研究者詳細 - 大竹　博

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

マルチコプタのためのパッシブ姿勢安定化機構の検討

鈴木克洋, 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 ) 1P1 - A11 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 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

その他リンク： https://ci.nii.ac.jp/naid/130007551126

Two-Dimensional Obstacle Avoidance Behavior Based on Three-Dimensional Environment Map for a Ground Vehicle 査読有り

Hiroki Bingo, Hiroshi Ohtake

Proceedings of the 12th International Conference on Innovative Computing, Information and Control ICICIC2017-174 2017年08月

周囲の環境変化に影響を受けにくい脳波判別手法の開発

諸富明日翔, 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 ) 33 ( 0 ) 177 - 180 2017年01月

畳み込みニューラルネットワークを用いた多思考脳波判別手法の開発

藤中雄大, 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 ) 33 ( 0 ) 173 - 176 2017年01月

鳥型羽ばたき飛行系ロボティクス

大竹　博

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 ) 14 - 18 2016年01月

「飛行ロボット研究の最前線Ⅰ」特集について招待有り

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年01月

「飛行ロボット研究の最前線Ⅱ」特集について

藤川太郎, 大竹博

日本ロボット学会誌 ( 一般社団法人日本ロボット学会 ) 34 ( 2 ) 73 - 73 2016年01月

A Simple, Natural and Effective Framework of Nonlinear Systems Control and Its Application to Aerial Robots(共著) 査読有り

Motoyasu Tanaka, Hiroshi Ohtake, Kazuo Tanaka

Journal of Robotics and Mechatronics 26 ( 2 ) 140 - 147 2014年04月

A simple, natural and effective framework of nonlinear systems control and its application to aerial robots 査読有り

Tanaka M., Ohtake H., Tanaka K.

Journal of Robotics and Mechatronics 26 ( 2 ) 140 - 147 2014年04月

記述言語：英語掲載種別：研究論文（学術雑誌）

This paper presents a simple, natural and effective framework of nonlinear systems control and its application to aerial robots. First, we present a framework of Takagi-Sugeno fuzzy model-based control and also discuss its feature. Next, a number of design problems for the control framework are formulated as numerically feasibility problems of representing in terms of linear matrix inequalities. Finally, we provide two applications of the control framework to aerial robots. The control results of aerial robots show the utility of the control framework.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84899792053&origin=inward

Brief paper discrete polynomial fuzzy systems control 査読有り

Chen Y., Tanaka M., Tanaka K., Ohtake H., Wang H.

IET Control Theory and Applications 8 ( 4 ) 288 - 296 2014年03月

記述言語：英語掲載種別：研究論文（学術雑誌）

This study presents a sum-of-squares (SOS) approach to stable control and guaranteed cost control of discrete polynomial fuzzy systems. The SOS framework presented in this paper offers a new paradigm over the existing linear matrix inequality (LMI) approaches to discrete Takagi-Sugeno (T-S) fuzzy models. At first, this study, newly introduces a discrete polynomial fuzzy model that is more general and effective than the well-known discrete T-S fuzzy model. With considering the operating domain, stable control design conditions are then derived based on state-dependent Lyapunov functions that contain quadratic Lyapunov functions as a special case. Hence, the design approach discussed in this study could be more general than the LMI design approaches based on quadratic Lyapunov functions. Moreover, this study also discusses a guaranteed cost control design which is carried out by minimising the upper bound of a given performance function. All the design conditions derived in this study can be represented in terms of SOS and are symbolically and numerically solved via the SOSOPT and the SeDuMi, respectively. Finally, the ball-and-beam system is provided as an example to illustrate the utility of the proposed SOS-based design approach. ©The Institution of Engineering and Technology 2014.

DOI： 10.1049/iet-cta.2013.0645

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84894556531&origin=inward

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

Chen Y., Tanaka M., Inoue K., Ohtake H., Tanaka K., Guerra T., Kruszewski A., Wang H.

IET Control Theory and Applications 8 ( 16 ) 1716 - 1722 2014年01月

記述言語：英語掲載種別：研究論文（学術雑誌）

© The Institution of Engineering and Technology 2014. This study presents a nonmonotonically decreasing relaxation approach of Lyapunov functions to guaranteed cost control for discrete Takagi-Sugeno (T-S) fuzzy systems. First, the authors summarise the previous results on a relaxation of nonmonotonically decreasing of Lyapunov functions, and newly derive one lemma based on the previous results. Based on the newly derived lemma, they propose guaranteed cost control design for discrete T-S fuzzy systems. The design conditions can be represented in terms of linear matrix inequalities and provide more relaxed results than the existing approach. A design example is included to demonstrate the relaxation effectiveness of the proposed approach in guaranteed cost control.

DOI： 10.1049/iet-cta.2013.1132

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84908462457&origin=inward

1P1-R06 ロボコンプロデュース2013(ロボカップ・ロボットコンテスト)

田中孝之, 河村隆, 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 ) 2014 ( 0 ) _1P1 - R06_1-_1P1-R06_3 2014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. The robot contest produce competition 2013 is also reported as an embodiment.

DOI： 10.1299/jsmermd.2014._1P1-R06_1

その他リンク： https://ci.nii.ac.jp/naid/110009966740

A study on Classification of Respiration Rates based on Plethysmogram Data 査読有り

Akira Sakoda, Hiroshi Ohtake, Kazuo Tanaka

Proceedings of the 14th International Symposium on Advanced Intelligent Systems S1c-2 2013年11月

A Takagi-Sugeno fuzzy model approach to vision-based control of a micro helicopter 査読有り

Tanaka K., Ohtake H., Tanaka M., Wang H.

Proceedings of the IEEE Conference on Decision and Control 6217 - 6222 2012年12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）

This paper presents hovering control of an indoor micro helicopter only using single visual sensor feedback. The control technique is based on the parallel tracking and mapping (PTAM), a kind of visual simultaneous localization and mapping, using a small single wireless camera on the helicopter. The six degree of freedom of the helicopter is detected via the PTAM. The nonlinear dynamics of the helicopter is converted to a Takagi-Sugeno fuzzy model. To design the guaranteed cost (stable) controller, a Takagi-Sugeno fuzzy model-based design is carried out via a linear matrix inequality approach. The hovering control results demonstrate the utility of our approach even though single wireless vision sensor based stabilization is extremely a difficult task in practice. © 2012 IEEE.

DOI： 10.1109/CDC.2012.6425910

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84874262637&origin=inward

Relaxed Stabilization Criterion for T-S Fuzzy Systems by Minimum-type Piecewise Lyapunov Function Based Switching Fuzzy Controller (共著) 査読有り

Ying-Jen Chen, Hirsohi Ohtake, Kazuo Tanaka, Wen-June Wang, Hua O. Wang

IEEE Transactions on Fuzzy Systems 20 ( 6 ) 1166 - 1173 2012年12月

Polynomial Fuzzy Observer Designs:A Sum of Squares Approach (共著) 査読有り

Kazuo Tanaka, Hiroshi Ohtake, Toshiaki Seo, Motoyasu Tanaka, Hua O. Wang

IEEE Transactions on Systems, Man, and Cybernetics 42 ( 5 ) 1330 - 1342 2012年10月

Relaxed Stabilization Criterion for Discrete T-S Fuzzy Systems by Minimum Type Piecewise Non-quadratic Lyapunov Function (共著) 査読有り

Ying-Jen Chen, Hirsohi Ohtake, Kazuo Tanaka, Wen-June Wang, Hua O. Wang

IET Control Theory & Applications 6 ( 12 ) 1918 - 1925 2012年08月

Shared Nonlinear Control in Wireless-Based Remote Stabilization:A Theoretical Approach 査読有り

Kazuo Tanaka, Motoyasu Tanaka, Hiroshi Ohtake, and Hua O. Wang

IEEE/ASME Transactions on Mechatronics 17 ( 3 ) 443 - 453 2012年06月

Wireless Vision-based Stabilization of Indoor Micro Helicopter 査読有り

Kazuo Tanaka, Hiroshi Ohtake, Motoyasu Tanaka and Hua O. Wang

IEEE/ASME Transactions on Mechatronics 17 ( 3 ) 519 - 524 2012年06月

A Descriptor System Approach to Servo Control for Nonlinear Systems (共著) 査読有り

Hiroshi Ohtake, Sho Machida, Kanaka Tanaka, Hua O. Wang

2012 IEEE World Congress on Computational Intelligence 1597 - 1602 2012年06月

An improved approach to fuzzy model construction and servo control with constraints based on error dynamics 査読有り

Ohtake H., Tanaka K., Wang H.

Proceedings of the American Control Conference 4959 - 4963 2011年09月

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

This paper presents an improved approach to servo control for nonlinear systems with constraints on inputs and states using the fuzzy model-based control approach. In our previous paper, servo control based on error dynamics using error vector and input difference was proposed. Although the approach can achieve servo control with constraints on both of inputs and states, error dynamics with time-varying extra terms cannot be applied. In this paper, time-varying cancellation input is newly introduced. By using the cancellation input, servo control for error dynamics with time varying extra terms is achieved. We derive servo controller design conditions and constraint conditions on inputs and states in the form of LMI. Design examples illustrate the utility of this approach. © 2011 AACC American Automatic Control Council.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=80053169363&origin=inward

An SOS-based observer design for polynomial fuzzy systems 査読有り

Tanaka K., Ohtake H., Seo T., Wang H.

Proceedings of the American Control Conference 4953 - 4958 2011年09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）

This paper presents a sum of squares (SOS, for brevity) based observer design for a more general class of polynomial fuzzy systems with the polynomial matrices A i (x(t)) and B i (x(t)) that are permitted to be dependent of the states x(t). First, we briefly summarize previous works on SOS-based observer designs for two limited classes of polynomial fuzzy systems. To overcome the difficulty of the fact that does not realize the so-called separation principle design for the more general class, this paper provides a practical design procedure of a polynomial fuzzy controller and a polynomial fuzzy observer without lack of guaranteeing the stability of the overall control system in addition to converging state estimation error (via the observer) to zero. The design approach discussed in this paper is more general than the existing LMI approaches (to T-S fuzzy controller and observer designs) and also than the previous SOS-based observer designs. To illustrate the validity of the design approach, a design example is provided. The example shows the utility of our SOS approach to the polynomial fuzzy observer-based control for the more general class of polynomial fuzzy systems. © 2011 AACC American Automatic Control Council.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=80053164436&origin=inward

Fuzzy Model-based Servo Control for Discrete-Time Nonlinear Systems with Constraints（共著）査読有り

Hiroshi Ohtake, Kazuo Tanaka, Hua.O. Wang

18th IFAC World Congress 9029 - 9034 2011年08月

An SOS-based observer design for polynomial fuzzy systems（共著）査読有り

Kazuo Tanaka, Hiroshi Ohtake, Toshiaki Seo and Hua O. Wang

2011 American Control Conference 4953 - 4958 2011年06月

A polynomial observer design for a wider class of polynomial fuzzy systems（共著）査読有り

Toshiaki Seo, Hiroshi Ohtake, Kazuo Tanaka, Jing-Jen Chen and Hua O. Wang

2011 IEEE International Conference on Fuzzy Systems 1305 - 1311 2011年06月

An Improved Approach to Fuzzy Model Construction and Servo Control with Constraints based on Error Dynamics (共著) 査読有り

Hiroshi Ohtake, Kazuo Tanaka, Hua O. Wang

2011 American Control Conference 4959 - 4963 2011年06月

Fuzzy Model-based Servo Control with Constraints on both of Inputs and States（共著）査読有り

Hiroshi Ohtake, Kazuo Tanaka, Hua.O. Wang

2010 IEEE Multi-Conference on Systems and Control 107 - 110 2010年09月

Stability Analysis of Nonlinear Systems via Multiple Mixed MaxMin based Lyapunov Functions（共著）査読有り

Kazuo Tanaka, Hiroshi Ohtake, Takehito Yamaguchi and Hua O. Wang

2010 IEEE World Congress on Computational Intelligence 2899 - 2905 2010年07月

Stability Analysis for the Polynomial Fuzzy Systems by utilizing Equality Constraints of Sum-of Squares Program（共著）査読有り

Ying-Jen Chen, Hiroshi Ohtake, Kazuo Tanaka, Wen-June Wang, Hua O. Wang

2010 International Conference on System Science and Engineering 36 - 40 2010年07月

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）査読有り

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年02月

Construction of simulation model of a flying robot with variable attack angle mechanism 査読有り

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年02月

記述言語：英語掲載種別：研究論文（学術雑誌）

This paper presents construction of a simulation model of our developed flying robot (cyclogyro) with variable attack angle mechanism in order to rise the development efficienfy. A main feature of our robot is to be able to change angles of attack according to the wing positions (according to the rotational angles of the cyclogyro) without actuators. The constructed simulation model consists of three parts. The first part is the so-called attack angle model to compute the change of angle of attack. The second part is the so-called lift force model to compute lift force based on the computational result from the first part. The third part is the so-called power model to compute the electrical power of motors. The utility of the simulation model is verified by comparing simulation results with experimental results. As a result of optimizing design parameters through the simulation model, the double lift force generated from that of the flying robot optimized through some experiments.