Faculty Profiles - KAMEGAWA Tetsushi

Presentations -

Division display 101 - 120 of about 158 ／ All the affair displays >>

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

Language：Japanese

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

Language：Japanese

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

Language：Japanese

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

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

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

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

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

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

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

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

Language：Japanese

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

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

Language：Japanese

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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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

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

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

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

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

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

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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