Faculty Profiles - KAMEGAWA Tetsushi

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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

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

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

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

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

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

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

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

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

Language：Japanese

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

Language：Japanese

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

Language：Japanese

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

Language：Japanese

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

Language：Japanese

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

Language：Japanese

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

Language：Japanese

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

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

Language：Japanese

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

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

Language：Japanese

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

Language：Japanese

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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