Ishigami, Genya

写真a

Affiliation

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

Position

Associate Professor

Related Websites
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Career 【 Display / hide 】

  • 2008.04
    -
    2010.03

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

  • 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

  • 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

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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)

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Research Keywords 【 Display / hide 】

  • Terramechanics

  • Field Robotics

  • Robotics

  • Lunar/Planetary Exploration

  • Autonomous Mobility System

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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.

  • 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.

  • 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.

  • 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．

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Papers 【 Display / hide 】

  • Energy-Efficient Path Planning for UAV Using Spatiotemporal Wind Model

    Aoki Nobuaki, Ishigami Genya

    Journal of the Robotics Society of Japan （The Robotics Society of Japan)  40 （ 3 ） 255 - 258 2022

    ISSN  0289-1824

  • Human-Following Control in Furrow For Agricultural Support Robot

    Yorozu A., Ishigami G., Takahashi M.

    Lecture Notes in Networks and Systems （Lecture Notes in Networks and Systems)  412 LNNS   155 - 164 2022

    ISSN  23673370

    　View Summary

    In Japan, the reduction in agricultural work population and increase in abandoned cultivated land are major social issues. To overcome these issues, we have proposed a small agricultural robot that supports the transportation of harvested crops while it follows the user. To move in the furrowed field, ridges and furrows where the robot can move must be detected using robot-mounted sensors and follow the ridge while avoiding the ridges and crop rows. However, when the robot follows the user ahead of it, it has difficulty detecting the ridges because of occlusion by the user. In addition, the robot requires to follow the user and move in and out of furrows of different widths in the farm field. To achieve smooth and safe harvesting support in the field with different width furrows, we propose a method for ridge detection and tracking by measuring the furrow width and interpolation using an RGB-D camera and a method for human-following control while avoiding ridges according to the ridge observation state using fuzzy set theory. To verify the proposed methods, experiments in the farm are carried out.

  • CNN-Based Terrain Classification with Moisture Content Using RGB-IR Images

    Goto Tomoya, Ishigami Genya

    Journal of Robotics and Mechatronics （Fuji Technology Press Ltd.)  33 （ 6 ） 1294 - 1302 2021.12

    ISSN  09153942

    　View Summary

    <p>Unmanned mobile robots in rough terrains are a key technology for achieving smart agriculture and smart construction. The mobility performance of robots highly depends on the moisture content of soil, and past few studies have focused on terrain classification using moisture content. In this study, we demonstrate a convolutional neural network-based terrain classification method using RGB-infrared (IR) images. The method first classifies soil types and then categorizes the moisture content of the terrain. A three-step image preprocessing for RGB-IR images is also integrated into the method that is applicable to an actual environment. An experimental study of the terrain classification confirmed that the proposed method achieved an accuracy of more than 99% in classifying the soil type. Furthermore, the classification accuracy of the moisture content was approximately 69% for pumice and 100% for dark soil. The proposed method can be useful for different scenarios, such as small-scale agriculture with mobile robots, smart agriculture for monitoring the moisture content, and earthworks in small areas.</p>

  • Spatio-temporal prediction of soil deformation in bucket excavation using machine learning

    Saku Yuki, Aizawa Masanori, Ooi Takeshi, Ishigami Genya

    ADVANCED ROBOTICS （Advanced Robotics)  35 （ 23 ） 1404 - 1417 2021.06

    ISSN  0169-1864

    　View Summary

    This paper proposes a prediction model for three-dimensional spatio-temporal soil deformation in bucket excavation. The prediction model for soil deformation (PMSD) consists of two machine learning processes: the long short-term memory (LSTM) and convolutional autoencoder (Conv-AE). These processes use datasets obtained from an experimental apparatus for bucket excavation developed in this work. The apparatus equips multiple depth cameras that precisely capture time-series data of soil deformation in bucket excavation. The LSTM, an extension of a recurrent neural network, successively predicts three-dimensional soil deformation. The Conv-AE is incorporated to both ends of the LSTM in order to quasi-reversibly compress and reconstruct the datasets so that the computational burden of the LSTM is relaxed. Qualitative and quantitative evaluations of the PMSD confirm the feasibility of time-series prediction of three-dimensional soil deformation. The Conv-AE shows sufficient accuracy equivalent to the measurement accuracy of the depth camera. The prediction accuracy of the PMSD is about 10 mm in most of the cases.

  • Experimental study on wheel-soil interaction mechanics using in-wheel sensor and particle image velocimetry Part I: Analysis and modeling of normal stress of lightweight wheeled vehicles

    Tsubaki H, Ishigami G

    Journal of Terramechanics （Journal of Terramechanics)  93   23 - 39 2021.02

    Joint Work,  ISSN  00224898

    　View Summary

    This study aims to develop a wheel-soil interaction model for a lightweight wheeled vehicle by measuring the normal stress distribution beneath the wheel. The main contribution of this work is to clarify the wheel-soil interaction using a wheel testbed that equips multiple sensory systems. An in-wheel sensor accurately measures the normal stress distribution as well as the contact angles of the wheel. Particle image velocimetry with a standard off-the-shelf camera analyzes soil flow beneath the wheel. The proposed model for the normal stress distribution is formulated based on these experimental data and takes into account the following phenomena for the lightweight vehicles that have not been considered in the classical model: (1) the normal stress distribution takes the form of a Gaussian curve; (2) the normal stress distribution concentrates in the front region of the wheel contact patch; (3) the distribution is divided into two areas with the boundary determined by the maximum normal stress angle; and (4) the maximum normal stress exponentially decreases as the slip ratio increases. Then, the proposed model is experimentally validated. Furthermore, a simulation study for the wheel driving characteristics using the proposed model confirms the accuracy of the proposed model.

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

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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

    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

  • 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

  • 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

  • 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）

    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.

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Courses Taught 【 Display / hide 】

  • ROBOTICS / MECHATRONICS

    2022

  • PROJECT LABORATORY IN MECHANICAL ENGINEERING

    2022

  • MECHANICAL ENGINEERING PROJECT

    2022

  • INDEPENDENT STUDY ON INTEGRATED DESIGN ENGINEERING

    2022

  • GRADUATE RESEARCH ON INTEGRATED DESIGN ENGINEERING 2

    2022

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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
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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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