Updated on 2024/05/14

 
OHTAKE Hiroshi
 
Scopus Paper Info  
Total Paper Count: 0  Total Citation Count: 0  h-index: 2

Citation count denotes the number of citations in papers published for a particular year.

Affiliation
Faculty of Computer Science and Systems Engineering Department of Intelligent and Control Systems
Job
Associate Professor
E-mail
メールアドレス
External link

Research Interests

  • biological information analysis

  • intelligent control

  • Flying Robot

Research Areas

  • Informatics / Mechanics and mechatronics

  • Informatics / Robotics and intelligent system

Undergraduate Education

  • 2000.03   The University of Electro-Communications   Faculty of Electro Communications   Graduated   Japan

  • 1997.03   Nagaoka National College of Technology   Graduated   Japan

Post Graduate Education

  • 2004.03   The University of Electro-Communications   Graduate School, Division of Electro Communications   Doctoral Program   Unfinished Course   Japan

Degree

  • The University of Electro-Communications  -  Doctor of Engineering   2006.03

  • The University of Electro-Communications  -  Master of Engineering   2002.03

  • The University of Electro-Communications  -  Bachelor of Engineering   2000.03

Biography in Kyutech

  • 2019.04
     

    Kyushu Institute of Technology   Faculty of Computer Science and Systems Engineering   Department of Intelligent and Control Systems   Associate Professor  

  • 2011.04
    -
    2019.03
     

    Kyushu Institute of Technology   Faculty of Computer Science and Systems Engineering   Department of Mechanical Information Science and Technology   Associate Professor  

Biography before Kyutech

  • 2010.04 - 2011.03   The University of Electro-Communications   Faculty of Informatics and Engineering   Assistant Professor   Japan

  • 2007.04 - 2010.03   The University of Electro-Communications   Faculty of Electro-Communications   Assistant Professor   Japan

  • 2004.04 - 2007.03   The University of Electro-Communications   Faculty of Electro-Communications   Research Assistant   Japan

Academic Society Memberships

  • 2016.02 - 2018.03   Japanese Society for Medical and Biological Engineering   Japan

  • 2021.07   American Institute of Aeronautics and Astronautics   United States

  • 2010.11   The Robotics Society of Japan   Japan

  • 2004.04   The Japan Society of Mechanical Engineers   Japan

  • 2001.07   The Institute of Electrical and Electronics Engineers   United States

  • 2001.05   The Society of Instrument and Control Engineers   Japan

  • 2001.04   Japan Society for Fuzzy Theory and Intelligent Informatics   Japan

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Research Career

  • 鳥類の気流に合わせた羽ばたきの変化および樹枝への着陸のメカニズムの解明

    羽ばたき飛行ロボット

    研究期間: 2020.04  -  2023.03

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    近年,飛行ロボット,特にドローンに関する研究・開発が精力的に進められているが,飛行生物である鳥類に比べて飛行性能や機能で劣る面が多々ある.本研究課題では,鳥類の生物規範型ロボットについて研究を行う.解明が十分に進んでいない,陸鳥が持つ,墜落しにくい機動性能,樹枝へのピンポイント着陸に注目し,鳥の複雑な翼運動を可能とする筋骨格構造と空気の流れを知るセンシングメカニズム,強靭な脚機構,および,これらを統合した制御システムを構築し,気流に合わせた飛行の変化および樹枝への着陸機能を工学的な観点から解析し,そのメカニズムを明らかにする.

  • 5つの翼運動と脚による短距離離着陸を実現する羽ばたき飛行ロボットの開発

    羽ばたき飛行ロボット,飛行制御

    研究期間: 2015.04  -  2018.03

  • グリーン溶媒抽出成分が脳波に及ぼす影響に関する先行研究

    脳波

    研究期間: 2015.01  -  2015.03

  • 鳥類の羽ばたき動作を模した飛行ロボットの実現とその自律飛行制御手法の開発

    羽ばたき飛行ロボット,飛行制御

    研究期間: 2010.04  -  2013.03

  • 動的可変構造モデリング手法の開発と生物型羽ばたき飛行ロボットの自律飛行制御の実現

    動的可変構造モデリング,羽ばたき飛行ロボット

    研究期間: 2007.04  -  2010.03

  • 動的な構造変化を伴う機械システムのための制御法開発と生物型飛行ロボットへの適用

    動的可変構造モデル,生物型飛行ロボット

    研究期間: 2005.04  -  2007.03

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Papers

  • Synthesis of Drive Systems of Flapping and Feathering Motions for Bird-like Robot using Twist Drive Mechanism Reviewed International journal

    Jun Iwao, Hiroshi Ohtake

    Proceedings of the 2023 International Conference on Artificial Life and Robotics ( ALife Robotics )   924 - 927   2023.02

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    Authorship:Corresponding author   Language:English   Publishing type:Research paper (international conference proceedings)

    オンライン   オンライン   2023.02.09  -  2023.02.12

    Other Link: https://alife-robotics.co.jp/members2023/icarob/data/Proceedings.pdf

  • Development of Flapping Flying Robot Mimicking a Small Bird that Achieve Bounding Flight

    MIMURA Hironari, OHTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2023 ( 0 )   1A2-F08   2023.01

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    Authorship:Corresponding author   Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)

    <p>UAVs have challenges in terms of safety and cruising range. A flapping flying robot has the potential to be a superior UAV in these aspects. The flapping motion is an oscillating motion and is safe. In addition, flapping flight robots don’t necessarily require flapping motion to sustain flight. In this study, we focused on bounding flight and aimed to achieve it with a flapping flight robot. Bounding flight is a flight method that many small birds perform by intermittently folding their wings during flapping flight. Therefore, to perform bounding flight, it is necessary to perform both the flapping motion and the wing folding motion. We have developed a flapping wing flying robot that can perform these motions and mimic bounding flight.</p>

    DOI: 10.1299/jsmermd.2023.1a2-f08

    CiNii Research

    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_1A2-F08/_pdf

  • Development of a Small, Lightweight, Easy-to-Make Servo-type Flapping Flying Robot

    KITADA Reona, OHTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2023 ( 0 )   2A1-C16   2023.01

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    Authorship:Corresponding author   Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)

    <p>In order to further advance the research and development of flapping flying robots and to incorporate them into our daily lives, it is necessary to make more researchers and the general public recognized and interested in flapping flying robots. Therefore, it is necessary to search for a safe, simple, and easy-to-understand manufacturing method. In this research, we developed a servo-type flapping flying robot that anyone can easily create so that it can be recognized as more familiar research themes.</p>

    DOI: 10.1299/jsmermd.2023.2a1-c16

    CiNii Research

    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_2A1-C16/_pdf

  • A Study on Measurement of Airflow using Flow Sensor and Steering Control of Flying Robot

    TERASAKO Ryunosuke, OHTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2023 ( 0 )   2P1-D08   2023.01

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    Authorship:Corresponding author   Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)

    <p>In recent years, research and development of unmanned aerial vehicles(UAV) has been active, and their use in various fields is attracting attention. However, since UAVs are small and lightweight, they are easily affected by wind. On the other hand, birds can fly with less flapping of their wings by using updrafts. This method of flight is called soaring. At sea, where there is little updraft, albatrosses perform dynamic soaring, flying upwind and gliding downwind with a tailwind, without flapping their wings for long period of time. In this research, aiming at the achievement of a flight robot that enables long-distance flight using a wind like birds, we firstly measured airflow in various directions using multiple flow sensors. Secondly, we estimated the upwind direction from sensor data. Finally, we performed steering control of the flying robot in the upwind direction.</p>

    DOI: 10.1299/jsmermd.2023.2p1-d08

    CiNii Research

    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_2P1-D08/_pdf

  • A Study on Performance Comparison of Flapping Wing Aircraft with Winglets

    SASAKI Seigo, OHTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2023 ( 0 )   1A2-F09   2023.01

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    Authorship:Corresponding author   Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)

    <p>In recent years, the development of aircrafts with good environmental performance is required to address the global warming problem, and the reduction of aerodynamic drag is an important issue in the development of aircrafts. A wingtip vortex suppression device called a winglet is mounted to the tip of airplane wings. Winglets are modeled after the upturned feathers on the wingtips of gliding hawks and eagles. Winglets have been shown to improve the performance of airplanes by 10% or more. The development of the shape of winglets must be considered in combination with other aspects such as the increase in weight and drag due to the addition of winglets. In this study, we developed flapping wing aircrafts with winglets and compared performances in order to find the optimal winglet mounting angle for flight.</p>

    DOI: 10.1299/jsmermd.2023.1a2-f09

    CiNii Research

    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_1A2-F09/_pdf

  • Development of Balloon Wings with Airfoil Shape and Achievement of Flapping Flight Reviewed

    MATSUMOTO Ryota, OHTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2023 ( 0 )   1A1-F08   2023.01

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    Authorship:Corresponding author   Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)

    <p>The objective of this research is to develop a flapping flying robot that can achieve bird-like flight using helium gas-infused airfoil-shaped balloon wings. Wings must have an airfoil shape in order to generate lift by flapping its wings. However, the wing becomes heavy when it has a skeleton to achieve the airfoil shape. In this research, we used aluminum balloons filled with helium gas to create airfoil-shaped balloon wings similar to actual bird wings, and tried to measure lift and thrust and perform flight experiments.</p>

    DOI: 10.1299/jsmermd.2023.1a1-f08

    CiNii Research

    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_1A1-F08/_pdf

  • Impulse-Driven Traveling Capsule Endoscope Reviewed

    Katsuta C., Ito T., Murakami S., Ohtake H., Karasawa K., Tanaka A., Kimura T., Kutsumi H.

    Mechanisms and Machine Science   148   960 - 967   2023.01

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    Language:English   Publishing type:Research paper (international conference proceedings)

    DOI: 10.1007/978-3-031-45770-8_95

    Scopus

    Other Link: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85177606504&origin=inward

  • Development of flapping robot achieving both flapping and feathering motions using twist drive mechanism Reviewed International journal

    Jun Iwao, Hiroshi Ohtake

    Proceedings of the SICE Annual Conference 2022 ( The Society of Instrument and Control Engineers )   855 - 860   2022.09

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    Authorship:Corresponding author   Language:English   Publishing type:Research paper (international conference proceedings)

    日本   熊本市   2022.09.06  -  2022.09.09

    This paper presents the development of a flapping robot for achieving flapping and feathering motions using twist drive mechanism which can mimic the motions based on the musculoskeletal structure of birds. In this paper, first, we describe the design of the aircraft that can perform both flapping and feathering motions. Next, the validity of the design is verified by conducting flapping and feathering motion experiments using the aircraft. In this research, we also focus on the speeds of the two types of movements in order to make the hand twist in time with the flapping of the wings as in the case of real birds.Therefore, we evaluate the performance by changing the thread material, the diameter of thread, the number of threads in one bundle and the length of thread. Then, we re-design the wing structure and achieve the 2 Hz flapping and fast feathering motion.

    DOI: 10.23919/SICE56594.2022.9905837

    DOI: 10.23919/SICE56594.2022.9905837

    Other Link: https://ieeexplore.ieee.org/document/9905837

  • Development of bionic gannet with multiple degrees of freedom wings Reviewed

    Ranatchai Laosiripong, Hiroshi Ohtake

    Proceedings of the Joint Symposium of The 27th International Symposium on Artificial Life and Robotics, The 7th International Symposium on BioComplexity and The 5th International Symposium on Swarm Behavior and Bio-Inspired Robotics   171 - 175   2022.01

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    Authorship:Corresponding author   Language:English   Publishing type:Research paper (international conference proceedings)

    日本   オンライン   2022.01.25  -  2022.01.27

  • A Study on Grouping of EEG Signals of Multiple Subjects using SOM

    Fukudome Naoki, Ohtake Hiroshi

    Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics )   37 ( 0 )   646 - 649   2021.09

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    Authorship:Corresponding author   Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)

    <p>In recent years, researches on BMI and BCI, which use EEG signals as an interface for operating various external devices, have attracted much attention. Most of these studies construct individual EEG classifiers based on the individual EEG signals. If we could construct a common classifier that can be commonly used by many people, we could easily use EEG signals as an interface and it would be useful. In this study, we construct a self-organizing map (SOM) using the features of the frequency domain and time domain of EEG signals, group the subjects, and construct a common classifier for each group.</p>

    DOI: 10.14864/fss.37.0_646

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/130008143664

  • Development and Control of Hind Limbs of Bird-shaped Robots for Landing on Tree Branches

    TANAKA Tenta, OHTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2021 ( 0 )   2A1 - I02   2021.09

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    Authorship:Corresponding author   Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)

    <p>Stable landing is an important issue for the safe operation of flying robots. It can be expected that the range of activities of flying robots will expand if landing becomes possible in places where it has not ever been possible to land.</p><p>In this research, in order to realize the landing of a bird-like flapping flight robot on a tree branch, we develop and control a leg robot that imitates the hind limbs of a bird which can grasp a tree branch. We significantly reduce the weight of the leg robot developed in the previous research in order to attach the leg to the flapping robot and to enable flight. Moreover, we consider whether more stable grasping is possible by adding talons and a mechanism for fixing tendons.</p>

    DOI: 10.1299/jsmermd.2021.2A1-I02

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/130008135329

  • A Study on Design and Development of Large-sized Flapping Flight Robot

    NAKAYA Tsukasa, OHTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2021 ( 0 )   1P2 - B19   2021.09

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    Authorship:Corresponding author   Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)

    <p>In this research, we design and develop a large-sized flapping flight robot with a large payload toward practical application of flapping robots. The wingspan of the designed robot is 6m, which is based of the world largest avians that once lived. We designed mechanism to realize the flapping motion of a large-sized flapping robot, manufactured the designed robot, and measured the generated forces. We considered the feasibility of a large-sized flapping flight robot.</p>

    DOI: 10.1299/jsmermd.2021.1P2-B19

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/130008135039

  • Construction of EEG-based Control System of Electric Wheelchair using Wavelt Analysis and CNN

    Fujii Yosuke, Ohtake Hiroshi

    Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics )   37 ( 0 )   650 - 654   2021.09

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    Authorship:Corresponding author   Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)

    <p>In recent years, research on the brain-machine interface (BMI) has been activated. The purpose of this study is to construct EEG-based control system of electric wheelchair which consists of measuring and analyzing brain waves, classifying thoughts using deep learning technique, and operating the electric wheelchair in response to the classification results. By integrating the EEG classification system that combines wavelet analysis and CNN with the drive system of the electric wheelchair, we construct EEG-based control system of electric wheelchair.</p>

    DOI: 10.14864/fss.37.0_650

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/130008143665

  • Development of Jumping Leg Mechanism of Bird Type Flying Robot and Jumping Experiment by Automatic Contraction and Release Using External Device Reviewed

    Yuki Kimura, Hiroshi Ohtake

    Proceedings of the 3rd International Symposium on Swarm Behavior and Bio-Inspired Robotics   2019.11

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    Authorship:Corresponding author   Language:English   Publishing type:Research paper (international conference proceedings)

    日本   国頭郡恩納村   2019.11.20  -  2019.11.22

  • Realization of Flapping Motion of a Flapping Robot Based on Muscle Structure of Birds Reviewed

    Ryoma Murakawa, Hiroshi Ohtake

    Proceedings of the 3rd International Symposium on Swarm Behavior and Bio-Inspired Robotics   2019.11

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    Authorship:Corresponding author   Language:English   Publishing type:Research paper (international conference proceedings)

    日本   国頭郡恩納村   2019.11.20  -  2019.11.22

  • Development of EEG classifier based on EEG data grouped by SOM

    Hokama Kenichi, Ohtake Hiroshi

    Proceedings of the 35th Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics )   35 ( 0 )   738 - 742   2019.08

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    Authorship:Corresponding author   Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)

    日本   大阪市   2019.08.29  -  2019.08.31

    <p>In recent years, researches on BMI have attracted much attention. In previous studies, indi- vidual EEG classifiers were used generally since the brain waves are different for each individual. However, creating an EEG classifier for each subject causes an increase in data collection time and calculation cost. In our previous study, we tried to construct a common EEG classifier based on EEG data measured from multiple subjects, but the classification rate was not improved. In this research, it is assumed that there exist a suitable subject group and unsuitable subjects for the common EEG classifier, and EEG data are divided into such groups using SOM. A common classifier for the suitable subject group is constructed and compared with previous classifier.</p>

    DOI: 10.14864/fss.35.0_738

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/130007773225

  • Realization of Flapping Motion Using Twist Drive Mechanism for a Bird-like Robot

    YOSHINAGA Ryuichiro, OHTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019 ( The Japan Society of Mechanical Engineers )   2019 ( 0 )   2A2 - R10   2019.06

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    Authorship:Corresponding author   Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)

    日本   広島市   2019.06.05  -  2019.06.08

    <p>This paper presents a realization of flapping motion using twist drive mechanism for a bird-like robot. Most of flapping flight robots realize flapping motion by converting the rotating force of motors to the up-and-down motion of the wing by using the crank mechanism or servo motors. However, the wings of actual birds move up and down by contracting the pectoralis major muscle and supracoracoideus muscle alternately. Therefore, in this research, we focus on twist drive mechanism which is light weight and can generate tensile force. A twist drive mechanism is a drive system that the driving force of a motor is used as a rotational force for twisting a cord and converted into a tensile force like a muscle. In this research, we realize flapping motion using twist drive mechanism.</p>

    DOI: 10.1299/jsmermd.2019.2A2-R10

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/130007775005

  • Study on grasping a branch of a tree by tendons and digits imitating hind limbs of birds and stabilizing attitude

    YAMATO Seiya, OHTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019 ( The Japan Society of Mechanical Engineers )   2019 ( 0 )   2A1 - H05   2019.06

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    Authorship:Corresponding author   Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)

    日本   広島市   2019.06.05  -  2019.06.08

    DOI: 10.1299/jsmermd.2019.2A1-H05

    Other Link: https://ci.nii.ac.jp/naid/130007774529

  • Robot Contest Produce Competition 2018

    TANAKA Takayuki, KAWAMURA Takashi, OHTAKE Hiroshi, MURAKAMI Hiroki, TSUCHIYA Yoshio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019 ( The Japan Society of Mechanical Engineers )   2019 ( 0 )   1P2 - I09   2019.06

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    Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)

    日本   広島市   2019.06.05  -  2019.06.08

    <p>This paper describes the robot contest produce competition and its purpose on creativity education. In this competition, participants plan an original robot contest for children including the rule book, the field, the robots for demonstration and the promotion video. Then, they present the robot contest as the trial management. This competition aims to promote their creativity, especially the problem-setting ability and the problem dividing ability, and presentation ability too. In this paper we report the results of robot contest produce competition 2018 conducted as a civic forum in the JSME annual conference.</p>

    DOI: 10.1299/jsmermd.2019.1P2-I09

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/130007774494

  • Development of the crank-type flapping wing that can change the flapping angle

    TAKITA Tomofumi, OHTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019 ( The Japan Society of Mechanical Engineers )   2019 ( 0 )   1P2 - O03   2019.06

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    Authorship:Corresponding author   Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)

    日本   広島市   2019.06.05  -  2019.06.08

    <p>In this research, we propose two methods to change the flapping angle of flapping flight robot using crank mechanism. Currently, as a flapping mechanism of bird-like flight robot, there are two types of methods using servo motors and using a crank mechanism. The servo motor type machines can freely change the flapping angle during flight by motion program. However, when the flapping speed is increased, it becomes hard to achieve a sufficient flapping angle. On the other hand, although the crank type mechanism can keep the flapping angle even if the flapping speed is increased, the crank type mechanism can not change the flapping angle during flight. Actual birds fly while changing the flapping angle during flight.</p><p>In this research, we propose two methods to change the flapping angle of flapping flight robot using crank mechanism and verify it with the developed machines.</p>

    DOI: 10.1299/jsmermd.2019.1P2-O03

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/130007774608

  • Study on large flapping flight robot

    NAKAYA Tsukasa, OHTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019 ( The Japan Society of Mechanical Engineers )   2019 ( 0 )   1P2 - M06   2019.06

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    Authorship:Corresponding author   Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)

    日本   広島市   2019.06.05  -  2019.06.08

    <p>In recent years, attention to flying robots typified by drones has been increasing. However, unfortunately, drones often cause accidents. On the other hand, as safer robots, flapping flight robots have attracted attention. However, it is difficult to mount systems other than the flight functions due to the limitation of the weight and size of the airframe. In order to solve this problem, it is necessary to increase the size of the airframe. In this research, we design a large flapping flight robot with a large payload toward practical application of flapping robots.</p>

    DOI: 10.1299/jsmermd.2019.1P2-M06

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/130007774529

  • Development of automatic compression and release device of jumping leg mechanism of bird type flight robot

    KIMURA Yuki, OHTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019 ( The Japan Society of Mechanical Engineers )   2019 ( 0 )   1P2 - M07   2019.06

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    Authorship:Corresponding author   Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)

    日本   広島市   2019.06.05  -  2019.06.08

    DOI: 10.1299/jsmermd.2019.1P2-M07

  • Two-dimensional obstacle avoidance behavior based on three-dimensional environment map for a ground vehicle Reviewed

    9 ( 6 )   485 - 492   2018.06

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    Language:English   Publishing type:Research paper (scientific journal)

    DOI: 10.24507/icicelb.09.06.485

    Scopus

    Other Link: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85045990432&origin=inward

  • Research on Quadcopter with Tilt Angle Control Units using Worm Gears

    INOUE Ryo, HORI Yuki, OHTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2018 ( 0 )   1A1 - A09   2018.01

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    Authorship:Corresponding author   Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)

    <p>Recently, the quadcopter has attracted much attention in the various industrial fields. Our research plans to use the quadcopter in the forest industry. The quadcopter is required to have high flight capability because there are a lot of obstacles in the forests. However, typical quadcopter has four rotors, that is, only four inputs. Therefore, the typical quadcopter is a kind of under-actuated systems. In our previous research, we developed the tilt angle control unit, which can change tilt angle of each rotor with respect to the body of the quadcopter. By equipping with four units to one quadcopter, control inputs are eight and the quadcopter becomes a fully-actuated system. In this paper, we confirm whether the quadcopter is controllable by computer simulations. Next, we show the hardware and software configurations of the quadcopter. Finally, we consider several assignments through the experimental results.</p>

    DOI: 10.1299/jsmermd.2018.1A1-A09

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/130007550841

  • Realization of Flapping Motion of a Flapping Robot Based on Muscle Structure of Birds

    Murakawa Ryoma, Ohtake Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2018 ( 0 )   2P1 - D08   2018.01

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    <p>In this research, we propose flapping robot with elastic materials for imitating muscle structure of birds. In the flapping motion of birds, two kinds of muscles play important roles, that is, pectoralis muscle and supracoracoideus muscle. Pectoralis muscle and supracoracoideus muscle work during downstroke motion and upstroke motion, respectively. Pectoralis muscle is much bigger than supracoracoideus muscle since flying force is mainly generated during downstroke motion. In this paper, we imitate the structure of bird's muscle by using piano wires as elastic materials. When the wing moves upward, elastic energy of piano wire is stored. And the energy is released when the wing moves downward. Two types of flapping robots, which use crank mechanism or servomotors, are utilized for validating the effect of the existence of elastic materials.</p>

    DOI: 10.1299/jsmermd.2018.2P1-D08

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/130007551842

  • Realization of takeoff of a bird type flying robot by jump

    KIMURA Yuki, OHTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2018 ( 0 )   2P1 - D07   2018.01

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    <p>In this research, we realize takeoff of a bird type flying robot by jump. First jumping mechanism in this research was developed based on the jumping mechanism developed in the previous research. First jumping mechanism was developed using coupled torsion springs. We performed a flight experiment with CYBIRD-P1, which is commercially available as a flying robot, equipped with first jumping mechanism. However, it failed. Therefore, we developed second jumping mechanism by considering the initial velocity that CYBIRD-P1 was manually made to fly off. We performed a flight experiment with CYBIRD-P1 equipped with second jumping mechanism. Second jumping mechanism succeeded to takeoff by jump.</p>

    DOI: 10.1299/jsmermd.2018.2P1-D07

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/130007551835

  • Development of common EEG classification models using EEG data measured from plural subjects

    HOKAMA Kenichi, OHTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2018 ( 0 )   1A1 - E08   2018.01

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    <p>The purpose of this research is to develop common EEG classifiers using EEG data measured from plural subjects. In this paper, personalized classifiers and common classifiers to classify two kinds of images are created and evaluated using Neural Network and CNN which is one of the Deep Learning Methods. As a result, both of personalized classifier and common classifiers show almost same performance.</p>

    DOI: 10.1299/jsmermd.2018.1A1-E08

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/130007550898

  • EEG signal-based multi-class image classification using stacked autoencoder

    FUJINAKA Yuta, OHTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2018 ( 0 )   1A1 - E07   2018.01

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    <p>In this research, we propose multi-class image classification method based on EEG signal using stacked autoencoder, which is one of the deep learning algorithms, in order to obtain high classification rate for multiple thoughts. We measure brain wave signals with respect to four different thoughts, process measured data based on fast fourier transformation, and train stacked autoencoder by using the data. Then the trained model is verified by evaluation data.</p>

    DOI: 10.1299/jsmermd.2018.1A1-E07

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/130007550895

  • EEG classification robust to change in environment using Deep Learning

    MOROTOMI Asuka, OHTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2018 ( 0 )   1A1 - D10   2018.01

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    <p>Recently, a lot of researches on image classification methods based on electroencephalogram (EEG) have been reported with good identification rates, closely 80%. However, most of these results were achieved only in silent environment. If the EEG data for evaluation which are measured in noisy environment were applied to the model constructed using other EEG data which are measured in silent environment, the identification rate would be decreased due to the influence of the environment changes. We have ever developed image classification method which is robust to change in the environment using Wavelet analysis and Deep Learning algorithms. In this research, we recorded EEG data at four different places. We evaluate classification method using recorded EEG data. We discuss about image classification method which is more robust to change in the environment.</p>

    DOI: 10.1299/jsmermd.2018.1A1-D10

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/130007550873

  • Robot Contest Produce Competition 2017

    TANAKA Takayuki, KAWAMURA Takashi, OHTAKE Hiroshi, MURAKAMI Hiroki

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2018 ( 0 )   2P2 - L11   2018.01

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    <p>This paper describes the robot contest produce competition and its purpose on creativity education. In this competition, participants plan an original robot contest for children including the rule book, the field, the robots for demonstration and the promotion video. Then, they present the robot contest as the trial management. This competition aims to promote their creativity, especially the problem-raising ability and the problem segmentation ability, and presentation ability too. In this paper we report the results of robot contest produce competition 2017 conducted as a civic forum in the JSME annual conference.</p>

    DOI: 10.1299/jsmermd.2018.2P2-L11

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/130007552218

  • A study of a passive attitude stabilization mechanism for multicopter

    SUZUKI Katsuhiro, OHOTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2018 ( 0 )   1P1 - A11   2018.01

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    <p>In this research, we investigate a mechanism that can passively stabilize multicopter. Multicopter basically has an unstable structure and is stabilized by control software. In order to stabilize the multicopter by the mechanical mechanism, not the software, we propose a passive attitude stabilization mechanism. By computer simulation, we consider the effect of the passive attitude stabilization mechanism.</p>

    DOI: 10.1299/jsmermd.2018.1P1-A11

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/130007551126

  • Two-Dimensional Obstacle Avoidance Behavior Based on Three-Dimensional Environment Map for a Ground Vehicle Reviewed

    ICICIC2017-174   2017.08

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    日本   久留米市   2017.08.28  -  2017.08.30

  • Development of image classification method robust to changes in environment

    MOROTOMI Asuka, Ohtake Hiroshi

    Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics )   33 ( 0 )   177 - 180   2017.01

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    <p> </p>

    DOI: 10.14864/fss.33.0_177

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/130007612934

  • EEG signal-based multi-class image classification using convolutional neural network

    FUJINAKA Yuta, OHTAKE Hiroshi

    Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics )   33 ( 0 )   173 - 176   2017.01

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    <p> </p>

    DOI: 10.14864/fss.33.0_173

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/130007612387

  • 「飛行ロボット研究の最前線Ⅰ」特集について Invited

    大竹 博,藤川太郎

    日本ロボット学会誌 ( 一般社団法人日本ロボット学会 )   34 ( 1 )   1 - 1   2016.01

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    DOI: 10.7210/jrsj.34.1

  • Robotics on Bird-like Flapping Flight

    Hiroshi Ohtake

    Journal of the Robotics Society of Japan ( Robotics Society of Japan )   34 ( 1 )   14 - 18   2016.01

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    DOI: 10.7210/jrsj.34.14

    CiNii Article

  • On special issue "Frontier Research on Flying Robots II"

    Fujikawa Taro, Ohtake Hiroshi

    Journal of the Robotics Society of Japan ( The Robotics Society of Japan )   34 ( 2 )   73 - 73   2016.01

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    Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (other)

    DOI: 10.7210/jrsj.34.73

    CiNii Article

    Other Link: http://ci.nii.ac.jp/naid/130005145386

  • A Simple, Natural and Effective Framework of Nonlinear Systems Control and Its Application to Aerial Robots "jointly worked" Reviewed

    Motoyasu Tanaka, Hiroshi Ohtake, Kazuo Tanaka

    Journal of Robotics and Mechatronics   26 ( 2 )   140 - 147   2014.04

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    Other Link: http://www.fujipress.jp/finder/xslt.php?mode=present&inputfile=ROBOT002600020003.xml

  • A simple, natural and effective framework of nonlinear systems control and its application to aerial robots Reviewed

    Tanaka M., Ohtake H., Tanaka K.

    Journal of Robotics and Mechatronics   26 ( 2 )   140 - 147   2014.04

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    Scopus

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  • Brief paper discrete polynomial fuzzy systems control Reviewed

    8 ( 4 )   288 - 296   2014.03

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    Language:English   Publishing type:Research paper (scientific journal)

    DOI: 10.1049/iet-cta.2013.0645

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  • A nonmonotonically decreasing relaxation approach of Lyapunov functions to guaranteed cost control for discrete fuzzy systems Reviewed

    8 ( 16 )   1716 - 1722   2014.01

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    DOI: 10.1049/iet-cta.2013.1132

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  • 1P1-R06 Robot Contest Produce Competition 2013(RoboCup and Robot Contest)

    TANAKA Takayuki, KAWAMURA Takashi, OHTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2014 ( 0 )   _1P1 - R06_1-_1P1-R06_3   2014.01

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    This paper describes the robot contest produce competition and its purpose on creativity education. In this competition, participants plan an original robot contest for children including the rule book, the field, the robots for demonstration and the promotion video. Then, they present the robot contest as the trial management. This competition aims to promote their creativity, especially the problem-raising ability and the problem segmentation ability, and presentation ability too. The robot contest produce competition 2013 is also reported as an embodiment.

    DOI: 10.1299/jsmermd.2014._1P1-R06_1

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/110009966740

  • A study on Classification of Respiration Rates based on Plethysmogram Data Reviewed

    S1c-2   2013.11

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    Korea   Daejeon   2013.11.13  -  2013.11.16

  • A Takagi-Sugeno fuzzy model approach to vision-based control of a micro helicopter Reviewed

    6217 - 6222   2012.12

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    DOI: 10.1109/CDC.2012.6425910

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  • Relaxed Stabilization Criterion for T-S Fuzzy Systems by Minimum-type Piecewise Lyapunov Function Based Switching Fuzzy Controller "jointly worked" Reviewed

    Ying-Jen Chen, Hirsohi Ohtake, Kazuo Tanaka, Wen-June Wang, Hua O. Wang

    IEEE Transactions on Fuzzy Systems   20 ( 6 )   1166 - 1173   2012.12

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    DOI: 10.1109/TFUZZ.2012.2196049

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  • Polynomial Fuzzy Observer Designs:A Sum of Squares Approach "jointly worked" Reviewed

    Kazuo Tanaka, Hiroshi Ohtake, Toshiaki Seo, Motoyasu Tanaka, Hua O. Wang

    IEEE Transactions on Systems, Man, and Cybernetics   42 ( 5 )   1330 - 1342   2012.10

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    DOI: 10.1109/TSMCB.2012.2190277

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  • Relaxed Stabilization Criterion for Discrete T-S Fuzzy Systems by Minimum Type Piecewise Non-quadratic Lyapunov Function "jointly worked" Reviewed

    Ying-Jen Chen, Hirsohi Ohtake, Kazuo Tanaka, Wen-June Wang, Hua O. Wang

    IET Control Theory & Applications   6 ( 12 )   1918 - 1925   2012.08

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    Language:English   Publishing type:Research paper (scientific journal)

    DOI: 10.1049/iet-cta.2010.0697

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  • Shared Nonlinear Control in Wireless-Based Remote Stabilization:A Theoretical Approach Reviewed

    Kazuo Tanaka, Motoyasu Tanaka, Hiroshi Ohtake, and Hua O. Wang

    IEEE/ASME Transactions on Mechatronics   17 ( 3 )   443 - 453   2012.06

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    Language:English   Publishing type:Research paper (scientific journal)

    DOI: 10.1109/TMECH.2012.2187303

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  • Wireless Vision-based Stabilization of Indoor Micro Helicopter Reviewed

    Kazuo Tanaka, Hiroshi Ohtake, Motoyasu Tanaka and Hua O. Wang

    IEEE/ASME Transactions on Mechatronics   17 ( 3 )   519 - 524   2012.06

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    Language:English   Publishing type:Research paper (scientific journal)

    DOI: 10.1109/TMECH.2011.2181532

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  • A Descriptor System Approach to Servo Control for Nonlinear Systems "jointly worked" Reviewed

    Hiroshi Ohtake, Sho Machida, Kanaka Tanaka, Hua O. Wang

    2012 IEEE World Congress on Computational Intelligence   1597 - 1602   2012.06

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    DOI: 10.1109/FUZZ-IEEE.2012.6251284

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  • An improved approach to fuzzy model construction and servo control with constraints based on error dynamics Reviewed

    Ohtake H., Tanaka K., Wang H.

    Proceedings of the American Control Conference   4959 - 4963   2011.09

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    Authorship:Lead author   Language:English   Publishing type:Research paper (international conference proceedings)

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  • An SOS-based observer design for polynomial fuzzy systems Reviewed

    Tanaka K., Ohtake H., Seo T., Wang H.

    Proceedings of the American Control Conference   4953 - 4958   2011.09

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    Other Link: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=80053164436&origin=inward

  • Fuzzy Model-based Servo Control for Discrete-Time Nonlinear Systems with Constraints "jointly worked" Reviewed

    9029 - 9034   2011.08

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    DOI: 10.3182/20110828-6-IT-1002.03290

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  • A polynomial observer design for a wider class of polynomial fuzzy systems "jointly worked" Reviewed

    1305 - 1311   2011.06

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    DOI: 10.1109/FUZZY.2011.6007342

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  • An SOS-based observer design for polynomial fuzzy systems "jointly worked" Reviewed

    4953 - 4958   2011.06

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  • An Improved Approach to Fuzzy Model Construction and Servo Control with Constraints based on Error Dynamics "jointly worked" Reviewed

    Hiroshi Ohtake, Kazuo Tanaka, Hua O. Wang

    2011 American Control Conference   4959 - 4963   2011.06

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    アメリカ合衆国   サンフランシスコ   2011.06.29  -  2011.07.01

  • Fuzzy Model-based Servo Control with Constraints on both of Inputs and States "jointly worked" Reviewed

    107 - 110   2010.09

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    Japan   Yokohama   2010.09.08  -  2010.09.10

    DOI: 10.1109/ISIC.2010.5612887

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  • Stability Analysis of Nonlinear Systems via Multiple Mixed MaxMin based Lyapunov Functions "jointly worked" Reviewed

    2899 - 2905   2010.07

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    DOI: 10.1109/FUZZY.2010.5584607

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  • Stability Analysis for the Polynomial Fuzzy Systems by utilizing Equality Constraints of Sum-of Squares Program "jointly worked" Reviewed

    36 - 40   2010.07

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    DOI: 10.1109/ICSSE.2010.5551817

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  • 可変迎角機構を有する飛行ロボットシミュレーションモデルの構築(共著) Reviewed

    東善之,田中一男,大竹博

    日本機械学会論文集(C編)   76 ( 762 )   361 - 370   2010.02

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  • Construction of simulation model of a flying robot with variable attack angle mechanism Reviewed

    Higashi Y., Tanaka K., Ohtake H.

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   76 ( 762 )   361 - 370   2010.02

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  • H Infinity Control of T-S Fuzzy Systems Using Piecewise Lyapunov Function Based Switching Fuzzy Controller "jointly worked" Reviewed

    3087 - 3092   2009.12

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  • Polynomial Fuzzy Observer Design: A Sum of Squares Approach "jointly worked" Reviewed

    7771 - 7776   2009.12

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  • Fuzzy Model-Based Servo and Model Following Control for Nonlinear Systems "jointly worked" Reviewed

    39 ( 6 )   1634 - 1639   2009.12

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  • Improvement of Simulation Model and Development of Control Mechanism of Force Direction for a Flying Robot with Cyclogyro Wing "jointly worked" Reviewed

    2861 - 2866   2009.10

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  • A Sum-of-Squares Approach to Modeling and Control of Nonlinear Dynamical Systems With Polynomial Fuzzy Systems "jointly worked" Reviewed

    17 ( 4 )   911 - 922   2009.08

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  • Switching Fuzzy Model Construction based on Optimal Dividing Planes "jointly worked" Reviewed

    808 - 813   2009.08

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  • Relaxed Stabilization Conditions of T-S Fuzzy Systems using Piecewise Lyapunov Function based Switching Fuzzy Controller "jointly worked" Reviewed

    1276 - 1281   2009.08

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  • Guaranteed Cost Control of T-S Fuzzy Systems using Piecewise Lyapunov Function based Switching Fuzzy Controller "jointly worked" Reviewed

    440 - 445   2009.07

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  • Fuzzy Model-based Servo Control for Nonlinear Systems with Input Constraint "jointly worked" Reviewed

    452 - 455   2009.07

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  • Improved Controller Design for Switching Fuzzy Model-based Control "jointly worked" Reviewed

    4284 - 4289   2009.06

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  • Guaranteed Cost Control of Polynomial Fuzzy Systems via a Sum of Squares Approach "jointly worked" Reviewed

    39 ( 2 )   561 - 567   2009.04

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  • Sensor Reduction for Backing-Up Control of a Vehicle with Triple Trailers "jointly worked" Reviewed

    56 ( 2 )   497 - 509   2009.02

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  • 同軸反転型マイクロヘリコプタの飛行安定化制御(共著) Reviewed

    大竹博,飯村健,田中一男

    日本知能情報ファジィ学会誌   21 ( 1 )   100 - 106   2009.02

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  • Development of a Flying Robot with Pantograph-based Variable Wing Mechanism "jointly worked" Reviewed

    25 ( 1 )   79 - 87   2009.02

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  • Switching Fuzzy Model Construction and Controller Design for Dynamical Systems with Input Nonlinearity "jointly worked" Reviewed

    12 ( 6 )   537 - 545   2008.12

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  • 脳波による車椅子の自動操縦実現のための2つの試み(共著) Reviewed

    田中一男、大竹 博、坂本 博一

    計測自動制御学会論文集   44 ( 12 )   1006 - 1008   2008.12

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  • Construction of Simulation Model of a Flying Robot with Variable Attack Angle Mechanism "jointly worked" Reviewed

    1588 - 1593   2008.10

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  • Passive Dynamic Walking with Elastic Energy "jointly worked" Reviewed

    3224 - 3228   2008.08

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  • Development of a Multiple Parallel Link Rotor for Flying Robots "jointly worked" Reviewed

    164 - 167   2008.08

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  • Development of a Variable-Wing Mechanism based on Flapping Motion of Birds "jointly worked" Reviewed

    168 - 173   2008.08

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  • Autonomous Flight Control of Flapping-of-Wings Robot using GPS "jointly worked" Reviewed

    174 - 178   2008.08

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  • Fuzzy Model-based Model Following Control for a Class of Nonlinear Systems "jointly worked" Reviewed

    6850 - 6854   2008.07

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  • A Sum of Squares Approach to Guaranteed Cost Control of Polynomial Discrete Fuzzy Systems "jointly worked" Reviewed

    6861 - 6868   2008.07

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  • Micro Helicopter Control: LMI Approach vs SOS Approach "jointly worked" Reviewed

    347 - 353   2008.06

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  • An SOS-based Stable Control of Polynomial Discrete Fuzzy Systems "jointly worked" Reviewed

    4875 - 4880   2008.06

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  • Fuzzy Model-based Servo Control for Discrete-time Nonlinear Systems "jointly worked" Reviewed

    4881 - 4886   2008.06

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  • Switching Fuzzy Model based Model Following Control for Discrete-time Systems "jointly worked" Reviewed

    812 - 817   2008.06

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  • Guaranteed Cost Control of Polynomial Fuzzy Systems via a Sum of Squares Approach "jointly worked" Reviewed

    954 - 5959   2007.12

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  • 弾性エネルギを付加した受動歩行モデルの提案(共著) Reviewed

    水野 正博、大竹 博、田中 一男

    計測自動制御学会論文集   43 ( 11 )   998 - 1000   2007.11

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  • Stabilization of Polynomial Fuzzy Systems via a Sum of Squares Approach "jointly worked" Reviewed

    160 - 165   2007.10

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  • Construction of Simulation Model of a Flying Robot with Variable Attack Angle Mechanism "jointly worked" Reviewed

    1588 - 1593   2007.10

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  • Fuzzy Model-based Servo Control for a Class of Nonlinear Systems "jointly worked" Reviewed

    156 - 159   2007.10

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  • Piecewise Fuzzy Model Construction and Controller Design based on Piecewise Lyapunov Function "jointly worked" Reviewed

    3359 - 3364   2007.07

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  • A Descriptor System Approach to Fuzzy Control System Design via Fuzzy Lyapunov Functions "jointly worked" Reviewed

    15 ( 3 )   333 - 341   2007.07

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  • A Sum of Squares Approach to Stability Analysis of Polynomial Fuzzy Systems "jointly worked" Reviewed

    4071 - 4076   2007.07

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  • Fuzzy Control of Micro Helicopter with Coaxial Counter-rotating Blades "jointly worked" Reviewed

    1955 - 1958   2006.09

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  • Switching Fuzzy Model-based Control for Dynamical Systems with Input Nonlinearity "jointly worked" Reviewed

    881 - 886   2006.07

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  • Optimal Dynamic Output Feedback Designs for Backing-up Control of a Vehicle with Triple Trailers "jointly worked" Reviewed

    10846 - 10852   2006.07

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  • Switching Fuzzy Model Construction and Controller Design with Arbitrary Switching Planes "jointly worked" Reviewed

    5053 - 5058   2006.06

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  • A Descriptor System Approach to Fuzzy Control System Designs Using Fuzzy Lyapunov Function "jointly worked" Reviewed

    4367 - 4372   2006.06

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  • Recursive Pointwise Design for Nonlinear Systems "jointly worked" Reviewed

    14 ( 2 )   305 - 313   2006.04

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  • Switching Fuzzy Controller Design based on Switching Lyapunov Function for a Class of Nonlinear Systems "jointly worked" Reviewed

    36 ( 1 )   13 - 23   2006.02

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  • Switching Model Construction and Stability Analysis for Nonlinear Systems "jointly worked" Reviewed

    10 ( 1 )   3 - 10   2006.01

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  • Fuzzy Model-based Control for Dynamic Variable Structure Systems "jointly worked" Reviewed

    496 - 500   2005.06

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  • Fuzzy Control System Designs using Redundancy of Descriptor Representation: A Fuzzy Lyapunov Function Approach "jointly worked" Reviewed

    1096 - 1101   2005.06

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  • Polar Coordinate Fuzzy Controller Design based on Parameter-Dependent Lyapunov Function "jointly worked" Reviewed

    377 - 382   2005.05

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  • Shared Nonlinear Control in Internet-Based Remote Stabilization "jointly worked" Reviewed

    714 - 719   2005.05

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  • Derivation of LMI Design Conditions in Switching Fuzzy Control "jointly worked" Reviewed

    5100 - 5105   2004.12

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  • Fuzzy Control of Dynamical Systems with Input Nonlinearit "jointly worked" Reviewed

    TUP-7-1 in CD   2004.09

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  • Internet-Based Remote Stabilization for Nonlinear Systems "jointly worked" Reviewed

    in CD-ROM   2004.07

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  • Recursive Pointwise Design for Nonlinear Systems "jointly worked" Reviewed

    470 - 475   2004.06

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  • A Practical Design Approach to Stabilization of a 3-DOF RC Helicopter "jointly worked" Reviewed

    12 ( 2 )   315 - 325   2004.03

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  • Piecewise Nonlinear Control "jointly worked" Reviewed

    4735 - 4740   2003.12

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  • Fuzzy Modeling via Sector Nonlinearity Concept "jointly worked" Reviewed

    10 ( 4 )   333 - 341   2003.12

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  • 膜翼を有する羽ばたき機の試作(共著) Reviewed

    川畑章司,田中一男,大竹博

    日本ロボット学会誌   21 ( 8 )   916 - 922   2003.11

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  • Switching Fuzzy Control for Nonlinear Systems "jointly worked" Reviewed

    281 - 286   2003.10

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  • Stable Control for Polar Coordinate Fuzzy Systems "jointly worked" Reviewed

    810 - 815   2003.10

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  • Polar Coordinate Fuzzy Model and Stability Analysis "jointly worked" Reviewed

    1914 - 1919   2003.06

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  • A Practical Design Approach to Four-Fans Flying Vehicle Control "jointly worked" Reviewed

    72 - 76   2002.10

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  • Robust Stabilization of an R/C Helicopter "jointly worked" Reviewed

    197 - 202   2002.07

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  • A Construction Method of Switching Lyapunov Function for Nonlinear Systems "jointly worked" Reviewed

    221 - 226   2002.05

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  • Model Construction, Rule Reduction and Robust Compensation for Generalized Form of Takagi-Sugeno Fuzzy Systems "jointly worked" Reviewed

    9 ( 4 )   525 - 538   2001.08

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  • Stable Control for R/C Helicopter "jointly worked" Reviewed

    2056 - 2061   2001.07

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  • Fuzzy Modeling via Sector Nonlinearity Concept "jointly worked" Reviewed

    127 - 132   2001.07

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Publications (Books)

  • Encyclopedia of Control Systems

    Kenzo Nonami et. al.(Joint author)

    Asakura Publishing  2015.07  ( ISBN:978-4-254-23141-0

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Conference Prsentations (Oral, Poster)

  • Developement of Landing Gear for Achieving Run-up, Takeoff and Landing of a Servo-driven Flapping-Wing Robot

    Takuya Kikuchi, Hiroshi Ohtake

    2023.12 

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    Event date: 2023.12.14 - 2023.12.16   Language:Japanese   Country:Japan  

  • Development of a Small, Lightweight, Easy-to-Make Servo-type Flapping Flying Robot

    Reona Kitada, Hiroshi Ohtake

    2023.06 

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    Event date: 2023.06.28 - 2023.07.01   Language:Japanese   Country:Japan  

    In order to further advance the research and development of flapping flying robots and to incorporate them into our daily lives, it is necessary to make more researchers and the general public recognized and interested in flapping flying robots. Therefore, it is necessary to search for a safe, simple, and easy to-understand manufacturing method. In this research, we developed a servo-type flapping flying robot that anyone can easily create so that it can be recognized as more familiar research themes.

  • A Study on Performance Comparison of Flapping Wing Aircraft with Winglets

    Seigo Sasaki, Hiroshi Ohtake

    2023.06 

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    Event date: 2023.06.28 - 2023.07.01   Language:Japanese   Country:Japan  

    In recent years, the development of aircrafts with good environmental performance is required to address the global warming problem, and the reduction of aerodynamic drag is an important issue in the development of aircrafts. A wingtip vortex suppression device called a winglet is mounted to the tip of airplane wings. Winglets are modeled after the upturned feathers on the wingtips of gliding hawks and eagles. Winglets have been shown to improve the performance of airplanes by 10% or more. The development of the shape of winglets must be considered in combination with other aspects such as the increase in weight and drag due to the addition of winglets. In this study, we developed flapping wing aircrafts with winglets and compared performances in order to find the optimal winglet mounting angle for flight.

  • Development of Flapping Flying Robot Mimicking a Small Bird that Achieve Bounding Flight

    Hironari Mimura, Hiroshi Ohtake

    2023.06 

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    Event date: 2023.06.28 - 2023.07.01   Language:Japanese   Country:Japan  

    UAVs have challenges in terms of safety and cruising range. A flapping flying robot has the potential to be a superior UAV in these aspects. The flapping motion is an oscillating motion and is safe. In addition, flapping flight robots don’t necessarily require flapping motion to sustain flight. In this study, we focused on bounding flight and aimed to achieve it with a flapping flight robot. Bounding flight is a flight method that many small birds perform by intermittently folding their wings during flapping flight. Therefore, to perform bounding flight, it is necessary to perform both the flapping motion and the wing folding motion. We have developed a flapping wing flying robot that can perform these motions and mimic bounding flight.

  • A Study on Measurement of Airflow using Flow Sensor and Steering Control of Flying Robot

    Ryunosuke Terasako, Hiroshi Ohtake

    2023.06 

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    Event date: 2023.06.28 - 2023.07.01   Language:Japanese   Country:Japan  

    In recent years, research and development of unmanned aerial vehicles(UAV) has been active. However, they are easily affected by wind. In this research, aiming at the achievement of a flight robot that enables long distance flight using a wind like birds, we estimated the upwind direction from sensor data and performed steering control of the flying robot in the upwind direction.

  • Development of Balloon Wings with Airfoil Shape and Achievement of Flapping Flight

    Ryota Matsumoto, Hiroshi Ohtake

    2023.06 

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    Event date: 2023.06.28 - 2023.07.01   Language:Japanese   Country:Japan  

    The objective of this research is to develop a flapping flying robot that can achieve bird-like flight using helium gas-infused airfoil-shaped balloon wings. Wings must have an airfoil shape in order to generate lift by flapping its wings. However, the wing becomes heavy when it has a skeleton to achieve the airfoil shape. In this research, we used aluminum balloons filled with helium gas to create airfoilshaped balloon wings similar to actual bird wings, and tried to measure lift and thrust and perform flight experiments.

  • Development of a hind limb equipped with a grasp/release mechanism and flight tests for takeoff from tree branches

    Kai Fukuhara, Hiroshi Ohtake

    The 41st SICE Kyushu Branch Annual Conference  2022.12  The Society of Instrument and Control Engineers, Kyushu Branch

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    Event date: 2022.12.03 - 2022.12.04   Language:Japanese   Country:Japan  

  • Development of Hind Limbs for Landing on Tree Branches of Flapping Wing Robot

    Yoshimasa Takahashi, Hiroshi Ohtake

    The 41st SICE Kyushu Branch Annual Conference  2022.12  The Society of Instrument and Control Engineers, Kyushu Branch

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    Event date: 2022.12.03 - 2022.12.04   Language:Japanese   Country:Japan  

  • A Study on the Design of Flexible Wings for Large-size Flapping Robots

    Kazuya Fujihara, Hiroshi Ohtake

    The 41st SICE Kyushu Branch Annual Conference  2022.12  The Society of Instrument and Control Engineers, Kyushu Branch

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    Event date: 2022.12.03 - 2022.12.04   Language:Japanese   Country:Japan  

  • Development of flapping flying robot that mimics the small bird performing bounding flight

    Hironari Mimura, Hiroshi Ohtake

    The 41st SICE Kyushu Branch Annual Conference  2022.12  The Society of Instrument and Control Engineers, Kyushu Branch

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    Event date: 2022.12.03 - 2022.12.04   Language:Japanese   Country:Japan  

  • A Study on Classification of EEG Data using Individual Classifiers of Other Subjects

    Naoki Fukudome, Hiroshi Ohtake

    The 38th Fuzzy Systems Symposium  2022.09  Japan Society for Fuzzy Theory and Intelligent Informatics

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    Event date: 2022.09.14 - 2022.09.16   Language:Japanese   Country:Japan  

    In recent years, studies on BMI and BCI, which use EEG as an interface for operating external devices, has been actively conducted. In many of those studies, an electroencephalogram classifier individualized to one subject has been created from the electroencephalogram data of the subject. This is because EEG data of one subject is said to be quite different from other subjects, and an individual classifier has advantage for increasing the classification rate. In general, a large amount of data is required for constructing the individual classifier. As a result, the burden of subjects increases. In this study, we input a small amount of EEG data of different subjects into the pre-built individual classifiers for multiple other subjects and compare the classification rates. We show that, without building a classifier individualized to one subject, there is a possibility to be able to use other subject’s individual classifier that has already been built.

  • Realization of Wing with Airfoil Shape using Balloon and Development of Flapping Flight Robot using Balloon Wings

    Noriki Kitasako, Hiroshi Ohtake

    2022.06 

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    Event date: 2022.06.01 - 2022.06.04   Language:Japanese   Country:Japan  

    In this research, we aim to develop a flapping flight robot that can generate large lift force by wings and that realize flight close to real birds. In order to obtain large lift force, it is necessary to give a wing cross-sectional shape (airfoil) to the wing. In this paper, we attempted to manufacture a balloon wing with a shape close to the airfoil using a balloon filled with helium gas. We also developed a flapping flight robot using the manufactured balloon wings and investigated its flight feasibility.

  • A Study on Estimation of Wind Speed and Direction for Flying Robots using Multiple Small Flow Sensors

    Kotoko Matsuura, Hiroshi Ohtake

    2022.06 

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    Event date: 2022.06.01 - 2022.06.04   Language:Japanese   Country:Japan  

    Seabirds effectively use winds to gain airspeed and generate large lift force. It also saves energy and extends flight distance by gliding flight. In this research, aiming at the realization of a flying robot that enables long-distance and long-time flight, we measured the air volume in multiple directions using multiple small flow sensors and tried to estimate the surrounding wind speed and direction from the data.

  • Construction of EEG-based Control System of Electric Wheelchair using Wavelt Analysis and CNN

    Yosuke Fujii, Hiroshi Ohtake

    The 37th Fuzzy Systems Symposium  Japan Society for Fuzzy Theory and Intelligent Informatics

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    Event date: 2021.09.13 - 2021.09.15   Language:Japanese  

  • A Study on Grouping of EEG Signals of Multiple Subjects using SOM

    Naoki Fukudome, Hiroshi Ohtake

    The 37th Fuzzy Systems Symposium  Japan Society for Fuzzy Theory and Intelligent Informatics

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    Event date: 2021.09.13 - 2021.09.15   Language:Japanese  

  • 鳥の筋骨格構造を模倣した羽ばたきおよび捻り運動の実現

    岩尾潤,大竹博

    第39回日本ロボット学会学術講演会  日本ロボット学会

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    Event date: 2021.09.08 - 2021.09.11   Language:Japanese  

  • 軽量かつ羽ばたき周波数が低いサーボモータ型羽ばたき飛行ロボットの開発

    陣内克俊,大竹博

    第39回日本ロボット学会学術講演会  日本ロボット学会

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    Event date: 2021.09.08 - 2021.09.11   Language:Japanese  

  • 大型羽ばたき飛行ロボットの設計と開発に関する研究

    中矢 元, 大竹 博

    ロボティクス・メカトロニクス講演会2021  日本機械学会 ロボティクス・メカトロニクス部門

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    Event date: 2021.06.06 - 2021.06.08   Language:Japanese  

  • 樹枝への着陸を目的とした鳥型ロボットの後肢の開発と制御

    田中 天太, 大竹 博

    ロボティクス・メカトロニクス講演会2021  日本機械学会 ロボティクス・メカトロニクス部門

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    Event date: 2021.06.06 - 2021.06.08   Language:Japanese  

  • Design of large flapping flight robot

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    Event date: 2020.11.28   Language:Japanese  

  • Integration of Analysis and Drive System for EEG-based Control of Electric Wheelchair

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    Event date: 2020.11.28   Language:Japanese  

  • Development of Flapping Flight Robot Capable of Transitioning Flight States

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    Event date: 2020.11.28   Language:Japanese  

  • Development of a sustainably flying Ornithopter and realization of its hovering

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    Event date: 2020.11.28   Language:Japanese  

  • SOMによる脳波情報のグループ分けを利用した脳波判別器の開発

    外間健一

    第35回ファジィシステムシンポジウム  日本知能情報ファジィ学会

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    Event date: 2019.08.29 - 2019.08.31   Language:Japanese  

  • ツイストドライブ機構を用いた羽ばたき動作の実現

    大竹博

    ロボティクス・メカトロニクス講演会2019  日本機械学会

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    Event date: 2019.06.05 - 2019.06.08   Language:Japanese  

  • 大型羽ばたき飛行ロボットの検討

    中矢元

    ロボティクス・メカトロニクス講演会2019  日本機械学会

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    Event date: 2019.06.05 - 2019.06.08   Language:Japanese  

  • 鳥型飛行ロボットの跳躍脚機構の自動収縮解放装置の開発

    木村悠希

    ロボティクス・メカトロニクス講演会2019  日本機械学会

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    Event date: 2019.06.05 - 2019.06.08   Language:Japanese  

  • 羽ばたき角度を変化可能なクランク型羽ばたき翼の開発

    瀧田智史

    ロボティクス・メカトロニクス講演会2019  日本機械学会

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    Event date: 2019.06.05 - 2019.06.08   Language:Japanese  

  • 鳥類の後肢を模した腱と趾による樹枝の把持と姿勢安定化の検討

    大和星矢

    ロボティクス・メカトロニクス講演会2019  日本機械学会

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    Event date: 2019.06.05 - 2019.06.08   Language:Japanese  

  • 鳥類の筋肉構造を模した羽ばたき飛行ロボットの羽ばたき動作の実現

    大竹博

    ロボティクス・メカトロニクス講演会2018  日本機械学会

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    Event date: 2018.06.02 - 2018.06.05   Language:Japanese  

  • 跳躍による鳥型飛行ロボットの離陸の実現

    大竹博

    ロボティクス・メカトロニクス講演会2018  日本機械学会

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    Event date: 2018.06.02 - 2018.06.05   Language:Japanese  

  • マルチコプタのためのパッシブ姿勢安定化機構の検討

    鈴木克洋

    ロボティクス・メカトロニクス講演会2018  日本機械学会

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    Event date: 2018.06.02 - 2018.06.05   Language:Japanese  

  • 複数人の脳波情報を用いた汎用脳波判別モデルの開発

    外間健一

    ロボティクス・メカトロニクス講演会2018  日本機械学会

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    Event date: 2018.06.02 - 2018.06.05   Language:Japanese  

  • 積層自己符号化器を用いた多思考脳波判別手法の開発

    藤中雄大

    ロボティクス・メカトロニクス講演会2018  日本機械学会

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    Event date: 2018.06.02 - 2018.06.05   Language:Japanese  

  • 深層学習を用いた環境変化に頑健な脳波判別

    諸富明日翔

    ロボティクス・メカトロニクス講演会2018  日本機械学会

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    Event date: 2018.06.02 - 2018.06.05   Language:Japanese  

  • ウォームギアを用いたチルト角制御機構を有するクアッドコプターに関する研究

    堀裕基

    ロボティクス・メカトロニクス講演会2018  日本機械学会

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    Event date: 2018.06.02 - 2018.06.05   Language:Japanese  

  • 畳み込みニューラルネットワークを用い た多思考脳波判別手法の開発

    藤中雄大

    第33回ファジィシステムシンポジウム  日本知能情報ファジィ学会

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    Event date: 2017.09.13 - 2017.09.15   Language:Japanese  

  • 周囲の環境変化に影響を受けにくい脳 波判別手法の開発

    諸富明日翔

    第33回ファジィシステムシンポジウム  日本知能情報ファジィ学会

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    Event date: 2017.09.13 - 2017.09.15   Language:Japanese  

  • 全周囲サーモグラフィ情報に基づく飛行ロボットの生体追従手法の開発

    堀 裕基

    第35回日本ロボット学会学術講演会  日本ロボット学会

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    Event date: 2017.09.11 - 2017.09.14   Language:Japanese  

  • 深度カメラによる経路探索とマルチコプタへの適用の検討

    備後博生

    ロボティクス・メカトロニクス講演会2017  日本機械学会

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    Event date: 2017.05.10 - 2017.05.13   Language:Japanese  

  • Into Route Search by Depth Camera and Application to Multicopter

    BINGO Hiroki, OHTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2017.01   Language:Japanese  

    CiNii Article

  • 2nd Forestry Drone and Robots competition report

    TAKEMURA Yasunori, HAYASHI Eiji, OHTAKE Hiroshi, OHASHI Takeshi, KAMEI Keiji, ISHII Kazuo

    Proceedings of the Fuzzy System Symposium 

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    Event date: 2017.01   Language:Japanese  

    CiNii Article

  • 多関節羽ばたきロボットの構造および翼形状の改善

    藤永拓矢

    ロボティクス・メカトロニクス講演会2016  日本機械学会

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    Event date: 2016.06.08 - 2016.06.11   Language:Japanese  

  • ピッチ角制御機構を有する8自由度クアッドコプターの開発

    井上亮

    ロボティクス・メカトロニクス講演会2016  日本機械学会

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    Event date: 2016.06.08 - 2016.06.11   Language:Japanese  

  • 林業への応用を目指したマルチコプタに搭載した深度カメラによる樹木の計測

    備後博生

    ロボティクス・メカトロニクス講演会2016  日本機械学会

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    Event date: 2016.06.08 - 2016.06.11   Language:Japanese  

  • 農業支援を目的とした小型クアッドコプターの開発

    南﨑亮吾

    ロボティクス・メカトロニクス講演会2016  日本機械学会

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    Event date: 2016.06.08 - 2016.06.11   Language:Japanese  

  • 自在な羽ばたき動作を行える羽ばたき飛行ロボットの持続飛行の実現

    田中真人

    ロボティクス・メカトロニクス講演会2016  日本機械学会

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    Event date: 2016.06.08 - 2016.06.11   Language:Japanese  

  • Development of Small-size Quadcopter for Support of Agricultural Activities

    MINAMIZAKI Ryogo, OHTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2016.01   Language:Japanese  

    CiNii Article

  • Realization of Sustained Flight of Flapping Wing Robot

    Tanaka Masato, Ohtake Hiroshi, Tanaka Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2016.01   Language:Japanese  

    CiNii Article

  • Measurement of Trees using Depth Camera mounted on Multicopter for Application to Forestry

    BINGO Hiroki, OHTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2016.01   Language:Japanese  

    CiNii Article

  • Improvement of Structure and Wing Shape of Articulated Wing Robot

    FUJINAGA Takuya, OHTAKE Hiroshi, TANAKA Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2016.01   Language:Japanese  

    CiNii Article

  • Robot Contest Produce Competition 2015

    TANAKA Takayuki, KAWAMURA Takashi, OHTAKE Hiroshi, MURAKAMI Hiroki

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2016.01   Language:Japanese  

    CiNii Article

  • Development of 8 Degrees of Freedom Quadcopter with Pitch Angle Control Units

    INOUE Ryo, OHTAKE Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2016.01   Language:Japanese  

    CiNii Article

  • A Study on Flapping Wing Robot for Wind-Hovering Flight

    The 16th SICE System Integration Division Annual Conference 

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    Event date: 2015.12.14 - 2015.12.16   Language:Japanese  

  • An Environmental Map Generation utilising Multicopter

    The 16th SICE System Integration Division Annual Conference 

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    Event date: 2015.12.14 - 2015.12.16   Language:Japanese  

  • サーボモータの揺動制御による羽ばたき飛行の実現

    大竹 博

    ロボティクス・メカトロニクス講演会2015  日本機械学会ロボティクス・メカトロニクス部門

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    Event date: 2015.05.17 - 2015.05.19   Language:Japanese  

  • 2A1-N06 Robot Contest Produce Competition 2014

    TANAKA Takayuki, KAWAMURA Takashi, OHTAKE Hiroshi, KOYAMA Takeshi, MURAKAMI Hiroki

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    Event date: 2015.05.17   Language:Japanese  

    CiNii Article

  • 2A2-G10 Development of a Flapping Wing Robot with Oscillating Controlled RC Servomotors

    Iwasaki Takuma, Ohtake Hiroshi, Tanaka Kazuo

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    Event date: 2015.05.17   Language:Japanese  

    CiNii Article

  • 脳波を用いた思考判別における周囲の環境変化と振動刺激印加の影響に関する研究

    出納有理子

    2014年度SOFT九州支部 中国・四国支部合同支部大会  日本知能情報ファジィ学会 九州支部・中国四国支部

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    Event date: 2015.03.09   Language:Japanese  

  • 羽ばたき飛行ロボットの動力学シミュレーションモデルの構築

    備後博生

    2014年度SOFT九州支部 中国・四国支部合同支部大会  日本知能情報ファジィ学会 九州支部・中国四国支部

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    Event date: 2015.03.09   Language:Japanese  

  • 鳥の翼構造を模した多関節羽ばたきロボットによる羽ばたき動作の違いによって生じる揚力の比較

    古谷亮

    第15回計測自動制御学会システムインテグレーション部門講演会  計測自動制御学会 システムインテグレーション部門

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    Event date: 2014.12.15 - 2014.12.17   Language:Japanese  

  • 鳥の骨格構造を模したバランスロボット開発

    田中真人

    SOFT九州支部夏季ワークショップ2014  日本知能情報ファジィ学会九州支部

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    Event date: 2014.08.30 - 2014.08.31   Language:Japanese  

  • アグリロボットのためのクアッドロータヘリコプタの開発

    粂田真吾

    SOFT九州支部夏季ワークショップ2014  日本知能情報ファジィ学会九州支部

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    Event date: 2014.08.30 - 2014.08.31   Language:Japanese  

  • 周囲の環境変化が及ぼす脳波に基づくイメージ判別への影響

    出納有理子

    SOFT中国・四国支部 九州支部合同支部大会  日本知能情報ファジィ学会 九州支部・中国四国支部

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    Event date: 2013.12.21   Language:Japanese  

  • 自在な羽ばたき動作を実現できる羽ばたき飛行ロボットの開発

    岩崎卓真

    第14回計測自動制御学会システムインテグレーション部門講演会  計測自動制御学会 システムインテグレーション部門

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    Event date: 2013.12.18 - 2013.12.20   Language:Japanese  

  • 鳥の羽ばたき動作を規範とした多関節羽ばたきロボットの開発

    古谷亮

    第14回計測自動制御学会システムインテグレーション部門講演会  計測自動制御学会 システムインテグレーション部門

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    Event date: 2013.12.18 - 2013.12.20   Language:Japanese  

  • 脈波データに基づく呼吸速度判別の汎化性能の向上に向けて

    迫田 晃

    第29回ファジィシステムシンポジウム  日本知能情報ファジィ学会

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    Event date: 2013.09.09 - 2013.09.11   Language:Japanese  

  • 飛行ロボット制御用HILS システムの開発とその制御系設計への適用

    關靖史

    ロボティクス・メカトロニクス講演会2013  日本機械学会ロボティクス・メカトロニクス部門

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    Event date: 2013.05.22 - 2013.05.25   Language:Japanese  

  • 脈波データに基づく呼吸速度の判別

    迫田 晃

    第28回ファジィシステムシンポジウム  日本知能情報ファジィ学会

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    Event date: 2012.09.12 - 2012.09.14   Language:Japanese  

  • サーボモータを用いた羽ばたき飛行ロボットの開発

    大竹 博

    ロボティクス・メカトロニクス講演会2012  日本機械学会ロボティクス・メカトロニクス部門

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    Event date: 2012.05.27 - 2012.05.29   Language:Japanese  

  • マグナス効果を利用した飛行移動体の開発

    小澤 晃司

    第12回 計測自動制御学会システムインテグレーション部門講演会  計測自動制御学会

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    Event date: 2011.12.23 - 2011.12.25   Language:Japanese  

  • 運動想起脳波識別における時間窓選択を用いた空間フィルタの設計

    田中 拓哉

    第12回 計測自動制御学会システムインテグレーション部門講演会  計測自動制御学会

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    Event date: 2011.12.23 - 2011.12.25   Language:Japanese  

  • 動力付きパラグライダーのモデリングと軌道追従制御

    倉持信行

    第12回 計測自動制御学会システムインテグレーション部門講演会  計測自動制御学会

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    Event date: 2011.12.23 - 2011.12.25   Language:Japanese  

  • A Relaxation Approach of Lyapunov Functions to Guaranteed Cost Control of Discrete Fuzzy System

    Toshiaki Seo

    第27回ファジィシステムシンポジウム  日本知能情報ファジィ学会

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    Event date: 2011.09.12 - 2011.09.14   Language:Japanese  

  • Sum of Squares アプローチによる離散多項式ファジィシステムの制御

    妹尾 俊明

    第27回ファジィシステムシンポジウム  日本知能情報ファジィ学会

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    Event date: 2011.09.12 - 2011.09.14   Language:Japanese  

  • 空中からの情報収集を目的とした飛行ロボット自律制御システムの開発

    河合 大志

    ロボティクス・メカトロニクス講演会2011  日本機械学会

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    Event date: 2011.05.26 - 2011.05.28   Language:Japanese  

  • 脳波を利用した運動イメージの識別と外界センサを利用した電動車椅子制御

    田中拓哉

    ロボティクス・メカトロニクス講演会2011  日本機械学会

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    Event date: 2011.05.26 - 2011.05.28   Language:Japanese  

  • パッシブ姿勢安定化機構を備えた飛行ロボットの軌道追従制御

    河合 大志

    ロボティクス・メカトロニクス講演会2011  日本機械学会

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    Event date: 2011.05.26 - 2011.05.28   Language:Japanese  

  • パッシブ姿勢安定化機構を備えた飛行ロボットのホバリング制御

    駒井 利之

    第11回 計測自動制御学会システムインテグレーション部門講演会  計測自動制御学会

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    Event date: 2010.12.23 - 2010.12.25   Language:Japanese  

  • Customized Brain-Machine Interface による 脳波判別精度の改善

    田中 拓哉

    第11回 計測自動制御学会システムインテグレーション部門講演会  計測自動制御学会

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    Event date: 2010.12.23 - 2010.12.25   Language:Japanese  

  • 項式ファジィモデルに対するSum of Squares設計条件の導出

    猿木 恭文

    第11回 計測自動制御学会システムインテグレーション部門講演会  計測自動制御学会

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    Event date: 2010.12.23 - 2010.12.25   Language:Japanese  

  • マルチ平行リンク回転翼を用いた飛行ロボットの性能向上

    大石 徹太郎

    第28回日本ロボット学会学術講演会  日本ロボット学会

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    Event date: 2010.09.22 - 2010.09.24   Language:Japanese  

  • 多項式ファジィシステムに対するSOS-Based Observer の設計

    妹尾俊明

    第26回ファジィシステムシンポジウム  日本知能情報ファジィ学会

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    Event date: 2010.09.13 - 2010.09.15   Language:Japanese  

  • 時系列モデルを用いた脳波イメージ判別と電動車椅子自動操縦への応用

    三宅 龍馬

    第26回ファジィシステムシンポジウム  日本知能情報ファジィ学会

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    Event date: 2010.09.13 - 2010.09.15   Language:Japanese  

  • ブレイン・マシン・インタフェースのためのBoostingを用いた脳波の多クラス識別

    青木 治雄

    第26回ファジィシステムシンポジウム  日本知能情報ファジィ学会

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    Event date: 2010.09.13 - 2010.09.15   Language:Japanese  

  • Piecewise Lyapunov Function に基づくSwitching ファジィ制御器によるH∞制御系の設計

    Chen Ying-Jen

    第26回ファジィシステムシンポジウム  日本知能情報ファジィ学会

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    Event date: 2010.09.13 - 2010.09.15   Language:Japanese  

  • パッシブ姿勢安定化機構を備えた飛行ロボットの開発

    駒井利之

    ロボティクス・メカトロニクス講演会2010  日本機械学会

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    Event date: 2010.06.13 - 2010.06.16   Language:Japanese  

  • Training-Free BMIシステムによる電動車椅子の自動操縦

    三宅龍馬

    ロボティクス・メカトロニクス講演会2010  日本機械学会

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    Event date: 2010.06.13 - 2010.06.16   Language:Japanese  

  • 視覚情報による小型ヘリコプタの飛行制御

    駒井利之

    ロボティクス・メカトロニクス講演会2010  日本機械学会

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    Event date: 2010.06.13 - 2010.06.16   Language:Japanese  

  • マルチ平行リンク回転翼を用いた飛行ロボットの開発

    杉本晋介

    第27回日本ロボット学会学術講演会  日本ロボット学会

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    Event date: 2009.09.15 - 2009.09.17   Language:Japanese  

  • 携帯型BMIシステムの改良と車椅子自動操縦タスクの多様化

    青木治雄

    第27回日本ロボット学会学術講演会  日本ロボット学会

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    Event date: 2009.09.15 - 2009.09.17   Language:Japanese  

  • パンタグラフ式可変翼機構を用いた回転翼型飛行ロボットの性能改善

    三宅祐一

    第27回日本ロボット学会学術講演会  日本ロボット学会

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    Event date: 2009.09.15 - 2009.09.17   Language:Japanese  

  • サイクロジャイロ翼を有する飛行ロボットのための推進力の方向制御機構開発

    東善之

    第27回日本ロボット学会学術講演会  日本ロボット学会

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    Event date: 2009.09.15 - 2009.09.17   Language:Japanese  

  • 脳波信号の特徴選択と機械学習による思考判別

    青木 治雄

    第25回ファジィシステムシンポジウム  日本知能情報ファジィ学会

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    Event date: 2009.07.14 - 2009.07.16   Language:Japanese  

  • SOSに基づく多項式ファジィオブザーバの設計

    和田 基宏

    第25回ファジィシステムシンポジウム  日本知能情報ファジィ学会

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    Event date: 2009.07.14 - 2009.07.16   Language:Japanese  

  • Max/Min混合型リアプノフ関数を用いた非線形システムの安定解析

    山口 剛人

    第25回ファジィシステムシンポジウム  日本知能情報ファジィ学会

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    Event date: 2009.07.14 - 2009.07.16   Language:Japanese  

  • 翼の変形を抑制するための両持ち構造を有するパンタグラフ式回転翼の開発

    跡治保尭

    ロボティクス・メカトロニクス講演会2009  日本機械学会

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    Event date: 2009.05.24 - 2009.05.26   Language:Japanese  

  • 搭載カメラのみを用いた屋内用小型ヘリコプタの自己位置・姿勢推定と飛行制御

    飯村 健

    ロボティクス・メカトロニクス講演会2009  日本機械学会

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    Event date: 2009.05.24 - 2009.05.26   Language:Japanese  

  • マイクロヘリコプタの飛行制御 -LMIアプローチ vs SOSアプローチ-

    和田 基宏

    第24回ファジィシステムシンポジウム  日本知能情報ファジィ学会

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    Event date: 2008.09.03 - 2008.09.05   Language:Japanese  

  • 脳波による車椅子自動操縦システムの構築

    渡邉寛樹

    ロボティクス・メカトロニクス講演会2008  日本機械学会

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    Event date: 2008.06.05 - 2008.06.07   Language:Japanese  

  • GPSによる羽ばたき飛行ロボットの自律飛行に関する研究

    上野弘傑

    ロボティクス・メカトロニクス講演会2008  日本機械学会

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    Event date: 2008.06.05 - 2008.06.07   Language:Japanese  

  • 鳥の羽ばたき運動を規範とした可変構造翼機構の開発

    横山拓

    ロボティクス・メカトロニクス講演会2008  日本機械学会

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    Event date: 2008.06.05 - 2008.06.07   Language:Japanese  

  • 小型ヘリコプタのモデルベース制御 2次評価関数に基づく最適性を考慮した制御系設計

    山口剛人

    ロボティクス・メカトロニクス講演会2008  日本機械学会

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    Event date: 2008.06.05 - 2008.06.07   Language:Japanese  

  • マルチ平行リンク回転翼の最適化設計

    長谷川信

    ロボティクス・メカトロニクス講演会2008  日本機械学会

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    Event date: 2008.06.05 - 2008.06.07   Language:Japanese  

  • パンタグラフ式可変翼機構を用いた飛行ロボットの翼変形を考慮したシミュレーションモデルによるペイロード最適性の向上

    長谷川信

    ロボティクス・メカトロニクス講演会2008  日本機械学会

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    Event date: 2008.06.05 - 2008.06.07   Language:Japanese  

  • 受動歩行を規範とした大腿義足の開発に向けて

    水野正博

    ロボティクス・メカトロニクス講演会2008  日本機械学会

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    Event date: 2008.06.05 - 2008.06.07   Language:Japanese  

  • サイクロジャイロ翼を有する飛行ロボットの消費電力算出モデルの構築

    東 善之

    第25回日本ロボット学会学術講演会  日本ロボット学会

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    Event date: 2007.09.13 - 2007.09.15   Language:Japanese  

  • 内界センサをもつ小型ヘリコプタの安定化制御

    小松 嵩宙

    第25回日本ロボット学会学術講演会  日本ロボット学会

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    Event date: 2007.09.13 - 2007.09.15   Language:Japanese  

  • 非線形離散システムに対するファジィモデルに基づくサーボ制御系設計

    大竹 博

    第23回ファジィシステムシンポジウム  日本知能情報ファジィ学会

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    Event date: 2007.08.29 - 2007.08.31   Language:Japanese  

  • Sum of Squares を用いた多項式ファジィシステムの最適制御

    山内健司

    第23回ファジィシステムシンポジウム  日本知能情報ファジィ学会

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    Event date: 2007.08.29 - 2007.08.31   Language:Japanese  

  • 多項式ファジィモデルの提案とSum of Squaresに基づく制御系設計

    山内健司

    第23回ファジィシステムシンポジウム  日本知能情報ファジィ学会

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    Event date: 2007.08.29 - 2007.08.31   Language:Japanese  

  • 脳波による電動車椅子の自動操縦システム

    李経洙

    第23回ファジィシステムシンポジウム  日本知能情報ファジィ学会

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    Event date: 2007.08.29 - 2007.08.31   Language:Japanese  

  • 小型ヘリコプタの安定化制御

    小松嵩宙

    第23回ファジィシステムシンポジウム  日本知能情報ファジィ学会

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    Event date: 2007.08.29 - 2007.08.31   Language:Japanese  

  • ファジィモデルに基づくサーボ制御系設計

    大竹 博

    第17回インテリジェント・システム・シンポジウム  日本知能情報ファジィ学会

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    Event date: 2007.08.10 - 2007.08.11   Language:Japanese  

  • 位相差を有するマルチ平行リンク機構の開発と飛行ロボットへの適用

    長谷川信

    ロボティクス・メカトロニクス講演会2007  日本機械学会

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    Event date: 2007.05.10 - 2007.05.12   Language:Japanese  

  • 弾性エネルギを付加した受動ロボットの開発

    水野正博

    ロボティクス・メカトロニクス講演会2007  日本機械学会

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    Event date: 2007.05.10 - 2007.05.12   Language:Japanese  

  • パンタグラフ式可変翼機構を用いた飛行ロボットの最適設計と実験的評価

    原 直裕

    ロボティクス・メカトロニクス講演会2007  日本機械学会

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    Event date: 2007.05.10 - 2007.05.12   Language:Japanese  

  • マイクロヘリコプタの飛行安定制御

    飯村 健

    ロボティクス・メカトロニクス講演会2007  日本機械学会

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    Event date: 2007.05.10 - 2007.05.12   Language:Japanese  

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Lectures

  • 青空高く羽ばたく鳥型ロボットの開発を目指して

    第24回日本知能情報ファジィ学会九州支部学術講演会  2022.12  日本知能情報ファジィ学会九州支部

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    Event date: 2022.12.24   Language:Japanese   Presentation type:Keynote lecture   Venue:オンライン   Country:Japan  

    近年,ドローンに代表される飛行ロボットに関する研究・開発が世界的に活発に行われているが,飛行性能に関しては我々が普段から目にする鳥類の方が勝る面が多々ある.鳥は羽ばたき運動によって推力と揚力を同時に生み出している.また,翼を広げて滑空することでエネルギ消費を抑えた高効率な飛行を行う.渡り鳥は上昇気流と滑空飛行を組み合わせて長距離飛行を実現している.スズメなどの小型の鳥はホバリング飛行を行ったり,壁面に沿ってほぼ垂直に上昇することができる.飛行能力以外にも,翼を折り畳むことでコンパクトになったり,枝や電線にとまることができる.鳥の飛び立ちや着陸には長い滑走路は必要ない.このような鳥類の特性をロボットで実現し検証することで,既存の航空機のさらなる進化や新たな羽ばたき航空機の創造を目指している. 本講演では,これまでに私の研究室で開発した鳥型ロボットについて,羽ばたき飛行に成功している事例や,脚による飛び立ち(離陸),脚による樹枝の把持(着陸)など,さまざまな鳥型ロボットに関する研究事例を紹介する.

  • Studies on Bird-like Flapping Flight Robot

    2022.11  Research Institute for Mathematical Sciences, Kyoto University

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    Event date: 2022.10.31 - 2022.11.02   Language:Japanese   Presentation type:Invited lecture   Venue:Kyoto   Country:Japan  

  • Development of Bird-like Robot -From Flapping Flight to Takeoff and Landing by Legs

    The 44th Symposium on Aero Aqua Bio-mechanisms  2021.09  Society of Aero Aqua Bio-mechanisms

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    Language:Japanese   Presentation type:Invited lecture   Venue:online  

    Birds can not only fly by flapping, but also by gliding, soaring, and hovering. In addition to various flight forms, their wings can be folded, bipedal walking, and short-distance takeoff and landing are possible. Recent technological developments in miniaturization and high performance of motors, batteries, microcomputers, and sensors, and rapid prototyping technology using 3D printers and desktop CNCs have made it easier to develop compact and lightweight flying robots. In this paper, the bird-shaped robots developed in my laboratory, mainly focusing on flapping robot which can successfully fly, taking off with legs, and grasping tree branch with legs (landing) are introduced.

    Other Link: https://www.abmech.org/jp/events/PreviousSymposiums/44th.html

  • Toward development of flying robots like birds flapping high into the blue sky

    Robotics and Computer Science 2018  2018.06  Kyushu Institute of Technology

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    Presentation type:Invited lecture  

  • 飛行ロボットの現在とこれから -ドローンの次に目指すもの-

    FGN Conference  2017.06  Fukuoka Growth Next

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    Presentation type:Invited lecture   Venue:福岡県福岡市  

  • 「若き研究者 “夢”を語る」

    第79回e-ZUKAトライバレー産学官交流研究会  2011.11  e-ZUKAトライバレー産学官交流研究会

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    Presentation type:Others  

  • ファジィモデルに基づく制御への誘い ~基礎から応用まで~

    電気通信大学 魅力ある大学院教育イニシアティブ 「メカノインフォマティクス・カデット教育」講演会  2011.09  電気通信大学 魅力ある大学院教育イニシアティブ 「メカノインフォマティクス・カデット教育」

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    Presentation type:Others   Venue:電気通信大学  

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Press

Honors and Awards

  • 日本知能情報ファジィ学会貢献賞

    日本知能情報ファジィ学会   2022.09.15

    第32回ファジィシステムシンポジウムの運営

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    Country:Japan

    第37回ファジィシステムシンポジウムの運営

  • 日本知能情報ファジィ学会貢献賞

    日本知能情報ファジィ学会   2017.09.14

    第32回ファジィシステムシンポジウムの運営

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    Country:Japan

  • 日本知能情報ファジィ学会貢献賞

    日本知能情報ファジィ学会   2015.09.03

    SCIS&ISIS2014実行委員会

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    Country:Japan

  • Best Paper Selection

    IEEE   2005.06

    Hiroshi Ohtake

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    Country:United States

  • ベストプレゼンテーション賞

    日本知能情報ファジィ学会   2004.10

    大竹 博

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    Country:Japan

  • 日本知能情報ファジィ学会奨励賞

    日本知能情報ファジィ学会   2003.09

    大竹 博

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    Country:Japan

  • Outstanding Student Paper Award

    North American Fuzzy Information Processing Society, International Fuzzy Systems Association   2001.07

    Hiroshi Ohtake

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    Country:Canada

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Grants-in-Aid for Scientific Research

  • ゲインスケジュールド制御と適応制御の理論的融合とその実システムへの応用

    Grant number:22H01512  2022.04 - 2026.03   基盤研究(B)

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    近年,制御系の不確かさ,特にパラメータ変動に対して積極的に適合する制御器が求められている.適応的に不確かさに適合した制御系を構成する制御理論としては,線形ロバスト制御理論を基礎にしたゲインスケジュールド制御と,システム同定と制御系設計を同時に行うという発想から発展した適応制御がある.前者は不確かさのモデルを精緻に与え高性能な制御器を設計するのに対し,後者は制御対象や不確かさの先見情報なしに自動で所望の制御系が構成することを目指している.両者は目的は同じであるが,その理論的な基礎は大きく異なる.本研究課題では,大きく異なった二つの制御系設計理論を融合し,一つの制御系設計の分野として再構築する.

  • 鳥のように空を飛ぶには -羽ばたき飛行ロボットの実現-

    Grant number:22HT0156  2022.04 - 2023.03   研究成果公開促進費・研究成果公開発表(B)

  • 鳥のように空を飛ぶには ー羽ばたき飛行ロボットの実現ー

    Grant number:20HT0212  2020.04 - 2021.03   研究成果公開促進費・研究成果公開発表(B)

  • 鳥のように空を飛ぶには –羽ばたき飛行ロボットの実現-

    Grant number:19HT0211  2019.04 - 2020.03   研究成果公開促進費・研究成果公開発表

  • 5つの翼運動と脚による短距離離着陸を実現する羽ばたき飛行ロボットの開発

    Grant number:15K05901  2015.04 - 2018.03   基盤研究(C)

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    鳥類が行っている5つの翼運動を実現し,羽ばたき飛行,滑空飛行,旋回,ホバリングなどの様々な飛行形態や短距離の離着陸を実現できる生物規範型飛行ロボットを開発する.

  • 鳥類の羽ばたき動作を模した飛行ロボットの実現とその自律飛行制御手法の開発

    Grant number:22760168  2010.04 - 2013.03   若手研究(B)

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    羽ばたき飛行ロボットのシミュレーションモデルの構築,羽ばたき飛行ロボットの設計,飛行制御手法の開発を行い,羽ばたき飛行ロボットの自律飛行制御を実現する.

  • 動的可変構造モデリング手法の開発と生物型羽ばたき飛行ロボットの自律飛行制御の実現

    Grant number:19760151  2007.04 - 2010.03   若手研究(B)

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    1.動的可変構造システムモデルを構築するためのシステム同定手法の開発
    2.本同定手法を用いた羽ばたき飛行ロボットの数式モデルの構築
    3.羽ばたき飛行ロボットの自律飛行制御の実現

  • 動的な構造変化を伴う機械システムのための制御法開発と生物飛行ロボットへの適用

    Grant number:17760179  2005.04 - 2007.03   若手研究(B)

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    生物の動きの中には,関節が可動範囲に限界値を持つという特性を活かし,運動を行うものがある.本研究では,腕や脚,鳥の翼のように自由度が異なるシステムが切り替わりながら運動する動的な構造変化を伴う機械システムのための制御手法を開発する.

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Other Research Activities

  • 森のドローン・ロボットコンテスト 実行委員

    2016.04

Charge of off-campus class subject

  • Institution:電気通信大学

  • Institution:電気通信大学

  • Institution:電気通信大学

Activities of Academic societies and Committees

  • The Society of Instrument and Control Engineers   SICE2022 Publication Chair  

    2021.11 - 2022.12

  • Japan Society for Fuzzy Theory and Intelligent Informatics  

    2018.11 - 2021.09

  • Japan Society for Fuzzy Theory and Intelligent Informatics  

    2016.04 - 2016.09

  • Japanese Society for Medical and Biological Engineering  

    2016.02 - 2018.01

  • The Society of Instrument and Control Engineers  

    2016.01 - 2017.12

  • The Japan Society of Mechanical Engineers  

    2015.03

  • Japan Society for Fuzzy Theory and Intelligent Informatics  

    2013.04 - 2015.03

  • The Institute of Electrical and Electronics Engineers  

    2013.01 - 2015.01

  • The Robotics Society of Japan  

    2012.04 - 2014.03

  • The Institute of Electrical and Electronics Engineers  

    2010.04 - 2019.03

  • Japan Society for Fuzzy Theory and Intelligent Informatics  

    2009.06

  • The Japan Society of Mechanical Engineers  

    2008.03 - 2011.02

  • Japan Society for Fuzzy Theory and Intelligent Informatics  

    2004.04

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Social activity outside the university

  • ISGフェスタへの出展

    Role(s):Presenter, Organizing member

    情報工学部広報室  ISGフェスタ  飯塚キャンパス ラーニングアゴラ  2019.10.26

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    Audience: Infants, Schoolchildren, Junior students, High school students, Guardians

    ロボコンを展示し,子供たちにロボコン競技を体験してもらった.

  • ISGフェスタへの出展

    Role(s):Presenter, Organizing member

    情報工学部広報室  ISGフェスタ  飯塚キャンパス ラーニングアゴラ  2018.10.27

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    Audience: Infants, Schoolchildren, Junior students, High school students, Guardians

    ロボコンを展示し,子供たちにロボコン競技を体験してもらった.

  • ISGフェスタへの出展

    Role(s):Presenter, Organizing member

    情報工学部広報室  ISGフェスタ  飯塚キャンパス ラーニングアゴラ  2017.10.28

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    Audience: Infants, Schoolchildren, Junior students, High school students, Guardians

    ISGフェスタにてロボコン競技を展示した.

  • 九工大わくわく科学教室

    Role(s):Lecturer

    九工大 高大接続センター STEAM教育推進室(飯塚)  九工大わくわく科学教室  飯塚キャンパス ラーニングアゴラ,体育館  2022.12.10

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    Audience: Schoolchildren, Junior students

    Type:Seminar, workshop

  • ひらめき☆ときめきサイエンス

    Role(s):Lecturer

    ひらめき☆ときめきサイエンス  飯塚キャンパス ラーニングアゴラ  2022.08.06

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    Audience: High school students

    Type:Seminar, workshop

  • ひらめき☆ときめきサイエンス

    Role(s):Lecturer

    2021.08.21

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    Audience: High school students

    Type:Seminar, workshop

  • ひらめき☆ときめきサイエンス

    Role(s):Lecturer

    2020.08.23

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    Audience: High school students

    Type:Seminar, workshop

  • ひらめき☆ときめきサイエンス

    2019.08.17

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    Type:Seminar, workshop

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