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Actuation of Active Tethers

Research Project

Project/Area Number 16078208
Research Category

Grant-in-Aid for Scientific Research on Priority Areas

Allocation TypeSingle-year Grants
Review Section Science and Engineering
Research InstitutionTohoku University (2005-2008)
Kobe University (2004)

Principal Investigator

TADOKORO Satoshi  Tohoku University, 大学院情報科学研究科, 教授 (40171730)

Co-Investigator(Kenkyū-buntansha) KONYO Masashi  東北大学, 大学院情報科学研究科, 助教 (20400301)
OHNO Kazunori  東北大学, 大学院情報科学研究科, 講師 (70379486)
TAKEUCHI Eijiro  東北大学, 大学院情報科学研究科, 助教 (00509680)
TAKEMURA Shiro  沖縄工業高等専門学校, 機械システム工学科, 准教授 (70455187)
SAGA Satoshi  東北大学, 大学院情報科学研究科, 助教 (10451535)
TOKUDA Kenichi  和歌山大学, 工学部, 助手 (60335411)
MAKITA Shinobu  国際レスキューシステム研究機構, 神戸ラボラトリー, 研究員
武村 史郎  国際レスキューシステム研究機構, 神戸ラボラトリー, 研究員
Project Period (FY) 2004 – 2008
Project Status Completed (Fiscal Year 2008)
Budget Amount *help
¥70,900,000 (Direct Cost: ¥70,900,000)
Fiscal Year 2008: ¥12,800,000 (Direct Cost: ¥12,800,000)
Fiscal Year 2007: ¥14,300,000 (Direct Cost: ¥14,300,000)
Fiscal Year 2006: ¥15,000,000 (Direct Cost: ¥15,000,000)
Fiscal Year 2005: ¥14,300,000 (Direct Cost: ¥14,300,000)
Fiscal Year 2004: ¥14,500,000 (Direct Cost: ¥14,500,000)
Keywordsアクチュエータ / ロボット / 分布駆動 / 振動駆動 / 能動索状体 / アクティブテザー / 探査ロボット / ケーブルハンドリング / 振動駆除 / 能動索状態
Research Abstract

ケーブルやビデオスコープなどの細径の索状体に対し,分布的に繊毛振動駆動を行うことによって索状体全体が能動的に運動を発生できる技術を開発した.拘束下を含む力学的モデリングにより計算機シミュレーションを行い,設計の最適化を行い,分布的形状センシングに基づいて分布的形状制御を行った.本研究成果を活用して開発した能動スコープカメラを災害現場に適用し,その有効性を実証した

Report

(6 results)
  • 2008 Annual Research Report   Final Research Report ( PDF )
  • 2007 Annual Research Report
  • 2006 Annual Research Report
  • 2005 Annual Research Report
  • 2004 Annual Research Report
  • Research Products

    (31 results)

All 2009 2008 2007 2006 2005 Other

All Journal Article (14 results) (of which Peer Reviewed: 9 results) Presentation (8 results) Remarks (8 results) Patent(Industrial Property Rights) (1 results)

  • [Journal Article] Sliding Motion Control of Active Flexible Cable with Simple Shape Information2009

    • Author(s)
      Kazuna Sawata, Masashi Konyo, Satoshi Saga, Satoshi Tadokoro, Koichi Osuka
    • Journal Title

      Proc. 2009 IEEE International Conference on Robotics and Automation

      Pages: 3736-3742

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Preliminary Observation of HRI in Robot-Assisted Medical Response2009

    • Author(s)
      Robin Murphy, Masashi Konyo, Satoshi Tadokoro, Pedro Davalas, Gabe Knezke, Maarten Van Zomeren
    • Journal Title

      HRI 2009

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Development of an Active Flexible Cable Using a Single Vibratory Source2008

    • Author(s)
      Masashi Konyo, Kazunari Hatazaki, Satoshi Saga, Satoshi Tadokoro
    • Journal Title

      Proc. 11th International Conference on New Actuators (ACTUATOR 2008)

      Pages: 333-336

    • Related Report
      2008 Annual Research Report 2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] A Ciliary Vibration Drive Mechanism for Active Scope Cameras2008

    • Author(s)
      Masashi Konyo, Kazuya Isaki, Kazunari Hatazaki, Satoshi Tadokoro, Fumiaki Takemura
    • Journal Title

      Journal of Robotics and Mechatronics Vol. 20, No. 3

      Pages: 490-499

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Development of an Active Flexible Cable Using a Single Vibratory Source2008

    • Author(s)
      Masashi Konyo, Kazuya Isaki, Kazunari Hatazaki, Satoshi Tadokoro. Fumiaki Takemura
    • Journal Title

      Journal of Robotics and Mechatronics 20

      Pages: 490-499

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Active Scope Camera for Urban Search and Rescue2007

    • Author(s)
      Kazunari Hatazaki, Masashi Konyo, Kazuya Isaki, Satoshi Tadokoro, Fumiaki Takemura
    • Journal Title

      Proc. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007)

      Pages: 2596-2602

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Active Scope Camera for Urban Search and Rescue (IEEE Japan Chapter Young Award受賞)2007

    • Author(s)
      Hatazaki, konyo, Isaki, Tadokoro, Takemura
    • Journal Title

      Proc. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007)

      Pages: 2596-2602

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Development of an Active Flexible Cable by Ciliary Vibration Drive for Scope Camera2006

    • Author(s)
      Kazuya Isaki, Akira Niitsuma, Masashi Konyo, Fumiaki Takemura, Satoshi Tadokoro
    • Journal Title

      Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006)

      Pages: 3946-3951

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Development of an Active Flexible Cable Driven by Ciliary Vibration Mechanism2006

    • Author(s)
      K. Isaki, A. Niitsuma, M. Konyo, F. Takemura, S. Tadokoro
    • Journal Title

      Proc. 10th International Conference on New Actuators (ACTUATOR 2006) A6.6

      Pages: 219-222

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Development of an Active Flexible Cable Driven by Ciliary Vibration Mechanism2006

    • Author(s)
      Isaki, Niitsuma, Konyo, Takemura, Tadokoro
    • Journal Title

      Proc. 10th International Conference on New Actuators (ACTUATOR 2006)

      Pages: 219-222

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Development of an Active Flexible Cable by Ciliary Vibration Drive for Scope Camera (IEEE RAS JC Young Award受賞)2006

    • Author(s)
      Isaki, Niitsuma, Konyo, Takemura, Tadokoro
    • Journal Title

      Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006)

      Pages: 3946-3951

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Active Flexible Cables by Ciliary Vibration Drive2006

    • Author(s)
      Tadokoro, Niitsuma, Isaki, Konyo, Takemura
    • Journal Title

      Proc. Actuator International Symposium

      Pages: 124-127

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Development of an Active Flexible Cable driven by Ciliary Vibration Mechanism2006

    • Author(s)
      Isaki, Niitsuma, Konyo, Takemura, Tadokoro
    • Journal Title

      Proceedings of ACTUATOR 2006 (to appear)

    • Related Report
      2005 Annual Research Report
  • [Journal Article] ファイバースコープのための振動駆動型繊毛移動機構の開発2005

    • Author(s)
      新妻翔
    • Journal Title

      RoBoMEC2005講演論文集 (未定)

    • Related Report
      2004 Annual Research Report
  • [Presentation] 単一の揺動振動機構を用いた能動索状体の駆動法(日本機械学会基礎潤滑設計部門一般表彰(優秀講演)受賞)2008

    • Author(s)
      昆陽雅司, 田所諭, 他
    • Organizer
      日本機械学会基礎潤滑設計部門講演会
    • Place of Presentation
      倉敷アイビースクエア
    • Year and Date
      2008-04-22
    • Related Report
      2008 Annual Research Report
  • [Presentation] 単一の揺動振動機構を用いた能動索状体の駆動法2008

    • Author(s)
      昆陽, 他
    • Organizer
      日本機械学会基礎潤滑設計部門講演会
    • Related Report
      2008 Final Research Report
  • [Presentation] 繊毛振動駆動機構を用いた能動スコープカメラの開発 第3報:単一の振動源を用いた駆動機構2007

    • Author(s)
      畑崎計成, 昆陽雅司, 嵯峨智, 田所諭
    • Organizer
      第8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
    • Place of Presentation
      広島国際大学国際教育センター
    • Year and Date
      2007-12-21
    • Related Report
      2007 Annual Research Report
  • [Presentation] Active Flexible Cables by Ciliary Vibration Drive2007

    • Author(s)
      Satoshi Tadokoro, Masashi Konyo, Kazunari Hatazaki, Kazuya Isaki, Fumiaki Takemura
    • Organizer
      第4回アクチュエータシンポジウム, 2007
    • Place of Presentation
      沖縄コンベンションセンター
    • Year and Date
      2007-11-19
    • Related Report
      2007 Annual Research Report
  • [Presentation] 繊毛振動によって駆動する能動索状体の開発第5報:分布的な推進力をもつ索状体のモデリング2007

    • Author(s)
      昆陽雅司, 伊崎和也, 畑崎計成, 田所諭, 武村史朗
    • Organizer
      第25回日本ロボット学会学術講演会
    • Place of Presentation
      千葉工業大学
    • Year and Date
      2007-09-15
    • Related Report
      2007 Annual Research Report
  • [Presentation] 繊毛振動駆動機構を用いた能動スコープカメラの開発,第2報:レスキュー用スコープカメラへの機構の搭載と性能評価2007

    • Author(s)
      畑崎計成, 伊崎和也, 昆陽雅司, 田所諭
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会'07
    • Place of Presentation
      秋田拠点センターALVE
    • Year and Date
      2007-05-12
    • Related Report
      2007 Annual Research Report
  • [Presentation] In-Rubble Robot System for USAR Under Debris, Proc. Workshop on Rescue Robotics - DDT Project on Urban Search and Rescue2007

    • Author(s)
      Koichi Osuka, Tomoharu Doi, Satoshi Tadokoro, Naoji Shiroma, Takashi Tsubouchi, Hideyuki Tsukagoshi, Shigeo Hirose, Fumitoshi Matsuno, Takumi Hashizume, Masamitsu Kurisu, Hiroyuki Kuwahara, Toshi Takamori, Yasuyoshi Yokokoji, Shugen Ma, Tatsuo Arai, Koichi Suzumori
    • Organizer
      2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007)
    • Related Report
      2008 Final Research Report
  • [Presentation] Active Flexible Cables by Ciliary Vibration Drive2006

    • Author(s)
      Satoshi Tadokoro, Akira Niitsuma, Kazuya Isaki, Masashi Konyo, Fumiaki Takemura
    • Organizer
      Actuator International Symposium
    • Related Report
      2008 Final Research Report
  • [Remarks] 平成21年8月 計測自動制御学会学術奨励賞(学生畑崎計成が受賞「畑崎他,繊毛振動駆動機構を用いた能動スコープカメラの開発,SI2007]に対して)

    • Related Report
      2008 Final Research Report
  • [Remarks] 平成20年12月18日 「今年のロボット」大賞優秀賞(「能動スコープカメラ」に対して)

    • Related Report
      2008 Final Research Report
  • [Remarks] 平成20年 日本機械学会基礎潤滑設計部門一般表彰(優秀講演)(助教昆陽雅司が受賞,「昆陽他,単一の揺動振動機構を用いた能動索状体の駆動法」,基礎潤滑設計部門講演会,2008に対して)

    • Related Report
      2008 Final Research Report
  • [Remarks] 平成20年6月27日 自治消防60周年記念事業「消防防災ロボット・高度な資機材等」消防庁長官賞最優秀賞(「能動スコープカメラ」に対して)

    • Related Report
      2008 Final Research Report
  • [Remarks] 平成19年10月30日 IEEE Robotics and Automation Society Japan Chapter Young Award(IROS2007で発表した「Kazunari Hatazaki, Masashi Konyo, Kazuya Isaki, Satoshi Tadokoro, Fumiaki Takemura, Active Scope Camera for Urban Search and Rescue, Proc. 2007 IEEE/RSJ International

    • Related Report
      2008 Final Research Report
  • [Remarks] 平成18年10月11日 IEEE Robotics and Automation Society Japan Chapter Young Award(IROS2006で発表した「Development of an Active Flexible Cable by Ciliary Vibration Drive for Scope Camera」に対して,学生伊崎和也が受賞)

    • Related Report
      2008 Final Research Report
  • [Remarks]

    • URL

      http://www.rm.is.tohoku.ac.jp

    • Related Report
      2008 Final Research Report
  • [Remarks]

    • URL

      http://www.rm.is.tohoku.ac.jp

    • Related Report
      2008 Annual Research Report
  • [Patent(Industrial Property Rights)] 自走式ケーブル装置2007

    • Inventor(s)
      田所, 昆陽, 嵯峨, 畑崎, 武村, 新妻
    • Industrial Property Rights Holder
      東北大学、NPO法人国際レスキューシステム研究機構
    • Industrial Property Number
      2007-237332
    • Filing Date
      2007-10-05
    • Related Report
      2007 Annual Research Report

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Published: 2004-04-01   Modified: 2018-03-28  

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