ISHIGAMI, Genya

写真a

Affiliation

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

Position

Associate Professor

Related Websites

External Links
Page Top ▲

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
    -
    2019.03

    Japan Aerospace Exploration Agency, Department of Spacecraft Engineering, Institute of Space and Astronautical Science, Visiting Associate Professor

display all >>

Page Top ▲

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

Page Top ▲

Academic Degrees 【 Display / hide 】

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

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

Page Top ▲
 

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

Page Top ▲

Research Keywords 【 Display / hide 】

  • Field Robotics

  • Terramechanics

  • Robotics

  • Lunar/Planetary Exploration

  • Autonomous Mobility System

Page Top ▲
 

Books 【 Display / hide 】

  • 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

  • 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．

Page Top ▲

Papers 【 Display / hide 】

  • Parameter study and identification of DEM modeling for varied sand moisture content based on bulldozing experiment

    Sato N., Ishigami G.

    Journal of Terramechanics （Journal of Terramechanics)  113-114 2024.06

    Research paper (scientific journal), Joint Work, Last author, Accepted,  ISSN  00224898

    　View Summary

    The discrete element method (DEM) has been widely used to simulate varied sand particles interacting with earthmoving machines. However, past research using DEM barely addressed accurate verification and validation for different sand moisture content. Therefore, the main purpose of this paper is to reveal the range of key parameters of an adhesive force model used in the DEM simulation corresponding to the specific sand moisture content. We considered the bulldozing phenomenon to be typical earthmoving work and performed the bulldozing experiments under different sand moisture levels to investigate the bulldozing force variations. Subsequently, the DEM simulation with an adhesive force model calculated the bulldozing force corresponding to the experimental results. The values for two adhesive parameters, i.e., a scaling magnitude and the maximum adhesive distance between particles, were adjusted such that the maximum bulldozing force calculated in the DEM coincides with that of the experiments under different moisture contents. The experimental verification of the DEM revealed the relationship curves between these two key parameters corresponding to the different moisture content. The relationship obtained in this paper implies that the DEM simulation carefully adjusting the adhesive force parameters can reproduce machine interaction on moist sand environments accurately.

  • Task force report on study cycles construction for henceforward International Space Exploration sciences

    NAMIKI Noriyuki, ISHIGAMI Genya, INATOMI Yuko, KOBAYASHI Taizo, SAKURAI Masato, TERADA Naoki, MIYAMOTO Hideaki, YAMAGISHI Akihiko, YAMADA Toru

    Space Utilization Research, Vol. 38 2023: Proceedings of The Thirty-eighth Space Utilization Symposium （宇宙航空研究開発機構宇宙科学研究所(JAXA)(ISAS))   2024.01

    Research paper (conference, symposium, etc.), Joint Work

    　View Summary

    レポート番号: G-10

  • Modeling of slip rate-dependent traversability for path planning of wheeled mobile robot in sandy terrain

    Sakayori G., Ishigami G.

    Frontiers in Robotics and AI （Frontiers in Robotics and AI)  11 2024

    Research paper (scientific journal), Joint Work, Last author, Accepted,  ISSN  2296-9144

    　View Summary

    2 : 共著

  • DEM-based Analysis for Interaction Mechanics of Tracked Vehicle on Soils Containing Water

    Yanagawa Hiroki, Ishigami Genya

    Journal of the Robotics Society of Japan （The Robotics Society of Japan)  42 （ 4 ） 406 - 409 2024

    Research paper (scientific journal), Joint Work, Last author, Accepted,  ISSN  02891824

    　View Summary

    <p>Tracked vehicles has been widely used in unstructured environments such as on uneven/deformable terrains. The mobility of the track unit consisting of interconnected metal plates is the key to enhance the safety of the vehicle. This study focuses on the track and soil interaction, particularly the wetted soil. The Distinct Element Method is applied for analyzing the interaction stress between the track and soil with varied moisture content and slip ratio. The analysis revealed that the significant stress is generated to the leading edge of the track unit and the stress distribution shifts toward the rear region of the track in moist soil. </p>

  • Granular flow experiment using artificial gravity generator at International Space Station

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

    npj Microgravity （npj Microgravity)  9 （ 1 ）  2023.12

    Research paper (scientific journal), Joint Work, Accepted

    　View Summary

    Studying the gravity-dependent characteristics of regolith, fine-grained granular media covering extra-terrestrial bodies is essential for the reliable design and analysis of landers and rovers for space exploration. In this study, we propose an experimental approach to examine a granular flow under stable artificial gravity conditions for a long duration generated by a centrifuge at the International Space Station. We also perform a discrete element simulation of the granular flow in both artificial and natural gravity environments. The simulation results verify that the granular flows in artificial and natural gravity are consistent. Further, regression analysis of the experimental results reveals that the mass flow rate of granular flow quantitatively follows a well-known physics-based law with some deviations under low-gravity conditions, implying that the bulk density of the granular media decreases with gravity. This insight also indicates that the bulk density considered in simulation studies of space probes under low-gravity conditions needs to be tuned for their reliable design and analysis.

display all >>

Page Top ▲

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

Page Top ▲

Reviews, Commentaries, etc. 【 Display / hide 】

  • 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

  • 月・惑星探査機とテラメカニクス

    石上玄也，尾崎伸吾，須藤真琢，前田孝雄

    地盤工学会誌 64 2021.06

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

  • 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

display all >>

Page Top ▲

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)

display all >>

Page Top ▲

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

display all >>

Page Top ▲

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

display all >>

Page Top ▲

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

display all >>

Page Top ▲
 

Courses Taught 【 Display / hide 】

  • SPECIAL LECTURE SERIES ON MULTIDISCIPLINARY AND DESIGN SCIENCE

    2024

  • SPACE EXPLORATION ENGINEERING

    2024

  • ROBOTICS / MECHATRONICS

    2024

  • PROJECT LABORATORY IN MECHANICAL ENGINEERING

    2024

  • MECHANICAL ENGINEERING PROJECT

    2024

display all >>

Page Top ▲

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

display all >>

Page Top ▲
 

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
Page Top ▲

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

display all >>

Page Top ▲