2021/11/02 更新

写真a

サトウ リュウキ
佐藤 隆紀
SATO Ryuki
所属
大学院工学研究科 航空宇宙工学専攻 飛行・制御 特任助教
職名
特任助教

学位 1

  1. 博士(工学) ( 2020年3月   電気通信大学 ) 

研究キーワード 2

  1. 生物規範機構

  2. 脚ロボット

研究分野 2

  1. 情報通信 / ロボティクス、知能機械システム

  2. 情報通信 / 機械力学、メカトロニクス

経歴 2

  1. 電気通信大学   大学院情報理工学研究科   特任研究員

    2020年4月 - 2021年9月

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    国名:日本国

  2. 日本学術振興会   特別研究員(DC2)

    2017年4月 - 2019年3月

学歴 3

  1. 電気通信大学   大学院情報理工学研究科   機械知能システム学専攻

    2016年4月 - 2020年3月

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    国名: 日本国

  2. 電気通信大学   大学院情報理工学研究科   知能機械工学専攻

    2014年4月 - 2016年3月

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    国名: 日本国

  3. 電気通信大学   情報理工学部   知能機械工学科

    2010年4月 - 2014年3月

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    国名: 日本国

所属学協会 3

  1. IEEE

  2. 日本ロボット学会

  3. 日本機械学会

受賞 5

  1. 田中榮賞

    2020年3月   通機会  

    佐藤隆紀

  2. Best Paper in Biomimetics Award

    2018年12月   IEEE ROBIO2018   : Design and Implementation of Jumping Robot with Multi-springs Based on the Coupling of Polyarticular

    Lei Wang, Fei Meng, Huaxin Liu, Xuxiao Fan, Ryuki Sato, Aiguo Ming, Qiang Huang

  3. 三浦賞

    2016年3月   日本機械学会  

    佐藤隆紀

  4. Best Biomimetics Paper Award

    2015年12月   IEEE ROBIO2015   : Development of A Small Quadruped Robot with Bi-articular Muscle-tendon Complex

    Eiki Kazama, Ryuki Sato, Ichiro Miyamoto, Aiguo Ming, Makoto Shimojo

  5. Gai Tech Best Paper in Robotics Award of IEEE ICIA 2015

    2015年8月   IEEE ICIA2015   : Development of Robot Leg Composed of Parallel Linkage and Elastic Spring for Dynamic Locomotion

    Aiguo Ming, Keigo Sato, Ryuki Sato, Eiki Kazama, Ichiro Miyamoto, Makoto Shimojo

 

論文 22

  1. Vertical Jumping by a Legged Robot With Upper and Lower Leg Bi-Articular Muscle–Tendon Complexes 査読有り

    Ryuki Sato, Shuma Hiasa, Lei Wang, Huaxin Liu, Fei Meng, Qiang Huang, Aiguo Ming

    IEEE Robotics and Automation Letters   6 巻 ( 4 ) 頁: 7572 - 7579   2021年10月

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    担当区分:筆頭著者, 責任著者   記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/lra.2021.3099226

  2. A Legged Robot With Thigh Bi-Articular Muscle-Tendon Complex 査読有り

    Shuma Hiasa, Ryuki Sato, Kanako Kurokawa, Lei Wang, Huaxin Liu, Fei Meng, Aiguo Ming

    IEEE Access   9 巻   頁: 62285 - 62297   2021年4月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/access.2021.3074322

  3. Controllable Height Hopping of a Parallel Legged Robot 査読有り 国際共著 国際誌

    Zewen He, Fei Meng, Xuechao Chen, Zhangguo Yu, Xuxiao Fan, Ryuki Sato, Aiguo Ming, Qiang Huang

    Applied Sciences   11 巻 ( 4 ) 頁: 1421 - 1421   2021年2月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:MDPI AG  

    Legged robots imitating animals have become versatile and applicable in more application scenarios recent years. Most of their functions rely on powerful athletic abilities, which require the robots to have remarkable actuator capacities and controllable dynamic performance. In most experimental demonstrations, continuous hopping at a desired height is a basic required motion for legged robots to verify their athletic ability. However, recent legged robots have limited ability in balance of high torque output and actuator transparency and appropriate structure size at the same time. Therefore, in our research, we developed a parallel robot leg using a brushless direct current motor combined with a harmonic driver, without extra force or torque sensor feedback, which uses virtual model control (VMC) to realize active compliance on the leg, and a whole-leg control system with dynamics modeling and parameter optimization for continuous vertical hopping at a desired height. In our experiments, the robot was able to maintain stability during vertical hopping while following a variable reference height in various ground situations.

    DOI: 10.3390/app11041421

  4. Development of Knee Joint Mechanism with Variable Transmission and Joint Stop for Bipedal Robot Inspired by Human Structure 査読有り 国際共著

    Kimitake Ueki, Ryuki Sato, Aiguo Ming, Makoto Shimojo, Moncef Hammadi, Jean-Yves Choley

    Proceedings of 2020 21st International Conference on Research and Education in Mechatronics (REM)     頁: 1 - 6   2020年12月

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    掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    For bipedal robots, how to realize natural, versatile and dynamic motions like human is still a challenging topic. In order to achieve such high performance by bipedal robots, one useful approach is to develop joint mechanism with high back-drivability, that makes the dynamic coupling forces such as inertia force, centrifugal force available for dynamic motions and results reduction of necessary capacity for joint actuators leading to the reduction of weight of the robot. For this purpose, in this paper, we propose a novel knee joint mechanism consisting of a crossed four-bar linkage with variable transmission (CFLVT) and a joint stop inspired from human structure. CFLVT behaves as a transmission with variable reduction ratio according the knee joint angle to smooth the static torque so that the knee joint can be driven by a small actuator with low reduction ratio. In addition, a joint stop at the maximum extending angle is introduced in the knee joint which is useful for force assist just like that of a human. The characteristic and design of CFLVT and joint stop are described first. And a prototype of the bipedal robot implemented with CFLVT and joint stop is developed. The feasibility of the proposed mechanism is shown by experimental results for walking and kicking motions.

    DOI: 10.1109/rem49740.2020.9313087

  5. 生物規範機構を有する小型脚ロボットのための垂直跳躍運動制御 査読有り

    佐藤隆紀, 明愛国

    日本ロボット学会誌   38 巻 ( 3 ) 頁: 279 - 286   2020年4月

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    担当区分:筆頭著者, 責任著者   記述言語:日本語   掲載種別:研究論文(学術雑誌)  

  6. Design of Robot Leg with Variable Reduction Ratio Crossed Four-bar Linkage Mechanism 査読有り

    Kohei Tomishiro, Ryuki Sato, Yasuji Harada, Aiguo Ming, Fei Meng, Huaxin Liu, Xuxiao Fan, Xuechao Chen, Zhangguo Yu, Qiang Huang

    Proceedings of 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)     頁: 4333 - 4338   2019年11月

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)  

    DOI: 10.1109/IROS40897.2019.8968034

  7. Design and Implementation of Jumping Robot with Multi-Springs Based on the Coupling of Polyarticular 査読有り

    Lei Wang, Fei Meng, Huaxin Liu, Xuxiao Fan, Ryuki Sato, Aiguo Ming, Qiang Huang

    Proceedings of 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)     頁: 287 - 292   2018年12月

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    This paper presents a robot with pseudo direct drive and multi-springs inspired from structure of a cat. Combining spring and cable pulley, the passive flexible mechanical structure is realized by two parts: an elastic four-bar linkage crossing the knee and ankle joints; a sprung cable crossing the hip, knee and ankle joint. The structure can make full use of robot's gravitational energy and motor power to store more energy in landing, and then release energy in jumping, which enhances dynamic jump ability. Besides, the robot can maintain a standing state stably under static condition balance with the help of spring which avoids overheating of the motor and improve energy efficiency. Simulation and experiments demonstrated that the multi-springs can reduce the load of knee joint motor and the jumping height of the robot with the springs was 42 mm higher, which show an obvious effectiveness in jumping function.

    DOI: 10.1109/ROBIO.2018.8664808

    Web of Science

  8. Optimization of Standing Long Jump Strategy on a Small Quadruped Robot 査読有り

    Zewen He, Fei Meng, Huaxin Liu, Xuxiao Fan, Shengkai Liu, Ryuki Sato, Aiguo Ming, Qiang Huang

    Proceedings of 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)     頁: 1226 - 1231   2018年12月

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    The extraordinary jumping ability of quadrupedal animals, is greatly attributed to appropriate jumping motion strategy with elastic element in legs. This paper introduces an optimization process of the robot jumping to a maximum horizontal distance from a static state, and verifies it on a small quadrupedal robot using elastic four-bar linkage mechanism. Two steps of optimization, with simplified stick models built to depict the dynamic characteristics of real robot, was set to search a best jump motion. Moreover, experiments of real robot validate the effectiveness of the mechanism and optimizing jumping method, while the robot could achieve a maximum horizontal jumping distance of 250 mm (78% of body length).

    DOI: 10.1109/ROBIO.2018.8665109

    Web of Science

  9. Development of a Bipedal Robot with Bi-articular Muscle-tendon Complex between Hip and Knee Joint 査読有り

    Shuma Hiasa, Ryuki Sato, Aiguo Ming, Fei Meng, Huaxin Liu, Xuxiao Fan, Xuechao Chen, Zhangguo Yu, Qiang Huang

    Proceedings of 2018 IEEE International Conference on Cyborg and Bionic Systems (CBS)     頁: 391 - 396   2018年10月

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    In this paper, a new leg mechanism that mimics the function of the musculoskeletal structures of the thigh of the mammals is proposed. The bi-articular muscle-tendon complex of the thigh makes it possible to drive the hip and the knee joints as well as store and release the elastic energy, and it contributes to extension of the leg at the jumping and swinging of the leg during running. A mechanism with the function is introduced to a bipedal robot that mimics the hind limbs of mammals. In order to verify the effect of the mechanism, motion planning for the vertical jumping is performed for the models with and without the mechanism by a nonlinear optimization simulation. The motion trajectory is optimized to maximize the jumping height and the derived results show that the jumping height can be improved by the mechanism. Through the experiments, it is confirmed that the jumping height by the bipedal robot with the proposed mechanism was improved and the effectiveness of the proposed mechanism is shown.

    DOI: 10.1109/CBS.2018.8612220

    Web of Science

  10. Development of a Bio-inspired Flexible Tail System 査読有り

    Benjamin Simon, Ryuki Sato, Jean-Yves Choley, Aiguo Ming

    Proceedings of 2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics     頁: 230 - 235   2018年9月

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    In the animal kingdom, many mammals are using their tails to assure their stability while running, jumping, falling, etc. Researches have been performed in order to add tails on wheeled or legged robots in order to improve their stability. However, those tails are often far from the biological structure and resumed to a simple rigid tube with a mass on the extremity. On the other hand the biological tail is composed of many bones moving one on the other and actuated with an important number of muscles. Therefore replicating this structure would result in big and heavy systems using many actuators that would reduce the physical performances of the robot. In this paper, we developed a new bio-inspired cable-driven tail system capable of swinging a flexible tail from base to tip around the pitching axis using a single actuator. First we designed a new flexible tail mimicking the structure of the animal tail. Then we developed a new actuation system using the combination of cams and drive wheels to realize the actuation of 8 cables using a single actuator. Finally, we measured the efforts generated by the swinging motion of the tail and perform experiments to observe its effects on the jumping motion.

    Web of Science

  11. Introduction of Toe Mechanism with Bi-articular Tendon into Legged Robot 査読有り

    Kanako Kurokawa, Ryuki Sato, Shuma Hiasa, Aiguo Ming, Fei Meng, Huaxin Liu, Xuxiao Fan, Xuechao Chen, Zhangguo Yu, Qiang Huang

    Proceedings of 2018 IEEE International Conference on Mechatronics and Automation (ICMA)     頁: 1597 - 1602   2018年8月

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)  

  12. Method of Design Optimization and Trajectory Implementation on a Small Cat-Like Robot 査読有り

    Zewen He, Fei Meng, Huaxin Liu, Lei Wang, Xin Zhu, Xuxiao Fan, Ryuki Sato, Aiguo Ming, Qiang Huang

    22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control     頁: 323 - 330   2018年6月

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    記述言語:英語   掲載種別:研究論文(研究会,シンポジウム資料等)  

  13. Design and Control of Robot Legs With Bi-articular Muscle-tendon Complex 査読有り

    Ryuki Sato, Eiki Kazama, Aiguo Ming, Makoto Shimojo, Fei Meng, Huaxin Liu, Xuxiao Fan, Xuechao Chen, Zhangguo Yu, Qiang Huang

    Proceedings of 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)     頁: 2605 - 2610   2017年12月

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    担当区分:筆頭著者   記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)  

    DOI: 10.1109/ROBIO.2017.8324812

  14. Development of a Flexible Tail for Legged Robot 査読有り

    Ryuki Sato, Shun Hashimoto, Aiguo Ming, Makoto Shimojo

    Proceedings of 2016 IEEE International Conference on Mechatronics and Automation (ICMA)     頁: 683 - 688   2016年8月

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    担当区分:筆頭著者   記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    Some creatures can realize dynamic locomotions with a slender body by utilizing the dynamic effect by moving their whole body besides their legs. For example, some mammals moving by hopping with two legs at high speed and high efficiency have a tail as long as their body length. Their tails are composed of multi-joint and are exible. The dynamic effect by swinging their exible tails is useful for fast running and high jumping. In this paper, we develop a exible tail mechanism for two-legged robot inspired by the exibility of the animal tail. This tail is comprised of 6 linkages in series and the linkages are connected with elastic passive joints. First, the elasticity of tail joints and the motion of the tail base joint are designed by jumping simulations. To evaluate the effectiveness of the exible tail mechanism, jumping experiments have been conducted using the prototype of the two-legged robot with the exible tail as well as rigid tail. The results of these experiments show that the legged robot realized higher jumps with using the effect of swinging its exible tail.

    Web of Science

  15. Development of a Flexible Coupled Spine Mechanism for a Small Quadruped Robot 査読有り

    Ryosuke Kawasaki, Ryuki Sato, Eiki Kazama, Aiguo Ming, Makoto Shimojo

    Proceedings of 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)     頁: 71 - 76   2016年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    Quadruped animals realize dynamic motions such as fast running and high and long jumping with the utilization of the flexibility of their bodies. It is known that the motions of their front and rear legs couple with the flexion and extension of their spine when running or jumping. In recent years, quadruped robots inspired by cats and cheetahs have been developed. In our group, a small quadruped robot has been developed with leg mechanisms which consist of spring and damper systems inspired by bi-articular muscle-tendon complexes of animals. The robot is able to perform various motions such as walking, running and jumping. In this paper, flexibility features as in animal bodies are to be introduced to make the robot run fast and jump long (or high) by coupling the motions of their spine and legs. In our design, the flexion and extension of the spine are realized by a spine joint with a torsion spring, and the coupling to the front and rear legs has been realized by cables. Driving the scapula or hip joints causes flexion of the spine and stores the elastic energy in the spring. The extension of the spine with the spring assists in driving the scapula or hip joints. As a result, in the jump experiment, the robot with a flexible spine can realize longer jump distance than that by a robot with a rigid spine.

    DOI: 10.1109/ROBIO.2016.7866300

    Web of Science

  16. Development of a Small Quadruped Robot With Bi-articular Muscle-tendon Complex 査読有り

    Eiki Kazama, Ryuki Sato, Ichiro Miyamoto, Aiguo Ming, Makoto Shimojo

    Proceedings of 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)     頁: 1059 - 1064   2015年12月

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    Hydraulic and pneumatic actuators are used as actuators of robots. They have large capabilities of instantaneous output, but with problems of increase in size and mass, and difficulty for precise control. In contrast, electromagnetic motors have better controllability, lower cost, and smaller size. However, in order to actuate robots, they are usually used with reducers which have high reduction ratio, and it is difficult to realize creature-like dynamic motions such as fast running and high jumping, due to low backdrivability of joints. To solve the problem, we have developed leg mechanisms, which consist of a spring and a damper inspired by bi-articular muscle-tendon complex of animals. The final target is to develop a quadruped robot which can walk, run fast and jump highly like a cat. A cat mainly uses its hind legs in jumping and front legs in landing. It implies that the hind legs play an important role in jumping, and that the front legs do in landing. For this reason, it is necessary to design different leg structures for front and hind legs. In this paper, we develop a new front leg mechanism suitable to a hind leg mechanism which was already made by our group, and make a small quadruped robot. As the result of experiments for dynamic motions, stable running trot at a speed of 3.5 kilometers per hour and forward jumping of 1 body length per jump have been realized by the robot.

    DOI: 10.1109/ROBIO.2015.7418912

    Web of Science

  17. Development of Robot Legs Inspired by Bi-articular Muscle-tendon Complex of Cats 査読有り

    Ryuki Sato, Ichiro Miyamoto, Keigo Sato, Aiguo Ming, Makoto Shimojo

    Proceedings of 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)     頁: 1552 - 1557   2015年10月

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    担当区分:筆頭著者   記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    Within the limbs of typical animals, there exist bi-articular muscles crossing two joints. It is known that the bi-articular muscles of the felid play an important role in the locomotion. Also the muscle-tendon complex, composed of the gastrocnemius muscle and the Achilles' tendon that cross the knee joint and the ankle joint contributes much to the movements such as running and jumping particularly. Besides, because the muscle-tendon complex has the function for absorbing shocking, it is utilized for soft landing from high places. To achieve high performance for jumping and landing motion like cats, we are developing robot legs inspired by the bi-articular muscle-tendon complex of cats. The leg consists of hip, knee and ankle joints. For the knee and ankle joints, a four-bar linkage mechanism with one elastic linkage, in which the knee joint is driven by an electric rotary motor and the ankle joint is passive, is applied. By this mechanism, basic functions of the bi-articular muscle-tendon complex of felids like cats can be realized and the performance for jumping and landing can be improved. In this paper, the new leg mechanism is described. Moreover, a prototype of a pair of the hind legs of the quadruped robot using the new mechanism has been developed. The results of jumping and landing experiments are shown to validate the effectiveness of the mechanism.

    DOI: 10.1109/IROS.2015.7353574

    Web of Science

  18. Development of Leg Mechanism Using a Knee Joint with Continuously Variable Reduction Ratio Adaptive to Load 査読有り

    Takuma Uchida, Ryuki Sato, Aiguo Ming, Makoto Shimojo

    Proceedings of 2015 IEEE International Conference on Mechatronics and Automation (ICMA)     頁: 1199 - 1203   2015年8月

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    The realization of human-like dynamic motions by bipedal robots is still a challenge. One reason for this is that joints of bipedal robots are actuated with low backdrivability. In this paper, to improve backdrivability of the joints in a bipedal robot, a new mechanism of knee joint with continuously variable reduction ratio adaptive to load is proposed and a control method is also proposed according to the characteristic of the mechanism. A prototype of the bipedal robot using the designed knee joint with continuously variable reduction ratio adaptive to load has been developed. The effectiveness of the mechanism is shown by experimental results using the prototype.

    Web of Science

  19. Development of Robot Leg Composed of Parallel Linkage and Elastic Spring for Dynamic Locomotion 査読有り

    Aiguo Ming, Keigo Sato, Ryuki Sato, Eiki Kazama, Ichiro Miyamoto, Makoto Shimojo

    Proceedings of 2015 IEEE International Conference on Information and Automation     頁: 38 - 43   2015年8月

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    Musculoskeletal structures in many animals are flexible, which are very important to achieve dynamic locomotion such as running and jumping. For this reason, in recent research of robotics, elastic element is introduced in robot structure in order to improve dynamic performance of robots. In this paper, we propose a robot leg composed of parallel linkage and elastic tension spring. A prototype of the leg has been developed and it is evaluated by jumping simulations and experiments. As results of the experiments, higher and more efficient jumping is realized by the proposed leg comparing to the leg without elastic spring.

    DOI: 10.1109/ICInfA.2015.7279255

    Web of Science

  20. Development of an Entertainment Robot System using Kinect 査読有り

    Aiguo Ming, Kazuya Enomoto, Mizuki Shinozaki, Ryuki Sato, Makoto Shimojo

    2014 10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics (MECATRONICS)     頁: 127 - 132   2014年11月

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    As one of home services by a mobile manipulator system, we are aiming at the realization of the assist for elderly people. The purpose of this work is to develop a robot system that provides mental support for elderly people as one part of the home services. We have developed a rock-paper-scissors-Atchimuitehoi gaming system as entertainment robot system by using Kinect v2 as human robot interface. In this paper, the configuration of the developed system is described. And the basic algorithms for recognition of human action as well as voice are proposed and implemented. Finally the feasibility of the system is shown by the experimental results using the developed prototype.

    Web of Science

  21. Development of Leg Mechanism Using a Knee Joint With Variable Reduction Ratio Adaptive to Load 査読有り

    Aiguo Ming, Syunpei Nozawa, Ryuki Sato, Zhangguo Yu, Makoto Shimojo

    Proceedings of 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)     頁: 1574 - 1579   2013年12月

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    The realization of natural, fast and versatile motions for bipedal robots is still a challenge. As one approach to enhance the performance of bipedal robots, actuation with high backdrivability, high power-to-weight ratio as well as high torque is required. In this paper, a new mechanism of knee joint with variable reduction ratio adaptive to load is proposed to improve the capability of actuation while in light structure. The design method including simulation for the mechanism is described. A prototype of the leg robot has been developed and the basic feasibility of the mechanism is shown by experimental results.

    DOI: 10.1109/ROBIO.2013.6739691

    Web of Science

  22. Design and Implementation of Common Platform for Small Humanoid Robots 査読有り

    Ryuki Sato, Hiroaki Matsuda, Motoyuki Fujieda, Hajime Hata, Aiguo Ming

    Proceedings of 2013 IEEE International Conference on Mechatronics and Automation (ICMA)     頁: 855 - 860   2013年8月

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    This paper proposes a design of common platform for small humanoid robots. There are many kinds of small humanoid robots for hobby or research. These humanoid robots are operated in different platforms developed by different developers. For this reason, the current development method is very inefficient. To solve the problem, it is necessary to develop common platform for all small humanoid robots. For this purpose, we are making a common platform for small humanoid robots on RT-Middleware which is used to build intelligent robotic systems. In this paper, first we investigated the requirements of the system to control motion-based humanoid robots. Then we designed a common platform and applied this platform to three different types of humanoid robots. As a result of this, the usefulness of this common platform was demonstrated.

    Web of Science

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MISC 1

  1. 小型ヒューマノイドのためのRTMを用いた共通プラットフオームの開発 : グローバルアシスト賞, 日本ロボット工業会賞

    佐藤 隆紀, 松田 啓明, 藤枝 元幸, 畑 元, 明 愛国  

    計測と制御 = Journal of the Society of Instrument and Control Engineers52 巻 ( 9 ) 頁: 798 - 798   2013年9月

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    記述言語:日本語  

    CiNii Article

    CiNii Books

講演・口頭発表等 3

  1. Design and Control of Legged Robots Using Bio-inspired Mechanism 招待有り

    Ryuki Sato

    IEEE/RSJ International Conference on Intelligent Robots and Systems, Full day workshop "Articulated Actuation Towards Human Capabilities for Robots"  2019年11月 

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    開催年月日: 2019年11月

    記述言語:英語   会議種別:シンポジウム・ワークショップ パネル(指名)  

  2. 動物の筋腱複合体を規範とする小型四脚ロボット研究開発-股関節と膝関節間での駆動トルクの相互利用を可能とする脚機構の開発-

    日浅崇馬, 佐藤隆紀, 風間英気, 明愛国, 下条誠

    日本機械学会ロボティクス・メカトロニクス講演会  2017年5月 

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    開催年月日: 2017年5月

    記述言語:日本語   会議種別:ポスター発表  

  3. 動物の筋腱複合体を規範とする小型四脚ロボット研究開発-柔軟な背骨機構の開発-

    川崎涼祐, 佐藤隆紀, 風間英気, 明愛国, 下条誠

    日本機械学会ロボティクス・メカトロニクス講演会  2016年6月 

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    記述言語:日本語   会議種別:ポスター発表  

科研費 3

  1. 多関節筋構造の活用と関節間協調制御による四脚ロボットの高運動性能化

    研究課題/研究課題番号:21K14124  2021年4月 - 2024年3月

    日本学術振興会  科学研究費助成事業 若手研究  若手研究

    佐藤 隆紀

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    担当区分:研究代表者 

    配分額:4680000円 ( 直接経費:3600000円 、 間接経費:1080000円 )

    動物の身体には,複数の関節にまたがる多関節筋と呼ばれる特徴的な筋が存在する.動物の運動中には多関節筋を介して関節間でエネルギーが移動し,安定した歩行から高速な走行や跳躍など,高度で高効率なロコモーションに重要な役割を果たしている.
    本研究では,脚ロボットに動物の筋骨格特有の複数の関節をまたがって備わる筋・腱に着想を得た多関節筋規範機構を搭載した四脚ロボットを開発し,隣接の関節間,および体幹と四肢のような部位間での身体内力学的エネルギー遷移・伝搬に基づいて,全身を協調動作させるための運動制御方法を確立することで,四脚ロボットによる高度で多様なロコモーションの実現を目指す.

  2. 全身に生物規範機構を搭載した四脚ロボットによる高効率ダイナミック運動の実現

    研究課題/研究課題番号:20K22389  2020年9月 - 2022年3月

    日本学術振興会  科学研究費助成事業 研究活動スタート支援  研究活動スタート支援

    佐藤 隆紀

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    担当区分:研究代表者 

    配分額:2860000円 ( 直接経費:2200000円 、 間接経費:660000円 )

    チーターに代表されるネコ科の動物は,全身に備わる多数の筋の駆動と,腱の弾性的な特性を活用して,四肢と体幹とを巧みに協調させることで驚異的な身体能力を実現している.そこで,これらの重要な構造を規範とした機構を全身に搭載した高運動性能小型四脚ロボットを開発し,反射を含む全身協調運動制御をロボットに適用することで,これまでの四脚ロボットでは実現しなかった高効率かつ敏捷性の高い運動の実現を目指す.

  3. ネコの筋骨格と運動制御を規範とした高運動性能小型四脚ロボットの研究開発

    研究課題/研究課題番号:17J00387  2017年4月 - 2019年3月

    日本学術振興会  科学研究費助成事業 特別研究員奨励費  特別研究員奨励費

    佐藤 隆紀

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    担当区分:研究代表者 

    配分額:1900000円 ( 直接経費:1900000円 )

    本研究は,ネコ科の動物の筋骨格構造と運動制御を参考とした脚式ロボットの開発を目的とする.生物の身体のしなやかさに着目したロボットの機構設計と,それを前提とした運動制御によって,従来のロボットでは困難であった俊敏な動作の実現する.
    昨年度までに,ネコの後肢下腿に備わる特に重要な二関節間の筋腱複合体を搭載した脚機構を開発して,実証実験を行うための試作機を開発した.また試作機の動力学モデルに基づく運動軌道生成手法の基盤を開発した.そこで本年度はこの軌道生成手法を用いて,特に動的な運動の一例として垂直跳躍運動を取り上げて軌道の生成を行った.軌道生成にあたり受動機構やアクチュエータの動特性を含む動力学モデルを構築し,跳躍高さ最大化を目的とした最適化問題に置き換えて非線形最適化手法を用いることで,強い非線形性を有するロボットの跳躍軌道を生成することができた.この結果として得られた運動は,弾性要素を含む生物規範機構を活用した軌道になっており,開発した脚機構の効果が確認できた.また,生成された軌道を用いて,試作機で垂直跳躍実験を行った結果,シミュレーションのように生物規範機構の弾性要素が効果を発揮し,跳躍運動を実現することができた.さらに,ネコの後肢の上腿やつま先周辺の二関節間の筋腱複合体が脚のダイナミックな運動に寄与していることから,それぞれについて同様の機能を実現するワイヤ・プーリ機構と弾性要素を用いた機構を開発した.シミュレーションと実機実験を通してそれらの有用性を示した.脊椎まで含めた四脚ロボットの開発には至らなかったが,これまでに開発した生物規範型の脚機構と運動軌道生成手法を用いることで,従来のロボットを越える運動能力を持つ四脚ロボットの実現可能性が示せた.

 

メディア報道 1

  1. Video Friday: Walking on Ceilings, Cat-Inspired Legs, and Robot Grasps Tofu インターネットメディア

    IEEE Spectrum  2015年10月

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    執筆者:本人以外