Faculty Profiles - OHTAKE Hiroshi

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

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

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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 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.)

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.

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.)

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.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.

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.)

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.

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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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.

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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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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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

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.

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

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.

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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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
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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日本広島市 2019.06.05 - 2019.06.08

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.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.

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

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.

DOI： 10.1299/jsmermd.2019.1P2-M06

CiNii Article

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

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.

DOI： 10.1299/jsmermd.2019.1P2-I09

CiNii Article

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

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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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.

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

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.

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

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.

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

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.

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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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. In this paper we report the results of robot contest produce competition 2017 conducted as a civic forum in the JSME annual conference.

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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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.

DOI： 10.1299/jsmermd.2018.1P1-A11

CiNii Article

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

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.

DOI： 10.1299/jsmermd.2018.1A1-A09

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/130007550841
Two-Dimensional Obstacle Avoidance Behavior Based on Three-Dimensional Environment Map for a Ground Vehicle Reviewed

ICICIC2017-174 2017.08

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

日本久留米市 2017.08.28 - 2017.08.30
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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Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

 

DOI： 10.14864/fss.33.0_173

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/130007612387
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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Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

 

DOI： 10.14864/fss.33.0_177

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/130007612934
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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Authorship：Corresponding author Language：Japanese Publishing type：Article, review, commentary, editorial, etc. (scientific journal)

DOI： 10.7210/jrsj.34.14

CiNii Article
「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
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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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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DOI： 10.1049/iet-cta.2013.0645

Scopus

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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

Scopus

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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

Scopus

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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

Scopus
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

Scopus
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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DOI： 10.1049/iet-cta.2010.0697

Scopus
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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DOI： 10.1109/TMECH.2012.2187303

Scopus
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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DOI： 10.1109/TMECH.2011.2181532

Scopus
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

Scopus
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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Scopus

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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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Scopus

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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

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

4953 - 4958 2011.06

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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

Scopus
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

Scopus
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

Scopus
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

Scopus
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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Scopus

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

25 ( 1 ) 79 - 87 2009.02

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

4071 - 4076 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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Fuzzy Control of Micro Helicopter with Coaxial Counter-rotating Blades "jointly worked" Reviewed

1955 - 1958 2006.09

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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-based Control for Dynamical Systems with Input Nonlinearity "jointly worked" Reviewed

881 - 886 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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Stable Control for Polar Coordinate Fuzzy Systems "jointly worked" Reviewed

810 - 815 2003.10

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Switching Fuzzy Control for Nonlinear Systems "jointly worked" Reviewed

281 - 286 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)

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.
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.
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.
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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

枝に止まる鳥型ドローン…ホバリングより電力節約可能に Newspaper, magazine

大竹博

読売新聞 2022.01.06
「空飛ぶクルマ」で自由に…実用化はもうすぐです Newspaper, magazine

大竹博

読売新聞 2021.12.11
自由に空を飛ぶ鳥型ロボット　飛行機やドローンでは難しい課題も克服 Internet

大竹　博

日経BP 2021.07.27

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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