研究者詳細 - 大竹　博

論文 - 大竹　博

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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講演概要集 ( 一般社団法人日本機械学会 ) 2021 ( 0 ) 2A1 - I02 2021年09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）

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

その他リンク： https://ci.nii.ac.jp/naid/130008135329

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講演概要集 ( 一般社団法人日本機械学会 ) 2021 ( 0 ) 1P2 - B19 2021年09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 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

その他リンク： https://ci.nii.ac.jp/naid/130008135039

ウェーブレット解析と CNN を用いた電動車椅子の脳動制御システムの構築

藤井洋介, 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 ) 650 - 654 2021年09月

Development of Jumping Leg Mechanism of Bird Type Flying Robot and Jumping Experiment by Automatic Contraction and Release Using External Device 査読有り

Yuki Kimura, Hiroshi Ohtake

Proceedings of the 3rd International Symposium on Swarm Behavior and Bio-Inspired Robotics 2019年11月

Realization of Flapping Motion of a Flapping Robot Based on Muscle Structure of Birds 査読有り

Ryoma Murakawa, Hiroshi Ohtake

Proceedings of the 3rd International Symposium on Swarm Behavior and Bio-Inspired Robotics 2019年11月

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, 大竹博

日本知能情報ファジィ学会第35回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 ) 35 ( 0 ) 738 - 742 2019年08月

ツイストドライブ機構を用いた羽ばたき動作の実現

吉長隆一郎, 大竹博

ロボティクス・メカトロニクス講演会2019講演概要集 ( 一般社団法人日本機械学会 ) 2019 ( 0 ) 2A2 - R10 2019年06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）

日本広島市 2019年06月05日 - 2019年06月08日

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

その他リンク： https://ci.nii.ac.jp/naid/130007775005

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, 大竹博

ロボティクス・メカトロニクス講演会2019講演概要集 ( 一般社団法人日本機械学会 ) 2019 ( 0 ) 2A1 - H05 2019年06月

ロボコンプロデュース2018

田中孝之, 河村隆, 大竹博, 村上弘記, 土谷圭央

ロボティクス・メカトロニクス講演会2019講演概要集 ( 一般社団法人日本機械学会 ) 2019 ( 0 ) 1P2 - I09 2019年06月

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）

日本広島市 2019年06月05日 - 2019年06月08日

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

その他リンク： https://ci.nii.ac.jp/naid/130007774494

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, 大竹博

ロボティクス・メカトロニクス講演会2019講演概要集 ( 一般社団法人日本機械学会 ) 2019 ( 0 ) 1P2 - O03 2019年06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）

日本広島市 2019年06月05日 - 2019年06月08日

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

その他リンク： https://ci.nii.ac.jp/naid/130007774608

大型羽ばたき飛行ロボットの検討

中矢元, 大竹博

ロボティクス・メカトロニクス講演会2019講演概要集 ( 一般社団法人日本機械学会 ) 2019 ( 0 ) 1P2 - M06 2019年06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）

日本広島市 2019年06月05日 - 2019年06月08日

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

その他リンク： https://ci.nii.ac.jp/naid/130007774529

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, 大竹博

ロボティクス・メカトロニクス講演会2019講演概要集 ( 一般社団法人日本機械学会 ) 2019 ( 0 ) 1P2 - M07 2019年06月

Two-dimensional obstacle avoidance behavior based on three-dimensional environment map for a ground vehicle 査読有り

Bingo H., Ohtake H.

ICIC Express Letters, Part B: Applications 9 ( 6 ) 485 - 492 2018年06月

記述言語：英語掲載種別：研究論文（学術雑誌）

© 2018, ICIC International. All rights reserved. In order to drive robots automatically under various environments, the robots themselves have to recognize the surrounding environment, determine appropriate motions, and perform the determined motions. The robot has to have some functional capabilities such as creating the environment map and avoiding obstacles. In this paper, as the basic research for realizing our goal, we propose the obstacle avoidance method for a ground vehicle using three-dimensional Laplacian potential method based on the information of self-localization and three-dimensional environment map which are obtained by RGB-D camera and simultaneous localization and mapping (SLAM) algorithm. However, the method needs high computational cost. GPGPU method is employed for solving this problem. The experimental results demonstrate the utility of this approach.

DOI： 10.24507/icicelb.09.06.485

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85045990432&origin=inward

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

井上亮, 堀裕基, 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 ) 2018 ( 0 ) 1A1 - A09 2018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）

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

その他リンク： https://ci.nii.ac.jp/naid/130007550841

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

村川龍馬, 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 ) 2018 ( 0 ) 2P1 - D08 2018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 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

その他リンク： https://ci.nii.ac.jp/naid/130007551842

跳躍による鳥型飛行ロボットの離陸の実現

木村悠希, 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 ) 2018 ( 0 ) 2P1 - D07 2018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 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

その他リンク： https://ci.nii.ac.jp/naid/130007551835

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, 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 ) 2018 ( 0 ) 1A1 - E08 2018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 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

その他リンク： https://ci.nii.ac.jp/naid/130007550898

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, 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 ) 2018 ( 0 ) 1A1 - E07 2018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 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

その他リンク： https://ci.nii.ac.jp/naid/130007550895

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, 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 ) 2018 ( 0 ) 1A1 - D10 2018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）

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

その他リンク： https://ci.nii.ac.jp/naid/130007550873

ロボコンプロデュース2017

田中孝之, 河村隆, 大竹博, 村上弘記

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 ) 2018 ( 0 ) 2P2 - L11 2018年01月

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）

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

その他リンク： https://ci.nii.ac.jp/naid/130007552218

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