Updated on 2023/01/26

写真a

 
NAGAI Isaku
 
Organization
Faculty of Natural Science and Technology Assistant Professor
Position
Assistant Professor
External link

Degree

  • Master of Engineering ( Okayama University )

  • Doctor(Engineering) ( Okayama University )

Research Interests

  • 画像処理

  • 電子回路

  • 移動ロボット

  • 自己位置推定

  • 運動計測装置

  • 視覚装置

  • Image processing

  • Electronic circuit

  • Motion estimation

  • Mobile robot

  • Localization

  • Vision sensor

Research Areas

  • Informatics / Intelligent robotics

  • Informatics / Robotics and intelligent system

  • Informatics / Mechanics and mechatronics

  • Informatics / Perceptual information processing

Education

  • Okayama University   工学研究科   機械工学

    - 1997

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    Country: Japan

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  • Okayama University    

    - 1997

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  • Okayama University   工学部   機械工

    - 1995

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    Country: Japan

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  • Okayama University    

    - 1995

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Research History

  • - 岡山大学自然科学研究科 助教

    2007

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  • - Assistant Professor,Graduate School of Natural Science and Technology,Okayama University

    2007

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Professional Memberships

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Papers

  • Control for a fully actuated UAV equipped with two 2-DOF tiltable rotor Reviewed

    Xiongshi Xu, Keigo Watanabe, Isaku Nagai

    Proc. of The 28th Int. Symp. on Artificial Life and Robotics (AROB 2023)   2023.1

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  • Rotational control of both a suspended multi-rotor and a load by using robust gain scheduling Reviewed

    Kazuya Miyamoto, Shinsuke Kanda*, Isaku Nagai, Keigo Watanabe (*Tadano Ltd.)

    Proc. of The 28th Int. Symp. on Artificial Life and Robotics (AROB 2023)   2023.1

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  • An Unscented Kalman Filter Based on the Adams-Bashforth Method for Estimating the State of a Fully Driven UAV with 2-DOF Tiltable Rotors Reviewed

    Soma Takeda, Isaku Nagai, Keigo Watanabe

    Proc. of The 28th Int. Symp. on Artificial Life and Robotics (AROB 2023)   2023.1

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  • Translational Motion Control of a Tandem-type UAV with Tiltable Rotors to Move on a Wall Surface Reviewed

    Hideaki Komura, Isaku Nagai, Keigo Watanabe

    Proc. of The 28th Int. Symp. on Artificial Life and Robotics (AROB 2023)   2023.1

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  • A Range-finding System Using Multiple Lasers for an AUV and a self-positioning estimation Reviewed

    Takashi Utsumi, Isaku Nagai, Keigo Watanabe

    Proc. of The 28th Int. Symp. on Artificial Life and Robotics (AROB 2023)   2023.1

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  • Robust Control for a Tandem Rotor UAV Under Wind Disturbances Reviewed

    Shilin Yi, Desen Lin, Xiongshi Xu, Keigo Watanabe, and Isaku Nagai

    Proc. of the 2022 IEEE Int. Conf. on Mechatronics and Automation (ICMA 2022)   1744 - 1749   2022.8

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  • A Fault-Tolerant Control System for Hexacopters with a Changeable Structure in Rotor Arrangement Angle Reviewed

    Keigo Watanabe, Taisei Endo, Xiongshi Xu, Shilin Yi, and Isaku Nagai

    Proc. of the 2022 IEEE Int. Conf. on Mechatronics and Automation (ICMA 2022)   1719 - 1726   2022.8

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  • Improvements for Power-assisted Three-wheel Carrier Cart With Stair-climbing Ability Reviewed

    Toru Ishii, Isaku Nagai, Keigo Watanabe, and Taro Shibanoki

    Proc. of the 2022 IEEE Int. Conf. on Mechatronics and Automation (ICMA 2022)   197 - 202   2022.8

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  • Robust Control for a Tandem Rotor UAV Under Wind Disturbances Reviewed

    Shilin Yi, Desen Lin, Xiongshi Xu, Keigo Watanabe, and Isaku Nagai

    Proc. of the 2022 IEEE Int. Conf. on Mechatronics and Automation (ICMA 2022)   1744 - 1749   2022.8

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  • Improvements for Power-assisted Three-wheel Carrier Cart With Stair-climbing Ability Reviewed

    Toru Ishii, Isaku Nagai, Keigo Watanabe, and Taro Shibanoki

    Proc. of the 2022 IEEE Int. Conf. on Mechatronics and Automation (ICMA 2022)   197 - 202   2022.8

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  • A Fault-Tolerant Control System for Hexacopters with a Changeable Structure in Rotor Arrangement Angle Reviewed

    Keigo Watanabe, Taisei Endo, Xiongshi Xu, Shilin Yi, and Isaku Nagai

    Proc. of the 2022 IEEE Int. Conf. on Mechatronics and Automation (ICMA 2022)   1719 - 1726   2022.8

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  • A Gesture Recognition System for Cranes Using Deep Learning with a Self-attention Mechanism Reviewed

    K. Watanabe, M. Maimaitimin, K. Yamamoto, and I. Nagai

    Proc. of SICE International Symposium on Control Systems (SICE ISCS 2022)   80 - 86   2022.3

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  • A Gesture Recognition System for Cranes Using Deep Learning with a Self-attention Mechanism Reviewed

    K. Watanabe, M. Maimaitimin, K. Yamamoto, and I. Nagai

    Proc. of SICE International Symposium on Control Systems (SICE ISCS 2022)   80 - 86   2022.3

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  • Unsupervised Domain Adaptation for Environmental Recognition in Crane Operations Reviewed

    K. Watanabe, M. Maimaitimin, Y. Takashima, and I. Nagai

    Proc. of SICE International Symposium on Control Systems (SICE ISCS 2022)   80 - 86   2022.3

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  • Unsupervised Domain Adaptation for Environmental Recognition in Crane Operations Reviewed

    K. Watanabe, M. Maimaitimin, Y. Takashima, and I. Nagai

    Proc. of SICE International Symposium on Control Systems (SICE ISCS 2022)   80 - 86   2022.3

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  • Backstepping-based Super-Twisting Sliding Mode Control for a Quadrotor Manipulator with Tiltable Rotors Reviewed

    Shilin Yi, Keigo Watanabe, and Isaku Nagai

    Journal of Robotics and Control (JRC)   3 ( 2 )   128 - 137   2022.3

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  • Backstepping-based Super-Twisting Sliding Mode Control for a Quadrotor Manipulator with Tiltable Rotors Reviewed

    Shilin Yi, Keigo Watanabe, and Isaku Nagai

    Journal of Robotics and Control (JRC)   3 ( 2 )   128 - 137   2022.3

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  • Development of Robot to Arrange Chairs Using 2D Markers Reviewed

    Keitaro Matsunaga, Isaku Nagai, and Keigo Watanabe

    Proc. of The 27th Int. Symp. on Artificial Life and Robotics (AROB 2022)   1097 - 1102   2022.1

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  • Development of a High-precision Speckle Odometer that Responds to Changes in the Light Source Over Time Reviewed

    Sotaro Nakata, Isaku Nagai, and Keigo Watanebe

    Proc. of The 27th Int. Symp. on Artificial Life and Robotics (AROB 2022)   1087 - 1091   2022.1

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  • Improvement of takeoff of WIG craft by nonlinear optical control using the steepest descent method Reviewed

    Yutaka Hiruma, Keigo Watanabe, and Isaku Nagai

    Proc. of The 27th Int. Symp. on Artificial Life and Robotics (AROB 2022)   1118 - 1123   2022.1

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  • Backstepping sliding mode control based on exponential reaching law for an omnidirectional quadrotor manipulator Reviewed

    Yi Shilin, Keigo Watanabe, and Isaka Nagai

    Proc. of The 27th Int. Symp. on Artificial Life and Robotics (AROB 2022)   1112 - 1117   2022.1

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  • Load-sway suppression control using a robust backstepping method with a horizontally movable multi-rotor Reviewed

    Ryusei Kira, Ryota Mino, Keigo Watanabe, Shinsuke Kanda*, Isaku Nagai, and Kazuya Miyamoto (*Tadano Ltd.)

    Proc. of The 27th Int. Symp. on Artificial Life and Robotics (AROB 2022)   1106 - 1111   2022.1

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  • Backstepping sliding mode control based on exponential reaching law for an omnidirectional quadrotor manipulator Reviewed

    Yi Shilin, Keigo Watanabe, and Isaka Nagai

    Proc. of The 27th Int. Symp. on Artificial Life and Robotics (AROB 2022)   1112 - 1117   2022.1

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  • Load-sway suppression control using a robust backstepping method with a horizontally movable multi-rotor Reviewed

    Ryusei Kira, Ryota Mino, Keigo Watanabe, Shinsuke Kanda*, Isaku Nagai, and Kazuya Miyamoto (*Tadano Ltd.)

    Proc. of The 27th Int. Symp. on Artificial Life and Robotics (AROB 2022)   1106 - 1111   2022.1

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  • Improvement of takeoff of WIG craft by nonlinear optical control using the steepest descent method Reviewed

    Yutaka Hiruma, Keigo Watanabe, and Isaku Nagai

    Proc. of The 27th Int. Symp. on Artificial Life and Robotics (AROB 2022)   1118 - 1123   2022.1

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  • Development of Robot to Arrange Chairs Using 2D Markers Reviewed

    Keitaro Matsunaga, Isaku Nagai, and Keigo Watanabe

    Proc. of The 27th Int. Symp. on Artificial Life and Robotics (AROB 2022)   1097 - 1102   2022.1

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  • Development of a High-precision Speckle Odometer that Responds to Changes in the Light Source Over Time Reviewed

    Sotaro Nakata, Isaku Nagai, and Keigo Watanebe

    Proc. of The 27th Int. Symp. on Artificial Life and Robotics (AROB 2022)   1087 - 1091   2022.1

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  • Flight Control System Design for a Tandem Rotor UAV Robot in the Presence of Wind Field Disturbances Reviewed

    Xiongshi Xu, Keigo Watanabe, and Isaku Nagai

    Artificial Life and Robotics   26 ( 4 )   457 - 464   2021.10

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  • Anti-disturbance Control of a Quadrotor Manipulator with Tiltable Rotors Based on Integral Sliding Mode Control Reviewed

    Shilin Yi, Keigo Watanabe, and Isaku Nagai

    Artificial Life and Robotics   26 ( 4 )   513 - 522   2021.9

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  • Heel Brake for Personal Mobility Vehicle Reviewed

    Shizuki Kawauchi, Isaku Nagai, and Keigo Watanabe

    Proc. of IEEE Int. Conf. on Mechatronics and Automation (ICMA 2021)   1385 - 1389   2021.8

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  • A Range-finding System Using Multiple Lasers for an Underwater Robot with Pectoral-fin Propulsion Mechanisms and Improving Its Accuracy by a Gimbal Mechanism Reviewed

    Takashi Utsumi, Keigo Watanabe, and Isaku Nagai

    Proc. of IEEE Int. Conf. on Mechatronics and Automation (ICMA 2021)   681 - 686   2021.8

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  • Production of a Small-sized Tandem Rotor Aircraft with Two Tiltable Coaxial Rotors and Its Experiments Reviewed

    Hideaki Komura, Keigo Watanabe, and Isaku Nagai

    Proc. of IEEE Int. Conf. on Mechatronics and Automation (ICMA 2021)   687 - 691   2021.8

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  • Experimental Verification on the Rotational and Sway Control of a Suspended Horizontally Movable Multi-Rotor Reviewed

    Kazuya Miyamoto, Shinsuke Kanda, Keigo Watanabe, and Isaku Nagai

    Proc. of IEEE Int. Conf. on Mechatronics and Automation (ICMA 2021)   692 - 696   2021.8

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  • Power-assisted Three-wheel Carrier Cart With Stair-climbing Ability Reviewed

    Isaku Nagai, Daisuke Kijihana, and Keigo Watanabe

    Proc. of IEEE Int. Conf. on Mechatronics and Automation (ICMA 2021)   645 - 650   2021.8

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  • Feedback Linearization Control for a Tandem Rotor UAV Robot Equipped with Two 2-DOF Tiltable Coaxial-rotors Reviewed

    X. Xu, K. Watanabe, and I. Nagai

    Artificial Life and Robotics   26 ( 2 )   259 - 268   2021.5

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  • Feedback Linearization Control for a Tandem Rotor UAV Robot Equipped With Two 2-DOF Tiltable Coaxial-rotors Reviewed

    X. Xu, K. Watanabe, and I. Nagai

    Artificial Life and Robotics   26 ( 2 )   259 - 268   2021.5

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  • Load-swing Suppression Control Using an Omnidirectionally Movable Multi-rotor in 2D-horizontal Plane Reviewed

    R. Mino, S. Kanda, K. Watanabe, and I. Nagai

    Artificial Life and Robotics   26 ( 1 )   140 - 148   2021.2

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  • Load-swing Suppression Control Using an Omnidirectionally Movable Multi-rotor in 2D-horizontal Plane Reviewed

    R. Mino, S. Kanda, K. Watanabe, and I. Nagai

    Artificial Life and Robotics   26 ( 1 )   140 - 148   2021.2

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  • Cause Exploration of Accuracy Deterioration with Time Progress in Localization Using a Speckle Odometer Reviewed

    S. Nakata, I. Nagai, and K. Watanabe

    IEEE Int. Conf. on Mechatronics and Automation(ICMA 2020)   826 - 831   2020.10

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  • Development of a Horizontally Movable Multi-Rotor for Suppressing Load Sway Reviewed

    R. Kira, K. Watanabe, I. Nagai, and S. Kanda

    IEEE Int. Conf. on Mechatronics and Automation(ICMA 2020)   832 - 837   2020.10

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  • Computed Torque Control for an Aerial Robot Equipped with Two Coaxial Rotors Having a 2-DOF Tilt Mechanism Reviewed

    X. Xu, K. Watanabe, and I. Nagai

    IEEE Int. Conf. on Mechatronics and Automation(ICMA 2020)   926 - 931   2020.10

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  • Dual Quaternion-based Tracking Control for a Quadrotor Reviewed

    N. Serikawa, K. Watanabe, and I. Nagai

    Proc. of the 25th Int. Symp. on Artificial Life and Robotics (AROB 25th 2020)   617 - 622   2020.1

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  • Proposal of a Real-time Simulation Environment for Development of Multicopters by Cooperation of MATLAB (Simulink) and Unity Reviewed

    S. Kato, S. Kawano, K. Watanabe, and I. Nagai

    Proc. of the 25th Int. Symp. on Artificial Life and Robotics (AROB 25th 2020)   628 - 632   2020.1

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  • Proposal of a Gesture Recognition System Considering Partial Observation Data Reviewed

    K. Yamamoto, M. Maimaitimin, K. Watanabe, I. Nagai, and Y. Takashima

    Proc. of the 25th Int. Symp. on Artificial Life and Robotics (AROB 25th 2020)   633 - 636   2020.1

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  • Construction of a Range-finding System Using Two Lasers for a Manta Robot Reviewed

    H. Masuda, K. Watanabe, and I. Nagai

    Proc. of the 25th Int. Symp. on Artificial Life and Robotics (AROB 25th 2020)   647 - 651   2020.1

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  • Multi-task Deep Neural Networks for Environment Recognition by Camera Attached to UAV Reviewed

    Y. Takashima, M. Maimaitimin, K. Watanabe, I. Nagai, and K. Yamamoto

    Proc. of the 25th Int. Symp. on Artificial Life and Robotics (AROB 25th 2020)   657 - 662   2020.1

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  • Load-Swing Suppression Control Using a Mechanism Driven by Multi-Rotors Reviewed

    R. Mino, S. Kanda, K. Watanabe, and I. Nagai

    Proc. of the 25th Int. Symp. on Artificial Life and Robotics (AROB 25th 2020)   641 - 646   2020.1

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  • A Method of Recognizing Obstacles for a Small-sized Autonomous Underwater Vehicle X4-AUV Reviewed

    K. Watanabe, S. Sugano, and I. Nagai

    Proc. of 2019 IEEE Int. Conf. on Advanced Robotics and its Social Impacts (ARSO)   310 - 316   2019.11

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  • Development and Flight Experiments of a Bluff-bodied X4-Blimp Reviewed

    K. Watanabe, K. Niwa, and I. Nagai

    Proc. of 2019 IEEE Int. Conf. on Advanced Robotics and its Social Impacts (ARSO)   298 - 303   2019.11

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  • Development of a Foldable Personal Mobility Vehicle with One Drive Wheel

    Takanori Sakata, Isaku Nagai and Keigo Watanabe

    IOP Conference Series: Materials Science and Engineering   619 ( 1 )   012047   2019.10

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  • Control of a Tethered Quadrotor Using a Quaternion Feedback

    R. Takeuchi, K. Watanabe, and I. Nagai

    IOP Conference Series: Materials Science and Engineering   619 ( 1 )   012045   2019.10

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  • Thrust Analysis of Propulsion Mechanisms with Pectoral Fins in a Manta Robot

    T. Watanabe, K. Watanabe, and I. Nagai

    IOP Conference Series: Materials Science and Engineering   619 ( 1 )   012046   2019.10

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  • An Analytic Method for Localization of a Manta Robot by a Drag Model Reviewed

    M. Ikeda*, T. Watanabe, K. Watanabe, and I. Nagai (*National Institute of Technology, Tokuyama College)

    Proc. of the SICE Annual Conf. 2019   325 - 328   2019.9

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  • Target Approach for an Autonomous Mobile Robot Using Camera Images and Its Behavioral Acquisition for Avoiding an Obstacle Reviewed

    Y. Takashima, K. Watanabe, and I. Nagai

    Proc. of 2019 IEEE Int. Conf. on Mechatronics and Automation   251 - 256   2019.8

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  • Development of an Anemometer to Assist a Quadrotor with Auxiliary Thrusters Reviewed

    S. Kato, K. Watanabe, and I. Nagai

    Proc. of 2019 IEEE Int. Conf. on Mechatronics and Automation   839 - 843   2019.8

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  • Proposal of an Environmental Recognition Method for Automatic Parking by an Image-based CNN Reviewed

    K. Yamamoto, K. Watanabe, and I. Nagai

    Proc. of 2019 IEEE Int. Conf. on Mechatronics and Automation   833 - 838   2019.8

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  • Development of a Quadrotor with Auxiliary Thrusters Reviewed

    S. Kato, K. Watanabe, and I. Nagai

    Proc. of 2019 IEEE Int. Conf. on Mechatronics and Automation   839 - 843   2019.8

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  • Development of a Leaping Mechanism for Electric Skateboards Reviewed

    T. Aoki, I. Nagai, and K. Watanabe

    Proc. of 2019 IEEE Int. Conf. on Mechatronics and Automation   850 - 855   2019.8

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  • Indoor Self-Localization Using Multiple Magnetic Sensors Reviewed

    Isaku Nagai, Jun Sakai, and Keigo Watanabe

    Journal of Robotics and Mechatronics   31 ( 2 )   203 - 211   2019.4

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    DOI: 10.20965/jrm.2019.p0203

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  • Development of a Foldable Personal Mobility Vehicle Usable on Japanese Public Roads Reviewed

    T. Sakata, I. Nagai, and K. Watanabe

    Proc. of the 24th Int. Symp. on Artificial Life and Robotics (AROB 24thd 2019)   748 - 752   2019.1

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  • An Improvement of Flight Performance in the Level Flight of Tilted Quadrotors by Attaching a Fixed-wing Reviewed

    Y. Nakamura, A. Arakawa, K. Watanabe, and I. Nagai

    Artificial Life and Robotics   24   396 - 403   2019.1

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    DOI: 10.1007/s10015-018-0519-x

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  • Control of a Tethered Quadrotor Using a Quaternion Feedback Reviewed

    R. Takeuchi, K. Watanabe, and I. Nagai

    Proc. of the 5th Int. Symp. on Material, Mechatronics and Energy   2018.11

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  • Development of a Foldable Personal Mobility Vehicle with One Drive Wheel Reviewed

    T. Sakata, I. Nagai, and K. Watanabe

    Proc. of the 5th Int. Symp. on Material, Mechatronics and Energy   2018.11

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  • Thrust Analysis of Propulsion Mechanisms with Pectoral Fins in a Manta Robot Reviewed

    T. Watanabe, K. Watanabe, and . Nagai

    Proc. of the 5th Int. Symp. on Material, Mechatronics and Energy   2018.11

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  • Experiments on Estimating the Self-Position of Manta Robots by an Optical Flow Method Reviewed

    "Masaaki Ikeda*, Takuya Imahama, Keigo Watanabe, and Isaku Nagai (*National Institute

    Proc. of the SICE Annual Conference 2018   176 - 181   2018.9

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  • Transitional Flight Simulations for a Tilted Quadrotor with a Fixed-wing Reviewed

    Yoshikazu Nakamura, Atsushi Arakawa, Keigo Watanabe, and Isaku Nagai

    Proc. of 2018 IEEE Int. Conf. on Mechatronics and Automation   1829 - 1836   2018.8

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  • Control of Attitude Angle for a Tilted Quadrotor Reviewed

    Atsushi Arakawa, Tomohiko Hasegawa, Keigo Watanabe, and Isaku Nagai

    Proc. of 2018 IEEE Int. Conf. on Mechatronics and Automation   1844 - 1849   2018.8

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  • Production of a Wall-climbing-type Quadrotor and Its Experiment for Verifying Basic Operations Reviewed

    Keigo Watanabe, Takanori Nakatsuka, and Isaku Nagai

    Proc. of 2018 IEEE Int. Conf. on Mechatronics and Automation   1850 - 1855   2018.8

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  • Experiments for Verifying Basic Behaviors in an Omnidirectional Mobile Platform Using a Rocker-Bogie Suspension System Reviewed

    Keigo Watanabe, Yuki Mori, and Isaku Nagai

    Proc. of the 37th Chinese Control Conference, CCC 2018   7845 - 7850   2018.7

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  • Design and Manufacture of an Aerial Robot that Having Multifunction Modes with Tilted Coaxial Rotors Reviewed

    Xiongshi Xu, Keigo Watanabe, and Isaku Nagai

    Proc. of the 37th Chinese Control Conference, CCC 2018   7896 - 7900   2018.7

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  • Speckle Odometer Robust to Specular Reflection for Estimating the Position of Mobile Robots Reviewed

    Takahiro Kawai, Isaku Nagai, and Keigo Watanabe

    Proc. of the 23rd Int. Symp. on Artificial Life and Robotics   521 - 524   2018.1

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  • A Method of Measuring a Distance to Underwater Obstacles by Image Processing with a Laser Reviewed

    Shingo Sugano, Keigo Watanabe, and Isaku Nagai

    Proc. of the 23rd Int. Symp. on Artificial Life and Robotics   517 - 520   2018.1

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  • Design and Manufacture of a Multifunctional Aerial Robot with Tilted Coaxial Rotors Reviewed

    Xiongshi Xu, Keigo Watanabe, and Isaku Nagai

    Proc. of the 23rd Int. Symp. on Artificial Life and Robotics   512 - 516   2018.1

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  • A detection method using ultrasonic sensors for avoiding a wall collision of Quadrotors Reviewed

    Kenjiro Niwa, Keigo Watanabe, Isaku Nagai

    2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017   1438 - 1443   2017.8

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    Unmanned aerial vehicles (UAVs) can be applied as an inspection method for infrastructures such as tunnels, bridges, etc. In particular, UAVs being capable of vertical takeoff and landing (VTOL) are suitable for photographing inspection sites using cameras, because it need not use a runway and can hover. Among such VTOL type UAVs, those having four rotors are called Quadrotors. When using a Quadrotor for infrastructure inspection, it needs to approach the inspection object in order to photograph the inspection site using the camera. However, due to the influence by wind, it is predicted that the Quadrotor will collide with the inspection object. When the airframe comes into contact with the inspection object, there are problems that the camera image, which is provided a camera mounted on the airframe, is distorted, and the airframe and the inspection objects are damaged. Thus, it is necessary for the inspection Quadrotor to avoid a contact with the inspection object. Therefore, the present research is a wall surface detection method using ultrasonic sensors, so as to realize collision avoidance between walls or piers and the camera mounted Quadrotor. In this paper, we report a wall surface detection method, wall surface detection experiments using the proposed ultrasonic sensors and their results.

    DOI: 10.1109/ICMA.2017.8016028

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  • The stabilization of attitude of a Manta robot by a mechanism for moving the center of gravity and improvement of diving ability Reviewed

    Takanori Nakatsuka, Keigo Watanabe, Isaku Nagai

    International Conference on Control, Automation and Systems   220 - 225   2016.1

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    The development of underwater robots has been required for biological research in the sea. Therefore, it needs biomimetic robots because they hardly affect the behavior of creatures. We have developed a Manta robot that has propulsion mechanisms with pectoral fins, mimicking the pectoral fin of the manta. The conventional Manta robot is influenced by a righting moment varies according to the distance between the center of gravity (c.g) and the center of buoyancy. The righting moment keeps an object in the water in a certain posture. If the righting moment is large, the diving ability is reduced, so that the Manta robot is expected to not follow the movement of any organism. On the other hand, if the righting moment is small, the stability of the posture is insufficient, so that it is difficult to acquire the camera image. Therefore, we improve the diving ability of the Manta robot as well as stabilizing the posture, by changing the righting moment due to adjusting c.g. In this paper we explain the mechanism for moving c.g, and the way to adjust c.g. Furthermore, several swimming experiments are conducted, using the Manta robot equipped with the mechanism for moving c.g.

    DOI: 10.1109/ICCAS.2016.7832325

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  • Control of the Position and Attitude of a Tethered Quadrotor Considering the Influence of a Tether Reviewed

    Keigo Watanabe, Yusuke Ouchi, Keisuke Kinoshita, Isaku Nagai

    2015 10TH ASIAN CONTROL CONFERENCE (ASCC)   2015

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    An unmanned small aircraft is expected to be applied to various applications, such as aerial photography, information gathering of disaster, transport of luggage, and inspection of infrastructure, such as bridges and tunnels. It needs to control the position of the Quadrotor, if it is used for the inspection of infrastructures, such as bridges etc. Therefore, we propose a method for controlling a Quadrotor using a tether. We have suggested in previous research a control method of the relative position of a Quadrotor to the operator using the tether, and conducted an experiment. However, influences of the tether were not considered in the model of the extended Kalman filter to estimate the state of the Quadrotor. In this paper, the dynamical model of a Quadrotor is derived so as to consider the influence of a tether, and the position and attitude control simulation is conducted.

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  • The Derivation of a Dynamical Model for a Manta Robot and Its Control Reviewed

    Masaaki Ikeda, Shigeki Hikasa, Keigo Watanabe, Isaku Nagai

    2015 54TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)   1136 - 1139   2015

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    In this paper, we derive a dynamical model for a manta robot by taking account of a pectoral-fin propulsion mechanism. Especially, the model is derived by considering the force generated from such a specialized propulsion mechanism, together with estimating added masses and moment due to a cubic body form used in this research. The effectiveness of the dynamical model is verified by comparing the simulation results based on the model with the measurement values using an actual robot.

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  • Fundamental control for a manta-like fish robot Reviewed

    Masaaki Ikeda, Keigo Watanabe, Isaku Nagai

    Handbook of Research on Advancements in Robotics and Mechatronics   153 - 167   2014.12

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    This chapter analyzes a propulsive force generated from pectoral fins for a manta-like fish robot, which is one of rajiform-type fish robot in a classification of swimming mechanism of fishes, from fluid dynamics aspects. The fishes of this type swim underwater with two pectoral fins. A diving method is proposed, assuming that some front fin rays are fixed with a constant angle. The usefulness of the method is demonstrated by numerical simulations and an experiment with an actual robot system.

    DOI: 10.4018/978-1-4666-7387-8.ch007

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  • The development of a 3D position measurement system for indoor aerial robots Reviewed

    Keigo Watanabe, Yuya Yamada, Isaku Nagai

    International Conference on Control, Automation and Systems   1185 - 1190   2014.12

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    In this research, a position measurement system in an indoor 3D space is developed by using a stereo camera. Especially, in order to enable measurement in a dark place, the position measurement system is built by attaching an infrared LED marker to an object and using two cameras equipped with an infrared transmitting filter. The validity of such a system is clarified through a real system experiment by including it in the control system of an indoor aerial robot, and using it as a measurement system for position control in 3D space.

    DOI: 10.1109/ICCAS.2014.6987739

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  • Exponential stabilization of second-order nonholonomic chained systems Reviewed

    Zainah Md. Zain, Keigo Watanabe, Kiyotaka Izumi, Isaku Nagai

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   8103 ( 2 )   96 - 107   2013

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    In this paper, an underactuated control method is considered for an X4-AUV with four thrusters and 6-DOFs. A second-order chained form transformation is introduced to the dynamical model by separating a system into three parts of controller model. Then, the Astolfi's discontinuous control method is applied to realize an underactuated control method to stabilize the system. This approach is motivated by the fact that the discontinuous dynamic model without using a chained form transformation assures only a local stability (or controllability) of the dynamic based control system, instead of guaranteeing a global stability of the system. A computer simulation is presented to demonstrate the effectiveness of our approach. © 2013 Springer-Verlag Berlin Heidelberg.

    DOI: 10.1007/978-3-642-40849-6-9

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  • Development of a real-time range finder interpolating the parallax signals for surfaces Reviewed

    Yutaka Tanaka, Akio Gofuku, Isaku Nagai, Shigeharu Miyata

    Mechatronics   12 ( 6 )   875 - 889   2002.7

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    In order to apply "eyes" to an autonomous running vehicle, a real-time range finder has been developed that can measure both the distance to every point on a plane without any pattern and its inclination. Although it seems contrary to the fact that the parallax is inversely proportional to the distance, this paper derives the mathematical ground that a plane in a real 3-D space (X,Y,Z) is mapped also into the plane in a spatial parallax (x,y, Δx). On this basis, an electronic circuit has been manufactured which can compute in video rate the interpolation value between the parallaxes at two characteristic points by using several programmable logic devices. It has also been demonstrated that this device is applicable to the measurements of the slant angles of and the directions normal to a simple plane or a slightly curved surface. © 2002 Elsevier Science Ltd. All rights reserved.

    DOI: 10.1016/S0957-4158(01)00023-X

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  • An Autonomous Running Vehicle Equipped with a Vision System for Fixing and Recognizing Color Landmarks Reviewed

    GOFUKU Akio, TANAKA Yutaka, HAMANO Koji, NAGAI Isaku

    Transactions of the Japan Society of Mechanical Engineers. Series C.   64 ( 626 )   3907 - 3913   1998.10

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    An experimental autonomous running vehicle with a vision system is developed for load carriers in factories or activity support vehicles of aged or visually impaired people. The vision system extracts color objects of red, yellow, green, or blue in a scene and measures in video-rate the distance and the apparent area of them. By the vision system, the vehicle can recognize color landmarks and obeys the commands assigned to them as well as keeping away from obstacles using four supersonic range meters arranged around the vehicle. In addition, a fixation behavior to color landmarks is realized by a color CCD camera and two stepping mortors to move the camera in horizontal and vertical directions. The running control system is configurated by the Sub-Sumption Architecture which enables us to develop a complicated control system by combining control systems of different behavior. The applicability of the vehicle is demonstrated by several autonomous running experiments to run on the routes specified by color landmarks.

    DOI: 10.1299/kikaic.64.3907

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  • A Vision-Based Autonomous Running Vehicle to Fix and Recognize Color Landmarks Reviewed

    Akio Gofuku, Yutaka Tanaka, and Isaku Nagai

    Proc. of the 3rd International Conference on Advanced Mechatronics   109 - 114   1998.8

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  • Obstacle avoidance by changing running path for an autonomous running vehicle applying visual servoing Reviewed

    A Gofuku, Y Tanaka, H Soda, Nagai, I

    FOURTH ANNUAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE, PROCEEDINGS   106 - 111   1997

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    This paper describes an improved running control algorithm based on the visual servoing in consideration of the turning back of a running path to avoid an obstacle on the path by changing the running path. This paper also describes an experimental autonomous running vehicle to demonstrate the algorithm. As a vision sensor, the vehicle equips with a video-rate stereo range finder which processes color images from stereo CCD cameras and is developed in the authors' laboratory. From the several basic autonomous running experiments, it is concluded that the experimental vehicle runs smoothly any planned path composed of several teaching routes by transferring routes. It is also concluded that the vehicle can turn back on a path including turning back of route transference.

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Books

  • ロボット制御学ハンドブック

    多数( Role: Joint author)

    近代科学社  2017  ( ISBN:9784764904736

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    Responsible for pages:pp. 530-531   Language:Japanese

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  • 鮎、牡蠣の香りの水晶振動子を用いた定性評価に関する基礎研究

    一橋和義(東京大学,東洋大学),永井伊作,倉橋みどり(東京大学)( Role: Joint author)

    公益財団法人 浦上食品・食文化振興財団  2016 

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    Responsible for pages:23巻,71-78ページ   Language:Japanese

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  • Fundamental Control for a Manta-Like Fish Robot

    Masaaki Ikeda, Keigo Watanabe, Isaku Nagai( Role: Joint author)

    IGI Global  2014 

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    Responsible for pages:153-167   Language:English

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MISC

  • 下向きカメラを有する自律走行車のための模様の劣化にロバストな自己位置修正法

    永井 伊作, 渡辺 桂吾

    計測自動制御学会論文集   55 ( 1 )   15 - 24   2018

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  • Attitude control of a camera mounted-type tethered quadrotor for infrastructure inspection

    Keigo Watanabe, Nao Moritoki, Isaku Nagai

    Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society   2017-   6252 - 6257   2017.12

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    Use of unmanned aerial vehicles is considered as one of the means which performs infrastructure inspection. Since the operation from GPS or the outside is not needed but the method by a quadrotor with a tether can perform the position control of the airframe, it can be used for the inspection of infrastructures, such as a tunnel and a bridge. In this research, it aims to develop and control a camera mounted-type tethered quadrotor as a backup system of proximity viewing by people in infrastructure inspection. Especially, the development and control of a stabilizer for stabilizing a mounted camera in 2-DOFs are described in detail here. Moreover, the flight experiment of the airframe is conducted to verify the usefulness of the proposed system.

    DOI: 10.1109/IECON.2017.8217087

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  • Development and control of tilt-wings for a tilt-type Quadrotor

    Ryuta Takeuchi, Keigo Watanabe, Isaku Nagai

    2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017   501 - 506   2017.8

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    The application of unmanned aerial vehicles (UAVs) is being actively studied as one of ways for collecting of information and supporting of rescue activities etc., under a catastrophic disaster. There are roughly two types of UAVs: one is rotorcraft type UAVs that have ability for vertical takeoff and landing (VTOL) and the other is fixed-wing type UAVs that are superior in terms of flying-range and its speed. Usually, they are used properly according to the missions, but in an emergency case, it is desirable for us to complete various missions by only one UAV. To this end, it needs new UAVs which have ability for VTOL, wide flying-range and high cruising-speed. The objective of this study is to develop a Quadrotor that can switch the flight mode by mounting tilted wings. The tilt-wing can generate a thrust in any direction, and has also a function as a fixed-wing during a cruising flight mode. This paper presents the overview of a tilt-wings-mounted Quadrotor, and the design and development of a tilt-wing. In addition, some experiments are conducted to check the influence of the VTOL performance by tilt-wing.

    DOI: 10.1109/ICMA.2017.8015868

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  • Design and development of steered active wheel casters and its application

    Yutaro Ueno, Keigo Watanabe, Isaku Nagai

    2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017   507 - 512   2017.8

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    Recently, omnidirectional powered-wheelchairs that have high mobility at a narrow space or a place with many obstacles are studied actively. Many of conventional omnidirectional mechanisms use special wheel mechanisms, such as a mecanum wheel etc. However, this mechanism is unsuitable for use in powered-wheelchairs, because of having problems, such as serious vibrations while moving, low loadability, etc. In previous studies, an active dualwheel caster that can use general rubber tires and an omnidirectional mobile platform using several such assemblies have been developed. However, there is a problem that omnidirectional movement becomes impossible, when one of wheels in this assembly would run aground to a level difference or idle. The objective of this study is to develop an omnidirectional mobile platform to solve this problem, where the platform uses several steered active wheel caster assemblies. Also, a rocker-bogie system that is a kind of suspension systems is used for the platform to improve traveling performance. In this paper, we give an overview of the steered active wheel caster assembly and propose a mobile platform, and describe the production process and experimental results.

    DOI: 10.1109/ICMA.2017.8015869

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  • Improvements of one-wheel driven personal mobility for use on a public road

    Takanori Sakata, Isaku Nagai, Keigo Watanabe

    2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017   525 - 530   2017.8

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    As a daily means of transportation, Personal Mobility (PM) attracts attention due to its high environmental performance. One of the representative PMs is Segway. However, it is expensive and unavailable to use freely on a Japanese public road because of Road Traffic Act. Therefore, our laboratory developed a one-wheel driven and standing ride type PM for the purpose of low production cost and using on the public roads freely. However, the PM has two problems
    i.e., one is that its driving speed becomes uncontrollable by sunlight that changes DC offset of signals from a sensor for measuring speed, and the other is that the driver falls off by a sudden stop of the drive wheel due to battery exhaustion. In this paper, the speed control under the sun is made possible by introducing a signal conversion circuit with AC coupling. In addition, gentle decelerating and automatic stopping before the battery exhaustion prevent the driver from falling off.

    DOI: 10.1109/ICMA.2017.8015872

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  • Influence on the propulsive performance due to the difference in the fin shape of a robotic manta

    Masaaki Ikeda, Kota Mikuriya, Keigo Watanabe, Shigeki Hikasa, Yukito Hamano, Isaku Nagai

    Artificial Life and Robotics   22 ( 2 )   276 - 282   2017.6

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    This paper experimentally investigates the influence on the propulsive performance by the difference in the fin shape of a robotic manta. Five kinds of fin shapes, i.e., a rectangle, a triangle, a trapezoid, and two right triangles, are used in experiment to measure the forward speed of the robot, where two types of right triangle are discriminated, depending on the arrangement of the right angle part and each fin area is assumed to be approximately equal, and the number of fin rays is the same at all the fins. It is proved that a significant difference in propulsive speed arises depending on the difference in the fin shape. Some experiments are additionally conducted to examine the influence on the propulsive speed and its efficiency, due to the parameter change of a progressive wave in the fin.

    DOI: 10.1007/s10015-017-0351-8

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  • An automatic parking system using an optimized image-based fuzzy controller by genetic algorithms

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    Artificial Life and Robotics   22 ( 1 )   139 - 144   2017.3

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    An automatic parking system of a car-like mobile robot is an important issue in commercial applications. An image-based fuzzy controller for an automatic parking system of a car-like mobile robot was developed in previous work, where the membership functions were tuned by experimentally. The aim of this paper is to optimize the parameters of the membership functions, which were performed in previous work, using a genetic algorithm against the complicated tuning of the controller. The details of GA implementation, such as the design parameters and choice of fitness function, are described. Simulation results illustrate the effectiveness of the developed schemes.

    DOI: 10.1007/s10015-016-0326-1

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  • Acquisition of Optical Flow Considering the Pitching Motion to Estimate the Self-position of a Manta Robot

    Masaki Ikeda, Kota Mikuriya, Keigo Watanabe, Isaku Nagai

    2017 56TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)   182 - 185   2017

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    The development of underwater exploration robots is expected for the biological research of aquatic life. In particular, biomimetic robots are possible to investigate aquatic organisms without affecting them seriously. A Manta robot has been already developed by mimicking the pectoral fin of the manta ray. Note however that it is difficult to obtain the self-position data, because small AUVs like a Manta robot can't communicate underwater with radio waves. As one approach to obtain the self-position data, a method of using optical flow is constructed in this paper. The amount of movement of the robot is estimated by using the optical flow obtained from a monocular camera, when the robot moves around an underwater structure or the bottom of the sea. Furthermore, after evaluating the influence of pitch motion of a Manta robot on the detection of an optical flow, an optical flow acquisition method is proposed using a noise removal filter and a gimbal mechanism to reduce such an influence on the detection. Finally, the effectiveness of the proposed method is confirmed by actual experiments.

    DOI: 10.23919/SICE.2017.8105774

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  • A Method for Calculating the Amount of Movements to Estimate the Self-position of Manta Robots

    Takuya Imahama, Keigo Watanabe, Kota Mikuriya, Isaku Nagai

    Proc. of the 4th Int. Symposium on Smart Material and Mechatronics   962 ( 1 )   012016   2017

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  • An Intelligent Parking System for Vehicles Using an Image-based Fuzzy Controller

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    International Journal on Smart Material and Mechatronics   4 ( 1 )   252 - 256   2017

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    DOI: 10.1007/s10015-016-0326-1

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  • Correcting Path of a Shopping Cart Using a Particle Filter and an Environment Map

    Daiki Sasakura, Isaku Nagai, Keigo Wtanabe

    International Journal on Smart Material and Mechatronics   4 ( 1 )   261 - 264   2017

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  • System construction for distributedly controlling the thrusters of X4-AUV

    Xiongshi Xu, Keigo Watanabe, Isaku Nagai

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   10462   825 - 833   2017

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    A small-sized X4-AUV is a kind of AUVs that do not use any rudders, and is driven by four thrusters arranged equally around the fuselage. In order to drive the X4-AUV more efficiently and precisely, a distributed control system of thrusters is proposed, in which the command of a main microcontroller is distributed to four sub-microcontrollers, one of which is mounted on each thruster. By utilizing the serial communication between the PC and the sub-microcontroller, the P, I and D gains of thruster can be easily adjusted on a Graphical User Interface (GUI). After the gains are adjusted, the performance of distributed control of the thrusters can be verified in real time through another designed GUI.

    DOI: 10.1007/978-3-319-65289-4_76

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  • A localization method using a dynamical model and an extended Kalman filtering for X4-AUV

    Keigo Watanabe, Takanori Yamaguchi, Isaku Nagai

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   10462   834 - 845   2017

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    The self-position estimation problem of X4-AUV, which is an autonomous underwater vehicle (AUV) driven by four thrusters, is considered. Since a self-position cannot be underwater measured directly using GPS etc., we have to consider any method for realizing it by an indirect method. The AUV treated by this research has a mechanical structure that a self-position is controlled by changing the attitude from the feature of drive mechanism, and it can observe an attitude angle from an internal sensor, so that based on the dynamical model of the present AUV, a method for estimating the self-position is proposed by applying an extended Kalman filter. The usefulness of this technique is demonstrated by checking the feasibility in the simulation of the position control that used the position estimate.

    DOI: 10.1007/978-3-319-65289-4_77

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  • Construction of a Module for an Omnidirectional Mobile Platform with a Rocker-bogie Suspension System

    Yuki Mori, Keigo Watanabe, Isaku Nagai

    Proc. of the 22nd Int. Symposium on Artificial Life and Robotics (AROB 22nd '17)   585 - 590   2017

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  • Production of a Tilt Rotor System and a Speed Control of a DC Motor for Quadrotors

    Tomohiko Hasegawa, Keigo Watanabe, Isaku Nagai

    International Journal on Smart Material and Mechatronics   4 ( 1 )   278 - 281   2017

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  • Dynamic model based control and verification for omnidirectional mobile robots with active dual-wheel caster assemblies

    Yuta Fujimoto, Keigo Watanabe, Isaku Nagai

    Proc. of the 22nd Int. Symposium on Artificial Life and Robotics (AROB 22nd '17)   580 - 584   2017

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  • 914 Development of the Position Measurement System for Controlling the Position of a Blimp Robot with Four Propellers

    HORIO Akihiro, WATANABE Keigo, NAGAI Isaku

    2016 ( 54 )   "914 - 1"-"914-2"   2016.2

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  • A method for measuring the position of quadrotors using a tether winder

    Nao Moritoki, Keigo Watanabe, Isaku Nagai

    International Conference on Control, Automation and Systems   25 - 29   2016.1

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    Use of a Quadrotor is considered as one of the methods to inspect infrastructures such as a tunnel or a bridge. In such a case, it needs to control the position of the airframe. Note, however, that it is difficult to realize the position control using GPS in environments, such as in a tunnel or under a bridge, because there is a problem, such as the weakness of the GPS signal or the incomplete reaching. Therefore, the present research is aimed at developing position control not using GPS, and proposes a method for detecting the airframe position of a tethered Quadrotor, from the length and tension of the tether. Especially, a tether winder is produced so that the length and tension of the tether are measured. This paper describes how to detect the position of a Quadrotor, and presents some operation experiments of the produced tether winder.

    DOI: 10.1109/ICCAS.2016.7832295

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  • Motion Estimation of a Walking Robot Based on Laser Speckle Odometry

    Rui Saito, Isaku Nagai, Keigo Watanabe

    Proc. of the 21st Int. Symposium on Artificial Life and Robotics (AROB 21th '16)   358 - 361   2016

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  • Image-based fuzzy control of a car-like mobile robot for parking problems

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION   502 - 507   2016

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    The image-based control method can operate a mobile robot by controlling only image information acquired from camera images without using the robot states. This paper is devoted to design a car-like mobile robot that possesses autonomous angle parking and perpendicular parking capability by using an image-based fuzzy controller. A parking frame which is drawn on the floor is detected by a robot that is equipped with a camera. For both parking types, the desired target line to be followed by the robot is generated by calculating the image features which are extracted from the captured image. The fuzzy controller is designed with a reasoning mechanism composed of two inputs, which are the slope and intercept of the target line, and one output that is the steering angle of the robot. Simulation results illustrate the effectiveness of the proposed method.

    DOI: 10.1109/ICMA.2016.7558614

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  • The Design and Production of a Tilt Rotor System for Quadrotors

    Tomohiko Hasegawa, Keigo Watanabe, Isaku Nagai, Shoichi Maeyama

    Proc. of Int. Conf. on Information and Communication Technology Robotics (ICT-ROBOT 2016)   FrAT1.2.pdf   2016

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  • Speed Control of One-wheel Driven Personal Mobility for Use on a Public Road

    Hiromasa Iwasaki, Isaku Nagai, Keigo Watanabe

    Proc. of Int. Conf. on Information and Communication Technology Robotics (ICT-ROBOT 2016)   FrAT1.3.pdf   2016

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  • Attitude Control for Manta Robots Using a Fuzzy Controller

    Yukito Hamano, Keigo Watanabe, Isaku Nagai, Masaaki Ikeda

    Proc. of the 21st Int. Symposium on Artificial Life and Robotics (AROB 21th '16)   362 - 367   2016

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  • Development of a New Manta Robot Considering the Propulsive Resistance

    Kota Mikuriya, Keigo Watanabe, Yukito Hamano, Isaku Nagai

    International Journal on Smart Material and Mechatronics   3 ( 1 )   151 - 155   2016

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  • Image-based Fuzzy Parking Control of a Car-like Mobile Robot

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    International Journal on Smart Material and Mechatronics   3 ( 1 )   160 - 164   2016

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  • Control of a Quadrotor Equipped with a Fixed-wing by Tilting Some of Four Rotors

    Yoshikazu Nakamura, Keigo Watanabe, Isaku Nagai

    International Journal on Smart Material and Mechatronics   3 ( 1 )   165 - 169   2016

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  • Design of an image-based fuzzy controller for autonomous parking of four-wheeled mobile robots

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS   52 ( 3-4 )   859 - 865   2016

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    This paper develops an automatic parking system for a car-like mobile robot using image-based control, where the robot equipped with a single camera detects a rectangular parking frame drawn on the floor. The desired target line to be followed by the robot is produced by using Hough transform from a captured image, together with thresholding and Canny edge detector. The fuzzy controller is designed with a reasoning mechanism composed of two inputs, which are the gradient and intercept of the target line, and one output that is the steering angle of the robot. The effectiveness of the proposed method is demonstrated through some experimental results with an actual mobile robot.

    DOI: 10.3233/JAE-162180

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  • Optimization of an image-based fuzzy controller for an automatic parking system using a genetic algorithm

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    Proc. of the 21st Int. Symposium on Artificial Life and Robotics (AROB 21th '16)   354 - 357   2016

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  • The Stabilization of Attitude of a Manta Robot by a Mechanism for Moving the Center of Gravity and Improvement of Diving Ability

    Takanori Nakatsuka, Keigo Watanabe, Isaku Nagai

    2016 16TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS)   220 - 225   2016

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    The development of underwater robots has been required for biological research in the sea. Therefore, it needs biomimetic robots because they hardly affect the behavior of creatures. We have developed a Manta robot that has propulsion mechanisms with pectoral fins, mimicking the pectoral fin of the manta. The conventional Manta robot is influenced by a righting moment varies according to the distance between the center of gravity (c.g) and the center of buoyancy. The righting moment keeps an object in the water in a certain posture. If the righting moment is large, the diving ability is reduced, so that the Manta robot is expected to not follow the movement of any organism. On the other hand, if the righting moment is small, the stability of the posture is insufficient, so that it is difficult to acquire the camera image. Therefore, we improve the diving ability of the Manta robot as well as stabilizing the posture, by changing the righting moment due to adjusting c.g. In this paper we explain the mechanism for moving c.g, and the way to adjust c.g. Furthermore, several swimming experiments are conducted, using the Manta robot equipped with the mechanism for moving c.g.

    DOI: 10.1109/ICCAS.2016.7832325

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  • A Localization Method for Manta Robots Using an Optical Flow Technique

    Masaaki Ikeda, Kota Mikuriya, Keigo Watanabe, Isaku Nagai

    Proc. of the 3rd Int. Symposium on Smart Material and Mechatronics   144 - 148   2016

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  • A Localization Method for Manta Robots Using an Optical Flow Technique

    Masaaki Ikeda, Kota Mikuriya, Keigo Watanabe, Isaku Nagai

    International Journal on Smart Material and Mechatronics   3 ( 2 )   169 - 200   2016

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  • Autonomous Parking System of a Car-like Mobile Robot Using an Image Based Fuzzy Controller

    Kyaw Thiha, Yin Yin Aye, Keigo Watanabe, Isaku Nagai

    Proc. of the Seventh Int. Conf. on Science and Engineering (ICSE 2016)   247 - 251   2016

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  • Production of a Tilt Rotor System and a Speed Control of a DC Motor for Quadrotors

    Tomohiko Hasegawa, Keigo Watanabe, Isaku Nagai

    Proc. of the 3rd Int. Symposium on Smart Material and Mechatronics   21 - 24   2016

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  • Correcting Path of a Shopping Cart Using a Particle Filter and an Environment Map

    Daiki Sasakura, Isaku Nagai, Keigo Watanabe

    Proc. of the 3rd Int. Symposium on Smart Material and Mechatronics   62 - 65   2016

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  • An Intelligent Parking System for Vehicles Using an Image-based Fuzzy Controller

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    Proc. of the 3rd Int. Symposium on Smart Material and Mechatronics   66 - 70   2016

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  • A Servo Control System for the Thruster of a Small-sized X4-AUV

    Xiongshi Xu, Keigo Watanabe, Isaku Nagai

    Proc. of the 3rd Int. Symposium on Smart Material and Mechatronics   134 - 137   2016

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  • Development of an Omnidirectional Mobile Platform with a Rocker-bogie Suspension System

    Yuki Mori, Keigo Watanabe, Isaku Nagai

    PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY   6134 - 6139   2016

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    In connection with the super-aging society, there exists a growing interest in omnidirectional powered-wheelchairs that have superior mobility in a narrow space. An omnidirectional mobile robot composed of active dual-wheel caster assemblies can use general wheels such as rubber tires, so that it is easily applied to a powered wheelchair. This study is aimed at developing an omnidirectional mobile platform using active dual wheel caster assemblies in consideration of the run in a public road. An omnidirectional mobile platform using a rocker-bogie suspension system is proposed to improve the running ability, and several active dual-wheel caster modules are produced so as to be used in such a platform. In this paper, we give an overview of the active dual-wheel caster assemblies and the proposed robot, and describe the process of actual production of such modules and the associated experimental results.

    DOI: 10.1109/IECON.2016.7793808

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  • Development of a Camera-mounted Tethered Quadrotor for Inspecting Infrastructures

    Keigo Watanabe, Keisuke Kinoshita, Isakau Nagai, Maki K. Habib

    PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY   6128 - 6133   2016

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    A camera-mounted tethered Quadrotor is proposed to substitute for proximity viewing check of a bridge or the wall in a tunnel. We first describe the design and manufacture of the airframe, and then manufacture a stabilizer for making the posture of the camera mounted on the airframe constant. Here, the camera can transmit its image to a smart-phone through a Wi-Fi communication system, and the stabilizer is controlled by a PID controller. To check whether the camera-mounted tethered Quadrotor manufactured is stabilized, some flight experiments are finally conducted indoors.

    DOI: 10.1109/IECON.2016.7792982

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  • Path Estimation of a Shopping Cart Using a Particle Filter and an Environment Map

    Daiki Sasakura, Keigo Watanabe, Isaku Nagai

    PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY   6152 - 6157   2016

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    Understanding of consumer behavior contributes a store for improving the profitability. It is important to analyze and understand consumer trajectories in a store building for the purpose. Therefore analyses of purchasing history and consumer's movement are performed in the process. Purchasing histories is regularly obtained via a POS system. For acquiring the movement path, a measurement device using an optical sensor and a gyro sensor was proposed. However, the device has a problem of poor measurement accuracy because of the accumulated error in the sensors. In this study, we propose a method for improving the accuracy by using a particle filter and an environmental map. We describe the outline of the device and the path estimated by the method from the measured data with a map.

    DOI: 10.1109/IECON.2016.7793480

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  • Indoor Self-Localization Using a Magnetic Map

    Jun Sakai, Isakau Nagai, Keigo Watanabe

    Proc. of Int. Conf. on Information and Communication Technology Robotics (ICT-ROBOT 2016)   FrAT1.4.pdf   2016

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  • Stabilizing Control for the Attitude of a Small-sized X4-AUV

    Ge Ri Le Tu, Xiongshi Xu, Keigo Watanabe, Isaku Nagai

    2016 55TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)   1185 - 1190   2016

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    In this research, an X4-AUV consisting of four thrusters is designed and manufactured to develop a small AUV which does not use any rudders. First, the construction of an X4-AUV and the motion method are described, together with the added mass. Next, for the production of the X4-AUV, we describe the selection of parts and the manufacture of a waterproofed container, and some experiments are conducted to verify the forward motion of the X4-AUV and the rotational motion in each attitude. We propose a method for stabilizing the attitude of the X4-AUV, and confirm the usefulness of the method through the experiments.

    DOI: 10.1109/SICE.2016.7749263

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  • Attitude Stabilization of a Manta Robot by Fuzzy Control

    Masaaki Ikeda, Yukito Hamano, Keigo Watanabe, Isaku Nagai

    Proc. of the SICE Annual Conference 2016   1191 - 1194   2016

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  • Invariant manifold-based stabilizing controllers for nonholonomic mobile robots

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    Artificial Life and Robotics   20 ( 3 )   276 - 284   2015.10

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    The problem of designing a stabilizing controller for point-to-point control of a four-wheeled mobile robot is considered in this study. The stability of the proposed control system is analyzed using Lyapunov theory. Firstly, a four-wheeled mobile robot which is an under-actuated system with two inputs is considered as a controlled object. Then, the switching and non-switching control methods based on an invariant manifold theory are proposed for stabilizing it in the desired position and orientation, where a chained form model is assumed to be used as a canonical model. Finally, simulation results are given to illustrate the effectiveness of the proposed method.

    DOI: 10.1007/s10015-015-0219-8

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  • Invariant manifold-based stabilizing controllers for nonholonomic mobile robots

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    Artificial Life and Robotics   20 ( 3 )   276 - 284   2015.10

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    The problem of designing a stabilizing controller for point-to-point control of a four-wheeled mobile robot is considered in this study. The stability of the proposed control system is analyzed using Lyapunov theory. Firstly, a four-wheeled mobile robot which is an under-actuated system with two inputs is considered as a controlled object. Then, the switching and non-switching control methods based on an invariant manifold theory are proposed for stabilizing it in the desired position and orientation, where a chained form model is assumed to be used as a canonical model. Finally, simulation results are given to illustrate the effectiveness of the proposed method.

    DOI: 10.1007/s10015-015-0219-8

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  • 2A2-D01 Development of a Manta Robot for Underwater Exploration Considering the 3D Body Shape

    MIKURIYA Kota, HIKASA Shigeki, HAMANO Yukito, WATANABE Keigo, NAGAI Isaku

    2015   "2A2 - D01(1)"-"2A2-D01(4)"   2015.5

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    Biomimetic robots are possible to investigate aquatic lives without affecting them. Our laboratory has developed a Manta robot that has propulsion mechanism with pectoral fins, which are constructed by mimicking the pectoral fin of the manta ray. However, the swimming speed of the conventional Manta robot does not reach to those of many aquatic lives. In this paper, the propulsion performance of the Manta robot is improved by adopting a 3D streamline shape, which has a less propulsion resistance as the body shape of the robot. In addition, letting the Manta robot be autonomous can overcome a problem that a power cable interrupts the motion of the Manta robot. The effectiveness of the proposed method is proved by several swimming experiments using the improved Manta robot.

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  • 2A2-D03 Laser Odometry in Consideration of the Tilt on the Laser Sensor for Underwater Walking Robots

    SAITO Rui, NAGAI Isaku, WATANABE Keigo

    2015   "2A2 - D03(1)"-"2A2-D03(4)"   2015.5

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    Underwater localization is important for underwater mobile robots to autonomously investigate marine resources. A method using inertial navigation system is a conventional underwater localization. However, it requires expensive sensors. In this study, we propose a laser odometry to localize an underwater walking robot. In the laser odometry using optical sensors, motion is estimated by tracking laser speckle patterns. However, measurement error increases when the sensor is tilted. In this paper, we describe the overview of our walking robot with the sensor, the principle of laser odometry, and the experimental results of investigating measurement accuracy, in which the accuracy is improved by considering a tilt angle.

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  • 903 A Dynamical Model for Manta Robots Using the Pectoral-fin Propulsion Mechanism

    HIKASA Shigeki, WATANABE Keigo, NAGAI Isaku

    2015 ( 53 )   "903 - 1"-"903-2"   2015.2

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  • 901 Production of a Blimp Robot with Four Propellers

    OKAMURA Naoto, WATANABE Keigo, NAGAI Isaku

    2015 ( 53 )   "901 - 1"-"901-2"   2015.2

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  • Development of a New Manta Robot Considering the Form Drag

    Kota Mikuriya, Shigeki Hikasa, Yukito Hamano, Keigo Watanabe, Masaki Ikeda, Isaku Nagai

    2015 54TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)   1132 - 1135   2015

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    Biomimetic robots are possible to be used for investigating aquatic lives without affecting them. We have already developed a Manta robot that has propulsion mechanisms with pectoral fins, which are constructed by mimicking the pectoral fin of the manta ray. However, the swimming speed of the conventional Manta robot does not reach to those of many aquatic lives. In this paper, we improve the propulsion performance of such a Manta robot by considering a 3D shape. The propulsion performance of the Manta robot is improved by adopting a streamline shape, which has a less propulsion resistance as the body shape of the robot.

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  • An Obstacle Avoidance Method by Combing Image-based Visual Servoing and Optical Flow

    Keigo Watanabe, Toshiyuki Kageyu, Shoichi Maeyama, Isaku Nagai

    2015 54TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)   677 - 682   2015

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    An obstacle avoidance method has been proposed as an application example of image-based mobile robot control with a monocular camera. However, since distance information is not obtained in this method, an avoidance priority is not given to each obstacle, so that the avoidance accuracy deteriorates. Therefore, a method is proposed for avoiding some obstacles with distance information obtained from optical flows, and then it is compared with a conventional method.

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  • Image-ased Neural Network Controllers for Mobile Robots to Track a Human

    Masaaki Ikeda, Hikaru Fujioka, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    2015 10TH ASIAN CONTROL CONFERENCE (ASCC)   ( 1570074973 )   1 - 6   2015

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    This paper proposes an image-based visual servoing method for human tracking by a mobile robot. Three neural networks that determine control inputs from image features are designed as controllers, where they are learned by using the genetic algorithm. We examine the network structure that is suitable as a controller for the present objective by using simulations.

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  • Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach

    Zainah Md Zain, NurFadzillah Harun, Keigo Watanabe, Isaku Nagai

    2015 10TH ASIAN CONTROL CONFERENCE (ASCC)   ( 1570087315 )   1 - 6   2015

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    An X4-AUV is nonlinear, coupled and unstable system. In this paper, we present the results of two control schemes applied to an X4-AUV. A direct use of Lyapunov control theory and PD controller technique and backstepping technique have been applied to stabilize the system. We performed the simulations to see the comparative performance result of an X4-AUV under two control schemes.

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  • Position Control for a VTOL-type UAV by Tilting Some of Four Rotors

    Yoshikazu Nakamura, Keigo Watanabe, Isaku Nagai

    2015 54TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)   784 - 787   2015

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    In recent years, unmanned aerial vehicles are being expected to be used for the vegetational observation and the information collection of disaster sites into which human cannot enter. In this research, it aims at proposing a VTOL-type UAV that has a fixed-wing and four tiltable rotors and controlling it. Such a UAV has advantages, compared to both rotorcrafts with fixed rotors and fixed-wing aircrafts. This paper derives a dynamical model for the VTOL-type UAV and designs a controller from the derived model. The effectiveness of the designed controller is verified by simulations.

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  • The Design and Production of an X4-AUV

    Ge Ri Le Tu, Shinnosuke Tobita, Keigo Watanabe, Isaku Nagai

    2015 54TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)   1118 - 1121   2015

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    In this research, an X4-AUV consisting of four thrusters is designed and manufactured to develop a small AUV which does not use any rudders. Especially, each thruster is arranged at equal intervals to the same plane, and the attitude motions of a roll, a pitch and a yaw, and the translational motion of forward are realizable by changing the rotational speeds of four thrusters. First, the construction of an X4-AUV and the motion method are described, together with the added mass. Next, regarding the production of the X4-AUV, the selection of parts, the structure and thrust of a thruster, the manufacture of a waterproofed container, etc. are described. Finally, some experiments are conducted to verify the forward motion of X4-AUV and the rotational motion in each attitude.

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  • Stabilization of Nonholonomic Mobile Robot Using Controllers Based on an Invariant Manifold Theory

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    Proc. of the 20th Int. Symposium on Artificial Life and Robotics (AROB 20th '15)   537 - 542   2015

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  • Comparative Experiments for a Robotic Manta by Some Different Fin Shapes

    Masaaki Ikeda, Keigo Watanabe, Kota Mikuriya, Shigeki Hikasa, Yukito Hamano, Isaku Nagai, iv. of, Sultan, Zainal Abidin

    Proc. of the 20th Int. Symposium on Artificial Life and Robotics (AROB 20th '15)   547 - 552   2015

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  • Laser Odometry Taking Account of the Tilt on the Laser Sensor

    Rui Saito, Keigo Watanabe, Isaku Nagai

    2015 10TH ASIAN CONTROL CONFERENCE (ASCC)   ( 1570074937 )   1 - 6   2015

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    Localization under water is required for an underwater mobile robot to perform the survey autonomously. There is a conventional method using inertial navigation system as a localization under water, but it takes high costs. In this study, we propose a laser odometry technique as a localization for underwater mobile robots. Laser odometry is a method for estimating the motion by tracking laser speckle patterns. It can measure three dimensional positions and a rotation. In this paper, we introduce a principle of the laser odometry, the construction of the sensor unit, and confirm whether the inclination of the optical sensor affects on the laser odometry or not.

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  • The Design and Production of Thrusters for an AUV Without Rudders

    Ge Ri Le Tu, Keigo Watanabe, Isaku Nagai

    2015 10TH ASIAN CONTROL CONFERENCE (ASCC)   ( 1570074851 )   1 - 6   2015

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    We show a design of thruster for an X4-AUV robot, which has four thrusters. The objective in this paper is to prove the availability of this design in reality. At first, we describe the structure of underwater robots, then show the whole design of the thruster. At the last, the experimental results show us the thrust generated by one of the thrusters.

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  • The Stabilization of Position and Attitude for a Blimp by a Switching Controller

    Yoshikazu Nakamura, Keigo Watanabe, Isaku Nagai

    Int. J. of Smart Material and Mechatronics   2 ( 1 )   6 - 9   2015

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  • Position and Attitude Control for a Quadrotor by Using a Tether

    Yusuke Ouchi, Keigo Watanabe, Keisuke Kinoshita, Isaku Nagai

    Proc. of the 20th Int. Symposium on Artificial Life and Robotics (AROB 20th '15)   531 - 536   2015

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  • Generation of Time-varying Target Lines for an Automatic Parking System Using Image-based Processing

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)   423 - 427   2015

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    This study develops a novel method of detecting a parking space and generating time-varying target lines of an automatic parking system according to image processing technique. The aim of this research is to detect the parking frame drawn on the floor by a robot equipped with a single camera and produce the image information, the slope and intercept of the target line for the control system. The time-varying target lines to be followed by the robot are generated by using Hough transform from a captured image, together with thresholding and Canny edge detector. The proposed method is evaluated by some experimental results.

    DOI: 10.1109/ROBIO.2015.7418804

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  • Localization of a Walking Robot Using a Laser Speckle Odometry

    Rui Saito, Isaku Nagai, Keigo Watanabe

    Int. J. of Smart Material and Mechatronics   2 ( 2 )   94 - 97   2015

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  • Development of a New Manta Robot Considering the Propulsive Resistance

    Kota Mikuriya, Keigo Watanabe, Yukito Hamano, Isaku Nagai

    Proc. of the 2nd Int. Symposium on Smart Material and Mechatronics   40 - 43   2015

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  • Localization of a Walking Robot Using a Laser Speckle Odometry

    Rui Saito, Isaku Nagai, Keigo Watanabe

    Proc. of the 2nd Int. Symposium on Smart Material and Mechatronics   58 - 61   2015

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  • Image-based Fuzzy Parking Control of a Car-like Mobile Robot

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    Proc. of the 2nd Int. Symposium on Smart Material and Mechatronics   62 - 66   2015

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  • Closed-loop Control Experiments for a Blimp Robot Consisting of Four-divided Envelopes

    Keigo Watanabe, Naoto Okamura, Isakau Nagai

    IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY   2568 - 2573   2015

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    A new blimp robot is developed to make a rise or descent movement easy, where four partial envelopes are arranged, centering on a gondola, and four propellers are attached around the gondola. After reviewing the structure of the proposed new body, called X4-blimp, describing the motions as the X4-blimp and several parts required as an autonomous robot, the present research mainly explains on closed-loop control of the developed blimp. In particular, a PD type closed-loop controller is designed to control basic motions, such as translational motion, pitch motion, and yaw motion, as well as describing a system model and an observation model for an extended Kalman filter with a quaternion kinematics. The usefulness of the blimp robot developed is demonstrated through some experiments with an actual prototype robot.

    DOI: 10.1109/IECON.2015.7392489

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  • Design of an Image-based Fuzzy Controller for Autonomous Parking of Four-wheeled Mobile Robots

    Yin Yin Aye, Junya Ukida, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    Proc. of The 17th International Symposium on Applied Electromagnetics and Mechanics (ISEM 2015)   2015

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  • Some Methods for Controlling the Position of a Quadrotor

    Keigo Watatabe, Kimiko Motonaka, Yusuke Ouchi, Keisuke Kinoshita, Isaku Nagai

    Proc. of The 17th International Symposium on Applied Electromagnetics and Mechanics (ISEM 2015)   2015

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  • Path Tracking by a Mobile Robot Equipped with Only a Downward Facing Camera

    Isaku Nagai, Keigo Watanabe

    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   6053 - 6058   2015

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    This paper presents a practical path-tracking method for a mobile robot with only a downward camera facing the passage plane. A unique algorithm for tracking and searching ground images with natural texture is used to localize the robot without a feature-point extraction scheme commonly used in other visual odometry methods. In our tracking algorithm, groups of reference pixels are used to detect the relative translation and rotation between frames. Furthermore, a reference pixel group of another shape is registered both to record a path and to correct errors accumulated during localization. All image processing and robot control operations are carried out with low memory consumption for image registration and fast calculation times for completing the searches on a laptop PC. We also describe experimental results in which a vehicle developed by the proposed method repeatedly performed precise path tracking under indoor and outdoor environments.

    DOI: 10.1109/IROS.2015.7354239

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  • Control of a Quadrotor Equipped with a Fixed-wing by Tilting Some of Four Rotors

    Yoshikazu Nakamura, Keigo Watanabe, Isaku Nagai

    Proc. of the 2nd Int. Symposium on Smart Material and Mechatronics   31 - 35   2015

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  • Development of a Blimp Robot Consisting of Four-divided Envelopes with Four Propellers

    Keigo Watanabe, Naoto Okamura, Isaku Nagai

    2015 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS)   237 - 242   2015

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    A new blimp robot is proposed to make a rise or downward movement easy, where four partial envelopes are arranged, centering on a gondola, and four propellers are attached around the gondola. After pointing out the structural problem of a conventional X4 blimp robot, the design and manufacture of a new type body to be developed is described in detail. In order to examine the usefulness of the structure of the blimp robot developed, some experiments are conducted to visually check a translational motion, pitch motion and yaw motion in open-loop control.

    DOI: 10.1109/ICCAS.2015.7364913

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  • FAN-14-012 The Development of a 3D Position Measurement System for Indoor Aerial Robots

    WATANBE Keigo, YAMADA Yuya, NAGAI Isaku

    FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies   2014 ( 24 )   56 - 61   2014.9

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  • A pectoral fin analysis for diving rajiform-type fish robots by fluid dynamics

    Masaaki Ikeda, Shigeki Hikasa, Keigo Watanabe, Isaku Nagai

    Artificial Life and Robotics   19 ( 2 )   136 - 141   2014.9

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    In this paper, we analyze a propulsive force generated from pectoral fins for a rajiform-type fish robot from fluid dynamic aspects. A pectoral fin of the rajiform-type fish robot is constructed by multiple fin rays, which move independently, and a film of pushing water. Then, the propulsive force of the fish robot is analyzed from the momentum of the fluid surrounding for every fin between fin rays. The total propulsive force for one pectoral fin is the sum of these momenta. The propulsive speed of a fish robot is determined from the difference of the propulsive force generated from pectoral fins, and the resistance force that the fish robot receives from the water when moving forward. The effectiveness of the proposed method is examined through numerical simulation and actual experimental results.

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  • 1P1-H08 Proposal of a Laser Odometry for Underwater Mobile Robot(Underwater Robot and Mechatronics (2))

    SAITO Rui, NAGAI Isaku, WATANABE Keigo

    2014   "1P1 - H08(1)"-"1P1-H08(4)"   2014.5

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    Localization under water is required for the underwater mobile robot to conduct the survey autonomously. There is a conventional method using inertial navigation system as a localization under water, however it takes high costs. In this study, we propose a laser odmetry as a localization for underwater mobile robot. The laser odometry is a method to estimate motion by tracking the laser speckle pattern. It can measure three dimensional positions and a rotation. In this paper, we introduce a principle of the laser odometry, the construction of the sensor unit, and the results of measurement accuracy experiments under water.

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  • 2A2-F04 Stabilization of a Four-Rotor Aerial Robot in Hovering(Aerial Robot and Mechatronics (2))

    KINOSHITA Keisuke, OUCHI Yusuke, WATANABE Keigo, NAGAI Isaku

    2014   "2A2 - F04(1)"-"2A2-F04(4)"   2014.5

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    UAVs have been actively researched as a means of collecting information during disasters. In particular, helicopter-type UAVs using four rotors are often called an X4-Flyer, and it has been attracting attention. The X4-Flyer has excellent maneuverability, compared to conventional helicopters that change the angle of attack of the rotor. Therefore it can be used at a space such as indoor or low altitude in which many obstacles exist. When the X4-Flyer is used at such a space, it needs to fly not so as to collide with obstacles, and so the precise control of the X4-Flyer is required. The objective of this research is to develop the X4-Flyer that can fly while detecting and avoiding obstacles. This paper presents the attitude and altitude stabilization of the X4-Flyer. We describe on measuring of the physical parameters related to the rotors and on correcting individual differences in motors, and finally conduct a hovering experiment.

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  • Tip-over stability enhancement for omnidirectional mobile robot

    Muhammad Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    International Journal of Intelligent Unmanned Systems   2 ( 2 )   91 - 106   2014.5

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    Purpose - The purpose of this paper is to analyze the stability behavior of the omnidirectional mobile robot with active dual-wheel caster (ADWC) assemblies and provide a stable trajectory without any tip-over incident. The omnidirectional mobile robot to be developed is for transporting cuboid-shaped objects. Design/methodology/approach - The omnidirectional transport mobile robot is designed using an ADWC assemblies structure, the tip-over occurrence is estimated based on the support forces of an active footprint, the tip-over direction is predicted, the tip-over stability is enhanced to prevent the tip-over occurrence and a fast traveling motion is provided. Findings - The omnidirectional mobile robot tends to tip-over more on the sides with small ranges of tip-over angle. The proposed method for estimating the tip-over occurrence and enhancing the stability using the gyroscopic torque device was feasible as the tip-over prevention system of the omnidirectional mobile robot with ADWC assemblies. Originality/value - The research addresses the study of the tip-over stability for the omnidirectional mobile robot that possesses an active footprint. It also addresses the prediction of the tip-over occurrence using the derived dynamical model together with force-angle stability measure and the tip-over stability enhancement method using a single-gimbal control moment gyro device.

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  • Position Control of an X4-Flyer Using a Tether

    Yusuke Ouchi, Keigo Watanabe, Keisuke Kinoshita, Isaku Nagai

    Int. J. of Smart Material and Mechatronics   1 ( 1 )   20 - 24   2014

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  • Pitch Control for a Manta Robot by Adjusting the Center of Gravity

    Yukito Hamano, Keigo Watanabe, Isaku Nagai

    Proc. of the SICE Annual Conference   748 - 751   2014

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  • A Stabilizing Method for a Hovering Aerial Robot with Four Rotors

    Keigo Watanabe, Keisuke Kinoshita, Yusuke Ouchi, Isaku Nagai

    Proc. of the SICE Annual Conference   752 - 755   2014

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  • Position Control of an X4-Flyer Using a Tether

    Yusuke Ouchi, Keigo Watanabe, Keisuke Kinoshita, Isaku Nagai

    Proc. of the 1st Int. Symposium on Smart Material and Mechatronics   46 - 49   2014

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  • Propulsive control for a manta robot by a CPG based on experimental knowledge

    Masaaki Ikeda, Shigeki Hikasa, Yukito Hamano, Keigo Watanabe, Isaku Nagai

    Proc. of the 19th Int. Symposium on Artificial Life and Robotics (AROB 19th '14)   498 - 502   2014

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  • Nonholonomic control and state estimation for an X4-Flyer with noisy measurements

    Keigo Watanabe, Yusuke Ouchi, Isaku Nagai

    Proc. of the 19th Int. Symposium on Artificial Life and Robotics (AROB 19th '14)   517 - 521   2014

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  • Motion analysis of a manta robot for underwater exploration by propulsive experiments and the design of central pattern generator

    Masaaki Ikeda, Shigeki Hikasa, Keigo Watanabe, Isaku Nagai

    International Journal of Automation Technology   8 ( 2 )   231 - 237   2014

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    Although, Autonomous Underwater Vehicles (AUVs) used for investigating underwater ecology have attracted the attention of underwater researchers, conventional AUVs moved underwater by screw propellers generate loud noise thatmay disturb the underwater environments and inhabitants to be observed. This paper discusses the development of an AUV that mimics the manta ray. Central Pattern Generators (CPGs) are also proposed to generate the motion of pectoral fins for Manta robot. The practicality of the robot is checked in underwater propulsion experiments, and the effectiveness of the proposed motion generation method is demonstrated in numerical simulations.

    DOI: 10.20965/ijat.2014.p0231

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  • An Error Model of Chained Form with Two Inputs for a Generalized Stabilization Problem

    Keigo Watanabe, Tsuyoshi Goto, Kimiko Motonaka, Shoichi Maeyama, Isaku Nagai

    2014 JOINT 7TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS (SCIS) AND 15TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS (ISIS)   145 - 148   2014

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    This paper describes a generalized stabilization problem of nonholonomic systems to a non-zero desired point. To this end, an error model of chained form with two inputs is derived for shifting the origin to an arbitrary point. After describing the case of three and four states, their results are extended to the generalized case of n states. The effectiveness of the present method is demonstrated by showing simulations for a stabilization problem to a non-zero desired point in a nonholonomic two-wheeled mobile robot and a car-like mobile robot.

    DOI: 10.1109/SCIS-ISIS.2014.7044845

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  • Control of Position and Attitude of the Tethered X4-Flyer

    Yusuke Ouchi, Keisuke Kinoshita, Keigo Watanabe, Isaku Nagai

    2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)   706 - 711   2014

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    In Japan, aging of infrastructures, such as roads, bridges, and water and sewer services, etc. poses a problem, and it is required to extend the life-span of such infrastructures by maintenance. Among infrastructures, especially bridges are periodically inspected by short-range visual observations, which check the damage and deterioration of the surface. The short-range visual observation by a human is widely used to evaluate the degree of damage and understand the damage status of concrete structures such as bridges, because it is possible to check the deterioration and damage of the surface cracks, etc. However, since there are some cases where the short-range visual observation is difficult, an alternative method is required so as to replace the short-range visual observation with it. So, "X4-Flyer" is very attractive because of realizing a movement at high altitude easily. It needs to control the position and attitude of the X4-Flyer, if it is used for the inspection of infrastructures, such as bridges etc. Although the position control using the GPS is common, it is difficult to use such a control method in environments, such as a tunnel or under a bridge, where the GPS signal does not reach to or is weak. In addition, the manual operation by a joystick etc. is difficult when affected by disturbances such as wind etc. So, we propose a method for controlling an X4-Flyer using a tether, not relying on the operation of a joystick or the use of GPS. In this study, it aims at developing the X4-Flyer with tether to replace the short-range visual observation of infrastructure. In this paper, we describe measuring and controlling the position of a tethered X4-Flyer.

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  • The Development of a Tethered Quadrotor

    Keigo Watanabe, Yusuke Ouchi, Keisuke Kinoshita, Isaku Nagai

    Proc. of the Fifth Int. Conf. on Science and Engineering (ICSE 2014)   2014

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  • The Stabilization of Position and Attitude for a Blimp by a Switching Controller

    Yoshikazu Nakamura, Keigo Watanabe, Isaku Nagai

    Proc. of the 1st Int. Symposium on Smart Material and Mechatronics   94 - 97   2014

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  • The Development of a 3D Position Measurement System for Indoor Aerial Robots

    Keigo Watanabe, Yuya Yamada, Isaku Nagai

    2014 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2014)   1185 - 1190   2014

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    In this research, a position measurement system in an indoor 3D space is developed by using a stereo camera. Especially, in order to enable measurement in a dark place, the position measurement system is built by attaching an infrared LED marker to an object and using two cameras equipped with an infrared transmitting filter. The validity of such a system is clarified through a real system experiment by including it in the control system of an indoor aerial robot, and using it as a measurement system for position control in 3D space.

    DOI: 10.1109/ICCAS.2014.6987739

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  • Controllers Based on an Invariant Manifold Approach for Stabilizing a Nonholonomic Mobile Robot

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    2014 JOINT 7TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS (SCIS) AND 15TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS (ISIS)   134 - 139   2014

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    A system with nonholonomic constraints attracts its attention from the viewpoint of control theory because no conventional control can be applied directly to such a system. Since it cannot be stabilized by a static continuous feedback with constant gains, there are several control methods by using a chained form up to now. In this paper, a four-wheeled mobile robot which is an underactuated system with two inputs is considered as a controlled object. Then, the switching and non-switching control methods based on an invariant manifold theory are proposed for stabilizing it, where a chained form model is assumed to be used as a canonical model. The effectiveness of the proposed method is demonstrated through simulations for a four-wheeled mobile robot.

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  • 606 Speed Control and The Evaluation of Assistant Wheels for One-wheel Drived Personal Mobility

    MAEDA Masaaki, NAGAI Isaku, WATANABE Keigo

    2014 ( 52 )   "606 - 1"-"606-2"   2014

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  • 714 Study of Flapping Mechanisms with One Degree of Freedom

    IKEBUCHI Akira, WATANABE Keigo, NAGAI Isaku

    2014 ( 52 )   "714 - 1"-"714-2"   2014

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  • G151022 Nonholonomic Control of X4-Flyers with Measurement Noises

    OUCHI Yusuke, IWABE Hirotaro, WATANABE Keigo, NAGAI Isaku

    Mechanical Engineering Congress, Japan   2013   "G151022 - 1"-"G151022-5"   2013.9

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    Recently,VTOL aerial robots are expected to be used for collecting any information at the time of a disaster.The aerial robot called X4-Flyer can control at least three attitudes and one position by changing the rotor speed of four rotors.However,the control performance of a controller for the X4-flyer is deteriorated due to measurement noises generated by the rotational vibration of the rotors.Therefore,it is important to reduce the effect of such measurement noises on the controlled system.In this paper,when using a nonholonomic control method based on the Lyapunov stability theory to design a basic controller for the X4-Flyer,it aims at reducing the deterioration of the controller performance,which is caused by the influence of measurement noises,by processing such noises with an extended Kalman filter.The effectiveness of the proposed method is checked through numerical simulations.

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  • G151023 Underwater Swimming of a Manta Robot for Exploration

    IKEDA Masaaki, HIKASA Shigeki, WATANABE Keigo, NAGAI Isaku

    Mechanical Engineering Congress, Japan   2013   "G151023 - 1"-"G151023-5"   2013.9

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    In recent years,autonomous unmanned underwater vehicles(AUVs) attract the attention of researchers who work in the field of underwater investigation.Fishes have some fins,so that acceleration,deceleration and turning characteristics are superior to the screw propeller in the ability of underwater propulsion.Among them,a Manta controls the position and attitude using the oscillation of two pectoral fins,and swims in a variety of movements by changing the waveform of the pectoral fins.In this paper,we develop a robot that mimics a Manta for underwater exploration.The Manta robot has a pair of pectoral fins,one of which has six fin-rays that are driven by waterproofed servo-motors.The Manta robot is controlled by a micro-controller.The usefulness of the developed Manta robot is verified through some experiments,where the maximum amplitude,the frequency and the phase difference are changed in the waveform of the pectoral fins.The propulsion speed of the Manta robot is computed by measuring the time required when a fixed distance is promoted.It is shown from experimental results that adjusting the maximum amplitude of pectoral fins can easily change the propulsion speed of the Manta robot.Moreover,the frequency of a pectoral fin depends on the body length of the Manta robot.The phase difference of the adjacent fin-rays can be used for controlling the propulsion speed of the Manta robot in a restricted region.

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  • Positioning device for outdoor mobile robots using optical sensors and lasers

    Isaku Nagai, Genki Yamauchi, Keiji Nagatani, Keigo Watanabe, Kazuya Yoshida

    Advanced Robotics   27 ( 15 )   1147 - 1160   2013.7

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    We propose a novel method for positioning a mobile robot in an outdoor environment using lasers and optical sensors. Position estimation via a noncontact optical method is useful because the information from the wheel odometer and the global positioning system in a mobile robot is unreliable in some situations. Contact optical sensors such as computer mouse are designed to be in contact with a surface and do not function well in strong ambient light conditions. To mitigate the challenges of an outdoor environment, we developed an optical device with a bandpass filter and a pipe to restrict solar light and to detect translation. The use of two devices enables sensing of the mobile robot's position, including posture. Furthermore, employing a collimated laser beam allows measurements against a surface to be invariable with the distance to the surface. In this paper, we describe motion estimation, device configurations, and several tests for performance evaluation. We also present the experimental positioning results from a vehicle equipped with our optical device on an outdoor path. Finally, we discuss an improvement in postural accuracy by combining an optical device with precise gyroscopes. © 2013 Taylor &amp
    Francis and The Robotics Society of Japan.

    DOI: 10.1080/01691864.2013.819603

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  • 1A2-H01 Differential Visual Odometry for Correcting Automatically Accumulated Errors Using Ground Images(Localization and Mapping (1))

    NAGAI Isaku, WATANABE Keigo

    2013   "1A2 - H01(1)"-"1A2-H01(4)"   2013.5

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    This paper describes a localization method for a mobile robot that automatically corrects the accumulated positioning errors by using ground images recorded in the first run. The error correction is carried out in a laptop PC with low-memory consumption by using a quadtree space partitioning in the robot which is equipped with only a single camera for the positioning. The experimental results show that the trajectory estimated by tracking ground images was successfully corrected by the absolute search using the recorded images. The proposed method is available for achieving a mobile robot based on teaching and playback.

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  • 913 Underactuated Control Based on a Dynamically Discontinuous Model for X4-AUVs

    TAKISAWA Satoru, WATABABE Keigo, NAGAI Isaku

    2013 ( 51 )   "913 - 1"-"913-2"   2013.2

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  • A CPG Design of Considering the Attitude for the Propulsion Control of a Manta Robot

    Masaaki Ikeda, Shigeki Hikasa, Keigo Watanabe, Isaku Nagai

    39TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2013)   6354 - 6358   2013

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    In recent years, autonomous unmanned underwater vehicles (AUVs) for underwater propulsion ecology investigation attracts attention from underwater researchers. Among these AUVs, one mimicked the fish is being developed, because of the low sound noise and the rapid turning predominance. The central pattern generators (CPGs), which is a neural circuit for a periodic motion generation of a living thing, is being applied to the control of a mobile robot. In this paper, we design a CPG in consideration of the attitude of a Manta robot for the propulsion control of it. The numerical model of the CPG uses the Matsuoka model. The effectiveness of the proposed technique is shown by numerical simulations.

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  • Study on mobile mechanism of a climbing robot for stair cleaning: A translational locomotion mechanism and turning motion

    Takahisa Kakudou, Keigo Watanabe, Isaku Nagai

    Artificial Life and Robotics   17 ( 3-4 )   400 - 404   2013

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    In human living environments, it is often the case that the cleaning area is three-dimensional space such as a high-rise building. An autonomous cleaning robot is proposed so as to move on all floors including stairs in a building. When a robot cleans in three-dimensional space, it needs to turn for direction in addition to climb down stairs. The proposed robot selects movement using legs or wheels depending on stairs or flat surfaces. In this paper, a mobile mechanism and a control method are described for translational locomotion. The translational mechanism is based on using two-wheel-drive type omni-directional mobile mechanism. To recognize a stair using the position-sensitive detector, the robot shifts from translational locomotion to climbing down motion or edge-following motion. It is shown that the proposed robot turns to face a stair with the accuracy of 5°. © 2012 ISAROB.

    DOI: 10.1007/s10015-012-0071-z

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  • A discontinuous exponential stabilization law for an underactuated X4-AUV

    Zainah Md. Zain, Keigo Watanabe, Kiyotaka Izumi, Isaku Nagai

    Artificial Life and Robotics   17 ( 3-4 )   463 - 469   2013

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    In this paper, stabilization of a class of second-order nonholonomic systems for an underactuated X4-AUV is investigated. We present a model of the underactuated X4-AUV with six degrees of freedom (DOF) and four control inputs. Then, the system is written in a control-affine form by applying a partial linearization technique, and a dynamic controller based on Astolfi's discontinuous control is derived to stabilize all states of the system to the desired equilibrium point exponentially. The present approach does not necessitate the conversion of the system model into a "chained form", and thus does not rely on any special transformation techniques to obtain a canonical form. A simulation is conducted to demonstrate the effectiveness of the proposed controller. © 2012 ISAROB.

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  • Experimental Considerations on an Attitude Control System with Measurement Noises for an X4-Flyer

    Keigo Watanabe, Hirotaro Iwabe, Yusuke Ouchi, Isaku Nagai

    2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA)   686 - 691   2013

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    This paper investigates about the influence of sensor noises to the attitude control system of X4-Flyer, where such noises come from vibrations due to the rotation of a rotor. It is pointed out that such measurement noises are serious in the gyroscope sensor which measures an attitude, and then we consider some noise counterplans from hardware and software. The validity of the proposed vibration-proof method or noise processing is verified through actual system experiment.

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  • Propulsive force analysis of a pectoral fin for rajiform type fish robots from fluid dynamic aspects

    Masaaki Ikeda, Shigeki Hikasa, Keigo Watanabe, Isaku Nagai

    PROCEEDINGS OF THE EIGHTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 18TH '13)   65 - 68   2013

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    In this paper, we analyze the propulsive force generated from pectoral fins for a rajiform type fish robot from fluid dynamic aspects. A pectoral fin of the rajiform type fish robot is constructed by multiple fin-rays, which move independently, and a film of pushing water. Then, the propulsive force of the fish robot is analyzed from the momentum of the fluid surrounding for every fin between fin-rays. The total propulsive force for one pectoral fin is the sum of these momenta. The propulsion speed of a fish robot is determined from the difference of the propulsive force generated from pectoral fins, and the resistance force that the fish robot receives from the water when moving forward. The effectiveness of the calculated propulsive force is examined through numeric simulation results.

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  • Underactuated Control for a Blimp with Four-Propellers by a Logical Switching Method

    Yoshikazu Nakamura, Keigo Watanabe, Isaku Nagai

    Proc. of the 18th Int. Symposium on Artificial Life and Robotics (AROB 18th '13)   69 - 72   2013

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  • Tip-over Prevention for Holonomic Omnidirectional Mobile Robot with ADWCs

    M. Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    Proc. of the SICE Annual Conference 2013   2738 - 2742   2013

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  • Underactuated Control for an X4-AUV Using Partial Linearization and Attitude Linearization

    Keigo Watanabe, Satoru Takisawa, Isaku Nagai

    2013 13TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2013)   1425 - 1430   2013

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    An autonomous underwater vehicle with four thrusters is reexamined from the viewpoints of derivation of a time-varying model. First, a bilinear model can be derived without depending on a chained form transformation, instead depending on partial linearization in inputs and on linearization of partial attitudes. Next, it can be transformed into a time-varying system that includes partially discontinuous states, and then an exponentially stabilizing method can be applied to its model to solve a stabilization problem. Some numerical simulations are conducted to demonstrate the effectiveness of the proposed method.

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  • Tip-over Prevention for a Holonomic Omnidirectional Mobile Robot with ADWCs using SGCMG

    M. Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA)   704 - 709   2013

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    In this paper, we present the tip-over prevention technique for a holonomic omnidirectional mobile robot with active dual wheel caster assemblies (ADWCs). The dynamical model is derived to estimate the reaction forces at each wheel in correlation to the existing dynamical properties. A tip-over prediction using the force-angle stability measure (FASM) is used to evaluate these forces and estimate the tip-over axis and its direction. A counter motion is applied against the estimated tip-over direction to prevent the tip-over incident. Simulation results

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  • Tip-over Stability Enhancement for Omnidirectional Mobile Robot with ADWCs

    Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    Proc. of 2nd International Conference on Electrical, Control and Computer Engineering (InECCE2013)   273 - 278   2013

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  • A Brief Review of Latest Fish Robots

    Masaaki Ikeda, Shigeki Hikasa, Keigo Watanabe, Isaku Nagai

    Proc. of 2nd International Conference on Electrical, Control and Computer Engineering (InECCE2013)   285 - 289   2013

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  • Position Control of a Manta Robot for Underwater Exploration

    Masaaki Ikeda, Shigeki Hikasa, Keigo Watanabe, Isaku Nagai

    Proc. of the SICE Annual Conference 2013   2718 - 2720   2013

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  • Tip-over Stability Control for a Holonomic Omnidirectional Mobile Robot with Active Dual-wheel Caster Assemblies using SGCMG

    M. Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   4866 - 4871   2013

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    In this paper, we present the tip-over prevention technique using a control moment gyro for a holonomic omnidirectional mobile robot with active dual wheel caster assemblies. With concern to the sudden dynamic changes during maneuver, the dynamical model is derived and used together with the force-angle stability measure (FASM) to estimate the tip-over incident and the tipping direction. A single gimbal control moment gyro (SGCMG) is proposed to counter the instability by producing a precession torque in the opposite direction of the estimated tip-over direction. Simulation results are given to demonstrate the performance of this approach.

    DOI: 10.1109/IROS.2013.6697058

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  • Stabilization of an underactuated X4-AUV using a discontinuous control law

    Zainah Md Zain, Keigo Watanabe, Kiyotaka Izumi, Isaku Nagai

    INDIAN JOURNAL OF GEO-MARINE SCIENCES   41 ( 6 )   589 - 598   2012.12

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    Present study consists the stabilization of a class of second-order nonholonomic systems in canonical chained form is investigated. We first derive the dynamic model of an underactuated X4-AUV with six degrees-of-freedom (DOF) and four thrusters using Lagrange approach. Then the system is written in control-affine form by applying a partial linearization technique and a dynamic controller based on Astolfi's discontinuous control is derived by transformations of coordinate and input to obtain globally asymtotically stable response. A simulation is conducted to demonstrate the effectiveness of the present approach to controlling the origin of the system.

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  • 2A2-G11 Propulsion Control of a Manta Robot with CPC for Underwater Investigations(Underwater Robot and Mechatronics(1))

    Ikeda Masaaki, Yoshinaka Katsunori, Yamamoto Yuya, Watanabe Keigo, Nagai Isaku

    2012   "2A2 - G11(1)"-"2A2-G11(4)"   2012.5

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    In recent years, the autonomous unmanned underwater vehicle (AUV) for underwater investigation attracts attention. Fishes have fins, so acceleration and deceleration and turning characteristics are superior to the screw propeller in underwater propulsion capability. Among them, Manta controls the position and attitude using the oscillations of pectoral fins, and performs a variety of movements by changing the waveform of the pectoral fins. Moreover, the neural network deeply concerned with periodic movement of a living thing has the Central Pattern Generator (CPG). In this paper, the underwater research robot imitating Manta is developed. Furthermore, CPG for controlling the pectoral fin of the Manta robot is proposed. The usefulness of the developed Manta robot and the validity of the proposal method are verified in simulations and experiments.

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  • 1A1-I11 Noncontact Positioning Device with Bandpass Filter Reducing Solar Light(Wheeled Robot/Tracked Vehicle(1))

    NAGAI Isaku, WATANABE Keigo

    2012   "1A1 - I11(1)"-"1A1-I11(4)"   2012.5

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    This paper describes a method which enables a noncontact positioning device using an optical sensor of mouse to be used in a strong ambient light condition such as outdoor solar light. The optical sensor does not function in solar light because of both luminance saturation and disappearance of laser speckle pattern. In the proposed method, a pipe and a bandpass filter are attached to the end of the aperture near an image sensor of the optical sensor so as to reduce the solar light. The experimental results show that the device functions in solar light and estimates the position of a vehicle which is equipped with the positioning device.

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  • 2A1-L11 Development and Evaluation of Localization Module using Non-contact Translation Measurement Device(Localization and Mapping(1))

    YAMAUCHI Genki, NAGAI Isaku, NAGATANI Keiji, YOSHIDA Kazuya

    2012   "2A1 - L11(1)"-"2A1-L11(4)"   2012.5

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    In extreme environments, such as lunar surface or disaster area in the earth, it is expected for mobile robots to explore instead of human. However, in such environments, wheels or tracks of the robots are typically slipped, and thus, localization based on odometry is unreliable. To improve odometry localization, our research group has been developing a non-contact translation measurement device that uses a red laser module and an optical device. In this research, we developed a localization module that consists of the measurement device, Inertial Measurement Unit (IMU), and Global Positioning System (GPS). Furthermore, we developed 3D range system based on the localization module and a Laser Range Finder (LRF). In this paper, we introduce the localization module and an initial experimental result of recognition of 3D environment.

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  • 1A1-T09 One wheel Drive Type Personal Mobility Characterized by Parking Space saving(Cooperation between Human and Machine(1))

    MAEDA Masaaki, NAGAI Isaku, WATANABE Keigo

    2012   "1A1 - T09(1)"-"1A1-T09(4)"   2012.5

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    Recently, the personal mobility have been developed to reduce an environmental impact as a measure against global warming. Electric power assist bicycles are the most used for cheapest price under the classi cation of the personal mobility. Segway and the other personal mobilities have high performance functions such as self standing control. Electric power assist bicycles have only one function such as assistance of driving forth with torque sensor and speed sensor. On the other hand, the bicycle parking lot is short in highly populated urban areas. Therefore, the purpose of this research is to develop a standing personal mobility " Oteller" for increasing space efficiency of bicycle parking lot by miniaturizing a body using a driving wheel. Oteller treads at three point using two assistant wheels to suppress the instability of the body without the sensors for self standing control. Turning is performed with moving weight balance. In this paper, it explains about the design of Oteller and the run experiment using a prototype.

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  • 903 Research on a Manta-like Robot Using CPGs

    YAMAMOTO Yuya, WATANABE Keigo, NAGAI Isaku

    2012 ( 50 )   90301 - 90302   2012.2

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  • A Discontinuous Exponential Stabilization Law for an Underactuated X4-AUV

    Zainah Md. Zain, Keigo Watanabe, Kiyotaka Izumi, Isaku Nagai

    PROCEEDINGS OF THE SEVENTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 17TH '12)   170 - 173   2012

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    In this paper, stabilization of a class of second-order nonholonomic systems for an underactuated X4AUV is investigated. We present a model of the underactuated X4-AUV with six degrees-of-freedom (DOF) and four control inputs. Then the system is written in a control-affine form by applying a partial linearization technique and a dynamic controller based on Astolfi's discontinuous control is derived to stabilize all states of the system to the desired equilibrium point exponentially. A simulation is conducted to demostrate the effectiveness of the proposed controller.

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  • Study on Mobile Mechanism of a Climbing Robot for Stair Cleaning - A Translational Locomotion Mechanism and Turning Motion to be Faced to a Stair -

    Takahisa Kakudou, Keigo Watanabe, Isaku Nagai

    PROCEEDINGS OF THE SEVENTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 17TH '12)   184 - 187   2012

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    In human living environments, it is often the case that the cleaning area is three-dimensional space such as a high-rise building. An autonomous cleaning robot is proposed so as to move on all floors including stairs in a building. The proposed robot has a body frame of a rectangular solid, which is equipped with L-shaped legs on the both sides and drive wheels on the top and bottom sides. The present robot climbs down stairs by rotating the body using L-shaped legs and it moves on smooth surfaces using wheels. In this paper, a mobile mechanism and a control method are described for translational locomotion. The operational check of the translational mechanism was conducted by facing the robot to the edge of stairs using the position sensitive detector (PSD).

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  • Underactuated Control for a Fire Truck-type Mobile Robot Using an Invariant Manifold Theory

    Keigo Watanabe, Yuka Ueda, Isaku Nagai

    6TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS, AND THE 13TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS   210 - 215   2012

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    Underactuated control for a fire truck-type mobile robot is considered using an invariant manifold theory. A kinematic model with three inputs and six outputs is first transformed into a chained form, and then invariant manifolds are derived by applying the solution form of such a chained form. The present control strategy is based on a two-step approach: i.e., the first step is to make invariant manifolds, and the second step is to stabilize all the states on the manifolds. The effectiveness of the proposed method is demonstrated by a simulation.

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  • Propulsion Movement Control Using CPG for a Manta Robot

    Masaaki Ikeda, Keigo Watanabe, Isaku Nagai

    6TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS, AND THE 13TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS   755 - 758   2012

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    In recent years, Autonomous unmanned Underwater Vehicles (AUVs) for underwater ecology investigation attracts attention from underwater researchers. Although the conventional AUV moves underwater by some screw propellers, it generates a loud noise. Therefore, it is difficult to observe underwater ecology. In this paper, an AUV which mimics a kind of Manta of the fish is developed for underwater living body investigation. Some Central Pattern Generators (CPGs) are also proposed to generate the motion of pectoral fins for the Manta robot. The effectiveness of the proposed method is checked with numerical simulations.

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  • Tip-over Stability Prediction for a Holonomic Omnidirectional Transport Mobile Robot

    M. Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    6TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS, AND THE 13TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS   763 - 768   2012

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    This paper presents a study on tip-over prediction for a holonomic omnidirectional transport mobile robot with active dual-wheel caster (ADWC) assemblies. With concern to the dynamic supporting polygon and the existence of sudden dynamic changes during maneuver, the tip-over stability monitoring and its prevention becomes important. The candidate of tip-over axis and its direction is estimated by the combination of dynamical model and force-angle stability measure (FASM). In this paper, the effect of different loads and center of gravity is examined to analyze their relationship to the tip-over stability measurement. The performance of this prediction method is shown by the conducted simulations.

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  • Stabilization of a fire truck robot by an invariant manifold theory

    Keigo Watanabe, Yuka Ueda, Isaku Nagai, Shoichi Maeyama

    Procedia Engineering   41   1095 - 1104   2012

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    There exist various studies on underactuated control methods so far, but most of them are confined into the case of systems with two inputs, and therefore there are a few studies for systems with three or more inputs. In this paper, a fire truck robot that is an underactuated system with three inputs is considered as a controlled object, and a switching control method based on an invariant manifold theory is proposed for stabilizing it, where a chained form model is assumed to be used as a canonical model. It is expected that each state of the controlled object will be converged smoothly to the origin by using this type of control. The effectiveness of the proposed method is demonstrated through simulations. © 2012 The Authors.

    DOI: 10.1016/j.proeng.2012.07.288

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  • A Study of Tipping Stability for Omnidirectional Mobile Robot with Active Dual-wheel Caster Assemblies

    M. Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    PROCEEDINGS OF THE SEVENTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 17TH '12)   192 - 195   2012

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    A holonomic omnidirectional mobile robot is well known for a high mobility and capability in maneuvering. In our approach, the holonomic omnidirectional mobile robot was developed using two active dual-wheel caster assemblies with conventional tires. In this paper, we are focusing on the stability issues in the tipping problem that may occur in the existing of static and dynamic environments. We derive the dynamic model of the omnidirectional mobile robot to estimate the supporting force at each wheel and evaluate it through simulations.

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  • A Study of Tipping Stability for Omnidirectional Mobile Robot with Active Dual-wheel Caster Assemblies

    M. Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    PROCEEDINGS OF THE SEVENTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 17TH '12)   17 ( 1 )   192 - 195   2012

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    A holonomic omnidirectional mobile robot is well known for a high mobility and capability in maneuvering. In our approach, the holonomic omnidirectional mobile robot was developed using two active dual-wheel caster assemblies with conventional tires. In this paper, we are focusing on the stability issues in the tipping problem that may occur in the existing of static and dynamic environments. We derive the dynamic model of the omnidirectional mobile robot to estimate the supporting force at each wheel and evaluate it through simulations.

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  • Propulsion Control for a Manta Robot with Neural Oscillators

    Masaaki Ikeda, Yuya Yamamoto, Katsunori Yoshinaka, Keigo Watanabe, Isaku Nagai

    2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE)   85 - 88   2012

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    In recent years, autonomous unmanned underwater vehicles (AUVs) for underwater exploration are studied and developed activity. It is important to control the position and attitude of an AUV in underwater with stream change. A conventional AUV moves underwater using screw propellers. In underwater, fishes control own fins and body more freely than an AUV using screw propellers. A kind of the neural oscillator that generates periodic movement of living thing is called a central pattern generator (CPG). In this paper, we develop an underwater exploration robot that mimics a Manta out of many fishes, where its mechanical reproduction is easy relatively. Furthermore, a CPG is proposed to control the propulsive power by the pectoral fins of the Manta robot. The effectiveness of the proposed method is verified by the experiment using the developed Manta robot.

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  • Mobile Mechanism of a Climbing Robot for Cleaning and Locomotion on Stairs

    Takahisa Kakudou, Keigo Watanabe, Isaku Nagai

    2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE)   145 - 148   2012

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    In human living environments, it is often the case that the cleaning area is three-dimensional space such as a high-rise building. An autonomous cleaning robot is proposed so as to move on all floors including stairs in a building. When a robot cleans in three-dimensional space, it has to turn for direction in addition to climb down stairs. The proposed robot selects movement using legs or wheels depending on stair or flat surface. In this paper, a mobile mechanism and a control method are described for translational locomotion. The translational mechanism is based on a two-wheel-drive type omni-directional mobile mechanism. It is tested to recognize stair using the position sensitive detector (PSD), when shifts from translational locomotion to climbing down motion or edge-following motion.

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  • Tip-over Prediction for an Omnidirectional Mobile Robot with Dynamic Supporting Polygon

    M. Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE)   149 - 154   2012

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    A holonomic omnidirectional mobile robot with active dual-wheel caster assemblies is proposed as a robotic transport vehicle. With concern to the existence of sudden acceleration and other dynamical effects during maneuver, the tip-over instability monitoring is very important to prevent any unexpected injuries and property damage. This work presents the preventive method of the tip-over occurrence by estimating the tipping direction and stability metrics. The dynamical model of the omnidirectional mobile robot is derived to estimate the net force from the supporting reaction force at each wheel which is caused by the inertial and external forces. The direction of tipping and the stability metric is estimated using Force-angle Stability Measure (FASM). The performance of the tip-over prediction for an omnidirectional mobile robot with active dual-wheel assemblies is shown by the conducted simulations.

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  • Tip-over prediction for omnidirectional mobile robot

    M. Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

    Procedia Engineering   41   1085 - 1094   2012

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    This paper proposes a holonomic omnidirectional mobile robot with active dual-wheel caster assemblies as a robotic transport vehicle. With concern to the sudden dynamic changes during maneuver, the tip-over stability monitoring is very important. This work presents the estimation technique of the tip-over direction and the stability measurement. The dynamical model of the omnidirectional mobile robot is derived to estimate the net force from the supporting reaction force at each wheel which is caused by the inertial and external forces. The direction of tipping and the stability metric is estimated using the force-angle stability mea- sure (FASM). The performance of the tip-over prediction for an omnidirectional mobile robot with active dual-wheel assemblies is shown by the conducted simulations. © 2012 The Authors.

    DOI: 10.1016/j.proeng.2012.07.287

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  • A nonholonomic control method for stabilizing an X4-AUV

    Zainah Md. Zain, Keigo Watanabe, Kiyotaka Izumi, Isaku Nagai

    Artificial Life and Robotics   16 ( 2 )   202 - 207   2011.9

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    A nonholonomic control method is considered for stabilizing all attitudes and positions (x, y, or z) of an underactuated X4 autonomous underwater vehicle (AUV) with four thrusters and six degrees of freedom (DOF), in which the positions are stabilized according to the Lyapunov stability theory. A dynamic model is first derived, and then a sequential nonlinear control strategy is implemented for the X4-AUV which is composed of translational and rotational subsystems. A controller for the translational subsystem stabilizes one position out of the x-, y-, and z-coordinates, whereas controllers for the rotational subsystems generate the desired roll, pitch, and yaw angles. Thus, the rotational controllers stabilize all the attitudes of the X4-AUV at the desired (x-, y-, or z-) position of the vehicle. Some numerical simulations are conducted to demonstrate the effectiveness of the proposed controllers. © 2011 International Symposium on Artificial Life and Robotics (ISAROB).

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  • 1A1-D01 Study on a Mobile Mechanism for a Stair Cleaning Robot(Cleaning robot)

    KAKUDO Takahisa, WATANABE Keigo, NAGAI Isaku

    2011   "1A1 - D01(1)"-"1A1-D01(4)"   2011.5

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    An autonomous cleaning robot is proposed so as to move on all floors including stairs in a building. In human living environments, it is often the case that the cleaning area is three-dimensional space such as a high-rise building. However, many of cleaning robots cannot clean and move on stairs, because they are not considered to move on places between floors. The proposed cleaning robot is attached L-shaped legs on the both sides of the body frame of a rectangular solid. The robot climbs down stairs by rotating the body so that the top and bottom sides of it may be reversed with using L-shaped legs. In this paper, a mobile mechanism and a control method are described for climbing down and translational movement on stairs.

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  • 1A1-C10 Development of a Small Cleaning Robot : 2nd Report: Realization of Running Along the Obstacle(Cleaning robot)

    FUJIMOTO Shogo, NAGAI Isaku, WATANABE Keigo

    2011   "1A1 - C10(1)"-"1A1-C10(4)"   2011.5

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    Most of cleaning robots have a disk like body with a diameter of about 300mm and a height of 100mm. However, there are gaps in which robots cannot go ahead in real environments due to the robot's size. In addition, it is impossible to clean up a floor in a neighborhood of obstacles and corners that are easily covered with dust garbage. The objective of this study is to develop a small cleaning robot so as to realize cleaning at gaps in which a conventional robot cannot come in, neighborhoods of obstacles, and corners. The present paper describes a realization method for running along obstacles and gives some experimental results to evaluate the running performance.

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  • 1A2-P05 A VTOL Aerial Robot with Four Rotors : Design and Production of a Airframe and Flight Experiments(Aerial Robot and Mechatronics)

    IWABE Hirotaro, NAGAI Isaku, WATANABE Keigo

    2011   "1A2 - P05(1)"-"1A2-P05(4)"   2011.5

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    VTOL aerial robots called "X4-Flyer" has an advantage that the mobility and maneuverability are high, compared to other types of VTOL aerial robots. However, it is not easy for the X4-Flyer to design a controller in an underactuated system that controls six generalized coordinates with four inputs. Moreover, several parameters such as the airframe weight, the generated thrust, etc. are required to implement a dynamical control law. Therefore, it is necessary to design a desirable controller by actually constructing an X4-Flyer and obtaining main parameters through the measurement experiments. In the present study, an actual X4-Flyer is designed and produced, and it aims at developing the robot that is able to fly autonomously. In particular, thrust experiments of a rotor and take-off experiments of the airframe are reported.

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  • 304 Development of Autonomous Quadruped Robot using visual Odometry

    SHIMIZU Tateki, NAGAI Isaku, WATANABE Keigo

    2011 ( 49 )   75 - 76   2011.2

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  • 405 Design of a VTOL Aerial Robot with Four Rotors(Experiment of Measuring the Thrust lnduced by Rotors)

    IWABE Hirotaro, NAGAI Isaku, WATANABE Keigo

    2011 ( 49 )   115 - 116   2011.2

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  • 404 An Integrated Interface with Pointing and Typing FunctionsUsing Infrared Rays

    MICHISHITA Shinya, NAGAI Isaku, WATANABE Keigo

    2011 ( 49 )   113 - 114   2011.2

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  • 403 Positioning of Mobile Robots Traversing a Rough Terrain

    TAKAHATA Yoshihiro, NAGAI Isaku, WATANABE Keigo

    2011 ( 49 )   111 - 112   2011.2

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  • 4点測光式スポット位置検出装置

    永井 伊作, 渡辺 桂吾

    計測自動制御学会論文集   47 ( 1 )   17 - 24   2011

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    DOI: 10.9746/sicetr.47.17

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  • Control of Movement on Stairs for a Cleaning Robot

    Takahisa Kakudou, Keigo Watanabe, Isaku Nagai

    PROCEEDINGS OF THE SIXTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 16TH '11)   391 - 394   2011

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    An autonomous cleaning robot is proposed so as to move on all floors including stairs in a building. In human living environments, it is often the case that the cleaning area is a three-dimensional space such as a high-rise building. However, many of cleaning robots cannot clean and move on stairs, because they are not considered to move on places between floors. The proposed cleaning robot possesses L-shaped legs on the both sides of the body frame of a rectangular solid. The robot climbs down stairs by rotating the body so that the top and bottom sides of it may be reversed using L-shaped legs. In this paper, the mechanism and its control method are described for translational movement on stairs.

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  • A Nonholonomic Control Method for Stabilizing an X4-AUV

    Zainah Md. Zain, Keigo Watanabe, Kiyotaka Izumi, Isaku Nagai

    PROCEEDINGS OF THE SIXTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 16TH '11)   407 - 410   2011

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    A nonholonomic control method is considered for stabilizing all attitudes and positions (x, y or z) of an X4-AUV with four thrusters and six degrees-of-freedom (DOF), in which the positions were stabilized according to the Lyapunov stability theory. The derived model is dynamically unstable, so a sequential nonlinear control strategy is implemented for the X4-AUV, composed of translational and rotational subsystems. A controller for the translational subsystem stabilizes one position out of x-, y-, and z-coordinates, whereas controllers for the rotational subsystems generate the desired roll, pitch and yaw angles. Thus, the rotational controllers stabilize all the attitudes of the X4-AUV at a desired (x-, y- or z-) position of the vehicle.

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  • Discontinuous Control for an Underactuated X4-AUV

    Zainah Md. Zain, Keigo Watanabe, Isaku Nagai, Kiyotaka Izumi, Saga Uni

    Proc. of the 12th International Symposium on Advanced Intelligent Systems (ISIS 2011)   439 - 442   2011

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  • Study on Mobile Mechanism for a Stair Cleaning Robot - Design of Translational Locomotion Mechanism

    Takahisa Kakudou, Keigo Watanabe, Isaku Nagai

    2011 11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS)   1213 - 1216   2011

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    An autonomous cleaning robot is proposed so as to move on all floors including stairs in a building. In human living environments, it is often the case that the cleaning area is three-dimensional space such as a high-rise building. However, many of cleaning robots cannot clean and move on stairs, because they are not considered to move on places between floors. The proposed cleaning robot is equipped with L-shaped legs on the both sides of the body frame of a rectangular solid. The robot climbs down stairs by rotating the body so that the top and bottom sides of it may be reversed using L-shaped legs. In this paper, a mobile mechanism and a control method are described for climbing down and translational movement on stairs.

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  • 801 Gesture Recognition Using a Camera for Home Appliance Interface

    AKISADA Mayumi, NAGAI Isaku, WATANABE Keigo

    2010 ( 48 )   223 - 224   2010.2

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  • 902 Development of Cleaning Robot for Stairs : Simulation of Stair Movement Using ODE

    KAKUDOU Takahisa, NAGAI Isaku, WATANABE Keigo

    2010 ( 48 )   261 - 262   2010.2

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  • Development of a Visual Odometry System for a Wheeled Robot on Loose Soil using a Telecentric Camera

    Keiji Nagatani, Ayako Ikeda, Genya Ishigami, Kazuya Yoshida, Isaku Nagai

    ADVANCED ROBOTICS   24 ( 8-9 )   1149 - 1167   2010

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    In this paper, the development of a three-dimensional (3-D) odometry system for wheeled robots on loose soil in an application of planetary exploration is described. When a wheeled robot operates in a slippery environment, visual odometry, which is used to obtain flow images of the ground with a CCD camera, is effective for the measurement of motion because it is a non-contact method. However, in the target condition, a measurement result with a conventional camera is not reliable with this method because the viewing area of the ground varies as a result of the changing distance between the camera and the ground as a result of the wheels sinking in loose soil. To solve this problem, we used a telecentric camera for visual odometry. The lens of the camera robustly maintains the same field of view, regardless of the distance between the camera and the ground. Using the camera, we developed a (3-D) odometry system for our mobile robot to enable its positioning and navigation, and we validated the system with several experiments. In this paper, a structure and a performance test of the developed system is described. After that, the results of experiments in indoor (sandbox) and outdoor (seashore) environments are introduced. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010

    DOI: 10.1163/016918610X501282

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  • The Stabilization Control of a Position and All Attitudes for an X4-AUV

    Zainah Md. Zain, Keigo Watanabe, Isaku Nagai, Kiyotaka Izumi

    Proc. of Joint 5th Int. Conf. on Soft Computing and Intelligent Systems and 11th Int. Symposium on Advanced Intelligent Systems   2010

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  • A CLEANING ROBOT FOR STAIRS AND THE SIMULATION OF STAIR MOVEMENT

    Takahisa Kakudou, Isaku Nagai, Keigo Watanabe

    EMERGING TRENDS IN MOBILE ROBOTICS   1306 - 1313   2010

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    An autonomous cleaning robot is proposed so as to move between floors in a high-rise building. Presently, many of cleaning robots are not considered to move on places between floors. In human living environments, it is often the case that the cleaning area is three-dimensional space such as a high-rise building. Therefore, the cleaning robots can not clean the area such as stairs. In this paper, a mechanism and a control method are described for the robot climbing down and cleaning stairs. The usefulness of the proposed robot is demonstrated through the simulation.

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  • Noncontact Position Estimation Device with Optical Sensor and Laser Sources for Mobile Robots Traversing Slippery Terrains

    Isaku Nagai, Keigo Watanabe, Keiji Nagatani, Kazuya Yoshida

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)   3422 - 3427   2010

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    This paper describes the development of a sensing device that can be used to estimate the position of mobile robots on slippery terrains. The device consists of an optical sensor designed for a computer mouse and dual laser light sources for generating a laser speckle pattern. It detects the motion of a moving surface at a large distance from the surface, from 80 mm to 300 mm, by tracking the laser speckle pattern. The use of dual laser light sources makes the tracking robust for both large distances from the ground and different surface materials. Some fundamental experiments validated the performance of the device, which tracked surfaces of different materials with high accuracy under various height conditions. Finally, the device was mounted on our mobile robot, and simple experiments were conducted on a slippery sandy terrain to evaluate the usefulness of the device as a noncontact odometry system.

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  • Stabilization Control for an X4-AUV

    Zainah Md. Zain, Keigo Watanabe, Tomomi Danjo, Kiyotaka Izumi, Isaku Nagai

    Proc. of the 3rd Int. Conf. on Underwater System Technology: Theory and Applications 2010   2010

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  • The Locomotion Control of a Cleaning Robot for Stairs

    Takahisa Kakudou, Isaku Nagai, Keigo Watanabe

    Proc. of Joint 5th Int. Conf. on Soft Computing and Intelligent Systems and 11th Int. Symposium on Advanced Intelligent Systems   2010

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  • Modeling an Autonomous Underwater Vehicle with Four-Thrusters

    Zainah Md. Zain, Keigo Watanabe, Tomomi Danjo, Kiyotaka Izumi, Isaku Nagai, aga U

    Proc. of the 15th Int. Symposium on Artificial Life and Robotics   2010

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  • 2A2-D30 Robust Positioning Device with Optical Sensor and Dual Laser Sources for Mobile Robots Traversing Slippery Terrains

    NAGAI Isaku, WATANABE Keigo, NAGATANI Keiji, YOSHIDA Kazuya

    2010   "2A2 - D30(1)"-"2A2-D30(4)"   2010

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    This paper describes the development of a sensing device that can be used to estimate the position of mobile robots on slippery terrains. The device consists of an optical sensor designed for a computer mouse and dual laser light sources for generating a laser speckle pattern. It detects the motion of a moving surface at a large distance from the surface, from 80 mm to 300 mm, by tracking the laser speckle pattern. The use of dual laser light sources makes the tracking robust for large distances from the ground. Some fundamental experiments validated the performance of the device, which tracked surfaces with high accuracy under various height conditions. Finally, the device was mounted on our mobile robot, and simple experiments were conducted on a slippery sandy terrain to evaluate the usefulness of the device as a noncontact odometry system.

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  • 2P1-F17 A Fast Algorithm for Tracking Floor Images

    NAGAI Isaku, WATANABE Keigo

    2010   "2P1 - F17(1)"-"2P1-F17(4)"   2010

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    In this paper, we describe a fast processing algorithm for tracking floor images to localize mobile robots. The floor tracking with dual tracking center using two groups of reference pixel is more accurate than the object tracking methods using feature points. However, for the method using the reference pixel, the processing time in a video-rate takes too much. In this study, we improve and accelerate it so as to be implemented in a mobile robot with a low speed processor. The experimental results show that the improved algorithm is eleven to thirteen times faster than the conventional one.

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  • 2A2-A24 Development of a Tendon Driven Robot with a Higher Center of Gravity Using Flat Springs

    ONISHI Sosuke, NAGAI Isaku, WATANABE Keigo

    2010   "2A2 - A24(1)"-"2A2-A24(4)"   2010

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    Generally, it is preferable for two legged robots to have a lower center of gravity (c.g.) to prevent a fall. However, it should be noted that the time available to correct the attitude is less because the falling velocity is relatively fast for robots with the lower c.g. On the other hand, a sufficient time available to correct the attitude can be assured if robots have a higher c.g. In this paper, a tendon driven transmission mechanism is developed by using a at spring as the tendon, in which there are less breaking and expansion, and a biped robot with a higher c.g. is constructed by applying such a mechanism. The operation of legs is demonstrated through some experiments on the constructed robot.

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  • 1511 Control of master-slave biped robot using sole feeling feedback

    SAKURAMA Keishi, NAGAI Isaku

    2009 ( 47 )   533 - 534   2009.2

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  • 1402 Development of Omni-Directional Mobile Robot with Automatic Returning Function

    ISHIMARU Akira, NAGAI Isaku

    2009 ( 47 )   475 - 476   2009.2

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  • 2A1-E15 Error model in visual floor tracking for mobile robot

    NAGAI Isaku

    2008   "2A1 - E15(1)"-"2A1-E15(4)"   2008.6

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    Visual odometry by tracking floor image can be used for localizing mobile robots which run on slippery ground or have no wheel for moving. In the method cumulative error increases in measuring motion with larger rotational radius. For improving measurement precision of translation and rotation it is important to make error model on the method. In this paper, an error model is proposed and the appropriateness is assessed by comparing with experiment results.

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  • 1203 Gesture recognition for pointing device using stereo camera

    SHIRAGA Takahiro, NAGAI Isaku

    2008 ( 46 )   445 - 446   2008.2

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  • 1204 Person identification using contour image of side face

    OKAMOTO Hironori, NAGAI Isaku

    2008 ( 46 )   447 - 448   2008.2

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  • 1212 Study on Efficiency Improvement of Visual Odometry

    ISAKU Masayuki, NAGAI Isaku

    2008 ( 46 )   463 - 464   2008.2

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  • 2A2-F09 Precise motion estimation by two view tracking on textured floor

    NAGAI Isaku, NAKAO Yuji, TANAKA Yutaka

    2007   "2A2 - F09(1)"-"2A2-F09(4)"   2007.5

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    In this paper, an advanced localization improving the angle precision of measurement is proposed. The conventional method of tracking floor images to localize mobile robot has a problem that measurement error increases when the radius of rotation is large. The improved method employes two view tracking for precise motion estimation. We describes two methods of two view tracking. One is that using one camera, and the other using two cameras. In the method using one camera, two regions for image tracking are allocated in a camera image. The experimental results show that the angle error of measurement on large radius is significantly decreased. The proposed methods have an advantage to the conventional one because the calculation costs of those methods are the same.

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  • 2A1-K03 Localization and Control of Air Cushion Vehicle

    SAKURAMA Keishi, NAGAI Isaku, TANAKA Yutaka

    2007   "2A1 - K03(1)"-"2A1-K03(4)"   2007.5

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    ACV(Air Cushion Vehicle)that can move without touching the land is effective as a mode of transportation in the place where unleveled land and transport link that is divided into parts due to the disaster. However, ACV is hardly used at present because a skilled control technique is necessary. Therefore, we can use ACV effectively for transportation system in the stricken area and unleveled land. It is necessary to get localization in real time so that ACV can autonomously move. In this research, it aims at an autonomous movement of ACV and an using visual odometry as localization. Visual odometry is suitable for the localization of ACV because Visual odometry should not maintain the infrastructure. In this paper, We developed the ACV which moves autonomously and confirmed the movement in the experiment.

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  • 1206 Study of robust visual odometry against light reflection

    NAKANO Fumihito, NAGAI Isaku, TANAKA Yutaka

    2007 ( 45 )   457 - 458   2007.3

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  • 1202 Precise measurement of rotational motion in floor image tracking

    NAKAO Yuji, NAGAI Isaku, TANAKA Yutaka

    2007 ( 45 )   449 - 450   2007.3

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  • 1207 Determining of person's characteristic point using side face contour

    OKAMOTO Hironori, NAGAI Isaku, TANAKA Yutaka

    2007 ( 45 )   459 - 460   2007.3

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  • Mobile robot with floor tracking device for localization and control

    NAGAI I.

    J. Robotics Mechatron.   Vol.19 ( No.1 )   34 - 41   2007

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  • 1201 Development of Pointing Device Using Stereo Camera

    KUME Takaaki, NAGAI Isaku, TANAKA Yutaka

    2006 ( 44 )   437 - 438   2006.2

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  • Localization and error correction for mobile robot with an image sensor

    Isaku Nagai, Yutaka Tanaka

    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13   3508 - +   2006

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    This paper describes localization and error correction of a mobile robot with a visual device which we have developed. The device can track floor image with natural texture and estimate the motion of a camera mounted in the robot. The robot is localized and controlled in real time according to information of position and direction estimated by the device. As a benefit of this method, accumulated errors of position and direction for a section in a path can be eliminated by finding an original floor image memorized at each target point where the robot reaches in the whole running. The robot have run a closed path repeatedly without a digression of the track by correcting the accumulated error. The method has a feature that double roles of both internal and external sensor are realized by a single image sensor.

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  • 1A1-N-056 Study of Pointing Device using Stereo Camera : Measurement of 5-DOF Motion on Forefinger(VR and Interface,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Kume Takaaki, Nagai Isaku, Tanaka Yutaka

    2005   17 - 17   2005.6

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  • 1A1-S-035 Control of Tracked Vehicle by Visual Tracking of Floor Image(Vision-Based Mobile Robot 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Nagai Isaku, Tanaka Yutaka

    2005   39 - 39   2005.6

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  • 2P1-N-055 Research on the Customer Information Acquisition using Image Processing(Intelligent Space 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Yoshiwaka Hirofumi, Nagai Isaku, Tanaka Yutaka

    2005   189 - 189   2005.6

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  • High-Speed Motion Measurement and Crash Detection in Tracking Device for Floor Image

    711 ( 71 )   3159 - 3166   2005

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  • 床画像追跡装置における高速運動計測と衝突検知

    永井伊作, 田中 豊

    日本機械学会論文集(C編)   711 ( 71 )   3159 - 3166   2005

  • Reduction of Position Eroor using Original Image on Visual Dead-Reckoning Vehicle

    Kodani N, Nagai I, Tanaka Y

    2004   193 - 194   2004.6

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  • An automated sensing device for odors using quartz-crystal microbalances with multi-channel

    5 ( 1 )   62 - 67   2004

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  • 自律走行車のための広角およびステレオ画像の融合モジュールの開発

    五福明夫, 清力義治, 永井伊作, 田中豊

    日本機械学会論文集(C編)   693 ( 70 )   1371 - 1379   2004

  • 多チャンネル水晶振動子においセンサ自動計測システム

    永井伊作, 藤田慎二, 廣田和弘

    Aroma Research   5 ( 1 )   62 - 67   2004

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  • Visual Tracking Device Measuring 2-D Motion and Rotation of Floor Image

    692 ( 70 )   1037 - 1044   2004

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    DOI: 10.1299/kikaic.70.1037

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  • 床面の回転および並進運動を計測する視覚装置の開発

    永井伊作, 田中豊

    日本機械学会論文集(C編)   692 ( 70 )   1037 - 1044   2004

  • Development of a Fusing Module of the Images from Wide View Field and Stereo Cameras for an Autonomous Running Vehicle

    GOFUKU Akio, SEIRIKI Yoshiharu, NAGAI Isaku, TANAKA Yutaka

    Transactions of the Japan Society of Mechanical Engineers. Series C.   693 ( 70 )   1371 - 1379   2004

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    This study investigates a technique combining middle view field stereo cameras with a rotation mechanism and a wide view field camera to recognize running environment of both front and side of a vehicle. A fusing module of the images from the wide view field and stereo cameras is developed, where complicated data processes such as coordinate transformation, image fusing, etc. are executed on CPU-type processing units and primary processes of image data such as extraction of object regions from color images, labelling of extracted object regions, etc. are executed on CPLDs (Complex Programmable Logic Devices). Algorithms of labelling, compensation of the distortion occurred in wide view field images, and fusing the depth image from the stereo cameras into the image from the wide view field camera are implemented on the fusing module. Several experiments of image fusing for well-ordered indoor scenes show the applicability of the module to indoor situations.

    DOI: 10.1299/kikaic.70.1371

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  • Motion Estimation by Floor Image Tracking for Car-like Mobile Robot

    TANAKA Yutaka, NAGAI Isaku, OHNO Heisuke

    2003 ( 41 )   425 - 426   2003.2

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  • ベンゼン環を含むアルキルエステルを感応膜に用いる水晶振動子においセンサ

    廣田和弘, 永井伊作, 藤田慎二, 中元与織

    日本味と匂学会誌   10 ( 3 )   455 - 458   2003

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  • 水晶振動子吸着膜に用いるシクロヘキサンカルボン酸アルキルエステル誘導体のにおいセンシング能

    田中大樹, 永井伊作, 藤田慎二, 廣田和弘

    日本味と匂学会誌   10 ( 3 )   451 - 454   2003

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  • Study on visual recognition of specific person using distance information for autonomous vehicles

    TANAKA Yutaka, NAGAI Isaku, YOSHIHARA Toshio

    2002 ( 40 )   441 - 442   2002.2

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  • Study of Walk Assist System for Visually Impaired People

    TANAKA Yutaka, NAGAI Isaku, IMURA Shingo

    2002 ( 40 )   419 - 420   2002.2

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  • 床画像の2次元運動を計測する視覚装置の開発

    永井伊作, 田中 豊

    日本機械学会論文集(C編)   68 ( 672 )   2346 - 2353   2002

  • Visual Tracking Device Measuring 2-D Motion of Floor Image

    NAGAI Isaku, TANAKA Yutaka

    Transactions of the Japan Society of Mechanical Engineers. Series C.   68 ( 672 )   2346 - 2353   2002

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    In order to estimate the motion of floor image, a visual device has been developed that can track images from a monocrome CCD camera directed to flat floor. This device provides positional information for mobile robots to be navigated. We describe a new structure and updating method of template image in correlation processing to track floor images which have a natural texture. Based on this method, electronic circuits in a CPLD has been manufactured which process the image tracking at video rate. The results of experiments on the floor at indoor room and on the outdoor road show that this device can measure the 2-D motion of floor image from camera. The size of this device is so compact that it can be mounted to small mobile robots as the positioning sensor.

    DOI: 10.1299/kikaic.68.2346

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  • Tracking of floor image based on correlation processing

    Nagai, I, Y Tanaka

    INTELLIGENT AUTONOMOUS VEHICLES 2001   149 - 154   2002

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    This paper describes a new positioning technique for mobile robots which is not effected by any slip of wheels, not require an arrangement of infrastructure. In this method, floor or road images that have a natural texture are photographed by a monocrome CCD camera and tracked through image processing to estimate the motion and the rotation of camera. A principle of correlation and updating of template image is described. The experimental results show that this technique of positioning has enough measurement accuracy to applying to the navigation of robots which move comparatively at a low speed. Copyright (C) 2001 IFAC.

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  • Study of Image Tracking for High-Speed Motion based on Prediction Method

    Ohno H., nagai I., tanaka Y.

    2002   120 - 120   2002

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  • Study of Visual Device Measuring 2-D Motion and Rotation of Floor Image

    Nagai I., Tanaka Y.

    2 ( 1 )   121 - 121   2002

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  • 1P1-M8 Development of Visual Dead-Reckoning Device Using Partially Updating Method of Template Image

    NAGAI I., TANAKA Y., GOFUKU A.

    2001   31 - 31   2001.6

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  • 1019 Development of a Video-rate Range Finder Using a Pair of Stereo Cameras

    TANAKA Yutaka, NAGAI Isaku, Horai Hiroaki

    2001 ( 39 )   387 - 388   2001.2

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  • 1101 A Study on Operator Common Path Planning of Nonholonomic Autonomous Running Vehicle

    TANAKA Yutaka, NAGATANI Keiji, NAGAI Isaku, KAWATA Shigehiro

    2001 ( 39 )   391 - 392   2001.2

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  • 1020 Development of Visual Device Measuring 2-D Motion of Floor Texture

    NAGAI Isaku, TANAKA Yutaka, GOFUKU Akio

    2001 ( 39 )   389 - 390   2001.2

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  • 1018 Development of a Stereo Range Finder Responding to Luminance Change

    TANAKA Yutaka, NAGAI Isaku, TAKAHASHI Terutoshi

    2001 ( 39 )   385 - 386   2001.2

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  • Tracking of Floor Image Based on Correlation Processing

    Isaku Nagai, Yutaka Tanaka

    Proc. of the 4th IFAC Symposium on Intelligent Autonomous Vehicles   151 - 156   2001

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  • Color constancy using the inter-reflection from a reference nose

    M Abdellatif, Y Tanaka, A Gofuku, Nagai, I

    INTERNATIONAL JOURNAL OF COMPUTER VISION   39 ( 3 )   171 - 194   2000.9

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    This paper introduces a novel camera attachment for measuring the illumination color spatially in the scene. The illumination color is then used to transform color appearance in the image into that under white light.
    The main idea is that the scene inter-reflection through a reference camera-attached surface "Nose" can, under some conditions, represent the illumination color directly. The illumination measurement principle relies on the satisfaction of the gray world assumption in a local scene area or the appearance of highlights, from dielectric surfaces. Scene inter-reflections are strongly blurred due to optical dispersion on the nose surface and defocusing of the nose surface image. Blurring smoothes the intense highlights and it thus becomes possible to measure the nose inter-reflection under conditions in which intensity variation in the main image would exceed the sensor dynamic range.
    We designed a nose surface to reflect a blurred scene version into a small image section, which is interpreted as a spatial illumination image. The nose image is then mapped to the main image for adjusting every pixel color. Experimental results showed that the nose inter-reflection color is a good measure of illumination color when the model assumptions are satisfied. The nose method performance, operating on real images, is presented and compared with the Retinex and the scene-inserted white patch methods.

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  • 712 Development of a Vision System Mounting on an Autonomous Running Vehicle for Fusing Visual Data at High-Speed

    TANAKA Yutaka, GOFUKU Akio, NAGAI Isaku, SEIRIKI Yoshiharu

    5 ( 1 )   241 - 242   2000.2

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  • 713 Study of the Visual Dead-Reckoning by Image Tracking of the Texture on a Floor

    TANAKA Yutaka, NAGAI Isaku, GOFUKU Akio

    5 ( 1 )   243 - 244   2000.2

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  • 2P2-48-074 エレベータを利用する自律走行車の研究 : 視覚センサを用いたボタン押し装置の開発

    佐々木 隆, 永井 伊作, 永谷 圭司, 田中 豊

    ロボティクス・メカトロニクス講演会講演概要集   2000   102 - 102   2000

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    本研究の目標は, オフィスビルなどの屋内環境において, 自律走行車が異なるフロア間を移動する動作を実現することである。このため, エレベータ昇降用ボタン押し装置を設計製作することとした。本稿では, この装置のメカニズムの説明, 各アクチュエータの制御法, およびボタンを抽出するための画像処理について述べる。

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  • 2A1-44-050 メカナムホイールを用いた全方向移動車のナビゲーションの研究

    立花 智史, 永谷 圭司, 永井 伊作, 田中 豊

    ロボティクス・メカトロニクス講演会講演概要集   2000   67 - 67   2000

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    本研究は, 与えられた経路を自律走行するロボットシステムの構築を目的とする。筆者らは, より自在な移動を可能とするため, ロボットプラットフォームとして, メカナムホイールを用いた全方向移動車を用いることにした。メカナムホイールとは, 車軸に対して45度傾けられたローラーを車輪の周りに等間隔に並べた車輪である。本稿では, 各車輪の回転数より位置情報を推定するデッドレコニングと, この情報を用いた全方向移動車のナビゲーションについて述べる。

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  • 1P1-70-117 床面映像を利用した画像デッドレコニングの研究

    田中 豊, 永井 伊作, 五福 明夫

    ロボティクス・メカトロニクス講演会講演概要集   2000   59 - 59   2000

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    自律走行車や移動ロボットが自己位置を把握するための手法として画像デッドレコンング法を提案する。本手法はCCDカメラから得られる床面画像の中より複数の点を選定し, 追跡を行うことで, カメラの移動軌跡の記録・復元を試みるものである。車輪エンコーダ方式と異なり, 車輪の滑りに影響されない特徴を持つ。理論および実際の時系列画像を用いたシミュレーション実験結果について述べると共に, ハードウェア化について検討する。

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  • 2A1-67-091 色空間抽出法を用いた色判別回路をもつ実時間距離取得装置の開発

    田中 豊, 五福 明夫, 永井 伊作, 岩谷 隆弘

    ロボティクス・メカトロニクス講演会講演概要集   2000   72 - 72   2000

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    ロボットの視覚装置としてCCDカメラを用いる場合, 照明変化がビデオ信号に大きく影響し, 安定した色判別を行うことが困難である。我々は各輝度に適したしきい値を色相, 彩度パラメータに対して設定することにより, 照明条件に柔軟に対応できる色判別回路を開発した。この回路をステレオ距離取得装置の特徴点検出に用いることで, 従来よりも高い距離取得率を得た。

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  • Development of a Real-Time Range Finder for Measuring the Depth to a Plane without Textures

    Yutaka Tanaka, Isaku Nagai, Akio Gofuku, Hiroyukl Miyamoto

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   65 ( 636 )   3234 - 3238   1999

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    In order to apply to the eyes of an autonomous running vehicle, a real-time range finder has been developed that can measure the distance to every point on the plane without any pattern and its inclination. Though it seems contrary to the fact that the parallax is inversely proportional to the distance, this paper derives the mathematical grand that the plane in a real three dimensional space (X, Y, Z) is mapped also into the plane in a parallax space (x, y, Δx). On this grand, an electronic circuit has been manufactured which can compute in video rate the interpolation value between the parallaxes at two characteristic points by using several CPLDs. It is also shown that this device is applicable to the measurements of the slant angles of and the directions normal to the simple plane. © 1999, The Japan Society of Mechanical Engineers. All rights reserved.

    DOI: 10.1299/kikaic.65.3234

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  • Development of a Real-Time Range Finder for Measuring the Depth to a Plane without Textures

    Yutaka Tanaka, Isaku Nagai, Akio Gofuku, Hiroyukl Miyamoto

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   65 ( 636 )   3234 - 3238   1999

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    Language:English  

    In order to apply to the eyes of an autonomous running vehicle, a real-time range finder has been developed that can measure the distance to every point on the plane without any pattern and its inclination. Though it seems contrary to the fact that the parallax is inversely proportional to the distance, this paper derives the mathematical grand that the plane in a real three dimensional space (X, Y, Z) is mapped also into the plane in a parallax space (x, y, Δx). On this grand, an electronic circuit has been manufactured which can compute in video rate the interpolation value between the parallaxes at two characteristic points by using several CPLDs. It is also shown that this device is applicable to the measurements of the slant angles of and the directions normal to the simple plane. © 1999, The Japan Society of Mechanical Engineers. All rights reserved.

    DOI: 10.1299/kikaic.65.3234

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  • Development of a Video-Rate Range Finder using Dynamic Threshold Method for Characteristic Point Detection

    Yutaka Tanaka, Akio Gofuku, Nobuo Takeda, Isaku Nagai

    Proc. 1999 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics   1999

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  • Development of a Compact Video-Rate Range Finder Using RGB Signals from Binocular CCD Color Cameras

    TANAKA Yutaka, GOFUKU Akio, NAGAI Isaku, MOHAMED Abdellatif

    Transactions of the Japan Society of Mechanical Engineers. Series C.   62 ( 598 )   2257 - 2264   1996

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    This paper describes a compact video-rate range finder to be used in autonomous vehicles and intelligent robots, and as a vision substitutes for visually impaired people. The device, being composed of binocular CCD color cameras and a simplified electric circuit, can efficiently extract only the colors of red and blue from a scene, and can provide 3-D distance information continuously within object contours. This device was applied to the measurement of motion of a human body and the estimation of rotation diameter, rotation plane, trajectory, and fluctuation of a rotating body. It was confirmed that this device can be applied to real-time measurements of 3-D spatial positions and motion of objects.

    DOI: 10.1299/kikaic.62.2257

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  • カラーCCDカメラを用いたコンパクト距離画像取得装置の開発

    田中 豊, 五福明夫, 永井伊作, Abdellatif MOHAMED

    日本機械学会論文集(C編)   62 ( 598 )   2257 - 2264   1996

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Presentations

  • Control for a fully actuated UAV equipped with two 2-DOF tiltable rotor International conference

    Xiongshi Xu, Keigo Watanabe, Isaku Nagai

    The 28th Int. Symp. on Artificial Life and Robotics (AROB 2023) 

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    Event date: 2023.1.25 - 2023.1.27

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beppu, Japan  

  • Rotational control of both a suspended multi-rotor and a load by using robust gain scheduling International conference

    Kazuya Miyamoto, Shinsuke Kanda*, Isaku Nagai, Keigo Watanabe (*Tadano Ltd.)

    The 28th Int. Symp. on Artificial Life and Robotics (AROB 2023) 

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    Event date: 2023.1.25 - 2023.1.27

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beppu, Japan  

  • An Unscented Kalman Filter Based on the Adams-Bashforth Method for Estimating the State of a Fully Driven UAV with 2-DOF Tiltable Rotors International conference

    Soma Takeda, Isaku Nagai, Keigo Watanabe

    The 28th Int. Symp. on Artificial Life and Robotics (AROB 2023) 

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    Event date: 2023.1.25 - 2023.1.27

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beppu, Japan  

  • Translational Motion Control of a Tandem-type UAV with Tiltable Rotors to Move on a Wall Surface International conference

    Hideaki Komura, Isaku Nagai, Keigo Watanabe

    The 28th Int. Symp. on Artificial Life and Robotics (AROB 2023) 

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    Event date: 2023.1.25 - 2023.1.27

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beppu, Japan  

  • A Range-finding System Using Multiple Lasers for an AUV and a self-positioning estimation International conference

    Takashi Utsumi, Isaku Nagai, Keigo Watanabe

    The 28th Int. Symp. on Artificial Life and Robotics (AROB 2023) 

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    Event date: 2023.1.25 - 2023.1.27

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beppu, Japan  

  • アンセンティッドカルマンフィルタのAdams-Bashforth 法に基づく予測計算法

    竹田宗馬, 永井伊作, 渡辺桂吾

    第23回計測自動制御学会システムインテグレーション部門講演会  2022.12.14 

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    Event date: 2022.12.14 - 2022.12.17

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  • 胸ひれ推進機構を有する多方向移動型遊泳ロボットの設計と開発

    難波拡利, 永井伊作, 渡辺桂吾

    第23回計測自動制御学会システムインテグレーション部門講演会  2022.12.14 

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    Event date: 2022.12.14 - 2022.12.17

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  • 可変チルトロータを用いたタンデム型UAVのクォータニオンによる姿勢角制御

    小村秀晃, 永井伊作, 渡辺桂吾

    第23回計測自動制御学会システムインテグレーション部門講演会  2022.12.14 

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    Event date: 2022.12.14 - 2022.12.17

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  • 吊り下げ型マルチロータのオブザーバ併合型ゲインスケジューリング状態フィードバック制御

    宮本和弥, 神田真輔*, 永井伊作, 渡辺桂吾 (*株式会社タダノ)

    第23回計測自動制御学会システムインテグレーション部門講演会  2022.12.14 

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    Event date: 2022.12.14 - 2022.12.17

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  • バックステッピング法とPIオブザーバを用いた吊り荷回転制御系の外乱抑制制御

    衞藤遼, 神田真輔*, 永井伊作, 渡辺桂吾, 宮本和弥 (*株式会社タダノ)

    第23回計測自動制御学会システムインテグレーション部門講演会  2022.12.14 

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    Event date: 2022.12.14 - 2022.12.17

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  • AUVのための複数レーザを用いた距離測定法とその実装

    内海貴志, 永井伊作, 渡辺桂吾

    第23回計測自動制御学会システムインテグレーション部門講演会  2022.12.14 

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    Event date: 2022.12.14 - 2022.12.17

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  • AUVのための複数レーザを用いた距離測定法とその実装

    内海貴志,永井伊作,渡辺桂吾

    第23回計測自動制御学会システムインテグレーション部門講演会  2022.12.14 

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    Event date: 2022.12.14 - 2022.12.16

    Language:Japanese   Presentation type:Oral presentation (general)  

  • 胸ひれ推進機構を有する多方向移動型遊泳ロボットの設計と開発

    難波拡利,永井伊作,渡辺桂吾

    第23回計測自動制御学会システムインテグレーション部門講演会  2022.12.14 

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    Event date: 2022.12.14 - 2022.12.16

    Language:Japanese   Presentation type:Oral presentation (general)  

  • 可変チルトロータを用いたタンデム型UAVのクォータニオンによる姿勢角制御

    小村秀晃,永井伊作,渡辺桂吾

    第23回計測自動制御学会システムインテグレーション部門講演会  2022.12.14 

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    Event date: 2022.12.14 - 2022.12.16

    Language:Japanese   Presentation type:Oral presentation (general)  

  • 吊り下げ型マルチロータのオブザーバ併合型ゲインスケジューリング状態フィードバック制御

    宮本和弥,神田真輔*,永井伊作,渡辺桂吾 (*株式会社タダノ)

    第23回計測自動制御学会システムインテグレーション部門講演会  2022.12.14 

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    Event date: 2022.12.14 - 2022.12.16

    Language:Japanese   Presentation type:Oral presentation (general)  

  • バックステッピング法とPIオブザーバを用いた吊り荷回転制御系の外乱抑制制御

    衞藤遼,神田真輔*,永井伊作,渡辺桂吾,宮本和弥 (*株式会社タダノ)

    第23回計測自動制御学会システムインテグレーション部門講演会  2022.12.14 

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    Event date: 2022.12.14 - 2022.12.16

    Language:Japanese   Presentation type:Oral presentation (general)  

  • アンセンティッドカルマンフィルタのAdams-Bashforth 法に基づく予測計算法

    竹田宗馬,永井伊作,渡辺桂吾

    第23回計測自動制御学会システムインテグレーション部門講演会  2022.12.14 

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    Event date: 2022.12.14 - 2022.12.16

    Language:Japanese   Presentation type:Oral presentation (general)  

  • 荷物搭載時吊り下げ型マルチロータの回転系におけるUKFを用いた状態および未知パラメータ推定

    宮本 和弥, 神田 真輔* , 永井 伊作, 渡辺 桂吾 (*株式会社タダノ)

    第31回計測自動制御学会中国支部学術講演会  2022.11.26 

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    Event date: 2022.11.26

    Language:Japanese   Presentation type:Oral presentation (general)  

  • Adams-Bashforth法に基づく離散化を用いたアンセンティッドカルマンフィルタ

    竹田 宗馬, 永井 伊作, 渡辺 桂吾

    第31回計測自動制御学会中国支部学術講演会  2022.11.26 

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    Event date: 2022.11.26

    Language:Japanese   Presentation type:Oral presentation (general)  

  • 可変チルトロータを用いたタンデム型UAVのクォータニオン表現を導入した姿勢角制御

    小村 秀晃, 永井 伊作, 渡辺 桂吾

    第31回計測自動制御学会中国支部学術講演会  2022.11.26 

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    Event date: 2022.11.26

    Language:Japanese   Presentation type:Oral presentation (general)  

  • 荷重位誘導型X線撮影台のための昇降機構の開発

    伊藤 洋希, 永井 伊作

    第31回計測自動制御学会中国支部学術講演会  2022.11.26 

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    Event date: 2022.11.26

    Language:Japanese   Presentation type:Oral presentation (general)  

  • AUVのための複数レーザを用いた距離測定法とそのマイコンでの実現

    内海 貴志, 永井 伊作, 渡辺 桂吾

    第31回計測自動制御学会中国支部学術講演会  2022.11.26 

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    Event date: 2022.11.26

    Language:Japanese   Presentation type:Oral presentation (general)  

  • 荷物搭載時吊り下げ型マルチロータの回転系におけるUKFを用いた状態および未知パラメータ推定

    宮本 和弥, 神田 真輔*, 永井 伊作, 渡辺 桂吾 (*株式会社タダノ)

    第31回計測自動制御学会中国支部学術講演会  2022.11.26 

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  • 荷重位誘導型X線撮影台のための昇降機構の開発

    伊藤 洋希, 永井 伊作

    第31回計測自動制御学会中国支部学術講演会  2022.11.26 

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    Event date: 2022.11.26

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  • AUVのための複数レーザを用いた距離測定法とそのマイコンでの実現

    内海 貴志, 永井 伊作, 渡辺 桂吾

    第31回計測自動制御学会中国支部学術講演会  2022.11.26 

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    Event date: 2022.11.26

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  • 可変チルトロータを用いたタンデム型UAVのクォータニオン表現を導入した姿勢角制御

    小村 秀晃, 永井 伊作, 渡辺 桂吾

    第31回計測自動制御学会中国支部学術講演会  2022.11.26 

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    Event date: 2022.11.26

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  • Adams-Bashforth法に基づく離散化を用いたアンセンティッドカルマンフィルタ

    竹田 宗馬, 永井 伊作, 渡辺 桂吾

    第31回計測自動制御学会中国支部学術講演会  2022.11.26 

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  • パーソナルモビリティビークルのハブモータによる走行改善

    田賀大資,渡辺桂吾,永井伊作,芝軒太郎

    ロボティクス・メカトロニクス 講演会2022  2022.6.2 

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    Event date: 2022.6.1 - 2022.6.4

    Language:Japanese   Presentation type:Oral presentation (general)  

  • 2自由度可変チルトロータを2 つ用いた完全駆動型UAV に関する研究

    吉脇直輝,渡辺桂吾,芝軒太郎,永井伊作

    ロボティクス・メカトロニクス 講演会2022  2022.6.2 

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    Event date: 2022.6.1 - 2022.6.4

    Language:Japanese   Presentation type:Oral presentation (general)  

  • 2自由度チルトロータ機構を有するオスプレイ型ドローンの設計と製作

    板倉徹,渡辺桂吾,永井伊作,芝軒太郎

    ロボティクス・メカトロニクス 講演会2022  2022.6.2 

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    Event date: 2022.6.1 - 2022.6.4

    Language:Japanese   Presentation type:Oral presentation (general)  

  • 階段昇降可能なパワーアシスト3輪キャリーカートの走行性能改善

    石井暢,永井伊作,渡辺桂吾,芝軒太郎

    ロボティクス・メカトロニクス 講演会2022  2022.6.2 

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    Event date: 2022.6.1 - 2022.6.4

    Language:Japanese   Presentation type:Oral presentation (general)  

  • 2自由度チルトロータ機構を有するオスプレイ型ドローンの設計と製作

    板倉徹, 渡辺桂吾, 永井伊作, 芝軒太郎

    ロボティクス・メカトロニクス講演会2022  2022.6.2 

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    Event date: 2022.6.1 - 2022.6.4

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  • 階段昇降可能なパワーアシスト3輪キャリーカートの走行性能改善

    石井暢, 永井伊作, 渡辺桂吾, 芝軒太郎

    ロボティクス・メカトロニクス講演会2022  2022.6.2 

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    Event date: 2022.6.1 - 2022.6.4

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  • パーソナルモビリティビークルのハブモータによる走行改善

    田賀大資, 渡辺桂吾, 永井伊作, 芝軒太郎

    ロボティクス・メカトロニクス講演会2022  2022.6.2 

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    Event date: 2022.6.1 - 2022.6.4

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  • 2自由度可変チルトロータを2つ用いた完全駆動型UAVに関する研究

    吉脇直輝, 渡辺桂吾, 芝軒太郎, 永井伊作

    ロボティクス・メカトロニクス講演会2022  2022.6.2 

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    Event date: 2022.6.1 - 2022.6.4

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  • Development of Robot to Arrange Chairs Using 2D Markers International conference

    Keitaro Matsunaga, Isaku Nagai, and Keigo Watanabe

    The 27th Int. Symp. on Artificial Life and Robotics (AROB 2022) 

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    Event date: 2022.1.25 - 2022.1.27

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beppu, Japan  

  • Load-sway suppression control using a robust backstepping method with a horizontally movable multi-rotor International conference

    Ryusei Kira, Ryota Mino, Keigo Watanabe, Shinsuke Kanda*, Isaku Nagai, and Kazuya Miyamoto (*Tadano Ltd.)

    The 27th Int. Symp. on Artificial Life and Robotics (AROB 2022) 

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    Event date: 2022.1.25 - 2022.1.27

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beppu, Japan  

  • Backstepping sliding mode control based on exponential reaching law for an omnidirectional quadrotor manipulator International conference

    Yi Shilin, Keigo Watanabe, and Isaka Nagai

    The 27th Int. Symp. on Artificial Life and Robotics (AROB 2022) 

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    Event date: 2022.1.25 - 2022.1.27

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beppu, Japan  

  • Development of a High-precision Speckle Odometer that Responds to Changes in the Light Source Over Time International conference

    Sotaro Nakata, Isaku Nagai, and Keigo Watanebe

    The 27th Int. Symp. on Artificial Life and Robotics (AROB 2022) 

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    Event date: 2022.1.25 - 2022.1.27

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beppu, Japan  

  • Improvement of takeoff of WIG craft by nonlinear optical control using the steepest descent method International conference

    Yutaka Hiruma, Keigo Watanabe, and Isaku Nagai

    The 27th Int. Symp. on Artificial Life and Robotics (AROB 2022) 

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    Event date: 2022.1.25 - 2022.1.27

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beppu, Japan  

  • Formulation of Fault-tolerant Control for Hyper-redundant Multi-copters International conference

    Takuro Inohara, Keigo Watanabe, and Isaku Nagai

    IEEE Int. Conf. on Robotics and Biomimetics (ROBIO 2021)  2021.12.27 

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    Event date: 2021.12.27 - 2021.12.31

    Language:English   Presentation type:Oral presentation (general)  

  • 移動面の画像処理に基づく対向2輪型AGVの開発

    永井 伊作, 木原 吉英, 渡辺 桂吾

    第22回計測自動制御学会(SICE)システムインテグレーション部門講演会  2021.12.15 

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    Event date: 2021.12.15 - 2021.12.17

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  • スーパーツイスティングスライディングモード制御法によるタンデム型UAV の風外乱抑制制御

    林 的森、徐 雄仕、渡辺 桂吾、永井 伊作

    第22回計測自動制御学会(SICE)システムインテグレーション部門講演会  2021.12.15 

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    Event date: 2021.12.15 - 2021.12.17

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  • 指数到達則に基づくチルトロータ型クアッドロータマニピュレータのためのバックステッピングスライディングモード制御

    易 示林、渡辺 桂吾、永井 伊作

    第22回計測自動制御学会(SICE)システムインテグレーション部門講演会  2021.12.15 

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    Event date: 2021.12.15 - 2021.12.17

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  • 長時間使用による精度低下を回避するスペックルオドメータの評価

    中田 壮太朗、永井 伊作、渡辺 桂吾

    第22回計測自動制御学会(SICE)システムインテグレーション部門講演会  2021.12.15 

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    Event date: 2021.12.15 - 2021.12.17

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  • 二次元マーカを用いた椅子を整頓するロボットの開発

    松永 慶太郎、永井 伊作、渡辺 桂吾

    第22回計測自動制御学会(SICE)システムインテグレーション部門講演会  2021.12.15 

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    Event date: 2021.12.15 - 2021.12.17

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  • 水平移動型マルチロータによるロバストバックステッピング法を用いた荷揺れ抑制制御

    吉良 流星、味野 遼太*、渡辺 桂吾、永井 伊作、神田 真輔* (*株式会社タダノ)

    第22回計測自動制御学会(SICE)システムインテグレーション部門講演会  2021.12.15 

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    Event date: 2021.12.15 - 2021.12.17

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  • 4つの可変チルトスラスタを持つX4-AUVのためのフィードバック線形化制御

    松岡 航、渡辺 桂吾、永井 伊作

    第22回計測自動制御学会(SICE)システムインテグレーション部門講演会  2021.12.15 

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    Event date: 2021.12.15 - 2021.12.17

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  • Control of an Over-actuated Quadrotor Manipulator Based on Backstepping Integral Sliding Mode International conference

    Shilin Yi, Keigo Watanabe, and Isaku Nagai

    IEEE 2021 Int. Conf. on Advances in Computing, Communication and Control (ICAC3 2021)  2021.12.3 

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    Event date: 2021.12.3 - 2021.12.4

    Language:English   Presentation type:Oral presentation (general)  

  • CNNを用いた教師なし学習による移動面画像からの特徴点抽出

    Xinyu Liu,永井伊作,渡辺桂吾

    第30回計測自動制御学会中国支部学術講演会  2021.11.26 

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    Event date: 2021.11.26

    Language:Japanese   Presentation type:Oral presentation (general)  

  • 光源の温度変化による精度低下を回避するスペックルオドメータの開発

    中田壮太朗,永井伊作,渡辺桂吾

    第30回計測自動制御学会中国支部学術講演会  2021.11.26 

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    Event date: 2021.11.26

    Language:Japanese   Presentation type:Oral presentation (general)  

  • Heel Brake for Personal Mobility Vehicle

    Shizuki Kawauchi, Isaku Nagai, Keigo Watanabe

    IEEE Int. Conf. on Mechatronics and Automation (ICMA 2021)  2021.8.10 

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    Event date: 2021.8.8 - 2021.8.11

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  • Power-assisted Three-wheel Carrier Cart With Stair-climbing Ability

    IEEE Int. Conf. on Mechatronics and Automation (ICMA 2021)  2021.8.9 

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    Event date: 2021.8.8 - 2021.8.11

  • Experimental Verification on the Rotational and Sway Control of a Suspended Horizontally Movable Multi-Rotor

    IEEE Int. Conf. on Mechatronics and Automation (ICMA 2021)  2021.8.9 

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    Event date: 2021.8.8 - 2021.8.11

  • Production of a Small-sized Tandem Rotor Aircraft with Two Tiltable Coaxial Rotors and Its Experiments

    IEEE Int. Conf. on Mechatronics and Automation (ICMA 2021)  2021.8.9 

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    Event date: 2021.8.8 - 2021.8.11

  • A Range-finding System Using Multiple Lasers for an Underwater Robot with Pectoral-fin Propulsion Mechanisms and Improving Its Accuracy by a Gimbal Mechanism

    Takashi Utsumi, Keigo Watanabe, and Isaku Nagai

    IEEE Int. Conf. on Mechatronics and Automation (ICMA 2021)  2021.8.9 

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    Event date: 2021.8.8 - 2021.8.11

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  • 吊り下げ型水平移動マルチロータの回転および揺れ制御実験

    宮本和弥,神田真輔*,吉良流星,渡辺桂吾,永井伊作 (*株式会社タダノ)

    ロボティクス・メカトロニクス講演会2021  2021.6.7 

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    Event date: 2021.6.6 - 2021.6.8

    Language:Japanese   Presentation type:Oral presentation (general)  

  • 胸ひれ推進機構を有する多方向移動型水中遊泳ロボットの設計・開発

    難波拡利,渡辺桂吾,永井伊作

    ロボティクス・メカトロニクス講演会2021  2021.6.7 

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    Event date: 2021.6.6 - 2021.6.8

    Language:Japanese   Presentation type:Oral presentation (general)  

  • 1自由度の可変チルト機構を有するクワッドロータの特異姿勢近傍での運動制御の検討

    吉川侑希,渡辺桂吾,永井伊作

    ロボティクス・メカトロニクス講演会2021  2021.6.7 

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    Event date: 2021.6.6 - 2021.6.8

    Language:Japanese   Presentation type:Oral presentation (general)  

  • 複数の故障したロータを有するオクトコプタのためのフォールトトレラント制御の定式化

    猪原拓朗,渡辺桂吾,永井伊作

    ロボティクス・メカトロニクス講演会2021  2021.6.7 

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    Event date: 2021.6.6 - 2021.6.8

    Language:Japanese   Presentation type:Oral presentation (general)  

  • 可変チルトロータ機構による地面効果翼機の離陸の改善

    比留間裕,渡辺桂吾,永井伊作

    ロボティクス・メカトロニクス講演会2021  2021.6.7 

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    Event date: 2021.6.6 - 2021.6.8

    Language:Japanese   Presentation type:Oral presentation (general)  

  • 可変チルト型二重反転ロータを用いたトリコプタの飛行シミュレーション

    川井大輔,渡辺桂吾,永井伊作

    ロボティクス・メカトロニクス講演会2021  2021.6.7 

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    Event date: 2021.6.6 - 2021.6.8

    Language:Japanese   Presentation type:Oral presentation (general)  

  • 可変チルト二重反転ロータを用いた小型タンデムロータの設計と製作

    小村秀晃,渡辺桂吾,永井伊作

    ロボティクス・メカトロニクス講演会2021  2021.6.7 

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    Event date: 2021.6.6 - 2021.6.8

    Language:Japanese   Presentation type:Oral presentation (general)  

  • パーソナルモビリティビークルのためのヒールブレーキ -後傾姿勢と重心移動による急制動-

    河内静貴,永井伊作,渡辺桂吾

    ロボティクス・メカトロニクス講演会2021  2021.6.7 

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    Event date: 2021.6.6 - 2021.6.8

    Language:Japanese   Presentation type:Oral presentation (general)  

  • 輝度変化を考慮したオプティカルフローによる自己位置推定法の提案

    宮井 海渡、渡辺 桂吾、永井 伊作

    第21回計測自動制御学会システムインテグレーション部門講演会(SI 2020)  計測自動制御学会

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    Event date: 2020.12.16 - 2020.12.18

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン  

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  • Pythonを用いたマルチコプタにおける非線形モデル予測制御の実装とその課題

    加藤 智司、渡辺 桂吾、永井 伊作

    第21回計測自動制御学会システムインテグレーション部門講演会(SI 2020)  計測自動制御学会

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    Event date: 2020.12.16 - 2020.12.18

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン  

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  • Robust Backstepping Control for a Tandem-type Aerial Robot Under Some Disturbances

    徐 雄仕、渡辺 桂吾、永井 伊作

    第21回計測自動制御学会システムインテグレーション部門講演会(SI 2020)  計測自動制御学会

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    Event date: 2020.12.16 - 2020.12.18

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン  

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  • Backstepping Control for a Tandem-type Aerial Robot with Two 2-DOF Tiltable Coaxial-Rotors

    X. Xu, K. Watanabe, and I. Nagai

    第29回計測自動制御学会中国支部学術講演会 

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    Event date: 2020.11.28

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:online  

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  • ポテンシャル法を用いた非ホロノミック車輪型ロボットによる移動障害物回避制御の一手法

    渡邊 俊也, 渡辺 桂吾, 永井 伊作

    第29回計測自動制御学会中国支部学術講演会 

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    Event date: 2020.11.28

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:online  

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  • Social Distancing and Face Mask Detection with One Camera to Prevent COVID-19

    Liqiang Huang, 永井 伊作, 渡辺 桂吾

    第29回計測自動制御学会中国支部学術講演会 

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    Event date: 2020.11.28

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:online  

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  • Computed Torque Control for an Aerial Robot Equipped with Two Coaxial Rotors Having a 2-DOF Tilt Mechanism International conference

    X. Xu, K. Watanabe, and I. Nagai

    2020 IEEE Int. Conf. on Mechatronics and Automation 

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    Event date: 2020.10.13 - 2020.10.16

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beijin, China  

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  • Cause Exploration of Accuracy Deterioration with Time Progress in Localization Using a Speckle Odometer International conference

    S. Nakata, I. Nagai, and K. Watanabe

    2020 IEEE Int. Conf. on Mechatronics and Automation 

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    Event date: 2020.10.13 - 2020.10.16

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beijin, China  

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  • Development of a Horizontally Movable Multi-Rotor for Suppressing Load Sway International conference

    R. Kira, K. Watanabe, I. Nagai, and S. Kanda

    2020 IEEE Int. Conf. on Mechatronics and Automation 

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    Event date: 2020.10.13 - 2020.10.16

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beijin, China  

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  • 移動面の自然な模様のみを参照して経路追従および速度制御を行う小型移動ロボット

    永井 伊作,渡辺 桂吾

    第38回日本ロボット学会学術講演会(RSJ 2020)  日本ロボット学会

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    Event date: 2020.10.9 - 2020.10.11

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン  

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  • マナマコの24時間の行動

    一橋和義*,永井伊作 (*東京大学)

    日本動物学会第91回大会 

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    Event date: 2020.9.4 - 2020.9.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン  

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  • 荷揺れ抑制のための水平移動型マルチロータの開発

    吉良 流星,神田 真輔,渡辺 桂吾,永井 伊作

    ロボティクス・メカトロニクス講演会2020  日本機械学会

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    Event date: 2020.5.27 - 2020.5.30

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン  

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  • 一対のチルトロータ機構を持つヘキサコプタの開発

    村田 宜史,渡辺 桂吾,加藤 智司,永井 伊作

    ロボティクス・メカトロニクス講演会2020  日本機械学会

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    Event date: 2020.5.27 - 2020.5.30

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン  

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  • マルチコプタ推進系における故障検出機構の開発

    遠藤 大誠,渡辺 桂吾,加藤 智司,永井 伊作

    ロボティクス・メカトロニクス講演会2020  日本機械学会

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    Event date: 2020.5.27 - 2020.5.30

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン  

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  • 操舵付き単輪キャスタ機構を用いた全方向移動プラットフォームの運動学制御

    松岡 凌平,渡辺 桂吾,永井 伊作

    ロボティクス・メカトロニクス講演会2020  日本機械学会

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    Event date: 2020.5.27 - 2020.5.30

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン  

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  • 輝度変化を考慮したオプティカルフロー駆動型パーティクルフィルタの提案

    宮井 海渡,小林 大貴,渡辺 桂吾,永井 伊作

    ロボティクス・メカトロニクス講演会2020  日本機械学会

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    Event date: 2020.5.27 - 2020.5.30

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン  

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  • Proposal of a Real-time Simulation Environment for Development of Multicopters by Cooperation of MATLAB (Simulink) and Unity International conference

    S. Kato, S. Kawano, K. Watanabe, and I. Nagai

    25th Int. Symp. on Artificial Life and Robotics (AROB 25th 2020) 

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    Event date: 2020.1.22 - 2020.1.24

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beppu, Japan  

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  • Proposal of a Gesture Recognition System Considering Partial Observation Data International conference

    K. Yamamoto, M. Maimaitimin, K. Watanabe, I. Nagai, and Y. Takashima

    25th Int. Symp. on Artificial Life and Robotics (AROB 25th 2020) 

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    Event date: 2020.1.22 - 2020.1.24

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beppu, Japan  

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  • Load-Swing Suppression Control Using a Mechanism Driven by Multi-Rotors International conference

    R. Mino, S. Kanda, K. Watanabe, and I. Nagai

    25th Int. Symp. on Artificial Life and Robotics (AROB 25th 2020) 

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    Event date: 2020.1.22 - 2020.1.24

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beppu, Japan  

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  • Construction of a Range-finding System Using Two Lasers for a Manta Robot International conference

    H. Masuda, K. Watanabe, and I. Nagai

    25th Int. Symp. on Artificial Life and Robotics (AROB 25th 2020) 

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    Event date: 2020.1.22 - 2020.1.24

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beppu, Japan  

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  • Multi-task Deep Neural Networks for Environment Recognition by Camera Attached to UAV International conference

    Y. Takashima, M. Maimaitimin, K. Watanabe, I. Nagai, and K. Yamamoto

    25th Int. Symp. on Artificial Life and Robotics (AROB 25th 2020) 

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    Event date: 2020.1.22 - 2020.1.24

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beppu, Japan  

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  • Dual Quaternion-based Tracking Control for a Quadrotor International conference

    N. Serikawa, K. Watanabe, and I. Nagai

    25th Int. Symp. on Artificial Life and Robotics (AROB 25th 2020) 

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    Event date: 2020.1.22 - 2020.1.24

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beppu, Japan  

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  • 操舵付単輪アクティブキャスタ機構を用いた全方向移動ロボットの動力学制御

    平井 誠一郎,渡辺 桂吾,永井 伊作

    第20回システムインテグレーション部門講演会(SI2019)  計測自動制御学会

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    Event date: 2019.12.12 - 2019.12.14

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:香川  

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  • マンタロボットのための複数レーザを用いた機体地面間の距離測定システムの構築

    益田 拓典,渡辺 桂吾,永井 伊作

    第20回システムインテグレーション部門講演会(SI2019)  計測自動制御学会

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    Event date: 2019.12.12 - 2019.12.14

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:香川  

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  • 磁気マップとパーティクルフィルタを用いた移動ロボットの自己位置推定

    北谷 瞭太, 永井 伊作, 渡辺 桂吾

    第28回計測自動制御学会中国支部学術講演会  計測自動制御学会

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    Event date: 2019.11.23

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:岡山大学  

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  • A Method of Recognizing Obstacles for a Small-sized Autonomous Underwater Vehicle X4-AUV International conference

    K. Watanabe, S. Sugano, and I. Nagai

    2019 IEEE Int. Conf. on Advanced Robotics and its Social Impacts (ARSO) 

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    Event date: 2019.10.31 - 2019.11.2

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beijing, China  

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  • Development and Flight Experiments of a Bluff-bodied X4-Blimp International conference

    K. Watanabe, K. Niwa, and I. Nagai

    2019 IEEE Int. Conf. on Advanced Robotics and its Social Impacts (ARSO) 

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    Event date: 2019.10.31 - 2019.11.2

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beijing, China  

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  • ナマコの音受容 ?陸上の音をナマコは聞けるのか??

    一橋 和義*,永井 伊作(*東京大学)

    第21回日本感性工学会大会 

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    Event date: 2019.9.12 - 2019.9.14

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:芝浦工業大学 豊洲キャンパス  

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  • An Analytic Method for Localization of a Manta Robot by a Drag Model International conference

    M. Ikeda*, T. Watanabe, K. Watanabe, and I. Nagai (*National Institute of Technology, Tokuyama College)

    SICE Annual Conf. 2019 

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    Event date: 2019.9.10 - 2019.9.13

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Hiroshima, Japan  

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  • 非流線形X4ブリンプの開発

    渡辺 桂吾,丹羽 健次朗,永井 伊作

    第37回日本ロボット学会学術講演会(RSJ 2019)  日本ロボット学会

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    Event date: 2019.9.3 - 2019.9.7

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:早稲田大学早稲田キャンパス  

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  • Target Approach for an Autonomous Mobile Robot Using Camera Images and Its Behavioral Acquisition for Avoiding an Obstacle International conference

    Y. Takashima, K. Watanabe, and I. Nagai

    2019 IEEE Int. Conf. on Mechatronics and Automation 

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    Event date: 2019.8.2 - 2019.8.5

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Tianjin, China  

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  • Proposal of an Environmental Recognition Method for Automatic Parking by an Image-based CNN International conference

    K. Yamamoto, K. Watanabe, and I. Nagai

    2019 IEEE Int. Conf. on Mechatronics and Automation 

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    Event date: 2019.8.2 - 2019.8.5

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Tianjin, China  

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  • Development of a Quadrotor with Auxiliary Thrusters International conference

    S. Kato, K. Watanabe, and I. Nagai

    2019 IEEE Int. Conf. on Mechatronics and Automation 

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    Event date: 2019.8.2 - 2019.8.5

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Tianjin, China  

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  • Development of a Leaping Mechanism for Electric Skateboards International conference

    T. Aoki, I. Nagai, and K. Watanabe

    2019 IEEE Int. Conf. on Mechatronics and Automation 

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    Event date: 2019.8.2 - 2019.8.5

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Tianjin, China  

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  • オプティカルフロー駆動型パーティクルフィルタのモデル切り替えによる物体追跡精度の改善

    小林大貴、渡辺桂吾、永井伊作

    ロボティクス・メカトロニクス講演会2019  日本機械学会

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    Event date: 2019.6.6 - 2019.6.7

    Language:Japanese   Presentation type:Poster presentation  

    Venue:広島  

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  • マンタロボットの2自由度設計に基づくジンバル姿勢制御のためのモデルの検討

    佐光将里、渡辺桂吾、永井伊作

    ロボティクス・メカトロニクス講演会2019  日本機械学会

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    Event date: 2019.6.6 - 2019.6.7

    Language:Japanese   Presentation type:Poster presentation  

    Venue:広島  

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  • スマートフォンを用いたライン不要のライントレースロボット

    永井伊作、渡辺桂吾

    ロボティクス・メカトロニクス講演会2019  日本機械学会

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    Event date: 2019.6.6 - 2019.6.7

    Language:Japanese   Presentation type:Poster presentation  

    Venue:広島  

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  • 全生活空間に対応可能なパワーアシストキャリーカートの提案

    雉鼻大亮、永井伊作、渡辺桂吾

    ロボティクス・メカトロニクス講演会2019  日本機械学会

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    Event date: 2019.6.6 - 2019.6.7

    Language:Japanese   Presentation type:Poster presentation  

    Venue:広島  

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  • クロナマコとシカクナマコの切断による増殖の試み?頭部、中部、尾部の3部位切断後の各部位の生存?

    一橋 和義*,永井 伊作,亀田 和成**(*東京大学,**黒島研究所)

    平成31年度公益社団法人日本水産学会春季大会 

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    Event date: 2019.3.26 - 2019.3.29

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:東京海洋大学品川キャンパス  

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  • Development of a Foldable Personal Mobility Vehicle Usable on Japanese Public Roads International conference

    T. Sakata, I. Nagai, and K. Watanabe

    24th Int. Symp. on Artificial Life and Robotics (AROB 24thd 2019) 

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    Event date: 2019.1.23 - 2019.1.25

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beppu, Japan  

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  • オプティカルフローを用いたマンタロボットの自己位置推定システムの実装と検証

    池田 将晃*,今濱 拓哉**,渡辺 桂吾,永井 伊作 (* 徳山工業高等専門学校,**テラル株式会社)

    第19回計測自動制御学会(SICE)システムインテグレーション部門講演会 

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    Event date: 2018.12.13 - 2018.12.15

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:大阪  

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  • Thrust analysis of propulsion mechanisms with pectoral fins in a Manta robot International conference

    Tomoya Watanabe, Keigo Watanabe, and Isaku Nagai

    The 5 th International Symposium on Material, Mechatronics and Energy 2018 

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    Event date: 2018.11.6 - 2018.11.9

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Makassar-Gowa-South Sulawesi, Indonesia  

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  • Development of a foldable personal mobility vehicle with one drive wheel International conference

    Takanori Sakata, Isaku Nagai, and Keigo Watanabe

    The 5 th International Symposium on Material, Mechatronics and Energy 2018 

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    Event date: 2018.11.6 - 2018.11.9

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Makassar-Gowa-South Sulawesi, Indonesia  

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  • Control of a tethered Quadrotor using a quaternion feedback International conference

    Ryuta Takeuchi, Keigo Watanabe, and Isaku Nagai

    The 5 th International Symposium on Material, Mechatronics and Energy 2018 

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    Event date: 2018.11.6 - 2018.11.9

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Makassar-Gowa-South Sulawesi, Indonesia  

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  • HPF情報を用いた非ホロノミック車のサブゴール問題としての安定化制御

    渡辺 桂吾,植月 健人*,永井 伊作 (*島津製作所)

    第28回インテリジェント・システム・シンポジウム (FAN2018)  (一社)電気学会 システム技術委員会

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    Event date: 2018.9.26 - 2018.9.27

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:横浜市  

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  • Experiments on Estimating the Self-Position of Manta Robots by an Optical Flow Method International conference

    M. Ikeda, T. Imahama, K. Watanabe, and I. Nagai

    SICE Annual Conf. 2018 

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    Event date: 2018.9.11 - 2018.9.14

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Nara, Japan  

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  • 下向きカメラを有する無人搬送車のための荷重による高さ変化を考慮した位置修正

    永井 伊作,八田 浩之*,木原 吉英**,安藤 光雄**,渡辺 桂吾 (*IKOMAロボテック, **三和電子)

    第36回日本ロボット学会学術講演会(RSJ2018)  2018  日本ロボット学会

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    Event date: 2018.9.4 - 2018.9.7

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:中部大学春日井キャンパス  

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  • Production of a Wall-climbing-type Quadrotor and Its Experiment for Verifying Basic Operations International conference

    Keigo Watanabe, Takanori Nakatsuka, and Isaku Nagai

    2018 IEEE Int. Conf. on Mechatronics and Automation 

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    Event date: 2018.8.5 - 2018.8.8

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Changchun, China  

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  • Transitional Flight Simulations for a Tilted Quadrotor with a Fixed-wing International conference

    Yoshikazu Nakamura, Atsushi Arakawa, Keigo Watanabe, and Isaku Nagai

    2018 IEEE Int. Conf. on Mechatronics and Automation 

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    Event date: 2018.8.5 - 2018.8.8

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Changchun, China  

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  • Control of Attitude Angle for a Tilted Quadrotor International conference

    Atsushi Arakawa, Tomohiko Hasegawa, Keigo Watanabe, and Isaku Nagai

    2018 IEEE Int. Conf. on Mechatronics and Automation 

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    Event date: 2018.8.5 - 2018.8.8

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Changchun, China  

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  • Design and Manufacture of an Aerial Robot that Having Multifunction Modes with Tilted Coaxial Rotors International conference

    Xiongshi Xu, Keigo Watanabe, Isaku Nagai

    The 37th Chinese Control Conference 

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    Event date: 2018.7.25 - 2018.7.27

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Wuhan, China  

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  • Experiments for Verifying Basic Behaviors in An Omnidirectional Mobile Platform Using A Rocker-bogie Suspension System International conference

    Keigo Watanabe, Yuki Mori, Isaku Nagai

    The 37th Chinese Control Conference 

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    Event date: 2018.7.25 - 2018.7.27

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Wuhan, China  

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  • マンタロボットのカメラ姿勢安定化のための2自由度制御系の設計

    益田 拓典,渡辺 桂吾,永井 伊作

    ロボティクス・メカトロニクス講演会2018  日本機械学会

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    Event date: 2018.6.2 - 2018.6.5

    Language:Japanese   Presentation type:Poster presentation  

    Venue:北九州  

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  • Speckle Odometer Robust to Specular Reflection for Estimating the Position of Mobile Robots International conference

    T. Kawai, I. Nagai, and K. Watanabe

    23rd Int. Symp. on Artificial Life and Robotics (AROB 23rd 2018) 

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    Event date: 2018.1.18 - 2018.1.20

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beppu, Japan  

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  • A Method of Measuring a Distance to Underwater Obstacles by Image Processing with a Laser International conference

    S. Sugano, K. Watanabe, and I. Nagai

    23rd Int. Symp. on Artificial Life and Robotics (AROB 23rd 2018) 

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    Event date: 2018.1.18 - 2018.1.20

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beppu, Japan  

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  • Design and Manufacture of a Multifunctional Aerial Robot with Tilted Coaxial Rotors International conference

    X. Xu, K. Watanabe, and I. Nagai

    23rd Int. Symp. on Artificial Life and Robotics (AROB 23rd 2018) 

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    Event date: 2018.1.18 - 2018.1.20

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beppu, Japan  

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  • 鏡面反射にロバストなスペックルオドメータによる位置計測

    河合 貴広,永井 伊作,渡辺 桂吾

    第18回計測自動制御学会(SICE)システムインテグレーション部門講演会  2017 

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    Event date: 2017.12.20 - 2017.12.22

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:仙台国際センター  

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  • チルト型2重反転ロータを用いた多機能移動モードを実現する飛行ロボットの設計と製作

    徐 雄仕,渡辺 桂吾,永井 伊作

    第18回計測自動制御学会(SICE)システムインテグレーション部門講演会  2017 

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    Event date: 2017.12.20 - 2017.12.22

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:仙台国際センター  

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  • 移動面模様の劣化にロバストな相関演算を用いた自己位置修正法の評価

    永井 伊作,渡辺 桂吾

    第18回計測自動制御学会(SICE)システムインテグレーション部門講演会  2017 

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    Event date: 2017.12.20 - 2017.12.22

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:仙台国際センター  

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  • マンタロボットの自己位置推定のためのピッチ運動を考慮したオプティカルフローの獲得

    池田 将晃,御厨 康太,永井 伊作,渡辺 桂吾

    第27回インテリジェント・システム・シンポジウム (FAN '17)  2017 

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    Event date: 2017.11.7 - 2017.11.8

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:岡山大学  

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  • オプティカルフローによる移動量算出法を用いたマンタロボットの自己位置推定実験とその精度

    今濱 拓哉,渡辺 桂吾,永井 伊作

    第27回インテリジェント・システム・シンポジウム (FAN '17)  2017 

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    Event date: 2017.11.7 - 2017.11.8

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:岡山大学  

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  • インフラ点検用クワッドロータの姿勢制御とカメラスタビライザの安定化制御

    守時 直,渡辺 桂吾,永井 伊作

    第27回インテリジェント・システム・シンポジウム (FAN '17)  2017 

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    Event date: 2017.11.7 - 2017.11.8

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:岡山大学  

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  • 全方向移動型電動車椅子のためのロッカーボギー機構を用いた移動体の開発

    森 有輝,渡辺 桂吾,永井 伊作

    第27回インテリジェント・システム・シンポジウム (FAN '17)  2017 

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    Event date: 2017.11.7 - 2017.11.8

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:岡山大学  

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  • 移動ロボットのための磁気マップとパーティクルフィルタを用いた自己位置推定

    酒井 惇,永井 伊作,渡辺 桂吾

    第27回インテリジェント・システム・シンポジウム (FAN '17)  2017 

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    Event date: 2017.11.7 - 2017.11.8

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:岡山大学  

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  • Attitude Control of a Camera Mounted-type Tethered Quadrotor for Infrastructure Inspection International conference

    Keigo Watanabe, Nao Moritoki, and Isaku Nagai

    The 43rd Annual Conference of the IEEE Industrial Electronics Society (IECON 2017)  2017 

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    Event date: 2017.10.29 - 2017.11.1

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Beijing, China  

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  • A Method for Calculating the Amount of Movements to Estimate the Self-position of Manta Robots International conference

    Takuya Imahama, Keigo Watanabe, Kota Mikuriya, and Isaku Nagai

    The 4th Int. Symposium on Smart Material and Mechatronics  2017 

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    Event date: 2017.10.12 - 2017.10.13

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Gowa, Makassar  

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  • Acquisition of Optical Flow Considering the Pitching Motion to Estimate the Self-position of a Manta Robot International conference

    Masaki Ikeda, Kota Mikuriya, Keigo Watanabe, and Isaku Nagai

    The SICE Annual Conference 2017  2017 

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    Event date: 2017.9.19 - 2017.9.22

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Kanazawa, Japan  

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  • A Localization Method Using a Dynamical Model and an Extended Kalman Filtering for X4-AUV International conference

    Keigo Watanabe, Takanori Yamaguchi, and Isaku Nagai

    The 10th Int. Conf. on Intelligent Robotics and Applications (ICIRA2017)  2017 

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    Event date: 2017.8.15 - 2017.8.18

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Wuhan, China  

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  • System Construction for Distributedly Controlling the Thrusters of X4-AUV International conference

    Xiongshi Xu, Keigo Watanabe, and Isaku Nagai

    The 10th Int. Conf. on Intelligent Robotics and Applications (ICIRA2017)  2017 

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    Event date: 2017.8.15 - 2017.8.18

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Wuhan, China  

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  • Design and Development of Steered Active Wheel Casters and Its Application International conference

    Yutaro Ueno, Keigo Watanabe, and Isaku Nagai

    2017 IEEE Int. Conf. on Mechatronics and Automation (ICMA2017)  2017 

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    Event date: 2017.8.6 - 2017.8.9

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Takamatsu, Japan  

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  • Improvements of One-wheel Driven Personal Mobility for Use on a Public Road International conference

    Takanori Sakata, Isaku Nagai, and Keigo Watanabe

    2017 IEEE Int. Conf. on Mechatronics and Automation (ICMA2017)  2017 

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    Event date: 2017.8.6 - 2017.8.9

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Takamatsu, Japan  

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  • Development and Control of Tilt-wings for a Tilt-type Quadrotor International conference

    Ryuta Takeuchi, Keigo Watanabe and Isaku Nagai

    2017 IEEE Int. Conf. on Mechatronics and Automation (ICMA2017)  2017 

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    Event date: 2017.8.6 - 2017.8.9

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Takamatsu, Japan  

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  • 慣性航法によるマンタ型水中ロボットの自己位置推定

    渡部 友椰, 渡辺 桂吾, 永井 伊作

    ロボティクス・メカトロニクス講演会2017  2017.5.10  日本機械学会

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    Event date: 2017.5.10 - 2017.5.13

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:ビッグパレットふくしま,郡山市  

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  • 一輪駆動型パーソナルモビリティOtellerの屋外使用に向けた改良

    坂田 崇徳,永井 伊作,渡辺 桂吾

    ロボティクス・メカトロニクス講演会2017  2017  日本機械学会

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    Event date: 2017.5.10 - 2017.5.13

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:ビッグパレットふくしま,郡山市  

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  • X4-AUVのための動?学モデルを?いた??位置推定について

    ??貴教, 渡辺圭吾, 永井伊作

    日本機械学会 中国四国支部 第55期総会・講演会  日本機械学会

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    Event date: 2017.3.7

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:広島工業大学  

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  • X4-AUVのための動⼒学モデルを⽤いた⾃⼰位置推定について

    日本機械学会 中国四国支部 第55期総会・講演会  2017.3.6 

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    Event date: 2017.3.6

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  • Construction of a Module for an Omnidirectional Mobile Platform with a Rocker-bogie Suspension System International conference

    Yuki Mori, Keigo Watanabe, Isaku Nagai

    The 22nd Int. Symposium on Artificial Life and Robotics (AROB 22nd '17)  2017 

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    Event date: 2017.1.19 - 2017.1.21

    Language:English   Presentation type:Oral presentation (general)  

    Venue:B-Con Plaza, Beppu, Oita, Japan  

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  • Dynamic model based control and verification for omnidirectional mobile robots with active dual-wheel caster assemblies International conference

    Yuta Fujimoto, Keigo Watanabe, Isaku Nagai

    The 22nd Int. Symposium on Artificial Life and Robotics (AROB 22nd '17)  2017 

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    Event date: 2017.1.19 - 2017.1.21

    Language:English   Presentation type:Oral presentation (general)  

    Venue:B-Con Plaza, Beppu, Oita, Japan  

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  • Improvement of One-wheel Driven Personal Mobility "Oteller" for Outdoor Use

    SAKATA Takanori, NAGAI Isaku, WATANABE Keigo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2017  The Japan Society of Mechanical Engineers

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    Event date: 2017

    Language:Japanese  

    <p>As a daily means for transportation, a personal mobility (PM) attracts attention. However, most of conventional PM are expensive and unavailable to use freely on Japanese public roads because of Road Traffic Act. Therefore, our laboratory developed a PM"Oteller"with a driving wheel for the purpose of low cost and using on the public roads freely. However, the PM has some problems; its driving speed becomes uncontrollable by sunlight that changes DC offset of signals from an optical sensor for measuring the speed, and a fall of the driver by a sudden stop of the driving wheel due to battery exhaustion. In this paper, the speed becomes controllable under the sun by using a circuit which converts the signals with AC coupling. In addition, the fall is prevented by stopping the PM automatically while gently decelerating after detecting battery exhaustion.</p>

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  • 小型X4-AUV のためのスラスタのサーボ化とその制御

    徐 雄仕,渡辺 桂吾,永井 伊作

    第17回計測自動制御学会システムインテグレーション部門講演会(SI2016)  2016 

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    Event date: 2016.12.15 - 2016.12.17

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:札幌コンベンションセンター  

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  • 自動車型移動ロボットの画像に基づくファジィ車庫入れ制御

    イン イン エイ,渡辺 桂吾,前山 祥一,永井 伊作

    第17回計測自動制御学会システムインテグレーション部門講演会(SI2016)  2016 

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    Event date: 2016.12.15 - 2016.12.17

    Language:English   Presentation type:Oral presentation (general)  

    Venue:札幌コンベンションセンター  

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  • Autonomous Parking System of a Car-like Mobile Robot Using an Image Based Fuzzy Controller International conference

    Kyaw Thiha, Yin Yin Aye, Keigo Watanabe, and Isaku Nagai

    Proc. of the Seventh Int. Conf. on Science and Engineering (ICSE 2016)  2016 

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    Event date: 2016.12.10 - 2016.12.11

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Yangon Technological University, Yangon, Myanmar  

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  • A Servo Control System for the Thruster of a Small-sized X4-AUV International conference

    Xiongshi Xu, Keigo Watanabe, and Isaku Nagai

    Proc. of the 3rd Int. Symposium on Smart Material and Mechatronics  2016 

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    Event date: 2016.11.15 - 2016.11.17

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Gowa, Makassar, South of Sulawesi, Indonesia  

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  • A Localization Method for Manta Robots Using an Optical Flow Technique International conference

    Masaaki Ikeda, Kota Mikuriya, Keigo Watanabe, and Isaku Nagai

    Proc. of the 3rd Int. Symposium on Smart Material and Mechatronics  2016 

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    Event date: 2016.11.15 - 2016.11.17

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Gowa, Makassar, South of Sulawesi, Indonesia  

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  • Production of a Tilt Rotor System and a Speed Control of a DC Motor for Quadrotors International conference

    Tomohiko Hasegawa, Keigo Watanabe, and Isaku Nagai

    Proc. of the 3rd Int. Symposium on Smart Material and Mechatronics  2016 

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    Event date: 2016.11.15 - 2016.11.17

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Gowa, Makassar, South of Sulawesi, Indonesia  

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  • Correcting Path of a Shopping Cart Using a Particle Filter and an Environment Map International conference

    Daiki Sasakura, Isaku Nagai, and Keigo Watanabe

    Proc. of the 3rd Int. Symposium on Smart Material and Mechatronics  2016 

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    Event date: 2016.11.15 - 2016.11.17

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Gowa, Makassar, South of Sulawesi, Indonesia  

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  • An Intelligent Parking System for Vehicles Using an Image-based Fuzzy Controller International conference

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, and Isaku Nagai

    Proc. of the 3rd Int. Symposium on Smart Material and Mechatronics  2016 

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    Event date: 2016.11.15 - 2016.11.17

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Gowa, Makassar, South of Sulawesi, Indonesia  

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  • The measurement of the response of black sea cucumber (Holothuria atra) to acoustic stimulations International conference

    Kazuyoshi Ichihashi*,**, Isaku Nagai, Hidemi Akimoto***, Naoki Sakurai*** (*Univ. Toyo, **Univ. Keio, ***Univ. Hiroshima)

    The 87th Annual Meeting of the Zoological Society of Japan  2016  日本動物学会

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    Event date: 2016.11.14 - 2016.11.19

    Language:English   Presentation type:Poster presentation  

    Venue:沖縄  

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  • Development of an Omnidirectional Mobile Platform with a Rocker-bogie Suspension System International conference

    Yuki Mori, Keigo Watanabe, and Isaku Nagai

    Proc. of the 42nd Annual Conference of the IEEE Industrial Electronics Society (IECON 2016)  2016 

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    Event date: 2016.10.24 - 2016.10.27

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Florence, Italy  

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  • Path Estimation of a Shopping Cart Using Particle Filter and Environment Map International conference

    Daiki Sasakura, Keigo Watanabe, and Isaku Nagai

    Proc. of the 42nd Annual Conference of the IEEE Industrial Electronics Society (IECON 2016)  2016 

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    Event date: 2016.10.24 - 2016.10.27

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Florence, Italy  

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  • Development of a Camera-mounted Tethered Quadrotor for Inspecting Infrastructures International conference

    Keigo Watanabe, Keisuke Kinoshita, Isaku Nagai, and Maki K. Habib

    Proc. of the 42nd Annual Conference of the IEEE Industrial Electronics Society (IECON 2016)  2016 

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    Event date: 2016.10.24 - 2016.10.27

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Florence, Italy  

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  • The Stabilization of Attitude of a Manta Robot by a Mechanism for Moving the Center of Gravity and Improvement of Diving Ability International conference

    Takanori Nakatsuka, Keigo Watanabe, and Isaku Nagai

    Proc. of 2016 16th Int. Conf. on Control, Automation and Systems (ICCAS2016), Oct. 16--19, 2016 in HICO, Gyeongju, Korea, pp. 220--225  2016 

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    Event date: 2016.10.16 - 2016.10.19

    Language:English   Presentation type:Oral presentation (general)  

    Venue:HICO, Gyeongju, Korea  

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  • Position Detection of Quadrotors Using a Tether Winder International conference

    Nao Moritoki, Keigo Watanabe, and Isaku Nagai

    Proc. of 2016 16th Int. Conf. on Control, Automation and Systems (ICCAS2016)  2016 

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    Event date: 2016.10.16 - 2016.10.19

    Language:English   Presentation type:Oral presentation (general)  

    Venue:HICO, Gyeongju, Korea  

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  • Stabilizing Control for the Attitude of a Small-Sized X4-AUV International conference

    Geri Letu, Xiongshi Xu, Keigo Watanabe, and Isaku Nagai

    Proc. of the SICE Annual Conference 2016  2016 

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    Event date: 2016.9.20 - 2016.9.23

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Tsukuba, Japan  

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  • Attitude Stabilization of a Manta Robot by Fuzzy Control International conference

    Masaaki Ikeda, Yukito Hamano, Keigo Watanabe, and Isaku Nagai

    Proc. of the SICE Annual Conference 2016  2016 

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    Event date: 2016.9.20 - 2016.9.23

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Tsukuba, Japan  

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  • 700Hzまでの音刺激に対するクロナマコの反応

    一橋和義(東洋大学,慶應義塾大学),永井伊作(岡山大学),櫻井直樹(広島大学)

    第18回日本感性工学会大会  2016  日本感性工学会

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    Event date: 2016.9.9 - 2016.9.11

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:日本女子大学 目白キャンパス  

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  • The Design and Production of a Tilt Rotor System for Quadrotors International conference

    Tomohiko Hasegawa, Keigo Watanabe, Isaku Nagai, and Shoichi Maeyama

    Proc. of Int. Conf. on Information and Communication Technology Robotics (ICT-ROBOT 2016)  2016 

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    Event date: 2016.9.7 - 2016.9.9

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Busan, Korea  

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  • 画像幅の92%までの高速度に追従する路面視覚追跡

    永井伊作,渡辺桂吾

    第34回日本ロボット学会学術講演会(RSJ2016)  2016  日本ロボット学会

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    Event date: 2016.9.7 - 2016.9.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:山形大学  

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  • Speed Control of One-wheel Driven Personal Mobility for Use on a Public Road International conference

    Hiromasa Iwasaki, Isaku Nagai, and Keigo Watanabe

    Proc. of Int. Conf. on Information and Communication Technology Robotics (ICT-ROBOT 2016)  2016 

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    Event date: 2016.9.7 - 2016.9.9

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Busan, Korea  

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  • Indoor Self-Localization Using a Magnetic Map International conference

    Jun Sakai, Isakau Nagai, and Keigo Watanabe

    Proc. of Int. Conf. on Information and Communication Technology Robotics (ICT-ROBOT 2016)  2016 

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    Event date: 2016.9.7 - 2016.9.9

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Busan, Korea  

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  • The Color Image and Chemical Compositions of the Fragrance of Ayu fish (Plecoglossus altivelis) International conference

    Kazuyoshi ICHIHASHI*, Tatsuo HAGIWARA**, Takayuki AIHARA**, Yasushi SEKI**, Isaku NAGAI, Midori KURAHASHI*** (*Toyo University, **Foundation for Promotion of Material Science and Technology of Japan, ***The University of Tokyo)

    The Water and Environment Technology Conference 2016 (WET2016)  2016  日本水環境学会

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    Event date: 2016.8.27 - 2016.8.28

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Chuo University, Korakuen campus  

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  • Image-based fuzzy control of a car-like mobile robot for parking problem International conference

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, and Isaku Nagai

    Proc. of 2016 IEEE Int. Conf. on Mechatronics and Automation (ICMA2016)  2016 

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    Event date: 2016.8.7 - 2016.8.10

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Harbin, China  

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  • 移動ロボットのためのスペックルオドメータモジュールの開発

    永井伊作、篠倉大貴、渡辺桂吾

    ロボティクス・メカトロニクス講演会2016  2016  日本機械学会

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    Event date: 2016.6.9 - 2016.6.10

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:パシフィコ横浜  

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  • 一輪駆動型パーソナルモビリティOteller の公道使用に向けた改良

    岩崎裕大,永井伊作,渡辺桂吾

    ロボティクス・メカトロニクス講演会2016  2016  日本機械学会

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    Event date: 2016.6.9 - 2016.6.10

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:パシフィコ横浜  

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  • テザー巻き取り装置によるクワッドロータの位置検出

    守時直,渡辺桂吾,永井伊作

    ロボティクス・メカトロニクス講演会2016  2016  日本機械学会

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    Event date: 2016.6.9 - 2016.6.10

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:パシフィコ横浜  

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  • ロッカーボギー機構を用いた全方向移動プラットフォームの開発

    森有輝,渡辺桂吾,永井伊作

    ロボティクス・メカトロニクス講演会2016  2016  日本機械学会

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    Event date: 2016.6.9 - 2016.6.10

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:パシフィコ横浜  

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  • 真牡蠣の香りの多感覚的印象評価と香り成分の関連

    一橋和義(東京大学,東洋大学,慶應義塾大学),原島宏至(株式会社スフィーノ),萩原達生,相原敬之,関泰史(材料科学技術振興財団),永井伊作,倉橋みどり(東京大学)

    第11回日本感性工学会春季大会  2016  日本感性工学会

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    Event date: 2016.3.26 - 2016.3.27

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:神戸国際会議場  

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  • Attitude Control for Manta Robots Using a Fuzzy Controller International conference

    Yukito Hamano, Keigo Watanabe, Isaku Nagai, and Masaaki Ikeda

    Proc. of the 21st Int. Symposium on Artificial Life and Robotics (AROB 21th '16)  2016 

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    Event date: 2016.1.23 - 2016.1.25

    Language:English   Presentation type:Oral presentation (general)  

    Venue:B-Con Plaza, Beppu, Oita, Japan  

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  • Optimization of an image-based fuzzy controller for an automatic parking system using a genetic algorithm International conference

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, and Isaku Nagai

    Proc. of the 21st Int. Symposium on Artificial Life and Robotics (AROB 21th '16)  2016 

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    Event date: 2016.1.23 - 2016.1.25

    Language:English   Presentation type:Oral presentation (general)  

    Venue:B-Con Plaza, Beppu, Oita, Japan  

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  • Motion Estimation of a Walking Robot Based on Laser Speckle Odometry International conference

    Rui Saito, Isaku Nagai, and Keigo Watanabe

    Proc. of the 21st Int. Symposium on Artificial Life and Robotics (AROB 21th '16)  2016 

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    Event date: 2016.1.23 - 2016.1.25

    Language:English   Presentation type:Oral presentation (general)  

    Venue:B-Con Plaza, Beppu, Oita, Japan  

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  • レーザスペックルオドメトリを用いた歩行ロボットの自己位置推定

    齊藤 塁、永井 伊作、渡辺 桂吾

    第16回計測自動制御学会(SICE) システムインテグレーション部門講演会  2015  計測自動制御学会

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    Event date: 2015.12.14 - 2015.12.16

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:名古屋国際会議場  

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  • ファジィ制御によるマンタロボットの姿勢安定化

    浜野 友希豊、渡辺 桂吾、永井 伊作

    第16回計測自動制御学会(SICE) システムインテグレーション部門講演会  2015  計測自動制御学会

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    Event date: 2015.12.14 - 2015.12.16

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:名古屋国際会議場  

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  • スペックルオドメータとジャイロセンサを用いた買物カートの経路取得

    篠倉 大貴,永井 伊作,渡辺 桂吾

    第24回計測自動制御学会中国支部学術講演会  2015  計測自動制御学会

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    Event date: 2015.11.28

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:岡山理科大学  

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  • 小型X4-AUVの製作と制御

    渡辺 桂吾, ゲルレト, 飛田 真之介, 永井 伊作

    第25回インテリジェント・システム・シンポジウム (FAN2015)  2015 

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    Event date: 2015.9.24 - 2015.9.25

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • チルトロータ方式による主翼付クワッドロータの制御

    中村 吉一, 渡辺 桂吾, 永井 伊作

    第25回インテリジェント・システム・シンポジウム (FAN2015)  2015 

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    Event date: 2015.9.24 - 2015.9.25

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 4分割部分エンベロープを有するブリンプロボットの制御

    渡辺 桂吾, 岡村 直人, 永井 伊作

    第33回日本ロボット学会学術講演会 (RSJ2015)  2015  日本ロボット学会

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    Event date: 2015.9.3 - 2015.9.5

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 水中歩行ロボットのための姿勢情報を加えたレーザオドメトリ

    齊藤塁、永井伊作、渡辺桂吾

    ロボティクス・メカトロニクス講演会2015  2015  日本機械学会

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    Event date: 2015.5.17 - 2015.5.19

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:京都市勧業館「みやこめっせ」  

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  • 小型X4-AUV の設計と製作

    格日勒図、飛田真之介、渡辺桂吾、永井伊作

    ロボティクス・メカトロニクス講演会2015  2015  日本機械学会

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    Event date: 2015.5.17 - 2015.5.19

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:京都市勧業館「みやこめっせ」  

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  • 3 次元形状を考慮した水中探査用マンタロボットの開発

    御厨康太、日笠成基、浜野友希豊、渡辺桂吾、永井伊作

    ロボティクス・メカトロニクス講演会2015  2015  日本機械学会

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    Event date: 2015.5.17 - 2015.5.19

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:京都市勧業館「みやこめっせ」  

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  • 4つのプロペラを有する小型飛行船ロボットの製作

    岡村直人,渡辺桂吾,永井伊作

    日本機械学会 中国四国支部 第53期総会・講演会  2015  日本機械学会

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    Event date: 2015.3.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:近畿大学工学部  

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  • 胸びれ推進機構を用いたマンタロボットのための動力学モデル

    日笠成基,渡辺桂吾,永井伊作

    日本機械学会 中国四国支部 第53期総会・講演会  2015  日本機械学会

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    Event date: 2015.3.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:近畿大学工学部  

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  • 画像に基づくNN 制御器を用いた移動ロボットの人間追従

    藤岡晃, 渡辺桂吾, 前山祥一,永井伊作

    第15回計測自動制御学会(SICE) システムインテグレーション部門講演会  2014 

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    Event date: 2014.12.15 - 2014.12.17

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • オプティカルフローを用いた画像に基づく視覚サーボによる障害物回避

    景由俊之, 渡辺桂吾, 前山祥一,永井伊作

    第15回計測自動制御学会(SICE) システムインテグレーション部門講演会  2014 

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    Event date: 2014.12.15 - 2014.12.17

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 感情認識システムを利用した対話システムの構築

    吉村翔太, 渡辺桂吾, 永井伊作

    計測自動制御学会システム・情報部門学術講演会2014(SSI2014)  2014 

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    Event date: 2014.11.21 - 2014.11.23

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 屋内用飛行ロボットのための3 次元位置計測システムの開発

    渡辺桂吾, 山田裕也, 永井伊作

    第24回インテリジェント・システム・シンポジウム(FAN '14)  2014 

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    Event date: 2014.9.18 - 2014.9.19

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • FAN-14-012 The Development of a 3D Position Measurement System for Indoor Aerial Robots

    WATANBE Keigo, YAMADA Yuya, NAGAI Isaku

    FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies  2014.9.18  The Japan Society of Mechanical Engineers

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    Event date: 2014.9.18

    Language:Japanese  

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  • テザーを利用したX4フライヤーの姿勢および位置の制御

    大内 祐介,木下 敬介,渡辺 桂吾,永井 伊作

    第32回日本ロボット学会学術講演会  2014  日本ロボット学会

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    Event date: 2014.9.4 - 2014.9.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:九州産業大学  

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  • ビジュアルオドメトリ移動ロボットによる教示再生走行

    永井 伊作,渡辺 桂吾

    第32回日本ロボット学会学術講演会  2014  日本ロボット学会

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    Event date: 2014.9.4 - 2014.9.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:九州産業大学  

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  • Proposal of a Laser Odometry for Underwater Mobile Robot

    2014 

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    Event date: 2014.5.26 - 2014.5.28

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • Stabilization of a Four-Rotor Aerial Robot in Hovering

    2014 

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    Event date: 2014.5.26 - 2014.5.28

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 水中移動ロボットのためのレーザオドメトリの提案

    ロボティクス・メカトロニクス講演会2014  2014.5 

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    Event date: 2014.5.25 - 2014.5.29

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  • 1P1-H08 Proposal of a Laser Odometry for Underwater Mobile Robot(Underwater Robot and Mechatronics (2))

    SAITO Rui, NAGAI Isaku, WATANABE Keigo

    2014.5.24  The Japan Society of Mechanical Engineers

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    Event date: 2014.5.24

    Language:Japanese  

    Localization under water is required for the underwater mobile robot to conduct the survey autonomously. There is a conventional method using inertial navigation system as a localization under water, however it takes high costs. In this study, we propose a laser odmetry as a localization for underwater mobile robot. The laser odometry is a method to estimate motion by tracking the laser speckle pattern. It can measure three dimensional positions and a rotation. In this paper, we introduce a principle of the laser odometry, the construction of the sensor unit, and the results of measurement accuracy experiments under water.

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  • 2A2-F04 Stabilization of a Four-Rotor Aerial Robot in Hovering(Aerial Robot and Mechatronics (2))

    KINOSHITA Keisuke, OUCHI Yusuke, WATANABE Keigo, NAGAI Isaku

    2014.5.24  The Japan Society of Mechanical Engineers

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    Event date: 2014.5.24

    Language:Japanese  

    UAVs have been actively researched as a means of collecting information during disasters. In particular, helicopter-type UAVs using four rotors are often called an X4-Flyer, and it has been attracting attention. The X4-Flyer has excellent maneuverability, compared to conventional helicopters that change the angle of attack of the rotor. Therefore it can be used at a space such as indoor or low altitude in which many obstacles exist. When the X4-Flyer is used at such a space, it needs to fly not so as to collide with obstacles, and so the precise control of the X4-Flyer is required. The objective of this research is to develop the X4-Flyer that can fly while detecting and avoiding obstacles. This paper presents the attitude and altitude stabilization of the X4-Flyer. We describe on measuring of the physical parameters related to the rotors and on correcting individual differences in motors, and finally conduct a hovering experiment.

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  • 1自由度を実現するための羽ばたき機構の考察

    池淵 彰,渡辺 桂吾,永井 伊作

    日本機械学会 中国四国支部 第52期総会・講演会  2014  日本機械学会

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    Event date: 2014.3.7

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:鳥取大学  

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  • 一輪駆動型パーソナルモビリティの速度制御と補助輪評価

    前田 昌顯,永井 伊作,渡辺 桂吾

    日本機械学会 中国四国支部 第52期総会・講演会  2014  日本機械学会

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    Event date: 2014.3.7

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:鳥取大学  

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  • カメラを用いた屋内用3次元位置計測システムの開発

    山田裕也,渡辺桂吾,永井伊作

    第14回計測自動制御学会システムインテグレーション部門講演会  2013  計測自動制御学会

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    Event date: 2013.12.18 - 2013.12.20

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:神戸市  

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  • 水中探査用マンタロボットの推進制御のための姿勢を考慮したCPGの設計

    池田 将晃,日笠 成基,渡辺 桂吾,永井 伊作

    第23回インテリジェント・システム・シンポジウム  2013  電気学会 電子・情報・システム部門

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    Event date: 2013.9.25 - 2013.9.26

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:福岡市  

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  • 水中探査型マンタロボットの姿勢計測システム

    日笠 成基,池田 将晃,渡辺 桂吾,永井 伊作

    第31回日本ロボット学会学術講演会  2013  日本ロボット学会

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    Event date: 2013.9.4 - 2013.9.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:東京都八王子市  

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  • 路面画像を用いて累積誤差を自動修正する差動ビジュアルオドメトリ

    ロボティクス・メカトロニクス講演会2013  2013.5 

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    Event date: 2013.5.22 - 2013.5.25

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  • Differential Visual Odometry for Correcting Automatically Accumulated Errors Using Ground Images

    2013 

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    Event date: 2013.5.22 - 2013.5.24

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 可聴域を超えた音を含む高音質音源の心身へ与える影響

    一橋 和義,坂元 勇仁,竹原 直美,矢野 環,今泉 徳人,時枝 一博,永井 伊作,中澤 慶,奥原 秀明,山崎 英樹,伊藤 祐市,緒方 理恵,花房 勤,酒井 哲哉,岩本 敏孝,谷澤 哲,京増 弘志,京増 雄介,坂口 源,鈴木 政直,舛川 智子,小山 茂

    日本音響学会2013年春季研究発表会  2013  日本音響学会

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    Event date: 2013.3.13 - 2013.3.15

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:東京工科大学八王子キャンパス  

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  • X4-AUV の動的不連続モデルに基づく劣駆動制御

    滝澤賢,渡辺桂吾,永井伊作

    日本機械学会中国四国支部第51 期総会・講演会  2013  日本機械学会中国四国支部

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    Event date: 2013.3.8

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:高知工科大学  

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  • マンタ型ロボットの胸びれ推進機構による潜水方法の検討

    日笠 成基,渡辺 桂吾,池田 将晃,永井 伊作

    第21回計測自動制御学会中国支部学術講演会  2012  計測自動制御学会中国支部

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    Event date: 2012.11.24

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:広島工業大学  

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  • 4つのロータを有するVTOL 型飛行ロボットの姿勢安定化

    岩部 広太郎,渡辺 桂吾,永井 伊作

    第21回計測自動制御学会中国支部学術講演会  2012  計測自動制御学会中国支部

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    Event date: 2012.11.24

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:広島工業大学  

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  • 光学センサを用いた位置推定装置?センサ間距離と精度の関係?

    岡野 宏,渡辺 桂吾,永井 伊作

    第21回計測自動制御学会中国支部学術講演会  計測自動制御学会中国支部

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    Event date: 2012.11.24

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:広島工業大学  

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  • 4つのプロペラを有する飛行船ロボット「X4ブリンプ」の部分劣駆動制御

    中村吉一,渡辺桂吾,永井伊作,前山祥一

    日本ロボット学会学術講演会  2012  日本ロボット学会

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    Event date: 2012.9.17 - 2012.9.20

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:札幌コンベンションセンター  

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  • Rajiform型魚ロボットの制御のための状態観測と動的モデル作成法について

    池田将晃,渡辺桂吾,永井伊作

    日本ロボット学会学術講演会  2012  日本ロボット学会

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    Event date: 2012.9.17 - 2012.9.20

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:札幌コンベンションセンター  

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  • 不変多様体法による消防車型移動ロボット車の切換え制御

    渡辺 桂吾,上田 侑華,永井 伊作

    第22回インテリジェント・システム・シンポジウム(FAN '12)  2012 

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    Event date: 2012.8.30 - 2012.8.31

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 水中探査用マンタ型ロボットの推進実験による運動解析とCPGの設計

    池田 将晃,日笠 成基,渡辺 桂吾,永井 伊作

    第22回インテリジェント・システム・シンポジウム(FAN '12)  2012 

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    Event date: 2012.8.30 - 2012.8.31

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 省駐輪スペースを特徴とする一輪駆動パーソナルモビリティ

    前田昌顯、永井伊作、渡辺桂吾

    ロボティクス・メカトロニクス講演会2012  2012  日本機械学会

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    Event date: 2012.5.27 - 2012.5.29

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:浜松  

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  • 非接触型の並進移動量計測装置を用いた屋外移動ロボットの自己位置推定モジュールの開発と屋外フィールドにおける性能評価

    山内元貴(東北大)、永井伊作(岡山大)、永谷圭司、吉田和哉(東北大)

    ロボティクス・メカトロニクス講演会2012  2012  日本機械学会

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    Event date: 2012.5.27 - 2012.5.29

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:浜松  

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  • 水中探査用マンタ型ロボットのCPGを用いた推進制御

    池田将晃、葭仲勝則、山本裕也、渡辺桂吾、永井伊作

    ロボティクス・メカトロニクス講演会2012  2012  日本機械学会

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    Event date: 2012.5.27 - 2012.5.29

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:浜松  

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  • バンドパスフィルタによる太陽光対策を施した非接触型移動量推定デバイス

    永井伊作、渡辺桂吾

    ロボティクス・メカトロニクス講演会2012  2012  日本機械学会

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    Event date: 2012.5.27 - 2012.5.29

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:浜松  

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  • CPGを用いたマンタ型ロボットの研究

    山本裕也,渡辺桂吾,永井伊作

    日本機械学会中国四国支部第50期総会・講演会  2012  日本機械学会中国四国支部

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    Event date: 2012.3.8

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:広島大学  

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  • アクティブ双輪キャスタ機構を用いた全方向移動型電動車椅子の開発

    上野拓海,渡辺桂吾,永井伊作

    日本機械学会中国四国支部第50期総会・講演会  2012  日本機械学会中国四国支部

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    Event date: 2012.3.8

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:広島大学  

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  • 超小型ロボットに搭載可能な非接触型自己位置推定デバイスの屋外環境での性能評価

    山内元貴,永井伊作,野寄敬博,高橋悠輔,永谷圭司,吉田和哉

    第12回計測自動制御学会システムインテグレーション部門講演会  2011  計測自動制御学会

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    Event date: 2011.12.23 - 2011.12.25

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:京都大学 吉田キャンパス  

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  • 4つのロータを有するVTOL型飛行ロボットの姿勢制御

    岩部 広太郎,渡辺 桂吾,永井 伊作

    第20回計測自動制御学会中国支部学術講演会  2011  計測自動制御学会

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    Event date: 2011.11.26 - 2011.11.27

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 音声対話ロボットのための感情認識システムの開発研究

    石川 剛,渡辺 桂吾,永井 伊作

    第20回計測自動制御学会中国支部学術講演会  2011  計測自動制御学会

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    Event date: 2011.11.26 - 2011.11.27

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 光学マウスのセンサを用いた運動計測装置 ?平面移動および高さ変化の計測?

    永井 伊作,渡辺 桂吾,永谷 圭司,吉田 和哉

    第29回日本ロボット学会学術講演会 

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    Event date: 2011.9.8

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 光学マウスのセンサを用いた運動計測装置 ~平面移動および高さ変化の計測~

    第29回日本ロボット学会学術講演会  2011.9 

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    Event date: 2011.9.7 - 2011.9.9

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  • 階段清掃ロボットにおける移動機構の検討

    角道 貴久,渡辺 桂吾,永井 伊作

    日本機械学会ロボティクス・メカトロニクス講演会2011  2011 

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    Event date: 2011.5.27

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 小型掃除ロボットの開発(第2報:障害物に沿う走行の実現)

    藤本 祥語,永井 伊作,渡辺 桂吾

    日本機械学会ロボティクス・メカトロニクス講演会2011  2011 

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    Event date: 2011.5.27

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 4つのロータを有するVTOL型飛行ロボット ?機体の設計,製作および飛行実験?

    岩部 広太郎,永井 伊作,渡辺 桂吾

    日本機械学会ロボティクス・メカトロニクス講演会2011 

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    Event date: 2011.5.27

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 4つのロータを有するVTOL型飛行ロボット -機体の設計,製作および飛行実験-

    日本機械学会ロボティクス・メカトロニクス講演会2011  2011.5 

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    Event date: 2011.5.26 - 2011.5.28

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  • 4つのロータを有するVTOL型飛行ロボットの設計(ロータの推力実験)

    岩部 広太郎,永井 伊作,渡辺 桂吾

    日本機械学会中国四国支部第49期総会・講演会  2011 

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    Event date: 2011.3.5

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • ビジュアルオドメトリを用いて位置決めを行う四足歩行ロボット

    清水 建樹,永井 伊作,渡辺 桂吾

    日本機械学会中国四国支部第49期総会・講演会  2011 

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    Event date: 2011.3.5

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • ビジュアルオドメトリを用いた不整地移動ロボットの自己位置推定

    高籏 賀大,永井 伊作,渡辺 桂吾

    日本機械学会中国四国支部第49期総会・講演会  2011 

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    Event date: 2011.3.5

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 赤外線を用いたポインティングデバイスとキー入力の機能を持つ統合型インターフェース

    道下 真也,永井 伊作,渡辺 桂吾

    日本機械学会中国四国支部第49期総会・講演会  2011 

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    Event date: 2011.3.5

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 板ばねを用いた高重心腱駆動ロボットの動作特性

    大西 創右,永井 伊作,渡辺 桂吾

    第11回計測自動制御学会システムインテグレーション部門講演会  2010 

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    Event date: 2010.12.24

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 4つのスラスターで駆動される水中ロボットの非ホロノミック制御

    渡辺 桂吾,エムディ・ザイン ザイナ,檀上 智美,永井 伊作,泉 清高

    第20回インテリジェント・システム・シンポジウム (FAN '10)  2010 

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    Event date: 2010.9.25 - 2010.9.26

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 小型掃除ロボットの開発(第1報:不織布と回転ブラシを用いた掃除機構)

    藤本 祥語,永井 伊作,渡辺 桂吾

    第28回日本ロボット学会学術講演会  2010 

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    Event date: 2010.9.24

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • レーザ光源と光学センサを用いたスリップに頑強な移動ロボット用位置推定システムの構築

    永井伊作,渡辺桂吾,永谷圭司,吉田和哉

    日本機械学会ロボティクス・メカトロニクス講演会2010  2010 

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    Event date: 2010.6.15 - 2010.6.16

    Language:Japanese   Presentation type:Poster presentation  

    Venue:旭川市  

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  • 板ばねを用いた高重心腱駆動ロボットの開発

    大西創右,永井伊作,渡辺桂吾

    日本機械学会ロボティクス・メカトロニクス講演会2010  2010 

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    Event date: 2010.6.15 - 2010.6.16

    Language:Japanese   Presentation type:Poster presentation  

    Venue:旭川市  

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  • 移動面視覚追跡の高速計算

    永井伊作,渡辺桂吾

    日本機械学会ロボティクス・メカトロニクス講演会2010  2010 

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    Event date: 2010.6.15 - 2010.6.16

    Language:Japanese   Presentation type:Poster presentation  

    Venue:旭川市  

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  • 家電インタフェースのためのカメラを用いたジェスチャ認識

    秋定まゆみ,永井伊作,渡辺桂吾

    日本機械学会中国四国支部第48期総会・講演会  2010 

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    Event date: 2010.3.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:広島市  

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  • 階段清掃ロボットの開発(ODEを用いた階段移動の検証)

    角道貴久,永井伊作,渡辺桂吾

    日本機械学会中国四国支部第48期総会・講演会  2010 

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    Event date: 2010.3.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:広島市  

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  • 4点測光式スポット位置検出装置

    *永井伊作,渡辺桂吾

    第10回計測自動制御学会システムインテグレーション部門講演会  2009 

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    Event date: 2009.12.24 - 2009.12.26

    Presentation type:Oral presentation (general)  

    Venue:東京都江東区豊洲  

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  • 特徴点を用いた高速かつ高精度な床画像追跡

    俣野雄紀,*永井伊作,渡辺桂吾

    第10回計測自動制御学会システムインテグレーション部門講演会  2009 

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    Event date: 2009.12.24 - 2009.12.26

    Presentation type:Oral presentation (general)  

    Venue:東京都江東区豊洲  

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  • 広い視野と省スペースを実現するビジュアルオドメトリ

    山本泰史,*永井伊作,渡辺桂吾

    第10回計測自動制御学会システムインテグレーション部門講演会  2009 

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    Event date: 2009.12.24 - 2009.12.26

    Presentation type:Oral presentation (general)  

    Venue:東京都江東区豊洲  

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  • 足裏感覚フィードバックを用いたマスタ・スレーブ型2脚歩行ロボットの制御

    桜間 啓史,永井 伊作

    日本機械学会中国四国支部第47期総会・講演会  2009 

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    Event date: 2009.3.6

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 自動帰着機能を有する全方向移動ロボットの開発

    石丸 祥,永井 伊作

    日本機械学会中国四国支部第47期総会・講演会  2009 

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    Event date: 2009.3.6

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 移動ロボットのための走行面視覚追跡における誤差モデル

    *永井伊作

    日本機械学会ロボティクス・メカトロニクス講演会2008  2008 

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    Event date: 2008.6.5 - 2008.6.7

    Presentation type:Poster presentation  

    Venue:長野市  

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  • ビジュアルオドメトリの効率化に関する研究

    井作 正之,*永井 伊作

    日本機械学会中国四国支部第46期総会・講演会  2008 

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    Event date: 2008.3.7

    Presentation type:Oral presentation (general)  

    Venue:東広島市  

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  • ステレオカメラを用いたポインティングデバイスのためのジェスチャ認識

    白神 孝洋,*永井 伊作

    日本機械学会中国四国支部第46期総会・講演会  2008 

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    Event date: 2008.3.7

    Presentation type:Oral presentation (general)  

    Venue:東広島市  

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  • 横顔輪郭線を用いた人物の識別

    岡本 浩典,*永井 伊作

    日本機械学会中国四国支部第46期総会・講演会  2008 

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    Event date: 2008.3.7

    Presentation type:Oral presentation (general)  

    Venue:東広島市  

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  • テレセントリックカメラを用いた車輪型砂上移動ロボットのオンラインスリップ推定

    池田 礼子,*永井 伊作,石上 玄也,永谷 圭司,吉田 和哉

    計測自動制御学会,第8回システムインテグレーション部門講演会  2007 

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    Event date: 2007.12.20 - 2007.12.22

    Presentation type:Oral presentation (general)  

    Venue:広島市  

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  • 浮上移動ロボットの自己位置推定と移動制御

    桜間啓史, *永井伊作, 田中豊

    日本機械学会ロボティクス・メカトロニクス講演会2007  2007 

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    Event date: 2007.5.10 - 2007.5.12

    Venue:秋田市  

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  • 2視点追跡による走行面模様の高精度な運動計測

    *永井伊作, 中尾祐士, 田中豊

    日本機械学会ロボティクス・メカトロニクス講演会2007  2007 

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    Event date: 2007.5.10 - 2007.5.12

    Venue:秋田市  

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  • 床画像追跡における高精度な回転運動の計測

    中尾祐士,*永井伊作,田中豊

    日本機械学会中国四国支部第45期総会・講演会  2007 

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    Event date: 2007.3.7

    Venue:徳島市  

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  • 反射光を考慮したロバストなビジュアルオドメトリ法の研究

    中野史士,*永井伊作,田中豊

    日本機械学会中国四国支部第45期総会・講演会  2007 

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    Event date: 2007.3.7

    Venue:徳島市  

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  • 横顔輪郭線を用いた人物の特徴点決定

    岡本浩典,*永井伊作,田中豊

    日本機械学会中国四国支部第45期総会・講演会  2007 

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    Event date: 2007.3.7

    Venue:徳島市  

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  • カメラ画像を用いたヒューマノイドロボットへの動作教示システム

    三浦正義,*永井伊作,田中 豊

    第7回計測自動制御学会(SICE)システムインテグレーション部門講演会  2006 

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    Event date: 2006.12.14 - 2006.12.17

    Venue:札幌市  

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  • LRFを用いた環境地図作成と自律走行車制御

    中西紘一,*永井伊作,田中 豊

    第24回日本ロボット学会学術講演会 pp.2E11(1)-(4)  2006 

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    Event date: 2006.9.14 - 2006.9.16

    Venue:岡山市  

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  • ステレオカメラを用いたポインティングデバイスの開発

    久米孝明,*永井伊作,田中 豊

    日本機械学会中国四国支部第44期総会・講演会  2006 

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    Event date: 2006.3.8

    Venue:東広島市  

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  • 画像処理を用いた顧客情報獲得に関する研究

    義若紘史,*永井伊作,田中 豊

    日本機械学会ロボティクス・メカトロニクス講演会2005  2005 

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    Event date: 2005.6.9 - 2005.6.11

    Venue:神戸市  

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  • 走行面の視覚追跡によるクローラ型移動ロボットの制御

    *永井伊作,田中 豊

    日本機械学会ロボティクス・メカトロニクス講演会2005  2005 

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    Event date: 2005.6.9 - 2005.6.11

    Venue:神戸市  

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  • ステレオカメラを用いたポインティングデバイスに関する研究 ?人差し指の5自由度運動計測?

    久米孝明,*永井伊作,田中 豊

    日本機械学会ロボティクス・メカトロニクス講演会2005 

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    Event date: 2005.6.9 - 2005.6.11

    Venue:神戸市  

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  • ステレオカメラを用いたポインティングデバイスに関する研究 -人差し指の5自由度運動計測-

    日本機械学会ロボティクス・メカトロニクス講演会2005  2005.6 

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    Event date: 2005.6.9

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  • 六員環を含むジアルキルエステルをにおい吸着膜に用いる水晶振動子においセンサ

    仁科 勇太 永井 伊作 廣田 和弘

    日本化学会第85春季年会(講演番号1PA-163)  2005 

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    Event date: 2005.3.26

    Venue:神奈川大学横浜キャンパス  

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  • 水晶振動子吸着膜に用いるニトロベンゼンカルボン酸アルキルエステルのにおいセンシング能

    福田 咲織 *永井 伊作 仁科 勇太 廣田 和弘

    平成16年度化学系学協会東北大会  2004 

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    Event date: 2004.9.17

    Venue:盛岡市  

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  • 水晶振動子吸着膜に用いるシクロヘキセンジカルボン酸アルキルジエステルのにおいセンシング能

    仁科 勇太 *永井 伊作 福田 咲織 廣田 和弘

    平成16年度化学系学協会東北大会  2004 

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    Event date: 2004.9.17

    Venue:盛岡市  

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  • 視覚デッドレコニング移動ロボットにおける原点画像を用いた位置修正

    古谷教晃 *永井伊作 田中 豊

    日本機械学会ロボティクス・メカトロニクス講演会'04  2004 

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    Event date: 2004.6.18 - 2004.6.20

    Venue:名古屋  

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  • 水晶振動子においセンサの開発

    廣 田 和 弘 *永 井 伊 作 藤 田 慎 二 仁 科 勇 太

    第8回岡山リサーチパーク合同研究発表会  2004 

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    Event date: 2004.1.27

    Venue:岡山市  

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  • 平面対象物の単眼視追跡による4自由度運動計測に関する研究

    豊島洋輔,*永井伊作,田中豊

    第46回自動制御連合講演会  2003 

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    Event date: 2003.11.27 - 2003.11.28

    Venue:岡山市  

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  • レーザー距離計のみを搭載した移動ロボットによる環境地図の作成

    小野聡文,*永井伊作,田中豊

    第46回自動制御連合講演会  2003 

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    Event date: 2003.11.27 - 2003.11.28

    Venue:岡山市  

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  • インテリジェント白杖の開発

    橘佳和,*永井伊作,田中豊

    第46回自動制御連合講演会  2003 

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    Event date: 2003.11.27 - 2003.11.28

    Venue:岡山市  

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  • ベンゼン環を含むアルキルエステルを感応膜に用いる水晶振動子においセンサ

    廣田 和弘,*永井 伊作,藤田 慎二,中元 与織

    2003年度日本味と匂学会第37回大会  2003 

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    Event date: 2003.9.24 - 2003.9.26

    Venue:岡山市  

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  • 水晶振動子吸着膜に用いるシクロヘキサンカルボン酸アルキルエステルのにおいセンシング能

    田中 大樹,*永井 伊作,藤田 慎二,廣田 和弘

    2003年度日本味と匂学会第37回大会  2003 

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    Event date: 2003.9.24 - 2003.9.26

    Venue:岡山市  

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  • 水晶振動子においセンサのための24チャンネル周波数計測システム

    *永井 伊作,藤田 慎二,廣田 和弘

    2003年度日本味と匂学会第37回大会  2003 

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    Event date: 2003.9.24 - 2003.9.26

    Venue:岡山市  

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  • 操舵輪を持つ移動ロボットの床面画像追跡による位置推定

    田中豊,*永井伊作,大野平祐

    日本機械学会中国四国支部第41期総会・講演会  2003 

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    Event date: 2003.3.5 - 2003.3.6

    Venue:鳥取市  

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  • 動き予測に基づいた画像追跡の高速移動対応化に関する研究

    大野平祐,*永井伊作,田中豊

    日本機械学会ロボティクス・メカトロニクス講演会2002(Robomec'02)  2002 

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    Event date: 2002.6.8 - 2002.6.9

    Venue:島根県松江市  

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  • 床面の回転および並進運動を計測する視覚装置の研究

    *永井伊作,田中豊

    日本機械学会ロボティクス・メカトロニクス講演会2002(Robomec'02)  2002 

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    Event date: 2002.6.8 - 2002.6.9

    Venue:島根県松江市  

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  • 視覚障害者のための歩行支援システムに関する研究

    井村信雄,*永井伊作,田中豊

    日本機械学会 中国四国支部第40期総会・講演会  2002 

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    Event date: 2002.3.5

    Venue:東広島市  

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  • 自律走行車のための距離情報を用いた特定人物の認識に関する研究

    吉原稔雄,*永井伊作,田中豊

    日本機械学会 中国四国支部第40期総会・講演会  2002 

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    Event date: 2002.3.5

    Venue:東広島市  

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  • 参照画像を部分更新する手法に基づく画像デッドレコニング装置の開発

    *永井伊作,田中 豊,五福明夫

    日本機械学会ロボティクス・メカトロニクス講演会'01  2001 

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    Event date: 2001.6.9

    Venue:香川県高松市  

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  • 二組のステレオカメラを用いた高速距離取得装置の開発

    田中 豊,*永井伊作,蓬莱啓明

    日本機械学会中国四国支部第39期総会・講演会  2001 

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    Event date: 2001.3.6

    Venue:岡山県岡山市  

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  • 床面模様の2次元運動を計測する視覚装置の開発

    *永井伊作,田中 豊,五福明夫

    日本機械学会中国四国支部第39期総会・講演会  2001 

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    Event date: 2001.3.6

    Venue:岡山県岡山市  

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  • 非ホロノミックな自律走行車のオペレータ共同経路計画に関する研究

    田中 豊,永谷圭司,*永井伊作,川田恵寛

    日本機械学会中国四国支部第39期総会・講演会  2001 

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    Event date: 2001.3.6

    Venue:岡山県岡山市  

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  • 環境照度の変化に追従適応するステレオ視による距離取得装置の開発

    田中 豊,*永井伊作,高橋輝年

    日本機械学会中国四国支部第39期総会・講演会  2001 

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    Event date: 2001.3.6

    Venue:岡山県岡山市  

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  • エレベータを利用する自律走行車の研究(視覚センサを用いたボタン押し装置の開発)

    佐々木隆,*永井伊作,永谷圭司,田中 豊

    日本機械学会ロボティクス・メカトロニクス講演会(Robomec'00)  2000 

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    Event date: 2000.5.11 - 2000.5.14

    Venue:熊本県益城町  

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  • 床面映像を利用した画像デッドレコニングの研究

    田中 豊,*永井伊作,五福明夫

    日本機械学会ロボティクス・メカトロニクス講演会(Robomec'00)  2000 

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    Event date: 2000.5.11 - 2000.5.14

    Venue:熊本県益城町  

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  • メカナムホイールを用いた全方向移動車のナビゲーションの研究

    立花智史,永谷圭司,*永井伊作,田中 豊

    ロボティクス・メカトロニクス講演会(ROBOMEC ’00)  2000 

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    Event date: 2000.5.11 - 2000.5.14

    Venue:熊本県益城町  

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  • 色空間抽出法を用いた色判別回路をもつ実時間距離取得装置の開発

    田中 豊,五福明夫,*永井伊作,岩谷隆弘

    日本機械学会ロボティクス・メカトロニクス講演会(Robomec'00)  2000 

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    Event date: 2000.5.11 - 2000.5.14

    Venue:熊本県益城町  

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  • 自律走行車のための高速視覚情報融合システムの開発

    田中豊,五福明夫,*永井伊作,清力義治

    中国四国支部第38期総会・講演会  2000 

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    Event date: 2000.3.7

    Venue:東広島市  

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  • 床面模様の画像追跡によるビジュアルデッドレコニング

    田中豊,五福明夫,*永井伊作

    日本機械学会中国四国支部第38期総会・講演会  2000 

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    Event date: 2000.3.7

    Venue:東広島市  

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  • Development of Video-Rate Range Finder Using Dynamic Threshold Method for Characteristic Point Detection

    Y. Tanaka,A.Gofuku,N.Takeda,*I.Nagai

    IEEE/ASME Int. C. on Advanced Intelligent Mechatronics, AIM'99  1999 

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    Event date: 1999.9

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  • ステレオカメラを用いた自律走行車の自己位置認識と操舵に関する研究

    田中,永井,五福,川田,永谷,宮田

    日本機械学会ロボティクスメカトロニクス講演会'99  1999 

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    Event date: 1999.6.11 - 1999.6.13

    Venue:東京都  

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  • 補間機能を持つ距離取得装置を用いた立体形状実時間計測

    田中,*永井,五福

    日本機械学会ロボティクスメカトロニクス講演会'99  1999 

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    Event date: 1999.6.11 - 1999.6.13

    Venue:東京都  

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  • 色と輝度の判別能力を備えた距離取得装置の開発

    田中,五福,*永井,高橋

    日本機械学会ロボティクスメカトロニクス講演会'99  1999 

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    Event date: 1999.6.11 - 1999.6.13

    Venue:東京都  

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  • 特徴点検出に動的しきい値法を用いた距離取得装置の開発

    田中,五福,*永井,武田

    日本機械学会中国四国支部第37期総会・講演会  1999 

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    Event date: 1999.3.8

    Venue:宇部市  

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  • Stabilization of a Four-Rotor Aerial Robot in Hovering

    2014 

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  • 光学センサを用いた位置推定装置~センサ間距離と精度の関係~

    第21回計測自動制御学会中国支部学術講演会  2012 

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Industrial property rights

  • 無人搬送車及びその制御方法

    永井 伊作,八田 浩之,木原 吉英,安藤 光雄

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    Applicant:IKOMAロボテック株式会社,三和電子株式会社

    Application no:特願2018-88209  Date applied:2018.5.1

    Announcement no:特開2019-194757(P2019-194757A)  Date announced:2019.11.7

    Patent/Registration no:6639557  Date registered:2020.1.7 

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Works

  • 電子デバイス事業化フォーラム

    2018

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  • 次世代産業に関わる大学・高専シーズ発信会

    2017

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  • 岡山リサーチパーク研究・展示発表会

    2017

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  • 岡山リサーチパーク研究展示・発表会

    2016

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  • 岡山大学産学官融合センター 研究協力会 理事会・総会

    2016

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  • 岡山大学 知恵の見本市2015

    2015

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  • 岡山大学 知恵の見本市2014

    2014

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  • 岡山大学 新技術説明会

    2013

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  • 先進環境対応車に係わる技術シーズ発信会

    2012

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  • 岡山リサーチパーク研究・展示発表会

    2012

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  • イノベーションジャパン2010-大学見本市

    2010

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Awards

  • Best Paper Filnalist

    2021.8   2021 IEEE International Conference on Mechatronics and Automation   Power-assisted Three-wheel Carrier Cart With Stair-climbing Ability

    Isaku Nagai, Daisuke Kijihana, Keigo Watanabe

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  • 優秀講演賞

    2020.12   第21回計測自動制御学会システムインテグレーション部門講演会(SI2020)  

    加藤智司, 渡辺桂吾, 永井伊作

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  • 第21回計測自動制御学会システムインテグレーション部門講演会(SI2020)優秀講演賞

    2020  

    加藤智司,渡辺桂吾,永井伊作

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    Award type:Award from Japanese society, conference, symposium, etc.  Country:Japan

    第21回計測自動制御学会システムインテグレーション部門講演会(SI2020)優秀講演賞

  • Best Paper Finalist

    2018.8   2018 IEEE Int. Conf. on Mechatronics and Automation (ICMA 2018)   Transitional Flight Simulations for a Tilted Quadrotor with a Fixed-wing

    Y. Nakamura, A. Arakawa, K. Watanabe, I. Nagai

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  • SI2017優秀講演賞

    2017.12   計測自動制御学会  

    永井伊作, 渡辺桂吾

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    Country:Japan

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  • Best Paper Award

    2013.8   2nd Int. Conf. on Electrical, Control and Computer Engineering (InECCE2013)   Tip-over Stability Enhancement for Omnidirectional Mobile Robot with ADWCs

    J. A. Safar, K. Watanabe, S. Maeyama, I. Nagai

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  • 貢献賞(SCIS & ISIS 2010の運営)

    2011.9   日本知能情報ファジィ学会  

    永井伊作

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    Country:Japan

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Class subject in charge

  • System CAD (2022academic year) Third semester  - 月5~6

  • System CAD (2022academic year) Third semester  - 木5~6

  • System CAD (2022academic year) Third semester  - 月5~6

  • System CAD (2022academic year) Third semester  - 木5~6

  • System CAD (2022academic year) Third semester  - 月5~6

  • System CAD (2022academic year) Third semester  - 木5~6

  • Digital Circuits (2022academic year) Fourth semester  - 水3~4,木5~6

  • Digital Circuit (2022academic year) Fourth semester  - 水3~4,木5~6

  • Digital Circuit (2022academic year) Fourth semester  - 水3~4,木5~6

  • Design of Robots (2022academic year) Fourth semester  - 金3~4

  • Basic Mechanical System Drawing (2022academic year) 1st and 2nd semester  - 水5~8

  • Basic Mechanical System Drawing (2022academic year) 1st and 2nd semester  - 水5~8

  • Basic Mechanical System Drawing (2022academic year) 1st and 2nd semester  - 水5~8

  • Research Works for Mechanical and Systems Engineering 1 (2022academic year) Prophase  - その他

  • Research Works for Mechanical and Systems Engineering 2 (2022academic year) Late  - その他

  • System CAD (2021academic year) Third semester  - 月5,月6

  • System CAD (2021academic year) Third semester  - 木5,木6

  • System CAD (2021academic year) Third semester  - 月5,月6

  • System CAD (2021academic year) Third semester  - 木5,木6

  • Digital Circuit (2021academic year) Fourth semester  - 水3,水4,木5,木6

  • Digital Circuit (2021academic year) Fourth semester  - 水3,水4,木5,木6

  • Basic Mechanical System Drawing (2021academic year) 1st and 2nd semester  - 水5,水6,水7,水8

  • Basic Mechanical System Drawing (2021academic year) 1st and 2nd semester  - 水5,水6,水7,水8

  • Research Works for Mechanical and Systems Engineering 1 (2021academic year) Prophase  - その他

  • Research Works for Mechanical and Systems Engineering 2 (2021academic year) Late  - その他

  • System CAD (2020academic year) Third semester  - 月5,月6

  • System CAD (2020academic year) Third semester  - 木5,木6

  • System CAD (2020academic year) Third semester  - 月5,月6

  • System CAD (2020academic year) Third semester  - 木5,木6

  • Digital Circuit (2020academic year) Fourth semester  - 水3,水4,木5,木6

  • Digital Circuit (2020academic year) Fourth semester  - 水3,水4,木5,木6

  • Basic Mechanical System Drawing (2020academic year) 1st and 2nd semester  - 水5,水6,水7,水8

  • Basic Mechanical System Drawing (2020academic year) 1st and 2nd semester  - 水5,水6,水7,水8

  • Research Works for Mechanical and Systems Engineering 1 (2020academic year) Prophase  - その他

  • Research Works for Mechanical and Systems Engineering 2 (2020academic year) Late  - その他

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