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

• Project/Area Number: 09CE2004
• Research Category: Grant-in-Aid for COE Research
• Allocation Type: Single-year Grants
• Research Institution: Tokyo Institute of Technology
• Principal Investigator: 廣瀬 茂男 (2000-2001) 東京工業大学, 大学院・理工学研究科, 教授 (70108215); 古田 勝久 (1997-1999) 東京工業大学, 大学院・情報理工学研究科, 教授 (10016454)
• 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) ; 廣瀬 茂男 東京工業大学, 工学部, 教授 (70108215) ; 長松 昭男 東京工業大学, 工学部, 教授 (70016640)
• Project Period (FY): 1997 – 2001
• Project Status: Completed (Fiscal Year 2001)
• Budget Amount: ¥1,090,000,000 (Direct Cost: ¥1,090,000,000); Fiscal Year 2001: ¥170,000,000 (Direct Cost: ¥170,000,000); Fiscal Year 2000: ¥230,000,000 (Direct Cost: ¥230,000,000); Fiscal Year 1999: ¥260,000,000 (Direct Cost: ¥260,000,000); Fiscal Year 1998: ¥230,000,000 (Direct Cost: ¥230,000,000); Fiscal Year 1997: ¥200,000,000 (Direct Cost: ¥200,000,000)
• 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 / Super-mechano System / Design of New Mechanisms / Super-maechano System / Variable constraint Control / Function Model / Space Robot

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

• [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)
• [Publications] 福島E.文彦: "最適力配分を考慮した計算トルク法に基づく節体幹移動ロボットの姿勢制御の提案"日本ロボット学会誌. 18・4. 576-583 (2000)
• [Publications] 広瀬茂男: "負荷感応型無段変速機X-screwの開発"日本機械学会論文集(C編). 66・646. 1912-1918 (2000)
• [Publications] 内田康之: "車輪の凹凸地踏破性能評価とHS車輪の開発"日本ロボット学会誌. 18・5. 743-751 (2000)
• [Publications] 内田康之: "6輪不整地走行車「HELIOS-V」の開発"日本設計工学会誌. 35・7. 255-261 (2000)
• [Publications] 加藤恵輔: "形状帰還型マスタ・スレーブアームの提案と基礎実験"日本ロボット学会誌. 18・5. 752-757 (2000)
• [Publications] 萩原哲夫: "広い速度・負荷適応機構を有する新しい負荷感応型直動機構DM X-screwの開発"日本機械学会論文集(C編). 66・644. 1258-1263 (2000)
• [Publications] 遠藤玄: "索状能動体に関する研究-システムの自立化と対地適応推進-"日本ロボット学会誌. 18・3. 419-425 (2000)
• [Publications] 遠藤玄: "ローラーウォーカーに関する研究-システムの構成と基本的動作実験-"日本ロボット学会誌. 18・2. 270-277 (2000)
• [Publications] 太田祐介: "出力均質性の高いパラレルメカニズムを利用した省自由度歩行ロボットの研究"日本ロボット学会誌. 18・1. 66-74 (2000)
• [Publications] 倉爪亮: "高速画像安定化機構を用いた歩行機械の遠隔操縦性向上に関する研究"日本ロボット学会誌. 18・7. 1011-1018 (2000)
• [Publications] 福島E.文彦: "節体幹型移動ロボットの操舵とマニピュレーション制御の統合"日本ロボット学会誌. 18・8. 1112-121 (2000)
• [Publications] 遠藤玄: "ローラーウォーカーに関する研究-基本的運動の生成と自立推進実験-"日本ロボット学会誌. 18・8. 1159-1165 (2000)
• [Publications] Ryo Kurazume: "An Experimental Study of a Cooperative Positioning System"Autonomous Robots. 8. 43-52 (2000)
• [Publications] Keisuke Kato: "Proposition and Basic Experiments of Shape Feedback Master-Slave Arm"J.of Robotics and Mechatronics. 12・3. 268-274 (2000)
• [Publications] Keisuke Kato: "Development of the Quadruped Walking Robot for Humanitarian Demining"J.of Robotics and Mechatronics. 12・3. 261-267 (2000)
• [Publications] Shigeo Hirose: "Design of In-Pipe Inspection Vehicles for φ25,φ50,φ150 Pipes"J.of Robotics and Mechatronics. 12・3. 310-317 (2000)
• [Publications] Shigeo Hirose: "Variable Constraint Mechanism and Its Application for Design of Mobile Robots"Robotics Research. 19・11. 1126-1138 (2000)
• [Publications] Shigeo Hirose: "Dewsign of Three-wheeled Planetary Rover Tri-Star II"J.of Robotics and Mechatronics. 12・4. 446-452 (2000)
• [Publications] Gen Endo: "Study on Self-contained and Terrain Adaptive Active Cord Mechanism"Proc.IROS. 1399-1405 (2000)
• [Publications] Gen Endo: "Study on Roller-Walker (Multi-mode Steering Control and Self-contained Locomotion)"Proc.ICRA. 2808-2814 (2000)
• [Publications] Shigeo Hirose: "Coupled and Decoupled Actuation o f Robotic Mechanisms"Proc.ICRA. 33-39 (2000)
• [Publications] Shigeo Hirose: "Study on Quadruped Walking Robot in Tokyo Institute of Technology -Past, Present and Future-"Proc.ICRA. 414-419 (2000)
• [Publications] Ryo Kurazume: "Development of image stabilization system for remote operation of walking robots"Proc.ICRA. 1856-1861 (2000)
• [Publications] Keisuke Kato: "Proposition and Basic Experiments of Shape Feedback Master-Slave Arm -On the Application for the Demining Robots-"Proc.ICRA. 2334-2339 (2000)
• [Publications] Edwardo F.Fukushima: "A New Flexible Component for Field Robotic System"Proc.ICRA. 2583-2588 (2000)
• [Publications] Shigeo Hirose: "Study of Super-Mechano-Colony (Design of Experimental Model and Its Fundamental Experiments)"Proc.COE workshop. 83-89 (2000)
• [Publications] Kensuke Takita: "Development of Dinosaur-like Robot TITRUS-Fundamental concept and Its mechanism-"Proc.COE workshop. 283-288 (2000)
• [Publications] Keisuke Kato: "Proposition of the Humanitarian Demining System by the Quadruped Walking Robot-"Proc.IROS. 769-774 (2000)
• [Publications] Yun-Jung Lee: "Three-Legged Walking for Fault Tolerant Locomotion of a Quadruped Robot with Demining Mission"Proc.IROS. 973-978 (2000)
• [Publications] Shigeo Hirose: "Study of Super-Mechano-Colony (Concept and Basic Experimental Setup)"Proc.IROS. 1670-1675 (2000)
• [Publications] Hidetaka Ohno: "Study on Slime Robot (Proposal of Slime Robot and Design of Slim Slime Robot)"Proc.IROS. 2218-2223 (2000)
• [Publications] Keiji Togawa: "Study on Three-dimensional Active Cord Mechanism : Development of ACM-R2"Proc.IROS. 2242-2247 (2000)
• [Publications] Kan YONEDA: "Construction of a Quadruped with Reduced Degrees of Freedom"Proc.of IEEE International Conference on Industrial Electronics, Control and Instrumentation. 28-33 (2000)
• [Publications] Kan YONEDA: "Partial Leg Exchange and Active CG Control of Twin Frame Walking Machine"International Symposium on Adaptive Motion of Animals Machines. FrA-I (2000)
• [Publications] 池田: "浮遊機械のノンホロノミック可変拘束制御の提案と収束性の検討"日本ロボット学会誌. 18・6. 847-855 (2000)
• [Publications] P.Prautsch: "Analysis and Control of a Gait of Snake Robot"電気学会産業応用部門誌. 120-D-3. 372-381 (2000)
• [Publications] 美多: "初期角運動量を有する劣駆動浮遊機械系の最短時間制御解の導出と解析"計測自動制御学会論文集. 36・8. 668-675 (2000)
• [Publications] 南: "高次ノンホロノミック制御系の可変周期有限整定制御と劣駆動機械制御への応用"計測自動制御学会論文集. 36・11. 952-961 (2000)
• [Publications] 池田: "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(掲載予定). (2000)
• [Publications] T.Mita: "Extended H Infinity Control -H Infinity Control with Unstable Weights-"Automatica. 36. 735-741 (2000)
• [Publications] X.Xin: "Complete solution of the 4-block H infinity control problem with infinite and finite jomega- axis zeros"Int.J.of Robust and Nonlinear Control. 10. 59-81 (2000)
• [Publications] 石川: "光デスクドライブのスライデングレギュレータ制御"電気学会産業応用部門誌. 120-D-5. 725-733 (2000)
• [Publications] 忻欣: "非正方インタラクターの直接かつ数値安定な状態空間設計法"計測自動制御学会論文集. 36・7. 555-562 (2000)
• [Publications] Prautsch P: "Nonlinear Control of Snake Robot"Proc.of the 5th Int.Symp.on Artificial Life and Robotics. 499-502 (2000)
• [Publications] Mita T: "Analytical Time Optimal Control Solution for Free Flying Objects with Drift Term"Proc.of TITech COE/Super Mechano-Systems Symposium. 72-82 (2000)
• [Publications] Jongusuk J: "Variable Constraint Control in Nonholonomic Systems"Proc.of the ASCC. 207-212 (2000)
• [Publications] Mita T: "Time Optimal Control Solution for Posture Control of Underactuated Free Flying Robots with Initial Angular Momentum"Proc.Of the ASCC. 1743-1748 (2000)
• [Publications] Mita T: "Analytical Time Optimal Control Solution for Free Flying Objects with Drift Terms"Proc.of IEEE CDC. (2000)
• [Publications] 池田: "脚式ロボットの走行制御-動物の運動解析に基づく走行の実現"システム制御情報学会論文誌. 14・5(掲載予定). (2000)
• [Publications] Norio INOU: "A Cellular Automaton Self-organizing a Mechanical Structure with L-systems Modeling and Control in Biomedical Sysytems"IFAC Symposium. 257-262 (2000)
• [Publications] 藤岡久也: "サンプル値制御理論-IV-最適制御問題の一般化"システム/制御/情報. 44・2. 78-86 (2000)
• [Publications] 藤岡久也: "サンプル値制御理論-V-実システムへの応用と数値計算法"システム/制御/情報. 44・4. 223-231 (2000)
• [Publications] 山本裕: "サンプル値制御理論-VI-ディジタル信号処理への応用"システム/制御/情報. 44・6. 336-343 (2000)
• [Publications] 穴井宏和: "新しい数式処理アルゴリズムQEを用いたロバスト制御系設計"システム/制御/情報. 44・6. 307-311 (2000)
• [Publications] 宮里智樹: "適合性確率に基づくモデル集合の検証"システム制御情報学会論文集. 13・6. 293-299 (2000)
• [Publications] Supachai VORAPOJPISUT: "A General Framework for a Class of Autonomous Hybrid Systems : Stability Analysis Stabilizing Control, and H∞ Control"シミュレーション. 19・3. 220-227 (2000)
• [Publications] 上野晃嗣: "設計支援システムにおける並列プログラミングのためのマクロデータフローモデル"シミュレーション. 19・3. 168-177 (2000)
• [Publications] T.Asai: "Simultaneous parametric uncertainty modeling and robust control synthesis by LFT scaling"Atutomatica. 36. 1457-1467 (2000)
• [Publications] Tetsuya Iwasaki: "Structure/control design integration with finite frequency positive real property"American Control Conference. 549-553 (2000)
• [Publications] Hirokazu Anai: "Fixed-structure robust controller synthesis based on sign definite condition by a special quantifier elimination"American Control Conference. 1312-1316 (2000)
• [Publications] T.Yokozawa: "Optimal Control Strategy for High Jump based on Complementarity Modeling"The 39th Conference on Decision and Control. 3132-3137 (2000)
• [Publications] J.Chen: "Optimal tracking performance : Preview control and exponentially growing signals"The 39th Conference on Decision and Control. 1924-1929 (2000)
• [Publications] S.Hara: "A Probabilistic approach to robust control design"The 39th Conference on Decision and Control. 2761-2762 (2000)
• [Publications] Kohei Mori: "Non-Convex Relaxation to the Space of Hypercomplex Numbers for Indefinite Quadratic Programming"The First Sino-Japan Optimization Meeting. 91 (2000)
• [Publications] M.Yamakita: "Passive velocity field control of biped walking robot"proc.of IEEE Int.Conf.on Robotics and Automation. (2000)
• [Publications] F.Asano: "Virtual passive dynamic walking and energy-based control law"proc.IROS'00. (2000)
• [Publications] Y.Liu and M.Yamakita: "A New Scheme of Nonlinear Continuous System Identification Using Radial Basis Function Network"Trans.of IEE of Japan. 120-C. (2000)
• [Publications] 山北: "ラグランジュ方程式の構造に着目したANNを用いたロボットアームの制御"計測自動制御学会論文誌. 36. 726-728 (2000)
• [Publications] M.Yamakita: "Decentralized PVFC for Cooperative Mobile Robots"Trans.IEE of Japan. 120-C. (2000)
• [Publications] M.Yamakita: "An Adaptive Learning Control and Its Application to Vibration Isolation System"Proc.of ASCC'00. (2000)
• [Publications] M.Yamakita: "Comparison of Output Feedback Controls Using ANN for Mechanical Systems,"Proc.of IECON'00. (2000)
• [Publications] M.Yamakita: "Adaptive Generation of Desired Velocity Field for Cooperative Mobile Robots with Decentralized PVFC"Proc.of IROS'00. (2000)
• [Publications] H.Mitituji: "Swing up of inverted pendulum using vibrational input"Proc.of CCA'00. (2000)
• [Publications] F.Asano: "Extended PVFC with variable velocity fields for kneed biped"Proc.of the first IEEE-RAS Int.Conf.on Humanoid Robots. (2000)
• [Publications] T.Iwata: "PWM-Type Discrete VSS Controller for On/Off Actuator Systems"proc.of 39th IEEE Conference on Decision and Control. (2000)
• [Publications] Masaki YAMAKITA: "Jumping Cat Robot with Kicking a Wall"Proc.of AMAM'2000. (2000)
• [Publications] 中島求: "2関節イルカ形水中推進機構の動力学解析(第5報,第2関節がばね支持のモデルの解析)"日本機械学会論文集B編. 66・643. 686-694 (2000)
• [Publications] 中島求: "2関節イルカ形水中推進機構の実験的研究(第1報,小形機による実験)"日本機械学会論文集B編. 66・643. 695-702 (2000)
• [Publications] 中島求: "2関節イルカ形水中推進機構の実験的研究(第2報,自走式大形実験機による実験)"日本機械学会論文集B編. 66・643. 703-709 (2000)
• [Publications] Motomu Nakashima: "Numerical Study of the Thrust, Energy Consumption and Propulsive Efficiency of a Three Joint Bending Propulsion Mechanism"Transactions of the ASME, Journal of Fluids Engineering. 122・3. 614-618 (2000)
• [Publications] Motomu Nakashima: "Experimental Study of Two-Joint Dolphin Robot (Propulsive Characteristics of 2nd Large Model)"Proceedings of the First International Symposium on Aqua Bio-Mechanisms. 311-314 (2000)
• [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(掲載予定). (2001)
• [Publications] Toru OMATA: "Rigid Body Analysis of the Indeterminate Grasp Force in Power Grasps"IEEE Transactions on Robotics and Automation. 16・1. 46-54 (2000)
• [Publications] Mohammad Asim FAROOQI: "Online Construction of the Manipulation-Model of an unknown Object by a Robot Hand using the Regrasping Primitives"Advanced Robotics. 14・2. 135-151 (2000)
• [Publications] 高橋孝: "再構成型宇宙システムのための多体動力学(第一報:動力学アルゴリズムの概要)"日本航空宇宙学会論文集. 48,563. 418-424 (2000)
• [Publications] 高橋孝: "再構成型宇宙システムのための多体動力学(第二報:接触力学と精度保証)"日本航空宇宙学会論文集. 49・568(掲載決定). (2001)
• [Publications] Takashi Takahashi: "Numerical Computation of Reconfigurable Multibody Dynamics"Proc.2000 IEEE/RSJ International Conf.on Intelligent Robots and Systems (IROS2000). 3. 1828-1833 (2000)
• [Publications] 林良一: "空圧を用いた2次元ダイナミクスシミュレータの試作・評価"日本機械学会論文集C編. (掲載決定). (2001)
• [Publications] 森治: "群型テザード衛星システムの編隊飛行制御"第44回宇宙科学技術連合講演会講演集. 上巻. 722-727 (2000)
• [Publications] O.Mori: "Tension Control of Tethered Satellite Cluster"Proc.22nd International Symposium on Space Technology and Science. 2. 1786-1794 (2000)
• [Publications] Osamu Mori: "Coordinated Control of Tethered Satellite Cluster Systems"Proc.10th Workshop on Astrodynamics and Flight Mechanics. 1-7 (2000)
• [Publications] Osamu Mori: "Research and Development of Tethered Satellite Cluster Systems"Proc.2000 IEEE/RSJ International Conf.on Intelligent Robots and Systems (IROS2000). 3. 1834-1840 (2000)
• [Publications] H.Yamamoto: "IP-Based Communication System in Reconfigurable Space Robot"Proc.22nd International Symposium on Space Technology and Science. 1. 778-781 (2000)
• [Publications] Saburo Matunaga: "Robot Satellite Cluster System and its Ground Experiment System"51st Congress of the International Astronautical Federation. IAF-00. A.3.06 (2000)
• [Publications] Saburo Matunaga: "Ground Experiment System for Dual-Manipulator-Based Capture of Damaged Satellites"Proc.2000 IEEE/RSJ International Conf.on Intelligent Robots and Systems (IROS2000). 3. 1847-1852 (2000)
• [Publications] 岡田英人: "群型ロボット衛星システムの地上実験"ロボティックス・メカトロニクス講演会. (2001)
• [Publications] 宮下直己: "双腕マニピュレータを用いた浮遊物体操作の基礎実験"ロボティックス・メカトロニクス講演会. (2001)
• [Publications] 山本幸治: "ニ自由度リンク機構における大車輪運動の制御"日本機械学会論文集(C編). 66・644. 3519-3599 (2000)
• [Publications] 小野京右: "制御性を考慮した機構設計"システム/制御/情報. 44・11. 632-639 (2000)
• [Publications] 伊能教夫: "生物の形づくりの数理と物理(第3章,171-185)"共立出版株式会社. 209 (2000)
• [Publications] 岡林亮爾,古田勝久: "Lur'e問題の観点からみたスライディングモード制御系に関する一考察"計測自動制御学会論文集. 35・4. 580-582 (1999)
• [Publications] 田中聡,古田勝久: "連続時間系の有限時間整定制御器の1設計法"計測自動制御学会論文集. 35・8. 1078-1084 (1999)
• [Publications] 古田勝久,美多勉: "COE研究-スーパーメカノシステム-"計測と制御. 38・12. 781-787 (1999)
• [Publications] Tasuku Hoshino,Masaaki Hara,Katsuhisa Furuta: "A New Controller Design Scheme for Cooperating Manipulators -A Reliable Design Approach-"Advance Robotics. (掲載予定). (1999)
• [Publications] Ryoji Okabayashi,Katsuhisa Furuta: "Dynamical System Representations of Memory-Dependent Nonlincar Elements using Gradient Flows"IEEE Trans. on Automatic Control. (投稿中). 1999
• [Publications] Takaaki Iwata,Masaki Yamakita,Katsuhisa Furuta: "Improved Continuation Method Controller for PWM systems : An Experimental Case Study"Asian Journal of Control. 1・1. 35-41 (1999)
• [Publications] Masaki Yamakita,Fumihiko Asano,Katsuhisa Furuta: "Passive Velocity Field Contorl of Biped Walking Robot"IEEE Trans. on Robotics and Automation. (投稿中). (1999)
• [Publications] Tasuku Hoshino,Hiroshi Kawai,Katsuhisa Furuta: "Stabilization of The Triple Spherical Inverted Pendulum -Simultaneous Design Approach-"Journal celebrating 65th birthday of Prof. Schmmidt. (1999)
• [Publications] Katsuhisa Furuta,Yaodong Pan: "Variable Structure Control with Sliding Sector"Automatica. 36・2. 211-228 (2000)
• [Publications] Kari J.Astrom,Katsuhisa Furuta: "Swinging Up a Pendulum by Energy Control"Automatica. 36・2. 287-296 (2000)
• [Publications] Vladimir A.Yakubovich,Shigeki Nakanra,Katsuhisa Furuta: "Tracking Domains for Unstable Plants with Saturating-Like Actuators"Asian Journal of Control. 1・4. 229-244 (1999)
• [Publications] Yongcai Xu,Masami Iwase,Katsuhisa Furuta: "Time Optimal Swing-up Control of Single Pendulum"Trans.of the ASME : J.of Dynamics Systems, Measurement, and Control. (投稿中). (2000)
• [Publications] Katsuhisa Furuta,Yongcai Xu: "What a Super-mechano System?"Proc.of the 1999 American Control Conference. (1999)
• [Publications] Hiroki Ohta,Masaki Yamakita,Katsuhisa Furuta: "From Passive to Active Dynamic Walking"Proc.of the IEEE Conf.on Decision and Control '99. (1999)
• [Publications] S.Ohyama,Y.Sasagawa,L.Cao,A.Kobayashi: "Realization of point listening characteristics by enclosed microphone array system with optimal complex weighting"Proc.of the 14th Korean Automatic Control Conference(KACC '99). 266-269 (1999)
• [Publications] Prantsch Pavel,Tsutomu Mita,Tetsuya Iwasaki: "Analysis and Control of a Snake Robot"電気学会論文誌(D分冊). (掲載予定). (1999)
• [Publications] 池田,岩谷,巣瀬,美多: "脚式ロボットの走行制御-動物の運動解析に基づく走行の実現"日本ロボット学会誌. (投稿中). (1999)
• [Publications] 池田,南,美多: "浮遊機械系のノンホロノミック可変拘束制御の提案と収束性の検討"日本ロボット学会誌. (掲載予定). (1999)
• [Publications] 美多,玄,中村,南: "初期角運動量を有する劣駆動浮遊機械系の最短時間制御解と解析"計測自動制御学会論文集. (投稿中). (1999)
• [Publications] T.Mita,T.Ikeda: "Proposal of a Variable Constraint Control for SMS and Its Application to Running and Jumping Quadruped"Proc.of the IEEE Int.Conf.on Systems Man and Cybernetics '99. (1999)
• [Publications] T.Nam,T.Ikeda,T.Mita,X.Xin,B.D.O.Anderson: "Variable Constraint Control of Nonholonomic Free Flying Robots -Mechanical Design and Convergence-"Proc of the IEEE Conf.on Decision and Control '99. (1999)
• [Publications] 山田雄二,原辰次: "定数スケールドH^∞制御大域最適化問題の計算複雑度解析-ブロック対角ケース-"計測自動制御学会論文集. 35・4. 506-514 (1999)
• [Publications] 宮里智樹,Tong Zhon,原辰次: "入出力データによるモデル集合の確率論的検証"計測自動制御学会論文集. 36・1. 46-52 (2000)
• [Publications] Toru Asai,Shinji Hara: "A Unified Approach to LMI-Based Reduced Order Self-Scheduling Control Synthesis"Systems and Control Letters. 36. 75-86 (1999)
• [Publications] B.D.O.Anderson,K.Chongsrid,D.J.N.Limebeer,Shinji Hara: "Direct Reduced Order Discretization of Continuous-Time Controller"Int.J.of Robust and Nonlinear Control. 9. 143-155 (1999)
• [Publications] Shinji Hara: "System Theoretic Approach to Design and Control of Super Mechano-System"Proc.of the IEEE Int.Conf.on Systems Man and Cybernetics '99. III. 134-139 (1999)
• [Publications] T.Miyazato,T.Zhou and S.Hara: "A Probabilistic Approach to Model Set Validation"Proc.of the IEEE Conf.on Decision and Control '99. (1999)
• [Publications] 今津篤志,山本幸治,小野京右: "2自由度大車輪運動における自由大車輪運動の解析"日本機械学会論文集. 65(掲載予定).
• [Publications] 今津篤志,小野京右,山本幸治: "非ホロノミック拘束系の最適軌道計画に関する研究第2報,大車輪運動の解析と系統的探索手法の提案"日本機械学会論文集. 65・637. 3583-3591 (1999)
• [Publications] 中島求,小野京右,日比景一,今村友之: "自励駆動水上推進機構の研究(第1報,理論解析による自励駆動系の設計および実験による検証)"日本機械学会論文集(C編). 65・639. 4239-4244 (1999)
• [Publications] 中島求,小野京右,日比景一: "自励駆動水上推進機構の研究(第2報,自励パラメータ領域およびアクチュエータ効率・推進効率特性)"日本機械学会論文集(C編). 65・639. 4245-4251 (1999)
• [Publications] Atsushi IMADU,Kyosuke ONO: "Optimum Trajectry Planning Method for a System That Includes Passive Joints"JSME International Journal, Series C. 42・2. 309-315 (1999)
• [Publications] Motomu Nakashima,Kyosuke Ono: "Experimental Study of Two-Joint Dolphin Robot"Proc.of the Eleventh International Symposium on Unmanned Untethered Submersible Technology. 211-218 (1999)
• [Publications] Motomu Nakashima,Kyosuke Ono: "A Simple Calculation Method to Analyze the Dynamics of Carangiform Propulsion"Proc.of the Eleventh International Symposium on Unmanned Untethered Submersible Technology. 320-329 (1999)
• [Publications] 塚越秀行,広瀬茂男: "間歇クロール歩容の提案とその生成原理"日本ロボット学会誌. 17・2. 301-309 (1999)
• [Publications] 広瀬茂男: "「可変拘束機構」とその設計-特殊環境移動作業ロボットへの適用-"日本ロボット学会誌. 17・5. 615-619 (1999)
• [Publications] 広瀬茂男,有川敬輔: "研究用プラットフォームとしての普及型歩行ロボットTITAN-VIIIの開発"日本ロボット学会誌. 17・8. 1191-1197 (1999)
• [Publications] Yusuke Ota,Kan Yoneda,Shigeo Hirose,and Fumitoshi Ito: "Six-Axis Force Control for Walking Robot with Serial/Parallel Hybrid Mechanism"Proc.of the IEEE Int.Conf.on Robotics and Automation. 1469-1474 (1999)
• [Publications] Shigeo Hirose: "Snake, Walking and Group Robots for Super Mechano-System"Proc.of the IEEE Int.Conf.on Systems Man and Cybernetics '99. III-129-III-133 (1999)
• [Publications] 森田,鵜飼,神藤,松野: "周波数依存型最適サーボ系によるフレキシブル倒立振子の位置決め制御"日本機械学会論文集(C編). 65・633. 1816-1822 (1999)
• [Publications] 畑山,松野: "災害時での利用を考慮した時空間地理情報システムにおけるデータ構造に関する考察"情報処理学会論文誌:データベース. (2000)
• [Publications] 松野文俊: "メカニカルソフトネスーリンクフレキシビリィティ"日本ロボット学会誌. 17・6. 24-27 (1999)
• [Publications] F.Matsuno and M.Hatayama: "Robust Cooperative Control of Two Two-Link Flexible Manipulators on the Basis of Quasi-static Equations"Int.J.Robotics Research. 18・4. 414-428 (1999)
• [Publications] F.Matsuno and S.Hara: "Bottom-up and Top-down Approaches to Dynamics of Hyper-redundant Mechanical Systems"Proc.of the IEEE Int.Conf.on Systems Man and Cybernetics '99. III. 172-177 (1999)
• [Publications] F.Matsuno and T.Ohno: "Exponential Stabilization of Vibration for a Large Space Structure with Distributed and Lumped Flexibility"Proc.of the IEEE Conf.on Decision and Control '99. 657-662 (1999)
• [Publications] Toru Omata: "Rigid Body Analysis of the Indeterminate Grasp Force in Power Grasps"IEEE Trans.on Robotics and Automation. (掲載予定). (2000)
• [Publications] Toru Omata: "A Quadruped Robot which can Take Various Postures"Proc.of the IEEE Int.Conf.on Robotics and Automation. 2366-2371 (1999)
• [Publications] 松尾,小林,牧野: "COMPASS:自律移動ロボット群における近接通信を用いた共有座標情報の自己組織化手法"電気学会論文誌(C分冊). 200-C・5. (2000)
• [Publications] V.Ampornaramveth and Y.Matsuo: "Rcal-Time Distributed Genetic Algorithm to Search for Control Laws of a Distributed Autonomous System"Trans.IEEJ. 119-C・4. 438-446 (1999)
• [Publications] Yoshiki Matsuo: "On Sensing and Control Methods for Super-mechano Colonies"Prof.of the IEEE Int.Conf.on Systems Man and Cybernetics '99. (1999)
• [Publications] 石川将人,三平満司: "非線形システムの可安定性と平衡点集合の関係について"計測自動制御学会論文集. 35・6. 772-781 (1999)
• [Publications] 石川将人,三平満司: "時間軸変換に基づく非ホロノミック車両システムの状態推定と出力フィードバック制御"システム制御情報学会論文誌. 13・3. 124-133 (2000)
• [Publications] 清田洋光,三平満司: "時間軸状態制御形によるドリフト項をもたない非ホロノミックシステムの安定化"システム制御情報学会論文集. 12・11. 647-654 (1999)
• [Publications] Hisashi Date,Mitsuji Sampei,Daisuke Yamada,Masato Ishikawa,Masanobu Koga: "Manipulation Problem of a Ball between two Parallel Platesbased on Time-State Control Form"Proc.of the IEEE Conf.on Decision and Control '99. 2120-2125 (1999)
• [Publications] Mitsuji Sampei,Shintaro Mizuno,Mitsuru Segawa,Masato Ishikawa,Hisashi Date,Daisuke Yamada: "A Feedback Solution to Ball-plate Problem based on Time-state Control Form"Proc.of the 1999 American Control Conference. 1203-1207 (1999)
• [Publications] Masaki Yamakita, et.al.: "Adaptive ANN Control of Robot Arm using Structure of Lagrange Equation"Proc.of the 1999 American Control Conference. 2834-2836 (1999)
• [Publications] M.Yamakita, et.al.: "Experimental Study of Decentralized PVFC for Cooperative Mobile Robots"Proc.of the IEEE Int.Conf.on Systems Man and Cybernetics '99. V45-50 (1999)
• [Publications] 林禎,花村良文,高田博,大熊政明: "実車シャシーへの実験的特性行列同定法の適用"日本機械学会論文集(C編). 65・631. 895-901 (1999)
• [Publications] 松岡久祥,大熊政明: "モード特性による特性行列算出の一手法"日本機械学会論文集(C編). (投稿中). (1999)
• [Publications] Masaaki Okuma,Hiroki Sakuma,Kenji Hashidume: "An Evolutionary Optimization Method for Structural Dynamics -To Optimize the Structural Components of Super Mechano-systems-"Proc.of the 5th International Symposium on Artificial Life and Robotics. 2. 515-518 (2000)
• [Publications] Tetsuya Iwasaki: "The Dual Iteration for Fixed Order Control"IEEE Trans.on Automatic Control. 44・4. 783-788 (1999)
• [Publications] G.Meinsma,M.Fu,Tetsuya Iwasaki: "Robustness of the Stability of Feedback Systems with Respect to Small Time-Delays"Systems and Control Letters. 36・2. 131-134 (1999)
• [Publications] N.Inou,T.Uesugi,K.Todoroki,S.Ujihashi: "Self-Organization of Topological Structures by a Cellular Automaton"IUTAM symposium on Synthesis in Bio Solid Mechanics. 21-32 (1999)
• [Publications] N.Inou,H.Yashiki,S.Morikawa,H.Kimoto,S.Ujihashi: "Super-Mechano-Colony Self-organizing a Mechanical Structure"Prof.of the IEEE Int.Conf.on Systems Man and Cybernetics '99. III. 193-198 (1999)
• [Publications] 谷脇滋宗,松永三郎,狼嘉彰: "ペイロードの柔軟性を考慮した宇宙ロボットのロバスト協調制御"日本航空宇宙学会誌. 47・543. 158-164 (1999)
• [Publications] 松永三郎,神澤拓也,狼嘉彰: "接触・押し動作を利用した非協力衛星の角運動量減衰制御"日本航空宇宙学会論文集. 47・550. 433-441 (1999)
• [Publications] 松永三郎,神澤拓也: "ターゲットへの接触・押し動作時における宇宙ロボットアームの関節剛性の影響"日本航空宇宙学会論文集. (掲載決定). (2000)
• [Publications] 小山淳,松永三郎,狼嘉彰: "衝撃時における柔軟マニピュレータシステムの運動解析(第2報:数値解析結果)"日本機械学会論文集(C編). (掲載決定). (2000)
• [Publications] 小山淳,松永三郎,狼嘉彰: "波動伝播法を用いた反発係数に関する考察"日本機械学会論文集(C編). (掲載決定). (2000)
• [Publications] 松永三郎,森治,狼嘉彰: "摩擦・衝撃を伴うテザー多体システムの動力学(第1報:2次元モデルと定式化)"日本機械学会論文集(C編). (掲載決定). (2000)
• [Publications] 松永三郎,森治,狼嘉彰: "摩擦・衝撃を伴うテザー多体システムの動力学(第2報:数値シミュレーション)"日本機械学会論文集(C編). (掲載決定). (2000)
• [Publications] 松永三郎,神澤拓也,福島洋介: "ロボットアームの関節柔軟性を考慮したターゲット衛星のバーシング操作"日本航空宇宙学会論文集. (投稿中).
• [Publications] 松永三郎,神澤拓也: "ETS-VII搭載ロボットアームの関節柔軟性同定実験"日本航空宇宙学会論文集. (投稿中).
• [Publications] 松永三郎,森治,中谷幸司,狼嘉彰: "テザーを用いた不具合衛星の角運動量減衰制御"日本機械学会論文集(C編). (投稿中).
• [Publications] Saburo Matunaga,Jun Koyama,Yoshiaki Ohkami: "Wave Propagation Based Simulations of Multibody Dynamics with Impact and Friction"Proc.9th Workshop on Astrodynamics and Flight Mechanics. (1999)
• [Publications] Shingo Tsurumi,Sabro Matunaga,Shigemune Taniwaki,Yoshiaki Ohkami: "Coordinated Control Experiments Using a Robot Satellite Simulator System"Proc.9th Workshop on Astrodynamics and Flight Mechanics. (1999)
• [Publications] Katsuhisa FURUTA: "Evasuation of Discrete-time VSC on Inverted Pendulum Apparatus with Additional Dymamics" J.of Applied Mathematics and Computer Science. 8・1. 159-181 (1998)
• [Publications] 古田勝久: "非線形H_2出力フィードバックを用いたロボット系の制御" 計測自動制御学会論文集. 34・8. 922-928 (1998)
• [Publications] Katsuhisa FURUTA: "Variable Structure Control for Sampled-data Sytems" Learning Control and Hybrid systems(Lecture Notes in Control and Information Sciences 241). 164-183 (1998)
• [Publications] Katsuhisa FURUTA: "Reliable Design Approach to Coordinated Control of Discrete-time System from Input-Output Data and Its Application to Functional Observer" Proc.of IROS. 455-460 (1998)
• [Publications] 小林彬: "囲い込み信号場におけるズーム的機能をもつ位置計測" 計測自動制御学会論文集. 34・10. 1349-1356 (1998)
• [Publications] 小林彬: "救援活動支援ロボットシステムの策定研究" 調査研究報告書・日本機械工業連合会/日本ロボット工業会(分担). (1998)
• [Publications] 小林彬: "学習漸進的計測系としての囲い込み信号場によるズーム的位置測定" 第16回「センサ・マイクロマシンと応用シンポジウム」講演概要集. 23・. (1998)
• [Publications] 中野道雄: "構造的不確かさをもつ系に対するロバスト繰返し制御" 計測自動制御学会論文集. 34・7. 798-806 (1998)
• [Publications] 中野道雄: "並列積分器を用いた新しい繰返し制御とその安定性" 計測自動制御学会論文集. 34・7. 1263-1265 (1998)
• [Publications] 中野道雄: "モードモデルにもとづく外乱オブザーバを用いた放電加工精度の改善" 計測自動制御学会論文集. 38・12. (1998)
• [Publications] 美多勉: "可変拘束制御によるノンホロノミック浮遊機械系の姿勢制御" 日本ロボット学会論文集. 投稿中.
• [Publications] 美多勉: "ジャンプ走行ロボットの制御-動物の運動解析と走行の実現-" 日本ロボット学会論文集. 投稿中.
• [Publications] Tsutomu MITA: "Motion analysis and Control of a Snake Robot" 電気学会論文誌. 投稿中.
• [Publications] 原辰次: "DVDFBとH_<inf>制御を併用した柔軟構造物のロバスト制御" システム制御情報学会論文誌. 11・4. (1998)
• [Publications] Shinji HARA: "Control Performance Limitation for Electro-magnetically Levitated Mechanical Systems" Proc.of the 3rd MOVIC. (1998)
• [Publications] Shinji HARA: "A unified approach to LMI-based reduced order self-scheduling control synthesis" Systems and Control Letters. 36・. (1999)
• [Publications] Kyosuke ONO: "Self-Excited Vibratory System for a Flutter Mechanism" JSME Internationa Journal,Ser.C. 41・3. 621-629 (1998)
• [Publications] 小野京右: "2関節イルカ形水中推進機構の動力学解析(第4報,月形尾びれを有するモデルの解析)" 日本機械学会論文集(B編). 65・629. (1999)
• [Publications] Kyosuke ONO: "Biped Walking Mechanism by Self-Excitation" Proceedings of the Fourth International Conference on Motion and Vibration Control. 141-146 (1998)
• [Publications] 小野京右: "2自由度大車輪運動とその機構形態に関する研究" 日本機械学会機械力学・計測制御講演論文集(A)[1998-8]. 1・. 479-482 (1998)
• [Publications] 小野京右: "自励駆動による2足歩行運動の創成" 日本機械学会第75期通常総会講演会講演論文集[98-1]. 1・. 129-130 (1998)
• [Publications] 長松昭男: "製品開発のための新しいモデル化手法(機能モデルの基本概念)" 日本機械学会論文集(C編). 64・622. 1997-2004 (1998)
• [Publications] 長松昭男: "製品開発のための新しいモデル化手法(展開と統合)" 日本機械学会論文集(C編). 64・627. 4216-4223 (1998)
• [Publications] Akio NAGAMATSU: "Robust Identification and Control Design for Truck Cab Model Device" JSME International Journal. 41・2. 171-177 (1998)
• [Publications] 狼嘉彰: "慣性パラメータ変動を補償した協調制御(第1報)" 日本航空宇宙学会誌. 46・531. (1998)
• [Publications] 狼嘉彰: "慣性パラメータ変動を補償した協調制御(第2報)" 日本航空宇宙学会誌. 46・532. (1998)
• [Publications] 狼嘉彰: "衝撃時における柔軟マニピュレータシステムの運動解析(第1報)" 日本機械学会論文集(C編). 64・624. (1998)
• [Publications] 広瀬茂男: "生物型多関節マシン(SMS snake-robot)の研究;生物に学ぶマシン(柔らかく優しく動く機械)" 第12回「大学と科学」公開シンポジウム組織委員会編. 96-104 (1998)
• [Publications] Shigeo HIROSE: "Considerations on the Design of Hyper-Redundant Versatile Robotic System" Proc.TITech COE/Super Mechano-Systems workshop '98. 195-114 (1998)
• [Publications] Fumitoshi MATSUNO: "Modeling and Robust Force Control of Constrained One-Link Flexible Arms" J.Robotic Systems. 15・8. 447-464 (1998)
• [Publications] 松野文俊: "集中的および分布的柔軟性をもった大型宇宙構造物の分布定数制御(バネ結合した2本の柔軟ビームの場合)" 計測自動制御学会論文誌. 34・12. 1889-1896 (1998)
• [Publications] 松野文俊: "機械システムのタクスディレクティドモデリング" システム/制御/情報. 42・9. 477-486 (1998)
• [Publications] 松尾芳樹: "YJBKパラメトリゼーションに基づく完全並列型マルチコントローラシステム-アクティブキャブサスペンションへの適用の検討-" 計測自動制御学会論文集. 34・11. 1652-1657 (1998)
• [Publications] Yoshiki MATSUO: "A New Omni-directional Object Transportaion Scheme Using Cooperative Multiple Castor-like Robots" 4th ECPD International Conference on Advanced Robotics,Intelligent Automation and active Systems. (1998)
• [Publications] Yoshiki MATSUO: "Real-Time Distributed Genetic Algorithm to Search for Control Laws of a Distributed Autonomous System" 電気学会論文誌C分冊. 掲載予定. (1999)
• [Publications] Mitsuji SAMPEI: "On Equilibria Set and Feedback Stabilizability of Nonlinear Control Systems" Proceedings of the 4th IFAC Nonlinear Control Systems Design Symposium. 636-641 (1998)
• [Publications] Mitsuji SAMPEI: "On a Control for a Class of Nonholonomic Systems with Drift Using Time-State Control Form" Proceedings of 37th IEEE Conference on Decision and Contorl. 3134-3138 (1998)
• [Publications] Mitsuji SAMPEI: "Necessary conditions for feedback stabilizability based on qualities of equlilibria set" Proceedings of 37th IEEE Conference on Decision and Contorl. 4600-4601 (1998)
• [Publications] Masaki YAMAKITA: "An Application of Passive Velocity Field Control to Cooperative Multiple 3-Wheeled Mobile Robots" Proc.of IRO'98. (1998)
• [Publications] 山北昌毅: "分散型PVFCによるロボットアームの制御:実験的検証" SICE学術講演会予稿集. 93-94 (1998)
• [Publications] 山北昌毅: "Gradient Flowに基づくオートマトンを用いた運動パターン生成" SICE学術講演会予稿集. 561-562 (1998)
• [Publications] 山浦弘: "揺動アーム機構の固有振動モードの同相化設計によるヘッド位置決め機構の高帯域化" 日本機械学会論文集(C). 64・620. 1347-1355 (1998)
• [Publications] Masaaki OKUMA: "Develpment of Experimental Spatial Matrix Identification Method(Presentation of Current Theory and Basic Verification with a Frame Structure)" Journal of Sound and Vibration,January. 219・1. 5-22 (1999)
• [Publications] Masaaki OKUMA: "A Study on Applicability of Experimental Spatial Matrix Indentification Method for Simulation of Flexible Link Systems" Proceedings of the 4th Movic. 1・. 285-290 (1998)
• [Publications] 大熊政明: "実験的同定特性行列に基づく構造最適化設計の可能性について" 日本機械学会機械力学計測制御部門講演会D & D98 No.98-8(I). B・. 536-539 (1998)
• [Publications] Tetsuya IWASAKI: "Well-posedness of feedback systems:insights into exact robostness analysis and approximate computations" IEEE Transactions on Automatic Control. 43-5 (1998)
• [Publications] Tetsuya IWASAKI: "Analysis and synthesis of the robust impule-to-peak performance" Automatica. 34-11 (1998)
• [Publications] Tetsuya IWASAKI: "LPV systemanalysis with quadratic separator" IEEE Conference on Decision and Control. (1998)
• [Publications] Norio INOU: "Autonomous Distributed Robots Adaptively Forming a Mechanical Structure" World Automation Congress (Alaska/USA). (1998)
• [Publications] Norio INOU: "Self-Organization of Topological Structures by a Cellular Automation" IUTAM Symposium (Lyngby/Denmark). (1998)
• [Publications] 広瀬茂男: "完全自律型索状能動体“ACM-R1"の開発" ロボティクス・メカトロニクス講演会'97講演論文集. 309-310 (1997)
• [Publications] 広瀬茂男: "地雷撤去作業を行う作業型4足歩行ロボット用マスタ・スレイブアームの開発" ロボティクス・メカトロニクス講演会'97講演論文集. 893-894 (1997)
• [Publications] 広瀬茂男: "新しいロボットメカニズムの創造(機能効率向上化設計の事例)" ロボティクス・メカトロニクス講演会'97講演論文集キ-ノート. 1239-1242 (1997)
• [Publications] 広瀬茂男: "生物型多関節マシン(SMS snake-robot)の研究" 第12回「大学と科学」公開シンポジウム論文集. 26-28 (1997)
• [Publications] 小林彬: "適応型計測システムの構成論" 計測と制御. 36・7. 472-475 (1997)
• [Publications] Yoshiki MATSUO: "A Wheel-Shaped Multi-Actuator System as a Test Bed for Autonomous Decentralized Motion Control" 電気学会論文誌C分冊. 117C・12. 1840-1847 (1997)
• [Publications] 松尾芳樹: "YJBKパラメトリゼーションに基づく完全並列型マルチコントローラシステム-アクティブキャブサスペンションへの適用の検討-" 計測自動制御学会論文集(投稿中). (1998)
• [Publications] Fumitoshi MATSUNO: "Experimental Study on Robust Force Control of a Flexible Arm with a Symmetric Rigid Tip Body" Proc.IEEE Int.Conf.on Robotics and Automation. (1997)
• [Publications] Fumitoshi MATSUNO: "Optimal Path Planning of Two Manipulators of a Space Robot with Considering Obstacles" Proc.2nd Asian Control Conference. 445-448 (1997)
• [Publications] Fumitoshi MATSUNO: "Distributed parameter control of large space structures with lumped and distributed flexibility(A Case Study of Two Flexible Beams Connected by a Spring)" Proc.IEEE Int.Conf.on Decision and Control. 269-274 (1997)
• [Publications] 小野京右: "自励駆動による2足歩行運動の創成" 日本機械学会第75期通常総会講演会講演論文集. (1998)
• [Publications] 小野京右: "揺動アーム機構の固有振動モードの同相化設計によるヘッド位置決め機構の高帯域化" 日本機械学会論文集(4月号掲載予定). 64・C-620. (1998)
• [Publications] Kyosuke Ono: "Inphase Design of the Two Lowest Natural Modes of vibrations of Swing-Arm for High Frequency Bandwidth Head Positioner" Proceedings of the International Conference on Micromechatronics for Information Equipment(MIPE'97). 44-49 (1997)
• [Publications] Tsutomu Mita: "Analysis and Design of Running Machines by Impulsive Control" TITech COE/Super Mechano-Systems Workshop '98(発表予定). (1998)
• [Publications] Tsutomu Mita: "Extended H_∞ control Solving H_∞ servo and estimation problems" Proc.of 36th IEEE Conference on Decision and Control. 4653-4658 (1997)
• [Publications] Tsutomu Mita: "H_∞ Control vs DisturbanceObserver Based Contol" IEEE Trans.IE(掲載予定). (1998)
• [Publications] Tsutomu Mita: "Invertible Systems Based on a Direct Design of Interactors" 37th IEEE Conference on Decision and Control,to appear. (1998)
• [Publications] Mitsuji Sampei: "A Control of a Class of Nonholonomic Systems Subject to Velocity Constraints Using Acceleration Inputs" AACC Proc.of1997 American Control Conferenc. 2301-2302 (1997)
• [Publications] Masaki Yamakita: "An Extension of Passive Field Control to Cooperative Multiple Manipulator Systems" Prof.IROS'98. 11-16 (1997)
• [Publications] 山北昌毅: "Passive Velocity Field Controlを用いた複腕協調制御" 電気学会論文誌C分冊. 21-28 (1998)
• [Publications] Masaki Yamakita: "Decentralized Cooperative Controller for Multiple Robotic Systems Based on Passive Velocity Field Control" Proc.of ISIAC'98. (to appear). (1998)
• [Publications] 大熊政明: "MatLab プラットフォームによる実験的特性行列同定法システムプログラム(Ver.1)の開発" 日本機械学会機械力学計測制御部門講演会D&D97. 97-10-A. 22-25 (1997)
• [Publications] 大熊政明: "実験的特性行列同定法の開発(開発理論と基礎的検証)" 日本機械学会論文集C編. 63・616. 4171-4178 (1997)
• [Publications] Masaaki Okuma: "Experimental Spatial Matrix Identification Method(Presentation of Current Theory and Fundamental Verification)" Proceedings of the 5th International Congress of Sound and Vibration. 1555-1562 (1997)
• [Publications] 大熊政明: "モード指示関数によるモード減衰比の近似推定" 日本機械学会論文集C編. 63・616. 4166-4170 (1997)
• [Publications] Shinji Hara: "Relating H_2-and H_∞-Norm Bounds for Sampled-Data Systems" IEEE Trans.on Automatic Control. 42・6. 858-863 (1997)
• [Publications] 長松昭男: "製品開発のための新しいモデル化手法(機能モデルの基本概念)" 日本機械学会論文集、C編,. (掲載決定). (1998)
• [Publications] Tetsuya Iwasaki: "Critical Open-loop Properties for Closed-loop Performance" Proc.Titech COE/SMS Workshop. (発表予定). (1998)
• [Publications] Tetsuya Iwasaki: "Robust Stability Analysis with Quadratic Separator:Parametric Time-varying Uncertainty Case" Proc.IEEE Conference on Decision and Control. 5. 4880-4885 (1997)
• [Publications] Tetsuya Iwasaki: "The Dual Iteration for Fixed Order Control" IEEE Transactions on Automatic Control,. (to appear). (1998)
• [Publications] Tetsuya Iwasaki: "Well-posedness of Feedback Systems:Insights into Exact Robustness Analysis and Approximate Computations" IEEE Transactions on Automatic Control,. (to appear). (1998)