KINDAI UNIVERSITY


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IOI Kiyoshi

Profile

FacultyDepartment of Mechanical Engineering / Graduate School of Science and Engineering Research / Research Institute for Science and Technology
PositionProfessor
Degree
Commentator Guidehttps://www.kindai.ac.jp/meikan/277-ioi-kiyoshi.html
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Last Updated :2020/07/08

Education and Career

Education

  •  - 1981 , Kyoto University
  •  - 1981 , Kyoto University, Graduate School, Division of Engineering
  •  - 1979 , Kyoto University, Faculty of Engineering
  •  - 1979 , Kyoto University, Faculty of Engineering

Academic & Professional Experience

  •   1996 ,  - 2001 , Faculty of Engineering, Kindai University
  •   2002 , - Professor, School of Engineering, Kinki
  •   1996 ,  - 2001 , Associate Professor, School of Engineering,
  • University
  • Kinki University

Research Activities

Research Areas

  • Informatics, Mechanics and mechatronics
  • Informatics, Robotics and intelligent systems
  • Informatics, Mechanics and mechatronics
  • Informatics, Intelligent robotics
  • Informatics, Perceptual information processing

Research Interests

  • Man-Machine Interface, Robotics, Mechanical Control

Published Papers

  • Analysis of polishing a flat plate by using a data acquisition tool for metal-mould polishing, IOI Kiyoshi, Transactions of the JSME (in Japanese), Transactions of the JSME (in Japanese), 83(856), 1 - 13, Nov. 2017 , Refereed
  • Undergraduate-Student Teaching Materials for Mechatronics, IOI Kiyoshi, Journal of Robotics and Mechatronics, Journal of Robotics and Mechatronics, 29(6), 1005 - 1013, Oct. 2017 , Refereed
  • Human Legibility Test Using a New Braille Cell, IOI Kiyoshi, 11 - 11, Nov. 2015
  • Wall Transfer Experiments of a Wall-Clinbing Robot, IOI Kiyoshi, 9 - 9, Nov. 2015
  • Characteristics of Human skills about Mold-Polishing, IOI Kiyoshi, 8 - 8, Nov. 2015
  • Experiments and Simulations of Wall Running and Transferring of a Climbing Robot, IOI Kiyoshi, Proc. of IEEE INISTA 2015, Proc. of IEEE INISTA 2015, 419 - 425, Sep. 2015 , Refereed
  • Development of a New Skill Acquisition Tool and Evaluation of Mold-Polishing Skills, IOI Kiyoshi, Proc. of SICE Annual Conference 2015, Proc. of SICE Annual Conference 2015, 139 - 142, Jul. 2015 , Refereed
  • Study on Shimmy Vibrations of Wheeled Casters, IOI Kiyoshi, MATSUMOTO You, NISHIKAWA Seiki, SUDA Atsushi, TAGAMI Masaharu, International Journal of Materials, Mechanics and Manufacturing, International Journal of Materials, Mechanics and Manufacturing, 3(2), 92 - 96, May 2015 , Refereed
  • Design of an Active Controlled Caster Aiming at Cart with Low Crashes/Vibrations, IOI Kiyoshi, SUDA Atsushi, YAMAMOTO Masahiko, Proc. of The 3-rd ICDES 2014, Proc. of The 3-rd ICDES 2014, 63 - 68, Sep. 2014 , Refereed
  • Evaluation of Mold-Polishing Skills Using a New Skill Acquisition Tool, IOI Kiyoshi, KANBASHI Kiyonori, OHTSUBO Yoshikazu, Proc. of International Conference on Advances in Science and Technology, Proc. of International Conference on Advances in Science and Technology, 236 - 242, Feb. 2014 , Refereed
  • Study on an Active Controlled Caster for Carts with Low Crash and Vibration, IOI Kiyoshi, SUDA Atsushi, YAMAMOTO Masahiko, Transaction of JSME, Transaction of JSME, 79(808), 4854 - 4865, Dec. 2013 , Refereed
  • Development of a Compact and Rapid Wall-Climber, IOI Kiyoshi, YOKOI Hiroki, KIMURA Masataka, Proc. of IEEE MMAR, Proc. of IEEE MMAR, 344 - 349, Sep. 2013 , Refereed
  • Design of Wall-Climber with Coaxial Propeller's Thruster, Proceedings of The 43rd International Symposium on Robotics (ISR2012), Proceedings of The 43rd International Symposium on Robotics (ISR2012), 168 - 172, Aug. 2012 , Refereed
  • Braille display with double Resonant Mechanism and Recognition Experiments by Human Fingers, Proceedings of The 43rd International Symposium on Robotics (ISR2012), Proceedings of The 43rd International Symposium on Robotics (ISR2012), 416 - 420, Aug. 2012 , Refereed
  • Elasticity Estimation and Property Measurement of Urethane Damper with Embedded Spring, Journal of JSDE, Journal of JSDE, 47(6), 294 - 299, May 2012 , Refereed
  • Mechanical and Control Design of Caster for Low Vibrations and Crashes of Carts, Proceedings of 2011 IEEE ICMA, Proceedings of 2011 IEEE ICMA, 1688 - 1673, Aug. 2011 , Refereed
  • Study on a Wheeled Caster for Design of Low-Crash Wagons, Journal of JSME, Journal of JSME, 77(777), 378 - 387, May 2011 , Refereed
  • Scanning Control and Estimation of Unknown Surfaces Usuing a Robotic Finger with a Resonant End-effector, Ioi K, Ohtsubo Y, Maeda H, Proc.of IEEE International Conference on Robotics and Biomimetics, Proc.of IEEE International Conference on Robotics and Biomimetics, 1057 - 1062, Dec. 2009 , Refereed
  • Decomposed Force-velocity Control of an Articulated Finger for Estimating Unknown Surfaces, Asia International Symposium on Mechatronics 2008, Asia International Symposium on Mechatronics 2008, 313 - 318, Aug. 2008 , Refereed
  • Estimation of Surface Properties Using A New Robotic Finger, TOI K, MAEDA H, SATO R, Proc. of the 2006 IEEE International Conference on Robotics and Biomimetics, Proc. of the 2006 IEEE International Conference on Robotics and Biomimetics, 97 - 102, Dec. 2006 , Refereed
  • A New Portable Pointer for Positional Data Acquisition, Journal of Robotics and Mechatronics, Journal of Robotics and Mechatronics, 18(5), 539 - 544, Oct. 2006 , Refereed
  • A Novel robotic finger for the simultanous sensing of the shape and the stiffness of unkown surfaces, Proc. of the 8th MOVIC 2006, Proc. of the 8th MOVIC 2006, 872 - 877, Aug. 2006 , Refereed
  • A Study on Robotic Finger for Simultanous Sensing of the Shape and the mechanical Impedance of Unkown Surfaces, Proc. of ASME/ISCIE 2006 ISFA, Proc. of ASME/ISCIE 2006 ISFA, 901 - 904, Jul. 2006 , Refereed
  • Navigation of a Mobile Robot Pormulated in Terms of Discrefe Optimization Problems, Igarashi H, Ioi K, Systems and Computers in Japan, Systems and Computers in Japan, 34(6), 59 - 68, May 2003 , Refereed
  • Basic Study of “Ladder Climber”, Proc. of ICMA ’02, Proc. of ICMA ’02, 321 - 328, Sep. 2002
  • Study on Turning of Micro Robot driven by Cyclic Force, Journal of Robotics and Mechatronics, Journal of Robotics and Mechatronics, 13(3), 326 - 331, Dec. 2001 , Refereed
  • Development of a Braille cell and Measurement of Backlash, IOI Kiyoshi, Proc. of SICE Annual Conference 2015, Proc. of SICE Annual Conference 2015, 1480 - 1482, Refereed
  • Study on a portable pointer for Positional data acquisition, K Ioi, Y Sato, S Miyoshi, 2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1 AND 2, 2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1 AND 2, 313 - 318, 2005 , Refereed
    Summary:This paper presents anew portable pointing device for positional data acquisition. Since human-friendly we are systems are seriously desired around the world, we have developed a device to aid physically handicapped persons. Our device can be used anywhere and anytime because it is rarely affected by such environmental conditions as light and noise. First, we describe the mechanism of our proposed pointing device, and explain its basic principle of coordinate acquisition. Next, we propose a concrete pointing procedure that indicates a desired object and a calibration method to obtain the accurate coordinates from points pointed at. Then, we show the experimental results of the pointing device and confirm that it can accurately acquire the coordinates of a desired object. Finally, we conclude with the usefulness of the pointing device and indicate future work.
  • Design of a gravitational wheeled robot, K Ioi, H Igarashi, A Murakami, ADVANCED ROBOTICS, ADVANCED ROBOTICS, 16(8), 785 - 793, 2002 , Refereed
    Summary:This paper deals with a novel mobile robot to overcome unusual sized obstacles or uneven ground. The robot proposed here has a compact driving mechanism between dual parallel big wheels. First, we explain the basic principle and structure of our robot, and show the specifications of our prototype robot and the result of some mechanical experiments. In these experiments, we also report the result of the velocity control accompanied with two one-chip microcomputers (PICs) and we design a new leg for the attachment of a range sensor. Finally, we summarize our obtained results and some future works.
  • Study on turning motion of micro robot driven by cyclic force, K Ioi, 2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II, 2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II, 1, 1319 - 1324, 2001 , Refereed
    Summary:This paper deals with the turning motion mechanism of a brush-type micro robot using cyclic centrifugal forces. Many wheeled robots usually turn along the tangential velocity generated by their rolling wheels. The micro robot studied here has a turning property different from usual wheeled mobile robots. To realize the micro mobile robot, the mechanism accompanied with many brush legs has been often applied so far. However the turning motion mechanics has not been clarified. This paper clarifies the mechanics. First, We derive a two-dimensional rolling model of the brush-type robot driven by cyclic centrifugal forces, and indicate the existence of the lateral force acting toward the robot by the computer simulation and the simple mathematical analysis. Next, to confirm the turning motion mechanics caused by the lateral force, we obtain many experimental results of the circular trajectory using three kinds of prototype. Finally, we conclude the validity of the turning motion mechanics caused by the lateral force that the cyclic centrifugal force generates.

Conference Activities & Talks

  • Improvements in KU?Boxes 2002 and future research problems,   2002 12

Works

  • Study of Tactile Device
  • Study of Device for Acquisition of Positional Data
  • Study of M(]E87C7[)ving Ball in Flow Tube

Misc

  • Study on Virtual Maze Using Haptic Exploration, Proc. of 2004 Japan-USA Symposium on Flexible Automation,   2004
  • Basic study of "Ladder Climber", Proc. of ICMA'02,   2002
  • Design of a Gravitational Wheeled Type Robot, Proc. of 32nd International Symposium on Robotics, 32, 1, 175, 179,   2001
  • Basic Study of a Virtual Tracing Device, Proc. of the 32nd International Symposium on Robotics, 32, 1, 129, 134,   2001
  • Navigation of a Mobile Robot as Discrete Optimization Problems, Trans. of I. E. I. C. E., J84-D-I, 3, 294, 302,   2001
  • Study on Turning Motion Mechanism of Micro Robot accompanied with Cyclic Force, Kiyoshi Ioi, Ayanobu Murakami, J. R. S. J., 19, 1, 142, 148,   2001 , 10.7210/jrsj.19.142
  • Design of A Gravitational Wheel Type Robot, Research Reports of the School of Engineering Kinki University, 34, 101, 104,   2000
  • Study of A Pneumatic Actuator with Novel Bellows, Structure, Proc. of the International Conf. on Machine Automation, ICMA2000, Sep27-29, Osaka, Japan,   2000
  • Path Planning and Navigation of a Mobile Robot as Discrete Optimization Problems, Proc. of The Fifth Int. Symp : on Artificial Life and Robotics, Oita, Japan, 26-28, January 2000, 5, 297, 300,   2000
  • Study of a Brush-Type Micro-Robot Using Micro Coreless Motor, Journal of Robotics and Mechatronics, JSME, 11, 5, 448, 453,   1999
  • Study on A Jumping Robot(The 1-st Report), Research Reports of the School of Engineering Kinki University, 33,   1999
  • A Mobile Micro-Robot using Centrifugal Forces, Proc. of the 1999 IEEE/ASME International Conference on AIM, 736, 741,   1999
  • Path Planning and Navigation of Mobile Robot as Discrete Optimization Ploblems, Proc. of the 4-th Robotics Symposia, 4, 269, 274,   1999
  • Study of Control Planning on Ball Manipulation, Proc. of the 4-th Robotics Symposia, 4, 218, 223,   1999
  • Study on Mobile Micro-Robot using Centrifugal Force, J. R. S. J., 17, 3, 86, 91,   1999
  • Study on Ball Manipulation Skill, Research Reports of the Faculty of Engineering Kinki University, 32,   1998
  • Mobile Micro-Robot using Centrifugal force, Proc. of the 3-rd Robotics Symposia, 3, 183, 188,   1998
  • Development of Dynamics Simulator of Autonomous Tracked Vehicles, Research Reports of the School of Engineering Kinki University, 31, 1, 6,   1997
  • Development of a Small Actuaton with Threes Degrees of Rotational Freedom (3rd Report) -Design and Experiment of a Spherical Actuator-, J.S.P.E., 62, 4, 599,603,   1996 , 10.2493/jjspe.62.599
  • Development of a Miniature 3 d.o.f.Rotational Actuator, Proc.of International Symposium on Microsystems Intelligent Materials and Robots, 5,   1995
  • Development of a Small Actuator with Three Degrees of Rotational Freedom (1st Report)-Motion Aualysis of the Drive Unit-, J.S.P.E., 61, 3, 386,390,   1995 , 10.2493/jjspe.61.386
  • Application of Hybrid Compliance/Force Control, J.R.S.J., 12, 6, 893,898,   1994
  • Research and Development of Sensing and Manipulation Techiques for Space Robotics on a Testbed, proc.of Aerospace Sciences Meeting&Exhibit(A.I.A.A.), 31,   1993
  • Control of Free Flying Space Robon for Capture Maneuver, Proc.of 1-st ESA conf.on Space Craft G.N.C., 1,   1991
  • Berthing & Docking Mechanisms for Future Japanese Space Structures, Proc.of Aerospace Sciencls Meeting (A.I.A.A.), 28,   1990
  • Modeling and Simulation of Underwater Manipulator, I.J.R.S.J., 4, 4, 303,317,   1990
  • A Variable Gain Control of a Hydraulic Robot Arm, J.S.M.E., 56, 523, 738,1743,   1990 , 10.1299/kikaic.56.738
  • Development of a Small Actuator with Three Degrees of Rotational Freedom (2nd Report)-Simulation and Experiment of a Friction Drive-, J.S.P.E., 61, 4, 532,536, 10.2493/jjspe.61.532

Research Grants & Projects

  • Contact sensing
  • Welfare device
  • Vibration control of vehicle
  • Flying robotics
  • Locomotion robotics