotics Challenge) ゲストAE

    Role(s):Planning, management, etc.

    Advanced Robotics  2019

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    Type:Academic society, research group, etc. 

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  • 実行委員(プログラム副委員長)

    Role(s):Planning, management, etc.

    計測自動制御学会 第20回計測自動制御学会システムインテグレーション部門講演会  2019

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    Type:Competition, symposium, etc. 

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  • セッションオーガナイザー:CT透視下針穿刺ロボットの研究開発

    Role(s):Planning, management, etc.

    システム制御情報学会研究発表講演会 (SCI18)  2018

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    Type:Competition, symposium, etc. 

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  • Committee, Registration Chair, OS Organaizer

    Role(s):Planning, management, etc.

    The 2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics 2017 (SWARM 2017)  2017.10.29 - 2017.11.1

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  • 実行委員(会場係)

    Role(s):Planning, management, etc.

    第29回「電磁力関連のダイナミクス」シンポジウム(SEAD29)  2017.5.18 - 2017.5.19

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  • 実行委員(会場係)

    Role(s):Planning, management, etc.

    計測自動制御学会 第4回 制御部門マルチシンポジウム (MSCS2017)  2017.3.6 - 2017.3.9

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  • 特集号ゲストAE

    Role(s):Planning, management, etc.

    計測自動制御学会誌  2017

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  • Session Co-Chair "Bio Systems"

    Role(s):Panel moderator, session chair, etc.

    The 2016 IEEE/SICE International Symposium on System Integration (SII 2016)  2016.12.14

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  • Session Co-Chair "Bio-Related and Medical Robotics"

    Role(s):Panel moderator, session chair, etc.

    The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)  2016.10.12

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  • 座長:実学としての医工融合研究と次世代医療福祉システム

    Role(s):Panel moderator, session chair, etc.

    計測自動制御学会 第16回計測自動制御学会システムインテグレーション部門講演会(SI2015)  2015.12.15

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  • Committee, Registration Chair, Session Chair

    Role(s):Planning, management, etc.

    The 1st International Symposium on Swarm Behavior and Bio-Inspired Robotics 2015 (SWARM 2015)  2015.10.28 - 2015.10.30

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  • Publicity chair, Program Committee

    Role(s):Planning, management, etc.

    2014 IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR2014)  2014

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  • Program Committee

    Role(s):Planning, management, etc.

    IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR2013)  2013

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  • 実行委員(会場係)

    Role(s):Planning, management, etc.

    日本機械学会 2013年度年次大会  2013

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  • Program Committee

    Role(s):Planning, management, etc.

    Robots and Sensors integration in future rescue INformation system (ROSIN'13)  2013

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  • Program Committee

    Role(s):Planning, management, etc.

    IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR2012)  2012.11.5 - 2012.11.8

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  • Program Committee

    Role(s):Planning, management, etc.

    Robots and Sensors integration in future rescue INformation system (ROSIN'12)  2012

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  • Local Arrangement Committee

    Role(s):Planning, management, etc.

    First International Symposium on Socially and Technically Symbiotic System (STSS 2012)  2012

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  • 実行委員

    Role(s):Planning, management, etc.

    System Integration International (SII2011),SICE SI部門 部門大会 (SI2011)  2011.12.20 - 2011.12.25

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  • 実行委員(受付担当)

    Role(s):Planning, management, etc.

    第20回計測自動制御学会中国支部学術講演会  2011.11.26 - 2011.11.27

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  • 実行委員 幹事(広報), Program Committee

    Role(s):Planning, management, etc.

    IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR2011)  2011.11.1 - 2011.11.5

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  • 座長:移動ロボット

    Role(s):Panel moderator, session chair, etc.

    第24回日本ロボット学会学術講演会  2011.9.7 - 2011.9.9

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  • 実行委員 幹事(会場)

    Role(s):Planning, management, etc.

    日本機械学会 ロボティクス・メカトロニクス部門 講演会2011  2011.5.26 - 2011.5.28

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  • プログラム委員

    Role(s):Planning, management, etc.

    IEEE International Conference on Robotics and Biomimetics 2010 (ROBIO 2010)  2010.12.14 - 2010.12.18

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  • Program Committee

    Role(s):Planning, management, etc.

    Robots and Sensors integration in future rescue INformation system (ROSIN'10)  2010.10.18

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  • Session chair

    Role(s):Panel moderator, session chair, etc.

    SICE Annual Conference 2010  2010.8.18 - 2010.8.21

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  • Local Arrangement Co-Chair

    Role(s):Planning, management, etc.

    2010 International Conference on Modelling, Identification and Control  2010.7.17 - 2010.7.19

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  • Program Committee

    Role(s):Planning, management, etc.

    International Automatic Control Conference (CACS) 2009  2009

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  • Local Arrangement Chair

    Role(s):Planning, management, etc.

    2009 IEEE International Conference on Networking, Sensing and Control  2009

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  • オーガナイザー:OS7レスキュー工学

    Role(s):Planning, management, etc.

    日本機会学会 中国四国支部・九州支部合同企画 岡山講演会  2008.10.20

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  • 実行委員, 座長(知識型認識)

    Role(s):Planning, management, etc., Panel moderator, session chair, etc.

    第24回日本ロボット学会学術講演会  2006.9.14 - 2006.9.16

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  • TC (Technical Committee) , Mailing List Chair

    Role(s):Planning, management, etc.

    IEEE International Workshop on Safety, Security and Rescue Robotics  2006.1

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  • Program Commitee

    Role(s):Planning, management, etc.

    IEEE International Workshop on Safety, Security and Rescue Robotics  2006

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  • 座長:生物模倣型移動ロボット

    Role(s):Panel moderator, session chair, etc.

    日本機械学会 2005年度年次大会  2005.9.19 - 2005.9.22

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  • Program Commitee

    Role(s):Planning, management, etc.

    IEEE International Workshop on Safety, Security and Rescue Robotics  2005

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