2001 Fiscal Year Annual Research Report

スーパーメカノシステム:制御と機構の融合による新機能創出

Research Project

Project/Area Number	09CE2004
Research Institution	Tokyo Institute of Technology
Principal Investigator	廣瀬茂男東京工業大学, 大学院・理工学研究科, 教授 (70108215)
Co-Investigator(Kenkyū-buntansha)	原辰次東京工業大学, 大学院・情報理工学研究科, 教授 (80134972) 美多勉東京工業大学, 大学院・理工学研究科, 教授 (60092102) 小林彬東京工業大学, 大学院・理工学研究科, 教授 (40016530) 三平満司東京工業大学, 大学院・理工学研究科, 教授 (00196338) 小野京右東京工業大学, 大学院・理工学研究科, 教授 (40152524)
Keywords	Super-Mechano System / Control System / Design of New Mechanism / Integrated Design of Control and Mechanism / Super Redundant System / Quadruped Robot / Variable Constraint Control / Non-holonomic System
Research Abstract	本年度は本研究の最終年度であるため,これまでの研究成果を集大成してロボットの実機を開発・製作し,11月に行われたロボフェスタの会場で広く一般に公開した.この公開は単なる展示ではなく,それぞれのロボットの実演を行いながら解説をした.実演したロボットは以下の通りである. また同時に国際シンポジウムを開催し,国内外の招待講演者を交えてスーパーメカノシステムについての活発な討論を行った.発表件数は基調講演5件,口頭発表27件,ポスター発表80件であった. 完全自立型索状能動体ACM-R1 省自由度壁面4足歩行ロボットHyperion 空気圧駆動型ヘビ型ロボットSlim SIime Robot 脚車輪型移動ロボットRoller Walker 空圧駆動ヘビ型推進巻付ロボットPneumnake 作業型2足歩行ロボット自励ヘビロボット Twin-Frame型作業移動ロボットPara Walker-II 完全自立3次元型索状能動体ACM-R3 全身型作業を行う4脚ロボット立体運動ヘビ型ロボットスーパーメカノアナコンダ地雷撤去用4足歩行ロボットTITAN-IX 3次元ヘビ型ロボットサンプルリターンロボット連結型多車輪移動ロボット玄武2号機群型ロボット衛星連結型多車輪移動ロボット玄武3号機親子型惑星探査ロボットSMC-Rover(Uni-Rover) 瓦礫内探査ヘビロボット蒼龍1号機 3輪ローバーTri-Star II 水中ヘビロボットHELIX スーパーメカノコロニー(SMC)実験システムイルカロボットトランポリンロボット超多関節自重補償型アームFloat Arm COEアクロバット・ロボットスーパーメカノボーイ受動2足歩行ロボット鉄棒ロボットAcrobot 自励歩行ロボット二足歩行型階段昇降ロボットZero Walker ワイヤ駆動型走行ロボットRunbot 脚車輪型階段昇降車両Zero Carrier 多自由度跳躍ロボットワイヤー連結作業ロボットHyper-Tether 1脚走行ロボットKENKEN 作業型クローラロボットHELIOS-IV 恐竜型二足歩行ロボットTITRUS-III 自己変形ロボットハイハイロボット全方向車両The Vuton ヘビ型ロボットでは自励振動を利用して小さなエネルギーで推進力を得る制御方法を確立した.また,3次元動作を行う実験機を開発し,頭部を持ち上げる動作,鉛直面内の波を伝搬させる推進方法,捻転による転がり動作を実現した.さらに防水型の実験機により,水中で螺旋型体型をとり捻転することで推進する動作を実現した.また,イルカロボットでは宙返り方向転換を実現した. 歩行ロボット関係では,自励運動を使った省エネルギー歩行制御,ホッピング,前転と起きあがり運動,恐竜型の2足高速歩行,ハイハイ型歩行などを実現した.また,自在変形を行うロボットでは,4角形や5角形の体型を作って移動する制御法を確立した. 群ロボット関係では,親子型のローバーを開発し,多数の子機による親機の移動,探索動作,2台の子機による物資搬送などを実現し,スーパーメカノコロニーの基本的制御方法を確立した. ダイナミクスを応用したロボットでは,トランポリン運動,前方へのジャンプ,前転と起きあがり,鉄棒への飛び付き,大車輪,宙返り降りなどを実現した.

Research Products

(99 results)

All Other

All Publications (99 results)

[Publications] Shigeo Hirose: "Super Mechano-System: New Perspective for Versatile Robotic System"Proc. Commemorative Int. Symp. For the 40th Anniversary of the Foundation of the Osaka Electro-Communication University. 163-172 (2001)
[Publications] Kensuke Takita, Toshio Katayaina, Shigeo Hirose: "Development of Miniature Dinosaur-like Robot TITRUS-III"Proc. IROS, Hawaii. 852-857 (2001)
[Publications] Edwardo F.Fukushima, Paulo Debenest, Shigeo Hirose: "Autonomous Control of an Engine-Driven Mobile Platform for Field Robotic Systems"Proc. IROS, Hawaii. 84-89 (2001)
[Publications] Edwardo F.Fukushima, Hideichi Nakamoto, Riichiro Damoto, Shigeo Hirose: "Optimal Load-Sensitive Control for Mobile Robots Equipped with Continuously Variable Transmissions"Proc. IROS, Hawaii. 476-481 (2001)
[Publications] Atsushi Kawakami, Akinori Toni, Shigeo Hirose: "Design of SMC Rover : Development and Basic Experiments of Arm Equipped Single Wheel Rover"Proc. IROS, Hawaii. 96-101 (2001)
[Publications] Makoto Mon, Shigeo Hirose: "Development of Active Cord Mechanism ACM-R3 with Agile 3D mobility"Proc. IROS, Hawaii. 1552-1557 (2001)
[Publications] Shigeo Hirose, Edwardo F.Fukushima, Riichiro Damoto, Hideichi Nakamoto: "Design of Terrain Adaptive Versatile Crawler Vehicle HELIOS-VI"Proc. IROS, Hawaii. 1540-1545 (2001)
[Publications] Hidetaka Ohno, Shigeo Hirose: "Desin of Slim Slime Robot and its Gait of Locomotion"Proc. IROS, Hawaii. 707-715 (2001)
[Publications] Hitoshi Kimura, Shigeo Hirose, Koji Nakaya: "Development of the Crown Motor"Proc. ICRA, Seoul. 2442-2447 (2001)
[Publications] Shigeo Hirose, Hideyuki Tsukagoshi, Kan Yoneda: "Normalized Energy Stability Margin and its Contour of Walking Vehicles on Rough Terrain"Proc. ICRA, Seoul. 181-186 (2001)
[Publications] Riichiro Damoto, Wendy Cheng, Shigeo Hirose: "Holonomic Omni-Directional Vehicle with New Omni-Wheel Mechanism"Proc. ICRA, Seoul. 773-778 (2001)
[Publications] Ryo Kurazume, Shigeo Hirose, Kan Yoneda: "Feedforward and feedback dynamic trot gait control for a quadruped walking vehicle"Proc. ICRA, Seoul. 3172-3179 (2001)
[Publications] Keiji Togawa, Shigeo Hirose: "Design of Active Cord Mechanism ACM-R2 to realize 3D motion"J. of Robotics and Mechatronics. 13・2. 176-182 (2001)
[Publications] Riichiro Damoto, Atsushi Kawakami, Shigeo Hirose: "Study of Super-Mechano Colony: concept and basic experimental set-up"$Advanced Robotics. 15・2. 391-408 (2001)
[Publications] 広瀬茂男, 福島E.文彦, 加藤恵輔: "人道的対人地雷撤去作業の自動化技術"日本ロボット学会誌. 19・6. 722-727 (2001)
[Publications] Shigeo Hirose: "Super Mechano-System: New Perspective for Versatile Robotic System"Experimental Robotics VII (Springer). 249-258 (2001)
[Publications] Shigeo Hirose: "Super Mechano-System Project in Tokyo Institute of Technology (keynote speech)"Proc. 2001 mt Workshop on Bi-Robotics and Telepoperation. 7-12 (2001)
[Publications] Keisuke Kato, Shigeo Hirose: "Development of the Quadruped Walking Robot, TITAN-IX-Me hanical Design Concept and Application for the Humanitarian Demining Robot-"Advanced Robotics. 15・2. 191-204 (2001)
[Publications] Shigeo Hirose, Keisuke Arikawa: "Coupled and Decoupled Actuation of Robotic Mechanisms"Advanced Robotics. 15・2. 125-138 (2001)
[Publications] 大野英隆, 広瀬茂男: "索状能動体に関する研究(空圧駆動型索状能動体の基本設計)"日本設計工学会. 36・5. 213-220 (2001)
[Publications] 大野英隆, 広瀬茂男: "索状能動体に関する研究(3D歩容に関するバイオメカニズム的考察)"日本設計工学会. 36・5. 206-212 (2001)
[Publications] Kyosuke Ono, Ryutaro Takahashi, Tohru Shimada: "Self-Excited Walking of a Biped Robot"International Journal of Robotics Research. (In print). (2002)
[Publications] Kyosuke Ono, Liu Rongqiang: "Optimal Biped Locomotion Solved by Trajectory Planning"Journal of Dynamic Systems, Measurement and Control. (in print). (2002)
[Publications] 小野京右, 右手潤二, 中島求: "自励駆動ヘビ形推進機構に関する研究"日本機械学会論文摺. (掲載可). (2002)
[Publications] 小野京右, 劉栄強: "2足歩行ロボットの最適軌道計画解(第1報,最適軌道解析法と全関節駆動系の最適解)"日本機械学会論文集(C編). 67/660. 2601-2608 (2001)
[Publications] 劉栄強, 小野京右: "2足歩行ロボットの最適軌道計画解(第2報,劣駆動系・膝衝突条件および歩幅の影響)"日本機械学会論文集(C編). 67/661. 2889-2896 (2001)
[Publications] Tsuyoshi MITARAI, Kyosuke ONO: "Simulation Study of Rhonrad Mechanism"Proc. of The fourth Korea-Japan Symposium of FRONTIERS IN VIBRATION SCIENCE AND TECHNOLOGY. 1-2 (2001)
[Publications] Shinya Okano, Motomu Nakashima, Kazuhiro Kaminaga, Kyosuke Ono: "Experimental Study of Two-Joint Dolphin-like Propulsion Mechanism"Proceedings of, TITech/C.O.E. Super-Mechano System Symposium 2001. (2001)
[Publications] Yoshitaka Takahashi, Motomu Nakashima, Kyosuke Ono: "Experimental Study of Three-Dimensional Maneuverability of Dolphin-like Propulsion"Proceedings of, TITech/C.O.E. Super-Mechano System Symposium 2001. (2002)
[Publications] Kyosuke Ono, Ryutaro Takahashi, Takashi Furuichi: "Self-Excited Walking of a Biped Mechanism with Feet"Proceedings of, TITech/C.O.E. Super-Mechano System Symposium 2001. (2002)
[Publications] Junji Ute, Kyosuke Ono, Motomu Nakashima: "Fast and Efficient Locomotion of a Snake Robot Based on Self-Excited Principle"Proceedings of, TITech/C.O.E. Super-Mechano System Symposium 2001. (2002)
[Publications] Norifumi Ohgishi, Kyosuke Ono, Motomu Nakashima: "A Study on the Propulsive Mechanism of a Double Jointed Fish Robot Utilizing Self-Excitation Control"Proceedings of, TITech/C.O.E. Super-Mechano System Symposium 2001. (2002)
[Publications] Katsuhisa Furuta, Yongcai Xu: "Super mechano-system project"Advanced Robotics. 15・2. 111-123 (2001)
[Publications] Yongcai Xu, Masami Iwase, Katsuhisa Furuta: "Time Optimal Swing-up Control of Single Pendulum"Transaction of the ASME, Journal of Dynamic Systems, Measurement, and Control. 123・3. 518-527 (2001)
[Publications] Satoshi Suzuki, Katsuhisa Furuta, Yaodong Pan, Shoshiro Hatakeyama: "Biped walking robot control with Passive Walker Model by New VSC servo"Proceedings of 20th American Control Conference. 107-112 (2001)
[Publications] Satoshi Suzuki, Katsuhisa Furuta, Yaodong Pan, Shoshiro Hatakeyama: "Lazy VS-control strategy for passive walking"Proceedings of the 40th IEEE Conference on Decison and Control. 1392-1297 (2001)
[Publications] Satoshi Suzuki, Katsuhisa Furuta, Shoshiro Hatakeyama: "Lazy control strategy for active passive-walking"Proceedings of LECON'O 1 The 27th Annual Conference of the IEEE Industrial Electronics Society. 305-310 (2001)
[Publications] Satoshi Suzuki, Katsuhisa Furuta: "Enhancement of stabilization for passive walking by chaos control approach"5th IFAC World Congress on Automatic Control. (to be appeared). (2002)
[Publications] 三平満司: "初期角運動量を有する劣駆動飛遊系の姿勢制御"日本ロボット学会誌. 19・4. 461-467 (2001)
[Publications] Masahiro Miyazaki: "Control of the motion of an acrobot approaching a horizontal bar"Advanced Robotics. 15・4. 467-480 (2001)
[Publications] Hisashi Date: "Locomotion control of a snake robot with constraint force attenuation"2001 American Control Conference. 113-118 (2001)
[Publications] Hisashi Date: "Control of a snake robot in consideration of constraint force"2001 IEEE Conference on Control Applications. 966-971 (2001)
[Publications] Yoshikatsu Hoshi: "Stability of hybrid control systems based on time-state control forms"15^<th> International Symposium on Mathematical Theory of Networks and Systems. (2002)
[Publications] Saburo Matunaga: "Rotational motion-damper for the capture of an uncontrolled floating satellite"Control Engineering Practice. 9. 199-205 (2001)
[Publications] Shigemune Taniwaki: "Coordinated control of a satellite-mounted manipulator with consideration of payload flexibility"Control Engineering Practice. 9. 207-215 (2001)
[Publications] 高橋孝: "再構成型宇宙システムのための多体動力学(第2報:接触力学と精度保証)"日本航空宇宙学会論文集. 49-568. 199-205 (2001)
[Publications] Saburo Matunaga: "Ground Experiment Evaluations of Reconfigurable Brachiating Space Robot RBR"6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SALRAS), Montreal, Canada,. (CD-ROM). (2001)
[Publications] Kazuya Konoue: "Experimental Study for Dual-Manipulator-Based Operation of Floating Massive Payload"6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SALRAS), Montreal, Canada,. (CD-ROM). (2001)
[Publications] Hiroshi Yamamoto: "Application of Parallel Processing to Distributed Motor Controller System"6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SALRAS), Montreal, Canada,. (CD-ROM). (2001)
[Publications] Takashi Takahashi: "Dynamics of Rigid Multibody Systems with Numerical Verification Method"Contact Dynamics Workshop, Canadian Space Agency, June 22,. (CD-ROM). (2001)
[Publications] Saburo Matunaga: "Future Space Servicing and Contact Dynamics"Contact Dynamics Workshop, Canadian Space Agency, June 22. (CD-ROM). (2001)
[Publications] 林良一: "ワイヤレス通信を利用した二次元ダイナミクスシミュレータの試作研究"日本機械学会論文集C編. 67-657. 1575-1582 (2001)
[Publications] Osamu Mon: "Coordinated Control of Tethered Satellite Cluster Systems"AIAA Guidance, Navigation, and Control & Exhibit, Aug. 6-9, Montreal, Canada. (CD-ROM). (2001)
[Publications] Takashi TAKAHASHI: "Contact Dynamics of Reconfigurable space systems with numerical verification method"Proceedings of the DETC200I : 2001 ASME Design Engineering Technical Conferences, September 9-1 2, Pittsburgh, Pennsylvania. (CD-ROM). (2001)
[Publications] 松永三郎: "双腕ロボットを用いた軌道上サービスのための地上実験システム"日本機械学会論文集C編. 97-661. 165-172 (2001)
[Publications] 松永三郎: "軌道上サービス実現に向けた萌芽的課題"システム/制御/情報. 45・10. 586-592 (2001)
[Publications] 神澤拓也: "ETS-VIIを用いたロボットアーム振動の軌道上評価実験"日本航空宇宙学会論文集. 59-574. 369-374 (2001)
[Publications] Osamu Mori: "Rotating Motion Control of Tethered Satellite Cluster Systems"16th International Symposium on Space Flight Dynamics, Pasadena, California. (CD-ROM). (2001)
[Publications] Ryoichi HAYASHI: "Experimental Evaluation of Reconfigurable Brachiating Space Robot"J. of Robotics and Mechatronics. 13・5. 548-553 (2001)
[Publications] 森治: "摩擦・衝撃を伴うテザー多体システムの3次元動力学"日本航空宇宙学会論文集. (掲載決定). (2002)
[Publications] 森治: "群型テザード衛星システムの回転運動制御"日本航空宇宙学会論文集. (掲載決定). (2002)
[Publications] 小俣透: "多点接触するマルチリムロボットの運動解析"日本ロボット学会誌. 19・2. 217-224 (2001)
[Publications] 小俣, P.Daengtamai: "パワーグラスプの不静定把持力計算法"日本ロボット学会誌. 19・7. 874-881 (2001)
[Publications] T.Omata: "Rigid Body Analysis of Power Grasps: Bounds of the Indeterminate Grasp Force"Proc. of IEEE Int. Conf. on Robotics and Automation. (CD-ROM). (2001)
[Publications] T.Schlegl, M.Buss, T.Omata, G.Schmidt: "Fast Dextrous Regrasping with Optimal Contact Forces and Contact Sensor Based Impedance Control"Proc. of IEEE Int. Conf. on Robotics and Automation. (CD-ROM). (2001)
[Publications] T.Omata, K.Tsukagoshi, O.Mori: "Whole Quadruped Manipulation"Proc. of IEEE Int. Conf. on Robotics and Automation. (to appear)(CD-ROM). (2002)
[Publications] O.Mori, T.Omata: "Coupling of Two 2-link Robots with Passive Joint for Reconfigurable Planar Parallel Robot"Proc. of IEEE Int. Conf. on Robotics and Automation. (to appear)(CD-ROM). (2002)
[Publications] 松野文俊: "先端負荷をもった2リンク柔軟アームのPDS制御"システム制御情報学会論文誌. 14・1. 26-32 (2001)
[Publications] 大須賀公一: "マニピュレータにおける受動性のロバスト性について"日本ロボット学会誌. 19・1. 75-80 (2001)
[Publications] Ranajit Chatterjee: "Use of Single Side Reflex for Autonomous Navigation of Mobile Robots in Unknown Environments"Robotics and Autonomous Systems. 35・2. 77-96 (2001)
[Publications] Yosifumi Morita: "obust Force Control of a Flexible Arm with a Non-symmetric Rigid Tip Body"J. Robotic Systems. 18・5. 221-235 (2001)
[Publications] 松野文俊: "あるクラスの3状態2入力の非ホイロノミックシステムの制御系設計と小惑星サンプルリターンロボットの姿勢制御"計測自動制御学会論文誌. 37・5. 549-556 (2001)
[Publications] 松野文俊: "分布的・集中的柔軟性をもつ大型宇宙構造物の振動系の指数安定化"計測自動制御学会論文誌. 37・7. 633-639 (2001)
[Publications] 伊藤一之: "GAにより探索空間の動的生成を行うQ学習"人工知能学会誌. 16・6. 510-520 (2001)
[Publications] 飯田幸美: "分布的および集中的柔軟性をもつ大型宇宙構造物のPDSS制御"計測自動制御学会論文誌. 37・12. 1126-1133 (2001)
[Publications] Fumitoshi Matsuno: "Control of an Asteroid Sample Return Robot based on Complementarity Modeling"Machine Intelligence and Robotic Control. 3・4(to appear). (2001)
[Publications] Fumitoshi Matsuno: "Underactuated Crawling Robot with Changing Constraints"Advanced Robotics. 16・2(to appear). (2002)
[Publications] 児島隆生: "地理情報と複数のセンサ情報を融合した自律移動ロボットのナビゲーション"GIS-理論と応用. 10・1(掲載予定). (2002)
[Publications] I.Erkmen: "Serpentine Search Robots in Rescue Operations"IEEE Robotics and Automation Magazine. 9・2(to appear). (2002)
[Publications] Fumitoshi Matsuno: "Proportional derivative and strain (PDS) boundary feedback control of a flexible space structure with a closed-loop chain mechanism"Automatica. 38・7(to appear). (2002)
[Publications] Kazuyuki Ito: "A sutdy of Q-learning: Dynamic Structuring of Action Space Based on Genetic Algorithm"Proc. International Symposium on Artificial Life and Robotics. 345-348 (2001)
[Publications] Fumitoshi Matsuno: "Attitude Control of a Space Robot with Initial Angular Momentum"Proc. IEEE Int. Conf. on Robotics and Automation. 1400-1405 (2001)
[Publications] Fumitoshi Matsuno: "Local Accessibility and Stabilization of an Underactuated Crawling Robot with Changing Constraints"Proc. IEEE Int. Conf. on Robotics and Automation. 2096-2101 (2001)
[Publications] Kazuyuki Ito: "Application of reinforcement learning to hyper-redundant system-Acquisition of locomotion pattern of snake like robot-"Proc. The Pacific Asian Conference on Intelligent Systems. 65-70 (2001)
[Publications] Fumitoshi Matsuno: "PDSS control of flexible space structures with distributed and lumped flexibility"Proc. IEEE Conf. on Decision and Control. 3866-3871 (2001)
[Publications] Fumitoshi Matsuno: "Control of an asteroid sample return robot during contact based on complementarity modeling"Proc. IEEE Conf. on Decision and Control. 1541-1546 (2001)
[Publications] Tetsushi Kamegawa: "Proposition of twisting mode of locomotion and GA bases motion planning for transition of locomotion modes od 3-dimensional snake-like robot"Proc. IEEE Int. Conf. on Robotics and Automation. (to appear). (2002)
[Publications] Kazuyuki Ito: "A study of reinforcement learning for the robot with many degrees of freedom -Acquisition of locomotion patterns for multi legged robot-"Proc. IEEE Int. Conf. on Robotics and Automation. (to appear). (2002)
[Publications] Fumitoshi Matsuno: "Experimehtal study on control of an asteroid sample return robot during contact based on complementarity modeling"Proc. IEEE Int. Conf. on Robotics and Automation. (to appear). (2002)
[Publications] 松野文俊: "柔軟メカニカルシステムのダイナミクスベースト制御-複雑なシステムの物理的本質をついた制御-"計測と制御. 40・6. 417-425 (2001)
[Publications] 松野文俊: "へび型ロボット-生物の模倣から生物を超えたロボットへ-"日本ロボット学会誌. 20・3(掲載予定). (2002)
[Publications] 池田貴幸: "可変拘束制御による水中移動体の位置・姿勢制御"計測自動制御学会論文集. 37・11. 3758-3763 (2001)
[Publications] 池田貴幸: "可変拘束制御による走行ロボットの実現"システム制御情報学会誌. 145・5. 233-243 (2001)
[Publications] Takayuki IKEDA: "Position and Attitude Control of an Underwater Vehicle Using Variable Constraint Control"IEEE Conference on Decision and Control. 3758-3763 (2001)
[Publications] 稲葉, 陳, 松尾: "固有空間を利用した可動対象物のビジュアルマニピュレーション-ボール&ビーム系を例題とした検討-"電気学会論文誌C分冊. 121C・7. 1195-1202 (2001)
[Publications] 小林, 松尾, 牧野: "移動ロボット群における確信度に基づいた位置情報共有化"電気学会論文誌C分冊. 121C・7. 1318-1325 (2001)
[Publications] ABE, Y., MATSUO: "Collision Avoidance Method for Multiple Autonomous Mobile Agen by Implicit Cooperation"IEEE/RSJlntemationalConferenceon Intelligent Robots and Systems (IROS2001). WC3・2. (2001)
[Publications] M.Yamakita et al.: "Virtual Coupling Control for Dynamic Bipedal Walking"Proc. of IROS 2001. 233-238 (2001)
[Publications] M.Ohta et al.: "Periodic Stablizing Control of Systems with Collisions-Application to Walking Robots"Proc. of IROS 2001. 20・3. 980-985 (2001)

2001 Fiscal Year Annual Research Report

スーパーメカノシステム:制御と機構の融合による新機能創出

Principal Investigator

廣瀬 茂男 東京工業大学, 大学院・理工学研究科, 教授 (70108215)

Research Products

[Publications] Shigeo Hirose: "Super Mechano-System: New Perspective for Versatile Robotic System"Proc. Commemorative Int. Symp. For the 40th Anniversary of the Foundation of the Osaka Electro-Communication University. 163-172 (2001)

[Publications] Kensuke Takita, Toshio Katayaina, Shigeo Hirose: "Development of Miniature Dinosaur-like Robot TITRUS-III"Proc. IROS, Hawaii. 852-857 (2001)

[Publications] Edwardo F.Fukushima, Paulo Debenest, Shigeo Hirose: "Autonomous Control of an Engine-Driven Mobile Platform for Field Robotic Systems"Proc. IROS, Hawaii. 84-89 (2001)

[Publications] Edwardo F.Fukushima, Hideichi Nakamoto, Riichiro Damoto, Shigeo Hirose: "Optimal Load-Sensitive Control for Mobile Robots Equipped with Continuously Variable Transmissions"Proc. IROS, Hawaii. 476-481 (2001)

[Publications] Atsushi Kawakami, Akinori Toni, Shigeo Hirose: "Design of SMC Rover : Development and Basic Experiments of Arm Equipped Single Wheel Rover"Proc. IROS, Hawaii. 96-101 (2001)

[Publications] Makoto Mon, Shigeo Hirose: "Development of Active Cord Mechanism ACM-R3 with Agile 3D mobility"Proc. IROS, Hawaii. 1552-1557 (2001)

[Publications] Shigeo Hirose, Edwardo F.Fukushima, Riichiro Damoto, Hideichi Nakamoto: "Design of Terrain Adaptive Versatile Crawler Vehicle HELIOS-VI"Proc. IROS, Hawaii. 1540-1545 (2001)

[Publications] Hidetaka Ohno, Shigeo Hirose: "Desin of Slim Slime Robot and its Gait of Locomotion"Proc. IROS, Hawaii. 707-715 (2001)

[Publications] Hitoshi Kimura, Shigeo Hirose, Koji Nakaya: "Development of the Crown Motor"Proc. ICRA, Seoul. 2442-2447 (2001)

[Publications] Shigeo Hirose, Hideyuki Tsukagoshi, Kan Yoneda: "Normalized Energy Stability Margin and its Contour of Walking Vehicles on Rough Terrain"Proc. ICRA, Seoul. 181-186 (2001)

[Publications] Riichiro Damoto, Wendy Cheng, Shigeo Hirose: "Holonomic Omni-Directional Vehicle with New Omni-Wheel Mechanism"Proc. ICRA, Seoul. 773-778 (2001)

[Publications] Ryo Kurazume, Shigeo Hirose, Kan Yoneda: "Feedforward and feedback dynamic trot gait control for a quadruped walking vehicle"Proc. ICRA, Seoul. 3172-3179 (2001)

[Publications] Keiji Togawa, Shigeo Hirose: "Design of Active Cord Mechanism ACM-R2 to realize 3D motion"J. of Robotics and Mechatronics. 13・2. 176-182 (2001)

[Publications] Riichiro Damoto, Atsushi Kawakami, Shigeo Hirose: "Study of Super-Mechano Colony: concept and basic experimental set-up"$Advanced Robotics. 15・2. 391-408 (2001)

[Publications] 広瀬茂男, 福島E.文彦, 加藤恵輔: "人道的対人地雷撤去作業の自動化技術"日本ロボット学会誌. 19・6. 722-727 (2001)

[Publications] Shigeo Hirose: "Super Mechano-System: New Perspective for Versatile Robotic System"Experimental Robotics VII (Springer). 249-258 (2001)

[Publications] Shigeo Hirose: "Super Mechano-System Project in Tokyo Institute of Technology (keynote speech)"Proc. 2001 mt Workshop on Bi-Robotics and Telepoperation. 7-12 (2001)

[Publications] Keisuke Kato, Shigeo Hirose: "Development of the Quadruped Walking Robot, TITAN-IX-Me hanical Design Concept and Application for the Humanitarian Demining Robot-"Advanced Robotics. 15・2. 191-204 (2001)

[Publications] Shigeo Hirose, Keisuke Arikawa: "Coupled and Decoupled Actuation of Robotic Mechanisms"Advanced Robotics. 15・2. 125-138 (2001)

[Publications] 大野英隆, 広瀬茂男: "索状能動体に関する研究(空圧駆動型索状能動体の基本設計)"日本設計工学会. 36・5. 213-220 (2001)

[Publications] 大野英隆, 広瀬茂男: "索状能動体に関する研究(3D歩容に関するバイオメカニズム的考察)"日本設計工学会. 36・5. 206-212 (2001)

[Publications] Kyosuke Ono, Ryutaro Takahashi, Tohru Shimada: "Self-Excited Walking of a Biped Robot"International Journal of Robotics Research. (In print). (2002)

[Publications] Kyosuke Ono, Liu Rongqiang: "Optimal Biped Locomotion Solved by Trajectory Planning"Journal of Dynamic Systems, Measurement and Control. (in print). (2002)

[Publications] 小野京右, 右手潤二, 中島求: "自励駆動ヘビ形推進機構に関する研究"日本機械学会論文摺. (掲載可). (2002)

[Publications] 小野京右, 劉栄強: "2足歩行ロボットの最適軌道計画解(第1報,最適軌道解析法と全関節駆動系の最適解)"日本機械学会論文集(C編). 67/660. 2601-2608 (2001)

[Publications] 劉栄強, 小野京右: "2足歩行ロボットの最適軌道計画解(第2報,劣駆動系・膝衝突条件および歩幅の影響)"日本機械学会論文集(C編). 67/661. 2889-2896 (2001)

[Publications] Tsuyoshi MITARAI, Kyosuke ONO: "Simulation Study of Rhonrad Mechanism"Proc. of The fourth Korea-Japan Symposium of FRONTIERS IN VIBRATION SCIENCE AND TECHNOLOGY. 1-2 (2001)

[Publications] Shinya Okano, Motomu Nakashima, Kazuhiro Kaminaga, Kyosuke Ono: "Experimental Study of Two-Joint Dolphin-like Propulsion Mechanism"Proceedings of, TITech/C.O.E. Super-Mechano System Symposium 2001. (2001)

[Publications] Yoshitaka Takahashi, Motomu Nakashima, Kyosuke Ono: "Experimental Study of Three-Dimensional Maneuverability of Dolphin-like Propulsion"Proceedings of, TITech/C.O.E. Super-Mechano System Symposium 2001. (2002)

[Publications] Kyosuke Ono, Ryutaro Takahashi, Takashi Furuichi: "Self-Excited Walking of a Biped Mechanism with Feet"Proceedings of, TITech/C.O.E. Super-Mechano System Symposium 2001. (2002)

[Publications] Junji Ute, Kyosuke Ono, Motomu Nakashima: "Fast and Efficient Locomotion of a Snake Robot Based on Self-Excited Principle"Proceedings of, TITech/C.O.E. Super-Mechano System Symposium 2001. (2002)

[Publications] Norifumi Ohgishi, Kyosuke Ono, Motomu Nakashima: "A Study on the Propulsive Mechanism of a Double Jointed Fish Robot Utilizing Self-Excitation Control"Proceedings of, TITech/C.O.E. Super-Mechano System Symposium 2001. (2002)

[Publications] Katsuhisa Furuta, Yongcai Xu: "Super mechano-system project"Advanced Robotics. 15・2. 111-123 (2001)

[Publications] Yongcai Xu, Masami Iwase, Katsuhisa Furuta: "Time Optimal Swing-up Control of Single Pendulum"Transaction of the ASME, Journal of Dynamic Systems, Measurement, and Control. 123・3. 518-527 (2001)

[Publications] Satoshi Suzuki, Katsuhisa Furuta, Yaodong Pan, Shoshiro Hatakeyama: "Biped walking robot control with Passive Walker Model by New VSC servo"Proceedings of 20th American Control Conference. 107-112 (2001)

[Publications] Satoshi Suzuki, Katsuhisa Furuta, Yaodong Pan, Shoshiro Hatakeyama: "Lazy VS-control strategy for passive walking"Proceedings of the 40th IEEE Conference on Decison and Control. 1392-1297 (2001)

[Publications] Satoshi Suzuki, Katsuhisa Furuta, Shoshiro Hatakeyama: "Lazy control strategy for active passive-walking"Proceedings of LECON'O 1 The 27th Annual Conference of the IEEE Industrial Electronics Society. 305-310 (2001)

[Publications] Satoshi Suzuki, Katsuhisa Furuta: "Enhancement of stabilization for passive walking by chaos control approach"5th IFAC World Congress on Automatic Control. (to be appeared). (2002)

[Publications] 三平満司: "初期角運動量を有する劣駆動飛遊系の姿勢制御"日本ロボット学会誌. 19・4. 461-467 (2001)

[Publications] Masahiro Miyazaki: "Control of the motion of an acrobot approaching a horizontal bar"Advanced Robotics. 15・4. 467-480 (2001)

[Publications] Hisashi Date: "Locomotion control of a snake robot with constraint force attenuation"2001 American Control Conference. 113-118 (2001)

[Publications] Hisashi Date: "Control of a snake robot in consideration of constraint force"2001 IEEE Conference on Control Applications. 966-971 (2001)

[Publications] Yoshikatsu Hoshi: "Stability of hybrid control systems based on time-state control forms"15^<th> International Symposium on Mathematical Theory of Networks and Systems. (2002)

[Publications] Saburo Matunaga: "Rotational motion-damper for the capture of an uncontrolled floating satellite"Control Engineering Practice. 9. 199-205 (2001)

[Publications] Shigemune Taniwaki: "Coordinated control of a satellite-mounted manipulator with consideration of payload flexibility"Control Engineering Practice. 9. 207-215 (2001)

[Publications] 高橋孝: "再構成型宇宙システムのための多体動力学(第2報:接触力学と精度保証)"日本航空宇宙学会論文集. 49-568. 199-205 (2001)

[Publications] Saburo Matunaga: "Ground Experiment Evaluations of Reconfigurable Brachiating Space Robot RBR"6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SALRAS), Montreal, Canada,. (CD-ROM). (2001)

[Publications] Kazuya Konoue: "Experimental Study for Dual-Manipulator-Based Operation of Floating Massive Payload"6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SALRAS), Montreal, Canada,. (CD-ROM). (2001)

[Publications] Hiroshi Yamamoto: "Application of Parallel Processing to Distributed Motor Controller System"6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SALRAS), Montreal, Canada,. (CD-ROM). (2001)

[Publications] Takashi Takahashi: "Dynamics of Rigid Multibody Systems with Numerical Verification Method"Contact Dynamics Workshop, Canadian Space Agency, June 22,. (CD-ROM). (2001)

[Publications] Saburo Matunaga: "Future Space Servicing and Contact Dynamics"Contact Dynamics Workshop, Canadian Space Agency, June 22. (CD-ROM). (2001)

[Publications] 林良一: "ワイヤレス通信を利用した二次元ダイナミクスシミュレータの試作研究"日本機械学会論文集C編. 67-657. 1575-1582 (2001)

[Publications] Osamu Mon: "Coordinated Control of Tethered Satellite Cluster Systems"AIAA Guidance, Navigation, and Control & Exhibit, Aug. 6-9, Montreal, Canada. (CD-ROM). (2001)

[Publications] Takashi TAKAHASHI: "Contact Dynamics of Reconfigurable space systems with numerical verification method"Proceedings of the DETC200I : 2001 ASME Design Engineering Technical Conferences, September 9-1 2, Pittsburgh, Pennsylvania. (CD-ROM). (2001)

[Publications] 松永三郎: "双腕ロボットを用いた軌道上サービスのための地上実験システム"日本機械学会論文集C編. 97-661. 165-172 (2001)

[Publications] 松永三郎: "軌道上サービス実現に向けた萌芽的課題"システム/制御/情報. 45・10. 586-592 (2001)

[Publications] 神澤拓也: "ETS-VIIを用いたロボットアーム振動の軌道上評価実験"日本航空宇宙学会論文集. 59-574. 369-374 (2001)

[Publications] Osamu Mori: "Rotating Motion Control of Tethered Satellite Cluster Systems"16th International Symposium on Space Flight Dynamics, Pasadena, California. (CD-ROM). (2001)

[Publications] Ryoichi HAYASHI: "Experimental Evaluation of Reconfigurable Brachiating Space Robot"J. of Robotics and Mechatronics. 13・5. 548-553 (2001)

[Publications] 森治: "摩擦・衝撃を伴うテザー多体システムの3次元動力学"日本航空宇宙学会論文集. (掲載決定). (2002)

[Publications] 森治: "群型テザード衛星システムの回転運動制御"日本航空宇宙学会論文集. (掲載決定). (2002)

[Publications] 小俣透: "多点接触するマルチリムロボットの運動解析"日本ロボット学会誌. 19・2. 217-224 (2001)

[Publications] 小俣, P.Daengtamai: "パワーグラスプの不静定把持力計算法"日本ロボット学会誌. 19・7. 874-881 (2001)

[Publications] T.Omata: "Rigid Body Analysis of Power Grasps: Bounds of the Indeterminate Grasp Force"Proc. of IEEE Int. Conf. on Robotics and Automation. (CD-ROM). (2001)

[Publications] T.Schlegl, M.Buss, T.Omata, G.Schmidt: "Fast Dextrous Regrasping with Optimal Contact Forces and Contact Sensor Based Impedance Control"Proc. of IEEE Int. Conf. on Robotics and Automation. (CD-ROM). (2001)

[Publications] T.Omata, K.Tsukagoshi, O.Mori: "Whole Quadruped Manipulation"Proc. of IEEE Int. Conf. on Robotics and Automation. (to appear)(CD-ROM). (2002)

[Publications] O.Mori, T.Omata: "Coupling of Two 2-link Robots with Passive Joint for Reconfigurable Planar Parallel Robot"Proc. of IEEE Int. Conf. on Robotics and Automation. (to appear)(CD-ROM). (2002)

[Publications] 松野文俊: "先端負荷をもった2リンク柔軟アームのPDS制御"システム制御情報学会論文誌. 14・1. 26-32 (2001)

[Publications] 大須賀公一: "マニピュレータにおける受動性のロバスト性について"日本ロボット学会誌. 19・1. 75-80 (2001)

[Publications] Ranajit Chatterjee: "Use of Single Side Reflex for Autonomous Navigation of Mobile Robots in Unknown Environments"Robotics and Autonomous Systems. 35・2. 77-96 (2001)

[Publications] Yosifumi Morita: "obust Force Control of a Flexible Arm with a Non-symmetric Rigid Tip Body"J. Robotic Systems. 18・5. 221-235 (2001)

[Publications] 松野文俊: "あるクラスの3状態2入力の非ホイロノミックシステムの制御系設計と小惑星サンプルリターンロボットの姿勢制御"計測自動制御学会論文誌. 37・5. 549-556 (2001)

[Publications] 松野文俊: "分布的・集中的柔軟性をもつ大型宇宙構造物の振動系の指数安定化"計測自動制御学会論文誌. 37・7. 633-639 (2001)

[Publications] 伊藤一之: "GAにより探索空間の動的生成を行うQ学習"人工知能学会誌. 16・6. 510-520 (2001)

[Publications] 飯田幸美: "分布的および集中的柔軟性をもつ大型宇宙構造物のPDSS制御"計測自動制御学会論文誌. 37・12. 1126-1133 (2001)

廣瀬茂男東京工業大学, 大学院・理工学研究科, 教授 (70108215)