• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

Research on Plant Growing Type Actuator and its Application to Rescue Operation and Medical Devices

Research Project

Project/Area Number 20360113
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionTokyo Institute of Technology

Principal Investigator

TSUKAGOSHI Hideyuki  東京工業大学, 大学院・理工学研究科, 准教授 (50313333)

Project Period (FY) 2008 – 2010
Project Status Completed (Fiscal Year 2010)
Budget Amount *help
¥19,110,000 (Direct Cost: ¥14,700,000、Indirect Cost: ¥4,410,000)
Fiscal Year 2010: ¥7,150,000 (Direct Cost: ¥5,500,000、Indirect Cost: ¥1,650,000)
Fiscal Year 2009: ¥5,850,000 (Direct Cost: ¥4,500,000、Indirect Cost: ¥1,350,000)
Fiscal Year 2008: ¥6,110,000 (Direct Cost: ¥4,700,000、Indirect Cost: ¥1,410,000)
Keywordsアクチュエータ / バイオミメティクス / レスキューロボット / 医療ロボット / 移動ロボット
Research Abstract

In this research, a driving principle of growing from the tip and of steering the directions was constructed, aimed to realize the same phenomenon as the plant root whose growing point is extending in the deep earth. Furthermore, by taking advantage of the proposed principle, the inline pipe robot to search for the crack in pipes, the search robot in disastrous sites, and the flexible manipulator to hold a human body after creeping between the body and the bed were developed, which could demonstrate the usefulness and the validity of "Plant Growing Actuator."

Report

(4 results)
  • 2010 Annual Research Report   Final Research Report ( PDF )
  • 2009 Annual Research Report
  • 2008 Annual Research Report
  • Research Products

    (46 results)

All 2012 2011 2010 2009 2008 Other

All Journal Article (7 results) (of which Peer Reviewed: 4 results) Presentation (31 results) Remarks (1 results) Patent(Industrial Property Rights) (7 results)

  • [Journal Article] Tip Growing Actuator with the Hose-Like Structure Aiming for Inspection on Narrow Terrain2011

    • Author(s)
      Hideyuki Tsukagoshi, Nobuyuki Arai, Ichiro Kiryu, Ato Kitagawa
    • Journal Title

      International Journal of Automation Technology

      Volume: Vol.5, No.4 Pages: 516-522

    • Related Report
      2010 Final Research Report
  • [Journal Article] Fluid Powered Ropeway : Self-propelled Probe Sliding Along Flexible Tube2011

    • Author(s)
      Yotaro Mori, Hideyuki Tsukagoshi, Ato Kitagawa
    • Journal Title

      Journal of Robotics and Mechatronics

      Volume: Vol.23, No.2 Pages: 215-224

    • Related Report
      2010 Annual Research Report 2010 Final Research Report
  • [Journal Article] Tip Growing Actuator with the Hose-shaped Structure Aiming for Inspection on Narrow Terrain2011

    • Author(s)
      Hideyuki Tsukagoshi, Nobuyuki Arai, Ichiro Kiryu, Ato Kitagawa
    • Journal Title

      International Journal of Automation Technology

      Volume: Vol.5,No.4 Pages: 516-522

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A Higher Casting and Jump Motions Realized by Robots Using Magnetic Brake Cylinder2011

    • Author(s)
      Eyri Watari, Hideyuki Tsukagoshi, Ato Kitagawa
    • Journal Title

      Transactions of the ASME, Journal of Mechanism and Robotics

      Volume: Vol.3,Issue 4

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 柔軟偏平チューブに沿ってスライドする流体アクチュエータ(第1報:Λ-driveの提案とその動作解析)2010

    • Author(s)
      森庸太朗, 塚越秀行, 北川能
    • Journal Title

      日本フルードパワーシステム学会誌

      Volume: Vol.41, No.5 Pages: 98-105

    • NAID

      10029930336

    • Related Report
      2010 Final Research Report
  • [Journal Article] 柔軟偏平チューブに沿ってスライドする流体アクチュエータ-第一報,Λ-driveの提案とその動作解析-2010

    • Author(s)
      森庸太朗, 塚越秀行, 北川能
    • Journal Title

      日本フルードパワーシステム学会誌

      Volume: Vol.40No.5 Pages: 98-105

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] ロボットの投擲・跳躍能力を高める磁性ブレーキシリンダ2010

    • Author(s)
      Eyri Watari, 塚越秀行, 北川能
    • Journal Title

      日本ロボット学会誌

      Volume: 28 Pages: 95-105

    • NAID

      10026090231

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Presentation] Flexible Fluid Powered Actuators and Their Applications to Rescue Operation2012

    • Author(s)
      Hideyuki Tsukagoshi
    • Organizer
      Invited Lecture
    • Place of Presentation
      University of Hawaii
    • Year and Date
      2012-02-22
    • Related Report
      2010 Annual Research Report
  • [Presentation] Mobile Robot by a Drawing-out Type Actuator for Smooth Locomotion inside Narrow and Curving Pipes2011

    • Author(s)
      Kenichi HOSAKA, Hideyuki TSUKAGOSHI, Ato KITAGAWA
    • Organizer
      8th JFPS International Symposium on Fluid Power OKINAWA 2011, 2D3-2(2011)
    • Place of Presentation
      Okinawa
    • Year and Date
      2011-10-27
    • Related Report
      2010 Final Research Report
  • [Presentation] Flexible Fluid Sliding Actuator Referring to Wave Shifting Motion Shown in Octopus Arms2011

    • Author(s)
      Hideyuki Tsukagoshi, Yotaro Mori, and Ato Kitagawa
    • Organizer
      IEEE International Conference on Applied Bionics and Biomechanics(ICABB) Bio Robotics I No.2(2010)
    • Place of Presentation
      Venice
    • Year and Date
      2011-10-16
    • Related Report
      2010 Final Research Report
  • [Presentation] Current Problems and New Approach of Fluid Powered Actuators2011

    • Author(s)
      Hideyuki Tsukagoshi
    • Organizer
      Special talk by Invited Professors
    • Place of Presentation
      Carnegie Mellon University
    • Year and Date
      2011-09-08
    • Related Report
      2010 Annual Research Report
  • [Presentation] 繰り出し式柔軟流体アクチュエータで構成された狭隘地形内の移動探査ロボット2011

    • Author(s)
      穂坂憲一,塚越秀行,北川能
    • Organizer
      ロボティクス・メカトロニクス講演会2011
    • Place of Presentation
      岡山
    • Year and Date
      2011-05-27
    • Related Report
      2010 Final Research Report
  • [Presentation] 半倒壊家屋内の迅速な人命救助を目指した流体ロープウェイ(第3報,Λ-driveによるゴンドラの駆動法)2011

    • Author(s)
      塚越秀行、森庸太郎、北川能
    • Organizer
      ロボティクス・メカトロニクス講演会2011
    • Place of Presentation
      岡山
    • Year and Date
      2011-05-26
    • Related Report
      2010 Annual Research Report
  • [Presentation] Smooth Creeping Actuator by Tip Growth Movement Aiming for Search and Rescue Operation2011

    • Author(s)
      Hideyuki Tsukagoshi, Nobuyuki Arai, Ichiro Kiryu, and Ato Kitagawa
    • Organizer
      2011 IEEE International Conference on Robotics and Automation
    • Place of Presentation
      Shanghai
    • Year and Date
      2011-05-11
    • Related Report
      2010 Final Research Report
  • [Presentation] Smooth Creeping Actuator by Tip Growth Movement Aiming for Search and Rescue Operation2011

    • Author(s)
      Hideyuki Tsukagoshi, Nobuyuki Arai, Ichiro Kiryu, Ato Kitagawa
    • Organizer
      2011 IEEE International Conference on Robotics and Automation
    • Place of Presentation
      上海
    • Year and Date
      2011-05-10
    • Related Report
      2010 Annual Research Report
  • [Presentation] 狭隘湾曲管路内のスムーズな移動を目指した繰り出し推進移動体の研究2010

    • Author(s)
      穗坂憲一,塚越秀行,北川能
    • Organizer
      平成22年秋季フルードパワーシステム講演会
    • Place of Presentation
      別府
    • Year and Date
      2010-12-02
    • Related Report
      2010 Final Research Report
  • [Presentation] 柔軟チューブによる繰り出し推進移動体の研究2010

    • Author(s)
      穗坂憲一,塚越秀行,北川能
    • Organizer
      計測自動制御学会2010産業応用部門大会第11回流体計測制御シンポジウム講演論文集
    • Place of Presentation
      大岡山
    • Year and Date
      2010-11-09
    • Related Report
      2010 Final Research Report
  • [Presentation] Flexible Fluid Sliding Actuator Referring to Wave Shifting Motion Shown in Octopus Arms2010

    • Author(s)
      Hideyuki Tsukagoshi, Yotaro Mori, Ato Kitagawa
    • Organizer
      IEEE International Conference on Applied Bionics and Biomechanies (ICABB)
    • Place of Presentation
      ベニス
    • Year and Date
      2010-10-14
    • Related Report
      2010 Annual Research Report
  • [Presentation] Tube Actuator with Drawing Out Drive Aimed for the Inspection in the Narrow and Curved Path2010

    • Author(s)
      Akihisa Mikawa, Hideyuki Tsukagoshi, Ato Kitagawa
    • Organizer
      2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
    • Place of Presentation
      Montreal
    • Year and Date
      2010-07-07
    • Related Report
      2010 Final Research Report
  • [Presentation] トンネル構築式流体アクチュエータ2010

    • Author(s)
      小林敬,塚越秀行,北川能
    • Organizer
      ロボティクス・メカトロニクス講演会2010
    • Place of Presentation
      旭川
    • Year and Date
      2010-06-15
    • Related Report
      2010 Final Research Report
  • [Presentation] 任意位置で湾曲可能な繰り出し式チューブアクチュエータの開発2010

    • Author(s)
      三川晃尚,塚越秀行,北川能
    • Organizer
      ロボティクス・メカトロニクス講演会2010
    • Place of Presentation
      旭川
    • Year and Date
      2010-06-15
    • Related Report
      2010 Final Research Report
  • [Presentation] 任意位置で湾曲可能な繰り出し式チューブアクチュエータの開発2010

    • Author(s)
      三川晃尚, 塚越秀行, 北川能
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会'10
    • Place of Presentation
      旭川
    • Year and Date
      2010-06-15
    • Related Report
      2010 Annual Research Report
  • [Presentation] Flexible Sliding Actuator Using A Flat Tube And Its Application To The Rescue Operation2010

    • Author(s)
      Yotaro Mori, Hideyuki Tsukagoshi, Ato kitagawa
    • Organizer
      IEEE International Conference on Robotics and Automation
    • Place of Presentation
      アンカレッジ
    • Year and Date
      2010-05-07
    • Related Report
      2010 Annual Research Report
  • [Presentation] Flexible Sliding Actuator Using A Flat Tube And Its Application To The Rescue Operation2010

    • Author(s)
      Yotaro Mori, Hideyuki Tsukagoshi, and Ato Kitagawa
    • Organizer
      2010 IEEE International Conference on Robotics and Automation
    • Place of Presentation
      Anchorage
    • Year and Date
      2010-05-06
    • Related Report
      2010 Final Research Report
  • [Presentation] 狭隘地形の探査を目指した繰り出し型チューブアクチュエータの開発2009

    • Author(s)
      三川晃尚,塚越秀行,北川能
    • Organizer
      平成21年秋季フルードパワーシステム講演会講演論文集
    • Place of Presentation
      東京
    • Year and Date
      2009-11-26
    • Related Report
      2010 Final Research Report
  • [Presentation] 狭隘地形の探査を目指した繰り出し型チューブアクチュエータの開発2009

    • Author(s)
      三川晃尚, 塚越秀行, 北川能
    • Organizer
      平成21年秋季フルードパワーシステム講演会
    • Place of Presentation
      東京
    • Year and Date
      2009-11-26
    • Related Report
      2009 Annual Research Report
  • [Presentation] 流体駆動アクチュエータを用いたロボット開発2009

    • Author(s)
      塚越秀行
    • Organizer
      日本ロボット学会 ロボット工学セミナー<第51回シンポジウム>ロボットの作り方2009
    • Place of Presentation
      東京工業大学
    • Year and Date
      2009-06-05
    • Related Report
      2009 Annual Research Report
  • [Presentation] トンネル構築式移動探査ロボット-第3報:探査機能の搭載-2009

    • Author(s)
      大沼宏陽,塚越秀行,三川晃尚,北川能
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会' 09
    • Place of Presentation
      福岡
    • Year and Date
      2009-05-26
    • Related Report
      2010 Final Research Report
  • [Presentation] トンネル構築式移動探査ロボット-第3報:探査機能の搭載-2009

    • Author(s)
      大沼宏陽, 塚越秀行, 三川晃尚, 北川能
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会'09
    • Place of Presentation
      福岡
    • Year and Date
      2009-05-25
    • Related Report
      2009 Annual Research Report
  • [Presentation] Gel-type Sticky Mobile Inspector to Traverse on the Rugged Wall and Ceiling2009

    • Author(s)
      Hideyuki Tsukagoshi, Hiroyuki Chiba, Ato Kitagawa
    • Organizer
      EEE International Conference on Robotics and Automation
    • Place of Presentation
      神戸
    • Year and Date
      2009-05-15
    • Related Report
      2009 Annual Research Report
  • [Presentation] Grow-Hose-I : a Hose Type Rescue Robot Passing Smoothly through Narrow Rubble Spaces2008

    • Author(s)
      Ichiro KIRYU, Hideyuki TSUKAGOSHI, Ato KITAGAWA
    • Organizer
      Proceedings of the 7th JFPS International Symposium on Fluid Power
    • Place of Presentation
      富山
    • Year and Date
      2008-09-17
    • Related Report
      2010 Final Research Report 2008 Annual Research Report
  • [Presentation] トンネル構築式移動探査ロボットにおける方向操舵手法の研究2008

    • Author(s)
      本田駿輔,塚越秀行,北川能,大沼宏陽
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会' 08
    • Place of Presentation
      長野
    • Year and Date
      2008-06-06
    • Related Report
      2010 Final Research Report
  • [Presentation] トンネル構築式移動ロボットの推進原理2008

    • Author(s)
      大沼宏陽,塚越秀行,北川能
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会' 08
    • Place of Presentation
      長野
    • Year and Date
      2008-06-06
    • Related Report
      2010 Final Research Report
  • [Presentation] がれきと摩擦なく推進・方向操舵可能なレスキュー探査ホース:Grow-hose-I2008

    • Author(s)
      吉柳一郎,塚越秀行,北川能
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会' 08
    • Place of Presentation
      長野
    • Year and Date
      2008-06-06
    • Related Report
      2010 Final Research Report
  • [Presentation] トンネル構築式移動探査ロボットにおける方向操舵手法の研究2008

    • Author(s)
      本田駿輔, 塚越秀行, 北川能, 大沼宏陽
    • Organizer
      日本機械学会ROBOMEC2008
    • Place of Presentation
      長野
    • Year and Date
      2008-06-05
    • Related Report
      2008 Annual Research Report
  • [Presentation] トンネル構築式移動探査ロボットの推進原理2008

    • Author(s)
      大沼宏陽, 塚越秀行, 北川能
    • Organizer
      日本機械学会ROBOMEC2008
    • Place of Presentation
      長野
    • Year and Date
      2008-06-05
    • Related Report
      2008 Annual Research Report
  • [Presentation] がれきと摩擦なく推進・方向操舵可能なレスキュー探査ホース:Grow-hose-I2008

    • Author(s)
      吉柳一郎, 塚越秀行, 北川能
    • Organizer
      日本機械学会ROBOMEC2008
    • Place of Presentation
      長野
    • Year and Date
      2008-06-05
    • Related Report
      2008 Annual Research Report
  • [Presentation] Growhose-I :植物根の成長プロセスを参考にした人命探査ホース2008

    • Author(s)
      吉柳一郎,塚越秀行,北川能
    • Organizer
      フルードパワーシステムワークショップ講演論文集
    • Place of Presentation
      東京
    • Year and Date
      2008-05-29
    • Related Report
      2010 Final Research Report
  • [Remarks]

    • URL

      http://www.cm.ctrl.titech.ac.jp/

    • Related Report
      2010 Final Research Report
  • [Patent(Industrial Property Rights)] 流体アクチュエータ2012

    • Inventor(s)
      塚越秀行、北川能、山本久美子
    • Industrial Property Rights Holder
      東京工業大学
    • Acquisition Date
      2012-02-17
    • Related Report
      2010 Annual Research Report
  • [Patent(Industrial Property Rights)] アクチュエータ2010

    • Inventor(s)
      塚越秀行、コンヴェルソアントニオ、北川能
    • Industrial Property Rights Holder
      東京工業大学
    • Industrial Property Number
      2010-230201
    • Filing Date
      2010-10-13
    • Related Report
      2010 Annual Research Report
  • [Patent(Industrial Property Rights)] 流体圧モータ2010

    • Inventor(s)
      北川能、塚越秀行、田圃圭祐
    • Industrial Property Rights Holder
      東京工業大学
    • Acquisition Date
      2010-07-30
    • Related Report
      2010 Annual Research Report
  • [Patent(Industrial Property Rights)] 能動湾曲するチューブアクチュエータと能動探査装置2009

    • Inventor(s)
      三川晃尚、塚越秀行、北川能
    • Industrial Property Rights Holder
      東京工業大学
    • Industrial Property Number
      2009-267198
    • Filing Date
      2009-11-25
    • Related Report
      2009 Annual Research Report
  • [Patent(Industrial Property Rights)] リニアアクチュエータ

    • Inventor(s)
      塚越秀行、森庸太朗、平井雅大、北川能
    • Industrial Property Rights Holder
      東京工業大学
    • Industrial Property Number
      2008-137508
    • Related Report
      2010 Final Research Report
  • [Patent(Industrial Property Rights)] 能動湾曲するチューブアクチュエータと能動探査装置

    • Inventor(s)
      塚越秀行、三川晃尚、北川能
    • Industrial Property Rights Holder
      東京工業大学
    • Industrial Property Number
      2009-267198
    • Related Report
      2010 Final Research Report
  • [Patent(Industrial Property Rights)] アクチュエータ

    • Inventor(s)
      塚越秀行、コンヴェルソアントニオ、北川能
    • Industrial Property Rights Holder
      東京工業大学
    • Industrial Property Number
      2008-137508
    • Related Report
      2010 Final Research Report

URL: 

Published: 2008-04-01   Modified: 2016-04-21  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi