Ishigami, Genya

写真a

Affiliation

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

Position

Associate Professor

Related Websites

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

  • 2017.04
    -
    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 宇宙機応用工学研究系, 客員准教授

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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

Academic Degrees 【 Display / hide

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

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

 

Research Areas 【 Display / hide

  • Informatics / Mechanics and mechatronics

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

Research Keywords 【 Display / hide

  • Terramechanics

  • Field Robotics

  • Robotics

  • Lunar/Planetary Exploration

  • Autonomous Mobility System

 

Books 【 Display / hide

  • Ridge-Tracking for Strawberry Harvesting Support Robot According to Farmer’s Behavior

    Yorozu A., Ishigami G., Takahashi M., Springer Proceedings in Advanced Robotics, 2021

     View Summary

    In Japan, the amount of agricultural production decreases year-by-year. Moreover, reduction in agricultural work population and increase of abandonment of cultivated land are major social issues. To overcome these issues, we have proposed a small agricultural robot “MY DONKEY®” which supports transportation of harvested crops and records the farm work of the user and crop yield in field map while moving closer to the user. In order to move in the furrowed field, it is necessary to detect ridges and furrows where the robot can move using robot-mounted sensors and follow the ridge while avoiding the ridges and crop rows. Furthermore, to realize smooth harvesting support, we propose a ridge-tracking control according to user’s behavior based on the recognition of the work contents of the user such as harvesting, loading of harvested crops to the robot, transportation, and movement. We propose the ridge-tracking control framework based on fuzzy set theory which can evaluate and integrate multiple situations and carry out experiments in strawberry farm.

  • Simulator for disaster response robotics

    Kanehiro F, Nakaoka S, Sugihara T, Wakisaka N, Ishigami G, Ozaki S, Tadokoro S, Springer Tracts in Advanced Robotics, 2019

     View Summary

    © Springer Nature Switzerland AG 2019. This chapter presents a simulator for disaster response robots based on the Choreonoid framework. Two physics engines and a graphics engine were developed and integrated into the framework. One physics engine enables robust contact-force computation among rigid bodies based on volumetric intersection and a relaxed constraint, whereas the other enables accurate and computationally efficient computation of machine–terrain interaction mechanics based on macro and microscopic approaches. The graphics engine allows simulating natural phenomena, such as rain, fire, and smoke, based on a particle system to resemble tough scenarios at disaster sites. In addition, wide-angle vision sensors, such as omnidirectional cameras and LIDAR sensors, can be simulated using multiple rendering screens. Overall, the simulator provides a tool for the efficient and safe development of disaster response robots.

  • Dual-arm construction robot with remote-control function

    Yoshinada H., Kurashiki K., Kondo D., Nagatani K., Kiribayashi S., Fuchida M., Tanaka M., Yamashita A., Asama H., Shibata T., Okutomi M., Sasaki Y., Yokokohji Y., Konyo M., Nagano H., Kanehiro F., Sugihara T., Ishigami G., Ozaki S., Suzumori K., Ide T., Yamamoto A., Hioki K., Oomichi T., Ashizawa S., Tadakuma K., Takamori T., Kimura T., Murphy R.R., Tadokoro S., Springer Tracts in Advanced Robotics, 2019

     View Summary

    In disaster areas, operating heavy construction equipment remotely and autonomously is necessary, but conventional remote-controlled heavy equipment has problems such as insufficient operability, limited mobility on slopes and stairs, and low work efficiency because of difficult remote control. As part of the ImPACT-TRC Program, a group of Japanese researchers attempts to solve these problems by developing a construction robot for disaster relief tasks with a new mechanism and new control methods. This chapter presents the overview of construction robot and the details of main elemental technologies making up the robot. Section 5.1 describes the basic configuration of the robot and the teleoperation system. Section 5.2 is a tether powered drone which provides extra visual information. Sections 5.4 and 5.3 are force and tactile feedback for skillful teleoperation. Section 5.5 is visual information feedback which consists of an arbitrary viewpoint visualization system and a visible and LWIR camera system to observe surrounding of the robot in a dark night scene and/or a very foggy scene. These functions can dramatically increase construction equipment’s capacity to deal with large-scale disasters and accidents.

  • Springer Handbook of Robotics, 2nd edition

    Keiji Nagatani, Genya Ishigami, Yoshito Okada, Springer, 2015

    Scope: Chapter 50: Modelling and Control of Robots on Rough Terrain

  • The International Handbook of Space Technology: Chapter 19 Space Robotics

    Kazuya Yoshida, Dragomir Nenchev, Genya Ishigami, Yuichi Tsumaki, Springer, 2014.03

     View Summary

    宇宙技術に関して編纂された同ハンドブックにおいて,宇宙ロボットに関する最新動向,技術開発および学術的アプローチについて記している.

Papers 【 Display / hide

  • Energy-and-perception-aware planning and navigation framework for unmanned aerial vehicles

    Takemura R., Aoki N., Ishigami G.

    Advances in Mechanical Engineering (Advances in Mechanical Engineering)  15 ( 4 )  2023.04

    ISSN  16878132

     View Summary

    This paper presents an energy and perception aware framework for path planning and navigation of unmanned aerial vehicles (UAVs) in GNSS-denied and spatiotemporal wind environments. The proposed framework mainly consists of the global and local path planning methods that respectively consider the energy consumption of an UAV and perception quality of a light detection and ranging (LiDAR) sensor mounted on the UAV. The energy consumption is estimated based on the aerodynamic model that calculates drag and lift forces on the UAV. The global planner then uses the total energy consumption in the spatiotemporal wind as the cost function to find an energy-efficient path as a set of waypoints. The local path planning navigates the UAV between the waypoints with maintaining the perception quality. The perception quality is quantified based on how well the LiDAR sensor scans feature points around the UAV that highly correlates with the navigation accuracy. Numerical simulation study for each of the global and local path planners validates their usefulness. Further, the overall framework is entirely verified in a long-range flight scenario of the photorealistic environments developed in the Gazebo simulation.

  • LSTM-based Prediction of Excavating Resistive Force Using Bucket Trajectory Shape

    Hashizume Kosuke, Aizawa Masanori, Ooi Takeshi, Ishigami Genya

    Journal of the Robotics Society of Japan (The Robotics Society of Japan)  41 ( 1 ) 102 - 105 2023

    ISSN  02891824

     View Summary

    <p>Unmanned construction machine has become a promising technology in the civil engineering field. The machine is still less efficient, especially in excavating soil, than the manned construction because the unmanned machine works carefully to avoid potential hazards due to unpredicted soil deformation as well as excavation force. This research aims to predict time-series resistive force of bucket during soil excavation based on the Recurrent Neural Network. First, we experimentally obtain excavating resistive force for various excavation trajectories. In the experiment, a bucket follows pre-determined trajectories with four different elliptical arcs, and the resistive force acting on the bucket is measured. The prediction model of the resistive force is then elaborated by indexing the bucket trajectories. The model validation confirms that the aspect ratio of the ellipse of the trajectories is an effective index for accurately predicting the excavating resistive force. </p>

  • Hardware-in-the-loop Simulation for Real-time Autonomous Tracking and Landing of an Unmanned Aerial Vehicle

    Aoki N., Ishigami G.

    2023 IEEE/SICE International Symposium on System Integration, SII 2023 (2023 IEEE/SICE International Symposium on System Integration, SII 2023)   2023

    ISSN  2474-2317

     View Summary

    Collaborative exploration using unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) has become increasingly popular in the past decade. This study addresses real-time autonomous tracking and landing of a UAV on a moving ground vehicle, which is fundamental for the UAV-UGV collaborative exploration. The method proposed in this study estimates the relative pose and velocity between a UAV and UGV, and uses model predictive control for UAV trajectory planning while considering the field of view of the camera onboard the UAV. We elaborate the hardware-in-the-loop simulator (HITL) with a physical companion computer, and confirm that the proposed method enables a UAV to land on a UGV traversing on rough terrain based on online computations in the HITL. Additionally, we present statistical analysis of the simulation results of typical and computationally demanding scenarios to elucidate the computational cost on the real machine.

  • Autonomous tracking and landing of an unmanned aerial vehicle on a ground vehicle in rough terrain

    Aoki N., Ishigami G.

    Advanced Robotics (Advanced Robotics)  37 ( 5 ) 344 - 355 2023

    ISSN  01691864

     View Summary

    Collaborative exploration using unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) has become increasingly popular in academia over the past decade. This study addresses the task of autonomously landing a UAV on a ground vehicle in rough terrain, which is fundamental, yet challenging, for UAV-UGV collaborative exploration. The method proposed in this paper estimates the relative pose and velocity between UAV and UGV and uses model predictive control for UAV trajectory planning while considering the field of view of camera onboard the UAV. Through a simulation study, we confirmed that the proposed method enables a UAV to accurately track the UGV traversing in rough terrain, and to land on it with 100% success rate at the UGV velocity of 1.0 m/s and still 50% at 3.0 m/s.

  • Computationally efficient and sub-optimal trajectory planning framework based on trajectory-quality growth rate analysis

    Takemura R., Ishigami G.

    Frontiers in Robotics and AI (Frontiers in Robotics and AI)  9 2022.10

    ISSN  2296-9144

     View Summary

    A planetary exploration rover has been used for scientific missions or as a precursor for a future manned mission. The rover’s autonomous system is managed by a space-qualified, radiation-hardened onboard computer; hence, the processing performance for such a computer is strictly limited, owing to the limitation to power supply. Generally, a computationally efficient algorithm in the autonomous system is favorable. This study, therefore, presents a computationally efficient and sub-optimal trajectory planning framework for the rover. The framework exploits an incremental search algorithm, which can generate more optimal solutions as the number of iterations increases. Such an incremental search is subjected to the trade-off between trajectory optimality and computational burden. Therefore, we introduce the trajectory-quality growth rate (TQGR) to statistically analyze the relationship between trajectory optimality and computational cost. This analysis is conducted in several types of terrain, and the planning stop criterion is estimated. Furthermore, the relation between terrain features and the stop criterion is modeled offline by a machine learning technique. Then, using the criterion predicted by the model, the proposed framework appropriately interrupts the incremental search in online motion planning, resulting in a sub-optimal trajectory with less computational burden. Trajectory planning simulation in various real terrain data validates that the proposed framework can, on average, reduce the computational cost by 47.6% while maintaining 63.8% of trajectory optimality. Furthermore, the simulation result shows the proposed framework still performs well even though the planning stop criterion is not adequately predicted.

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

Reviews, Commentaries, etc. 【 Display / hide

  • Preface

    Ishigami G, Yoshida K

    Springer Proceedings in Advanced Robotics (Springer Proceedings in Advanced Robotics)  16   vii - viii 2021

    ISSN  25111256

  • Special issue on Advanced Construction Robot System

    Ohno K., Osumi H., Ishigami G., Nagatani K.

    Advanced Robotics (Advanced Robotics)  35 ( 23 ) 1375 - 1375 2021

    ISSN  01691864

  • Special issue on field and service robotics 2019

    Ishigami G, Yoshida K

    Journal of Field Robotics (Journal of Field Robotics)  37 ( 8 ) 1299 - 1299 2020.12

    Other, Joint Work,  ISSN  15564959

  • 粒子画像計測法を用いた機械と土壌の相互力学現象の解明

    ISHIGAMI GENYA

    日本機械学会誌 (日本機械学会誌)  Vol. 117 ( No. 1147 )  2014.06

    Article, review, commentary, editorial, etc. (scientific journal)

  • NASA火星ローバ・キュリオシティ

    ISHIGAMI GENYA

    日本機械学会宇宙工学部門ニュースレター (日本機械学会)   2013.02

    Article, review, commentary, editorial, etc. (other)

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Presentations 【 Display / hide

  • Routing Problem of Multiple Mobile Robots with Human Workers for Pickup and Dispatch Tasks in Warehouse

    Yoko Ono, Genya Ishigami

    Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, 

    2019.01

    Oral presentation (keynote)

  • Experimental Analysis of Bucket-soil Interaction Mechanics using Sensor-embedded Bucket Test Apparatus

    Kenji Tsuchiya, Genya Ishigami

    Proceedings of the Joint 10th Asia-Pacific Conference of the International Society for Terrain-Vehicle Systems (New Miyako Hotel, Kyoto, Japan) , 

    2018.07

    Oral presentation (general)

  • Development of In-track Sensor System for Three Dimensional Measurement of Pressure Distribution on Loose Soil

    Satoshi Ishibashi, Genya Ishigami

    Proceedings of the Joint 10th Asia-Pacific Conference of the International Society for Terrain-Vehicle Systems (New Miyako Hotel, Kyoto, Japan) , 

    2018.07

    Oral presentation (general)

  • Experimental Analysis of Camber Angle Effect on Slope Traversability of Wheeled Mobile Robot

    Ryota Matsumura, Genya Ishigami

    Proceedings of the Joint 10th Asia-Pacific Conference of the International Society for Terrain-Vehicle Systems (New Miyako Hotel, Kyoto, Japan) , 

    2018.07

    Oral presentation (general)

  • Strategic Deployment and Rerouting Methods for Wide-range Surface Exploration using Multiple Rovers

    Reina Nakanishi, Genya Ishigami

    Proceedings of the 14th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2018) (Ayre Gran Hotel Colon, Madrid, Spain) , 

    2018.06

    Oral presentation (general)

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

  • 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, Grant-in-Aid for Scientific Research (B), No Setting

     View Summary

    土木建設業では,熟練工不足の解消ならびに労働環境の改善を行うため,完全自動土木工事の実現が期待されている.これを実現するためには,油圧ショベルが自動で土を掘ることが必須であるが,対象となる土砂が変形するために大変困難である.そこで,本研究では,土砂のマクロ的性質を考慮した油圧ショベルの自動掘削動作の実現を目指す.具体的には,掘削中,油圧ショベルに搭載したセンサを用いて,逐次土砂の三次元計測を行う.これにより,土砂の崩れ易さや硬さといったマクロ的指標を推定する.この指標と土砂形状を用いて動作の再計画を行い,掘削を継続する.本研究では,実油圧ショベルを用いて,この一連の自動掘削動作の実現を目指す.

  • 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。

  • センシング対応型の自律多機能ロボットによる農作物の生長シミュレーションモデル手法の確立

    2018.07
    -
    2019.03

    農林水産省, 農業界と経済界の連携による生産性向上モデル農業確立実証事業, No Setting

  • Hardware-in-the-loop simulator for field robot dynamics with multiple machine-terrain interaction mechanics

    2018.04
    -
    2021.03

    Keio University, Grants-in-Aid for Scientific Research, ISHIGAMI Genya, Grant-in-Aid for Scientific Research (B), Research grant, Principal investigator

     View Summary

    This research has developed a hardware-in-the-loop simulator (HILS) for field robots involved in mechanical interaction with sandy terrain. The study mainly focuses on the two different interaction mechanics on sandy terrain: robotic wheel and bulldozing blade. The research found that the HILS for such rough terrain mechanics becomes stable and possesses high-fidelity by using appropriate damping coefficient in simulation models used in the HILS. The contributions of this research are as follows: 1) development of the HILS for the rough terrain robotics, 2) verification of the HILS for different types of mechanical interaction, and 3) clarification of the key parameter for the stable and high-fidelity HILS.

  • 農業用を中心とした自律多機能型ロボットの要求仕様検討、及び実フィールドにおける適用・検証

    2017.08
    -
    Present

    Commissioned research, Principal investigator

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Works 【 Display / hide

  • 大学発「月・惑星探査ロボット」を実現する (Fole, みずほ総合研究所株式会社)

    2018.07
    -
    Present

    Other, Single

  • NHK BSプレミアム「コズミックフロント☆NEXT 」

    2017.12
    -
    Present

    Other

  • 農業ロボ開発で共同体 (日刊工業新聞 11/10 朝刊1面)

    2017.11
    -
    Present

    Other

  • 宇宙向けAIロボ活用 慶大と連携 品質管理も視野 (日刊工業新聞 8/8 朝刊6面)

    2017.08
    -
    Present

    Other

  • 未来の起源 TBS

    2017.02
    -
    Present

    Other

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Awards 【 Display / hide

  • 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

  • Asia-Pacific ISTVS Conference 2018 Best Papers Award

    Kenji Tsuchiya, Genya Ishigami, 2018.07, International Society for Terrain-Vehicle Systems, Experimental Analysis of Bucket-soil Interaction Mechanics using Sensor-embedded Bucket Test Apparatus

  • 日本機械学会91期機械力学・計測制御部門一般表彰 (オーディエンス表彰)

    u, ISHIGAMI GENYA, 2014.08, 不確定性解析を応用した砂地走行に最適な車輪パラメータの導出手法

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

  • 指導学生の受賞:日本機械学会関東支部第53回学生員卒業研究発表講演会 Best Presentation Award

    白井孝幸,石上玄也, 2014.03, 砂地移動型ロボットの走行特性を計測するIn-Wheel Sensor の開発

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

  • 指導学生の受賞:日本機械学会関東支部第53回学生員卒業研究発表講演会 Best Presentation Award

    森大輝,石上玄也, 2014.03, 土壌サンプリングツールの接触力学モデルの構築

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

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Courses Taught 【 Display / hide

  • SPECIAL LECTURE SERIES ON MULTIDISCIPLINARY AND DESIGN SCIENCE

    2023

  • SPACE EXPLORATION ENGINEERING

    2023

  • ROBOTICS / MECHATRONICS

    2023

  • PROJECT LABORATORY IN MECHANICAL ENGINEERING

    2023

  • MECHANICAL ENGINEERING PROJECT

    2023

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Courses Previously Taught 【 Display / hide

  • Laboratories in mechanical engineering

    Keio University

    2018.04
    -
    2019.03

    Spring Semester, Laboratory work/practical work/exercise

  • Space Exploration Engineering

    Keio University

    2018.04
    -
    2019.03

    Autumn Semester, Lecture

  • Robotics-mechatronics

    Keio University

    2018.04
    -
    2019.03

    Autumn Semester, Lecture

  • デザイン科学特別講義

    Keio University

    2018.04
    -
    2019.03

    Spring Semester, Lecture

  • Production engineering

    Keio University

    2018.04
    -
    2019.03

    Spring Semester, Laboratory work/practical work/exercise

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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

Committee Experiences 【 Display / hide

  • 2018.01
    -
    Present

    General Co-chair, 12th Conference on Field and Service Robotics (FSR2019)

  • 2017.09
    -
    2017.12

    International Program Committee, 2017 IEEE/SICE International Symposium on System Integration

  • 2017.03
    -
    Present

    広報委員, 計測自動制御学会 SI部門

  • 2017.03
    -
    Present

    フィールドロボティクス部会 副主査, 計測自動制御学会 SI部門

  • 2017.03
    -
    Present

    International Program Committee, 11th Conference on Field and Service Robotics (FSR2017)

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