研究者詳細 - 大竹　博

論文 - 大竹　博

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Fuzzy Control-based Flight Stabilization for Servo-Driven Flapping-Wing Robot 査読有り国際誌

Punbopit Aritad, Hiroshi Ohtake

2026 SICE Festival with Annual Conference SICE Fes 2026 ( 計測自動制御学会 ) 148 - 153 2026年09月

Adaptive PFC with Fuzzy CMAC for Adaptive Output Feedback Control of Nonlinear Systems 査読有り国際誌

Ryo Fukuyama, Ikuro Mizumoto, Hiroshi Ohtake

Proceedings of the 15th Asian Control Conference ( The Asian Control Association ) Accepted 2026年06月

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年02月

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年02月

Development of a Bird-Inspired Flapping-Wing Robot Capable of Bounding Flight 査読有り国際誌

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年01月

A Study on Image Processing and Tracking Control of a Small Flapping Flight Robot with a Camera 査読有り国際誌

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年01月

Attitude and Altitude Control for Autonomous Flight of Servo-Type Flapping-Wing Robot 査読有り国際誌

Jiraphatr Jiraborvornpongsa, Hiroshi Ohtake

2025 SICE Festival with Annual Conference SICE Fes 2025 ( 計測自動制御学会 ) 1562 - 1568 2025年09月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

タイチェンマイ 2025年09月09日 - 2025年09月12日

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

その他リンク： https://ieeexplore.ieee.org/document/11236511

Special Issue on Robotics and Mechatronics Technology for Aerial Robots 国際誌

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

Journal of Robotics and Mechatronics ( 富士技術出版株式会社 ) 36 ( 5 ) 999 - 1000 2024年10月

担当区分：筆頭著者記述言語：英語掲載種別：記事・総説・解説・論説等（学術雑誌）

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 査読有り国際誌

Jiraphatr Jiraborvornpongsa, Hiroshi Ohtake

Proceedings of the SICE Annual Conference 2024 ( 計測自動制御学会 ) 684 - 690 2024年08月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

日本高知市 2024年08月27日 - 2024年08月30日

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 査読有り

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年01月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

We have developed the self-propelled capsule endoscope. Although it is the same size as a conventional capsule endoscope, with a diameter of 11 mm and a length of 31 mm, it can travel inside the gastrointestinal tract. A running mechanism that uses vibrations allows it to run without any protrusions on the outer shell. Therefore, there is no risk of harming the inside of the body. This is a noteworthy feature of this capsule. Experiments have confirmed that this capsule can travel in the intestines of living dogs. Because the power supply to this capsule needs to continue stably for over an hour, we developed a wireless power supply method to the internal capsule. Conventional wireless power supply with a fixed power transmission coil had the problem that power supply would be interrupted if the capsule moved. Therefore, we investigated stabilizing the power supply by moving the power transmission coil in X-Y to follow the capsule in response to increases and decreases in the power supply. We were able to confirm the feasibility through experiments. This technology can be expected to perform endoscopic examinations with less burden on both patients and doctors, and can also be applied to power supply to medical devices inside the body.

DOI： 10.1109/RESTCON60981.2024.10463562

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85190245182&origin=inward

Synthesis of Drive Systems of Flapping and Feathering Motions for Bird-like Robot using Twist Drive Mechanism 査読有り国際誌

Jun Iwao, Hiroshi Ohtake

Proceedings of the 2023 International Conference on Artificial Life and Robotics ( ALife Robotics ) 924 - 927 2023年02月

小型・軽量で製作の容易なサーボ型羽ばたき飛行ロボットの開発

北田玲於奈, 大竹博

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2023 ( 0 ) 2A1-C16 2023年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_2A1-C16/_pdf

フローセンサを用いた気流の計測と飛行ロボットの操舵制御に関する研究

寺迫龍之介, 大竹博

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2023 ( 0 ) 2P1-D08 2023年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_2P1-D08/_pdf

ウィングレットを持つ羽ばたき翼機の性能比較に関する研究

佐々木晴吾, 大竹博

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2023 ( 0 ) 1A2-F09 2023年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_1A2-F09/_pdf

翼型バルーン翼の開発と羽ばたき飛行の実現査読有り

松本陵汰, 大竹博

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2023 ( 0 ) 1A1-F08 2023年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_1A1-F08/_pdf

Impulse-Driven Traveling Capsule Endoscope 査読有り

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

Mechanisms and Machine Science 148 960 - 967 2023年01月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

We have developed a traveling small capsule, which has a smooth outer surface and is driven by inertia force and friction force. Measuring only 11 mm in diameter and 31 mm in length, it is sufficiently small to be placed in the human intestines. Although the capsule does not have wheels nor legs, it can travel utilizing vibration. For these reasons, there is nothing protruding to harm the soft tissue of intestine. The capsule contains a small magnet, a coil, batteries or capacitors and a circuit, and an electric pulse drives the magnet to move the capsule. We have derived a simple method to estimate the optimum frequency of the running mechanism vibration for the capsule to move at maximum velocity. In experiments using pig intestines and live dogs, we confirmed locomotion in the intestines and wireless transmission of camera images. We have also confirmed that wireless power transfer can be used to move the capsule in vivo. Our capsule may be useful for medical treatments such as inspection and drug delivery.

DOI： 10.1007/978-3-031-45770-8_95

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85177606504&origin=inward

跳躍飛行を実現する小型の鳥を模倣した羽ばたき飛行ロボットの開発

三村裕就, 大竹博

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2023 ( 0 ) 1A2-F08 2023年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_1A2-F08/_pdf

Development of flapping robot achieving both flapping and feathering motions using twist drive mechanism 査読有り国際誌

Jun Iwao, Hiroshi Ohtake

Proceedings of the SICE Annual Conference 2022 ( 計測自動制御学会 ) 855 - 860 2022年09月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

日本熊本市 2022年09月06日 - 2022年09月09日

DOI： 10.23919/SICE56594.2022.9905837

その他リンク： https://ieeexplore.ieee.org/document/9905837

Development of bionic gannet with multiple degrees of freedom wings 査読有り

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年01月

自己組織化マップを用いた複数人の脳波情報のグループ分けに関する研究

福留直樹, 大竹博

日本知能情報ファジィ学会ファジィシステムシンポジウム講演論文集 ( 日本知能情報ファジィ学会 ) 37 ( 0 ) 646 - 649 2021年09月

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