論文 - 亀川　哲志

Development of the snake-like rescue robot "KOHGA" 査読

T Kamegawa, T Yamasaki, H Igarashi, F Matsuno

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

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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 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. 査読

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年

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出版者・発行元：IEEE  

DOI： 10.1109/IROS.2004.1389541

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三次元蛇型ロボットにおける体幹ねじり型移動の解析とGAによる移動形態推移時の運動計画 査読

亀川 哲志, 松野 文俊

日本ロボット学会誌   21 ( 5 )   509 - 516   2003年7月

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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  

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 “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 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 査読

K Ito, T Kamegawa, F Matsuno

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

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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  

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! 査読

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

IEEE ROBOTICS & AUTOMATION MAGAZINE   9 ( 3 )   17 - 25   2002年9月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

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 査読

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

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

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記述言語：英語  

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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 査読

T Kamegawa, F Matsuno, R Chatterjee

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

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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 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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