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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

<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

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

<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

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

<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

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

<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

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

<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

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

<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

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

<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

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

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

日本   久留米市   2017.08.28  -  2017.08.30

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

<p> </p>

DOI： 10.14864/fss.33.0_177

CiNii Article

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

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

<p> </p>

DOI： 10.14864/fss.33.0_173

CiNii Article

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

Authorship：Corresponding author   Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (scientific journal)

DOI： 10.7210/jrsj.34.14

CiNii Article

Authorship：Corresponding author   Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (scientific journal)

DOI： 10.7210/jrsj.34.1

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

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

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

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

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84899792053&origin=inward

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

DOI： 10.1049/iet-cta.2013.0645

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84894556531&origin=inward

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

DOI： 10.1049/iet-cta.2013.1132

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84908462457&origin=inward

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

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

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

Korea   Daejeon   2013.11.13  -  2013.11.16

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

DOI： 10.1109/CDC.2012.6425910

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84874262637&origin=inward

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

DOI： 10.1109/TFUZZ.2012.2196049

Scopus

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

DOI： 10.1109/TSMCB.2012.2190277

Scopus

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

DOI： 10.1049/iet-cta.2010.0697

Scopus

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

DOI： 10.1109/TMECH.2012.2187303

Scopus

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

DOI： 10.1109/TMECH.2011.2181532

Scopus

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

DOI： 10.1109/FUZZ-IEEE.2012.6251284

Scopus

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

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=80053169363&origin=inward

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

Scopus

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

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

DOI： 10.3182/20110828-6-IT-1002.03290

Scopus

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

DOI： 10.1109/FUZZY.2011.6007342

Scopus

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

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

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

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

Japan   Yokohama   2010.09.08  -  2010.09.10

DOI： 10.1109/ISIC.2010.5612887

Scopus

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

DOI： 10.1109/FUZZY.2010.5584607

Scopus

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

DOI： 10.1109/ICSSE.2010.5551817

Scopus

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

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

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=77952252044&origin=inward

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

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

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

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

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Authorship：Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (scientific journal)

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

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

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

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

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

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (scientific journal)

Authorship：Corresponding author   Language：English   Publishing type：Research paper (scientific journal)

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

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

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

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

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

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

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

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

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

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

Authorship：Corresponding author   Language：English   Publishing type：Research paper (scientific journal)

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

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

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

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

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

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

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

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

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

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

Event date： 2024.05.29 - 2024.06.01   Language：Japanese   Country：Japan  

There is a type of flying robot called a flapping flying robot. By controlling the flapping angle, the center position of flapping motion, and flapping frequency, servo-type flapping flying robots achieve not only flapping flight but also various flight forms such as ascending/descending, turning, flipping, and gliding. In this research, an IMU sensor is equipped to a servo-type flapping flying robot, and we try to achieve hovering flight by changing the pitch angle of the flapping robot by controlling the center position of flapping motion.

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

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.

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.

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.

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.

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.

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

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

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

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

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.

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.

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.

Event date： 2021.09.13 - 2021.09.15   Language：Japanese  

Event date： 2021.09.13 - 2021.09.15   Language：Japanese  

Event date： 2021.09.08 - 2021.09.11   Language：Japanese  

Event date： 2021.09.08 - 2021.09.11   Language：Japanese  

Event date： 2021.06.06 - 2021.06.08   Language：Japanese  

Event date： 2021.06.06 - 2021.06.08   Language：Japanese  

Event date： 2020.11.28   Language：Japanese  

Event date： 2020.11.28   Language：Japanese  

Event date： 2020.11.28   Language：Japanese  

Event date： 2020.11.28   Language：Japanese  

Event date： 2019.08.29 - 2019.08.31   Language：Japanese  

Event date： 2019.06.05 - 2019.06.08   Language：Japanese  

Event date： 2019.06.05 - 2019.06.08   Language：Japanese  

Event date： 2019.06.05 - 2019.06.08   Language：Japanese  

Event date： 2019.06.05 - 2019.06.08   Language：Japanese  

Event date： 2019.06.05 - 2019.06.08   Language：Japanese  

Event date： 2018.06.02 - 2018.06.05   Language：Japanese  

Event date： 2018.06.02 - 2018.06.05   Language：Japanese  

Event date： 2018.06.02 - 2018.06.05   Language：Japanese  

Event date： 2018.06.02 - 2018.06.05   Language：Japanese  

Event date： 2018.06.02 - 2018.06.05   Language：Japanese  

Event date： 2018.06.02 - 2018.06.05   Language：Japanese  

Event date： 2018.06.02 - 2018.06.05   Language：Japanese  

Event date： 2017.09.13 - 2017.09.15   Language：Japanese  

Event date： 2017.09.13 - 2017.09.15   Language：Japanese  

Event date： 2017.09.11 - 2017.09.14   Language：Japanese  

Event date： 2017.05.10 - 2017.05.13   Language：Japanese  

Event date： 2017.01   Language：Japanese  

CiNii Article

Event date： 2017.01   Language：Japanese  

CiNii Article

Event date： 2016.06.08 - 2016.06.11   Language：Japanese  

Event date： 2016.06.08 - 2016.06.11   Language：Japanese  

Event date： 2016.06.08 - 2016.06.11   Language：Japanese  

Event date： 2016.06.08 - 2016.06.11   Language：Japanese  

Event date： 2016.06.08 - 2016.06.11   Language：Japanese  

Event date： 2016.01   Language：Japanese  

CiNii Article

Event date： 2016.01   Language：Japanese  

CiNii Article

Event date： 2016.01   Language：Japanese  

CiNii Article

Event date： 2016.01   Language：Japanese  

CiNii Article

Event date： 2016.01   Language：Japanese  

CiNii Article

Event date： 2016.01   Language：Japanese  

CiNii Article

Event date： 2015.12.14 - 2015.12.16   Language：Japanese  

Event date： 2015.12.14 - 2015.12.16   Language：Japanese  

Event date： 2015.05.17 - 2015.05.19   Language：Japanese  

Event date： 2015.05.17   Language：Japanese  

CiNii Article

Event date： 2015.05.17   Language：Japanese  

CiNii Article

Event date： 2015.03.09   Language：Japanese  

Event date： 2015.03.09   Language：Japanese  

Event date： 2014.12.15 - 2014.12.17   Language：Japanese  

Event date： 2014.08.30 - 2014.08.31   Language：Japanese  

Event date： 2014.08.30 - 2014.08.31   Language：Japanese  

Event date： 2013.12.21   Language：Japanese  

Event date： 2013.12.18 - 2013.12.20   Language：Japanese  

Event date： 2013.12.18 - 2013.12.20   Language：Japanese  

Event date： 2013.09.09 - 2013.09.11   Language：Japanese  

Event date： 2013.05.22 - 2013.05.25   Language：Japanese  

Event date： 2012.09.12 - 2012.09.14   Language：Japanese  

Event date： 2012.05.27 - 2012.05.29   Language：Japanese  

Event date： 2011.12.23 - 2011.12.25   Language：Japanese  

Event date： 2011.12.23 - 2011.12.25   Language：Japanese  

Event date： 2011.12.23 - 2011.12.25   Language：Japanese  

Event date： 2011.09.12 - 2011.09.14   Language：Japanese  

Event date： 2011.09.12 - 2011.09.14   Language：Japanese  

Event date： 2011.05.26 - 2011.05.28   Language：Japanese  

Event date： 2011.05.26 - 2011.05.28   Language：Japanese  

Event date： 2011.05.26 - 2011.05.28   Language：Japanese  

Event date： 2010.12.23 - 2010.12.25   Language：Japanese  

Event date： 2010.12.23 - 2010.12.25   Language：Japanese  

Event date： 2010.12.23 - 2010.12.25   Language：Japanese  

Event date： 2010.09.22 - 2010.09.24   Language：Japanese  

Event date： 2010.09.13 - 2010.09.15   Language：Japanese  

Event date： 2010.09.13 - 2010.09.15   Language：Japanese  

Event date： 2010.09.13 - 2010.09.15   Language：Japanese  

Event date： 2010.09.13 - 2010.09.15   Language：Japanese  

Event date： 2010.06.13 - 2010.06.16   Language：Japanese  

Event date： 2010.06.13 - 2010.06.16   Language：Japanese  

Event date： 2010.06.13 - 2010.06.16   Language：Japanese  

Event date： 2009.09.15 - 2009.09.17   Language：Japanese  

Event date： 2009.09.15 - 2009.09.17   Language：Japanese  

Event date： 2009.09.15 - 2009.09.17   Language：Japanese  

Event date： 2009.09.15 - 2009.09.17   Language：Japanese  

Event date： 2009.07.14 - 2009.07.16   Language：Japanese  

Event date： 2009.07.14 - 2009.07.16   Language：Japanese  

Event date： 2009.07.14 - 2009.07.16   Language：Japanese  

Event date： 2009.05.24 - 2009.05.26   Language：Japanese  

Event date： 2009.05.24 - 2009.05.26   Language：Japanese  

Event date： 2008.09.03 - 2008.09.05   Language：Japanese  

Event date： 2008.06.05 - 2008.06.07   Language：Japanese  

Event date： 2008.06.05 - 2008.06.07   Language：Japanese  

Event date： 2008.06.05 - 2008.06.07   Language：Japanese  

Event date： 2008.06.05 - 2008.06.07   Language：Japanese  

Event date： 2008.06.05 - 2008.06.07   Language：Japanese  

Event date： 2008.06.05 - 2008.06.07   Language：Japanese  

Event date： 2008.06.05 - 2008.06.07   Language：Japanese  

Event date： 2007.09.13 - 2007.09.15   Language：Japanese  

Event date： 2007.09.13 - 2007.09.15   Language：Japanese  

Event date： 2007.08.29 - 2007.08.31   Language：Japanese  

Event date： 2007.08.29 - 2007.08.31   Language：Japanese  

Event date： 2007.08.29 - 2007.08.31   Language：Japanese  

Event date： 2007.08.29 - 2007.08.31   Language：Japanese  

Event date： 2007.08.29 - 2007.08.31   Language：Japanese  

Event date： 2007.08.10 - 2007.08.11   Language：Japanese  

Event date： 2007.05.10 - 2007.05.12   Language：Japanese  

Event date： 2007.05.10 - 2007.05.12   Language：Japanese  

Event date： 2007.05.10 - 2007.05.12   Language：Japanese  

Event date： 2007.05.10 - 2007.05.12   Language：Japanese  

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

Presentation type：Others  

Presentation type：Others   Venue：電気通信大学  

Country：Japan

Country：Canada

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．

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．

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

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．

Audience： High school students

Type：Seminar, workshop

Audience： Schoolchildren,　Junior students

Type：Seminar, workshop

Audience： High school students

Type：Seminar, workshop

Audience： High school students

Type：Seminar, workshop

Audience： High school students

Type：Seminar, workshop

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

Type：Other

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．

Type：Seminar, workshop

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

Type：Other

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．

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

Type：Other

ISGフェスタにてロボコン競技を展示した．