Faculty Profiles - KAMEGAWA Tetsushi

Presentations -

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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

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

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

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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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

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

３脚モジュラーロボットの開発と協調作業の実現

ROBOMEC2006 2006

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

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

Language：Japanese

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

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

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

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

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

車両多連結ヘビ型ロボットKOHGAの操舵

ROBOMEC2004 2004

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

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

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

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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