Ishigami, Genya

写真a

Affiliation

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

Position

Associate Professor

E-mail Address

E-mail address

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

    Keio University, Dept. of Mechanical Engineering, Associate 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

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

  • Dynamics/Control

  • Intelligent mechanics/Mechanical systems (Intelligent Mechanics/Mechanical System)

Research Keywords 【 Display / hide

  • Terramechanics

  • Field Robotics

  • Robotics

  • Lunar/Planetary Exploration

  • Autonomous Mobility System

 

Books 【 Display / hide

  • 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

  • Visualization and analysis of wheel camber angle effect for slope traversability using an in-wheel camera

    Matsumura R., Ishigami G.

    Journal of Terramechanics (Journal of Terramechanics)  93   1 - 10 2021.02

    ISSN  00224898

     View Summary

    This paper visualizes and analyzes an effect of a wheel camber angle for the slope traversability in sandy terrain. An in-wheel camera developed in this work captures the wheel-soil contact phenomenon generated beneath the wheel through a transparent section of the wheel surface. The images taken by the camera are then analyzed using the particle image velocimetry. The soil flows with various wheel camber angles are analyzed with regard to the soil failure observed on the slope surface. The analysis reveals that the slope failure and soil accumulation in front of the wheel significantly affect the wheel forces and distributions of the wheel sinkage in the wheel width direction. Further, the side force of the wheel in traversing a slope decreases as the slip ratio increases because the shear stress in the slope downward direction decreases owing to the slope failure.

  • 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

    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.

  • Spatio-Temporal Prediction of Soil Deformation using Machine Learning

    Saku Yuki, Aizawa Masanori, Ooi Takeshi, Ishigami Genya

    Journal of the Robotics Society of Japan (The Robotics Society of Japan)  39 ( 4 ) 367 - 370 2021

    ISSN  0289-1824

     View Summary

    <p>Unmanned construction machine working in dangerous environments such as construction sites and disaster areas has been developed. However, it is still necessary to improve its work efficiency especially during bulldozing and excavating soil. This research aims to develop a method for predicting soil deformation using machine learning. The feasibility of the proposed method is verified in a scenario where a simple bulldozing blade excavates soil. In the experiment, soil deformation at a front part of the blade is captured by multiple stereoscopic cameras. The camera provides depth data that are then converted to height field data. This dataset is fed to machine learning using Recurrent Neural Network (RNN) because soil deformation is continuous phenomena depending on time variation. The learned model for predicting soil deformation is confirmed in varied intrusion depth of the bulldozing blade. </p>

  • Experimental study on wheel-soil interaction mechanics using in-wheel sensor and particle image velocimetry part II. Analysis and modeling of shear stress of lightweight wheeled vehicle

    Horiko S., Ishigami G.

    Journal of Terramechanics (Journal of Terramechanics)  91   243 - 256 2020.10

    ISSN  00224898

     View Summary

    Wheeled vehicle mobility on loose sand is highly subject to shear deformation of sand around the wheel because the shear stress generates traction force of the wheel. The main contribution of this paper is to improve a shear stress model for a lightweight wheeled vehicle on dry sand. This work exploits two experimental approaches, an in-wheel sensor and a particle image velocimetry that precisely measure the shear stress and shear deformation generated at the interaction boundary. Further, the paper improves a shear stress model. The model proposed in this paper considers a force chain generated inside the granular media, boundary friction between the wheel surface and sand, and velocity dependency of the friction. The proposed model is experimentally validated, and its usefulness is confirmed through numerical simulation of the wheel traction force. The simulation result confirmed that the proposed model calculated the traction force with an accuracy about 70%, whereas the conventional one overestimated the force, and its accuracy was 13% at the best.

  • Vision-based measurement of spatio-temporal deformation of excavated soil for the estimation of bucket resistive force

    Tsuchiya K, Ishigami G

    Journal of Terramechanics (Journal of Terramechanics)  90   11 - 21 2020

    Joint Work, Except for reviews,  ISSN  00224898

     View Summary

    © 2020 ISTVS This paper reports a vision-based technique of measuring the spatio-temporal deformation of excavated soil for estimating the bucket resistive force. The proposed measurement technique uses two depth cameras to determine three-dimensional soil-surface displacement. The technique consists of the following two processes: the first is related to image correlation between the two cameras, and the second involves data filtering and smoothing for generating soil deformation as a continuously curved surface. The proposed technique delivers measurement accuracy to the nearest centimeter. Typical experimental results of the three-dimensional measurement of soil deformation using the proposed technique are presented in the paper. Further, this study updates an interaction model for the resistive-force estimation while a bucket excavates soil. The model introduces a correction variable that changes with the bucket wrist angle by exploiting the experimental measurement of soil deformation. The model estimates the resistive force with an error of less than one quarter of the maximum force. These updates also exhibit the effectiveness of the proposed technique.

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

Reviews, Commentaries, etc. 【 Display / hide

  • 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

    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

    Introduction and explanation (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

    Introduction and explanation (others)

  • ローバによる火星地質調査計画

    並木則行,小松吾郎,臼井寛裕,杉田精司,宮本英昭,久保田孝,石上玄也,出村裕英,岡田達明,三浦弥生,長勇一郎,後藤和久,千秋博紀,和田浩二,石橋高,荒井朋子,小林正規,大野宗祐

    地質学雑誌 118 ( 10 ) 606 - 617 2012.10

    Introduction and explanation (scientific journal), Joint Work

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(key)

  • 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

  • 土砂のマクロ的性質のリアルタイム推定に基づく油圧ショベルの自動掘削動作の実現

    2020.04
    -
    2023.03

    The University of Tokyo, 永谷 圭司, 濱崎 峻資, 谷島 諒丞, 石上 玄也, Grant-in-Aid for Scientific Research (B)

     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, 関根 康人, GUTTENBERG NICHOLAS・RYAN, McGlynn Shawn・E., 庄司 大悟, 福士 圭介, 石上 玄也, Grant-in-Aid for Scientific Research (A)

     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

  • 多角的な接触力学情報を統合したフィールドロボット動力学シミュレータの創出

    2018.04
    -
    2021.03

    Keio University, 科学研究費補助金(基盤研究(B)), 石上 玄也, Grant-in-Aid for Scientific Research (B), Research grant, Principal Investigator

     View Summary

    本研究課題初年度(2018年度)の主な実施内容および成果をまとめる.
    センサ搭載型車輪の拡張:これまで研究代表者のグループにおいて開発していたセンサ搭載型車輪をベースとして,車輪全周に圧力センサを配置したセンサ車輪,および内部にカメラと搭載したセンサ車輪をそれぞれ開発した.これらの車輪によって,車輪回転に伴った連続的なデータ取得が可能となり,2019年度以降に開発されるハードウェアとシミュレータ間のデータ連携の時間連続性を実現することができる.
    地形形状取得システムの開発:従来から本グループにおいてはPIV(Particle Image Velocimetry,粒子画像流速測定法)を用いて,車輪下部での地形の変形を測定していたが,同手法に加え,車輪後方部に搭載したデプスカメラ,上述のカメラ内蔵車輪をそれぞれ用いることによって,砂地上を走行する車輪周囲に発生する地形の変形を捉えるシステムを開発した.このシステムにより計測されるデータもシミュレータへのデータ連携として活用していく.
    シミュレータ環境の構築:当初,次年度に実施予定としていたが,予算および入手性の観点から2018年度にシミュレーションソフトウェアの導入をおこなった.同ソフトウェア上において,フィールドロボット(車輪型移動ロボットおよび着陸システム)のシミュレーション環境を構築するとともに,2019年度以降必要となるハードウェアとの連携について検討をおこなった.また,同ソフトウェアを開発している国外企業の技術者ならびに接触モデルを構築した研究者との技術交流セミナを実施し,本研究の発展を見越し海外大学との連携を視野に入れた議論をおこなった.
    当初予定としていたシミュレータ導入を1年早めることにより,本研究課題の基盤となるシミュレーションソフトウェア上でのロボットのモデル化,接触力学の概要,動力学計算の実施に取り組み,2年目以降のハードウェア連携が円滑になると考える.一方,ハードウェア(実験装置)制御系をMATLAB/Simulinkによって構築する予定であったが,この開発に若干の遅延が見られるため,全体の進捗として上記の区分にて自己評価する.
    2019年度の推進方策を下記にまとめる.
    シミュレータ環境の開発においては,動力学ソルバの安定性,多様なモデルへの対応方法,ならびにハードウェアとの連携方法について開発を進めるとともに,実験装置から計測される接触情報の取得ライブラリの作成をおこなう.また,当初の研究計画にはなかったが,実験装置では多様な接触物体(例:不整地地面の種類を変更するなど)を扱えないため,仮想的な実験装置として,接触物体の変形を精緻に表現できる離散化要素法シミュレータの導入も行う予定である.さらに2019年度後半期および2020年度では,HILSにおいてよく知られた問題であるハードウェアとの正確な時間同期問題,シミュレーションの安定化問題について取り組み,ハードとソフトの統合化に着手する.

  • 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

    石上玄也, 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

  • 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: Awards of National Conference, Council and Symposium

  • 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: Awards of National Conference, Council and Symposium

  • 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: Awards of National Conference, Council and Symposium

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Courses Taught 【 Display / hide

  • SPECIAL LECTURE SERIES ON MULTIDISCIPLINARY AND DESIGN SCIENCE

    2021

  • SPACE EXPLORATION ENGINEERING

    2021

  • ROBOTICS / MECHATRONICS

    2021

  • PROJECT LABORATORY IN MECHANICAL ENGINEERING

    2021

  • INDEPENDENT STUDY ON INTEGRATED DESIGN ENGINEERING

    2021

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Courses Previously Taught 【 Display / hide

  • Laboratories in mechanical engineering

    Keio University, 2018, Spring Semester, Major subject, Laboratory work/practical work/exercise

  • Space Exploration Engineering

    Keio University, 2018, Autumn Semester, Major subject, Lecture

  • Robotics-mechatronics

    Keio University, 2018, Autumn Semester, Major subject, Lecture

  • デザイン科学特別講義

    Keio University, 2018, Spring Semester, Major subject, Lecture

  • Production engineering

    Keio University, 2018, Spring Semester, Major subject, 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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