論文 - 石上　玄也

Motion Control with Modification ofAcceleration for planetary Rover on soft Terrain,

Masatsugu Otsuki, Genya Ishigami, Shinichiro Narita, Sachiko Wakabayashi

Proceedings of the 11th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2012)    11a-2 2012年09月

研究論文（国際会議プロシーディングス）, 共著

Design, Development, and Mobility test of an Omnidirectional Mobile Robot for Rough Terrain,

Genya Ishigami, Elvine Pineda, Jim Overholt, Greg Hudas, Karl Iagnemma

Proceedings of the 8th International Conference on Field and Service Robotics (FSR 2012)    No. 48 2012年07月

研究論文（国際会議プロシーディングス）, 共著, 筆頭著者, 責任著者, 査読有り

自立移動ロボットによる火山地域の探査活動

大槻真嗣，石上玄也，嶋田貴信，久保田孝，作田真理子，オリチロンアン，大津恭平，清水拓

日本惑星科学会誌 21 （ 2 ） 111-120 2012年06月

研究論文（学術雑誌）, 共著, 査読有り,  ISSN  0918-273X

　概要を見る

月惑星探査ロボットテストベッドのサブシステム（走行系，航法誘導系など）について報告するとともに，同ロボットを用いて，火山フィールドにおける実証試験の結果をまとめた．

Multi-material Anisotropic Friction Wheels for Omnidirectional Ground Vehicles

Genya Ishigami, Jim Overholt, Karl Iagnemma

Journal of Robotics and Mechatronics （Fuji Technology Press）  24 （ 1 ） 261-267 - 267 2012年02月

研究論文（学術雑誌）, 共著, 筆頭著者, 責任著者, 査読有り,  ISSN  1883-8049

　概要を見る

異方性摩擦を有する車輪を設計，開発し，この車輪を複数個組み合わせることによって，従来よりも走破性能の高い全方向移動ロボットを提案した．

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Field Robotics Technology for Secure System and Exploration from the Earth to the Space,

Takashi Kubota, Masatsugu Otsuki, Genya Ishigami, Takanobu Shimada

Proceedings of the Global COE Symposium on Secure-Life Electronics    pp. 3--18 2012年01月

研究論文（国際会議プロシーディングス）, 共著

Load Distribution Control of a Six-Wheeled Robotic Vehicle in Rough Terrain

Taizo Kobayashi, Genya Ishigami, Keiji Nagatani, Kazuyoshi Tateyama

Proceedings of 17th International Conference of the International Society for Terrain-Vehicle Systems (ISTVS 2011)    Track 2-4 2011年09月

研究論文（国際会議プロシーディングス）, 共著, 査読有り

Development of Electrical Power Systems for Test-bed Rovers Aiming to Planetary Surface Exploration,

Takanobu Shimada, Masatsugu Otsuki, Hiroyuki Toyota, Genya Ishigami, Takashi Kubota

Proceedings of the 9th European Space Power Conference    Ref. 2104158 2011年06月

研究論文（国際会議プロシーディングス）, 共著

Experimental Study on Mobility and Navigation for Exploration Rover in Natural Rough Terrain,

Masatsugu Otsuki, Genya Ishigami, Takanobu Shimada, Shogo Takanashi, Orchlon Ann, Takashi Kubota

Proceedings of the 28th International Symposium on Space Technology and Science (ISTS 2011)    d-87p 2011年06月

研究論文（国際会議プロシーディングス）, 共著, 査読有り

Modeling of Flexible and Rigid Wheels for Exploration Rover on Rough Terrain

Genya Ishigami, Masatsugu Otsuki, Takashi Kubota, Karl Iagnemma

Proceedings of the 28th International Symposium on Space Technology and Science (ISTS 2011)    d-30 2011年06月

研究論文（国際会議プロシーディングス）, 共著, 筆頭著者, 責任著者, 査読有り

Performance Analysis and Odometry Improvement of an Omnidirectional Mobile Robot for Outdoor Terrain

Genya Ishigami, Elvine Pineda, Jim Overholt, Greg Hudas, Karl Iagnemma

2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS （IEEE）     4091 - 4096 2011年

研究論文（国際会議プロシーディングス）, 共著, 筆頭著者, 査読有り,  ISSN  2153-0858

　概要を見る

In this paper an omnidirectional mobile robot that possesses high mobility in rough terrain is presented. The omnidirectional robot has four active split offset caster (ASOC) modules, enabling the robot to move in any planar direction. It also possesses passive suspension articulation, allowing the robot to conform to uneven terrain. The agility of the robot is experimentally evaluated in various configurations. In addition, an odometry method that mitigates position estimation error due to wheel slippage is proposed. A key aspect of the proposed method is to utilize sensory data of wheel velocity, and turning rate around each ASOC pivot shaft, along with kinematic constraints of the robot configuration. Experimental odometry tests with different maneuvers in rough terrain are presented that confirm the utility of the proposed method.

Path Planning and Evaluation for Planetary Rovers Based on Dynamic Mobility Index

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS （IEEE）     601 - 606 2011年

研究論文（国際会議プロシーディングス）, 共著, 筆頭著者, 査読有り,  ISSN  2153-0858

　概要を見る

Planetary exploration rovers are required to (semi-) autonomously navigate itself on rough terrain. In such scenario, a feasible path to be followed must be accurately planned, allowing the rover to safely traverse without any mobility hazards. In this paper, a path planning and evaluation strategy that explicitly considers dynamic mobility of the rover is presented. The proposed strategy consists of the following three steps. First, various paths on a given terrain map are generated with varying weighting factors for path planning algorithm. Each path is then examined through complete dynamic simulations of the rover in which the rover travels along with the path. The simulation result provides a metric for robotic mobility. The metric, termed a dynamic mobility index, consists of stability of the rover, wheel slippage, elapsed time, and energy consumption. All of the paths generated are quantitatively evaluated based on the dynamic mobility index, and then, the most feasible path between them is obtained. Demonstrations for the path planning and evaluation are presented in this paper that confirms the validity of the proposed strategy.

Multi-material Anisotropic Friction Wheels for Omnidirectional Ground Vehicles,

Genya Ishigami, Jim Overholt, Karl Iagnemma

Proceedings of the 5th International Conference on Advanced Mechatronics    pp. 658--662 2010年10月

研究論文（国際会議プロシーディングス）, 共著, 筆頭著者, 責任著者, 査読有り

Development of a Visual Odometry System for a Wheeled Robot on Loose Soil Using a Telecentric Camera

Keiji Nagatani, Ayako Ikeda, Genya Ishigami, Kazuya Yoshida, Isaku Nagai

Advanced Robotics （TAYLOR & FRANCIS LTD）  24 （ 8-9 ） 1149-1167 - 1167 2010年05月

研究論文（学術雑誌）, 共著, 査読有り,  ISSN  0169-1864

　概要を見る

テレセントリックレンズを用いたビジュアルオドメトリ（移動速度推定）カメラを開発し，その有用性を走行実験によって検証した．

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Statistical Mobility Prediction for Planetary Surface Exploration Rovers in Uncertain Terrain,

Genya Ishigami, Gaurav Kewlani, Karl Iagnemma

Proceedings of the 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)    pp. 588--593 2010年05月

研究論文（国際会議プロシーディングス）, 共著, 筆頭著者, 責任著者, 査読有り

Odometry Correction Using Visual Slip-Angle Estimation for Planetary Rovers

Giulio Reina, Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

Advanced Robotics （VSP BV）  24 （ 3 ） 359-385 - 385 2010年02月

研究論文（学術雑誌）, 共著, 査読有り,  ISSN  0169-1864

　概要を見る

砂地上を移動する車輪ロボットの走行後の車輪の轍から，ロボットの位置・姿勢・滑りの推定を行う手法を提案し，同手法と車輪モデルとの融合による推定精度の向上について示した．

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Design and Analysis of a Soft Mobile Robot Composed of Multiple Thermally Activated Joints Driven by a Single Actuator

Nadia Cheng, Genya Ishigami, Stephan Hawthorne, Hao Chen, Malik Hansen, Maria Telleria, Robert Playter, Karl Iagnemma

2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) （IEEE）     5207 - 5212 2010年

研究論文（国際会議プロシーディングス）, 共著, 査読有り,  ISSN  1050-4729

　概要を見る

Soft robotic systems have applications in industrial, medical, and security applications. Many applications require these robots to be small and lightweight. One challenge in developing a soft robotic system is to drive multiple degrees-of-freedom (DOF) with few actuators, thereby reducing system size and weight. This paper presents the analysis and design of an inchworm-like mobile robot that consists of multiple, independent thermally activated joints but is driven by a single actuator. To realize control of this under-actuated system, a solder-based locking mechanism has been developed to selectively activate individual joints without requiring additional actuators. The design and performance analysis of a prototype mobile robot that is capable of inchworm-like translational and steering motion is described. The design of novel "feet" with anisotropic friction properties is also described.

Predictable Mobility A Statistical Approach for Planetary Surface Exploration Rovers in Uncertain Terrain

Genya Ishigami, Gaurav Kewlani, Karl Iagnemma

IEEE ROBOTICS & AUTOMATION MAGAZINE （IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC）  16 （ 4 ） 61 - 70 2009年12月

研究論文（学術雑誌）, 共著, 筆頭著者, 責任著者, 査読有り,  ISSN  1070-9932

　概要を見る

移動ロボットの挙動解析における不確定性パラメータを明確に取り扱い，統計学的なアプローチと動力学モデルを融合することによって，効率的な計算手法を提案した．

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Slope Traversal Controls for Planetary Exploration Rover on Sandy Terrain

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

Journal of Field Robotics （WILEY-BLACKWELL）  26 （ 3 ） 264-286 - 286 2009年03月

研究論文（学術雑誌）, 共著, 筆頭著者, 責任著者, 査読有り,  ISSN  1556-4959

　概要を見る

車輪型移動ロボットが砂地で構成された斜面を走行する際の制御則について，力学モデルに基づいたフィードフォワード制御，滑りを逐次補償するフィードバック制御をそれぞれ提案した．

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Stochastic Mobility-based Path Planning in Uncertain Environments

Gaurav Kewlani, Genya Ishigami, Karl Iagnemma

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS （IEEE）     1183 - 1189 2009年

研究論文（国際会議プロシーディングス）, 共著, 査読有り

　概要を見る

The ability of mobile robots to generate feasible trajectories online is an important requirement for their autonomous operation in unstructured environments. Many path generation techniques focus on generation of time- or distance-optimal paths while obeying dynamic constraints, and often assume precise knowledge of robot and/or environmental (i.e. terrain) properties. In uneven terrain, it is essential that the robot mobility over the terrain be explicitly considered in the planning process. Further, since significant uncertainty is often associated with robot and/or terrain parameter knowledge, this should also be accounted for in a path generation algorithm. Here, extensions to the rapidly exploring random tree (RRT) algorithm are presented that explicitly consider robot mobility and robot parameter uncertainty based on the stochastic response surface method (SRSM). Simulation results suggest that the proposed approach can be used for generating safe paths on uncertain, uneven terrain.

Action Planner of Hybrid Leg-Wheel Robots for Lunar and Planetary Exploration.

Eric Rohmer, Giulio Reina, Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems    3902 - 3907 2008年10月

研究論文（国際会議プロシーディングス）, 共著, 査読有り

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