Faculty Profiles - OHTAKE Hiroshi

Papers - OHTAKE Hiroshi

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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

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

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

DOI： 10.1299/jsmermd.2021.2A1-I02

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

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

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

DOI： 10.1299/jsmermd.2021.1P2-B19

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

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

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

DOI： 10.14864/fss.37.0_650

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

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

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

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

日本大阪市 2019.08.29 - 2019.08.31

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

DOI： 10.14864/fss.35.0_738

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

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

日本広島市 2019.06.05 - 2019.06.08

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

DOI： 10.1299/jsmermd.2019.2A2-R10

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

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

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

日本広島市 2019.06.05 - 2019.06.08

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

DOI： 10.1299/jsmermd.2019.1P2-I09

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

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

TAKITA Tomofumi, OHTAKE Hiroshi

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

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

日本広島市 2019.06.05 - 2019.06.08

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

DOI： 10.1299/jsmermd.2019.1P2-O03

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

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

日本広島市 2019.06.05 - 2019.06.08

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

DOI： 10.1299/jsmermd.2019.1P2-M06

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

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

KIMURA Yuki, OHTAKE Hiroshi

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

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

9 ( 6 ) 485 - 492 2018.06

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

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

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

DOI： 10.1299/jsmermd.2018.2P1-D08

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

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

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

DOI： 10.1299/jsmermd.2018.2P1-D07

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

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

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

DOI： 10.1299/jsmermd.2018.1A1-E08

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

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

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

DOI： 10.1299/jsmermd.2018.1A1-E07

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

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

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

DOI： 10.1299/jsmermd.2018.1A1-D10

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

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

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

DOI： 10.1299/jsmermd.2018.2P2-L11

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

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

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

DOI： 10.1299/jsmermd.2018.1P1-A11

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

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