Faculty Profiles - OHTAKE Hiroshi

Papers - OHTAKE Hiroshi

Division display1 - 20 of about 135／ All the affair displays >>

Fuzzy Control-based Flight Stabilization for Servo-Driven Flapping-Wing Robot Reviewed International journal

Punbopit Aritad, Hiroshi Ohtake

2026 SICE Festival with Annual Conference SICE Fes 2026 ( The Society of Instrument and Control Engineers ) 148 - 153 2026.09

Adaptive PFC with Fuzzy CMAC for Adaptive Output Feedback Control of Nonlinear Systems Reviewed International journal

Ryo Fukuyama, Ikuro Mizumoto, Hiroshi Ohtake

Proceedings of the 15th Asian Control Conference ( The Asian Control Association ) Accepted 2026.06

FSS2025に寄せて：SOFTな技術で人に寄り添うAI社会へ

大竹博

知能と情報 ( 日本知能情報ファジィ学会 ) 38 ( 1 ) 1 - 1 2026.02

FSS2025開催報告

大竹博

知能と情報 ( 日本知能情報ファジィ学会 ) 38 ( 1 ) 9 - 10 2026.02

Development of a Bird-Inspired Flapping-Wing Robot Capable of Bounding Flight Reviewed International journal

Kanato Matsui, Hiroshi Ohtake

Proceedings of the 2026 International Conference on Artificial Life and Robotics ( The Society of Artificial Life and Robotics. ) 733 - 736 2026.01

A Study on Image Processing and Tracking Control of a Small Flapping Flight Robot with a Camera Reviewed International journal

Shuto Wakugawa, Hiroshi Ohtake

Proceedings of the 2026 International Conference on Artificial Life and Robotics ( The Society of Artificial Life and Robotics. ) 737 - 740 2026.01

Attitude and Altitude Control for Autonomous Flight of Servo-Type Flapping-Wing Robot Reviewed International journal

Jiraphatr Jiraborvornpongsa, Hiroshi Ohtake

2025 SICE Festival with Annual Conference SICE Fes 2025 ( The Society of Instrument and Control Engineers ) 1562 - 1568 2025.09

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

タイチェンマイ 2025.09.09 - 2025.09.12

Flapping-wing robots have attracted significant attention due to their ability to replicate natural flight mechanisms observed in birds and insects, offering advantages in maneuverability, energy efficiency, and safer interaction with the environment compared to conventional aerial vehicles. However, the extremely nonlinear and time-varying nature of f lapping-wing aerodynamics makes it difficult to achieve steady and autonomous flight. In order to improve stability and responsiveness during free flight, this study proposes an integrated proportional-integral-derivative (PID) control system for a flapping-wing robot. The current system combines roll, pitch, and altitude control under a single activation scheme, building on earlier work that used separate PD controllers. All control loops function simultaneously based on real-time data. Controller gains were tuned through a hybrid approach combining Ziegler-Nichols-based estimation and iterative f light testing to manage the complex, unsteady aerodynamic behavior. Excel Data Streamer was used to capture flight data over Bluetooth in order to ensure consistent communication during the flight. The robot’s ability to independently control its attitude and altitude during random, untethered flying was examined through experiments conducted in a gymnasium. The results show that the integrated PID system restores roll and pitch angles to near-level within around 5.8 seconds after external perturbations, maintains altitude within about ±0.1 to 0.2 meters of the target, and achieves quick disturbance rejection. These results demonstrate how well the proposed control approach performs and mark a step toward fully autonomous, bio-inspired flapping-wing flight.

DOI： 10.23919/SICEFES67750.2025.11236511

Other Link： https://ieeexplore.ieee.org/document/11236511

Special Issue on Robotics and Mechatronics Technology for Aerial Robots International journal

Ohtake Hiroshi, Suzuki Satoshi, Takesue Naoyuki, Miwa Masafumi, Fujikawa Taro

Journal of Robotics and Mechatronics ( Fuji Technology Press Ltd. ) 36 ( 5 ) 999 - 1000 2024.10

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

Aerial robot technologies, such as drones and unmanned aerial vehicles, are rapidly advancing in various domains. These robots now possess enhanced autonomous flying abilities and use sensor technology, Global Navigation Satellite System (GNSS), Light Detection and Ranging (LiDAR) system, and cameras to avoid obstacles, automatically land, and track flights. Evolving technologies in airspace management and route optimization ensure that flights are efficient and safe. Aerial robots have a wide range of applications, such as agriculture, disaster response, environmental monitoring, and inspection. These devices excel at precise data collection thanks to their high-resolution cameras and high-precision sensors. Swarm robotics, which allows collaboration between multiple aerial and ground robots, is also progressing. This enables quick coverage of large areas, which benefits disaster relief and land management. In addition, research and development of flying robots modeled after flying animals is underway. The evolution of aerial robots results in their efficient use in a variety of fields and new applications.This special issue includes the latest research papers and development reports on aerial robotic technology from the aforementioned perspectives. We hope that this special issue will pique researchers’ and engineers’ interest in aerial robots, thereby encouraging additional research and development. Finally, we would like to express our gratitude to all authors, all reviewers, the editorial board of the Journal of Robotics and Mechatronics, and Fuji Technology Press Ltd.

DOI： 10.20965/jrm.2024.p0999

CiNii Research

Autonomous Flight Control on a Small Flapping Wing Robot Equipped with IMU Sensor Reviewed International journal

Jiraphatr Jiraborvornpongsa, Hiroshi Ohtake

Proceedings of the SICE Annual Conference 2024 ( The Society of Instrument and Control Engineers ) 684 - 690 2024.08

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

日本高知市 2024.08.27 - 2024.08.30

Flapping wing robots have huge application potential in outdoor tasks, providing additional advantages over traditional rotary-wing aircraft. To achieve autonomous control, the flight control methodology chosen for the experiment is Proportional-Derivative(PD) Control on roll, pitch, yaw, and height control. Notably, each controller operates indepen dently. The robotic system relies on two servo motors to control two separate wings, while the tail of the robot remains f ixed. Given that the focus of this study is on small-sized robots, it is important to consider the weight of the components to minimize potential issues and ensure optimal performance. Using the Inertial Measurement Unit (IMU), the data can be transmitted from the robot’s coordinates to a computer via Bluetooth communication, facilitating real-time monitoring and control. Flight experiments are conducted within a controlled indoor environment, effectively mitigating external vari ables such as wind and unforeseen disturbances, thereby enabling precise analysis and refinement of the autonomous flight capabilities of the flapping wing robot. Through this research, knowledge gained from flight experimentation paved the way for the advancement of autonomous flapping wing robots in various domains, including surveillance, environmental monitoring, and search and rescue operations.

Self-Propelled Capsule Endoscope and Tracking Control of Its Wireless Power Supply Coil Reviewed

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

2024 1st International Conference on Robotics, Engineering, Science, and Technology, RESTCON 2024 12 - 15 2024.01

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

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

MIMURA Hironari, OHTAKE Hiroshi

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

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

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.

DOI： 10.1299/jsmermd.2023.1a2-f08

CiNii Research

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

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

KITADA Reona, OHTAKE Hiroshi

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

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

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.

DOI： 10.1299/jsmermd.2023.2a1-c16

CiNii Research

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

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

TERASAKO Ryunosuke, OHTAKE Hiroshi

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

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

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.

DOI： 10.1299/jsmermd.2023.2p1-d08

CiNii Research

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

A Study on Performance Comparison of Flapping Wing Aircraft with Winglets

SASAKI Seigo, OHTAKE Hiroshi

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

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

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.

DOI： 10.1299/jsmermd.2023.1a2-f09

CiNii Research

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

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

MATSUMOTO Ryota, OHTAKE Hiroshi

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

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

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.

DOI： 10.1299/jsmermd.2023.1a1-f08

CiNii Research

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

Impulse-Driven Traveling Capsule Endoscope Reviewed

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

Mechanisms and Machine Science 148 960 - 967 2023.01

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

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

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

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

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

　PREV- NEXT 　

<OHTAKE Hiroshi >

Papers - OHTAKE Hiroshi