ISHIGAMI Genya

写真a

Affiliation

Faculty of Science and Technology, Department of Mechanical Engineering ( Yagami )

Position

Professor

Related Websites

External Links
Scopus Paper Info  
Paper Count: 100 Citation Count: 1521 h-index: 21

Click to view the Scopus page. The data was downloaded from Scopus API in April 26, 2026, via http://api.elsevier.com and http://www.scopus.com .

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Career 【 Display / hide 】

  • 2008.04
    -
    2010.03

    Massachusetts Institute of Technology, Dept. of Mechanical Engineering, Postdoctoral Associate

  • 2010.04
    -
    2013.03

    Japan Aerospace Exploration Agency, Institute of Space and Astronautical Science, Aerospace Project Research Associate

  • 2013.04
    -
    2017.03

    Keio University, Dept. of Mechanical Engineering, Assistant Professor

  • 2013.06
    -
    Present

    国立研究開発法人宇宙航空研究開発機構, 宇宙科学研究所, 大学共同利用システム研究員

  • 2013.10
    -
    2014.10

    慶應義塾大学, JABEE申請準備委員会, 委員

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Academic Background 【 Display / hide 】

  • 2003.03

    Tohoku University, Faculty of Engineering, Dept. of Mechanical and Aerospace Engineering

    University, Graduated

  • 2005.03

    Tohoku University, Graduate School, Division of Engineering, Department of Aerospace Engineering

    Graduate School, Completed, Master's course

  • 2008.03

    Tohoku University, Graduate School, Division of Engineering, Department of Aerospace Engineering

    Graduate School, Completed, Doctoral course

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Academic Degrees 【 Display / hide 】

  • Ph.D (Engineering), Tohoku University, Coursework, 2008.03

  • 修士（工学）, Tohoku University, Coursework, 2005.03

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Research Areas 【 Display / hide 】

  • Informatics / Mechanics and mechatronics

  • Informatics / Robotics and intelligent system (Intelligent Mechanics/Mechanical System)

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

  • Informatics / Intelligent robotics

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Research Keywords 【 Display / hide 】

  • Field Robotics

  • Terramechanics

  • Robotics

  • Lunar/Planetary Exploration

  • Autonomous Mobility System

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Proposed Theme of Joint Research 【 Display / hide 】

  • Dynamics and Control for Field Robotics

    Desired form： Technical Consultation, Funded Research, Cooperative Research

  • Machine-terrain interaction mechanics and control

    Desired form： Technical Consultation, Funded Research, Cooperative Research

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Books 【 Display / hide 】

  • ロボティクスの最先端と未来への布石

    一般社団法人日本ロボット学会 学会特命委員会／F-REI 調査事業推進委員会, 新産業創出等研究開発事業に係る調査事業（先端的ロボットに関する調査）業務成果報告書, 2023.12

    Scope: 第3.5章：車輪・履帯ロボットシステム

  • 不整地移動ロボティクス

    永谷 圭司, 石上 玄也, 遠藤 大輔 (工学), 永岡 健司, 遠藤 玄, 程島 竜一, 亀川 哲志, 田中 基康, コロナ社, 2023

  • Special Issue on Advanced Construction Robot System

    Ohno, K., Osumi, H., Ishigami, G., and Nagatani, K., Advanced Robotics, 2021.12

    , Accepted

  • 講座「宇宙探査と地盤工学」

    石上玄也，尾崎伸吾，須藤真琢，前田孝雄, 地盤工学会誌, 2021.08

    Scope: 第6章：月・惑星探査機とテラメカニクス , Accepted

  • Field and Service Robotics, Results of the 12th International Conference

    Ishigami, G. and Yoshida, K, Springer Proceedings in Advanced Robotics, 2021.01

    , Accepted

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Papers 【 Display / hide 】

  • Evaluating and advancing scaling methods for reliable wheel mobility prediction in low-gravity environments

    Omura T., Ishigami G.

    Journal of Terramechanics 122 2026.04

    ISSN  00224898

    　View Summary

    Predicting wheel mobility in low-gravity environments through Earth-based gravity tests offers a practical alternative to expensive parabolic flights and computationally intensive numerical simulations. However, an optimal scaling method for varying wheel speeds remains unidentified. This study systematically evaluated three scaling methods — Granular Scaling Laws (GSL), reduced-weight tests, and equal-mass tests — using Discrete Element Method simulations at three wheel angular velocities (π/10, π, and 2π rad/s). The methods were assessed based on their accuracy in predicting horizontal velocity, slip ratio, sinkage, and power consumption under free-driving conditions. GSL maintained errors below 5% across all conditions, while the equal-mass test showed velocity-dependent degradation with errors reaching 234% at high speeds. The reduced-weight test underestimated sinkage by over 100%, risking vehicle immobilization. An analytical framework employing an inertial number was developed to quantify soil flow characteristics, facilitating a comprehensive comparative analysis of the scaling methods. This analysis revealed that the equal-mass test inadequately captured dynamic flow phenomena, accounting for its velocity-dependent degradation. Conversely, GSL accurately reproduced soil flow characteristics under all conditions, enabling precise mobility predictions over a broad velocity range. These findings establish GSL as the most accurate and practical scaling approach for extraterrestrial rover mobility design and analysis.

  • Deep probabilistic traversability with test-time adaptation for uncertainty-aware planetary rover navigation

    Endo, M; Taniai, T; Ishigami, G

    SCIENTIFIC REPORTS 16 ( 1 )  2026.02

    ISSN  2045-2322

    　View Summary

    Traversability assessment of deformable terrain is vital for safe rover navigation on planetary surfaces. Machine learning (ML) is a powerful tool for traversability prediction but faces predictive uncertainty. This uncertainty leads to prediction errors, increasing the risk of wheel slips and immobilization for planetary rovers. To address this issue, we integrate principal approaches to uncertainty handling -- quantification, exploitation, and adaptation -- into a single learning and planning framework for rover navigation. The key concept is \emph{deep probabilistic traversability}, forming the basis of an end-to-end probabilistic ML model that predicts slip distributions directly from rover traverse observations. This probabilistic model quantifies uncertainties in slip prediction and exploits them as traversability costs in path planning. Its end-to-end nature also allows adaptation of pre-trained models with in-situ traverse experience to reduce uncertainties. We perform extensive simulations in synthetic environments that pose representative uncertainties in planetary analog terrains. Experimental results show that our method achieves more robust path planning under novel environmental conditions than existing approaches.

  • Exhaustive evaluation of microgravity landing dynamics for small body exploration

    Otsuki M., Baba M., Imada T., Yamato M., Ohashi T., Takahashi M., Himeno T., Maeda T., Ozaki S., Ishigami G., Kobayashi T., Kitazono K.

    Acta Astronautica 238   1 - 12 2026.01

    ISSN  00945765

    　View Summary

    Landing dynamics play a crucial role in the success of planetary missions, particularly in low-gravity environments, and determining optimal landing sites continues to be challenging. This paper reports a method for landing safety evaluation based on spacecraft dynamics for landings on the surface layer of small bodies in the Martian moons exploration project. Unlike conventional short-duration contact explorations, spacecraft designed for the exploration of Martian moons will remain on the surface of Phobos for several hours post landing. Owing to low gravitational forces, small bodies exhibit an inadequate restoring force, which can result in overturning and rebounding of the spacecraft; moreover, the gravitational forces on Martian moons are several tens of times greater than that on other small bodies, such as Ryugu and Itokawa, necessitating a consideration of the impact acceleration during landing. In this study, a distinctive model was constructed based on low-gravity experimental results, with the capacity to replicate the flexibility of the spacecraft structure, tank sloshing, shock absorption, and interaction with the surface layer. Subsequently, we confirmed the unique behaviors of the spacecraft during its landing simulation on authentic terrain, and candidate landing areas were evaluated based on nine safety criteria. This evaluation process entailed the identification of safe landing areas, yielding a 20% reduction in the number of safe landing sites compared with that based exclusively on terrain.

  • Mechanical properties of loose soil during dynamic penetration of landing pad under microgravity

    Otsuki M., Maeda T., Ozaki S., Ishigami G., Kobayashi T.

    Journal of Terramechanics 120 2025.10

    ISSN  00224898

    　View Summary

    The safety of lunar and planetary exploration is contingent upon a preliminary assessment of the interaction between loose soils composed of regolith that covers a celestial surface and the landing gear of spacecraft, which should be designed in accordance with the findings of the assessment. However, given the issues associated with replicating the surface layer of celestial bodies on Earth, the verification of the gear design can be challenging. Conducting a real-size low-gravity test in the design verification process of a large spacecraft remains cumbersome and resource intensive. As such, drawing valuable knowledge from scale model tests is the only available solution. This paper presents the results and findings of a dynamic penetration test conducted on a scaled landing pad under microgravity using a drop tower. The experimental findings demonstrate that the results of the dynamic penetration of the pad into the regolith simulant are not necessarily indicative of the worst-case scenario of low-gravity conditions and that they are equivalent to the results obtained in the gravitational environment of the earth. This finding suggests that design verification may be feasible through tests using a full-scale spacecraft model.

  • Granular Scaling Laws for accurate prediction of wheel mobility on slopes in low-gravity environments

    Takuya Omura, Genya Ishigami

    Journal of Terramechanics (Elsevier BV)  120   101085 - 101085 2025.10

    ISSN  00224898

    　View Summary

    This study proposes an enhanced Granular Scaling Law (GSL) for accurately predicting wheel mobility on sloped terrain in low-gravity environments. First, wheel driving simulations were conducted using the Discrete Element Method (DEM) with a lunar regolith simulant under Earth's gravity. The GSL was then applied to convert simulation data obtained under various slope angles and wheel angular velocities into corresponding predictions for lunar gravity. These GSL-based predictions were validated against additional DEM simulations conducted directly under lunar gravity. The comparison revealed that the enhanced GSL accurately predicts four key mobility parameters: wheel horizontal velocity, slip ratio, sinkage, and power consumption, with a mean square percentage error of less than 5%. Notably, the study confirmed that GSL remains effective even in transient states and high-speed driving conditions, where wheel-soil interactions become particularly complex. This comprehensive verification, covering slopes up to ±10<sup>∘</sup> and slip ratios ranging from negative to approximately 0.9, demonstrates that the enhanced GSL serves as a highly effective predictive method. It provides a practical framework for exploration rover design and mission planning in low-gravity environments, where precise consideration of wheel-soil interactions is critical.

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Papers, etc., Registered in KOARA 【 Display / hide 】

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Reviews, Commentaries, etc. 【 Display / hide 】

  • 宇宙開発の潮流と月面建設への将来展望

    石上玄也

    月刊「建設」  2024.01

    Article, review, commentary, editorial, etc. (other), Single Work, Lead author, Last author, Corresponding author

  • Publisher Correction: Granular flow experiment using artificial gravity generator at International Space Station (npj Microgravity, (2023), 9, 1, (61), 10.1038/s41526-023-00308-w)

    Ozaki S., Ishigami G., Otsuki M., Miyamoto H., Wada K., Watanabe Y., Nishino T., Kojima H., Soda K., Nakao Y., Sutoh M., Maeda T., Kobayashi T.

    npj Microgravity (npj Microgravity)  9 ( 1 )  2023.12

    Corresponding author

    　View Summary

    The updated Table 1 with a comment indicating that micrographs #05 and #08 at the bottom of the images should be replaced. However, in the response to author query 4, Micrographs #4 and #8 were changed in Table 1. While processing the suggested changes based on the eProofing comments, the correction team updated the existing table figures and replaced image #05 with the micrograph of image #08 and image #08 with the micrograph of image #04 in the revised table. As a result, the changes got reverted and images were incorrect and duplicated.

  • 火星探査ローバの電源システムに関するフィージビリティスタディ

    石上玄也

    日本ロボット学会誌 39 ( 6 ) 504 - 509 2021.07

    Article, review, commentary, editorial, etc. (scientific journal), Single Work, Lead author

  • Preface

    Ishigami G., Yoshida K.

    Springer Proceedings in Advanced Robotics 16   vii - viii 2021

    ISSN  25111256

  • サイバスロン電動車いすシリーズ日本2019

    石上玄也

    日本ロボット学会誌 38 ( 2 ) 151 - 154 2020.03

    Article, review, commentary, editorial, etc. (scientific journal), Single Work, Lead author

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Presentations 【 Display / hide 】

  • DEM-Based Analysis and Optimization of Excavation Bucket Drum for In-Situ Resource Utilization

    Tomoyasu Nakano, Takuya Omura and Genya Ishigami

    [International presentation]  21st International and 12th Asia-Pacific Regional Conference of the International Society for Terrain-Vehicle Systems, 

    2024.10
    , 

    Oral presentation (general)

  • Granular Flow in Reduced Gravity: Analysis and Insights from Centrifuge Experiments at the International Space Station

    Takuya Omura and Genya Ishigami

    [International presentation]  21st International and 12th Asia-Pacific Regional Conference of the International Society for Terrain-Vehicle Systems, 

    2024.10
    , 

    Oral presentation (general)

  • Accurate Rover Mobility Analysis Using HILS-DRFT with Real-Time Parameter Tuning Approach

    Takahiro Fuke, Sora Ishikawa and Genya Ishigami

    [International presentation]  21st International and 12th Asia-Pacific Regional Conference of the International Society for Terrain-Vehicle Systems, 

    2024.10
    , 

    Oral presentation (general)

  • Bidirectional Informed RRT* を用いた UAV とUGV の同時経路計画および合流地点決定手法の構築

    田﨑未康，石上玄也

    [Domestic presentation]  第42回日本ロボット学会学術講演会 (大阪工業大学) , 

    2024.09
    , 

    Oral presentation (general)

  • 不整地移動ロボットのスタック救出を目的としたロボットアームの開発および動作解析

    花岡奈穂子，石上玄也

    [Domestic presentation]  第42回日本ロボット学会学術講演会 (大阪工業大学) , 

    2024.09
    , 

    Oral presentation (general)

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Research Projects of Competitive Funds, etc. 【 Display / hide 】

  • 三次元組織の高度成熟化を自律的に達成する知能化培養システム基盤の創出

    2023.04
    -
    2026.03

    Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (A), No Setting

    　View Summary

    本研究は筋組織のin vitro 3次元組織形成において「人の介在と思い込み」を排除し，生命科学実験を自動的・自律的に実行可能とする「知能化培養システム」を構築する．この培養システムは，3次元組織培養・力学刺激・蛍光観察が可能な培養モジュールを複数並列して順次的に培養することで，「観察」「計画」「行動」「発見」という科学者の研究サイクルをアルゴリズムとシステムインテグレーション技術により自律的に行い，生命科学の重要な課題である組織成熟化と力学刺激の関連性の解明を目指す．さらに本技術をヒトiPS由来心筋組織に適用することで高度に成熟化したin vitro心筋組織を構築し，医療応用展開を探索する．

  • 月面着陸拠点の構築に関する研究開発

    2021.02
    -
    2024.03

    国立研究開発法人科学技術振興機構, ムーンショット型研究開発制度「多様な環境に適応する協調型ＡＩと群ロボットによるインフラ建設の革新」, Principal investigator

  • Autonomous Excavation of Hydraulic Excavator Based on Real-Time Estimation of Macroscopic Properties of Soil

    2020.04
    -
    2023.03

    The University of Tokyo, Grants-in-Aid for Scientific Research, Nagatani Keiji, Grant-in-Aid for Scientific Research (B), No Setting

    　View Summary

    This study proposed a method for estimating soil properties and generating automatic excavation operations for hydraulic shovels based on the estimated properties. First, a machine learning framework was constructed to predict the time series changes in soil moisture inside the soil from surface images. The framework demonstrated that it could classify four soil types with 90% accuracy. Additionally, it was confirmed that the prediction accuracy could be improved by adding ambient temperature as an input parameter. Next, a proposal was made for automatic excavation operation planning/replanning using the macroscopic properties and shape of the soil. An efficient excavation path was proposed based on the soil density estimated from 3D point cloud measurement of the excavation target and optimization algorithm using a dynamic simulator. The usefulness of the above method was confirmed through simulations and practical experiments with an actual construction excavator.

  • 地下凍土融解地域の地質・微生物調査及び機械学習に基づく火星水環境の理解

    2020.04
    -
    2023.03

    Tokyo Institute of Technology, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (A), No Setting

    　View Summary

    火星には現在、液体の水が存在するのか。いつどこに出現し、そこに生命はいるのか―この問いに答えることは、惑星科学に留まらず、宇宙生物学や宇宙工学にまたがる課題である。本研究では、この問いに答えるため、地下凍土層の融解により形成されている可能性がある、火星の急斜面に出現消失を繰り返す暗い筋模様（Recurring Slope Lineae, RSL）に着目し、その地球上のアナログ地形の調査を行う。詳細な地質・微生物調査と、無人観測ステーションによる長期観測、機械学習による地形パターン認識により、RSL形成メカニズムの解明、RSL付近の生態系推定、水の活動を伴う火星RSLの探索を行う。

  • 時系列ニューラルネットを用いた軽量土砂モデルの研究

    2019.04
    -
    2024.03

    Commissioned ｒesearch, Principal investigator

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Works 【 Display / hide 】

  • 宇宙開発の潮流と月面建設への将来展望 (月刊「建設」，一般社団法人全日本建設技術協会)

    2024.01
    , 

    Other

  • 技術展望－識者に聞く・宇宙開発／宇宙建設革新会議委員長・石上玄也氏 (日刊建設工業新聞)

    2023.11
    , 

    Other

  • 月面整備ロボお披露目　JAXAなど「着陸地」建設を想定 (日本経済新聞，NHK，共同通信，下野新聞SOON，日テレ，河北新報，FNNプライムオンライン，読売新聞オンライン，時事ドットコム，毎日新聞，ABEMATIMES，テレビ朝日，東京新聞)

    2023.07
    , 

    Other

  • 現実味帯びる「月面基地建設」　ゼネコンの研究開発、活発化 (時事通信)

    2023.06
    , 

    Other

  • 月面での建設目指し国交省が支援　企業や大学の事業本格化 (産経新聞)

    2023.05
    , 

    Other

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Awards 【 Display / hide 】

  • 日本機械学会 関東支部 神奈川ブロック30周年記念特別貢献賞

    石上玄也, 2023.11, 日本機械学会 関東支部 神奈川ブロック

    Type of Award： Award from Japanese society, conference, symposium, etc.

  • CYBATHLON 2020 Global Edition 3rd place (Powered wheelchair Race)

    FORTISSISSIMO (Team Lead, Genya Ishigami), 2020.11

    Type of Award： Other

  • Söhne-Hata-Jurecka Award for Young Engineers/Scientists

    Genya Ishigami, 2020.08, International Society for Terrain-Vehicle Systems

    Type of Award： International academic award (Japan or overseas)

  • CYBATHLON Wheelchair Series Japan 2019 3rd place

    FORTISSISSIMO (Team Lead, Genya Ishigami), 2019.05

    Type of Award： Other

  • Asia-Pacific ISTVS Conference 2018 Best Papers Award

    Ryota Matsumura, Genya Ishigami, 2018.07, International Society for Terrain-Vehicle Systems, Experimental Analysis of Camber Angle Effect on Slope Traversability of Wheeled Mobile Robot

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Courses Taught 【 Display / hide 】

  • INDEPENDENT STUDY ON INTEGRATED DESIGN ENGINEERING

    2026

  • GRADUATE RESEARCH ON INTEGRATED DESIGN ENGINEERING 2

    2026

  • DOCTORAL RESEARCH ON ENGINEERING AND DESIGN

    2026

  • DYNAMICS OF MACHINES

    2026

  • GRADUATE RESEARCH ON ENGINEERING AND DESIGN 2

    2026

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Courses Previously Taught 【 Display / hide 】

  • Laboratories in mechanical engineering

    Keio University

    2019.04
    -
    Present
    , 

    Spring Semester, Laboratory work/practical work/exercise

  • デザイン科学特別講義

    Keio University

    2018.04
    -
    2019.03
    , 

    Spring Semester, Lecture

  • Space Exploration Engineering

    Keio University

    2015.04
    -
    Present
    , 

    Autumn Semester, Lecture

  • Design Science

    Keio University

    2015.04
    -
    2018.03
    , 

    Spring Semester

  • 理工学基礎実験

    Keio University

    2015.04
    -
    2016.03
    , 

    Spring Semester

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Memberships in Academic Societies 【 Display / hide 】

  • 計測自動制御学会, 

    2017.04
    -
    Present

  • The Japan Society of Mechanical Engineers, 

    2011.04
    -
    Present

  • The Robotics Society of Japan, 

    2006.06
    -
    Present

  • IEEE, 

    2005.04
    -
    Present

  • 日本航空宇宙学会, 

    2003.04
    -
    Present
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Committee Experiences 【 Display / hide 】

  • 2023.10
    -
    Present

    General Co-Chair, IEEE/RAS International Conference on Space Robotics

  • 2023.05
    -
    Present

    第11期宇宙工学委員会 委員, 宇宙航空研究開発機構宇宙科学研究所

  • 2023.04
    -
    Present

    宇宙建設革新会議 議長, 国土交通省　

  • 2023.01
    -
    Present

    Associate Editor, International Journal of Robotics Research

  • 2021.06
    -
    2023.05

    Editor , Transactions of the Japan Society for Aeronautical and Space Sciences, Aerospace Technology

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