研究者詳細 - 亀川　哲志

論文 - 亀川　哲志

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Comparison of robotic versus manual needle insertion for CT-guided intervention: prospective randomized trial

Takao Hiraki, Yusuke Matsui, Jun Sakurai, Koji Tomita, Mayu Uka, Soichiro Kajita, Noriyuki Umakoshi, Toshihiro Iguchi, Michihiro Yoshida, Kota Sakamoto, Takayuki Matsuno, Tetsushi Kamegawa

Radiology Advances 2 ( 2 ) 2025年3月

掲載種別：研究論文（学術雑誌）出版者・発行元：Oxford University Press (OUP)

Abstract

Background

Robotic needle insertion under CT guidance has been developed, but data on comparison with manual insertion are still lacking.

Purpose

To compare robotic versus manual needle insertion for CT fluoroscopy-guided intervention, primarily in terms of insertion accuracy.

Materials and Methods

This was a prospective study between May 2020 and March 2023 at a single site. The cohort comprised 22 patients undergoing CT (Aquilion One or Aquilion CX; Canon Medical Systems) fluoroscopy-guided biopsy, who were randomly allocated to either the robotic or manual group. The robot used (Zerobot; Medicalnet Okayama) is not yet commercially available. A biopsy introducer needle was inserted by 1 of 3 physicians using a remote-control robot in the robotic group, versus by 1 of 3 different physicians by hand in the manual group. The primary endpoint was needle insertion accuracy, which was defined as the 3-dimensional Euclidean distance between a predetermined target point and the needle tip after insertion. The non-inferiority of robotic insertion to manual one was then tested. Adverse events were evaluated. Statistical comparisons were made between the 2 groups.

Results

Technical success and pathological findings were confirmed in all patients of the 2 groups. The mean and SD of needle insertion were 4.8 mm ± 2.6 in the robotic group and 7.0 mm ± 3.1 in the manual group (P &lt; .001). The mean difference in accuracy between the 2 groups (robotic minus manual group) was −2.1 mm (95% CI, −4.7 to 0.4). Effective dose to physicians was zero in all cases in the robotic group, while median dose was 1.0 µSv in the manual group (P &lt; .001). Dose length product to patients was not significantly different between the 2 groups (P = .100). No major adverse events were observed.

Conclusion

Robotic needle insertion was non-inferior to manual insertion in terms of accuracy, while it effectively eliminated radiation exposure to physicians.

Trial registration number

jRCT2062200013

DOI： 10.1093/radadv/umaf010

その他リンク： https://academic.oup.com/radadv/article-pdf/2/2/umaf010/62871840/umaf010.pdf

Fan-Shaped Pneumatic Soft Actuator that Can Operate Bending Motion for Ankle-Joint Rehabilitation Device

So Shimooka, Hirosato Yokoya, Masanori Hamada, Shun Shiomi, Takenori Uehara, Takahiro Hirayama, Tetsushi Kamegawa

Journal of Robotics and Mechatronics 37 ( 1 ) 43 - 53 2025年2月

掲載種別：研究論文（学術雑誌）出版者・発行元：Fuji Technology Press Ltd.

Nowadays, owing to declining birthrates and an aging population, patients and the elderly requiring rehabilitation are not getting enough physical activity. In addressing this issue, devices for rehabilitating them have been researched and developed. However, rehabilitation devices are almost exclusively used for patients who can get up, rather than those who are bedridden. In this study, we aim to develop a rehabilitation device that can provide passive exercise for bedridden patients. The ankle joint was selected as the target joint because the patients who have undergone surgery for cerebrovascular disease remain bedridden, and early recovery in the acute stage is highly desirable. We proposed and tested a fan-shaped pneumatic soft actuator (FPSA) that can expand and bend stably at angles when supply pressure is applied as an actuator for a rehabilitation device to encourage patient exercise. However, the previous FPSA’s movement deviates from the arch of the foot owing to increased supply pressure. In the ideal case, FPSA should push the arch of the foot in an arc motion. This study proposes and tests the FPSA that can operate a bending motion to provide passive exercise to the ankle joint using tensile springs and a winding mechanism powered by a servo motor. The proposed FPSA has a significant advantage of exhibiting no hysteresis in its pressure-displacement characteristics. The configuration and static analytical model of the improved FPSA are described.

DOI： 10.20965/jrm.2025.p0043

Development and verification of connectors for modular robots to complete practical tasks on the moon

Ryohei Michikawa, Kiona Hosotani, Yuya Shimizu, Ching Wen Chin, Xixun Wang, Tomohiro Hayakawa, Ryusuke Fujisawa, Tetsushi Kamegawa, Motoyasu Tanaka, Fumitoshi Matsuno

Artificial Life and Robotics 2024年12月

Shape Estimation of Snake Robot Using Extended Kalman Filter and Automatic Propulsion in Piping by Helicoidal Rolling Motion Considering Helix Pitch 査読

Yuki Tada, Tetsushi Kamegawa

Journal of Robotics and Mechatronics 36 ( 6 ) 1378 - 1386 2024年12月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Fuji Technology Press Ltd.

This study describes a method for applying an extended Kalman filter to a snake robot, which moves through a pipe using a helicoidal rolling motion. The filter estimates the helix radius, amount of twisting, and helix pitch to adapt to changes in the diameter inside the pipe. Additionally, offset values are added to these estimated values to propel the snake robot along the pipe autonomously. In particular, we experimentally demonstrated the effect of helix pitch on friction force and proposed a parameter-setting strategy that accounts for the range of motion of the joints. Finally, we validated the results of the proposed method through experiments on an actual robot.

DOI： 10.20965/jrm.2024.p1378

Fault-tolerant joint state feedback adaptive control for snake robots that move through random pole environments 査読

Yongdong Wang, Yuya Shimizu, Jiaxu Wu, Yusheng Wang, Tetsushi Kamegawa, Akio Gofuku, Hajime Asama

Advanced Robotics 38 ( 13 ) 880 - 895 2024年5月

Effect of display of YOLO's object recognition results to HMD for an operator controlling a mobile robot. 査読

Yuichi Sasaki, Tetsushi Kamegawa, Akio Gofuku

Artificial Life and Robotics 28 ( 2 ) 323 - 331 2023年5月

Parameter search of a CPG network using a genetic algorithm for a snake robot with tactile sensors moving on a soft floor 査読

Hajime Tamura, Tetsushi Kamegawa

Frontiers in Robotics and AI 10 2023年3月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Frontiers Media SA

When a snake robot explores a collapsed house as a rescue robot, it needs to move through various obstacles, some of which may be made of soft materials, such as mattresses. In this study, we call mattress-like environment as a soft floor, which deforms when some force is added to it. We focused on the central pattern generator (CPG) network as a control for the snake robot to propel itself on the soft floor and constructed a CPG network that feeds back contact information between the robot and the floor. A genetic algorithm was used to determine the parameters of the CPG network suitable for the soft floor. To verify the obtained parameters, comparative simulations were conducted using the parameters obtained for the soft and hard floor, and the parameters were confirmed to be appropriate for each environment. By observing the difference in snake robot’s propulsion depending on the presence or absence of the tactile sensor feedback signal, we confirmed the effectiveness of the tactile sensor considered in the parameter search.

DOI： 10.3389/frobt.2023.1138019

Automatic Detection of Puncture Needle from CT Image with Deep Learning and Difference of CT Value Along Craniocaudal Direction. 査読

Seiya Kobayashi, Yuichiro Toda, Takayuki Matsuno, Kotaro Mayumi, Wataru Muramoto, Nozomu Fujitsuka, Takaaki Tanaka, Tetsushi Kamegawa, Takao Hiraki

SMC 4947 - 4952 2023年

Motion planning of a snake robot that moves in crowded pipes 査読

Yongdong Wang, Tetsushi Kamegawa, Eriko Matsuda, Akio Gofuku

ADVANCED ROBOTICS 36 ( 16 ) 781 - 793 2022年8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：TAYLOR & FRANCIS LTD

We propose two motions for a snake robot to move through crowded pipes. One motion is an S-shaped twisting motion performed by the snake robot as it moves around crowded pipes in parallel to the pipes. To develop the shape of the snake robot, the S-shaped twisting motion creates large and small semicircles alternately. In the S-shaped twisting motion, lateral rolling is used to generate the robot's twisting motion along its body to maneuver among crowded pipes. The other motion is an S-shaped traveling wave motion used by the snake robot to move among crowded pipes perpendicularly to the pipes. The S-shaped traveling wave motion adds a hyperbolic shape to the snake robot by utilizing a hyperbolic function. The shape of the hyperbolic function produces a little wave in the S-shaped traveling wave motion, and the wave is transferred from the tail to the head to move ahead. In this study, we describe the design of these two motions and exhibit the results of trials in simulation and with a real snake robot to validate the effectiveness of our proposed snake robot's motion.

DOI： 10.1080/01691864.2022.2095225

Estimation of Needle Puncturing Form during Slight Needle Movement Based on Force Data for Robotic Automated Puncturing Function 査読

Takayuki Matsuno, Hikaru Murakami, Tetsushi Kamegawa, Nanako Sakai, Takao Hiraki, Yuichiro Toda

Journal of Medical Robotics Research 7 ( 2 and 3 ) 1 - 11 2022年6月

掲載種別：研究論文（学術雑誌）出版者・発行元：World Scientific Pub Co Pte Ltd

In this paper, we focused on the medical procedure to insert needles under computer tomography (CT) guidance as a target for the robotization of medical surgery, which is one of Interventional Radiology (IR). IR is a general term for treatments that use devices to visualize patients’ bodies. During surgery, our developed robot, known as Zerobot, specializes in inserting a needle into the patient under CT guidance. Its surgery is less invasive and more effective in treating small cancer tumors because the temperature of the inserted needle tip is controlled. Zerobot was originally designed to be remotely controlled by doctors, and first-in-human feasibility trials in 2018 confirmed its surgical capability. We are currently focusing on the automatic insertion function to reduce the workload of doctors. In an animal experiment, Zerobot was unable to insert the needle into the animal during IR surgery if the needle was bent. As a result, the goal of this research is to have the robot function automatically so that the needle does not bend during surgery. We propose a method for estimating the form of the needle using a force sensor. There are three different types of needle forms. Next, the proposed method distinguishes between these needle forms by measuring the difference in force sensor data when the needle root is moved slightly. In addition, we conducted tests to confirm the efficacy of the proposed method.

DOI： 10.1142/s2424905x22410045

移動ロボットによる自動壁面調査のための制約条件と非線形計画問題の定式化査読

吉崎悠介, 亀川哲志, 五福明夫

計測自動制御学会論文集 58 ( 1 ) 7 - 20 2022年1月

Automatic Puncture Needle Detection by Image Processing Using Deep Learning and CT Values. 査読

Kotaro Mayumi, Takayuki Matsuno, Tetsushi Kamegawa, Ken'ichi Morooka, Takao Hiraki, Yuichiro Toda

International Symposium on Micro-NanoMechatronics and Human Science(MHS) 1 - 6 2022年

Realization of Crowded Pipes Climbing Locomotion of Snake Robot Using Hybrid Force-Position Control Method. 査読

Yongdong Wang, Tetsushi Kamegawa

Sensors 22 ( 22 ) 9016 - 9016 2022年

Contact detection algorithm for needle puncturing robot 査読

T. Matsuno, N. Kido, T. Kamegawa, T. Hiraki, T. Fukuda

Communications in Information and Systems 22 ( 4 ) 477 - 497 2022年

Study on propulsion of a snake robot with torque propagation based on modified curvature derivatives 査読

Proceedings of 2021 IEEE International Conference on Mechatronics and Automation 663 - 668 2021年8月

Estimation of Needle Puncturing Form Based on Force Data during Slight Needle Movement. 査読

Takayuki Matsuno, Hikaru Murakami, Tetsushi Kamegawa, Takaaki Miyamoto, Nanako Sakai, Mamoru Minami, Takao Hiraki

International Symposium on Medical Robotics(ISMR) 1 - 7 2021年

Robotic CT-guided out-of-plane needle insertion: comparison of angle accuracy with manual insertion in phantom and measurement of distance accuracy in animals 査読

Toshiyuki Komaki, Takao Hiraki, Tetsushi Kamegawa, Takayuki Matsuno, Jun Sakurai, Ryutaro Matsuura, Takuya Yamaguchi, Takanori Sasaki, Toshiharu Mitsuhashi, Soichiro Okamoto, Mayu Uka, Yusuke Matsui, Toshihiro Iguchi, Hideo Gobara, Susumu Kanazawa

EUROPEAN RADIOLOGY 30 ( 3 ) 1342 - 1349 2020年3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：SPRINGER

Objectives To evaluate the accuracy of robotic CT-guided out-of-plane needle insertion in phantom and animal experiments. Methods A robotic system (Zerobot), developed at our institution, was used for needle insertion. In the phantom experiment, 12 robotic needle insertions into a phantom at various angles in the XY and YZ planes were performed, and the same insertions were manually performed freehand, as well as guided by a smartphone application (SmartPuncture). Angle errors were compared between the robotic and smartphone-guided manual insertions using Student's t test. In the animal experiment, 6 robotic out-of-plane needle insertions toward targets of 1.0 mm in diameter placed in the kidneys and hip muscles of swine were performed, each with and without adjustment of needle orientation based on reconstructed CT images during insertion. Distance accuracy was calculated as the distance between the needle tip and the target center. Results In the phantom experiment, the mean angle errors of the robotic, freehand manual, and smartphone-guided manual insertions were 0.4 degrees, 7.0 degrees, and 3.7 degrees in the XY plane and 0.6 degrees, 6.3 degrees, and 0.6 degrees in the YZ plane, respectively. Robotic insertions in the XY plane were significantly (p < 0.001) more accurate than smartphone-guided insertions. In the animal experiment, the overall mean distance accuracy of robotic insertions with and without adjustment of needle orientation was 2.5 mm and 5.0 mm, respectively. Conclusion Robotic CT-guided out-of-plane needle insertions were more accurate than smartphone-guided manual insertions in the phantom and were also accurate in the in vivo procedure, particularly with adjustment during insertion.

DOI： 10.1007/s00330-019-06477-1

Robotic needle insertion during computed tomography fluoroscopy-guided biopsy: prospective first-in-human feasibility trial. 査読国際誌

Takao Hiraki, Tetsushi Kamegawa, Takayuki Matsuno, Jun Sakurai, Toshiyuki Komaki, Takuya Yamaguchi, Koji Tomita, Mayu Uka, Yusuke Matsui, Toshihiro Iguchi, Hideo Gobara, Susumu Kanazawa

European radiology 30 ( 2 ) 927 - 933 2020年2月

Development of a separable search-and-rescue robot composed of a mobile robot and a snake robot 査読

Tetsushi Kamegawa, Taichi Akiyama, Satoshi Sakai, Kento Fujii, Kazushi Une, Eitou Ou, Yuto Matsumura, Toru Kishutani, Eiji Nose, Yusuke Yoshizaki, Akio Gofuku

Advanced Robotics 34 ( 2 ) 132 - 139 2020年1月

Special issue on disaster response robot–selected papers from WRS2018

Takeshi Aoki, Tetsushi Kamegawa, Motoyasu Tanaka

Advanced Robotics 34 ( 2 ) 69 2020年1月

Three-Dimensional Reflexive Behavior by a Snake Robot with Full Circumference Pressure Sensors 査読

Tetsushi Kamegawa, Taichi Akiyama, Yosuke Suzuki, Toru Kishutani, Akio Gofuku

Proceedings of the 2020 IEEE/SICEInternational Symposium on System Integration 897 - 902 2020年1月

CT透視ガイド下針穿刺ロボットの自動化のための医師の手技中における針の軌道修正の調査査読

亀川哲志, 高山和真, 松野隆幸, 平木隆夫, 櫻井淳, 小牧稔幸, 松浦龍太郎, 佐々木崇了, 五福明夫

日本コンピュータ外科学会誌 22 ( 1 ) 14 - 20 2020年

担当区分：筆頭著者記述言語：日本語掲載種別：研究論文（学術雑誌）出版者・発行元：(一社)日本コンピュータ外科学会

著者らは、術者の被ばく量低減を目的として、遠隔操作型のCT透視ガイド下針穿刺ロボット(Zerobot)の研究開発を開始している。今回、動物実験のCT画像をもとに術者である医師がロボットを遠隔操作してブタの体内にある標的に対して穿刺を行う場合に、針と標的との位置関係によってどのように針の軌道修正の作業を行うのか調査した。Zerobotを用いて、X軸、Y軸、Z軸の三つの直動軸で三次元方向の並進運動を行い、針の位置を決定した。A軸、B軸の二つの回転軸で回転運動を行い、針の姿勢を決定した。調査に使用したデータはブタを用いた穿刺精度試験で得られたものであった。ロボットを医師が遠隔操作することによる穿刺において、針が標的に近づくにつれ修正回数は指数的に増加していることが分かった。なお、残りの穿刺深さが約10mmとなるのをピークに、それ以降はA軸とB軸の修正回数は減少し、一方で刺し直し回数が増加している様子が観察された。合計60回の穿刺のうち、A軸の修正は110回、B軸の修正は66回、刺し直しは37回であった。自動穿刺シミュレーションの結果、穿刺経路と針との距離と角度がゼロに収束しており、針先を三次元的な穿刺経路に追従させることができることを確認した。針が標的に近づくにしたがって穿刺速度が減速していることが示された。

DOI： 10.5759/jscas.22.14

Development of a Gripper with Variable Stiffness for a CT-Guided Needle Insertion Robot. 査読

Kento Yokouchi, Tetsushi Kamegawa, Takayuki Matsuno, Takao Hiraki, Takuya Yamaguchi, Akio Gofuku

JOURNAL OF ROBOTICS AND MECHATRONICS 32 ( 3 ) 692 - 700 2020年

Odometry of 3-Dimensional Snake-like Robot and its Application 査読

2019 IEEE International Symposium on Safety, Security, and Rescue Robotics 1 - 6 2019年9月

Implementation of Helical Wave Propagation Motion in Snake Robot Moving on Exterior of a Pipe 査読

Wei Qi, Tetsushi Kamegawa, Akio Gofuku

International Journal of Advanced Mechatronic Systems 7 ( 6 ) 359 - 367 2019年4月

Proposal of locomotion of a snake robot in crewded pipes

Yongdong WANG, Tetsushi KAMEGAWA, Eriko MATSUDA, Akio GOFUKU

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019 2A2 - D10 2019年

Robotic Insertion of Various Ablation Needles Under Computed Tomography Guidance: Accuracy in Animal Experiments 査読

Takao Hiraki, Takayuki Matsuno, Tetsushi Kamegawa, Toshiyuki Komaki, Jun Sakurai, Ryutaro Matsuura, Takuya Yamaguchi, Takanori Sasaki, Toshihiro Iguchi, Yusuke Matsui, Hideo Gobara, Susumu Kanazawa

European Journal of Radiology 105 162 - 167 2018年8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：Elsevier Ireland Ltd

Objective: To evaluate the accuracy of robotic insertion of various ablation needles at various locations under computed tomography (CT) guidance in swine. Materials and methods: The robot was used for CT-guided insertion of four ablation needles, namely a single internally cooled radiofrequency ablation (RFA) needle (Cool-tip), a multi-tined expandable RFA needle (LeVeen), a cryoablation needle (IceRod), and an internally cooled microwave ablation needle (Emprint). One author remotely operated the robot with the operation interface in order to orient and insert the needles under CT guidance. Five insertions of each type of ablation needle towards 1.0-mm targets in the liver, kidney, lung, and hip muscle were attempted on the plane of an axial CT image in six swine. Accuracy of needle insertion was evaluated as the three-dimensional length between the target centre and needle tip. The accuracy of needle insertion was compared according to the type of needle used and the location using one-way analysis of variance. Results: The overall mean accuracy of all four needles in all four locations was 2.8 mm. The mean accuracy of insertion of the Cool-tip needle, LeVeen needle, IceRod needle, and Emprint needle was 2.8 mm, 3.1 mm, 2.5 mm, and 2.7 mm, respectively. The mean accuracy of insertion into the liver, kidney, lung, and hip muscle was 2.7 mm, 2.9 mm, 2.9 mm, and 2.5 mm, respectively. There was no significant difference in insertion accuracy among the needles (P =.38) or the locations (P =.53). Conclusion: Robotic insertion of various ablation needles under CT guidance was accurate regardless of type of needle or location in swine.

DOI： 10.1016/j.ejrad.2018.06.006

Helical wave propagation motion for a snake robot on a vertical pipe containing a branch 査読

Wei Qi, Tetsushi Kamegawa, Akio Gofuku

Artificial Life and Robotics 2018年1月

掲載種別：研究論文（学術雑誌）

© 2018, ISAROB. Snake robots could be utilized in many fields because of their hyper-redundant properties, although there are still control problems when they are operated in complex environments. For example, a helical rolling motion has been used to climb a pipe. By using this kind of motion, a snake robot can move along the inside or outside of a pipe. However, this motion has limitations when the robot moves along a pipe containing a high gap or a branch point. In this study, we propose a type of motion for snake robots that involves wrapping around the outside of a pipe to overcome a branch point on it. This new motion uses a hyperbolic function to make a helical wave curve, which is then propagated by shifting the shape of the hyperbolic function along the body of the snake robot. The joint angles of the snake robot are derived by calculating the curvature and torsion of the curve on the basis of the formula of the continuous curve model. Finally, the results of simulations performed using the Robot Operating System and Gazebo programs are shown to validate the effectiveness of the new motion.

DOI： 10.1007/s10015-018-0479-1

Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment. 査読

Akisato Nagao, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki

IJMA 6 ( 4 ) 190 - 200 2018年

Robotically Driven CT-guided Needle Insertion: Preliminary Results in Phantom and Animal Experiments 査読

Takao Hiraki, Tetsushi Kamegawa, Takayuki Matsuno, Jun Sakurai, Yasuzo Kirita, Ryutaro Matsuura, Takuya Yamaguchi, Takanori Sasaki, Toshiharu Mitsuhashi, Toshiyuki Komaki, Yoshihisa Masaoka, Yusuke Matsui, Hiroyasu Fujiwara, Toshihiro Iguchi, Hideo Gobara, Susumu Kanazawa

RADIOLOGY 285 ( 2 ) 454 - 461 2017年11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：RADIOLOGICAL SOC NORTH AMERICA

Purpose: To evaluate the accuracy of the remote-controlled robotic computed tomography (CT)-guided needle insertion in phantom and animal experiments.
Materials and Methods: In a phantom experiment, 18 robotic and manual insertions each were performed with 19-gauge needles by using CT fluoroscopic guidance for the evaluation of the equivalence of accuracy of insertion between the two groups with a 1.0-mm margin. Needle insertion time, CT fluoroscopy time, and radiation exposure were compared by using the Student t test. The animal experiments were approved by the institutional animal care and use committee. In the animal experiment, five robotic insertions each were attempted toward targets in the liver, kidneys, lungs, and hip muscle of three swine by using 19-gauge or 17-gauge needles and by using conventional CT guidance. The feasibility, safety, and accuracy of robotic insertion were evaluated.
Results: The mean accuracies of robotic and manual insertion in phantoms were 1.6 and 1.4 mm, respectively. The 95% confidence interval of the mean difference was 20.3 to 0.6 mm. There were no significant differences in needle insertion time, CT fluoroscopy time, or radiation exposure to the phantom between the two methods. Effective dose to the physician during robotic insertion was always 0 mSv, while that during manual insertion was 5.7 mSv on average (P<.001). Robotic insertion was feasible in the animals, with an overall mean accuracy of 3.2 mm and three minor procedure-related complications.
Conclusion: Robotic insertion exhibited equivalent accuracy as manual insertion in phantoms, without radiation exposure to the physician. It was also found to be accurate in an in vivo procedure in animals. (C) RSNA, 2017

DOI： 10.1148/radiol.2017162856

Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment 査読

Akisato Nagao, Takayuki Matsuno, Kazusi Kimura, Tetsushi Kamegawa, Mamoru Minami, Takao Hiraki

2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017 451 - 457 2017年8月

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：Institute of Electrical and Electronics Engineers Inc.

A medical procedure called Interventional Radiology(IR) is paid much attention in recent years. IR can be performed percutaneously while a doctor observes patient's fluoroscopic image. Therefore this surgical method is low-invasiveness method. In this surgery, computed tomography (CT) equipment is often used. But a doctor is exposed to strong radiation from CT. Thus, we have developed a remote-controlled surgery support robot called 'Zerobot'. Because Zerobot is placed front of CT equipment by human, an angle offset from installation target position occurs. If a doctor punctures without noticing that Zerobot has an installation angle offset, there is danger of hurting the part that should not be hurt around a target cancer. In order to solve this problem, we propose an angle offset compensation method and the installation angle offset derivation method using a CT equipment is proposed. Then, effectiveness of proposed method is confirmed through experiments.

DOI： 10.1109/ICMA.2017.8015859

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査読

亀川哲志, 北郷淳一, 五福明夫

日本ロボット学会誌 = Journal of the Robotics Society of Japan 35 ( 4 ) 317 - 326 2017年5月

Helical wave propagate motion on a vertical pipe with a branch for a snake robot" 査読

Wei Qi, Tetsushi Kamegawa, Akio Gofuku

Proceedings of The 2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics 2017年

Needle pose adjustment based on force information with needle puncturing robot. 査読

Kazushi Kimura, Takayuki Matsuno, Kohei Sugiyama, Akisato Nagao, Tetsushi Kamegawa, Mamoru Minami, Takao Hiraki

IEEE/SICE International Symposium on System Integration(SII) 626 - 631 2017年

Needle Tip Position Accuracy Evaluation Experiment for Puncture Robot in Remote Center Control. 査読

Kohei Sugiyama, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Hirotaka Nakaya, Masayuki Nakamura, Akira Yanou, Mamoru Minami

J. Robotics Mechatronics 28 ( 6 ) 911 - 920 2016年12月

掲載種別：研究論文（学術雑誌）

© 2016 Fuji Technology Press Ltd. All Rights Reserved. In recent years, a medical procedure called interventional radiology (IR) has been attracting considerable attention. Doctors can perform IR percutaneously while observing the fl roscopic image of patients. Therefore, this surgical method is less invasive. In this surgery, computed tomography (CT) equipment is often used for precise fl roscopy. However, doctors are exposed to strong radiation from the CT equipment. In order to overcome this problem, we have developed a remote-controlled surgical assistance robot called Zerobot. In animal puncture experiment, the operation of Zerobot was based on joint control. Therefore, during a surgery, the tip of the needle moves when a surgeon orders for a change in the direction of the needle. This makes the robot less user-friendly because the surgeon tracks the trajectory of the tip of the needle. This problem can be solved by using remote center control.

DOI： 10.20965/jrm.2016.p0911

Development of Instantaneously Puncture System for CT Fluoroscopy-guided Interventional Radiology 査読

Akira Heya, Tetsushi Kamegawa, Takayuki Matsuno, Takao Hiraki, Akio Gofuku

2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016) 2016-November 2369 - 2374 2016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

There is minimally invasive method called Interventional Radiology (IR) that achieves an operation by using diagnostic imaging equipment such as Computed Tomography (CT). IR has advantages that it is a minimally invasive method and it is applied widely such as lung cancer treatment, liver cancer treatment, biopsy, and so on. However, it has a problem that doctors are exposed by X-ray due to a procedure in the vicinity of the CT gantry. To solve this problem, we have developed a robot so we calling "Zerobot". Zerobot has six DOF and controlled remotely. We previously conducted animal experiment using a rabbit to evaluate Zerobot. As a result, percutaneous puncture was impossible without epidermis cutting. Therefore, we developed a new function called instantaneously puncture that can achieve high speed and short stroke puncture like a human operator. In this paper, overview of Zerobot is described first. Then, measurement of puncture speed of a human operator is described. Furthermore, design and system structure of instantaneously puncture system is described. Finally, we present results of animal experiment using the instantaneously puncture system.

DOI： 10.1109/IROS.2016.7759369

Development of a Prototype of Puncturing Robot for CT-guided Intervention 査読

Hajime Ishii, Tetsushi Kamegawa, Hiroki Kitamura, Takayuki Matsuno, Takao Hiraki, Akio Gofuku

PROCEEDINGS OF THE 2016 IEEE 11TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA) 1020 - 1025 2016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

Interventional radiology is a minimally invasive image-guided procedure. In the case of using computed tomography (CT) as an image-guidance for interventional radiology, the radiation exposure is a major problem to an operator who stands close to a CT gantry. To solve this problem, we are developing a remote-controlled puncturing robot which has five degrees of freedom. In this paper, we describe the details of the prototype robot and show experimental results to evaluate the robot's repeatability and a result of puncturing to a phantom.

DOI： 10.1109/ICIEA.2016.7603732

Proposal of helical wave propagate motion for a snake robot to across a branch on a pipe 査読

Wei Qi, Tetsushi Kamegawa, Akio Gofuku

2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 821 - 826 2016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

Hyper redundant snake robots have a possibility of utilizing in many fields, although there are control complexity problems when it is applied to complicated environment. For example, helical rolling motion have been used to climb a pipe. By using the helical rolling motion, a snake robot can move along the inside or the outside of a pipe. However, this motion has limitation when it moves in a pipe with a high gap or a branch point. In this study, we propose a motion of a snake robot, which wraps around the outside of a pipe, to overcome a branch point on a pipe. The new motion uses a hyperbolic function to make a helical wave curve. The helical wave curve is propagated by changing the parameter of hyperbolic function. Then, the joint angles of a snake robot is derived by calculating curvature and torsion of the curve based on the formula of continuous curve model. Finally, the result of simulational experiment on ROS and Gazebo are shown to validate the effectiveness of the new motion.

DOI： 10.1109/SII.2016.7844101

Sound-based Online Localization for an In-pipe Snake Robot 査読

Yoshiaki Bando, Hiroki Suhara, Motoyasu Tanaka, Tetsushi Kamegawa, Katsutoshi Itoyama, Kazuyoshi Yoshii, Fumitoshi Matsuno, Hiroshi G. Okuno

2016 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR) 207 - 213 2016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 sound-based online localization method for an in-pipe snake robot with an inertial measurement unit (IMU). In-pipe robots, in particular, snake robots need online localization for autonomous inspection and for remote operator supports. The GPS is denied in a pipeline, and conventional odometry-based localization may deteriorate due to slippage and sudden unintended movements. By putting a microphone on the robot and a loudspeaker at the entrance of the pipeline, their distance can be estimated by measuring the time of flight (ToF) of a reference sound emitted from the loudspeaker. Since the sound propagation path in the pipeline is necessary for estimating the robot location, the proposed sound-based online localization method simultaneously estimates the robot location and the pipeline map by combining the distance obtained by the ToF and orientation estimated by the IMU. The experimental results showed that the error of the distance estimation was less than 7% and the accuracy of the pipeline map was more than 68.0%.

DOI： 10.1109/SSRR.2016.7784300

Development of a real-time 3D laser scanner with wide FOV and an interface using a HMD for teleoperated mobile robots 査読

Tomofumi Fujiwara, Tetsushi Kamegawa, Akio Gofuku

International Journal of Nuclear Safety and Simulation 6 ( 2 ) 132 - 141 2015年

Reactive motion for a snake-like robot in a crowded space 査読

Tetsushi Kamegawa, Tsubasa Watanabe, Suxiang Yuan, Akio Gofuku

International Journal of Nuclear Safety and Simulation 6 ( 2 ) 109 - 115 2015年

螺旋尺取り方式を用いて円柱を移動するヘビ型ロボットの提案査読

亀川哲志, 斉偉, 五福明夫

計測自動制御学会論文集 51 ( 1 ) 2015年

汎用測域センサで測定した水中スキャンデータの補正手法査読

藤原始史, 亀川哲志, 長谷川準, 五福明夫

日本機械学会論文集 81 ( 831 ) 2015年

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

We propose a method that corrects effects of refractions and absorptions for underwater scan data obtained by general-purpose laser range finders (LRFs) using HOKUYO UTM-30LX (Top-URG). For measurements by LRFs in water, it is known that refractions make measurement distances longer and absorptions make reflection intensities weaker. In order to confirm those characteristics of measurements in water, we first conduct two basic experiments that Top-URG measures a target in the environment with the assumed turbid deep-sea and evaluate an accuracy and a performance of Top-URG in water. The first basic experiment is that Top-URG measures surroundings in a sink filled with water by changing the turbidity of the water. The second basic experiment is conducted by changing a location and an angle of a target. Next, we develop a method that (1) corrects scan data of Top-URG by considering a refractive index of water and (2) eliminates scan data with low reliabilities based on reflection intensities obtained by Top-URG using automatically calculated thresholds. We evaluate those two methods by using two types of target objects and seven situations. Our developed methods can correct distorted scan points by refractions in water and can eliminate ghost scan points which are not existent. We confirm that their performances for underwater scan data are effective enough to use Top-URG in water.

DOI： 10.1299/transjsme.15-00412

Reaction Force Analysis of Puncture Robot for CT-guided Interventional Radiology in Animal Experiment 査読

Kohei Sugiyama, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Hirotaka Nakaya, Akira Yanou, Mamoru Minami

2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 7 - 12 2015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

A medical procedure called Interventional Radiology (IR) is paid much attention in recent years. IR can be performed percutaneously while a doctor observes patient's fluoroscopic image. It has advantage that invasiveness is low compared with conventional surgery. In order to take patient's fluoroscopic image, computed tomography (CT) equipment is often used. In this case, it is problem that the doctor is exposed to radiation because the doctor should conduct the procedure close to CT equipment. Thus, we have developed a robot called "Zerobot" which has six DOF and remote-control feature with dedicated input device. In this paper, first, overview of Robotic IR is described. Then, we describes about animal puncture experiment of Zerobot, and discuss the result of puncture reaction force analysis in the experiment.

DOI： 10.1109/SII.2015.7404888

Development of a prototype of snake-like robot with contact sensors that moves in obstacles by reflexive behavior 査読

Suxiang Yuan, Tetsushi Kamegawa, Akio Gofuku

Proceedings of The First International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM2015) 2015年

Simulation results of behavior of a simple snake-like robot in a narrow passage 査読

Tsubasa Watanabe, Tetsushi Kamegawa, Akio Gofuku

Proceedings of The First International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM2015) 2015年

Evaluation of snake robot's behavior using randomized EARLI in crowded obstacles 査読

Tetsushi Kamegawa, Ryoma Kuroki, Akio Gofuku

12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings 2014年1月

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：Institute of Electrical and Electronics Engineers Inc.

We have proposed EARLI (Extended Asymmetrical Reverse Lateral Inhibition) which is a behavior of snake robot's obstacle aided locomotion. The idea of EARLI starts with an original idea of lateral inhibition. Joints rotate in reverse direction compared with the original lateral inhibition. Information of contact affects not only adjacent joints but also a couple of neighboring joints away from the contacting link. Distribution of torque are empirically set asymmetrically in order to propel a snake robot forward. The algorithm of EARLI is implemented to a model of snake robot in ODE (Open Dynamics Engine) to see its behavior and to verify its effectiveness. In this paper, we introduce randomized EARLI to avoid getting stuck in crowded obstacles when the snake robot uses only one pattern of EARLI. In addition, efficiency of the snake robot's locomotion is evaluated by measuring power of snake robot's joints. It is verified that the snake robot can move in crowded obstacles effectively by using random EARLI behavior.

DOI： 10.1109/SSRR.2014.7017666

CT Phantom for Development of Robotic Interventional Radiology 査読

Hirotaka Nakaya, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Takuya Inoue, Akira Yanou, Mamoru Minami, Akio Gofuku

2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 82 - 87 2014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

There is a surgical method called Interventional Radiology (IVR) as one of lung cancer treatments. It has a problem that doctors are exposed to radiation because IVR is conducted in CT apparatus. In order to avoid the problem, a robotic IVR system that doctors conduct the puncture with a robot is developed. An operation test is necessary to develop the robotic IVR system, however, an experiment with real patients is rejected based on ethic regulation. Therefore, a phantom is used for experiments instead of patients. A phantom is a model of human used for both evaluation and adjustment of medical imaging equipments such as CT and MRI. However, ready-made phantoms can not be punctured, because they are only aimed to radiography and their surface are hard. Therefore a phantom for CT-IVR which can be punctured is developed.

DOI： 10.1109/SII.2014.7028016

Plane Detection to Improve 3D Scanning Speed Using RANSAC Algorithm 査読

Tomofumi Fujiwara, Tetsushi Kamegawa, Akio Gofuku

PROCEEDINGS OF THE 2013 IEEE 8TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA) 1863 - 1869 2013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

When an operator teleoperates a rescue robot, it is necessary for the operator to understand the relationship between the robot and its environment while indirect-vision driving. A LRF (Laser Range Finder) installed on a rotating stage is often used for scanning the environment in order to give the operator spatial information, while there is a trade-off between its scanning speed and point density. To solve the problem, we implement plane detection by RANSAC (RANdom SAmple Consensus) algorithm, integration of overlapped planes using tables and drawing them as convex hulls. The experimental results show that the scanning speed could be improved because the result of 3D scanning with a low point density shows a good match for that with a high point density by using the implemented methods.

DOI： 10.1109/ICIEA.2013.6566671

Evaluation of Plane Detection with RANSAC According to Density of 3D Point Clouds. 査読

Tomofumi Fujiwara, Tetsushi Kamegawa, Akio Gofuku

CoRR abs/1312.5033 2013年

Modeling and Control of a Snake-Like Robot Using the Screw-Drive Mechanism 査読

Hiroaki Fukushima, Shogo Satomura, Toru Kawai, Motoyasu Tanaka, Tetsushi Kamegawa, Fumitoshi Matsuno

IEEE TRANSACTIONS ON ROBOTICS 28 ( 3 ) 541 - 554 2012年6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：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

In this paper, we develop a new type of snake-like robot using screw-drive units that are connected by active joints. The screw-drive units enable the robot to generate propulsion on any side of the body in contact with environments. Another feature of this robot is the omnidirectional mobility by combinations of screws' angular velocities. We also derive a kinematic model and apply it to trajectory tracking control. Furthermore, we design a front-unit-following controller, which is suitable for manual operations. In this control system, operators are required to command only one unit in the front; then, commands for the rest of the units are automatically calculated to track the path of the preceding units. Asymptotic convergence of the tracking error of the front-unit-following controller is analyzed based on a Lyapunov approach for the case of constant curvature. The effectiveness of the control method is demonstrated by numerical examples and experiments.

DOI： 10.1109/TRO.2012.2183050

Development of a practical mobile robot platform for NBC disasters and its field test 査読

Kazuyuki Kon, Hiroki Igarashi, Fumitoshi Matsuno, Noritaka Sato, Tetsushi Kamegawa

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2012 1 - 6 2012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 research, we present development of a mobile robot platform integrated with off-the-shelf sensors and equipments for disaster response. The proposed platform aims to offer an opportunity for researchers and engineers to let their effort on developing more advanced methods related to disaster response, allowing for further development from R&amp
D to practical or business purpose. 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. In this paper, we explain the development scheme of the proposed platform, which focuses on the outdoor environmental monitoring, and the progress on the development including its hardware and software configuration. Furthermore some experimental results, carried out in the nuclear power plant, are also shown. © 2012 IEEE.

DOI： 10.1109/SSRR.2012.6523894

A Stirrer Driven by a Spherical Stepping Motor 査読

Wanli Shan, Akio Gofuku, Mitsunobu Shibata, Tomoaki Yano, Tetsushi Kamegawa

PRZEGLAD ELEKTROTECHNICZNY 88 ( 7B ) 48 - 51 2012年

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：WYDAWNICTWO SIGMA-N O T SP Z O O

This study applies the spherical stepping motor the authors developed to the driving device of a stirrer and develops a proto-type stirrer. The developed stirrer is composed of a rotor, a stator, a control PC, an electric-magnet excitation circuit, and a power supply. The rotor is composed of double spherical shell in order to contain liquid in its inner spherical shell. Totally 91 permanent magnets are arranged in the rotor. On the other hand, 80 electro-magnets are arranged on the stator. The applicability of the stirrer to material production is evaluated by stirring experiments.

Proposal of EARLI for the Snake Robot's Obstacle Aided Locomotion 査読

Tetsushi Kamegawa, Ryoma Kuroki, Matthew Travers, Howie Choset

2012 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR) 1 - 6 2012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, EARLI (Extended Asymmetrical Reverse Lateral Inhibition) is proposed for the snake robot's obstacle aided locomotion and behavior. The idea of EARLI starts with an original idea of lateral inhibition; although joints rotate in reverse direction compared with the original lateral inhibition; and information of contact affects not only adjacent joints but also a couple of neighboring joints away from a contacting link. Furthermore, distribution of adding torque is empirically set asymmetrically in order to propel the snake robot forward. The algorithm of EARLI is implemented to ODE (Open Dynamics Engine) to see its behavior in simulation environments and to verify its effectiveness. As a result, a behavior emerges in which the the snake robot is pushing obstacles for longer times and moving greater distances than when using original lateral inhibition. In addition, continuous pushing behavior is also observed when an obstacle is located behind the the snake robot.

DOI： 10.1109/SSRR.2012.6523889

球面モータ駆動の撹拌器の開発査読

五福明夫, 単万里, 柴田光宣, 山西輝裕, 亀川哲志

日本機械学会論文集 C編 77 ( 778 ) 2400 - 2406 2011年12月

出版者・発行元：The Japan Society of Mechanical Engineers

This study develops a mixing machine driven by a spherical motor that can rotate around any axis. The developed mixing machine is composed of a rotor, a stator, a control PC, an electro-magnet excitation circuit, and a power supply. The rotor that its outer diameter is 200 [mm] is composed of double spherical shells in order to contain liquid in its inner spherical shell. Totally 91 permanent magnets are arranged in almost spherical symmetry on the inner surface of the outer spherical shell. On the other hand, 80 electro-magnets are arranged on the stator of a semi-spherical shell. The applicability of the mixing machine to material production under the condition of small influence of gravitational force is evaluated by mixing experiments to dissolve salt of 50 [g] in water of 200 [g]. The mixing performance is compared for five mixing methods. The results show that the mixing performance of the method to change randomly the rotation direction is only slightly lower than that of the method of rotating continuously around a horizontal axis that exhibits the highest mixing performance. © 2011 The Japan Society of Mechanical Engineers.

DOI： 10.1299/kikaic.77.2400

Design and Implementation of Grouped Rescue Robot System Using Self-Deploy Networks 査読

Tetsushi Kamegawa, Noritaka Sato, Michinori Hatayama, Yojiro Uo, Fumitoshi Matsuno

JOURNAL OF FIELD ROBOTICS 28 ( 6 ) 977 - 988 2011年11月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：WILEY-BLACKWELL

In this study, we propose a new system for searching the inside of a damaged building using grouped rescue robots. Because the assumed target environment is broad and variable, the proposed system is designed to have adaptability, scalability, and usability. The system consists of robots, sensors, a network, a communication protocol, user interfaces, and database management systems; their complementary capabilities allow them to satisfy the requirements for the system. This study presents the requirements and design of the proposed system, briefly describes each element, and provides examples of how the elements function as an integrated system. (C) 2011 Wiley Periodicals, Inc.

DOI： 10.1002/rob.20413

Stereoscopic presentation of 3D scan data obtained by mobile robot 査読

Tomofumi Fujiwara, Tetsushi Kamegawa, Akio Gofuku

9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011 178 - 183 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）

It is necessary for rescue workers to understand the internal environment of a damaged building. A laser scanner mounted on a rotating platform on a mobile robot is commonly used for acquiring the 3D information of the building. In this study, a stereoscopic presentation system that displays 3D scan data is constructed in order to improve the cognitive ability of an operator who teleoperates the robot. Two types of experiments that an end user evaluates the constructed system are conducted and the experimental results show a good tendency to use the stereoscopic presentation. © 2011 IEEE.

DOI： 10.1109/SSRR.2011.6106745

An analysis about a possibility of continuous walk for a quadruped robot using leg-grope movement 査読

Kazuyuki Ishida, Tetsushi Kamegawa, Akio Gofuku

2011 IEEE/SICE International Symposium on System Integration, SII 2011 1287 - 1292 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）

Currently, various rescue robots are developed to use them at a disaster site. It is suggested that legged-robots are useful on uneven and fragile terrain because a legged-robot can choose a grounding point discretely. In the previous study, leg-grope movement was proposed for a quadruped robot walking on fragile terrain. However, the walking experiment by using the leg-grope movement was carried out only for one cycle of walking gait, and the possibility of continuous walk that using the leg-grope movement has not analyzed yet. In this paper, we studied whether the leg-grope movement can be carried out continuously or not. As a result, we found the region for the leg-grope movement will never extend in future steps. Therefore, once the region for the leg-grope movement becomes small, the region cannot recover its groping area. The proposed leg-grope movement has to satisfy severe condition for a quadruped robot to walk continuously. © 2011 IEEE.

DOI： 10.1109/SII.2011.6147634

V-shift control for snake robot moving the inside of a pipe with helical rolling motion 査読

Tetsushi Kamegawa, Toshimichi Baba, Akio Gofuku

9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011 1 - 6 2011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）

A snake robot would be applied to a machine that goes into a narrow space to investigate the inside of a structure. Recently, multiple locomotion modes of snake robots have been realized. In the previous study, we also achieved some kind of locomotion modes such as undulatory locomotion mode, sidewinding locomotion mode, lateral rolling locomotion mode and helical rolling locomotion mode to move along a pipe. The shape of the robot in each locomotion mode is calculated by using mathematical continuum curve model respectively. However, it is necessary to change these shape smoothly when the environment where the snake robot is moving changes. It is relatively easy to achieve this in the case that the snake robot moves along its body, namely it moves to a tangential direction, by using the traditional shift control. In this paper, we propose a s-shift control and a v-shift control for a snake robot moving vertical direction to its body. In this paper, the v-shift control is installed to an experimental snake robot and the locomotion performance of robot is evaluated for the pipe composed of a straight pipe and an elbow pipe. As a result, the snake robot could successfully changes its locomotion mode to move the inside of the pipes with two types of helical rolling motion. © 2011 IEEE.

DOI： 10.1109/SSRR.2011.6106789

Development of a holonomic omnidirectional vehicle driven by a spherical motor and proposal of a spherical deceleration driving method 査読

Wanli Shan, Akio Gofuku, Tetsushi Kamegawa, Mitsunobu Shibata

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C 77 ( 784 ) 4630 - 4640 2011年

記述言語：日本語掲載種別：研究論文（学術雑誌）出版者・発行元：一般社団法人日本機械学会

This paper presents a prototype of holonomic omnidirectional moving vehicle driven by a spherical motor that rotates in all directions. This paper also proposes a method called spherical deceleration driving method that can increase the driving torque by tilting the rotation axis of the spherical motor. Experimental results to evaluate the moving performance of the prototype vehicle by the spherical deceleration driving method show that the measured driving forces are almost coincident with the theoretical values within the range that the driving torque of the spherical motor does not exceed the maximum static frictional force between the motor surface and floor. In addition, the driving force can be increased up to about twice the value at the inclination angle of 0 °. On the other hand, the measured moving speeds are well agreed with the theoretical speeds if the slip between the surface of the rotor of sperical motor and road surface does not exist. © 2011 The Japan Society of Mechanical Engineers.

DOI： 10.1299/kikaic.77.4630

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.

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

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.

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

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

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 &ldquo;Twisting mode&rdquo; 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

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

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.

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

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

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

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

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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