Faculty Profiles - OHTAKE Hiroshi

Papers - OHTAKE Hiroshi

Division display >> ／ All the affair displays1 - 135 of about 135

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

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.)

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

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

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

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

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

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

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

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

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 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

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

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

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.)

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

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

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

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

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

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

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

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

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

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

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

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

「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

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

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

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

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

Brief paper discrete polynomial fuzzy systems control Reviewed

8 ( 4 ) 288 - 296 2014.03

A nonmonotonically decreasing relaxation approach of Lyapunov functions to guaranteed cost control for discrete fuzzy systems Reviewed

8 ( 16 ) 1716 - 1722 2014.01

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

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. 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

A Takagi-Sugeno fuzzy model approach to vision-based control of a micro helicopter Reviewed

6217 - 6222 2012.12

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

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

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

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

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

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

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

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

Fuzzy Model-based Servo Control for Discrete-Time Nonlinear Systems with Constraints "jointly worked" Reviewed

9029 - 9034 2011.08

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

4953 - 4958 2011.06

A polynomial observer design for a wider class of polynomial fuzzy systems "jointly worked" Reviewed

1305 - 1311 2011.06

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

Fuzzy Model-based Servo Control with Constraints on both of Inputs and States "jointly worked" Reviewed

107 - 110 2010.09

Stability Analysis of Nonlinear Systems via Multiple Mixed MaxMin based Lyapunov Functions "jointly worked" Reviewed

2899 - 2905 2010.07

Stability Analysis for the Polynomial Fuzzy Systems by utilizing Equality Constraints of Sum-of Squares Program "jointly worked" Reviewed

36 - 40 2010.07

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

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

Fuzzy Model-Based Servo and Model Following Control for Nonlinear Systems "jointly worked" Reviewed

39 ( 6 ) 1634 - 1639 2009.12

H Infinity Control of T-S Fuzzy Systems Using Piecewise Lyapunov Function Based Switching Fuzzy Controller "jointly worked" Reviewed

3087 - 3092 2009.12

Polynomial Fuzzy Observer Design: A Sum of Squares Approach "jointly worked" Reviewed

7771 - 7776 2009.12

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

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

Switching Fuzzy Model Construction based on Optimal Dividing Planes "jointly worked" Reviewed

808 - 813 2009.08

Relaxed Stabilization Conditions of T-S Fuzzy Systems using Piecewise Lyapunov Function based Switching Fuzzy Controller "jointly worked" Reviewed

1276 - 1281 2009.08

Guaranteed Cost Control of T-S Fuzzy Systems using Piecewise Lyapunov Function based Switching Fuzzy Controller "jointly worked" Reviewed

440 - 445 2009.07

Fuzzy Model-based Servo Control for Nonlinear Systems with Input Constraint "jointly worked" Reviewed

452 - 455 2009.07

Improved Controller Design for Switching Fuzzy Model-based Control "jointly worked" Reviewed

4284 - 4289 2009.06

Guaranteed Cost Control of Polynomial Fuzzy Systems via a Sum of Squares Approach "jointly worked" Reviewed

39 ( 2 ) 561 - 567 2009.04

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

25 ( 1 ) 79 - 87 2009.02

Sensor Reduction for Backing-Up Control of a Vehicle with Triple Trailers "jointly worked" Reviewed

56 ( 2 ) 497 - 509 2009.02

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

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

Switching Fuzzy Model Construction and Controller Design for Dynamical Systems with Input Nonlinearity "jointly worked" Reviewed

12 ( 6 ) 537 - 545 2008.12

Construction of Simulation Model of a Flying Robot with Variable Attack Angle Mechanism "jointly worked" Reviewed

1588 - 1593 2008.10

Passive Dynamic Walking with Elastic Energy "jointly worked" Reviewed

3224 - 3228 2008.08

Development of a Multiple Parallel Link Rotor for Flying Robots "jointly worked" Reviewed

164 - 167 2008.08

Development of a Variable-Wing Mechanism based on Flapping Motion of Birds "jointly worked" Reviewed

168 - 173 2008.08

Autonomous Flight Control of Flapping-of-Wings Robot using GPS "jointly worked" Reviewed

174 - 178 2008.08

Fuzzy Model-based Model Following Control for a Class of Nonlinear Systems "jointly worked" Reviewed

6850 - 6854 2008.07

A Sum of Squares Approach to Guaranteed Cost Control of Polynomial Discrete Fuzzy Systems "jointly worked" Reviewed

6861 - 6868 2008.07

Switching Fuzzy Model based Model Following Control for Discrete-time Systems "jointly worked" Reviewed

812 - 817 2008.06

Micro Helicopter Control: LMI Approach vs SOS Approach "jointly worked" Reviewed

347 - 353 2008.06

An SOS-based Stable Control of Polynomial Discrete Fuzzy Systems "jointly worked" Reviewed

4875 - 4880 2008.06

Fuzzy Model-based Servo Control for Discrete-time Nonlinear Systems "jointly worked" Reviewed

4881 - 4886 2008.06

Guaranteed Cost Control of Polynomial Fuzzy Systems via a Sum of Squares Approach "jointly worked" Reviewed

954 - 5959 2007.12

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

Fuzzy Model-based Servo Control for a Class of Nonlinear Systems "jointly worked" Reviewed

156 - 159 2007.10

Stabilization of Polynomial Fuzzy Systems via a Sum of Squares Approach "jointly worked" Reviewed

160 - 165 2007.10

Construction of Simulation Model of a Flying Robot with Variable Attack Angle Mechanism "jointly worked" Reviewed

1588 - 1593 2007.10

Piecewise Fuzzy Model Construction and Controller Design based on Piecewise Lyapunov Function "jointly worked" Reviewed

3359 - 3364 2007.07

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

4071 - 4076 2007.07

A Descriptor System Approach to Fuzzy Control System Design via Fuzzy Lyapunov Functions "jointly worked" Reviewed

15 ( 3 ) 333 - 341 2007.07

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

1955 - 1958 2006.09

Optimal Dynamic Output Feedback Designs for Backing-up Control of a Vehicle with Triple Trailers "jointly worked" Reviewed

10846 - 10852 2006.07

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

881 - 886 2006.07

A Descriptor System Approach to Fuzzy Control System Designs Using Fuzzy Lyapunov Function "jointly worked" Reviewed

4367 - 4372 2006.06

Switching Fuzzy Model Construction and Controller Design with Arbitrary Switching Planes "jointly worked" Reviewed

5053 - 5058 2006.06

Recursive Pointwise Design for Nonlinear Systems "jointly worked" Reviewed

14 ( 2 ) 305 - 313 2006.04

Switching Fuzzy Controller Design based on Switching Lyapunov Function for a Class of Nonlinear Systems "jointly worked" Reviewed

36 ( 1 ) 13 - 23 2006.02

Switching Model Construction and Stability Analysis for Nonlinear Systems "jointly worked" Reviewed

10 ( 1 ) 3 - 10 2006.01

Fuzzy Model-based Control for Dynamic Variable Structure Systems "jointly worked" Reviewed

496 - 500 2005.06

Fuzzy Control System Designs using Redundancy of Descriptor Representation: A Fuzzy Lyapunov Function Approach "jointly worked" Reviewed

1096 - 1101 2005.06

Polar Coordinate Fuzzy Controller Design based on Parameter-Dependent Lyapunov Function "jointly worked" Reviewed

377 - 382 2005.05

Shared Nonlinear Control in Internet-Based Remote Stabilization "jointly worked" Reviewed

714 - 719 2005.05

Derivation of LMI Design Conditions in Switching Fuzzy Control "jointly worked" Reviewed

5100 - 5105 2004.12

Fuzzy Control of Dynamical Systems with Input Nonlinearit "jointly worked" Reviewed

TUP-7-1 in CD 2004.09

Internet-Based Remote Stabilization for Nonlinear Systems "jointly worked" Reviewed

in CD-ROM 2004.07

Recursive Pointwise Design for Nonlinear Systems "jointly worked" Reviewed

470 - 475 2004.06

A Practical Design Approach to Stabilization of a 3-DOF RC Helicopter "jointly worked" Reviewed

12 ( 2 ) 315 - 325 2004.03

Piecewise Nonlinear Control "jointly worked" Reviewed

4735 - 4740 2003.12

Fuzzy Modeling via Sector Nonlinearity Concept "jointly worked" Reviewed

10 ( 4 ) 333 - 341 2003.12

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

Switching Fuzzy Control for Nonlinear Systems "jointly worked" Reviewed

281 - 286 2003.10

Stable Control for Polar Coordinate Fuzzy Systems "jointly worked" Reviewed

810 - 815 2003.10

Polar Coordinate Fuzzy Model and Stability Analysis "jointly worked" Reviewed

1914 - 1919 2003.06

A Practical Design Approach to Four-Fans Flying Vehicle Control "jointly worked" Reviewed

72 - 76 2002.10

Robust Stabilization of an R/C Helicopter "jointly worked" Reviewed

197 - 202 2002.07

A Construction Method of Switching Lyapunov Function for Nonlinear Systems "jointly worked" Reviewed

221 - 226 2002.05

Model Construction, Rule Reduction and Robust Compensation for Generalized Form of Takagi-Sugeno Fuzzy Systems "jointly worked" Reviewed

9 ( 4 ) 525 - 538 2001.08

Stable Control for R/C Helicopter "jointly worked" Reviewed

2056 - 2061 2001.07

Fuzzy Modeling via Sector Nonlinearity Concept "jointly worked" Reviewed

127 - 132 2001.07

　PREV-NEXT　

<OHTAKE Hiroshi >

Papers - OHTAKE Hiroshi