研究者詳細 - 亀川　哲志

論文 - 亀川　哲志

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Hardware-software integration of a practical mobile robot platform 査読

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年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

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.

DOI： 10.1109/SII.2011.6147630

ねじ推進ヘビ型ロボットの先頭追従制御査読

福島宏明, 田中基康, 亀川哲志, 松野交俊

日本ロボット学会誌 28 ( 6 ) 707 - 714 2010年7月

記述言語：日本語出版者・発行元：The Robotics Society of Japan

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.

DOI： 10.7210/jrsj.28.707

脆弱環境下での移動を実現するための4脚移動ロボットの足探り動作による足場認識と歩行の実現査読

亀川哲志, 鈴木隆司, 大谷浩一, 松野文俊

日本ロボット学会誌 28 ( 2 ) 215 - 222 2010年3月

担当区分：筆頭著者記述言語：日本語出版者・発行元：The Robotics Society of Japan

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.

DOI： 10.7210/jrsj.28.215

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

Toshimichi Baba, Yoshihide Kameyama, Tetsushi Kamegawa, Akio Gofuku

Proceedings of the SICE Annual Conference 2319 - 2325 2010年1月

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.

Development of a spherical motor driven by electro-magnets 査読

Seiji Ikeshita, Akio Gofuku, Tetsushi Kamegawa, Takakazu Nagai

JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY 24 ( 1 ) 43 - 46 2010年1月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：KOREAN SOC MECHANICAL ENGINEERS

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.

DOI： 10.1007/s12206-009-1163-0

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

Tetsushi Kamegawa, Takaaki Harada, Akio Gofuku

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

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE

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.

DOI： 10.1109/ROBOT.2009.5152862

全方位回転可能な球面モータの開発査読

五福明夫, 永井孝和, 池下聖治, 柴田光宣, 亀川哲志

日本機械学会論文集（Ｃ編） 74 ( 747 ) 2713 - 2720 2008年11月

記述言語：日本語出版者・発行元：一般社団法人日本機械学会

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.

DOI： 10.1299/kikaic.74.2713

ロボット動作支援のためのインテリジェントマークとその認識デバイスの開発査読

柴田光宣, 五福明夫, 亀川哲志

日本機械学會論文集. C編 = Transactions of the Japan Society of Mechanical Engineers. C 74 ( 745 ) 2331 - 2333 2008年9月

記述言語：日本語出版者・発行元：一般社団法人日本機械学会

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.

DOI： 10.1299/kikaic.74.2331

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

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年

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：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

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

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年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE

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

遠隔操作性を考慮した双頭ヘビ型レスキューロボットKOHGAの開発査読

亀川哲志, 松野文俊

日本ロボット学会誌 = Journal of Robotics Society of Japan 25 ( 7 ) 1074 - 1081 2007年10月

担当区分：筆頭著者記述言語：日本語出版者・発行元：The Robotics Society of Japan

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'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

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査読

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年10月

記述言語：日本語出版者・発行元：(一社)日本遠隔医療学会

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)

ねじ推進ヘビ型ロボットのモデリングと制御査読

里村章悟, 原正哉, 福島宏明, 亀川哲志, 五十嵐広希, 松野文俊

日本ロボット学会誌 = Journal of Robotics Society of Japan 25 ( 5 ) 779 - 784 2007年7月

記述言語：日本語出版者・発行元：The Robotics Society of Japan

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

その他リンク： https://jlc.jst.go.jp/DN/JALC/00297900632?from=CiNii

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

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年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE

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

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

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年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE

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

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

Masaki Ohira, Ranajit Chatterjee, Tetsushi Kamegawa, Fumitoshi Matsuno

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

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE

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

Guidelines for human interface design of rescue robots 査読

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年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE

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.

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

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年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE

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

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

T Kamegawa, T Yamasaki, F Matsuno

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

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE

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

Development of rescue robotic systems for both daily and emergency use 査読

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年12月

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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