ISHIGAMI Genya

写真a

Affiliation

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

Position

Professor

Related Websites

External Links
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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 】

  • Design and Development of Jamming-based Stiffness-Adjustable Wheel on Soft Terrain

    Suthisomboon, T., Bonardi, S., Ishigami. G.,

    Journal of Terramechanics (PERGAMON-ELSEVIER SCIENCE LTD)  117   101014 (11pages) 2025

    Research paper (scientific journal), Joint Work, Lead author, Corresponding author, Accepted

  • Tangle- and Contact-free Path Planning for a Tethered Mobile Robot using Deep Reinforcement Learning

    Shimada, R., and Ishigami, G.,

    Frontiers in Robotics and AI (Frontiers in Robotics and AI)  11   1388634 (13 pages) 2024.09

    Research paper (scientific journal), Joint Work, Lead author, Corresponding author, Accepted

  • Acoustic Odometry for Wheeled Robots on Loose Sandy Terrain

    Andreu Gimenez Bolinches and Genya Ishigami

    Proceedings of 13th International Workshop on Robot Motion and Control (RoMoCo2024)    255-260 2024.07

    Research paper (international conference proceedings), Joint Work, Last author, Accepted

  • 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   100971 (15 pages) 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.

  • Perception-and-Energy-aware Motion Planning for UAV using Learning-based Model under Heteroscedastic Uncertainty

    Reiya Takemura and Genya Ishigami

    Proceedings of the 2024 IEEE International Conference on Robotics and Automation (ICRA 2024)     pp. 10103-10109 2024.05

    Research paper (international conference proceedings), Joint Work, Last author, Accepted

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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

  • 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

  • ロボットシミュレータ開発

    金広文男，中岡慎一郎，杉原知道，石上玄也，尾崎伸吾

    日本ロボット学会誌 37 ( 9 ) 835 - 838 2019.11

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

    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

    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

    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

    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)

  • Modeling, Analysis, and Control of Robotic Mobility in Rough Terrain: Insights from Decades of Terramechanics Research

    Genya Ishigami

    MaGIC2024: Machine-Ground Interaction Consortium , 

    2024.09
    , 

    Oral presentation (keynote)

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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 】

  • SPECIAL LECTURE SERIES ON MULTIDISCIPLINARY AND DESIGN SCIENCE

    2025

  • SPACE EXPLORATION ENGINEERING

    2025

  • ROBOTICS / MECHATRONICS

    2025

  • PROJECT LABORATORY IN MECHANICAL ENGINEERING

    2025

  • MECHANICAL ENGINEERING PROJECT

    2025

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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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