Updated on 2024/02/17

写真a

 
KUNII Yasuharu
 
Organization
Faculty of Science and Engineering Professor
Other responsible organization
Electrical, Electronic, and Communication Engineering Course of Graduate School of Science and Engineering, Master's Program
Electrical Engineering and Information Systems Course of Graduate School of Science and Engineering, Doctoral Program
Contact information
The inquiry by e-mail is 《here
External link

Degree

  • 博士(工学) ( 東京大学 )

Research History

  • 2014.4 - Now

    中央大学理工学部教授

  • 1999.4 - Now

    中央大学大学院理工学研究科

  • 2007.4 - 2014.3

    中央大学理工学部准教授

  • 2000.4 - 2007.3

    中央大学理工学部助教授   Faculty of Science and Engineering

  • 1997.4 - 2000.3

    中央大学理工学部専任講師   Faculty of Science and Engineering

  • 1994.4 - 1997.3

    日本学術振興会特別研究員-DC1

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Professional Memberships

  • 計測自動制御学会

  • 日本航空宇宙学会

  • 日本機械学会

  • 日本ロボット学会

  • 日本バーチャルリアリティー学会

  • 電気学会

  • IEEE

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Research Areas

  • Frontier Technology (Aerospace Engineering, Marine and Maritime Engineering) / Aerospace engineering

  • Informatics / Mechanics and mechatronics

  • Informatics / Human interface and interaction

  • Informatics / Intelligent robotics

  • Informatics / Robotics and intelligent system

Papers

  • A Random Walk-Based Stochastic Distributed Exploration Algorithm for Low-Cost Swarm Robots

    Kosuke Sakamoto, Toui Sato, Kiyohisa Izumi, Tomoki Kato, Takao Maeda, Yasuharu Kunii

    2024 IEEE/SICE International Symposium on System Integration (SII)   2024.1

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    Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/sii58957.2024.10417163

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  • Probabilistic Presence Density Control for Areal Wide-area Distributed Exploration with Swarm Robots

    Toui Sato, Kosuke Sakamoto, Takao Maeda, Yasuharu Kunii, Takeshi Toda, Hiroki Kato

    Journal of the Robotics Society of Japan   41 ( 10 )   869 - 880   2023

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    Publishing type:Research paper (scientific journal)   Publisher:The Robotics Society of Japan  

    DOI: 10.7210/jrsj.41.869

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  • Study on a singular target detection in lunar environment using saliency map

    MINEGISHI Riki, MAEDA Takao, SAKAMOTO Kosuke, KUNII Yasuharu

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2022   1P1-I03   2022

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    Small rover navigation needs to realise the direction of a landmark such as a mother lander. However, due to the hardware limitations, small rovers are hard to implement high accuracy perception algorithms. This paper proposeds a novel detection algorithm using saliency map. We focus on the peculiarity of an artifical object in natural environment, and study the estimation of the lander by analyzing the saliency map, painting, and linearity of the feature area from the image. We can detection landa by low accuracy perception algorithms.

    DOI: 10.1299/jsmermd.2022.1p1-i03

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  • Development of lunar nano rover

    YOSHIKAWA Kent, OTSUKI Masatsugu, YOSHIMITSU Tetsuo, MAEDA Takao, KUNII Yasuharu, HIRANO Daichi, SUTOH Masataku, Sawada Hirotaka

    The Proceedings of the Symposium on the Motion and Vibration Control   2019.16   A103   2019

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    This paper presents the current development status of the optional payload named Lunar Excursion Vehicle (LEV) for the Japanese future Lunar landing mission SLIM. The deployable exploration system LEV is released from the lander at the few meters above the Lunar surface after the lander’s terminal deceleration is finished. LEV consists of two probes that will move and observe around the landing site autonomously. They also help acquire the evidence of SLIM landing by taking pictures of the final status of the lander.

    DOI: 10.1299/jsmemovic.2019.16.a103

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  • Design of Shoe Plate for Small Hopping Rover on Loose Soil

    Takao Maeda, Yasuharu Kunii, Kent Yoshikawa, Masatsugu Otsuki, Tetsuo Yoshimitsu, Takashi Kubota

    2018 IEEE AEROSPACE CONFERENCE   2018

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    Hopping rover is one of solution for locomotion on loose and rocky terrain on the moon and planetary surface. The hopping rover jumps over an obstacles. Since the height of hopping is equal to the height which the rover can get over, the traversability of rover becomes higher. In order to design a push plate with a small amount of slip on the granular media for a stable and efficient hopping, it is necessary to know the reaction force received from the ground. In this paper, we describe the force estimation method of shoe plate design of jump rover based on Resistive Force Theory and calculate the reaction force when pressing the shoe plate and find of the shape that is suitable for hopping. The shoe plate is manufactured with a 3D printer, and the pressing test result and the calculation result are compared. Finally, we verify the effectiveness including the hopping motion of the rover, using the dynamics simulator on the moon gravity.

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  • A New Mechanism of Smart Jumping Robot for Lunar or Planetary Satellites Exploration Reviewed

    Kent Yoshikawa, Masatsugu Otsuki, Takashi Kubota, Takao Maeda, Masataka Ushijima, Satoshi Watanabe, Kousuke Sakamoto, Yasuharu Kunii, Kazunoti Umeda

    2017 IEEE AEROSPACE CONFERENCE   2017

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    For planetary exploration, small robots of just a few kilograms installed in the main spacecraft have a lot of advantages. Small robots can provide us with a wide range of exploration opportunities by using multi-robots, technical demonstrations, and science missions which require detailed data acquisition. There are not only mission advantages, but they can also be developed in a short period of time and at a low cost. MINERVA, MINERVA II, MASCOT are examples which are installed in the main spacecraft for surface exploration.
    In order to move on the surface of a "low gravity" object, like the Moon by a small robot, there are several options of locomotion, such as jumping, wheels, and legs. Wheel locomotion cannot step over obstacles where the size is bigger than the wheel radius, and the structure of leg locomotion is a very complicated piece of machinery and requires a lot of actuators. However, jumping locomotion is capable of moving a long distance by one action and the number of actuators required for jumping capability is very small. In addition, it can travel a longer distance on a planet or satellite which has a gravity lower than the Earth. For instance, it can jump 6 times longer on the Moon than on the Earth.
    To realize jumping locomotion for small robots in a low gravity environment, the mechanism has to meet the following functional requirements. (1) it can charge the required jumping energy, (2) it can release the energy instantly, (3) it can change the amount of the energy needed to control jumping distance, (4) it doesn't consume resources such as fuel and should be able to repeat the movement, (5) it has a ground contact part to apply power, (6) the size should be small and the weight should be small (7) it can move in a space environment (vacuum, high radiation). We studied some jumping mechanism concepts to meet these requirements. Our design of the mechanism uses springs to charge the energy and they are supported and connected to the shaft structure. A jumping pad is attached to the end of the structure and pushes the ground and robot so it can jump from the ground. For actuation, only one motor is used. In our mechanism, a one-way clutch is used to change from energy charge mode to release mode. This mode change is executed by changing the direction of motor rotation. After jumping, it can change the mode to energy charge mode again.
    The authors have developed a research model of the jumping rover which the jumping mechanism is mounted on. This model is developed for a lunar exploration mission. Science mission equipment mock-ups and wheels are also mounted on the model. The wheel is used to control the jumping direction.
    In this paper, our design of the jumping mechanism, development of a research model, and test results are presented in detail.

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  • Path Planning with Risk Consideration on Hopping Mobility Reviewed

    Masataka Ushijima, Yasuharu Kunii, Tadao Maeda, Tetsuo Yoshimitsu, Masatsugu Otsuki

    IEEE/SICE International Symposium on System Integration   WeC3.8 - 697   2017

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    Recently, a small size hopping rover is received attention for the moon and planetary exploration society. In a low gravity environment, a lightweight hopping rover might have high traversabilities: by jumping over long distance and obstacles. While a lot of hardware designs for hopping system are presented, few software designs for its system are presented. For the near future, software design for the rover is necessary to satisfy some requirements including sensing and navigation. A hopping rover has more uncertainties than conventional wheeled rover because a hopping movement is fundamentally different from a wheeled movement. Its uncertainties might be risks for the rover, in addition, it is difficult to reduce uncertainties because of its payload and hopping behavior. In this paper, we focus the navigation on hopping software system, and discuss about hopping movement with some uncertainties. Next, we propose the determination method of landing position using the geometric features of the triangle. The method is considered risks for the rover. We confirmed effectiveness of path planning with proposal method by simulation.

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  • Study on Evaluation of Lugged Wheel Model Reviewed

    N.Mizikami, K.Iizuka, Y.Kunii

    Proc. of SII'2014   2014.12

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  • Iterative Overlap-part Estimation Method for Localization and Generation of Reliable Terrain Maps Reviewed

    Y.Kunii, N.Hashimoto, N.Mizukami

    Proc. of IECON'2014   2014.11

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  • Lugged Wheel Model Considering Shear Characteristics Reviewed

    N.Mizukami, K.Iizuka, Y.Kunii

    Proc. of ISTVS'2014   2014.9

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:ISTVS  

    Soft soils cover planetary surfaces, so the wheel of a planetary rover easily slips and gets stuck. In order to prevent increase in the slip and getting stuck, the wheel can have lugs that have a shape of a paddle to improve the wheel driving force. There have been some studies about the influence of the lug. However, design method for an effective lug has not been studied well yet. Since terramechanics-based wheel models have been considered with a flat wheel surface, those models are not applicable to the lugged wheel. In this paper, a lugged wheel model is discussed and proposed regarding the variation of shear characteristics. The variation of shear characteristics is indicated by a shear deformation modulus. The proposed model is based on the shear deformation modulus that varies by the height and position of the lugs. Therefore it can be considered that the lugged wheel model has a function of the lug parameters such as the lug height and lug mounting position. A simulation is performed to evaluate the model. In results we confirmed that the model can formulate the traversability performance of the wheel and showed the validity of the proposed model.

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  • Tele-Navigated Trajectory Evaluation Method based on Similarity with Command Path by using Virtual Electrostatic Potential Field for Planetary Exploration Rover Reviewed

    Y.Kunii, H.Maehara, R.Karitani

    Proc. of i-SAIRAS'2014   2014.6

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:NASA/JAXA/ESA  

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  • Experimental evaluation of data flow control on three-layered architecture for planetary rover Reviewed

    Y.Kunii, M.Furukawa

    Proc. of i-SAIRAS'2014   2014.6

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  • Design of Database Node Module in three-layered architecture for tele-operator Reviewed

    Y.Kunii, M.Furukawa, K.Hoshino

    Proc. of |rn|ICAR'2013   2013.11

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  • Three-Layered Architecture with Variable Task Flow for Teleoperator Reviewed

    K.Hoshino, Y.Kunii

    Proc. of AIM2013   1 ( 1 )   500 - 505   2013.7

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  • 影の投影によるステレオ計測の精度向上とロバスト化 Reviewed

    國井康晴, 佐藤友哉, 潮田隆広

    日本機械学会論文集C編   79 ( 802 )   2093 - 2102   2013.6

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    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:日本機械学会  

    Robotics has attracted much attention from the planetary surface exploration community ever since NASA 's Pathfinder Mission opened a new door for the subject. In order to collect geological samples, 3D surface information of the environment and the targets, in general, has to be obtained so that a manipulator can successfully grasp them. Measurement accuracy and robustness are key issues for the realization of autonomous sample acquisition. A stereo camera is generally a useful device for 3D surface measurement; however, it may not be robust enough to handle unknown natural objects that exhibit a great deal of similarity and where there is uncertainty over their texture. In this paper, we focus on the robustness and accuracy of a measurement method using a stereo camera, and we propose Shadow Casting Stereo Imaging (SCSI). In use, SCSI casts the shadow of the manipulator (or a stick-shaped object) on a target surface, and then the 3D information can be measured using conventional stereo imaging by utilizing this cast shadow. The shadow creates a featured area on similar textures under harsh lighting conditions, because it produces a darker area on the textures as feature points for image processing. In addition, this technique reduces the search area for the template matching, and lowering calculation costs. We evaluated the performance of SCSI by comparing the measured results with conventional stereo imaging. Our results show that SCSI has advantages in terms of accuracy, robustness, and calculation cost against similarity of a natural object under various lighting conditions.

    DOI: 10.1299/kikaic.79.2093

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  • Evaluation of Tele-Navigation System using Command Data Compensation Reviewed

    Yasuharu Kunii, Ryota Karitani

    39TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2013)   7819 - 7824   2013

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    Long distance traversal by a remotely controlled rover is rendered difficult by measurement error on terrain data and communication time delays. Though an operator can select any desired path as a sequence of waypoints using a 3D terrain model evaluated by the on-board sensor, the model is error prone and the rover might collide with obstacles in its path. We present a rover that continuously updates its knowledge of the environment, and recalculates the difference between the original terrain data (used for initial path generation) and its latest acquired data. To this end, we have proposed the waypoint compensation method called Command Data Compensation (CDC) that uses the latest measurement data (assumed to be more reliable than the initial data). Such data automatically correspond to the path deviation [9] [10] [14]. In this paper, we evaluate whether CDC can help the rover safely navigate around obstacles, in terms of measure called the Safety Rate.

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  • Three-Layered Architecture for Tele-operator and Its System Test Reviewed

    K.Hoshino, Y.Kunii

    Proc. of RiTA2012   1 ( 1 )   105 - 114   2012.12

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:IROC/KRSA  

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  • その場年代計測装置による月惑星年代学探査 Reviewed

    長勇一郎, 目, 地質学, 工学者, の順

    日本惑星学会誌   21 ( 3 )   268 - 276   2012.9

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    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:日本惑星科学会  

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  • 月裏側高地物質サンプルリターンミッションの提案 Reviewed

    大竹真紀子, 番目, 地質学者, 工学者, の順

    日本惑星学会誌   21 ( 3 )   217 - 223   2012.9

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  • 超音波モータの数学モデルの導出と温度特性の影響 Reviewed

    中村太郎, 井澤弘朗, 國井康晴

    中央大学理工学研究所論文集   18 ( 15 )   2012.6

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  • 月惑星表面探査Roverの火山観測への応用―移動型遠隔無人観測システム:SCIFIERの開発― Reviewed

    國井康晴

    日本惑星学会誌   21 ( 2 )   138 - 147   2012.6

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    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:日本惑星科学会  

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  • Three-layered architecture for teleoperators and its module arrangement Reviewed

    K. Hoshino, Y. Kunii

    3rd IEEE International Conference on Cognitive Infocommunications, CogInfoCom 2012 - Proceedings   615 - 619   2012

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    Language:English   Publishing type:Research paper (international conference proceedings)  

    In this paper, we propose an intelligent system architecture for teleoperators (e.g., planetary exploration rovers). Our proposed architecture offers advanced flexibility (variability), efficiency, scalability, and transparency. The architecture is composed of one hardware layer (bottom) and two software layers (middle and top). Because the software is divided into two layers, users are not required to actually connect the software modules. With this architecture, we aim to achieve both efficient task construction by the users and easy management of modules by the system. Moreover, to achieve high-speed data communication between software modules we use a shared memory. Using our proposed architecture, we can efficiently perform repairs and consequently enhance the functionality of teleoperator systems. Therefore, our proposed architecture can provide significant contributions to the development and operation of teleoperators. © 2012 IEEE.

    DOI: 10.1109/CogInfoCom.2012.6422053

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  • Evaluation of tele-navigation system using command data compensation and field test in Izu-oshima volcanic island, Japan Reviewed

    Yasuharu Kunii, Ryota Karitani, Tomotaka Uekusa

    IFAC Proceedings Volumes (IFAC-PapersOnline)   45 ( 22 )   816 - 821   2012

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IFAC Secretariat  

    In traversing a planetary surface by a remote controlled rover, it is difficult to realize long distance traversability because of measurement error on terrain data and communication time delays. Though an operator can select any desired path as a sequence of waypoints by using a 3D terrain model measured by the on-board sensor, the model includes much error and the path might be collided with obstacles. Here a rover continuously updates its knowledge of the environment, and can recalculate the difference between the original terrain data used for initial path generation and the latest data acquired by itself. Therefore, we have proposed the waypoint compensation method CDC by using the latest measurement data (which is assumed to be more reliable than the initial data) that automatically corresponds to the difference. In this paper, CDC is evaluated by various simulation results, and discussed about newly developed tele-navigation test-bed system with its hardware and software aspects. Experimental results of the system using the proposed algorithm are indicated by including field test in Izu-oshima island, and finally its new evaluation is discussed. © 2012 IFAC.

    DOI: 10.3182/20120905-3-HR-2030.00086

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  • Measurement data supplementation of shadow casted image processing methods Reviewed

    Tomoya Sato, Yasuharu Kunii

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   984 - 989   2011

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    Recently, planetary surface surface exploration based on robotic technology such as a rover have huge qualitative changes on its observation quality against conventional orbital survey. One of main mission is a scientific exploration in which it will collect and observe geological samples and data. In its observation purpose, a manipulator is mounted on a rover to collect rocks and sands, and 3D surface measurement is one of key technologies to support its autonomous functions. One of the strongest candidate sensor is mono or stereo camera for its measurement. However, it is sensitive to changes in ambient light intensity and optical conditions, and it is prone to have false template-matching in a natural environment which has high similarity on its textures. In this paper, a clear boundary of shadow in space is focused as a scanning line like in LRF or an matching feature, and then SRF and SCS were introduced as robust and accurate method by using a shadow casted on work space. After discussion about error sensitivity analyses for SRF and SCS, data supplementing system is discussed and proposed. Finally, experimental evaluation is conducted by using newly developed data supplementing system on a micro rover testbed "Micro6". More accurate, robust and wider measured data was successfully obtained in the experiment. Its results indicated much possibility on our method and system. © 2011 IEEE.

    DOI: 10.1109/AIM.2011.6027105

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  • Intelligent explorer with smart manipulator and drilling mechanism for lunar or planetary exploration Reviewed

    T. Kubota, K. Nagaoka, Y. Kunii

    Proceedings of the 12th International Conference on Engineering, Science, Construction, and Operations in Challenging Environments - Earth and Space 2010   1162 - 1172   2010

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    Unmanned deep space explorations have received a lot of attention in recent years. Some missions to land safely and explore on the surface of the moon or other planets are proposed and planned in the world. In Japan, lunar lander-rover missions have been earnestly studied. In these missions, it is required to perform sampling, conduct in-situ analysis of geological samples and deploy devices for measurement and observation. Many researchers have studied and developed sample acquisition systems and driller or corer systems. Recently deep drillers or penetrating systems have been required to obtain deep data for subsurface exploration. In lunar or planetary mission, it is needed to excavate the regolith layer, which covers the lunar surface, in depth of several meters. Some suggestions for drilling on the lunar surface have already been made. However, there are few schemes that can satisfy the requirement. This paper, to begin with, describes lunar or planetary mission scenarios and scientific requirements. A detailed surface and subsurface exploration by a mobile explorer is presented. Then a smart manipulator with new actuators to collect samples is proposed. The proposed manipulator is actuated by ultra-sonic motors, which can lead to a light-weight system with low-power consumption. The developed manipulator has an end-effecter to collect regolith, pick up stones, etc. The effectiveness of the developed smart manipulator is shown by some experiments. This paper also proposes a mole-like robot which is maneuverable in regolith. A new mechanism to move forward in the soil is described. The drilling function is studied by analyses and some experiments. The experimental results show the feasibility of the proposed robot. © 2010 ASCE.

    DOI: 10.1061/41096(366)107

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  • High Accurate and Robust Shadow Casting Image Processing with Data Composition for Tele-Sampling Task Reviewed

    Y.Kunii, T.Niibori, T.Shinotsuka

    Proc. of ICAR2009   1 ( 1 )   1 - 6   2009.7

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  • Intelligent Guidance of Mobile Explorer for Planetary Robotic Exploration Reviewed

    T.Kubota, Y.Kunii

    Proc. of ICM2009   2009.4

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  • Academic roadmap of robotics from the viewpoint of engineering — what will happen in 2050? Reviewed

    Takashi Uchiyama, Makoto Kaneko, Yasuharu Kunii

    Advanced Robotics   23 ( 11 )   1499 - 1503   2009

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    DOI: 10.1163/016918609X12469676260939

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  • Data composite supplementation on stereo image processing with shadow casting Reviewed

    Takuya Niibori, Yasuharu Kunii, Takahiro Shinotsuka

    2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009   977 - 982   2009

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    In recent years, planetary rover attracted a lot of interest and,especially. geological observation brings ouy new knowledge about the history of the birth of planets and our solar system. To get the geological information, the sampling and measurement of a rock and sand are required. It means the measurement of 3D surface information of workspace for manipulator is the most important process. Usually, the surface information is brought out by a stereo image processing, and a camera is the strongest candidate of sensors installing on a rover. However a natural object has much complexity and self-similarity which cause for matching error of stereo process. In this paper, to handle those subjects, we apply the projection of shadow by a stick or a manipulator. Shadow makes featured area helping for matching process and its shape is containing the 3D surface information. Therefore, Shadow Casting Stereo Imaging (SCSI) and Shadow Range Finder (SRF) are proposed and applied for 3D surface measurement. SCSI is based on stereo processing which has occlusion problem, and SRF take monocular image. We discuss data composition with SCSI and SRF to eliminate uncertainty and occlusion area of SCSI. Finally, proposed method is evaluated by experimental setup with manipulator. © 2009 IEEE.

    DOI: 10.1109/ROBIO.2009.5420749

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  • Space Robotics in 2050 Reviewed

    Yasuharu Kunii

    ADVANCED ROBOTICS   23 ( 11 )   1507 - 1511   2009

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:VSP BV  

    DOI: 10.1163/016918609X12469686515539

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  • 弾性特性を考慮した軟弱砂地盤走行のための月面探査車輪型ロボットの車輪形状検討(車輪と軟弱地盤の相互作用を考慮した弾性車輪の効果) Reviewed

    飯塚浩二郎, 國井康晴, 久保田孝

    日本機械学会論文集C編   74 ( 748 )   2962 - 2967   2008.12

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  • Study on wheeled forms of lunar robots considering elactic characteristic for traversing soft terrain (effect of elastic wheel considering in interaction between wheel and soft soil)

    Kojiro Iizuka, Yasuharu Kunii, Takashi Kubota

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   74 ( 12 )   2962 - 2967   2008.12

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    Lunar rovers are required to move on rough terrains such as in craters and rear cliffs where it is scientifically very important to explore. In the past, wheel typed rovers are popular for planetary exploration missions. However, there is a problem that the wheel typed rovers have possibility of stack. Therefore, this paper investigates a mechanism of kinetic behavior between the wheels of the exploration rovers and soil. The important parameters are extracted by considering the mechanism. This paper proposes an elastic wheel by considering the important parameters. The elastic wheel has the surface which can be changed flexibly toward rough terrain. Running Experiments on soil which imitated Regolith are carried out to observe the traversability of the elastic wheel using slip ratio and sinkage.

    DOI: 10.1299/kikaic.74.2962

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  • Surface Exploration Rover and Guidance Scheme for Planetary Robotic Exploration Reviewed

    T.Kubota, M.Otsuki, Y.Kunii, Y.Kuroda

    Proc. of ISTS2008   2008.6

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:日本航空宇宙学会  

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  • Shadow casting Stereo Imaging for High Accurate and Robust Stereo Processing of Natural Environment Reviewed

    Yasuharu Kunii, Takahiro Ushioda

    2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3   302 - 307   2008

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    Generally, the 3d surface measurement is the most important process for the sample acquisition task by planetary exploration rover. In this paper, we propose new stereo measurement method by using the shadow projected into stereo images. The projected shadow limits the search area of stereo matching, and is providing robustness on the feature point matching process. As a result, the method is highly performed on the accuracy and the calculation speed. Finally the evaluation conducted by experimental results are shown, and the validity is indicated.

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  • The development of ultrasonic drilling device Reviewed

    Shingo Takahasi, Peter Korondi, Barna Reskó, Yasuharu Kunii

    SAMI 2008 6th International Symposium on Applied Machine Intelligence and Informatics - Proceedings   109 - 113   2008

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    For a planetary surface exploration, grinding and drilling equipment is one of the mo st important devices in geological observation of sampled rocks. However, the equipment can't be directly applied for works in the space. More spe cifically, the weight of drilling and grinding mac nines generally used on the Earth is so heavy, an d they need lubricant. Therefore it is difficult to use them in the space. In this paper, we analyze t ransient process of destroyed surface of rocks. Especially, we focus on contact points between sampled rocks and the top of a horn. Through the analysis, we can suggest that a ultra sonic based device is effective to implement drilling and grinding of rocks in the space. The analysis suggests that a ultra sonic based device is effective to realize drilling and grinding of rocks in the space. © 2008 IEEE.

    DOI: 10.1109/SAMI.2008.4469145

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  • Study on Wheeled Forms of Lunar Robots for Traversing Soft Terrain Reviewed

    Kojiro Iizuka, Yasuharu Kunii, Takashi Kubota

    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS   2010 - +   2008

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    Lunar rovers are required to move on rough terrains such as in craters and rear cliffs where it is scientifically very important to explore. Recently, wheel typed rovers are popular for planetary exploration missions. However, there is a problem that the wheel typed rovers have possibility of stack. Therefore, this paper investigates a mechanism of kinetic behavior between the wheels of the exploration rovers and soil. The important parameters are extracted by considering the mechanism. This paper proposes an elastic wheel by considering the important parameters. The elastic wheel has the surface which can he changed flexibly toward rough terrain. Running experiments on soil which imitated regolith are carried out to observe the traversability of the elastic wheel using slip ratio and sinkage.

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  • Smart manipulator actuated by ultra-sonic motors for lunar exploration Reviewed

    Takashi Kubota, Kouhei Tada, Yasuharu Kunii

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9   3576 - +   2008

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    A new lunar exploration mission including a lander and rovers is under studying in Japan. The main mission for lunar robotics exploration is to demonstrate the technologies for lunar or planetary surface exploration. They will cover pin-point landing technology, reliable landing scheme with obstacle avoidance, landing mechanism on rough terrain, exploration rover and tele-science technology. Lunar geologic survey will be also performed to investigate the underground materials. The working group has been conducting the feasibility study of advanced technologies for lunar robotics exploration. In the rover mission, a robotic manipulator plays an important role as scientific observation tools for geological exploration. This paper proposes a light-weight manipulator with low-power consumption function. To investigate the effectiveness of the proposed design, a manipulator was developed. This paper describes a proposed smart manipulator system. This paper also presents the environment test results on Ultra-Sonic Motor. The performance of the developed smart manipulator is discussed.

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  • Autonomous behavior planning scheme for exploration rover Reviewed

    Takashi Kubota, Riho Ejiri, Yasuharu Kunii, Ichiro Nakatani

    SMC-IT 2006: 2ND IEEE INTERNATIONAL CONFERENCE ON SPACE MISSION CHALLENGES FOR INFORMATION TECHNOLOGY, PROCEEDINGS   258 - 264   2006

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    This paper proposes an efficient scheme to make a routing and sensing plan simultaneously for lunar or planetary exploration rovers. In the proposed scheme, the environment is widely recognized by using a vision system. The proposed algorithm can detect obstacles based on gray-level image. And a rough route is produced by judging whether the area is safe or dangerous. Firstly, the shade average and the variance at each pixel are calculated from obtained image, and the environment recognition is performed. According to the recognition, the rough path and the sensing strategy are planned. A rover senses locally based on the behavior planning and moves to the destination. The validity of the proposed method is shown by computer simulations.

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  • Human Machine Cooperative Tele-Driving System and Path Trajectory Compensation with Land Mark Selection Reviewed

    Y.Kunii, M.Moriyama, S.Nagatsuka, Y.Ishimaru, T.Kubota

    Proc. of iSAIRAS2005   8c - 3   2005.9

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  • An artificial system for visual perception in autonomous robots Reviewed

    Benjamin Auffarth, Yasumasa Muto, Yasuharu Kunii

    INES'05: IEEE 9th International Conference on Intelligent Engineering Systems - Proceedings   2005   211 - 216   2005

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE Computer Society  

    Image processing of natural scenes is very processing-intensive. Through the localization of salient regions, later recognition processes can take place more efficiently, by focusing computation-intensive processing on several areas. Our approach to designing an artificial visual system is inspired by early filtering mechanisms in the human visual system. Our technique of calculating salient regions is computationally efficient and flexible, and can be extended to other applications. © 2005 IEEE.

    DOI: 10.1109/INES.2005.1555159

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  • Proposition of 3D measurement method using shadow for planetary surface exploration - shadow range finder: SRF Reviewed

    Y.Kunii, T.Goto

    Proc. of IROS2002   1   811 - 816   2002.10

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  • Scientific exploration of lunar surface using a rover in Japanese future lunar mission Reviewed

    S Sasaki, T Kubota, T Okada, K Saiki, Y Kuroda, Y Kunii, E Shibamura, N Akiyama, M Ohtake, M Ichikawa, M Higa, N Hirata, T Sugihara, J Haruyama, H Otake, N Yoshioka, J Terazono, M Yamada, Y Yamaguchi, S Kodama

    LUNAR EXPLORATION 2000   30 ( 8 )   1921 - 1926   2002

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:PERGAMON-ELSEVIER SCIENCE LTD  

    A new lunar mission (SELENE-B) including a lander is now in consideration in Japan. The mission will follow up SELENE (SELenological and ENgineering Explorer, a global remote sensing mission of the moon in 2004). Scientific investigation plans using a rover are proposed: exploration of a crater central peak to discover subsurface materials and exploration of the polar region to discover the trapped ice. We have already developed a 5-wheel engineering-model rover, Micros, which has a long manipulator with a camera on top. The rover can climb over 15cm steps and rocks by a new suspension system PEGASUS. (C) 2002 COSPAR. Published by Elsevier Science Ltd. All rights reserved.

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  • Unmanned Lunar Mission for Surface Geologic Exploration

    Sasaki Sho, Demura Hirohide, Kanamori Hiroshi, Haruyama Jun-ichi, Matsumoto Kotaro, Wakabayashi Sachiko, Akiyama Hiroaki, Takeda Hiroshi, Shibamura Eido, Hasebe Nobuyuki, Kubota Takashi, Okada Tatsuaki, Kato Manabu, Saiki Kazuto, Kunii Yasuharu, Otake Makiko, Sugihara Takamitsu, Hirata Naru

    SICE Division Conference Program and Abstracts   2002 ( 0 )   441 - 441   2002

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    Publisher:The Society of Instrument and Control Engineers  

    Unmanned lunar geologic exploration of a crater’s central peak to investigate subsurface layering is discussed. Rover-lander corporative mission is executed. From a lander which is within 500m from the frank of the central peak, a rover should make a round-trip to the frank and bring samples back to the lander. Multi-band camera, gamma-ray spectrometer, rock-coring mechanism, sampling and transportation mechanism should be on board the rover. Detailed analyses of the returned samples including microscopic spectroscopy and X-ray spectrometry and diffraction should be done in the lander.

    DOI: 10.11499/siced.si2002.0.441.0

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  • Tele-driving method for long-range terrain traversal Reviewed

    Y Kunii, K Tada, Y Kuroda, T Kubota

    INTELLIGENT AUTONOMOUS VEHICLES 2001   233 - 238   2002

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    in this paper, we discuss tele-driving system for a long driving of a lunar rover and also describe our newly developed small, lightweight lunar rover called Micro-5 and its visual sensor system. An operator uses virtual world simulator to make command path. The virtual environment of this simulator is constructed with measurement data from a rover on the moon.
    We have, however, a communication delay tween the earth and the moon. So, there is the difference between old map data which operator use for path planning and new data, which a rover is tracking on. The operator's path command has less reliability to avoid obstacles and to reach the goal. Therefore, to make high reliability of operator's command, we propose Command-Data Compensation (CDC), which compensates this difference as the distortion of the environmental map. Copyright (C) 2001 IFAC.

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  • 内界センサ情報に基づいた移動ロボットの自己診断システム Reviewed

    翁信之介, 川端邦明, 藤井輝夫, 國井康晴, 淺間一, 遠藤勲

    日本ロボット学会誌   19 ( 4 )   535 - 541   2001.4

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  • Command data compensation for real-time tele-driving system on lunar rover: Micro-5 Reviewed

    Y Kunii, M Suhara, Y Kuroda, T Kubota

    2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS   1394 - 1399   2001

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    In this paper, we discuss tele-driving system I I or a long driving of a lunar rover and also describe our newly developed small, lightweight lunar rover called Micro-5 and its Visual sensor system. Ali operator uses virtual world simulator to make command path. The virtual environment of this simulator is constructed with measurement data from a rover on the moon.
    We have, however, a communication delay between the earth and the moon. So, there is the difference between old map data which operator used for path planning and new data which a rover is tracking on. The operator's path command has less reliability to avoid obstacles and to reach the goal. Therefore. to make high reliability of operator's command. we propose Command-Data Compensation (CDC), which compensates this difference as the distortion of the environmental map.

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  • Path planning for newly developed microrover Reviewed

    T Kubota, Y Kuroda, Y Kunii, T Yoshimitsu

    2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS   3710 - 3715   2001

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    This, paper describes a path planning method for a planetary microrover to make a path oil planetary surface, A planetary rover is required to travel safely over a long distance For many days in unfamiliar terrain, Hence it is very important how a planetary rover processes sensory information to understand the environment and to make decisions, The authors have developed a newly small rover for future lunar or planetary exploration. As a new data structure for a map information. an extended elevation map has been introduced, which includes the effect of the size of the rover. The proposed path planning call be conducted in such a way as if the rover were a point while the size of the rover is automatically taken into account. A map obtained by sensors includes uncertainty. So a path planning scheme based oil traversability probability is also proposed. The validity of the proposed method is verified by computer simulations.

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  • Tele-driving system with command data compensation for long-range and wide-area planetary surface explore mission Reviewed

    Y Kunii, K Tada, Y Kuroda, T Kubota

    IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4   102 - 107   2001

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    In this paper, we discuss tele-driving method for a long driving of a lunar rover. An operator uses virtual world simulator to make command path. The virtual environment of this simulator is constructed with measurement data from a rover on the moon.
    We have, however, a communication delay between the earth and the moon. So, there is the difference between old map data which operator used for path planning and new data, which a rover is tracking on. The operator's path command has less reliability to avoid obstacles and to reach the goal. Therefore, to make high reliability of operator's command, we propose Command-Data Compensation (CDC), which compensates this difference as the distortion of the environmental map.

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  • Lunar exploration rover: Micro5 Reviewed

    T Kubota, Y Kuroda, Y Kunii, Nakatani, I

    ADVANCED ROBOTICS   14 ( 5 )   443 - 444   2000

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  • Communication learning for cooperation among autonomous robots Reviewed

    Miho Hoshino, Hajime Asama, Kuniaki Kawabata, Yasuharu Kunii, Isao Endo

    IECON Proceedings (Industrial Electronics Conference)   1   2111 - 2116   2000

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE Computer Society  

    Communication among the robots is necessary for autonomous robots to execute tasks cooperatively. Previous researches related to cooperative behavior among the robots have largely depended on a predefind action or communication system.. However, it is difficult to set a fixed system, and more difficult for the agents to adapt to novel situations or tasks in dynamic environment. Recently, against these conventional fixed systems, new systems such as emergence scheme are proposed. In these systems, agents requires to understand the environment through experiences as interacting with the environment, and adapt to it. In this paper, we describe the method of how the robots can lean appropriate actions includeing communication to adapt the environment without giving a fixed behavior or communication system precedently. We implemented some simulations of cooperative task, verified availability.

    DOI: 10.1109/IECON.2000.972602

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  • A low-cost real-time stereo vision system for looking at people Reviewed

    G Appenzeller, Y Kunii, H Hashimoto

    ISIE '97 - PROCEEDINGS OF THE IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS, VOLS 1-3   767 - 772   1997

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    Real-time computer vision systems that observe the actions of people have received increasing attention in the last years as they are important for a broad range of applications. Examples are intelligent man-machine interfaces or intelligent rooms that have the capability to understand the actions of their inhabitants. In this paper we present the design of a stereo vision system for the precise and robust real time tracking of human hands and heads that unlike previous systems uses low-cost industry standard components. The system uses color and motion information to find the human. Using previously calibrated cameras the 3D positions of hands and head are calculated. Because of its client-server architecture the system is scalable to an arbitrary number of cameras and application processes. Experimental results for the performance of the system are given.

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  • 静電ポテンシャル法及びSliding Modeを用いた多自由度マニピュレータの障害物回避制御 Reviewed

    橋本秀紀, 國井康晴, 原島文雄, V.I.Utkin, S.V.Drakunov

    日本ロボット学会誌   11 ( 8 )   116 - 124   1993.1

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Books

  • 知の創成―身体性認知科学への招待

    石黒章夫, 細田耕, 小林宏( Role: Joint translator)

    共立出版  1999.9 

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MISC

  • 移動ロボットのための複数情報を組み合わせた追跡対象を特定する手法の提案

    篠田祥吾, 坂本康輔, 國井康晴

    日本ロボット学会学術講演会予稿集(CD-ROM)   40th   2022

  • An Optimization of Generation Process of Saliency Map with Hue Features for Singular Object Detection in Lunar Environment

    峰岸理樹, 坂本康輔, 前田孝雄, 國井康晴, 吉光徹雄

    宇宙科学技術連合講演会講演集(CD-ROM)   66th   2022

  • 群ロボットの存在領域制御のための発光周波数解析による群中心マーカ認識のロバスト化及び高速化

    塚本翔, 泉清久, 前田孝雄, 坂本康輔, 國井康晴, 戸田武

    日本ロボット学会学術講演会予稿集(CD-ROM)   40th   2022

  • 群誘導における衝突ストレスを用いた確率的な障害物回避アルゴリズムの検討

    安藤拓眞, 坂本康輔, 國井康晴, 前田孝雄, 宮口幹太

    日本ロボット学会学術講演会予稿集(CD-ROM)   40th   2022

  • Development of small deployable payload installable to SLIM lunar landing mission

    吉光徹雄, 大槻真嗣, 前田孝雄, 吉川健人, 國井康晴, 冨木淳史, 宇佐美尚人, 澤田弘崇, 平野大地, 須藤真琢

    宇宙科学技術連合講演会講演集(CD-ROM)   65th   2021

  • Probabilistic Existence Density Control of Swarm Robots forWide-Area Distributed Exploration

    佐藤冬唯, 松元隆磨, 國井康晴, 前田孝雄, 加藤裕基, 戸田武

    ロボティクスシンポジア予稿集   26th (CD-ROM)   2021

  • 跳躍移動機構における脚の伸張軌道が飛翔結果に及ぼす影響

    峰岸理樹, 前田孝雄, 坂本康輔, 國井康晴

    日本ロボット学会学術講演会予稿集(CD-ROM)   39th   2021

  • Introduction of the Small Surface Probe for SLIM

    前田孝雄, 吉川健人, 大槻真嗣, 吉光徹雄, 國井康晴, 冨木淳史, 澤田弘崇, 平野大地, 須藤真琢, 久保田孝

    宇宙科学技術連合講演会講演集(CD-ROM)   64th   2020

  • Experimental Evaluation of Area Cover Performance for Probability-based Exploration Method using Small Swarming Robots

    松元隆磨, 佐藤冬唯, 國井康晴, 前田孝雄, 神山和人, 宮口幹太, 戸田武, 関光雄

    宇宙科学技術連合講演会講演集(CD-ROM)   64th   2020

  • Evalution of Traversability for Rover Suspention with C.G and wheelbase Control Mechanism on Step Transition

    馬場将人, 小池貴士, 前田孝雄, 國井康晴

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2020   2020

  • Improving of Jump Efficiency on Regolith surface by jumping Robot with Linked Mechanism

    服部晃玖, 前田孝雄, 國井康晴

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2020   2020

  • Lunar/Planetary Surface Exploration by Multiple Rovers with Stochastic Area Control and its Ground Application

    前田孝雄, 國井康晴, 佐藤冬唯, 松元隆磨, 神山和人, 宮口幹太, 戸田武, 関光雄

    宇宙科学技術連合講演会講演集(CD-ROM)   63rd   2019

  • 熱対流に起因する大気状態を考慮した擬似空域構成の検討

    豊田一生, 前田孝雄, 國井康晴

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   20th   2019

  • 不整地探査用小型クローラにおける走行性能の調査-はね形状と走行速度の関係-

    足立遼, 藤原杏実, 山田泰之, 風間祐人, 國井康晴, 前田孝雄, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2019   2019

  • グリッパ型サスペンションの提案及び段差乗り越え能力の検証

    小池貴士, 國井康晴, 前田孝雄

    日本ロボット学会学術講演会予稿集(CD-ROM)   37th   2019

  • ファジィを用いた制御パラメータ決定による超音波モータの特性変化を考慮した制御方法の検討

    水原宏泰, 國井康晴, 前田孝雄

    日本ロボット学会学術講演会予稿集(CD-ROM)   37th   2019

  • 月面移動探査ローバLEVの開発

    大槻真嗣, 前田孝雄, 吉川健人, 吉光徹雄, 國井康晴, 平野大地, 須藤真琢, 澤田弘崇, 久保田孝

    日本ロボット学会学術講演会予稿集(CD-ROM)   37th   2019

  • Introduction of the Small Surface Probe for SLIM and Current Status

    前田孝雄, 吉光徹雄, 大槻真嗣, 吉川健人, 國井康晴, 冨木淳史, 澤田弘崇, 平野大地, 須藤真琢, 久保田孝

    宇宙科学技術連合講演会講演集(CD-ROM)   63rd   2019

  • 屋内蓄積情報からの重み付きNewman法を利用した関連家電の割出しの可能性

    中村健一, 中田達也, 國井康晴, 前田孝雄

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2018   2018

  • 反復的重複部推定を伴うスキャンマッチングにおける位置合わせ時の停留状態解析及びその回復

    山越銘, 國井康晴

    ロボティクスシンポジア予稿集   23rd   2018

  • Small deployable payload proposed installable for SLIM lunar landing mission

    吉光徹雄, 大槻真嗣, 吉川健人, 前田孝雄, 國井康晴, 冨木淳史

    宇宙科学技術連合講演会講演集(CD-ROM)   62nd   2018

  • 指示軌道への追従性評価時の走行リスク曲線間同期のための特徴パラメータの検討

    宮本衛, 國井康晴

    ロボティクスシンポジア予稿集   23rd   2018

  • Networked Module Type Software Architecture for Tele-operator, and Dynamic Restructure of Task Flow Based on Operating Dependence Analysis

    國井康晴, 中村健一, 星野公志, 前田孝雄

    計測自動制御学会論文集   54 ( 5 )   2018

  • 小型ホッピングローバのための跳躍機構と移動戦略の検討

    前田孝雄, 國井康晴, 新通光太郎, 大槻真嗣, 吉川健人, 吉光徹雄

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2017   2017

  • 不整地走行性能向上のための駆動力による重心移動を用いた姿勢制御の実験的検証

    橋本直樹, 前田孝雄, 國井康晴

    日本機械学会運動と振動の制御シンポジウム論文集(CD-ROM)   15th   2017

  • 惑星探査のための軟弱地盤跳躍移動機構に関する設計研究

    吉川健人, 吉光徹雄, 大槻真嗣, 前田孝雄, 國井康晴

    日本機械学会運動と振動の制御シンポジウム論文集(CD-ROM)   15th   2017

  • フォトダイオードを用いた光源方向推定システムの検討

    國井康晴, 喜田大貴, 前田孝雄, 牛島正隆

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2017   2017

  • 最急降下法による動作依存度解析を用いたモジュールの動的配置

    中村健一, 前川剛平, 國井康晴, 前田孝雄

    ロボティクスシンポジア予稿集   22nd   2017

  • Small Hopping Rover for Exploration on Celestial Body with Gravity

    前田孝雄, 大槻真嗣, 吉川健人, 吉光徹雄, 國井康晴, 久保田孝

    宇宙科学技術連合講演会講演集(CD-ROM)   61st   2017

  • 降下地点表面での非対称なエネルギ散逸を用いた飛翔体の着陸時転倒抑制

    前田孝雄, 大槻真嗣, 國井康晴

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   18th   2017

  • 粒状媒質上における跳躍メカニズムのばね定数と跳躍効率の関係

    新通光太郎, 前田孝雄, 國井康晴

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   18th   2017

  • 小型ホッピングローバのための照度を用いた太陽方向及び姿勢推定法の検討

    國井康晴, 牛島正隆, 吉光徹雄, 大槻真嗣

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2016   2016

  • 月面探査機に向けた土質調査を行なう超小型ローバ

    吉光徹雄, 大槻真嗣, 吉川健人, 國井康晴, 前田孝雄, 石上玄也, 小林泰三, 尾崎吾伸

    日本惑星科学会秋季講演会予稿集(Web)   2016   2016

  • Micro Gridの安定した電力供給のための免疫系ネットワークを用いた分散型電源の自律的行動制御

    山本勇気, 國井康晴, 水上憲明

    ロボティクスシンポジア予稿集   21st   2016

  • 惑星探査ロボットを用いた光源方向推定による影の投影と単眼視による三次元形状計測

    國井康晴, 柳澤哲平, 水上憲明

    ロボティクスシンポジア予稿集   21st   2016

  • 遠隔誘導時の走行軌道補正における写像解析に関する研究

    國井康晴, 宇津野有貴

    ロボティクスシンポジア予稿集   21st   2016

  • 跳躍ローバへの搭載を考慮した照度センサを用いた太陽方向推定

    牛島正隆, 國井康晴, 前田孝雄, 吉光徹雄

    日本ロボット学会学術講演会予稿集(CD-ROM)   34th   2016

  • 月惑星着陸探査のための小型ホッピングローバの提案

    大槻真嗣, 吉光徹雄, 前田孝雄, 吉川健人, 國井康晴, 石上玄也, 久保田孝

    日本ロボット学会学術講演会予稿集(CD-ROM)   34th   2016

  • ジャイロ効果を用いた空間粘性発生装置の検討

    俣野公亮, 國井康晴, 前田孝雄

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   17th   2016

  • 遠隔誘導時の走行軌道評価におけるリスク曲線遷移比較のための動的計画法による環境情報変化への対応

    國井康晴, 宮本衛

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2016   2016

  • 遠隔誘導機能を利用したモジュール型アーキテクチャの障害対応性評価

    國井康晴, 水上憲明, 前川剛平, 松井芳樹, 宇津野有貴

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2015   2015

  • Proposal of Lugged Wheel Model considering Shear Deformation Modulus and Verification of the Validity by Simulation

    水上憲明, 飯塚浩二郎, 國井康晴

    テラメカニックス   ( 35 )   2015

  • 車輪走行実験に基づくラグ車輪モデルの精緻化に関する基礎検討

    水上憲明, 飯塚浩二郎, 中村壮亮, 國井康晴

    日本ロボット学会学術講演会予稿集(CD-ROM)   33rd   2015

  • 特徴領域の長期安定追従のための統計的存在確率による探索範囲制御及び不整地における基準平面導出に関する研究

    岡部裕太, 木村祐也, 江川直孝, 國井康晴

    日本機械学会運動と振動の制御シンポジウム論文集(CD-ROM)   14th   2015

  • 軟弱地盤を走行するラグ車輪の走行性能に関する実験的検討

    水上憲明, 飯塚浩二郎, 中村壮亮, 國井康晴

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2015   2015

  • 軟弱地盤における探査ローバの走行性能向上のためのラグ形状選定方法確立に向けたラグ車輪モデル構築の検討

    水上憲明, 飯塚浩二郎, 國井康晴

    日本ロボット学会学術講演会予稿集(CD-ROM)   32nd   2014

  • Experimental Study of Wheel Contact Model in the Process of Wheel Sinking

    水上憲明, 石上玄也, 國井康晴, 吉光徹雄, 久保田孝

    テラメカニックス   ( 34 )   2014

  • A04 Path Planning with Command Data Compensation for Long Traversability

    KUNII Yasuharu, MAEHARA Hiroyuki

    Dynamics and Design Conference   2013 ( 13 )   "A04 - 1"-"A04-6"   2013.8

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    Mobile robot have to reach at a goal position without collisions against an obstacle. When robot travel in unknown terrain autonomously, it observe geometric information about the surrounding terrain, evaluate a model of the local terrain, search a safety path, and drive. This process is repeated until the goal is reached, a prescribed timeout period expires, or a fault is encountered. However, if generated path which should be followed at once becomes long, gap arises between path and actual environment which are caused by self localization delay, measurement error or wheel slip. This gap will increase a possibility of collision with obstacle. To prevent collision, we have proposed Tele-driving method with Command Data Compensation (CDC), for a long driving. The CDC is a kind of mapping to compensate a distortion of a space, and compensates path to the latest environmental data measured by a rover. In this paper, we discuss combination with proposed Command Data Compensation method and autonomous path planning algorithms.

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  • LRFを用いた3次元地図生成における領域分割マッチングによる誤差低減

    國井康晴, 橋本直樹

    日本機械学会運動と振動の制御シンポジウム講演論文集   13th   2013

  • USMマニピュレータのための時分割運動制御システムの構築

    國井康晴, 高橋勇貴, 布施理

    日本ロボット学会学術講演会予稿集(CD-ROM)   31st   2013

  • 安定的画像追従のための純粋視知覚及び注意刺激再現性に基づく自動特徴領域選定

    福田直樹, 國井康晴

    ロボティクスシンポジア予稿集   18th   2013

  • 惑星探査ローバのLandmark自動選定のためのSaliency Mapを用いた候補領域抽出

    江川直孝, 福田直樹, 國井康晴

    宇宙科学技術連合講演会講演集(CD-ROM)   57th   2013

  • 2A2-K05 Self Calibration by Validation Estimation of Optical Axes for Stereo Camera on Mobile Robot(Robot Vision(1))

    FUKUDA, KUNII Yasuharu

    2012   "2A2 - K05(1)"-"2A2-K05(4)"   2012.5

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    To measure stereo image, cameras must be mounted on a robot in parallel. But cameras may get misalignment by external force during its travel. In this situation, cameras must have miserable measurement results. However if the robot is in an uninhabited area for human, it is difficult to re-calibrate itself. In this paper, we proposed self camera calibration method by estimating movement of camera lens axis, and discussed about its estimation, and reduction of image processing noise.

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  • 研究速報:自然及び獲得免疫を利用した交通システムの危険度抑制システムの検討

    生産研究   2012.2

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  • Unscented Kalman Filterによる計測誤差推定と反復重複部推定の精度向上

    上原一樹, 國井康晴

    日本ロボット学会学術講演会予稿集(CD-ROM)   30th   2012

  • 影投影を用いた多計測処理系による計測領域補間時の計測パラメータ調整

    森田秀明, 國井康晴

    日本ロボット学会学術講演会予稿集(CD-ROM)   30th   2012

  • 自然及び獲得免疫を利用した危険抑制システムにおける車郡内車両の行動分析

    國井康晴, 菊池亮平, 漆間大佑, 大口敬

    日本ロボット学会学術講演会予稿集(CD-ROM)   30th   2012

  • 遠隔操作システムのための三層構造型アーキテクチャの可変性及び負荷分散性に対する評価

    星野公志, 國井康晴

    日本ロボット学会学術講演会予稿集(CD-ROM)   30th   2012

  • 遠隔操縦システムにおける走行軌道補正の成否判定とロバスト化

    植草友貴, 國井康晴

    ロボティクスシンポジア予稿集   17th   2012

  • 1A2-K14 The position estimation after frame out and improving robustness of landmark tracking using VisualOdometry and GLCM(Space Robotics and Mecahtoronics)

    SHIMADA Akinori, KUNII Yasuharu

    2011   "1A2 - K14(1)"-"1A2-K14(4)"   2011.5

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    The mobile robot is using landmark its the position, in order to acquire the environmental data efficiently. To use landmark effevtively for other systems, it is important that robustness tracking of landmarks. However those system has much calculation cost and it cannot tracking after the frame out. In addition the case of initial landmark extraction, also the condition is necessary for choosing time cost and the object which is easy to tracking securely. In this paper,proposed landmark tracking method, which is using self position which estimated Visual Odometry, and auto extraction system of initial landmark.

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  • 1A2-K13 Study on New Actuators for Lunar or Planetary Exploration Robots(Space Robotics and Mecahtoronics)

    KUBOTA Takashi, TADA Kouhei, AOKI Takanori, KUNII Yasuharu

    2011   "1A2 - K13(1)"-"1A2-K13(4)"   2011.5

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    This paper studies the use of ultra-sonic motors in application for lunar or planetary exploration. Space missions require a light and small actuator with low power consumption. Ultra-sonic motor is one of promising candidates for space use. Some space environment tests are conducted for investigating the performance of USM.

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  • 1A2-K16 Tele-driving System with Command Path Compensation Algorithm of improve robustness for measurement error(Space Robotics and Mecahtoronics)

    UEKUSA Tomotaka, KUNII Yasuharu

    2011   "1A2 - K16(1)"-"1A2-K16(3)"   2011.5

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    When the planetary exploration rover is operated actually, there are human errors and problems of communication time delay and measurement error. These problems debase efficiency of the remote control and safety of autonomous. So we have proposed tele-driving system with command path compensation algorithm. In this paper, Command Path Compensation algorithm is introduced, to clarify the issues for measurement error by simulation. To solve the issues, we proposed landmark measurement system applying Particle Filter, and we done implementation and measurement experiment. In addition, we compared conventional system with new system by simulation to verify the effectiveness of new system.

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  • 研究速報:錯綜区間における免疫ネットワークを用いた車両間協調システムの有効性評価

    生産研究   2011.2

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  • Preface

    Takashi Kubota, Yasuharu Kunii

    ADVANCED ROBOTICS   24 ( 8-9 )   1079 - 1080   2010

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    DOI: 10.1163/016918610X501237

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  • Preface

    Takashi Kubota, Yasuharu Kunii

    ADVANCED ROBOTICS   24 ( 3 )   299 - 301   2010

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    DOI: 10.1163/016918609X12614833474755

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  • 解説記事:宇宙ロボット

    2009.11

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  • Image Processing based Navigation System on BeetleOne-08 on Streets

    浮田光樹, 青木貴則, 青山洋士, 金阿彌惇也, 中野寿男, 森谷浩太, 國井康晴

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2009   2009

  • Accuracy Improvement of Global MAP Acquisition System by Iterating Overlap-part Estimation and Feature Point Estimation on Outdoor Mobile Robot

    下川裕亮, 金阿彌惇也, 國井康晴

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2009   2009

  • Risk Evaluation of Moving Obstacles for Driving Safety Support Systems

    中野寿男, 結城知彦, 鈴木高宏, 國井康晴

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2009   2009

  • Development of USM Drive Unit and Applications on Rover

    篠塚貴宏, 新堀拓也, 鈴木太郎, 國井康晴

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2009   2009

  • 解説記事:工学系アカデミック・ロードマップ − 宇宙ロボット

    2008.10

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  • 解説記事:工学系アカデミック・ロードマップ―2050年の社会を見据えて―

    2008.10

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  • Japanese Rover Testbed for Lunar Exploration Reviewed

    T.Kubota, Y.Kunii, Y.Kuroda, M.Otsuki

    Proc. of iSAIRAS2008   77   2008.2

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  • Simultaneous Control for Position and Vibration of Space Robotic Manipulator with Lightweight Flexible Arm Reviewed

    M.Otsuki, T.Kubota, T.Okada, Y.Kunii

    Proc. of iSAIRAS2008   10   2008.2

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  • Design scheme on Wheeled Forms of Exploration Rover in consideration of Mechanism between Wheels and Soil Reviewed

    K.Iizuka, Y.Kuroda, Y.Kunii, T.Kubota

    Proc. of iSAIRAS2008   93   2008.2

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  • System Design of Micro6 Rover for Longer Range Scientific Exploration Reviewed

    Y.Kuroda, T.Ssaitoh, Y.Kunii, T.Kubota

    Proc. of iSAIRAS2008   97   2008.2

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  • Tele Sampling System and Design of Dual Ultrasonic Driven Manipulators, for Lunar Surface Exploration Rover: Micro-6 Reviewed

    Y.Kunii, Y.Kuroda, T.Kubota

    Proc. of iSAIRAS2008   144   2008.2

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  • Japanese Rover Testbed for Lunar Exploration

    Int. Symposium on Artificial Intelligence, Robotics and Automation in Space   77   2008

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  • Development of Locomotion Systems for Lunar Rovers on Rough Terrains

    飯塚浩二郎, 石塚純, 國井康晴, 黒田洋司, 久保田孝

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2008   2008

  • Landmark Tracking System for Mobile system and its application

    鈴木雅彦, 小笠原将, 鈴木太郎, 國井康晴

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2008   2008

  • Construction of MAP Acquisition System for Outdoor Mobile Robot:Beetle-One

    下川裕亮, 國井康晴

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2008   2008

  • 移動体における特徴地形のロバストな抽出及び追従

    第13回ロボティクスシンポジア予稿集   439 - 444   2008

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  • 軟弱地盤走行を考慮した月面探査ローバ用走行システムの開発指針

    第13回ロボティクスシンポジア予稿集   277 - 282   2008

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  • 野外活動ロボットにおける走行軌道のロバスト性評価手法の検討

    第13回ロボティクスシンポジア予稿集   283 - 285   2008

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  • Simultaneous Control for Position and Vibration of Space Robotic Manipulator with Lightweight Flexible Arm

    Int. Symposium on Artificial Intelligence, Robotics and Automation in Space   10   2008

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  • Design scheme on Wheeled Forms of Exploration Rover in consideration of Mechanism between Wheels and Soil

    Int. Symposium on Artificial Intelligence, Robotics and Automation in Space   93   2008

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  • System Design of Micro6 Rover for Longer Range Scientific Exploration

    Int. Symposium on Artificial Intelligence, Robotics and Automation in Space   97   2008

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  • Tele Sampling System and Design of Dual Ultrasonic Driven Manipulators, for Lunar Surface Explorati on Rover: Micro-6

    Int. Symposium on Artificial Intelligence, Robotics and Automation in Space   144   2008

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  • The discussion and construction of a data sharing system in the remote robot system using RTM

    小島隆史, 今井清隆, 篠塚貴宏, 國井康晴

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2008   2008

  • 惑星探査ローバにおける自律機能の階層化と指令軌道の補正

    國井康晴, 久保田孝

    アストロダイナミクスシンポジウム講演後刷り集(Web)   17th   2008

  • 車輪と砂の相互関係を考慮した探査ローバ用車輪の設計指針

    飯塚浩二郎, 黒田洋司, 國井康晴, 久保田孝

    アストロダイナミクスシンポジウム講演後刷り集(Web)   17th   2008

  • Intelligent Tele-Drive by Path Compensation for Long Range Exploration Rover Reviewed

    Y.Kunii, T.Kubota

    Proc. of Guidance, Navigation and Control Conference   AIAA 2007-6606   2007.8

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  • Intelligent Tele-Drive by Path Compensation for Long Range Exploration Rover Reviewed

    Y.Kunii, T.Kubota

    Proc. of Guidance, Navigation and Control Conference   AIAA 2007-6606   2007.8

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  • 研究速報:免疫ネットワークを用いた自律分散型協調回避システムの評価

    生産研究   2A1-H04   2007.6

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  • Evaluation of self-organized traffic accident avoidance system by using immune network

    YUKI Tomohiko, KONDO Keisuke, SUZUKI Takahiro, KUNII Yasuharu

    Monthly journal of the Institute of Industrial Science, University of Tokyo   59 ( 3 )   64 - 67   2007.5

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    DOI: 10.11188/seisankenkyu.59.210

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  • Surface Exploration Rover and Guidance Scheme for Lunar Robotics Exploration Reviewed

    T.Kubota, M.Ohtsuki, Y.Kunii, Y.Kuroda

    Proc. of ISCOPS2007   C8-5   2007.5

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  • Mechanical Design on Mole Typed Robot for Subsurface Exploration Reviewed

    T.Kubota, K.Watanabe, K.Nagaoka, E.So, T.Nakamura, Y.Kunii, I.Nakatani

    Proc. of ICRA2007   1 ( 1 )   4384 - 4386   2007.4

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  • 報告書:ロボット分野に関するアカデミック・ロードマップ

    内山隆

    経済産業省 平成 18 年度技術戦略マップローリング事業報告書   2007.3

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  • Mechanical Design on Mole Typed Robot for Subsurface Exploration

    Int. Conf. on Robotics and Automation, Workshop on Robotics in Challenging and Hazardous Environment   4384 - 4386   2007

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  • Wheeled robot with movable center of mass for traversing over rough terrain

    Sousuke Nakamura, Michele Faragalli, Noriaki Mizukarni, Ichiro Nakatani, Yasuharu. Kunii, Takashi Kubota

    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9   1234 - 1239   2007

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    Planetary exploration requires rovers to perform a variety of challenging tasks autonomously. In order to complete relevant scientific mission, these rovers need to overcome difficulty for rough terrain traversing by "online methods". This paper discusses an idea that utilizes a rover mobile center of mass in order to aid in traversing rough terrain. According to vehicle pitch angle and contact angles, the rover recalculates the optimal position for the center of mass to minimize the indicator defined by two factors : the wheel driving force over the wheel normal force (adhesion coefficient) and tip-over stability angle (stability coefficient). Two innovative approaches are developed in this paper. The first one is that the authors defines easily comprehensible two factors, adhesion and stability coefficients for traversability indicator and proposes a method to calculate optimal center of mass position. The second one is that in the case of four-wheels drive, the relation between the front wheel and the rear wheel adhesion coefficient is easily solved and the best case for giving the driving forces can be solved as force making the front and the rear wheel adhesion coefficient equal. The authors call this "optimal force distribution method". Finally, this paper shows some simulation results for traversing rough terrain that compute the optimal center of mass while traversing the terrain.

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  • RTミドルウェアを利用したモジュールの階層化構成による遠隔移動ロボットのシステム検討及び開発

    第12回ロボティクスシンポジア予稿集   498 - 503   2007

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  • 反復重複部推定による広域マップの生成及びモンテカルロ法による精度評価と向上

    第12回ロボティクスシンポジア予稿集   486 - 491   2007

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  • 自然地形計測のための人の視覚システムに基づく注目領域抽出及び特徴領域選定に関する研究

    第12回ロボティクスシンポジア予稿集   436 - 441   2007

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  • ローバの視覚誘導移動制御における背景変化へのロバスト性向上

    第12回ロボティクスシンポジア予稿集   138 - 143   2007

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  • 特徴ランドマーク追従と位置計測による指示軌道の実走行環境適応

    第25回日本ロボット学会学術講演会予稿集   2I27   2007

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  • Study on Effect of Lugs installed on Wheels for Lunar Exploration Robot

    飯塚浩二郎, 水上憲明, 大槻真嗣, 黒田洋司, 國井康晴, 久保田孝

    日本ロボット学会学術講演会予稿集(CD-ROM)   25th   2I24   2007

  • Acquisition of Landmark for Command Path Compensation Algorithm

    鈴木雅彦, 宮崎学, 本宮英育, 仲大輔, 國井康晴

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2007   2A2-M08   2007

  • Study on Wheel Design for Lunar Exploration Robot

    飯塚浩二郎, 水上憲明, 大槻真嗣, 國井康晴, 黒田洋司, 久保田孝

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2007   2A2-M07   2007

  • Tensor product transformation based friction model

    Y. Kunii, B. Solvang, G. Sziebig, P. Korondi

    INES 2007: 11TH INTERNATIONAL CONFERENCE ON INTELLIGENT ENGINEERING SYSTEMS, PROCEEDINGS   259 - +   2007

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    Friction is a very old and universal issue in all mechanical systems. Since friction is non-linear, it is an ever challenging problem. Several empirical nonlinear friction models have been proposed in the technical literature. This paper does not propose any new model but it presents a new, tensor product (TP) based representation of the existing friction models which is suitable for control design. The TP model transformation is a relatively new method for transforming certain nonlinear models into polytopic model form. The main advantage of the TP model transformation is that the most of the linear state feedback design methods including Linear Matrix Inequality (LMI) can immediately applied to the resulting polytopic models to yield controllers with guaranteed performance.

    DOI: 10.1109/INES.2007.4283708

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  • Tensor product transformation based friction model

    Y. Kunii, B. Solvang, G. Sziebig, P. Korondi

    INES 2007: 11TH INTERNATIONAL CONFERENCE ON INTELLIGENT ENGINEERING SYSTEMS, PROCEEDINGS   259 - +   2007

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    Language:English   Publisher:IEEE  

    Friction is a very old and universal issue in all mechanical systems. Since friction is non-linear, it is an ever challenging problem. Several empirical nonlinear friction models have been proposed in the technical literature. This paper does not propose any new model but it presents a new, tensor product (TP) based representation of the existing friction models which is suitable for control design. The TP model transformation is a relatively new method for transforming certain nonlinear models into polytopic model form. The main advantage of the TP model transformation is that the most of the linear state feedback design methods including Linear Matrix Inequality (LMI) can immediately applied to the resulting polytopic models to yield controllers with guaranteed performance.

    DOI: 10.1109/INES.2007.4283708

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  • Wheeled robot with movable center of mass for traversing over rough terrain

    Sousuke Nakamura, Michele Faragalli, Noriaki Mizukarni, Ichiro Nakatani, Yasuharu. Kunii, Takashi Kubota

    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9   1234 - 1239   2007

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    Planetary exploration requires rovers to perform a variety of challenging tasks autonomously. In order to complete relevant scientific mission, these rovers need to overcome difficulty for rough terrain traversing by "online methods". This paper discusses an idea that utilizes a rover mobile center of mass in order to aid in traversing rough terrain. According to vehicle pitch angle and contact angles, the rover recalculates the optimal position for the center of mass to minimize the indicator defined by two factors : the wheel driving force over the wheel normal force (adhesion coefficient) and tip-over stability angle (stability coefficient). Two innovative approaches are developed in this paper. The first one is that the authors defines easily comprehensible two factors, adhesion and stability coefficients for traversability indicator and proposes a method to calculate optimal center of mass position. The second one is that in the case of four-wheels drive, the relation between the front wheel and the rear wheel adhesion coefficient is easily solved and the best case for giving the driving forces can be solved as force making the front and the rear wheel adhesion coefficient equal. The authors call this "optimal force distribution method". Finally, this paper shows some simulation results for traversing rough terrain that compute the optimal center of mass while traversing the terrain.

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  • Surface Exploration Rover and Guidance Scheme for Lunar Robotics Exploration

    11th International Space Conference of Pacific-basin Societies - ISCOPS   C8-5   2007

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  • Human Machine Cooperative Tele-Drive by Path Compensation and Evaluation of its Traversability Reviewed

    Y.Kunii, M.Miyazaki, M.Suzuki

    Proc. of ICARA2006   1 ( 1 )   359 - 364   2006.12

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  • Human Machine Cooperative Tele-Drive by Path Compensation and Evaluation of its Traversability

    3rd International Conference on Autonomous Robots and Agents   359 - 364   2006

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  • ステレオ実時間計測のための検索回数低減及び精度向上

    第24回日本ロボット学会学術講演会予稿集   1B24   2006

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  • 月惑星表面物質その場分析用蛍光X線2次元元素マッパーの基礎開発

    岡田達明, 加藤學, 白井慶, 荒井武彦, 小川和津, 國井康晴

    搭載機器基礎開発実験経費・宇宙科学推進戦略的開発研究経費実績報告書   2004   2006

  • サンプル採取のための影を利用した高精度ステレオ計測

    ロボティクスシンポジア   501 - 506   2006

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  • 時分割運動制御を適用したマニピュレータの駆動関節切り替え時間の最適化

    ロボティクスシンポジア   568 - 573   2006

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  • Human machine cooperative tele-drive by path compensation for long range traversability

    Yasuharu Kunii, Takashi Kubota

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12   4278 - +   2006

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    Language:English   Publisher:IEEE  

    In operation environment with communication time delay, it's difficult to compose a closed loop control structure between a master and a slave system, and some scheme to achieve the stability is thus necessary. In this paper, we discuss and evaluate our proposed human machine cooperative tele-drive system that consists of global and local path-planning, for long range traversability. The operator can command any desired path as a sequence of waypoints by using a 3D terrain model measured as DEM by the on-board sensor of a rover. The data is transmitted to the ground and evaluated to obtain a dangerousness map. To cope with an unknown obstacle a conventional autonomous path-planning algorithm is applied between each waypoint. In addition, a rover is continuously updating its knowledge about the environment. By continuously recalculating the difference between the original terrain data used for initial path generation on the ground and the most recent data acquired by the rover, a waypoint compensation can be achieved. Therefore, we have to compensate waypoints by using the latest measurement data which can be assumed more reliable than previous data, for corresponding to the difference automatically. Here, the difference is assumed as the distortion between each data set, and compensated by using a distortion compensation matrix which is the mapping between the old and new terrain data sets. Simulation and experimental results and its evaluations by using the rover test-bed are mentioned in the paper.

    DOI: 10.1109/IROS.2006.281957

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  • Human machine cooperative tele-drive by path compensation for long range traversability

    Yasuharu Kunii, Takashi Kubota

    IEEE International Conference on Intelligent Robots and Systems   4278 - 4283   2006

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    In operation environment with communication time delay, it's difficult to compose a closed loop control structure between a master and a slave system, and some scheme to achieve the stability is thus necessary. In this paper, we discuss and evaluate our proposed human machine cooperative tele-drive system that consists of global and local path-planning, for long range traversability. The operator can command any desired path as a sequence of waypoints by using a 3D terrain model measured as DEM by the on-board sensor of a rover. The data is transmitted to the ground and evaluated to obtain a dangerousness map. To cope with an unknown obstacle, a conventional autonomous path-planning algorithm is applied between each waypoint. In addition, a rover is continuously updating its knowledge about the environment. By continuously recalculating the difference between the original terrain data used for initial path generation on the ground and the most recent data acquired by the rover, a waypoint compensation can be achieved. Therefore, we have to compensate waypoints by using the latest measurement data which can be assumed more reliable than previous data, for corresponding to the difference automatically. Here, the difference is assumed as the distortion between each data set, and compensated by using a distortion compensation matrix which is the mapping between the old and new terrain data sets. Simulation and experimental results and its evaluations by using the rover test-bed are mentioned in the paper. © 2006 IEEE.

    DOI: 10.1109/IROS.2006.281957

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  • Lander and rover exploration on the lunar surface: A study for SELENE-B mission

    T Okada, S Sasaki, T Sugihara, K Saiki, H Akiyama, M Ohtake, H Takeda, N Hasebe, M Kobayashi, J Haruyama, K Shirai, M Kato, T Kubota, Y Kunii, Y Kuroda

    MOON AND NEAR-EARTH OBJECTS   37 ( 1 )   88 - 92   2006

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    Language:English   Publisher:ELSEVIER SCIENCE BV  

    The SELENE-B, a lunar landing mission, has been studied in Japan, where a scientific investigation plan is proposed using a robotic rover and a static lander. The main theme to be investigated is to clarify the lunar origin and evolution, especially for early crustal formation process probably from the ancient magma ocean. The highest priority is placed on a direct in situ geology at a crater central peak, "a window to the interior", where subcrustal materials are exposed and directly accessed without drilling. As a preliminary study was introduced by Sasaki et al. [Sasaki, S., Kubota, T., Okada, T. et al, Scientific exploration of lunar surface using a rover in Japanse future lunar mission. Adv. Space Res. 30, 1921-1926, 2002.], the rover and lander are jointly used, where detailed analyses of the samples collected by the rover are conducted at the lander. Primary scientific instruments are a multi-band stereo imager, a gamma-ray spectrometer, and a sampling tool on the rover, and a multi-spectral telescopic imager, a sampling system, and a sample analysis package with an X-ray spectrometer/diffractometer, a multi-band microscope as well as a sample cleaning and grinding device on the lander. (C) 2005 COSPAR. Published by Elsevier Ltd. All rights reserved.

    DOI: 10.1016/j.asr.2005.05.097

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  • Lander and rover exploration on the lunar surface: A study for SELENE-B mission

    T Okada, S Sasaki, T Sugihara, K Saiki, H Akiyama, M Ohtake, H Takeda, N Hasebe, M Kobayashi, J Haruyama, K Shirai, M Kato, T Kubota, Y Kunii, Y Kuroda

    MOON AND NEAR-EARTH OBJECTS   37 ( 1 )   88 - 92   2006

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    Language:English   Publisher:ELSEVIER SCIENCE BV  

    The SELENE-B, a lunar landing mission, has been studied in Japan, where a scientific investigation plan is proposed using a robotic rover and a static lander. The main theme to be investigated is to clarify the lunar origin and evolution, especially for early crustal formation process probably from the ancient magma ocean. The highest priority is placed on a direct in situ geology at a crater central peak, "a window to the interior", where subcrustal materials are exposed and directly accessed without drilling. As a preliminary study was introduced by Sasaki et al. [Sasaki, S., Kubota, T., Okada, T. et al, Scientific exploration of lunar surface using a rover in Japanse future lunar mission. Adv. Space Res. 30, 1921-1926, 2002.], the rover and lander are jointly used, where detailed analyses of the samples collected by the rover are conducted at the lander. Primary scientific instruments are a multi-band stereo imager, a gamma-ray spectrometer, and a sampling tool on the rover, and a multi-spectral telescopic imager, a sampling system, and a sample analysis package with an X-ray spectrometer/diffractometer, a multi-band microscope as well as a sample cleaning and grinding device on the lander. (C) 2005 COSPAR. Published by Elsevier Ltd. All rights reserved.

    DOI: 10.1016/j.asr.2005.05.097

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  • Object tracking by Mean-shift Algorithm and Factorization for Tele-controlled mobile robot

    仲大輔, 國井康晴

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2006   2A1-C15   2006

  • RTミドルウェアを利用した遠隔移動ロボットシステムの構築

    ロボティクス・メカトロニクス講演会2006   1P1-C36   2006

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  • 砂地盤応力分布を考慮した月面探査用車輪型ロボットの車輪形状検討

    ロボティクス・メカトロニクス講演会2006   1P1-B16   2006

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  • Accuracy evaluation and improvement of Global Map generation Method by Iterating Overlap-part Estimation

    長谷川論明, 國井康晴

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2006   1A1-D19   2006

  • Study on Wheel of Exploration Robot on Sandy Terrain

    IEEE/RSJ Int. Conf. on Intelligent Robots and Systems   4272 - 4277   2006

  • Study on Wheel of Exploration Robot on Sandy Terrain

    IEEE/RSJ Int. Conf. on Intelligent Robots and Systems   4272 - 4277   2006

  • ネットワーク及びモジュール構成による遠隔移動ロボットシステムの検討

    第24回日本ロボット学会学術講演会予稿集   1D22   2006

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  • 反復重複部推定を用いた広域地形マップ生成手法の精度評価

    第50回宇宙科学技術連合講演会講演集   1858 - 1863   2006

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  • 軌道補正を用いた遠隔操縦方式のモンテカルロ法による性能評価

    第50回宇宙科学技術連合講演会講演集   1852 - 1857   2006

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  • Mean-shift を利用したターゲット追従による探査ローバの遠隔誘導精度の向上

    第50回宇宙科学技術連合講演会講演集   1846 - 1851   2006

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  • Japanese lunar robotics exploration by co-operation with lander and rover

    T Kubota, Y Kunii, Y Kuroda

    JOURNAL OF EARTH SYSTEM SCIENCE   114 ( 6 )   777 - 785   2005.12

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    Language:English   Publisher:INDIAN ACADEMY SCIENCES  

    Unmanned mobile robots for surface exploration of the Moon or planets have been extensively studied and developed. A lunar rover is expected to travel safely in a wide area and explore in detail. Japanese lunar robotics exploration is under study to conduct an unmanned geological survey in the vicinity of central peaks of impact craters for investigation of the sub-surface materials. This will give us the key information to study the lunar inner structure and understand the Moon's origin and evolution as well as to investigate the evolution of magma ocean and later igneous processes. To to carry out the geological exploration in the central peak, lander and rover co-operative exploration is proposed. The working group has been conducting feasibility study of advance technologies. This paper addresses an overview of lunar exploration with lander and rover and also enumerates future technologies to be established.
    The rover R&D group has developed an innovative science micro rover with a new mobility system and a lightweight manipulator. The design and implementation of a science rover for the near future lunar inissioris requiring long traverses arid scientific observations are described and some experimental results are presented.

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  • Japanese lunar robotics exploration by co-operation with lander and rover

    T Kubota, Y Kunii, Y Kuroda

    JOURNAL OF EARTH SYSTEM SCIENCE   114 ( 6 )   777 - 785   2005.12

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    Language:English   Publisher:INDIAN ACADEMY SCIENCES  

    Unmanned mobile robots for surface exploration of the Moon or planets have been extensively studied and developed. A lunar rover is expected to travel safely in a wide area and explore in detail. Japanese lunar robotics exploration is under study to conduct an unmanned geological survey in the vicinity of central peaks of impact craters for investigation of the sub-surface materials. This will give us the key information to study the lunar inner structure and understand the Moon's origin and evolution as well as to investigate the evolution of magma ocean and later igneous processes. To to carry out the geological exploration in the central peak, lander and rover co-operative exploration is proposed. The working group has been conducting feasibility study of advance technologies. This paper addresses an overview of lunar exploration with lander and rover and also enumerates future technologies to be established.
    The rover R&D group has developed an innovative science micro rover with a new mobility system and a lightweight manipulator. The design and implementation of a science rover for the near future lunar inissioris requiring long traverses arid scientific observations are described and some experimental results are presented.

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  • Japanese lunar robotics exploration by co-operation with lander and rover

    T Kubota, Y Kunii, Y Kuroda

    JOURNAL OF EARTH SYSTEM SCIENCE   114 ( 6 )   777 - 785   2005.12

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    Language:English   Publisher:INDIAN ACADEMY SCIENCES  

    Unmanned mobile robots for surface exploration of the Moon or planets have been extensively studied and developed. A lunar rover is expected to travel safely in a wide area and explore in detail. Japanese lunar robotics exploration is under study to conduct an unmanned geological survey in the vicinity of central peaks of impact craters for investigation of the sub-surface materials. This will give us the key information to study the lunar inner structure and understand the Moon's origin and evolution as well as to investigate the evolution of magma ocean and later igneous processes. To to carry out the geological exploration in the central peak, lander and rover co-operative exploration is proposed. The working group has been conducting feasibility study of advance technologies. This paper addresses an overview of lunar exploration with lander and rover and also enumerates future technologies to be established.
    The rover R&D group has developed an innovative science micro rover with a new mobility system and a lightweight manipulator. The design and implementation of a science rover for the near future lunar inissioris requiring long traverses arid scientific observations are described and some experimental results are presented.

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  • Shared Autonomy for Mobile RT Agent beyond Network Reviewed

    Y.Kunii, Y.Ishimaru, M.Miyazaki

    Proc. of URAI2005   2005.11

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  • Lunar Robotics Exploration by Cooperation with Lander and Micro Rovers Reviewed

    T.Kubota, Y.Kunii, Y.Kuroda, T.Yoshimitsu, T.Okada, M.Kato

    Proc. of Int. Conf. on Low-Cost Planetary Missions   1 ( 1 )   189 - 194   2005.10

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  • Human machine cooperative tele-driving system with command path compensation algorithm

    Y Kunii, M Moriyama, S Nagatsuka, Y Ishimaru

    2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1 AND 2   1275 - 1280   2005

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    Language:English   Publisher:IEEE  

    In operation environment with communication time delay, it's difficult to compose a closed loop control structure between a master and slave system, and then, some scheme to achieve the stability is necessary. In this paper, we discuss and evaluate our proposed human machine cooperative tele-drive system consisted of global and local path-planning, for a long range traversability. Operator can command any desired path as waypoint sequences, by using 3D terrain model which was measured as DEM by on-board sensor of a rover and then transmitted to the ground and evaluated with dangerousness. For corresponding to unknown obstacle, a conventional autonomous path-planning algorithm is applied between each waypoint. In addition, a rover is up-dating environment data set, and then it causes the difference between terrain data used for commanding of an operator and for traversing of a rover. Therefore, we have to compensate waypoints by using the latest measurement data which can be assumed more reliable than previous data, for corresponding to the difference automatically. Here, the difference is assumed as the distortion between each data set, and compensated by using a distortion compensation matrix which is the mapping between the old and new terrain data sets. Simulation and experimental results and its evaluations, by using the rover test-bed, are mentioned.

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  • Human machine cooperative tele-driving system with command path compensation algorithm

    Y Kunii, M Moriyama, S Nagatsuka, Y Ishimaru

    2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1 AND 2   1275 - 1280   2005

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    Language:English   Publisher:IEEE  

    In operation environment with communication time delay, it's difficult to compose a closed loop control structure between a master and slave system, and then, some scheme to achieve the stability is necessary. In this paper, we discuss and evaluate our proposed human machine cooperative tele-drive system consisted of global and local path-planning, for a long range traversability. Operator can command any desired path as waypoint sequences, by using 3D terrain model which was measured as DEM by on-board sensor of a rover and then transmitted to the ground and evaluated with dangerousness. For corresponding to unknown obstacle, a conventional autonomous path-planning algorithm is applied between each waypoint. In addition, a rover is up-dating environment data set, and then it causes the difference between terrain data used for commanding of an operator and for traversing of a rover. Therefore, we have to compensate waypoints by using the latest measurement data which can be assumed more reliable than previous data, for corresponding to the difference automatically. Here, the difference is assumed as the distortion between each data set, and compensated by using a distortion compensation matrix which is the mapping between the old and new terrain data sets. Simulation and experimental results and its evaluations, by using the rover test-bed, are mentioned.

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  • 野外活動ロボットのための自己位置推定情報による遠隔操縦支援

    計測自動制御学会 システムインテグレーション部門講演会   2005

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  • サンプル採取のための影を利用した高精度ステレオ計測

    日本航空宇宙学会・第48回宇宙科学技術連合講演会講演集   1148 - 1153   2005

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  • 時分割運動制御を適用したマニピュレータの駆動関節切り替え時間の最適化

    日本航空宇宙学会・第48回宇宙科学技術連合講演会講演集   1122 - 1127   2005

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  • 遠隔科学観測における空間周波数に基づく画像評価法の検討

    日本機会学会・ロボティクス・メカトロニクス講演会   2P1-N-099   2005

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  • マグニチュード推定法を活用した注目点選定手法の検討

    日本機会学会・ロボティクス・メカトロニクス講演会   2P1-N-097   2005

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  • 軌道評価に基づく特徴LandMark 選定による走行軌道補正の検証

    日本機会学会・ロボティクス・メカトロニクス講演会   2A1-S-016   2005

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  • 広域Digital Elevation Map生成のための計測領域の繰り返し推定による位置合わせ手法

    日本機会学会・ロボティクス・メカトロニクス講演会   1P1-S-037   2005

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  • Command path compensation algorithm for rover tele-driving system and its evaluation

    Y Kunii, M Moriyama, S Nagatsuka, Y Ishimaru

    2005 12th International Conference on Advanced Robotics   870 - 875   2005

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    Language:English   Publisher:IEEE  

    In this paper, we discuss tele-driving method for a long driving of a mobile robot in the natural field and experimental results are shown. An operator uses virtual world simulator to make command path. The virtual environment of this simulator is constructed with measurement data from a rover.
    We have, however, a communication delay between the control station and the remote site. So, there is the difference between old map data which operator use for path planning and new data, which a rover is tracking on. The operator's path command has less reliability to avoid obstacles and to reach the goal. Therefore, to make high reliability of operator's command, we pro-pose Command-Data Compensation (CDC), which compensates this difference as the distortion of the environmental map.

    DOI: 10.1109/ICAR.2005.1507509

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  • Shared Autonomy for Mobile RT Agent beyond Network

    KRS 2nd Int. Conf. on Ubiquitous Robots and Ambient Intelligence   2005

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  • Command path compensation algorithm for rover tele-driving system and its evaluation

    Y Kunii, M Moriyama, S Nagatsuka, Y Ishimaru

    2005 12th International Conference on Advanced Robotics   870 - 875   2005

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    Language:English   Publisher:IEEE  

    In this paper, we discuss tele-driving method for a long driving of a mobile robot in the natural field and experimental results are shown. An operator uses virtual world simulator to make command path. The virtual environment of this simulator is constructed with measurement data from a rover.
    We have, however, a communication delay between the control station and the remote site. So, there is the difference between old map data which operator use for path planning and new data, which a rover is tracking on. The operator's path command has less reliability to avoid obstacles and to reach the goal. Therefore, to make high reliability of operator's command, we pro-pose Command-Data Compensation (CDC), which compensates this difference as the distortion of the environmental map.

    DOI: 10.1109/ICAR.2005.1507509

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  • 惑星探査ローバのための地形計測と広域地形マップの生成

    ロボティクスシンポジア   275 - 280   2005

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  • ローバの走行軌道補正アルゴリズムにおける特徴点選定

    ロボティクスシンポジア   185 - 190   2005

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  • 個別要素法を利用した超音波ドリルによる岩石掘削過程の解析

    ロボティクスシンポジア   209 - 214   2005

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  • 自然地形認識のための純粋視知覚の検討

    ロボティクスシンポジア   557 - 562   2005

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  • 月面無人探査ローバの技術的検討

    久保田 孝, 國井 康晴, 黒田 洋司

    宇宙科学シンポジウム   4   251 - 254   2004.1

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  • 超音波モータを用いた惑星探査用小型軽量マニピュレータの制御システムの検討

    日本ロボット学会学術講演会   1C16   2004

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  • 注目度による自然地形認識のための注目点選定

    日本ロボット学会学術講演会   1C15   2004

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  • 月惑星表面探査ローバの検討

    宇宙科学技術連合講演会   1361 - 1364   2004

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  • ローバの地上系システムの構築と遠隔操縦実験

    宇宙科学技術連合講演会   1353 - 1356   2004

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  • 広域地形マップ構成のための複数局所地形データ重複部の推定マッチング

    宇宙科学技術連合講演会   1349 - 1352   2004

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  • ローバの遠隔操縦システムにおける走行軌道補正及び特徴点選定法の検討

    宇宙科学技術連合講演会   1345 - 1348   2004

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  • 遠隔サンプル採取のためのテクスチャ解析による画像評価

    宇宙科学技術連合講演会   1357 - 1360   2004

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  • Micro-Manipulator actuated by Ultra-Sonic Motor for Space Environment

    Int. Conf. on Intelligent Manipulation and Grasping -IMG2004   318 - 323   2004

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  • 影情報を用いたテレサンプリングシステムの検討

    ロボティクス・メカトロニクス講演会   1P1-L1-41   2004

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  • 画像による自然地形認識のための注目点選定手法の検討

    ロボティクス・メカトロニクス講演会   1P1-L1-40   2004

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  • USMの熱・真空環境における摩擦面状態と耐久性向上

    ロボティクス・メカトロニクス講演会   1A1-L1-21   2004

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  • ROVER-LANDER EXPLORATION ON THE LUNAR SURFACE BY SELENE-B: A CRATER'S CENTRAL PEAK - WINDOW TO THE LUNAR INTERIOR

    ISTS2004   2004-k-3   2004

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  • Micro-Manipulator actuated by Ultra-Sonic Motor for Space Environment

    Int. Conf. on Intelligent Manipulation and Grasping -IMG2004   318 - 323   2004

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  • ROVER-LANDER EXPLORATION ON THE LUNAR SURFACE BY SELENE-B: A CRATER'S CENTRAL PEAK - WINDOW TO THE LUNAR INTERIOR

    ISTS2004   2004-k-3   2004

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  • 解説記事:月惑星探査ローバの遠隔制御と操縦 Reviewed

    國井康晴

    日本ロボット学会誌   21 ( 5 )   24 - 27   2003.7

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    DOI: 10.7210/jrsj.21.484

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  • SELENE-Bサイエンスシステムの検討

    岡田 達明, 杉原 孝充, 國井 康晴

    宇宙科学シンポジウム   3   79 - 82   2003.1

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  • Development of micro-manipulator for tele-science by lunar rover: Micro5

    Y Kunii, Y Kuroda, T Kubota

    ACTA ASTRONAUTICA   52 ( 2-6 )   433 - 439   2003.1

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    In recent years, many researchers have studied and developed lunar or planetary rovers for unmanned surface exploration. By the way, mission scope of a lander, which does not have mobility, is just a point. If we can have a rover, this mission area can be expanded to two-dimensional mission area. The object of a rover mission is scientific investigation, therefore, a rover system is not a mobile engineering system but a part of scientific equipments. A manipulator has strong possibility to be one of the scientific equipments mounted on a rover.
    In this paper, we introduce a micro-rover called "Micro5" which has a new suspension system: PEGASUS for high-mobility performance; we discuss a manipulator for this rover and introduce a developed micro-manipulator. It has five degrees of freedom and each joint is driven by an ultra-sonic motor which needs no electrical power to keep a posture of the manipulator. The manipulator is operated with a virtual world simulator and images sent from a hand eye camera by a joystick located on a remote site. (C) 2002 Published by Elsevier Science Ltd.

    DOI: 10.1016/S0094-5765(02)00185-6

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  • Small, light-weight rover "Micro5" for lunar exploration

    T Kubota, Y Kuroda, Y Kunii, Nakatani, I

    ACTA ASTRONAUTICA   52 ( 2-6 )   447 - 453   2003.1

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    This paper describes a newly developed rover with small size, lightweight, low power consumption. Unmanned mobile robots for surface exploration of the moon or planets have been extensively studied and developed. A lunar or planetary rover is required to travel safely over a long distance for many days in unfamiliar terrain. This paper presents exploration mission, scientific signification, requirements, and technology of a lunar rover. This paper proposes a new mobility system, which has four wheels and one supported wheel. This novel suspension system is a simple and light mechanism like a four-wheeled rover and provides a high degree of mobility like a six-wheeled rover. Multiple rovers exploration by buddy system is also discussed. The performance of the developed rover is shown by some experiments. (C) 2002 Elsevier Science Ltd. All rights reserved.

    DOI: 10.1016/S0094-5765(02)00187-X

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  • Small, light-weight rover "Micro5" for lunar exploration

    T Kubota, Y Kuroda, Y Kunii, Nakatani, I

    ACTA ASTRONAUTICA   52 ( 2-6 )   447 - 453   2003.1

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    This paper describes a newly developed rover with small size, lightweight, low power consumption. Unmanned mobile robots for surface exploration of the moon or planets have been extensively studied and developed. A lunar or planetary rover is required to travel safely over a long distance for many days in unfamiliar terrain. This paper presents exploration mission, scientific signification, requirements, and technology of a lunar rover. This paper proposes a new mobility system, which has four wheels and one supported wheel. This novel suspension system is a simple and light mechanism like a four-wheeled rover and provides a high degree of mobility like a six-wheeled rover. Multiple rovers exploration by buddy system is also discussed. The performance of the developed rover is shown by some experiments. (C) 2002 Elsevier Science Ltd. All rights reserved.

    DOI: 10.1016/S0094-5765(02)00187-X

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  • Development of micro-manipulator for tele-science by lunar rover: Micro5

    Y Kunii, Y Kuroda, T Kubota

    ACTA ASTRONAUTICA   52 ( 2-6 )   433 - 439   2003.1

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    Language:English   Publisher:PERGAMON-ELSEVIER SCIENCE LTD  

    In recent years, many researchers have studied and developed lunar or planetary rovers for unmanned surface exploration. By the way, mission scope of a lander, which does not have mobility, is just a point. If we can have a rover, this mission area can be expanded to two-dimensional mission area. The object of a rover mission is scientific investigation, therefore, a rover system is not a mobile engineering system but a part of scientific equipments. A manipulator has strong possibility to be one of the scientific equipments mounted on a rover.
    In this paper, we introduce a micro-rover called "Micro5" which has a new suspension system: PEGASUS for high-mobility performance; we discuss a manipulator for this rover and introduce a developed micro-manipulator. It has five degrees of freedom and each joint is driven by an ultra-sonic motor which needs no electrical power to keep a posture of the manipulator. The manipulator is operated with a virtual world simulator and images sent from a hand eye camera by a joystick located on a remote site. (C) 2002 Published by Elsevier Science Ltd.

    DOI: 10.1016/S0094-5765(02)00185-6

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  • Evaluation of shadow range finder: SRF for planetary surface exploration

    Y Kunii, T Gotoh

    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS   2573 - 2578   2003

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    To gather a rock, it is necessary how to get information of the surface around a sample. Usually, a surface information is brought by a special sensor such as Laser Range Finder and Stereo Camera. These sensors, however, needs more weight and power consumption and are used for only one function such as the surface measurement. And furthermore, there are some difficulties to use those sensors in some case. In this research, we propose Shadow Range Finder: SRF, which can make good use of a shadow for the measurement of a surface information under the direct sunlight. Shadow is strong for above mentioned problem, and would be recognized in the case of a halation. The measurement by SRF uses a single camera, which should be installed on a manipulator for a sampling, and a link of a manipulator, which produce its shadow. The principle of SRF is same as Laser Range Finder, and a shadow is used for scanning slit instead of a laser. In this paper, experimental results of actual objects is shown, and we discusses about accuracy of measurement data. Finally, we evaluate image thresholding method by the consideration of theoretical value at a circular light source.

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  • SELENE-B探査ローバの技術的検討

    第47回宇宙科学技術連合講演会   168 - 173   2003

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  • ローバを利用した月面地質直接探査

    第47回宇宙科学技術連合講演会   161 - 162   2003

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  • ローバのシステム開発に向けた仮想シミュレータの構築

    第21回日本ロボット学会学術講演会   3J1a   2003

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  • 不正地走行用移動ロボットのための遠隔操縦システム

    第21回日本ロボット学会学術講演会   3C31   2003

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  • 分散型車両事故回避のための免疫ネットワークモデルの構築に関する研究

    第21回日本ロボット学会学術講演会   2B28   2003

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  • Networked Dynamic Force Simulator を介したテレオペレーションシステムの構築

    日本機械学会ロボティクス・メカトロニクス講演会2003   2P2-2F-E4   2003

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  • 超音波モータの宇宙利用と真空特性実験

    日本機械学会ロボティクス・メカトロニクス講演会2003   2P2-2F-C1   2003

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  • 月面探査ローバにおけるサンプルリターンのための経路計画の検討

    日本機械学会ロボティクス・メカトロニクス講演会2003   2P2-2F-B7   2003

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  • Shadow Range Finder のための影領域推定手法の検討

    日本機械学会ロボティクス・メカトロニクス講演会2003   2P1-1F-E3   2003

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  • Tele-Driving System for Nonstop Traveling of Lunar Rover and Its Field Experiment

    7th Int. Symposium on Artificial Intelligence, Robotics and Automation in Space   2003

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  • Accuracy improvement of shadow range finder: SRF for 3D surface measurement

    Y Kunii, S Tsuji, M Watari

    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4   3041 - 3046   2003

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    To gather a rock it is important how to get information of the surface around a sample. Usually, surface information is brought by a special sensor such as Laser Range Finder and Stereo Camera. These sensors, however, need more weight and power consumption and are used for only one function such as the surface measurement. And furthermore, there are some difficulties to use those sensors in some situation, for example, a high brightness environment. In this research, we apply Shadow Range Finder: SRF, which can make good use of a shadow for the measurement of surface information under the direct sunlight. SRF is robust for above-mentioned environment, and a shadow would be recognized in the case of a halation. The measurement by SRF uses a single camera installed on a manipulator, and a link of a manipulator, which produce its shadow. The principle of SRF is same as Laser Range Finder, and a shadow is used for scanning slit instead of a laser. In this paper, experimental results of actual objects are shown, and we discusses about accuracy improvement for measurement data, considering an umbra and a penumbra caused by surface light source. Finally, we apply this method to tele-sampling by a manipulator on a rover system.

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  • Shadow range finder for tele-sampling on planetary surface

    Y Kunii, S Tsuji, M Watari

    PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3   1233 - 1238   2003

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    Language:English   Publisher:UNIV COIMBRA, FAC CIENCIAS & TECHNOL  

    To gather a rock, it is important how to get information of the surface around a sample. Usually, surface information is brought by a special sensor such as Laser Range Finder and Stereo Camera. These sensors, however, need more weight and power consumption and are used for only one function such as the surface measurement. And furthermore, there are some difficulties to use those sensors in some situation, for example, a high brightness environment. In this research, we propose Shadow Range Finder: SRF, which can make good use of a shadow for the measurement of surface information under the direct sunlight. SRF is strong for above-mentioned environment, and a shadow would be recognized in the case of a halation. The measurement by SRF uses a single camera installed on a manipulator, and a link of a manipulator, which produce its shadow. The principle of SRF is same as Laser Range Finder, and a shadow is used for scanning slit instead of a laser. In this paper, experimental results of actual objects are shown, and we discusses about accuracy of measurement data. Finally, we apply this method to tele-sampling by a manipulator on a rover system.

    Web of Science

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  • Evaluation of shadow range finder: SRF for planetary surface exploration

    Y Kunii, T Gotoh

    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS   2573 - 2578   2003

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    Language:English   Publisher:IEEE  

    To gather a rock, it is necessary how to get information of the surface around a sample. Usually, a surface information is brought by a special sensor such as Laser Range Finder and Stereo Camera. These sensors, however, needs more weight and power consumption and are used for only one function such as the surface measurement. And furthermore, there are some difficulties to use those sensors in some case. In this research, we propose Shadow Range Finder: SRF, which can make good use of a shadow for the measurement of a surface information under the direct sunlight. Shadow is strong for above mentioned problem, and would be recognized in the case of a halation. The measurement by SRF uses a single camera, which should be installed on a manipulator for a sampling, and a link of a manipulator, which produce its shadow. The principle of SRF is same as Laser Range Finder, and a shadow is used for scanning slit instead of a laser. In this paper, experimental results of actual objects is shown, and we discusses about accuracy of measurement data. Finally, we evaluate image thresholding method by the consideration of theoretical value at a circular light source.

    Web of Science

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  • Tele-Driving System for Nonstop Traveling of Lunar Rover and Its Field Experiment

    7th Int. Symposium on Artificial Intelligence, Robotics and Automation in Space   2003

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  • Accuracy improvement of shadow range finder: SRF for 3D surface measurement

    Y Kunii, S Tsuji, M Watari

    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4   3041 - 3046   2003

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    Language:English   Publisher:IEEE  

    To gather a rock it is important how to get information of the surface around a sample. Usually, surface information is brought by a special sensor such as Laser Range Finder and Stereo Camera. These sensors, however, need more weight and power consumption and are used for only one function such as the surface measurement. And furthermore, there are some difficulties to use those sensors in some situation, for example, a high brightness environment. In this research, we apply Shadow Range Finder: SRF, which can make good use of a shadow for the measurement of surface information under the direct sunlight. SRF is robust for above-mentioned environment, and a shadow would be recognized in the case of a halation. The measurement by SRF uses a single camera installed on a manipulator, and a link of a manipulator, which produce its shadow. The principle of SRF is same as Laser Range Finder, and a shadow is used for scanning slit instead of a laser. In this paper, experimental results of actual objects are shown, and we discusses about accuracy improvement for measurement data, considering an umbra and a penumbra caused by surface light source. Finally, we apply this method to tele-sampling by a manipulator on a rover system.

    Web of Science

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  • Shadow range finder for tele-sampling on planetary surface

    Y Kunii, S Tsuji, M Watari

    PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3   1233 - 1238   2003

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    Language:English   Publisher:UNIV COIMBRA, FAC CIENCIAS & TECHNOL  

    To gather a rock, it is important how to get information of the surface around a sample. Usually, surface information is brought by a special sensor such as Laser Range Finder and Stereo Camera. These sensors, however, need more weight and power consumption and are used for only one function such as the surface measurement. And furthermore, there are some difficulties to use those sensors in some situation, for example, a high brightness environment. In this research, we propose Shadow Range Finder: SRF, which can make good use of a shadow for the measurement of surface information under the direct sunlight. SRF is strong for above-mentioned environment, and a shadow would be recognized in the case of a halation. The measurement by SRF uses a single camera installed on a manipulator, and a link of a manipulator, which produce its shadow. The principle of SRF is same as Laser Range Finder, and a shadow is used for scanning slit instead of a laser. In this paper, experimental results of actual objects are shown, and we discusses about accuracy of measurement data. Finally, we apply this method to tele-sampling by a manipulator on a rover system.

    Web of Science

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  • 走行軌道補正及び拡張DEMを用いた遠隔操縦方式の検討

    第47回宇宙科学技術連合講演会   214 - 217   2003

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  • Lunar surface crater central peak exploration by a randa and a rover.

    佐々木晶, 久保田孝, 秋山演亮, 佐伯和人, 大竹真紀子, 国井康晴, 松本甲太郎, 武田弘, 長谷部信行

    宇宙科学シンポジウム 平成14年度 第3回   2003

  • Study for scientific instruments with the SELENE-B lunar lander/rover mission

    OKADA TATSUAKI, SHIRAI KEI, Rover/Science Team the SELENE-B, SUGIHARA TAKAMITSU, SAIKI KAZUTO, AKIYAMA HIROAKI, OHTAKE MAKIKO, SASAKI SHO, HASEBE NOBUYUKI, KUNII YASUHARU, KUBOTA TAKASHI

    Abstracts for fall meeting of the Japanese Society for Planetary Science   2003 ( 0 )   O-406 - 48   2003

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    Publisher:THE JAPANESE SOCIETY FOR PLANETARY SCIENCES  

    We have been studying the instrumentation onboard the lander and rover for a lunar geological exploration with the SELENE-B that demonstrates the next generation technologies of a pin-point and soft landing on planetary surfaces of scientific interest and an autonomous controlled scientific rover. In this mission, imaging spectroscopy and multi-band imagery will characterize the target site around a crater central peak and gamma-ray spectrometry will measure radioactivity along the rover's track. Lunar rocks and soils at the target crops or around the lander are selected to brush up and grind for detailed analyses by microscopy and x-ray fluorescence/diffraction method. The systematic configuration of instruments is also introduced.

    DOI: 10.14909/jsps.2003f.0.48.0

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  • 超音波を用いた研削システムにおけるホーン形状の研削性能評価

    第47回宇宙科学技術連合講演会   1489 - 1490   2003

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  • Shadow Range Finder における影境界探索手法の検討

    第47回宇宙科学技術連合講演会   220 - 221   2003

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  • サンプル採取のための埋没部の形状推定方式の検討

    第47回宇宙科学技術連合講演会   218 - 219   2003

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  • Study on Tele-Science by using Rover for Lunar Geological Exploration Mission: SELENE-B

    国井康晴, 佐伯和人, 久保田孝, 金森洋史, 若林幸子, 杉原孝充, 岡田達明, 大竹真紀子, 佐々木晶

    宇宙科学技術連合講演会講演集   46th ( Pt.3 )   2002

  • Clustering for Management fo virtual objects in NDFS

    Suzuki Y., Takahashi M., Kunii Y.

    2002   96 - 96   2002

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  • Sciences in Lunar Surface Exploration Using a Rover: Geologic Exploration of a Crater’s Central Peak

    佐々木晶, 久保田孝, 佐伯和人, 国井康晴, 大竹真紀子, 松本甲太郎, 秋山演亮, 武田弘, 柴村英道

    宇宙科学技術連合講演会講演集   46th ( Pt.2 )   2002

  • Verification of Operating conditions of the Remote control by Tele-driving System

    Tada K., Kunii Y., Kuroda Y., Kubota T.

    2002   17 - 17   2002

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

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  • Spatial Frequency Analysis and Image Evaluation by Information of Exploratory Environment

    Akabane Shushiki, Kunii Yasuharu, Yoshimitsu Tetsuo, Kubo Takashi

    2002   18 - 18   2002

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  • Evaluation of shadow area segmentation method using Shadow Range Finder Range Finder

    Gotoh T., Kunii Y.

    2002   18 - 18   2002

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  • 月・惑星探査のためのサンプル採取用マイクロマニピュレータ (第2回宇宙科学シンポジウム) -- (月ミッション(次期月探査計画検討ワーキンググループ))

    國井 康晴, 多田 興平, 久保田 孝

    宇宙科学シンポジウム   2   61 - 64   2001.11

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    Language:Japanese   Publisher:宇宙航空研究開発機構宇宙科学研究本部  

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  • SELENE-B:マイクロローバの検討状況 (第2回宇宙科学シンポジウム) -- (月ミッション(次期月探査計画検討ワーキンググループ))

    國井 康晴, 久保田 孝, 金森 洋史

    宇宙科学シンポジウム   2   53 - 56   2001.11

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    Language:Japanese   Publisher:宇宙航空研究開発機構宇宙科学研究本部  

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  • 2P2-A3 Investigation of Shadow Range Finder, measurement of 3D distance and surface by using shadow

    Sigehara T., Goto T., Kunii Y.

    2001   67 - 67   2001.6

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

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  • 2P2-D10 A Study of Driver Behavior Model Self-Organized Traffic Accident Avoidance System by Using Network

    Omoto T., Nashizawa H., Kunii Y.

    2001   72 - 72   2001.6

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  • 惑星探査ローバ--科学観測支援システム

    久保田 孝, 黒田 洋司, 國井 康晴

    宇宙科学シンポジウム   1   391 - 394   2001.1

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  • Proposition of Microrover System for Lunar Exploration

    Journal of Robotics and Mechatronics,(2000)   12 ( 2 )   91 - 95   2001

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  • 「影を利用した3次元距離・形状測定 -Shadow Range Finder : SRF-」

    第6回ロボティクスシンポジア   11C2   45 - 50   2001

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  • 「アドホックネットワークを用いた自律分散型協調事故回避システムにおける運転者行動モデルに関する研究」

    第6回ロボティクスシンポジア   23A3   373 - 378   2001

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  • Self-diagnosis System of an Autonomous Mobile Robot Using Sensory Information

    Journal of Robotics and Mechatronics,(2000)   12 ( 2 )   72 - 77   2001

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  • 解説記事:最新 月・惑星探査自立走行車「ローバ」3-月探査マイクロローバの開発

    黒田洋司, 國井康晴

    電気学会誌   120 ( 12 )   754 - 757   2000.12

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    Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (other)   Publisher:電気学会  

    DOI: 10.1541/ieejjournal.120.754

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  • 解説:シンポジウム「アミューズメントロボット」

    國井康晴

    日本ロボット学会誌   18 ( 2 )   177 - 180   2000.3

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  • Self-diagnosis System of an Autonomous Mobile Robot Using Sensory Information Reviewed

    Okina.S, Kawabata.K, Fujii.T, Kunii.Y, Asama.H, Endo.I

    Journal of Robotics and Mechatronics,(2000)   12 ( 2 )   72 - 77   2000.2

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  • Proposition of Microrover System for Lunar Exploration Reviewed

    Y.Kuroda, Y.Kunii, T.Kubota

    Journal of Robotics and Mechatronics,(2000)   12 ( 2 )   91 - 95   2000.2

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  • Study of a self-diagnosis system for an autonomous mobile robot

    Shinnosuke Okina, Kuniaki Kawabata, Teruo Fujii, Yasuharu Kunii, Hajime Asama, Isao Endo

    Advanced Robotics   14 ( 5 )   339 - 341   2000.1

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    An attempt was made to build a self-diagnosis system of an omni-directional mobile robot (ZEN). A fault detection experiment with a real mobile robot was performed to confirm the validity of the method.

    DOI: 10.1163/156855300741889

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  • Study of a self-diagnosis system for an autonomous mobile robot

    Shinnosuke Okina, Kuniaki Kawabata, Teruo Fujii, Yasuharu Kunii, Hajime Asama, Isao Endo

    Advanced Robotics   14 ( 5 )   339 - 341   2000.1

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    An attempt was made to build a self-diagnosis system of an omni-directional mobile robot (ZEN). A fault detection experiment with a real mobile robot was performed to confirm the validity of the method.

    DOI: 10.1163/156855300741889

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  • Development of Micro Manipulator for Tele-science by Lunar Rover: Micro5

    4th IAA Int. Conf. On Low-Cost Planetary Missions,2000   IAA-L-1103   2000

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  • Small, Light-weight Rover: Micro5 for Lunar Exploration

    4th IAA Int. Conf. On Low-Cost Planetary Missions,2000   IAA-L-1105   2000

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  • センサ情報に基づいた移動ロボットの自己診断システム (第3報:故障検出アルゴリズムを用いた基礎実験)

    ロボティクス・メカトロニクス講演会2000講演論文集CD-ROM   2A1-71-098   2000

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  • 2P1-09-007 月面探査ローバの広域探査用 Tele-Driving System の検証

    壽原 雅也, 中尾 庄作, 冨田 和正, 國井 康晴, 黒田 洋司

    ロボティクス・メカトロニクス講演会講演概要集   2000   77 - 77   2000

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    Language:Japanese   Publisher:一般社団法人日本機械学会  

    月面探査ローバが限られた行動可能時間内に広域探査を行うためには, 連続的に走行できることが必要である。通信時間遅れによりオペレータが走行ルートを設定した時点とローバがコマンドを受信した時点で周囲環境に差異が生じていた場合, ローバ自身が走行中に環境の変化を検知し, ルートを補正する手法を提案する。そして, 3DCGによるシミュレーション結果と実機に搭載して実験を行った結果を示す。

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  • 2P2-09-004 月探査ローバの長距離移動実験

    黒田 洋司, 山宮 雅史, 中村 一明, 國井 康晴, 久保田 孝

    ロボティクス・メカトロニクス講演会講演概要集   2000   93 - 93   2000

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    Language:Japanese   Publisher:一般社団法人日本機械学会  

    本研究グループでMicro5を3機製作した。実ミッションにおいて探査ローバは「点」探査から「線」探査へと移りつつあるが, 有益なデータを得るために今後は「面」探査へ移行していくと考えられる。そのためにも, 探査ローバ単体が長距離長期間, 探査活動することは必須となると考えられる。そこで, 本研究ではMicro5ローバを用いてフィールド実験を行ったので, その報告をする。

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  • 生化学発光反応用高分子マイクロチップの開発

    金田祥平, 藤井輝夫, HONG Jong Wook, 國井康晴, 関実, 遠藤勲

    電気学会全国大会講演論文集   2000 ( 3 )   2000

  • 「リム情報を利用した移動ステレオ視に基づく小惑星3次元形状復元手法」

    第44回宇宙科学技術連合講演会   2000

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  • 惑星探査ローバの為の遠隔操作環境の構築」

    第18回日本ロボット学会学術講演会予稿集   25 - 26   2000

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  • 「超音波モータを用いたマイクロマニピュレータの開発」

    ロボティクスメカトロニクス2000講演会講演論文集CD-ROM   2P2-09-002   2000

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  • 「Shadow Range Finderの提案」

    ロボティクスメカトロニクス2000講演会講演論文集CD-ROM   2P2-09-001   2000

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  • 「ローバのための走行軌道補正を用いた広域探査Tele-Driving Systemの提案」

    第5回ロボティクスシンポジア予稿集   110 - 115   2000

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  • センサ情報に基づいた移動ロボットの自己診断システム (第4報:診断結果に基づく対処動作の検討)

    第18回日本ロボット学会学術講演会   115 - 116   2000

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  • 「Shadow Range Finderによる3次元距離・形状測定」

    第18回日本ロボット学会学術講演会予講集   19 - 20   2000

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  • Small, Light-weight Rover: Micro5 for Lunar Exploration

    4th IAA Int. Conf. On Low-Cost Planetary Missions,2000   IAA-L-1105   2000

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  • Development of Micro Manipulator for Tele-science by Lunar Rover: Micro5

    4th IAA Int. Conf. On Low-Cost Planetary Missions,2000   IAA-L-1103   2000

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  • 7自由度人間装着型 Haptic Interface の開発 Reviewed

    中井章人, 國井康晴, 橋本秀紀

    日本ロボット学会誌   17 ( 8 )   1126 - 1133   1999.11

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    This paper presents a new type of human interface with force feedback attached to an arm, which we named Sensor Arm. The Sensor Arm can be utilized as an interface for interactive communication with the virtual environment and as a master manipulator of a tele-operation system. The number of degrees-of-freedom (DOF) of the Sensor Arm is seven, which is the same DOF of a human arm. Angle and torque of each joint can be measured. Moreover, in this system, force feedback can be realized at each joint of the human arm. To measure human force a new type of force sensor system is proposed in the Sensor Arm system.

    DOI: 10.7210/jrsj.17.1126

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  • 7自由度人間装着型Haptic Interfaceの開発

    中井章人, 國井康晴, 橋本秀紀

    日本ロボット学論文誌   17 ( 8 )   74 - 81   1999.4

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    This paper presents a new type of human interface with force feedback attached to an arm, which we named Sensor Arm. The Sensor Arm can be utilized as an interface for interactive communication with the virtual environment and as a master manipulator of a tele-operation system. The number of degrees-of-freedom (DOF) of the Sensor Arm is seven, which is the same DOF of a human arm. Angle and torque of each joint can be measured. Moreover, in this system, force feedback can be realized at each joint of the human arm. To measure human force a new type of force sensor system is proposed in the Sensor Arm system.

    DOI: 10.7210/jrsj.17.1126

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  • Low power mobility system for micro planetary rover "Micro5"

    Y Kuroda, K Kondo, K Nakamura, Y Kunii, T Kubota

    ISAIRAS '99: FIFTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL INTELLIGENCE, ROBOTICS AND AUTOMATION IN SPACE   440   77 - 82   1999

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    In this paper, we propose a newly developed suspension system called "Pentad Grade Assist Suspension (PEGASUS)". PEGASUS has high mobility as well as rocker-bogie suspension, with very simple mechanism called only-one-joint architecture. PEGASUS is able to successfully climb up on the stepalike terrain with low energy consumption by scale model test. The prototype of micro planetary rover Micro5 which has been developed by the rover R&D group of ISAS, Meiji university, and Chuo university, adopts PFGASUS as its mobility system. The Micro5 is under testing on the variety types of land environment.

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  • 「月惑星ローバ搭載用マニピュレータにおける消費エネルギーの検討とアクチュエータ」

    第18回日本ロボット学会学術講演会予講集   29 - 30   1999

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  • 「月面上におけるテレサンプリング手法の提案」

    ロボティクス・メカトロニクス'99講演会講演論文集CD-ROM   1P2-06-042   1999

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  • 「月面探査マイクロローバ

    ロボティクス・メカトロニクス'99講演会講演論文集CD-ROM   1P1-06-042   1999

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  • Micro planetary rover "Micro5"

    T Kubota, Y Kuroda, Y Kunii, Natakani, I

    ISAIRAS '99: FIFTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL INTELLIGENCE, ROBOTICS AND AUTOMATION IN SPACE   440   373 - 378   1999

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    This paper describes a newly developed rover with small size, light-weight, low power consumption. In recent years, many researchers have extensively studied and developed unmanned mobile robots for surface exploration of the moon or planets. A lunar or planetary rover is required to travel safely over a long distance for many days in unfamiliar terrain. This paper presents scientific signification, requirements, and technology of a lunar or planetary rover. This paper proposes a new mobility system, which has four wheels and one supported wheel. This novel suspension system is a simple and light mechanism like a four-wheeled rover and provides a high degree of mobility like a six-wheeled rover. The performance of the developed rover is shown by some experiments.

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  • Low power mobility system for micro planetary rover "Micro5"

    Y Kuroda, K Kondo, K Nakamura, Y Kunii, T Kubota

    ISAIRAS '99: FIFTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL INTELLIGENCE, ROBOTICS AND AUTOMATION IN SPACE   440   77 - 82   1999

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    Language:English   Publisher:EUROPEAN SPACE AGENCY  

    In this paper, we propose a newly developed suspension system called "Pentad Grade Assist Suspension (PEGASUS)". PEGASUS has high mobility as well as rocker-bogie suspension, with very simple mechanism called only-one-joint architecture. PEGASUS is able to successfully climb up on the stepalike terrain with low energy consumption by scale model test. The prototype of micro planetary rover Micro5 which has been developed by the rover R&D group of ISAS, Meiji university, and Chuo university, adopts PFGASUS as its mobility system. The Micro5 is under testing on the variety types of land environment.

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  • Tele-science by planetary rover: Micro 5

    Y Kunii, M Otsuka, M Suhara, Y Kuroda, T Kubota

    ISAIRAS '99: FIFTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL INTELLIGENCE, ROBOTICS AND AUTOMATION IN SPACE   440   553 - 558   1999

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    In this paper, we propose the method of constructing the operation environment with the manipulator to gather the sample for the planetary mission, and also describe the development of the 5 Degree-Of-Freedom micro manipulator for the telescience. Command Distortion Compensation is also presented for Continuous Real-time Tele-driving with the time-delay.

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  • 「月面探査用テレサンプリングシミュレータの構築」

    第17回日本ロボット学会学術講演会予講集   1095 - 1096   1999

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  • 「月面探査ローバ:Micro5搭載用5自由度マニピュレータの開発」

    第17回日本ロボット学会学術講演会予講集   1093 - 1094   1999

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  • 「月探査ローバシステムの提案」

    第17回日本ロボット学会学術講演会予講集   1087 - 1088   1999

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  • センサ情報に基づいた移動ロボットの自己診断システム

    ロボティクス・メカトロニクス'99講演会講演論文集CD-ROM   2P1-69-104   1999

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  • 「遺伝的アルゴリズムによるホッピングローバの準最適電圧パターンの生成」

    ロボティクス・メカトロニクス'99講演会講演論文集CD-ROM   1P1-06-044   1999

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  • Tele-science by planetary rover: Micro 5

    Y Kunii, M Otsuka, M Suhara, Y Kuroda, T Kubota

    ISAIRAS '99: FIFTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL INTELLIGENCE, ROBOTICS AND AUTOMATION IN SPACE   440   553 - 558   1999

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    Language:English   Publisher:EUROPEAN SPACE AGENCY  

    In this paper, we propose the method of constructing the operation environment with the manipulator to gather the sample for the planetary mission, and also describe the development of the 5 Degree-Of-Freedom micro manipulator for the telescience. Command Distortion Compensation is also presented for Continuous Real-time Tele-driving with the time-delay.

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  • 「影情報を用いた単眼視による物体間3次元近接判定」

    ロボティクスメカトロニクス'99講演会講演録文集CD-ROM   1A1-06-042   1999

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  • Micro planetary rover "Micro5"

    T Kubota, Y Kuroda, Y Kunii, Natakani, I

    ISAIRAS '99: FIFTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL INTELLIGENCE, ROBOTICS AND AUTOMATION IN SPACE   440   373 - 378   1999

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    Language:English   Publisher:EUROPEAN SPACE AGENCY  

    This paper describes a newly developed rover with small size, light-weight, low power consumption. In recent years, many researchers have extensively studied and developed unmanned mobile robots for surface exploration of the moon or planets. A lunar or planetary rover is required to travel safely over a long distance for many days in unfamiliar terrain. This paper presents scientific signification, requirements, and technology of a lunar or planetary rover. This paper proposes a new mobility system, which has four wheels and one supported wheel. This novel suspension system is a simple and light mechanism like a four-wheeled rover and provides a high degree of mobility like a six-wheeled rover. The performance of the developed rover is shown by some experiments.

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  • 「微小重力下におけるホップロボットの移動最適化の検討」

    第17回日本ロボット学会学術講演会   1999

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  • 「広域探査用月面ローバのためのTele-Driving System」

    第43回宇宙科学技術連合講演会   1091 - 1092   1999

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  • センサ情報に基づいた移動ロボットの自己診断システム (第2報:センサフュージョンによる不具合箇所の特定)

    第17回日本ロボット学会学術講演会   151 - 152   1999

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  • Computer Networked Robotics (Invited paper)

    Proc. Of IEEE International Conference on Intelligent Robotics and Systems-IROS'98 Workshop   67 - 72   1998

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  • 画像情報に基づく人間の内部状態のヒューマンインタフェースへの利用

    第16回日本ロボット学会学術講演会予稿集   1   1217 - 1218   1998

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  • Computer Networked Robotics (Invited paper)

    Proc. Of IEEE International Conference on Intelligent Robotics and Systems-IROS'98 Workshop   67 - 72   1998

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  • Arm Type Haptic Human Interface: Sensor Arm Reviewed

    A.Nakai, Y.Kunii, H.Hashimoto, F.Harashima

    Proc. of The Seventh International Conference on Artificial Reality and Tele-Existence   77 - 84   1997.12

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  • Arm Type Haptic Human Interface: Sensor Arm Reviewed

    A.Nakai, Y.Kunii, H.Hashimoto, F.Harashima

    Proc. of The Seventh International Conference on Artificial Reality and Tele-Existence   77 - 84   1997.12

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  • 20DOF Five Fingered Glove Type Haptic Interface-Sensor Glove II- Reviewed

    T.Kitada, Y.Kunii, H.Hashimoto

    Journal of Robotics and Mechatronics   9 ( 3 )   171 - 176   1997.6

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  • 20DOF Five Fingered Glove Type Haptic Interface-Sensor Glove II- Reviewed

    T.Kitada, Y.Kunii, H.Hashimoto

    Journal of Robotics and Mechatronics   9 ( 3 )   171 - 176   1997.6

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  • Development of 20 DOF Glove Type Haptic Interface Device - Sensor Glove II- Reviewed

    Y.Kunii, H.Hashimoto

    Proc. of IEEE/ASME International Conference on Advanced Mechatronics - AIM'98   CDROM   1997.6

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  • Development of 20 DOF Glove Type Haptic Interface Device - Sensor Glove II- Reviewed

    Y.Kunii, H.Hashimoto

    Proc. of IEEE/ASME International Conference on Advanced Mechatronics - AIM'98   CDROM   1997.6

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  • 握手マシンの開発およびインタネットを介した遠隔握手 Reviewed

    國井康晴, スラデ・マノロックン, 橋本秀紀

    電気学会論文誌C分冊   117 ( 5 )   500 - 505   1997.5

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    DOI: 10.1541/ieejeiss1987.117.5_500

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  • 「仮想現実感を用いたマニピュレータの作業教示」

    日本機会学会第74期通常総会講演会講演会論文集   ( 97-1 )   564 - 565   1997

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  • 「インターネットにおける物理メディアとしてのロボットシステム」

    第15回日本ロボット学会学術講演会予稿集   1   823 - 824   1997

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  • 「腕型ヒューマンインターフェースにおける力センサシステムの開発

    第15回日本ロボット学会学術講演会予稿集   3   745 - 746   1997

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  • 「Robotic Network System -物理エージェントとしての移動ロボット-」

    國井

    第15回日本ロボット学会学術講演会予稿集   3   827 - 828   1997

  • 「Robotic Network System における作業教示と協調」

    國井

    ロボティクス・メカトロニクス'97講演会講演論文集   97-22.A   587 - 588   1997

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  • 「Computer Networked Robotics における遠隔操作と時間遅れ」

    ロボティクス・メカトロニクス'97講演会講演論文集   97-22.B   977 - 978   1997

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  • Tele-teaching by human demonstration in virtual environment for robotic network system

    Y Kunii, H Hashimoto

    1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4   CDROM   405 - 410   1997

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    Language:English   Publisher:I E E E  

    In this peeper we present a system that is able to give force feedback for the handling of virtual objects to a human operator and discuss how this system can learn low-level reflective behaviors from the human. A Dynamic Force Simulator(DFS) that simulates object dynamics, contact model and friction characteristics of the human hand was developed to interact with the object in Virtual Reality. The DFS allows calculation and feedback of appropriate forces to the force controlled actuators of a glove type haptic interface. The measured data is used for task-teaching of the robot in the remote site. However usually the task can not be achieved by simple playback teaching. As each task execution is different due to various sources of small errors a low-level motion behavior to compensate for this errors is needed. In this paper, this function is assumed to be a reflective behavior and we acquire it by learning from human. Two learning schemes, neural nets and radial basis functions are experimentally evaluated.

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  • Tele-teaching by human demonstration in virtual environment for robotic network system

    Y Kunii, H Hashimoto

    1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4   CDROM   405 - 410   1997

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    Language:English   Publisher:I E E E  

    In this peeper we present a system that is able to give force feedback for the handling of virtual objects to a human operator and discuss how this system can learn low-level reflective behaviors from the human. A Dynamic Force Simulator(DFS) that simulates object dynamics, contact model and friction characteristics of the human hand was developed to interact with the object in Virtual Reality. The DFS allows calculation and feedback of appropriate forces to the force controlled actuators of a glove type haptic interface. The measured data is used for task-teaching of the robot in the remote site. However usually the task can not be achieved by simple playback teaching. As each task execution is different due to various sources of small errors a low-level motion behavior to compensate for this errors is needed. In this paper, this function is assumed to be a reflective behavior and we acquire it by learning from human. Two learning schemes, neural nets and radial basis functions are experimentally evaluated.

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  • Tele-Handshake Interface Based on Teleoperation with Time Delay Reviewed

    S.Manorotkul, Y.Kunii, H.Hashimoto

    Proc. of 7th Int. Power Electronics & Motion Control Conference, Exhibition, Tutorial   3   337 - 341   1996.9

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  • Tele-Handshake Interface Based on Teleoperation with Time Delay Reviewed

    S.Manorotkul, Y.Kunii, H.Hashimoto

    Proc. of 7th Int. Power Electronics & Motion Control Conference, Exhibition, Tutorial   3   337 - 341   1996.9

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  • Dynamic Force Simulator for Haptic Interface Reviewed

    Y.Kunii, H.Hashimoto

    Proc. of 13th International Federation of Automatic Control World Congress - IFAC'96   L   403 - 408   1996.7

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  • Dynamic Force Simulator for Haptic Interface Reviewed

    Y.Kunii, H.Hashimoto

    Proc. of 13th International Federation of Automatic Control World Congress - IFAC'96   L   403 - 408   1996.7

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  • 多自由度Haptic Interfaceのダイナミック・フォース・シュミレータ Reviewed

    國井康晴, 橋本秀紀

    電気学会論文誌・C分冊   116-C ( 6 )   706 - 712   1996.6

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    Language:Japanese   Publisher:電気学会  

    DOI: 10.1541/ieejeiss1987.116.6_706

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  • Dynamic force simulator for multifinger force display

    Y Kunii, H Hashimoto

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   43 ( 1 )   74 - 80   1996.2

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    In this paper we present a dynamic force simulator (DFS) for force feedback in human-machine systems, We propose a virtual world model with two force flows: one is the force flow from human to an object, the other is the force flow from an object to human, To use this model, DFS simulates object dynamics, contact models, and friction characteristics of the human hand interacting with the object in Virtual Reality, After derivation of kinematic and force relations between hand and object space, we balance the two forces: one from the human and the other from the object in the contact force space in Virtual World and then realize the adequate feedback forces to human operator, Interaction with DFS allows calculation and feedback of appropriate forces to the force controlled actuators of the sensor glove we have developed, In this paper grasping of a cylinder in the virtual world is presented, During object grasping, we measure joint angles and torques using the sensor glove system, In the future we will use this system to analyze human dextrous manipulations called Human Skill.

    DOI: 10.1109/41.481410

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  • 「人間機械系における協調・分担作業の実現」

    ロボティクス・メカトロニクス講演会予講集   457 - 458   1996

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  • Dynamic force simulator for multifinger force display

    Yasuharu Kunii, Hideki Hashimolo

    IEEE Transactions on Industrial Electronics   43 ( 1 )   74 - 80   1996

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    In this paper we present a dynamic force simulator (DFS) for force feedback in human-machine systems. We propose a virtual world model with two force flows: one is the force flow from human to an object, the other is the force flow from an object to human. To use this model, DFS simulates object dynamics, contact models, and friction characteristics of the human hand interacting with the object in Virtual Reality. After derivation of kinematic and force relations between hand and object space, we balance the two forces: one from the human and the other from the object in the contact force space in Virtual World and then realize the adequate feedback forces to human operator. Interaction with DFS allows calculation and feedback of appropriate forces to the force controlled actuators of the sensor glove we have developed. In this paper grasping of a cylinder in the virtual world is presented. During object grasping, we measure joint angles and torques using the sensor glove system. In the future we will use this system lo analyze human dextrous manipulations called Human Skill. © 1996 IEEE.

    DOI: 10.1109/41.481410

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  • 「Robotic Network Systemにおける人間機械協調と作業教示」

    第14回日本ロボット学会学術講演会予稿集   1   383 - 384   1996

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  • 「Dynamic Force Simulator - DFS と20自由度Haptic Interface - Sensor Glove Ⅱの開発」

    國井

    第1回日本バーチャル・リアリティー学会大会論文集   1   133 - 136   1996

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  • Virtual environment for haptic interface in robotic network system

    Y Kunil, H Hashimoto

    1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4   1   545 - 550   1996

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  • Virtual environment for haptic interface in robotic network system

    Y Kunil, H Hashimoto

    1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4   1   545 - 550   1996

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  • 「仮想物体把持と作業データの利用」

    平成8年電気学会全国大会講演論文集   114 - 115   1996

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  • Netwoked Neuro-Baby Reviewed

    N.Tosa, H.Hashimoto, K.Sezaki, Y.Kunii

    Proc. of Life-like Computer Character Conference   80 - 85   1995.12

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  • Netwoked Neuro-Baby Reviewed

    N.Tosa, H.Hashimoto, K.Sezaki, Y.Kunii

    Proc. of Life-like Computer Character Conference   80 - 85   1995.12

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  • Network Neuro-Baby with robotic hand Reviewed

    N.Tosa, H.Hashimoto, K.Sezaki, Y.Kunii

    Proc. of International Joint Conference on Artificial Intelligence - IJCAI   48 - 53   1995.8

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  • Network Neuro-Baby with robotic hand Reviewed

    N.Tosa, H.Hashimoto, K.Sezaki, Y.Kunii

    Proc. of International Joint Conference on Artificial Intelligence - IJCAI   48 - 53   1995.8

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  • Network Neuro-Baby with robotics hand - (An automatic facial expression synthesizer that responds to expressions of feeling in the human voice and handshake)

    N TOSA, H HASHIMOTO, K SEZAKI, Y KUNII, T YAMAGUCHI, K SABE, R NISHINO, H HARASHIMA, F HARASHIMA

    SYMBIOSIS OF HUMAN AND ARTIFACT: FUTURE COMPUTING AND DESIGN FOR HUMAN-COMPUTER INTERACTION   20   77 - 82   1995

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  • 「握手マシン開発および力覚情報を用いたコミュニケーション」

    第13回日本ロボット学会学術講演会予稿集   1109 - 1110   1995

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  • 「仮想環境下における作業と作業空間とのマッチング」

    第13回日本ロボット学会学術講演会予稿集   ( 3 )   1209 - 1210   1995

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  • Tele-handshake using handshake device

    Y Kunii, H Hashimoto

    PROCEEDINGS OF THE 1995 IEEE IECON - 21ST INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONICS, CONTROL, AND INSTRUMENTATION, VOLS 1 AND 2   1   179 - 182   1995

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  • 「ダイナミック・フォース・シミュレータのシステム構成と仮想物体把持・変形」

    ロボティクス・メカトロニクス'95講演会講演論文集   B   1232 - 1233   1995

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  • Network Neuro-Baby with robotics hand - (An automatic facial expression synthesizer that responds to expressions of feeling in the human voice and handshake)

    N TOSA, H HASHIMOTO, K SEZAKI, Y KUNII, T YAMAGUCHI, K SABE, R NISHINO, H HARASHIMA, F HARASHIMA

    SYMBIOSIS OF HUMAN AND ARTIFACT: FUTURE COMPUTING AND DESIGN FOR HUMAN-COMPUTER INTERACTION   20   77 - 82   1995

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  • Tele-handshake using handshake device

    Y Kunii, H Hashimoto

    PROCEEDINGS OF THE 1995 IEEE IECON - 21ST INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONICS, CONTROL, AND INSTRUMENTATION, VOLS 1 AND 2   1   179 - 182   1995

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  • Object Grasping in Virtual Environment Using Dynamic Force Simulator Reviewed

    Y.Kunii, H.Hashimoto

    Proc. of IEEE International Workshop on Robot and Human Communication - ROMAN'94   261 - 264   1994.7

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  • Object Grasping in Virtual Environment Using Dynamic Force Simulator Reviewed

    Y.Kunii, H.Hashimoto

    Proc. of IEEE International Workshop on Robot and Human Communication - ROMAN'94   261 - 264   1994.7

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  • ダイナミック・フォース・シミュレータを用いたマイクロ環境におけるヒューマンインターフェース

    國井康晴, 橋本秀紀

    生産研究   46 ( 7 )   21 - 24   1994.7

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  • INTELLIGENT COOPERATIVE MANIPULATION SYSTEM USING FORCE SIMULATOR

    H HASHIMOTO, M BUSS, Y KUNIII, F HARASHIMA

    1994 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION: PROCEEDINGS, VOLS 1-4   3   2598 - 2603   1994

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  • 「仮想環境下における物体の把持と変形」

    第12回日本ロボット学会学術講演会予稿集   ( 2 )   647 - 648   1994

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  • 「力のバランスと仮想物体の変形」

    平成6年電気学会産業応用部門全国大会講演論文集   1132 - 1135   1994

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  • 「ダイナミック・フォース・シミュレータによる力覚フィードバック」

    ロボティクス・メカトロニクス'94講演会講演論文集   B   1128 - 1129   1994

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  • INTELLIGENT COOPERATIVE MANIPULATION SYSTEM USING FORCE SIMULATOR

    H HASHIMOTO, M BUSS, Y KUNIII, F HARASHIMA

    1994 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION: PROCEEDINGS, VOLS 1-4   3   2598 - 2603   1994

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  • Force Flow between Human and Object in Virtual World Reviewed

    Y.Kunii, M.Buss, H.Hashimoto

    Proc. of IEEE International Workshop on Robot and Human Communication - ROMAN'93   216 - 219   1993.11

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  • Force Flow between Human and Object in Virtual World Reviewed

    Y.Kunii, M.Buss, H.Hashimoto

    Proc. of IEEE International Workshop on Robot and Human Communication - ROMAN'93   216 - 219   1993.11

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  • DYNAMIC FORCE SIMULATOR FOR FORCE FEEDBACK HUMAN-MACHINE INTERACTION

    H HASHIMOTO, M BUSS, Y KUNII, F HARASHIMA

    IEEE VIRTUAL REALITY ANNUAL INTERNATIONAL SYMPOSIUM   209 - 215   1993

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  • 「静電ポテンシャル法及びSliding Modeを用いた多自由度マニピュレータの障害物回避制御」

    橋本 秀紀, 國井 康晴, 原島 文雄

    日本ロボット学会誌   11 ( 8 )   1220 - 1228   1993

  • 「仮想世界における人間・仮想物体間の力の流れ」

    第11回日本ロボット学会学術講演会予稿集   ( 1 )   377 - 380   1993

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  • DYNAMIC FORCE SIMULATOR FOR FORCE FEEDBACK HUMAN-MACHINE INTERACTION

    H HASHIMOTO, M BUSS, Y KUNII, F HARASHIMA

    IEEE VIRTUAL REALITY ANNUAL INTERNATIONAL SYMPOSIUM   209 - 215   1993

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  • 「ダイナミック・フォース・シュミレータの開発」

    平成5年電気学会産業応用部門全国大会講演論文集   799 - 802   1993

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  • 「ダイナミック・フォース・シュミレータによる仮想物体の操作」

    橋本

    ロボティクス・メカトロニクス'93講演会講演論文集   568 - 573   1993

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  • 「Dynamic Force Simulator による仮想現実感の実験」

    第24回ヒューマンインタ-フェース研究会資料集(信学技報 Vol.93, No.62, pp.53-60)   8 ( 2 )   191 - 198   1993

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  • 静電ポテンシャル法を用いた障害物回避制御

    橋本秀紀, 國井康晴, 原島文雄

    生産研究   44 ( 12 )   36 - 39   1992.12

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  • Obstacle Avoidance Using Electrostatic Potential Field

    44 ( 12 )   p598 - 601   1992.12

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  • Obstacle Avoidance Control in Multi-Dimensional Space Using Sliding Mode Reviewed

    H.Hashimoto, Y.Kunii, F.Harashima, V.I.Utkin, S.V.Drakunov

    Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS'92   1   697 - 702   1992.7

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  • Obstacle Avoidance Control in Multi-Dimensional Space Using Sliding Mode Reviewed

    H.Hashimoto, Y.Kunii, F.Harashima, V.I.Utkin, S.V.Drakunov

    Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS'92   1   697 - 702   1992.7

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  • 「静電ポテンシャル法を用いた多自由度マニピュータの障害物回避追従制御」

    平成4年度電気学会産業応用部門全国大会講演論文集   712 - 717   1992

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  • 「予見制御の運動制御系への応用」

    第10回日本ロボット学会学術講演会予稿集   ( 2 )   615 - 616   1992

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  • Physical Agents and Media on Computer Network Reviewed

    Y.Kunii, H.Hashimoto

    Proc. of The Fourth International Symposium on Artificial Life and Robotics - AROB 4th'99   40 - 45   1991.1

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  • Physical Agents and Media on Computer Network Reviewed

    Y.Kunii, H.Hashimoto

    Proc. of The Fourth International Symposium on Artificial Life and Robotics - AROB 4th'99   40 - 45   1991.1

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Presentations

  • 軟弱地盤を走行する車輪のラグ形状設計方法モデル化に対するアプローチ

    水上憲明, 飯塚浩二郎, 國井康晴

    第20回ロボティクスシンポジア  2015.3 

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  • 軟弱地盤におけるせん断変形係数の変化を考慮に入れたラグ車輪モデルの提案と妥当性の検証

    水上憲明, 飯塚浩二郎, 國井康晴

    第35回テラメカニックス研究会  2014.10 

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  • USMマニピュレータのための時分割運動制御システムの構築

    國井康晴, 高橋勇貴, 布施理

    日本ロボット学会  2013.9 

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  • LRF を用いた3 次元地図生成における領域分割マッチングによる誤差低減

    橋本直樹, 國井康晴

    日本機械学会  2013.8 

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  • 長距離走行のための軌道補正を用いた経路探索

    前原広幸, 國井康晴

    日本機械学会  2013.8 

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  • 安定的画像追従のための純粋視知覚及び注意刺激再現性に基づく自動特徴領域選定

    福田直樹, 國井康晴

    日本ロボット学会/日本機械学会/計測自動制御学会  2013.3 

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  • 自然及び獲得免疫を利用した危険抑制システムにおける車郡内車両の行動分析

    國井康晴, 菊池亮平, 漆間大佑, 大口敬

    日本ロボット学会  2012.9 

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  • 遠隔操作システムのための三層構造型アーキテクチャの可変性及び負荷分散性に対する評価

    星野公志, 國井康晴

    日本ロボット学会  2012.9 

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  • Unscented Kalman Filterによる計測誤差推定と反復重複部推定の精度向上

    上原一樹, 國井康晴

    日本ロボット学会  2012.9 

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  • 影投影を用いた多計測処理系による計測領域補間時の計測パラメータ調整

    森田秀明, 國井康晴

    日本ロボット学会  2012.9 

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  • 移動ロボットにおけるレンズ光軸の変動に対する変化量推定による自動キャリブレーション

    福田直樹, 國井康晴

    日本機械学会  2012.5 

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  • 遠隔操縦システムにおける走行軌道補正の成否判定とロバスト化

    植草友貴, 國井康晴

    日本ロボット学会/日本機械学会/計測自動制御学会  2012.3 

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  • モジュールの階層型遠隔管理システムのためのタスク制御

    小山順平, 國井康晴

    計測自動制御学会  2011.12 

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  • 月惑星探査ロボットのためのアクチュエータの検討

    久保田孝, 多田興平, 青木貴規, 國井康晴

    日本機械学会  2011.5 

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  • Visual Odometry及びGLCMを用いたランドマークのフレームアウト対応及び追従精度向上

    嶋田彰範, 國井康晴

    日本機械学会  2011.5 

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  • 軌道補正を用いた遠隔操縦システムにおける計測誤差へのロバスト性向上

    植草友貴, 國井康晴

    日本機械学会  2011.5 

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  • SELENE2 その場分析のための統合分析パッケージ

    大竹真紀子, 古谷克司, 岡田達明, 國井康晴, 久保田孝

    ISAS/JAXA  2010.1 

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  • 月惑星表面探査のためのローバシステムの研究開発

    久保田孝, 黒田洋司, 國井康晴, 大槻真嗣, 嶋田貴信, ローバ検討チーム

    ISAS/JAXA  2010.1 

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  • RWRCへの挑戦:Project Before 2009

    國井康晴

    計測自動制御学会  2009.12 

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  • 軌道補正を用いた遠隔操縦システムにおける自律軌道計画と評価

    青山洋士, 鈴木雅彦, 國井康晴

    計測自動制御学会  2009.12 

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  • 移動体の走行画像を用いた特徴地形追従型ナビゲーションシステムの構築

    鈴木太郎, 青山洋士, 國井康晴

    計測自動制御学会  2009.12 

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  • RTコンポーネントシステム運用のための状態監視インターフェースの構築

    小島隆史, 國井康晴

    計測自動制御学会  2009.12 

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  • RTミドルウェアを用いた可変構造型アーキテクチャの構築

    今井清隆, 小島隆史, 森谷浩太, 國井康晴

    計測自動制御学会  2009.12 

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  • 反復重複部推定を用いた広域マップ生成システムの精度評価

    下川裕亮, 金阿彌惇也, 國井康晴

    計測自動制御学会  2009.12 

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  • 反復重複部推定を用いた自己位置推定システムの構築

    金阿彌惇也, 久保翔太, 國井康晴

    計測自動制御学会  2009.12 

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  • ネットワーク型車輪制御システムによる不整地移動ロボットの車輪スリップ率推定

    嶋貫徹, 國井康晴

    計測自動制御学会  2009.12 

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  • 影投影画像を用いたステレオ視におけるデータ統合システムの構築

    浮田光樹, 新堀拓也, 國井康晴

    計測自動制御学会  2009.12 

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  • Instrument Deployment System for Remote Science Using a Smart Manipulator with USM

    R.Minghini, T.Kubota, M.Otsuki, T.Shinotsuka, T.Niibori, Y.Kunii

    計測自動制御学会  2009.12 

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  • 屋外移動型ロボットにおける反復重複部推定と特徴点抽出を用いた地図生成システムの精度向上

    下川裕亮, 金阿彌惇也, 國井康晴

    日本機械学会  2009.5 

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  • BeetleOne-08 による市街地走行と画像処理に基づいたナビゲーション

    浮田光樹, 青木貴則, 青山洋士, 金阿彌惇也, 中野寿男, 森谷浩太, 國井康晴

    日本機械学会  2009.5 

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  • USMドライブユニットの開発及びローバ搭載機器への適用

    篠塚貴宏, 新堀拓也, 鈴木太郎, 國井康晴

    日本機械学会  2009.5 

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  • 安全運転支援システムのための移動障害物に対する危険度評価方法

    中野寿男, 結城知彦, 鈴木高宏

    日本機械学会  2009.5 

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  • ミクロ交通流シミュレーションを用いた交通流内における運転行動の評価

    森正嘉, 結城知彦, 山邉茂之, 鈴木高宏, 國井康晴, 須田義大

    自動車技術会  2009.5 

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  • 軟弱砂地盤走行のための低圧要素を用いた月面探査車輪型ロボットの車輪形状検討

    飯塚浩二郎, 國井康晴, 黒田洋司, 久保田孝

    日本ロボット学会/日本機械学会/計測自動制御学会  2009.3 

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  • 衝撃力印加による岩石破壊メカニズムの解析

    高橋慎吾, 國井康晴

    日本ロボット学会/日本機械学会/計測自動制御学会  2009.3 

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  • 免疫ネットワークを用いた車両間協調によるリスク回避システムの構築

    結城知彦, 森正嘉, 鈴木高宏, 國井康晴

    日本ロボット学会/日本機械学会/計測自動制御学会  2009.3 

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  • モンテカルロ法に基づく指示軌道補正型遠隔操縦手法の性能評価

    小笠原将司, 國井康晴

    日本ロボット学会/日本機械学会/計測自動制御学会  2009.3 

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  • 月惑星表面移動探査のためのローバテストベッドの研究開発

    久保田孝, 黒田洋司, 國井康晴, 大槻真嗣, ローバ検討チーム

    ISAS/JAXA  2009.1 

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  • 微小振動型衝撃力印加方式による岩石研削研磨メカニズムの解析

    高橋新吾, 國井康晴, 久保田孝

    ISAS/JAXA  2009.1 

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  • ローバ試作機における環境適応型走行システムの実装

    鈴木太郎, 小笠原将司, 國井康晴

    計測自動制御学会  2008.12 

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  • 補完環境情報による作業空間計測システムの構築

    新堀拓也, 國井康晴

    計測自動制御学会  2008.12 

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  • 不整地走行のためのネットワーク型車輪制御システムの構築

    嶋貫徹, 國井康晴

    計測自動制御学会  2008.12 

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  • 反復重複部推定を用いた広域マップ生成システムの実装

    下川裕亮, 武内直己, 國井康晴

    計測自動制御学会  2008.12 

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  • 環境情報の補完を用いた遠隔試料採取システムの構築及び検討

    篠塚貴宏, 國井康晴

    計測自動制御学会  2008.12 

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  • ランダ及びローバ搭載用マニピュレータの開発状況

    大槻真嗣, 岡田達明, 田中智, 西田信一郎, 國井康晴, 久保田孝

    JAXA  2008.12 

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  • 月面サンプルその場観測のための分析統合システムの開発

    久保田孝, 古谷克司, 國井康晴, 大槻真嗣, 岡田達明

    JAXA  2008.12 

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  • ドライバモデルを含むミクロ交通シミュレーションによる合流部錯綜状況の再現

    森正嘉, 結城知彦, 貴志泰久, 河合諭司, 奥住宏, 鈴木高宏, 國井康晴

    自動車技術会  2008.10 

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  • 屋外移動型ロボット「Beetle-One」における環境マップ生成システムの構築

    下川裕亮, 國井康晴

    日本機械学会  2008.6 

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  • RTMを用いた遠隔ロボットシステムにおけるデータ共有方式の検討と構築

    小島隆史, 今井清隆, 篠塚貴宏, 國井康晴

    日本機械学会  2008.6 

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  • 不整地斜面走行を考慮した月面探査ローバの走行系システムの開発

    飯塚浩二郎, 石塚純, 國井康晴, 黒田洋司, 久保田孝

    日本機械学会  2008.6 

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  • 移動体のためのランドマーク追従システムの構築と実システムへの適応

    鈴木雅彦, 小笠原将, 鈴木太郎, 國井康晴

    日本機械学会  2008.6 

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  • Rover Missions and Technology for Lunar or Planetary

    T.Kubota, Y.Kunii, Y.Kuroda

    IEEE  2008.5 

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  • 野外活動ロボットにおける走行軌道のロバスト性評価手法の検討

    小笠原将, 國井康晴

    RSJ/SICE/JSME  2008.3 

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  • 軟弱地盤走行を考慮した月面探査ローバ用走行システムの開発指針

    飯塚浩二郎, 黒田洋司, 國井康晴, 久保田孝

    RSJ/SICE/JSME  2008.3 

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  • 移動体における特徴地形のロバストな抽出及び追従

    鈴木雅彦, 小笠原将, 國井康晴

    RSJ/SICE/JSME  2008.3 

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  • 月惑星表面移動探査型ロボットの研究開発

    久保田, 大槻, 國井, 黒田, STEPS-WG

    JAXA  2008.1 

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  • 周波数制御による個体差補償とマニピュレータの駆動関節切り替え制御の検討

    矢野良平, 飯塚浩二郎, 永松弘行, 多田興平, 國井康晴

    日本航空宇宙学会  2007.11 

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  • テラメカニクスを考慮した月面探査ローバのための走行系システム開発

    飯塚浩二郎, 黒田洋司, 國井康晴, 久保田孝

    日本航空宇宙学会  2007.11 

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  • 特徴ランドマーク追従と位置計測による指示軌道の実走行環境適応

    鈴木雅彦, 小笠原将, 國井康晴

    日本ロボット学会  2007.9 

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  • 月面探査ロボット用車輪に搭載されているラグの効果に関する考察

    飯塚浩二郎, 水上憲明, 大槻真嗣, 黒田 洋司, 國井康晴, 久保田孝

    日本ロボット学会  2007.9 

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  • 免疫ネットワークを用いた自律分散型協調回避システムの評価

    結城知彦, 近藤啓介, 鈴木高宏, 國井康晴

    日本機械学会  2007.5 

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  • 月探査ロボットの走行車輪に関する検討

    飯塚浩二郎, 水上憲明, 大槻真嗣, 國井康晴, 黒田洋司, 久保田孝

    日本機械学会  2007.5 

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  • 走行軌道補正アルゴリズムのための特徴ランドマークの追従と位置計測

    鈴木雅彦, 宮崎学, 本宮英育, 仲大輔, 國井康晴

    日本機械学会  2007.5 

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  • ローバの視覚誘導移動制御における背景変化へのロバスト性向上

    仲大輔, 國井康晴

    RSJ/SICE/JMSE  2007.3 

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  • 自然地形計測のための人の視覚システムに基づく注目領域抽出及び特徴領域選定に関する研究

    本宮英育, 國井康晴

    RSJ/SICE/JMSE  2007.3 

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  • 反復重複部推定による広域マップの生成及びモンテカルロ法による精度評価と向上

    長谷川論明, 國井康晴

    RSJ/SICE/JMSE  2007.3 

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  • RTミドルウェアを利用したモジュールの階層化構成による遠隔移動ロボットのシステム検討及び開発

    原佑輔, 高橋新吾, 安藤慶昭, 國井康晴

    RSJ/SICE/JMSE  2007.3 

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  • Mean-shift を利用したターゲット追従による探査ローバの遠隔誘導精度の向上

    仲大輔, 國井康晴

    日本航空宇宙学会  2006.11 

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  • 軌道補正を用いた遠隔操縦方式のモンテカルロ法による性能評価

    宮崎学, 鈴木雅彦, 國井康晴

    日本航空宇宙学会  2006.11 

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  • 反復重複部推定を用いた広域地形マップ生成手法の精度評価

    長谷川論明, 國井康晴

    日本航空宇宙学会  2006.11 

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  • Study on Wheel of Exploration Robot on Sandy Terrain

    Kojiro Iizuka, Yoshinori Sato, Yoji Kuroda, Takashi Kubota

    IEEE/RSJ Int. Conf. on Intelligent Robots and Systems/IEEE/RSJ  2006.10 

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  • ステレオ実時間計測のための検索回数低減及び精度向上

    本宮 英育, 國井 康晴

    日本ロボット学会  2006.9 

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  • ネットワーク及びモジュール構成による遠隔移動ロボットシステムの検討

    原佑輔, 高橋新吾, 國井康晴, 安藤 慶昭

    日本ロボット学会  2006.9 

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  • 反復型重複部推定を用いた環境マップ位置合わせ手法の精度評価及び精度向上

    長谷川論明, 國井康晴

    日本機械学会  2006.6 

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  • 砂地盤応力分布を考慮した月面探査用車輪型ロボットの車輪形状検討

    飯塚浩二郎, 國井康晴, 久保田孝

    日本機械学会  2006.6 

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  • RTミドルウェアを利用した遠隔移動ロボットシステムの構築

    原佑輔, 國井康晴, 安藤慶昭

    日本機械学会  2006.6 

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  • 遠隔採取作業のためのMean-shift アルゴリズム及び因子分解法を用いた物体追尾

    仲大輔, 國井康晴

    日本機械学会  2006.6 

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  • 時分割運動制御を適用したマニピュレータの駆動関節切り替え時間の最適化

    北澤誠之, 矢野良平, 永松弘行, 國井康晴

    RSJ/SICE/JSME  2006.3 

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  • サンプル採取のための影を利用した高精度ステレオ計測

    國井康晴, 潮田隆広

    RSJ/SICE/JSME  2006.3 

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  • 野外活動ロボットのための自己位置推定情報による遠隔操縦支援

    石丸佳範, 國井康晴

    計測自動制御学会  2005.12 

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  • 時分割運動制御を適用したマニピュレータの駆動関節切り替え時間の最適化

    北澤誠之, 國井康晴, 永松弘行

    日本航空宇宙学会  2005.11 

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  • サンプル採取のための影を利用した高精度ステレオ計測

    潮田隆広, 國井康晴

    日本航空宇宙学会  2005.11 

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  • 広域Digital Elevation Map生成のための計測領域の繰り返し推定による位置合わせ手法

    染谷智樹, 長谷川論明, 國井康晴

    日本機械学会  2005.6 

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  • 軌道評価に基づく特徴LandMark 選定による走行軌道補正の検証

    森山誠, 石丸佳範, 宮崎学, 國井康晴

    日本機械学会  2005.6 

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  • マグニチュード推定法を活用した注目点選定手法の検討

    武藤保正, Auffarth-Benjamin, 國井康晴

    日本機械学会  2005.6 

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  • 遠隔科学観測における空間周波数に基づく画像評価法の検討

    渡正行, 仲大輔, 國井康晴

    日本機械学会  2005.6 

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  • 個別要素法を利用した超音波ドリルによる岩石掘削過程の解析

    多田興平, 國井康晴, 久保田孝

    RSJ/SICE/JSME  2005.3 

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  • ローバの走行軌道補正アルゴリズムにおける特徴点選定

    森山誠, 永塚真吾, 石丸佳範, 國井康晴

    RSJ/SICE/JSME  2005.3 

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  • 惑星探査ローバのための地形計測と広域地形マップの生成

    染谷智樹, 武藤保正, 本宮英育, 國井康晴

    RSJ/SICE/JSME  2005.3 

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  • 自然環境認識のための純粋視知覚の検討

    武藤保正, 國井康晴

    RSJ/SICE/JSME  2005.3 

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  • ロボティクス技術により拓く月惑星表面探査

    久保田孝, 國井康晴, 吉光徹雄, 黒田洋司

    文部省宇宙科学研究所  2005.3 

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  • 遠隔サンプル採取のためのテクスチャ解析による画像評価

    渡正行, 潮田隆弘, 國井康晴

    宇宙科学技術連合講演会,日本航空宇宙学会  2004.11 

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  • ローバの遠隔操縦システムにおける走行軌道補正及び特徴点選定法の検討

    森山誠, 國井康晴

    宇宙科学技術連合講演会,日本航空宇宙学会  2004.11 

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  • 広域地形マップ構成のための複数局所地形データ重複部の推定マッチング

    染谷智樹, 國井康晴

    宇宙科学技術連合講演会,日本航空宇宙学会  2004.11 

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  • ローバの地上系システムの構築と遠隔操縦実験

    石丸佳範, 森山誠, 永塚真吾, 國井康晴

    宇宙科学技術連合講演会,日本航空宇宙学会  2004.11 

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  • 月惑星表面探査ローバの検討

    久保田孝, 國井康晴, 黒田洋司, 吉光徹雄

    宇宙科学技術連合講演会,日本航空宇宙学会  2004.11 

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  • ローバを利用した月面地質直接探査

    佐々木晶, 加藤学, 佐伯和人, 國井康晴, 杉原孝充

    日本航空宇宙学会  2004.11 

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  • 注目度による自然地形認識のための注目点選定

    武藤保正, 國井康晴

    日本ロボット学会  2004.9 

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  • 超音波モータを用いた惑星探査用小型軽量マニピュレータの制御システムの検討

    國井康晴, 北澤誠之, 多田興平, 永松 弘行

    日本ロボット学会  2004.9 

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  • Micro-Manipulator actuated by Ultra-Sonic Motor for Space Environment

    Kouhei TADA, Yasuharu KUNII, Takashi Kubota, Toshiiku Sashida

    Int. Conf. on Intelligent Manipulation and Grasping -IMG2004  2004.7 

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  • USMの熱・真空環境における摩擦面状態と耐久性向上

    多田興平, 國井康晴, 指田年生, 久保田孝

    日本機械学会  2004.6 

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  • 画像による自然地形認識のための注目点選定手法の検討

    武藤保正, 國井康晴

    日本機械学会  2004.6 

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  • 影情報を用いたテレサンプリングシステムの検討

    渡正行, 國井康晴

    日本機械学会  2004.6 

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  • ROVER-LANDER EXPLORATION ON THE LUNAR SURFACE BY SELENE-B: A CRATER'S CENTRAL PEAK - WINDOW TO THE LUNAR INTERIOR

    S.Sasaki, T.Kubota, M.Ohtake, T.Okada, T.Sugihara, H.Akiyama, N.Hirata, H.Kanamori, Y.Kunii, Y.Kuroda, K.Matsumoto, K.Saiki, S.Wakabahashi, J.Haruyama, H.Takeda, M.Kato,Rover, Science Group in Japan

    ISTS2004  2004.5 

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  • SELENE‐Bローバによるテレサイエンス

    久保田孝, 國井康晴, 佐伯和人

    文部省宇宙科学研究所  2004.4 

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  • ローバを利用した月面地質直接探査

    佐々木晶, 加藤学, 佐伯和人, 國井康晴, 杉原孝充

    日本航空宇宙学会  2003.11 

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  • SELENE-B探査ローバの技術的検討

    久保田孝, 國井康晴, 黒田洋司, 青木滋, 若林幸子

    日本航空宇宙学会  2003.11 

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  • 走行軌道補正及び拡張DEMを用いた遠隔操縦方式の検討

    浪越洋人, 森山誠, 國井康晴

    日本航空宇宙学会  2003.11 

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  • サンプル採取のための埋没部の形状推定方式の検討

    卜部英孝, 渡正行, 國井康晴

    日本航空宇宙学会  2003.11 

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  • Shadow Range Finder における影境界探索手法の検討

    辻俊太郎, 國井康晴

    日本航空宇宙学会  2003.11 

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  • 超音波を用いた研削システムにおけるホーン形状の研削性能評価

    多田興平, 國井康晴, 久保田孝, 大竹真紀子

    日本航空宇宙学会  2003.11 

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  • 分散型車両事故回避のための免疫ネットワークモデルの構築に関する研究

    羽部美樹, 國井康晴, 河野生吾

    日本ロボット学会  2003.9 

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  • 不整地走行用移動ロボットのための遠隔操縦システム

    國井康晴, 森山誠, 浪越 洋人

    日本ロボット学会  2003.9 

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  • ローバシステム開発に向けた仮想ローバシミュレータの構築

    永塚真吾, 國井康晴, 染谷智樹

    日本ロボット学会  2003.9 

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  • SELENE-B 搭載科学観測機器の検討

    岡田達明

    日本惑星科学会  2003.9 

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  • Shadow Range Finder for Tele-sampling on Planetary Surface

    Yasuharu KUNII, Shuntaro TSUJI, Masauki WATARI

    11th International Conference on Advanced Robotics - ICAR'03  2003.6 

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  • Tele-Driving System for Nonstop Traveling of Lunar Rover and Its Field Experiment

    Yoji Kuroda, Masahide Kawanishi, Mitsuaki Matsukuma, Yasuharu Kunii, Takashi Kubota

    7th Int. Symposium on Artificial Intelligence, Robotics and Automation in Space/NASA/NASDA/ESA/CSA  2003.5 

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  • Shadow Range Finder のための影領域推定手法の検討

    後藤妙子, 辻俊太郎, 國井康晴

    日本機械学会  2003.5 

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  • 月面探査ローバにおけるサンプルリターンのための経路計画の検討

    大橋勇夫, 浪越洋人, 吉光徹雄, 國井康晴

    日本機械学会  2003.5 

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  • 超音波モータの宇宙利用と真空特性実験

    多田興平, 國井康晴, 指田年生, 久保田孝

    日本機械学会  2003.5 

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  • Networked Dynamic Force Simulator を介したテレオペレーションシステムの構築

    高橋誠, 卜部英孝, 國井康晴

    日本機械学会  2003.5 

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  • 画像理解に基づく科学探査支援システム

    赤羽主識, 國井康晴, 下田真吾, 久保田孝

    日本航空宇宙学会  2003.1 

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  • 月面探査ローバの経路計画手法

    佐々木晶

    文科省宇宙科学研究所  2003.1 

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  • ランダ・ローバによる月面クレータ中央丘探査

    江尻理帆, 吉光徹雄, 久保田孝, 浪越洋人, 國井康晴

    文科省宇宙科学研究所  2003.1 

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  • SELENE‐Bサイエンスシステムの検討

    岡田達明, 杉原孝充, 國井康晴

    文科省宇宙科学研究所  2003.1 

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  • SELENE-Bに向けた月面探査サイエンスローバの検討

    國井康晴

    日本ロボット学会  2002.10 

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  • NDFSにおける階層的仮想物体の管理とクラスタリング

    高橋誠, 國井康晴

    日本ロボット学会  2002.10 

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  • 拡張DEMを用いた経路計画による自然地形走行実験

    浪越洋人, 吉光徹雄, 國井康晴, 久保田孝

    日本ロボット学会  2002.10 

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  • 惑星環境理解のための画像処理手法の一考察

    赤羽主識, 國井康晴, 下田真吾, 久保田孝

    日本ロボット学会  2002.10 

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  • 惑星探査ローバ搭載に向けたShadow Range Finderの誤差と精度向上

    後藤妙子, 國井康晴

    日本ロボット学会  2002.10 

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  • 免疫ネットワークモデルを用いた自律分散型協調事故回避アルゴリズムとその有効性

    河野生吾, 國井康晴

    日本ロボット学会  2002.10 

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  • 月面探査ローバによるテレサイエンス

    國井康晴, 佐伯和人, 久保田孝, 金森洋史, 若林幸子

    日本航空宇宙学会  2002.10 

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  • 月面無人地質探査ローバのナビゲーション

    久保田孝, 若林幸子, 飯島純一, 國井康晴, 多田興平

    日本航空宇宙学会  2002.10 

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  • ローバを利用した月面探査の科学:クレータ中央丘の地質探査

    佐々木晶, 久保田孝, 佐伯和人, 國井康晴

    日本航空宇宙学会  2002.10 

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  • 月面小型ローバの走行システム

    金森洋史

    日本航空宇宙学会  2002.10 

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  • Networked Dynamic Force Simulatorにおける仮想物体の階層的管理

    國井康晴, 鈴木洋佑, 高橋誠

    日本機械学会  2002.6 

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  • 探査環境データによる空間周波数分析と画像評価

    赤羽主識, 國井康晴, 吉光徹雄, 久保田孝

    日本機械学会  2002.6 

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  • テレドライビングシステムによる遠隔操作のための適用条件の検証

    多田興平, 國井康晴, 黒田洋司, 久保田孝

    日本機械学会  2002.6 

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  • 太陽光と影を用いた3次元形状測定方式における影領域抽出手法の検討

    後藤妙子, 國井康晴

    日本機械学会  2002.6 

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  • 免疫ネットワークモデルを用いた自律分散型協調事故回避システムの検討と考察

    梨沢洋明, 河野生吾, 國井康晴

    日本機械学会  2002.6 

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  • ネットワークを用いた仮想世界の構築及び物体のクラスタリングによる階層的管理

    國井康晴, 鈴木洋佑, 高橋誠

    日本ロボット学会/日本機械学会/計測自動制御学会  2002.3 

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  • 拡張DEMによる経路計画の評価および走行実験

    吉光徹雄, 新妻亮介, 大橋勇夫, 國井康晴, 久保田孝

    日本ロボット学会/日本機械学会/計測自動制御学会  2002.3 

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  • 太陽光と影を利用した3次元形状測定方式の検討

    國井康晴, 後藤妙子

    日本航空宇宙学会  2001.10 

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  • 月面探査Roverのための走行軌道補正を用いた移動効率の向上とTele‐driving system

    國井康晴, 多田興平, 黒田洋司, 久保田孝

    日本航空宇宙学会  2001.10 

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  • 超音波振動を利用した惑星探査用小型軽量マニピュレータの開発

    國井康晴, 多田興平, 黒田洋司, 久保田孝

    日本航空宇宙学会  2001.10 

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  • 小惑星探査ロボットにおける自律画像評価手法

    國井康晴, 赤羽主識, 吉光徹雄, 久保田孝

    日本航空宇宙学会  2001.10 

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  • 自然地形における拡張DEMを利用した経路計画と走行実験

    吉光徹雄, 新妻亮介, 大橋勇夫, 國井康晴, 久保田孝

    日本航空宇宙学会  2001.10 

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  • 惑星探査のための自律画像評価に関する研究

    國井康晴, 赤羽主識, 吉光徹雄, 久保田孝

    日本ロボット学会  2001.9 

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  • 原子核モデルを利用した車線変更運転モデルの検討

    國井康晴, 河野生吾, 梨沢洋明

    日本ロボット学会  2001.9 

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  • 超音波振動の宇宙利用とローバ搭載マニピュレータ

    國井康晴, 多田興平, 山下巧

    日本ロボット学会  2001.9 

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  • ネットワーク分散型ダイナミックフォースシミュレータの検討

    國井康晴, 羽部美樹, 鈴木洋佑, 高橋誠

    日本ロボット学会  2001.9 

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  • 影を利用した3次元形状測定Shadow Range Finderの性能評価

    國井康晴, 後藤妙子

    日本ロボット学会  2001.9 

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  • CDCを用いたテレドライブシステムの成立条件の検討

    國井康晴, 多田興平, 黒田洋司, 久保田孝

    日本ロボット学会  2001.9 

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  • Extended Digital Elevation Mapを用いた経路計画によるローバ走行実験

    吉光徹雄, 新妻亮介, 大橋勇夫, 國井康晴, 久保田孝

    日本ロボット学会  2001.9 

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  • ネットワークを用いた自律分散型協調事故回避システムにおける車両群交渉

    梨沢洋明, 國井康晴

    日本ロボット学会  2001.9 

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  • ネットワークを用いた自律分散協調型事故回避システムにおける運転者行動モデルに関する研究

    尾本徹, 梨沢洋明, 國井康晴

    日本機械学会  2001.6 

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  • センサ情報に基づいた移動ロボットの自己診断システム 第5報 診断システムの実装及び実験

    翁信之介, 川端邦明, 藤井輝夫, 國井康晴, 浅間一

    日本機械学会  2001.6 

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  • 影を利用した3次元距離・形状測定Shadow Range Finderの検討

    茂原猛一, 後藤妙子, 國井康晴

    日本機械学会  2001.6 

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  • 影を利用した3次元距離・形状測定 Shadow Range Finder : SRF

    茂原猛一, 後藤妙子, 國井康晴

    日本ロボット学会,|rn|日本機械学会,計測自動制御学会  2001.3 

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  • アドホックネットワークを用いた自律分散型協調事故回避システムにおける運転者行動モデルに関する研究

    尾本徹, 國井康晴

    日本ロボット学会,|rn|日本機械学会,計測自動制御学会  2001.3 

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  • リム情報を利用した移動ステレオ視に基づく小惑星3次元形状復元手法

    花又健一, 久保田孝, 丸家誠, 國井康晴

    日本航空宇宙学会  2000.10 

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  • Shadow Range Finderによる3次元距離・形状測定

    茂原猛一, 國井康晴

    日本ロボット学会  2000.9 

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  • センサ情報に基づいた移動ロボットの自己診断システム 第4報:診断結果に基づく対処動作の検討

    翁信之介, 川端邦明, 藤井輝夫, 國井康晴, 浅間一

    日本ロボット学会  2000.9 

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  • 惑星探査ローバの為の遠隔操作環境の構築

    國井康晴, 多田興平, 新妻亮介

    日本ロボット学会  2000.9 

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  • 月惑星ローバ搭載用マニピュレータにおける消費エネルギーの検討とアクチュエータ

    國井康晴, 織田浩史, 大塚雅弘, 黒田洋司, 久保田孝

    日本ロボット学会  2000.9 

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  • 月面探査ローバ用テレサンプリングシミュレータにおける可搬重量情報の提示

    國井康晴, 大塚雅弘, 織田浩史

    日本ロボット学会  2000.9 

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  • 電界の特性を利用した行動モデル

    尾本徹, 國井康晴

    日本ロボット学会  2000.9 

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  • 月面ローバ探査におけるBuddy Systemの提案

    日本ロボット学会

    久保田孝,黒田洋司,國井康晴  2000.9 

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  • Development of Micro Manipulator for Tele-science by Lunar Rover: Micro5

    Kunii, Kuroda, Kubota

    4th IAA Int. Conf. On Low-Cost Planetary Missions,2000  2000.6 

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  • Small, Light-weight Rover: Micro5 for Lunar Exploration

    Kubota, Kuroda, Kunii, Nakatani

    4th IAA Int. Conf. On Low-Cost Planetary Missions,2000  2000.6 

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  • センサ情報に基づいた移動ロボットの自己診断システム 第3報:故障検出アルゴリズムを用いた基礎実験

    寿原雅也, 中尾庄作, 冨田和正, 國井康晴, 黒田洋司

    日本機械学会  2000.5 

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  • ローバのための走行軌道補正を用いた広域探査Tele-Driving Systemの提案

    寿原雅也, 國井康晴, 黒田洋司

    2000.5 

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  • Shadow Range Finderの提案

    茂原猛一, 國井康晴

    日本機械学会  2000.5 

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  • 超音波モータを用いたマイクロマニピュレータの開発

    國井康晴, 織田浩史, 大塚雅弘, 黒田洋司, 久保田孝

    日本機械学会  2000.5 

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  • 月探査ローバの長距離移動実験

    黒田洋司, 山宮雅史, 中村一明, 國井康晴, 久保田孝

    日本機械学会  2000.5 

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  • 月面探査ローバの広域探査用Tele‐Driving Systemの検証

    寿原雅也, 中尾庄作, 冨田和正, 國井康晴, 黒田洋司

    日本機械学会  2000.5 

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  • 流量調節を伴うPDMSマイクロチップ上でのルシフェリン‐ルシフェラーゼ発光反応

    金田祥平, 藤井輝夫, HONG J. W, 國井康晴, 関実

    日本機械学会  2000.5 

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  • 自律ロボットによる協調のための通信学習

    星野美保, 浅間一, 川端邦明, 國井康晴, 遠藤勲

    日本機械学会  2000.5 

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  • 生化学発光反応用高分子マイクロチップの開発

    金田祥平, 藤井輝夫, HONG J. W, 國井康晴, 関実

    電気学会  2000.3 

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  • 月探査ローバシステムの提案

    久保田孝, 黒田洋司, 國井康晴, 中谷一郎

    日本ロボット学会  1999.9 

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  • 月面探査ローバ:Micro5搭載用5自由度マニピュレータの開発

    國井康晴, 青山健一, 織田浩史, 笈川信一郎, 黒田洋司, 久保田孝

    日本ロボット学会  1999.9 

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  • 月面探査用テレサンプリングシミュレータの構築

    國井康晴, 大塚雅弘

    日本ロボット学会  1999.9 

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  • 月惑星ローバ搭載用マニピュレータにおける消費エネルギーの検討とアクチュエータ

    第18回日本ロボット学会学術講演会予稿集  1999.9 

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  • 微小重力下におけるホップロボットの移動最適化の検討

    花又健一, 國井康晴, 吉光徹雄, 加藤宙, 久保田孝

    日本ロボット学会  1999.9 

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  • センサ情報に基づいた移動ロボットの自己診断システム 第2報:センサフュージョンによる不具合箇所の特定

    翁信之介, 川端邦明, 藤井輝夫, 國井康晴, 淺間一, 遠藤勲

    日本ロボット学会  1999.9 

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  • 広域探査用月面ローバのためのTele-Driving System

    寿原雅也, 國井康晴, 黒田洋司

    日本航空宇宙学会  1999.9 

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  • Fuzzyを用いた周辺車両の行動予測

    國井康晴, 尾本徹

    日本ロボット学会  1999.9 

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  • ローバにおける影を利用した近接判定のヒューマンインターフェイスへの利用

    國井康晴, 茂原猛一

    日本ロボット学会  1999.9 

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  • 月面探査ローバのTele‐Driving Systemにおける走行軌道補正

    寿原雅也, 國井康晴, 黒田洋司

    日本ロボット学会  1999.9 

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  • Tele-Science by Planetary Rover: Micro 5

    Y.Kunii, M.Otsuka, M.Suhara, Y.Kuroda, T.Kubota

    Proc. of Fifth International Symposium on Artificial Intelligence, Robotics and Automation in Space-iSAIRAS'99/NASA,ESA,ISAS,NASDA  1999.6 

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  • 遺伝的アルゴリズムによるホッピングローバの準最適電圧パターンの生成

    花又健一, 國井康晴, 吉光徹雄, 加藤宙, 久保田孝

    ロボティクス・メカトロニクス'99講演会講演論文集CD-ROM,日本機械学会  1999.6 

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  • センサ情報に基づいた移動ロボットの自己診断システム

    翁信之介, 川端邦明, 藤井輝夫, 國井康晴, 淺間一, 遠藤勲

    ロボティクス・メカトロニクス'99講演会講演論文集CD-ROM,日本機械学会  1999.6 

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  • 月面探査マイクロローバ

    久保田孝, 黒田洋司, 國井康晴

    ロボティクス・メカトロニクス'99講演会講演論文集CD-ROM,日本機械学会  1999.6 

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  • 月面上におけるテレサンプリング手法の提案

    國井康晴, 大塚雅弘

    ロボティクス・メカトロニクス'99講演会講演論文集CD-ROM,日本機械学会  1999.6 

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  • Low Power Mobility System for Micro Planetary Rover Micro5

    Kuroda, Kunii, Kubota

    Proc. of Fifth International Symposium on Artificial Intelligence, Robotics and Automation in Space-iSAIRAS'99/NASA,ESA,ISAS,NASDA  1999.4 

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  • Micro Planetary Rover Micro 5

    Kubota, Nakatani, Kuroda, Kunii

    Proc. of Fifth International Symposium on Artificial Intelligence, Robotics and Automation in Space-iSAIRAS'99/NASA,ESA,ISAS,NASDA  1999.4 

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  • 影情報を用いた単眼視による物体間3次元近接判定

    國井, 茂原

    ロボティクスメカトロニクス'99講演会講演録文集CD-ROM,日本機械学会  1999.4 

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  • 画像情報に基づく人間の内部状態のヒューマンインタフェースへの利用

    津呂光太郎, 國井康晴

    第16回日本ロボット学会学術講演会予稿集,日本ロボット学会  1998.9 

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  • Computer Networked Robotics (Invited paper)

    Y.Kunii, H.Hashimoto

    Proc. Of IEEE International Conference on Intelligent Robotics and Systems-IROS'98 Workshop/IEEE/RSJ/SICE  1998.9 

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  • Robotic Network System -物理エージェントとしての移動ロボット-

    國井康晴, 李周浩, 大橋俊之, 安藤慶昭, 中井章人, 橋本秀紀

    第15回日本ロボット学会学術講演会予稿集,日本ロボット学会  1997.9 

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  • 腕型ヒューマンインターフェースにおける力センサシステムの開発

    中井章人, 國井康晴, 橋本秀紀

    第15回日本ロボット学会学術講演会予稿集,日本ロボット学会  1997.9 

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  • インターネットにおける物理メディアとしてのロボットシステム

    藤井輝夫, 石田慶樹, 黒田洋司, 國井康晴, 菅野重樹, 橋本秀紀

    第15回日本ロボット学会学術講演会予稿集,日本ロボット学会  1997.9 

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  • Computer Networked Robotics における遠隔操作と時間遅れ

    中井章人, 國井康晴, 橋本秀紀

    ロボティクス・メカトロニクス'97講演会講演論文集,日本機械学会  1997.6 

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  • Robotic Network System における作業教示と協調

    國井康晴, 橋本秀紀

    ロボティクス・メカトロニクス'97講演会講演論文集,日本機械学会  1997.6 

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  • 仮想現実感を用いたマニピュレータの作業教示

    國井康晴, 橋本秀紀

    日本機械学会第74期通常総会講演会講演会論文集,日本機械学会  1997.3 

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  • Robotic Network Systemにおける人間機械協調と作業教示

    國井康晴, 橋本秀紀

    第14回日本ロボット学会学術講演会予稿集,日本ロボット学会  1996.11 

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  • Dynamic Force Simulator - DFS と20自由度Haptic Interface - Sensor Glove Ⅱの開発

    國井康晴, 西野善昭, 北田敏夫, 橋本秀紀

    第1回日本バーチャル・リアリティー学会大会論文集,日本バーチャルリアルティー学会  1996.10 

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  • 人間機械系における協調・分担作業の実現

    國井康晴, 橋本秀紀

    ロボティクス・メカトロニクス講演会予講集,日本機械学会  1996.6 

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  • 仮想物体把持と作業データの利用

    國井康晴, 橋本秀紀

    平成8年電気学会全国大会講演論文集,電気学会  1996.3 

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  • 仮想環境下における作業と作業空間とのマッチング

    國井康晴, 橋本秀紀

    第13回日本ロボット学会学術講演会予稿集,日本ロボット学会  1995.11 

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  • 握手マシン開発および力覚情報を用いたコミュニケーション

    國井康晴, M.Suradech, 橋本秀紀

    第13回日本ロボット学会学術講演会予稿集,日本ロボット学会  1995.11 

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  • ダイナミック・フォース・シミュレータのシステム構成と仮想物体把持・変形

    國井康晴, 橋本秀紀

    ロボティクス・メカトロニクス'95講演会講演論文集,日本機械学会  1995.7 

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  • 仮想環境下における物体の把持と変形

    國井康晴, 橋本秀紀

    第12回日本ロボット学会学術講演会予稿集,日本ロボット学会  1994.11 

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  • 力のバランスと仮想物体の変形

    國井康晴, 橋本秀紀

    平成6年電気学会産業応用部門全国大会講演論文集,電気学会  1994.8 

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  • ダイナミック・フォース・シミュレータによる力覚フィードバック

    國井康晴, 橋本秀紀

    ロボティクス・メカトロニクス'94講演会講演論文集,日本機械学会  1994.7 

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  • 仮想世界における人間・仮想物体間の力の流れ

    國井康晴, 橋本秀紀

    第11回日本ロボット学会学術講演会予稿集,日本ロボット学会  1993.11 

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  • ダイナミック・フォース・シュミレータの開発

    國井康晴, Martin Buss, 橋本秀紀, 原島文雄

    平成5年電気学会産業応用部門全国大会講演論文集,電気学会  1993.8 

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  • ダイナミック・フォース・シュミレータによる仮想物体の操作

    橋本秀紀, 國井康晴, Martin Buss

    ロボティクス・メカトロニクス'93講演会講演論文集,日本機械学会  1993.7 

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  • Dynamic Force Simulator による仮想現実感の実験

    國井康晴, Martin Buss, 橋本秀紀

    第24回ヒューマンインタ-フェース研究会資料集(信学技報 Vol.93, No.62, pp.53-60),計測自動制御学会,電子情報通信学会  1993.5 

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  • 予見制御の運動制御系への応用

    國井康晴, 今野雄介, 橋本秀紀, 原島文雄

    第10回日本ロボット学会学術講演会予稿集,日本ロボット学会  1992.11 

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  • 静電ポテンシャル法を用いた多自由度マニピュータの障害物回避追従制御

    橋本秀紀, 國井康晴, 原島文雄, V.I.Utkin, S.V.Drakunov

    平成4年度電気学会産業応用部門全国大会講演論文集,電気学会  1992.8 

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Awards

  • Best Paper Finalist

    2008.7   IEEE/ASME AIM2008 Award Committee   Shadow casting Stereo Imaging for High Accurate and Robust Stereo Processing of Natural Environment

Research Projects

  • 感性ロボティックス環境による共生的生活空間の創造

    2005.4 - 2007.3

    中央大学  中央大学共同研究費他 

    木下源一郎

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    Grant type:Competitive

    Grant amount: \7000000

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  • 惑星表面科学探査のための超音波振動を利用した岩石の切削機構に関する研究

    2003.4 - 2006.3

    文部科学省  科学研究費補助金(若手研究B) 

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    Grant type:Competitive

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  • 遠隔活動ロボットの制御ソフトウェアアーキテクチャに関する研究

    2006 -  

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    Grant type:Competitive

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  • 超音波モータの真空仕様化に関する研究

    2006 -  

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    Grant type:Competitive

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  • 月・惑星探査のための超音波振動子を利用した科学観測支援システムに関する研究

    2001.4 - 2003.3

    文部科学省  科学研究費補助金(基盤研究C2) 

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  • 超音波振動を利用した非磁性型アクチュエータの宇宙仕様化と宇宙応用に関する研究

    2001.8 - 2002.3

    NASDAハイテクベンチャ 

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  • Mobility Mechanism of Micro Robot under Micro-Gravity

    Grant number:12450173  2000 - 2002

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (B)  Institute o f Space and Astronautical Science

    NAKATANI Ichiro, KUNII Yasuharu, KURODA Yoji, KUBOTA Takashi, YAMAKAWA Hiroshi, YOSHIMITSU Tetsuo

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    Grant amount: \12200000 ( Direct Cost: \12200000 )

    The authors have studied a micro-robot with a new mobility system to move and hop under such micro gravity environment as International Space Station or surface of small body, comets or asteroids. The authors have developed an novel algorithm to move under micro gravity autonomously and safely. The authors also have studied a selfpositioning method to identify the position and attitude of a robot on the surface of small body. The obtained results are as follows.
    1. Mobility Mechanism : a new mobility on hopping was proposed and the effectiveness was confirmed by simulations.
    2. Position Identification : a new positioning method was developed by the sun sensors.
    3. Motion Estimation : a method to estimate motion of a robot during hopping was devebped and the effectiveness was confirmed by simulations.
    4. Motion Planning : a path planning scheme was proposed and simulated
    5. Micro Gravity Experiments : hopping experiments were performed and the experimental robot with proposed mobility succeeded. In hopping under micro -gravity.
    6. Application to Exploration Rover : exploration rover with proposed mechanism was designed and the prototype was devebped.

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  • 通信ネットワークを用いた自律分散型事故回避システムに関する研究

    1999.4 - 2001.3

    文部科学省  科学研究費補助金(奨励研究A) 

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    Grant type:Competitive

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  • 超音波振動を利用した岩石研削システムに関する研究

    2001 -  

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    Grant type:Competitive

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  • 超音波モータの宇宙仕様化に関する研究

    2000 -  

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    Grant type:Competitive

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  • 超音波モータによる小型軽量マニピュレータに関する研究

    1999 -  

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    Grant type:Competitive

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  • 走行軌道補正を用いたローバの遠隔操縦アルゴリズムに関する研究

    1999 -  

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    Grant type:Competitive

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  • Haptic Interfaceに関する研究

    1994 - 1998

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    Grant type:Competitive

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  • 惑星探査ローバシステム構築に関する研究

    1998 -  

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    Grant type:Competitive

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  • 免疫ネットワークを用いた分散型自律事故回避システムに関する研究

    1998 -  

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    Grant type:Competitive

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  • 力覚フィードバックのための仮想環境シミュレータに関する研究

    1994 - 1997

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    Grant type:Competitive

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  • 自然環境計測に関する研究

    1997 -  

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    Grant type:Competitive

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  • 野外活動ロボットの知能化に関する研究

    1997 -  

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    Grant type:Competitive

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  • Computer Networked Robotics に関する研究

    1996 -  

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Intellectual property rights

  • 走行移動体、及びその制御方法並びにその制御プログラム

    前田 孝雄,多田 興平

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    Application no:特願2019-030504  Date applied:2019.2.22

    Announcement no:特開2020-135622  Date announced:2020.8.31

    Registration no:特許第7304553号  Date registered:2023.6.29 

    Applicant (Organization):学校法人中央大学、株式会社Piezo Sonic

  • 三次元計測方法、計測装置、復元方法および復元装置

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    Application no:特願2005-323904  Date applied:2005.11.8

    Announcement no:特開2007-132715  Date announced:2007.5.31

    Registration no:特許第4784270号  Date registered:2011.7.22 

    Applicant (Organization):学校法人中央大学

Committee Memberships

  • 2006 - 2008

    日本ロボット学会   理事  

  • 2005 - 2006

    日本ロボット学会   評議員  

  • 2000 - 2002

    日本ロボット学会   学会誌編集委員会委員  

  • 1998 - 2000

    日本ロボット学会   ニューライフスタイル調査専門委員会委員  

  • 1998 - 2000

    日本ロボット学会   事業計画委員会委員  

  • 1998 - 2000

    電気学会   インテリジェントシステム協同研究委員会幹事  

  • 1996 - 2000

    日本機械学会   インテリジェントメカトロニクス研究委員会委員  

  • 1997 - 1998

    IEEE   /RSJ/SICE Int. Conf. On Intelligent Robots and Systemsプログラム委員  

  • 1996 - 1998

    日本ロボット学会   Dreamy Robotics研究専門委員会委員  

  • 1996 - 1998

    電気学会   インテリジェントメカトロニクス協同研究委員会幹事補佐  

  • 1995 - 1997

    IEEE   /ASME International Conference on Advanced Intelligent Mechatronics実行委員会委員  

  • 1997 -  

    日本ロボット学会   第15日本ロボット学生学術講演会実行委員  

  • 1995 - 1996

    日本ロボット学会   学生メーリングリスト編集委員  

  • 1995 -  

    日本ロボット学会   学生フォーラム編集委員  

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