Papers - ISHIGAMI Genya

Granular flow experiment using artificial gravity generator on International Space Station

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

ResearchSquare  2021

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特集「古今未曽有の日本の月/火星地下世界探査 (UZUME)計画」 小型探査プローブ搭載の複数広角カメラを用いた縦孔側壁の3次元再構成 特集「古今未曽有の日本の月/火星地下世界探査 (UZUME)計画」 小型探査プローブ搭載の複数広角カメラを用いた 縦孔側壁の3次元再構成

Enokida N., Miyauchi T., Ishigami G.

Planetary People - The Japanese Society for Planetary Sciences (The Japanese Society for Planetary Sciences)  29 ( 4 ) 208 2020.12

Research paper (scientific journal), Joint Work, Last author, Accepted,  ISSN  0918-273X

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<p><b>（要旨） </b>本論文では，月縦孔降下中の探査プローブが撮像した複数の時系列画像を用いて，月縦孔側壁形状を3次元再構成することを目的とする．3次元再構成では，Simultaneous Localization and Mapping (SLAM) の技術を援用し，探査プローブの自由落下運動条件をSLAM の各処理過程に組み込むことによって，カメラの回転に頑強なSLAM へと改良した．提案SLAM のシミュレーション検証において，3次元再構成の精度向上を確認した．さらに，探査プローブ搭載カメラの性能の違いによる3次元再構成への影響の検証も実施し，本研究で得られた検証結果から，ミッションシナリオと探査プローブの運動要件，カメラ性能に関する議論を行った．</p>

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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

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

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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.

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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 (The Robotics Society of Japan)  38 ( 2 ) 151 - 154 2020.03

Lead author, Accepted,  ISSN  0289-1824

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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

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

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© 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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Path planning method taking into account the deviation of the vehicle on rough terrain

TAJIMA Ryo, ISHIGAMI Genya

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) (The Japan Society of Mechanical Engineers)  2020 ( 0 ) 2P1 - B14 2020

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<p>In recent years, the effectiveness of autonomous robots on planet surfaces and in crisis situations have been recognized. During planetary exploration missions, it is crucial to plan a route where the planetary rovers can reach its destination safely. However, when these rovers are traversing on the trail, the estimated driving force does not always match that in the real world. This can result in the rovers deviating from its planned course. This paper proposes a new cost function that takes the rover deviation into account and evaluates this method using multi-point path planning simulations. A grid-based path planning method is used with Dijkstra 's algorithm as it 's foundation.</p>

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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 (The Robotics Society of Japan)  37 ( 9 ) 835 - 838 2019.11

Lead author, Accepted,  ISSN  0289-1824

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Resistive Force Estimation for Bucket Excavation Using Machine Learning

Kenji Tsuchiya Genya Ishigami

Proceedings of the 15th Europian-African Regional Conference of the International Society of Terrain Vehicle Systems (ISTVS2019)    9 pages 2019.09

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

Slip Estimation Using Machine Learning of Wheel Trace Patterns for Mobile Robot on Loose Soil

Yuki Saku, Genya Ishigami

Proceedings of the 15th Europian-African Regional Conference of the International Society of Terrain Vehicle Systems (ISTVS2019)    9 pages 2019.09

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

Ridge-tracking for Strawberry Harvesting Support Robot According to Farmer's Behavior

Ayanori Yorozu, Genya Ishigami, Masaki Takahashi

Proceedings of the 12th Conference on Field and Service Robotics (FSR2019)    #32 (11 pages) 2019.08

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

Dynamic Simulation of Sky Crane Landing System for Mars Exploration Rover

Kotaro Hirota, Genya Ishigami

Proceedings of the 32nd International Symposium on Space Technology and Science (ISTS 2019)    k-55 (5 pages) 2019.06

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

Current Status of UZUME Mission

Junichi Haruyama, Isao Kawano, Toshihiko Nishibori, Takahiro Iwata, Yukio Yamamoto, Masato Sakurai, Masatsugu Otsuki, Genya Ishigami

Proceedings of the 32nd International Symposium on Space Technology and Science (ISTS 2019)    k-06 (6 pages) 2019.06

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

Routing Method for Wide-Range Exploration of Multiple Rovers in Rough Terrain

Reina Nakanishi, Genya Ishigami

Proceedings of the 32nd International Symposium on Space Technology and Science (ISTS 2019)    k-09 (6 pages) 2019.06

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

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

Ono Y, Ishigami G

Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019 (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019)     176 - 181 2019.04

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

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© 2019 IEEE. This paper presents a routing problem of multiple mobile robots collaborating with human workers in a ware-house. In a scenario considered in this paper, the warehouse stores several different of heavy items on multiple stock locations. The human worker pick items up from corresponding stock location, puts them on one of the mobile robot carriers, and then visits another stock location. The multiple mobile robots deployed in the warehouse visit stock locations by following specified routes, carry several items for the worker, and deliver them to a dispatch area in the warehouse. Here, an appropriate number of robots, the maximum speed of each robot, and the load capacity of each robot should be quantitatively analyzed while the routing problem of the multiple robots with the human worker in the warehouse is considered. The research in this paper develops a simulation framework in which the worker and the robots cooperatively performs the pickup and dispatch tasks. An algorithm of the routing problem in the framework is addressed based on the Mixed-integer linear programming, which calculates the order of the picking points for each robot. Simulation studies for an actual warehouse are performed with different conditions between the number of robots, speed, and load capacity. The simulation framework calculates a task time which indicates how long the robots and worker need to complete one shipping list. The task time also quantitatively indicate how large the multiple robots reduce the work load of the human worker.

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Simulator for disaster response robotics

Kanehiro F., Nakaoka S., Sugihara T., Wakisaka N., Ishigami G., Ozaki S., Tadokoro S.

Springer Tracts in Advanced Robotics (Springer Tracts in Advanced Robotics)  128   453 - 477 2019

Research paper (scientific journal), Joint Work, Accepted,  ISSN  16107438

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© 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.

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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., Tadokoro S.

Springer Tracts in Advanced Robotics (Springer Tracts in Advanced Robotics)  128   195 - 264 2019

Research paper (scientific journal), Joint Work, Accepted,  ISSN  16107438

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© Springer Nature Switzerland AG 2019. 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 eq

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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    1-2 (11 pages) 2018.07

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

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    5-1 (8 pages) 2018.07

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

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    8-4 (11 pages) 2018.07

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

Experimental Analysis on Landing Dynamics of Martian Moon Spacecraft based on Similarity Law

Daiki Yamaguchi, Genya Ishigami

Proceedings of the 14th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2018)    3a-4 (8 pages) 2018.06

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