研究者詳細 - 石井　和男

論文 - 石井　和男

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1P1-S05 RoboCupヒューマノイドリーグ競技ロボットの脚構造に関する研究 : 九州工業大学,ベルリン自由大学合同チームTeam FUB-KIT(ロボカップ・ロボットコンテスト)

佐藤練磨, NASSIRAEI Amir, MOBALEGH Hamid, HELGADOTTIR Lovisa Irpa, 園田隆, 石井和男, ROJAS Raul

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 - S05_1-_1P1-S05_2 2014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）

This paper describes the hardware and software of bipedal robot leg architecture for RoboCup Humanoid League such as the RoboCup teen size team FUB-KIT. Team FUB-KIT was founded in 2012 on a collaboration between Free University of Berlin and Kyushu Institute of Technology. The research is aimed at developing bio-inspired legged mechanisms and controls. Both research groups have been working in Robotics research as well as in RoboCup. We organized the joint RoboCup team and won the third place at RoboCup 2013 Eindhoven Humanoid Teen Size League. The developed biped robot is introduced in this paper.

DOI： 10.1299/jsmermd.2014._1P1-S05_1

CiNii Article

その他リンク： https://ci.nii.ac.jp/naid/110009966745

1P1-S04 トマトロボット競技会の提案(ロボカップ・ロボットコンテスト)

李冰賀, 園田隆, 松尾貴之, ナシライアミールアリフォロオ, 河野智謙, 川尻一志, 石井和男, 浦環

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 - S04_1-_1P1-S04_2 2014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）

Japan is a developed country of the robot, and study of various robots have been actively conducted. However, most robots have been put to practical use in society is an industrial robot. Agricultural robots are not practically used yet. Being able to introduce agricultural robot disseminate, it can be expected labor saving, automation, and productivity improvement. We aim at the development of agricultural robot through the holding of competitions of the tomato harvest. It unites the interest of robot technology and interest in the natural environment. It is an object of the invention is introduced into agricultural technologies developed in the course of the competition, and disseminating agricultural robot.

DOI： 10.1299/jsmermd.2014._1P1-S04_1

CiNii Article

その他リンク： https://ci.nii.ac.jp/naid/110009966744

1P1-S02 ロボカップサッカー中型リーグにおけるパス行動に関する研究(ロボカップ・ロボットコンテスト)

桑田将史, 筑紫彰太, 小野祐太郎, 園田隆, 石井和男

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 - S02_1-_1P1-S02_4 2014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）

We developed the control system for RoboCup soccer robot with MATLAB / Simulink. Action and strategy of the robots is sophisticated in RoboCup soccer middle sized league. Concerted action by multiple robots depends on the circumstances of the operation. Behavioral algorithm that can handle dynamic changing environments is necessary. We aim to realize the ball passing behavior in concerted action.

DOI： 10.1299/jsmermd.2014._1P1-S02_1

CiNii Article

その他リンク： https://ci.nii.ac.jp/naid/110009966742

1P1-H07 高出力関節機構を有する鰭型移動プラットフォームの開発(水中ロボット・メカトロニクス(2))

西田祐也, 園田隆, 石井和男

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 - H07_1-_1P1-H07_2 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）

Many insects can jump several times their own body length. Locusts with their powerful hind-leg can for example jump up to five times as high 250mm. We have been working on high power joint mechanism imitating locust hind-leg. The mechanism can produce a several times as much power as mounted actuator and separates normal and rapid motion by controlling the actuator force. This paper proposes fin actuator with the high power joint mechanism which can realize rapid motion of two directions. The fin actuator consist two motors with cams, two wires, one spring and L-shape link. Our analysis of output characteristics showed that the proposed fin actuator develops higher output power than mounted actuator.

DOI： 10.1299/jsmermd.2014._1P1-H07_1

CiNii Article

その他リンク： https://ci.nii.ac.jp/naid/110009968707

1P1-G07 教育・研究用遠隔操作型小型水中ロボットの開発 : MATLAB/Simulinkを用いたロボットシステムの構築(水中ロボット・メカトロニクス(2))

岩根豊明, 園田隆, 石井和男, 横道匠

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 - G07_1-_1P1-G07_2 2014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）

Oceans cover more than 70% of the earth's surface and their space is 300 times larger than the space on land, and, ocean resources such as methane hydrate and cobalt rich crust exist in deep ocean. As the tools to access the deep ocean, underwater robots attract high attention, and it is important to give young generation motivations to underwater technologies. So that we are working on the outreach activities related underwater technologies through underwater competitions. In this paper, we introduce a small ROV (Remotely Operated Vehicle) and robot system using a graphical programing language MATLAB/Simulink.

DOI： 10.1299/jsmermd.2014._1P1-G07_1

CiNii Article

その他リンク： https://ci.nii.ac.jp/naid/110009966706

1P1-G06 水中での高速サンプリング動作のための機構設計(水中ロボット・メカトロニクス(2))

園田隆, 西田祐也, 石井和男

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 - G06_1-_1P1-G06_2 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）

Underwater is extreme environment. So, underwater robots are employed to some tasks for human's safe. However, high-speed motion in underwater condition is occurred drag forces. In this paper, we propose a sampling device for underwater robots. It was designed as a high-speed mechanism. Because, a mechanism which it has performances higher than human make new applications. The high-speed motion is needed an energy and an efficient transmission system. We explain a design of the mechanism.

DOI： 10.1299/jsmermd.2014._1P1-G06_1

CiNii Article

その他リンク： https://ci.nii.ac.jp/naid/110009966705

A Design Method of CPG Network Using Energy Efficiency to Control a Snake-Like Robot（共著）査読有り

Takayuki Matsuo, Kazuo Ishii

5th International Conference on Emerging Trends in Engineering & Technology 287 - 292 2012年11月

Development of Ship Hull Cleaning Underwater Robot（共著）査読有り

Amir Ali Forough Nassiraei, Kazuo Ishii

5th International Conference on Emerging Trends in Engineering & Technology 293 - 298 2012年11月

Control of robotic joint by using antagonistic pair of Twist Drive Actuators 査読有り国際誌

Sonoda T., Ishii K., Nassiraei A., Godler I.

IECON Proceedings (Industrial Electronics Conference) ( IEEE ) 5410 - 5415 2012年10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）

2012年10月25日 - 2012年10月28日

In this paper we present a control method for robotic finger that uses twisted strings actuator called Twist Drive. A five fingered robotic hand prototype was developed by using Twist Drive actuators to control 14 active degrees-of-freedom. This paper focuses on control of a thumb's CM joint, which is the only joint in the robotic hand prototype that uses two Twist Drive actuators configured in an antagonistic pair of actuators. Positioning accuracy and smoothness of the joint's motion is influenced by nonlinear characteristics of the actuators and by friction in the mechanism. To compensate for the disturbances, we used disturbance observer, and additionally enhance smoothness of motion by controlling the unwinding torque of opposing actuator. The robotic hand and the proposed control algorithm are explained in the paper, experimental results of CM joint positioning control are presented. © 2012 IEEE.

DOI： 10.1109/IECON.2012.6389525

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84872957434&origin=inward

The Improving Method of Energy Efficiency for a Snake-Like Robot Using Neural Oscillators（共著）査読有り

Takayuki Matsuo, Takashi Sonoda,Kazuo Ishii

International Conference on Mechatronics and Automation 2012 208 - 213 2012年08月

The Adjustment System of Phase Difference Using Neural Oscillator Network for a Snake-Like Robot　（共著）査読有り

Takayuki Matsuo, Kazuo Ishii

SICE 2012 502 - 507 2012年08月

創立10周年記念シンポジウム報告

石井和男

明専会報 ( 明専会 ) 856 ( 1月・2月 ) 2012年02月

A cooperative self-localization method based on group robot information sharing 査読有り

Yuichi Kitazumi, Kazuo Ishii

Proc. of AROB 17th '12 989 - 994 6 pages 2012年01月

The adjustment system of phase difference using neural oscillator network for a snake-like robot 査読有り

Matsuo T., Ishii K.

Proceedings of the SICE Annual Conference 502 - 507 2012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）

Robot are expect to be new tools for the operations and observations in the extreme environments where human has difficulties for accessing directly, deep ocean, space, nuclear plants and so on. One of the important matters to realize mobile robots for extreme environments are to establish systems in the movement and their structures which are strong enough to disturbance. A solution for realization an adaptive control system is to learn and imitate biological systems. For example, in the spinal cord of animals, neural oscillator systems called Central Pattern Generator (CPG) are proven to exist and investigated that CPG control rhythmical signals such as swimming pattern, walking locomotion, heart beats, etc. In this paper, an adaptive control system based on the feature of neural oscillators was developed and applied to motion control of a snake-like robot. © 2012 SICE.

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84869473308&origin=inward

ロボット競技会を通じた工学教育への取り組み

石井和男

教育ブリティン ( 九州工業大学 ) ( 8 ) 63 - 71 2011年12月

A cooperative self-localization method based for multi agent system 査読有り

Yuichi Kitazumi, Kazuo Ishii

Proc. of ICIUS'11 6 pages 2011年10月

Auto color calibration algorithm using neural networks and its application to RoboCup robot vision 査読有り

Takemura Y., Ishii K.

International Journal of Artificial Intelligence 7 ( 11 A ) 368 - 383 2011年10月

記述言語：英語掲載種別：研究論文（学術雑誌）

One of the most important aspects in mobile robots concerns vision based decision-making systems, where color constancy is a major problem for robots, since they often use the color property to recognize their environments. Animals can recognize the color and shape of objects despite large changes in lighting conditions in outdoor environments, for example. Biomimetic software and hardware have attracted much attention because of the possibility of realizing flexible and adaptive systems as in animals. We have been working on color constancy vision algorithms using a bio-inspired information processing technique. In this paper, we evaluate the performance of color recognition using bio-inspired information processing algorithms, namely the Self-Organizing Map (SOM), modular network SOM (mnSOM), and Neural Gas (NG), and discuss the experimental results under various lighting conditions. © 2011 by IJAI.

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=80052156764&origin=inward

Auto color calibration algorithm using neural networks and its application to RoboCup robot vision 査読有り

Yasunori Takemura, Kazuo Ishii

International Journal of Artificial Intelligence 7 ( A11 ) 368 - 383 2011年10月

Development of the ocean-going underwater glider with independently controllable main wings, SOARER 査読有り

Arima M., Ishii K., Nassiraei A.

Proceedings of the International Offshore and Polar Engineering Conference 274 - 278 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）

The authors are planning to realise three-dimensional multipoint and simultaneous measurement of ocean environment by swarm intelligent underwater vehicles. For this purpose, an ocean-going underwater glider with independently controllable main wings was developed and named 'SOARER'. This paper deals with concept and detailed design of the SOARER glider. Copyright © 2011 by the International Society of Offshore and Polar Engineers (ISOPE).

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=80052729888&origin=inward

System Design and Increment Hardware Development of an Autonomous Underwater Robot "DaryaBird" 査読有り

Takaaki Takemitsu, Masayoshi Honda, Masato Ogura, Taizo Tasaka Atsuhiro Minami, Takumi Yokomichi, Kazuo Ishii

AUVSI&ONR’s 14th RoboSub Competition Journal Paper 1 - 8 2011年07月

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