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SHIBATA Mizuho

    Department of Robotics　Associate Professor
Last Updated :2024/04/19

Researcher Information

URL

J-Global ID

Research Interests

  • ソフトロボット   ロボティクス   Robotics   

Research Areas

  • Informatics / Intelligent robotics
  • Informatics / Mechanics and mechatronics
  • Informatics / Robotics and intelligent systems

Academic & Professional Experience

  • 2018 - Today  Kindai UniversityFaculty of EngineeringAssociate professor
  • 2011 - 2018  Kindai UniversityFaculty of Engineeringlecturer
  • 2008 - 2011  立命館大学 理工学部 助教
  • 2007 - 2008  立命館大学 理工学部 助手

Education

  •        - 2006  Ritsumeikan University  Graduate School of Science and Engineering  総合理工学
  •        - 2006  Ritsumeikan University  Graduate School, Division of Science and Engineering

Association Memberships

  • IEEE   THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS   THE JAPAN SOCIETY OF MECHANICAL ENGINEERS   THE ROBOTICS SOCIETY OF JAPAN   

Published Papers

  • Hiroki Dobashi; Koki Ogawa; Mizuho Shibata; Wataru Uemura; Yasuyoshi Yokokohji
    Advanced Robotics Informa UK Limited 1 - 18 0169-1864 2023/10 [Refereed]
  • Mizuho Shibata; Hiroki Dobashi; Wataru Uemura; Shinya Kotosaka; Yusuke Maeda; Yasumichi Aiyama; Takeshi Sakaguchi; Yoshihiro Kawai; Akio Noda; Kazuhito Yokoi; Yasuyoshi Yokokohji
    Advanced Robotics Informa UK Limited 36 (22) 1 - 19 0169-1864 2022/10 [Refereed]
     
    The World Robot Summit (WRS) Industrial Robotics Category tries to evaluate the performances of assembly robot systems using a task board. The task board comprises an assembly board (task board or board) and a set of parts assembled to the board. Utilizing an appropriate task board expects to facilitate the development of assembly robot systems. This paper examines the components necessary for the design of the task board through the results and analyzes of the task board competition in the WRS 2020 (held in September 2021). The task board will serve as a benchmark in developing an assembly robot system that can assemble the belt drive unit, an assembly model for the WRS 2020 assembly competitions. The success rate of each part of the competition and the correlation with assembly competitions reinforces the validity of the task board design. This paper describes that the WRS 2020 task board had a larger correlation with the belt drive unit used in the assembly competitions than that of the WRS 2018 (0.54 vs. 0.29). The design in the WRS 2020 is more appropriate than that in the WRS 2018 as a benchmark for assembling the belt drive unit.
  • Yasuyoshi Yokokohji; Yoshihiro Kawai; Mizuho Shibata; Yasumichi Aiyama; Shinya Kotosaka; Wataru Uemura; Akio Noda; Hiroki Dobashi; Takeshi Sakaguchi; Yusuke Maeda; Kazuhito Yokoi
    Advanced Robotics Informa UK Limited 36 (22) 1 - 20 0169-1864 2022/08 [Refereed]
     
    The World Robot Summit (WRS) is a robotic 'challenge and exposition' organized by the Japanese government to accelerate social implementation, research and development of robots working in realistic daily life, society, and industrial fields. In this paper, we introduce a robot competition of the Industrial Robotics Category of the WRS, called 'Assembly Challenge', which is organized by the WRS Industrial Robotics Competition Committee in order to promote the development of the next-generation production systems that can respond to new production demands in agile and lean manners. After the pre-competition held in Tokyo in October 2018, the main competition, the WRS 2020, was originally scheduled to be held in Aichi (partly in Fukushima) in 2020, which was also the Olympic year. However, due to the pandemic of COVID-19, the event was postponed, and the competition was actually held in Aichi in September 2021. In this paper, we introduce the contents and results of the WRS 2020 and analyze the results. We would also like to summarize the 5-year project since 2017 and discuss the outcomes of the WRS.
  • Mizuho Shibata
    Journal of Robotics and Mechatronics Fuji Technology Press Ltd. 34 (1) 40 - 46 0915-3942 2022/02 [Refereed]
     
    This paper describes a fish-like robot with a deformable outer shell fabricated using a silicone mold. Based on the difference in the contact condition between the serial-link robot and the shell, the fabrication methods are classified into embedded type and skin type. This study analyzes the mechanical properties of embedded and skin-type underwater robots from the viewpoint of material mechanics. A low-torque motor can sufficiently drive the skin-type underwater robot if the friction coefficient and pressure between the skin and the link are appropriately selected. Furthermore, the outer skin of the fish-like robot can be easily fabricated by defoaming in the chamber of a vacuum-packaging machine. Finally, the performance of the skin-type robot in air and underwater was assessed through several experiments.
  • Norimitsu Sakagami; Mizuho Shibata; Tomohiro Ueda; Kensei Ishizu; Kenshiro Yokoi; Sadao Kawamura
    Journal of Robotics and Mechatronics Fuji Technology Press Ltd. 33 (6) 1234 - 1247 0915-3942 2021/12 [Refereed]
     
    This report describes a numerical and experimental study of a posture control device based on a movable float for portable underwater robots. We numerically analyzed the static stability using a stability curve and allowable spatial range of a center-of-gravity shift caused by a payload shift or manipulator configuration. Further, we proposed a feedback controller based on direct pitch and roll signals to change and maintain robot posture. We tested the feedback control using a numerical simulator and conducted experiments in a water tank using two portable underwater robots to demonstrate the effectiveness of the movable float device and proposed controller. The results of the field experiments showed that the device and proposed controller can be employed for effective underwater operations of portable underwater robots.
  • Mizuho Shibata; Kosei Demura; Shinichi Hirai; Akihiro Matsumoto
    IEEE Transactions on Education Institute of Electrical and Electronics Engineers (IEEE) 64 (3) 283 - 291 0018-9359 2021/08 [Refereed]
  • Mizuho Shibata; Hiroki Dobashi; Wataru Uemura; Yasuyoshi Yokokohji
    Transactions of the Institute of Systems, Control and Information Engineers The Institute of Systems, Control and Information Engineers 34 (4) 98 - 106 1342-5668 2021/04 [Refereed]
  • Kenneth Kimble; Karl Van Wyk; Joe Falco; Elena Messina; Yu Sun; Mizuho Shibata; Wataru Uemura; Yasuyoshi Yokokohji
    IEEE Robotics and Automation Letters Institute of Electrical and Electronics Engineers (IEEE) 5 (2) 883 - 889 2020/04 [Refereed]
  • Mizuho Shibata; Hiroki Dobashi; Wataru Uemura; Shinya Kotosaka; Yasumichi Aiyama; Takeshi Sakaguchi; Yoshihiro Kawai; Akio Noda; Kazuhito Yokoi; Yasuyoshi Yokokohji
    Advanced Robotics Informa UK Limited 1 - 23 0169-1864 2020/01 [Refereed]
  • Mizuho Shibata; Norimitsu Sakagami
    Artificial Life and Robotics Springer Science and Business Media LLC 25 (1) 100 - 105 1433-5298 2019/10 [Refereed]
  • Yasuyoshi Yokokohji; Yoshihiro Kawai; Mizuho Shibata; Yasumichi Aiyama; Shinya Kotosaka; Wataru Uemura; Akio Noda; Hiroki Dobashi; Takeshi Sakaguchi; Kazuhito Yokoi
    Advanced Robotics Informa UK Limited 33 (17) 876 - 899 0169-1864 2019/09 [Refereed]
  • Mizuho Shibata; Shinichi Hirai
    Robotics MDPI AG 5 (2) 10 - 10 2016/04 [Refereed]
  • Mizuho Shibata; Norimitsu Sakagami
    ADVANCED ROBOTICS TAYLOR & FRANCIS LTD 29 (1) 103 - 113 0169-1864 2015/01 [Refereed]
     
    A portable underwater robot that has a high pressure resistance is required for easy observations in wide area. In this manuscript, we discuss the fabrication and design of a fish-like underwater robot that the outer body is composed by a flexible thin plastic film. Force generated by the differential pressure between inside and outside of the robot is zero due to the flexibility. Therefore, the plastic film of the robot does not ideally break under high pressurized environment. The entire body of the robot is fabricated by a vacuum packaging machine. We call this fabrication robot packaging. The design guide of our fish-like robot depends on the density of insulating fluid containing within the body. Even the fluid is lighter or heavier than water, we can construct the fish-like robot that is at neutral buoyancy
  • Mizuho Shibata; Takahiro Miyamura; Norimitsu Sakagami; Shigeharu Miyata
    Journal of Robotics and Mechatronics Fuji Technology Press Ltd. 25 (5) 804 - 811 0915-3942 2013/10 [Refereed]
     
    The locomotion of underwater robots depends on their shapes. Underwater robots for inspecting undersea structures must not only move long distances but must rotate during inspection. We propose using an underwater robot that moves translationally and rotationally by altering its shape. In this paper, we introduce a deformable twisted trigonal prism tensegrity structure as a robot and evaluate its use as an underwater robot through several simplified models and experimental results.
  • Norimitsu Sakagami; Kouhei Ishimaru; Sadao Kawamura; Mizuho Shibata; Hiroyuki Onishi; Shigeo Murakami
    Journal of Field Robotics Wiley 30 (4) 624 - 640 1556-4959 2013/05 [Refereed]
  • SHIBATA Mizuho; OHTA Tsuyoshi; HIRAI Shinichi
    JRSJ The Robotics Society of Japan 27 (9) 67 - 74 0289-1824 2009 [Refereed]
     
    We discuss an unfolding of fabrics by robotic hands. During unfolding, humans usually allow their fingertips to slip on the fabric surfaces, referred to as a pinching slip motion. We define this motion using differential geometry coordinate. In this motion, the weight of the fabric generates relative movement between the moving fingertips and the fabric, and then, the edges of the fingertips are in contact with the hem of the fabric. We confirm experimentally that the success rate depends on fingertip shapes and grasping force of a robotic hand during the motion. The range between fingertips can be selected widely when fingertips with circular edges are applied. Finally, we demonstrate a fabric unfolding experimentally.
  • Mizuho Shibata; Shinichi Hirai
    Journal of Robotics and Mechatronics Fuji Technology Press Ltd. 18 (3) 242 - 248 0915-3942 2006/06 [Refereed]
     
    To analyze the stability of dynamic control through asoft interface-the viscoelastic material between a manipulating finger and a manipulated object- we model dynamic control through the soft interface in continuous-discrete time. We then formulate dynamics using a modified z-transform in continuous-discrete time for feedback and feedforward control. We show that system stability depends on the viscoelasticity of the soft interface for feedback control. The relationship between material viscosity and sampling time in critical stability is not monotonous, a phenomenon we analyze by root locus. We compare stability analysis by the modified z-transform, simulations based on the Runge-Kutta method, and a regular z-transform, demonstrating that the relationship is specific to a continuous-discrete time.
  • SHIBATA Mizuho; HIRAI Shinichi
    JRSJ The Robotics Society of Japan 24 (4) 873 - 880 0289-1824 2006 [Refereed]
     
    A feature of soft object manipulation in free space is coupling of motion and deformation of the soft object. Herein, we formulate simultaneous control of position and deformation of a viscoelastic object. We show that the stability of the system depends not only on control laws and parameters but also on physical parameters of the object, and that positive feedback gain within a certain range stabilizes PID controlled systems; outside this range, the object cannot be stably controlled since the object is movable. We also validate the stability of the system for control inputs and mapped manipulated and positioned points. The positioned points converge to their desired positions using the mapping based on closest relationship between the positioned and manipulated points. We show that both the viscosity of a soft object and the damping component of the control law are essential for stability when a force is used as a control input.
  • SHIBATA Mizuho; HIRAI Shinichi
    JRSJ The Robotics Society of Japan 24 (3) 349 - 355 0289-1824 2006 [Refereed]
     
    We analyze the stability of dynamic object manipulation through asoft interface, the viscoelastic material between a manipulating finger and manipulated object. First, we model a dynamic object manipulation system through a soft interface. The system is described in continuous-discrete time. Second, we formulate the dynamics using the modified z-transform in the continuous-discrete time system for feedback and feedforward control. Thus, we show that the stability of the system depends on viscoelasticity of the soft interface for feedback control. In particular, we point out that, in critical stability, the relationship between material viscosity and sampling time is not monotonous. We also analyze this phenomenon by the root locus method. Next, we compare the stability analysis by the modified z-transform and a regular z-transform. Thus, we demonstrate that the relationship is specific to the continuous-discrete time system. Finally, we confirm the relationship experimentally.

Books etc

  • Lamination - Theory and Application
    (ContributorChapter 4)InTech 2018/03
  • Robot Control Handbook
    (ContributorSection 28.4)近代科学社 2017/12
  • Recent Advances in Robotic Systems
    Shibata Mizuho (ContributorChapter 11)InTech 2016/10
  • 応用センサ工学
    川村 貞夫; 柴田 瑞穂; 下ノ村 和弘; 西浦 敬信; 玉置 純; 岡田 志麻; 安藤 妙子; 前野 隆司; 牧野 泰才 (Joint work)コロナ社 2012/08

Conference Activities & Talks

  • Development of Pressure Measurement Equipment Fabricated by Robot Packaging Method
    Mizuho Shibata; Norimitsu Sakagami
    2021 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)  2021  IEEE
     
    This manuscript describes a pressure sensor equipment for underwater robot external attachment. It is difficult to add sensors to many underwater robots. Most pressure sensors have a diaphragm plate, and the pressure sensor must be exposed to the environment to deform the diaphragm plate. Therefore, to add a pressure sensor to an underwater robot, it is generally necessary to redesign both the outer shell and the robot's inner structure. To solve this problem, we propose encapsulating a pressure sensor in a plastic film bag. Vacuum packaging technology is applied to fabricate the sensor equipment. This technique is called the robot packaging method, and it is possible to fabricate the sensor equipment rapidly and inexpensively. This manuscript shows experimental results that it is necessary to encapsulate a sufficient amount of insulating fluid in the plastic film bag to fabricate the pressure sensor equipment by the robot packaging method.
  • Mizuho Shibata; Norimitsu Sakagami
    IEEE/SICE International Symposium on System Integration(SII)  2021  IEEE
  • Polyhedral rolling robot with expanded icosidodecahedron body  [Not invited]
    Mizuho Shibata; Yushi Azuma
    The International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines  2020/08
  • 横小路 泰義; 河井 良浩; 柴田 瑞穂; 相山 康道; 琴坂 信哉; 植村 渉; 野田 哲男; 土橋 宏規; 阪口 健; 前田 雄介; 横井 一仁
    システム制御情報学会研究発表講演会講演論文集  2020/05  システム制御情報学会
  • Modeling of serial link robots covered with a thin flexible film  [Not invited]
    Mizuho Shibata; Norimitsu Sakagami
    IEEE International Conference on Robotics and Biomimetics  2019/12
  • Mizuho Shibata; Norimitsu Sakagami
    2019 IEEE International Conference on Robotics and Biomimetics(ROBIO)  2019  IEEE
  • SHIBATA Mizuho; SAKAGAMI Norimitsu
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2019  The Japan Society of Mechanical Engineers
     
    This manuscript describes a tensegrity-type underwater robot with a transforming mechanism. The robotic body is composed of tensegrity structure with plastic pipes (struts) and a rubber band (deformable strings) so that the robotic body has deformability. A winding unit attaching to one tip of the tensegrity structure can transform the body of the robot. The winding unit includes a planetary gear. Winding the gut fixed on the rotary shaft of the water-proofing motor transforms the shape of the deformable tensegrity structure. In this manuscript, to evaluate the performance of the transforming mechanism, we investigate the fluid characteristics of the robot against constant water flow. Based on results, we find that transforming the robot with the winding unit alters its translational performances because the projecting area decreased for transforming the robotic body.
  • TOMOKUNI Nobuyasu; HUANG Jian; OKA Masato; KOYACHI Noriho; SHIBATA Mizuho; TAGAMI Masaharu
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2019  The Japan Society of Mechanical Engineers
     

    In this paper, a line-trace robot is described. This robot is applied for robot contest in the practicum class of creative challenge of robotics in department of robotics. Rules of the robot contest and lecture contents are confirmed by making this robot.

  • SAKAGAMI Norimitsu; SHIBATA Mizuho
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2018  The Japan Society of Mechanical Engineers
     
    This paper presents the modeling and numerical simulation of a serial link robot fabricated by robot packaging method. First, we derive the equations of motion of a laminated robot made of a rigid serial link and a plastic film. We assume the plastic film as a closed-loop link structure with passive joints. The rigid serial link connected with a motor-actuated joint moves the closed-loop link structure (film) with passive joints. We numerically investigate the influence of the flexural rigidity of the plastic film on the motion of the rigid link.
  • 学科教育としてのロボティクス
    柴田瑞穂; 出村公成; 平井慎一; 松元明弘
    日本ロボット学会学術講演会予稿集(CD-ROM)  2018
  • 1P2-E02 Impact resistance evaluation of robot with flexible exoskeletal structure
    YOKOTA Nariaki; SHIBATA Mizuho
    ロボティクス・メカトロニクス講演会講演概要集  2015/05  The Japan Society of Mechanical Engineers
     
    In this study, an exoskeletal biped robot which consists of flexible members is proposed. The mass and height of the robot are 0.9 kg and 320 mm. The exoskeletal flexible robot walks using static walking techniques. We evaluate the walk through the step length and speed of the robot. We also investigate the impact resistance of the robot through several experiments. Prom results of drop experiments to the robot by weights, the robot is not broken out up to 8.2 J of potential energy. From results of drop experiments of the robot to floor, the robot is not broken out up to 850 mm height.
  • Mizuho Shibata; Norimitsu Sakagami
    Proceedings of the International Offshore and Polar Engineering Conference  2015 
    This paper describes an attitude control mechanism for an underwater robot with a flexible plastic film body. Insulating fluid was poured into a packaging resin film, the outer layer of the robot, to improve its pressure resistance under water. The attitude control mechanism consisted of an arrangement of the insulating fluid and floating blocks inside the robot. The attitude control mechanism will allow three-dimensional non-holonomical movements of the robot under water.
  • Mizuho Shibata; Norimitsu Sakagami
    IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society(IECON)  2015  IEEE
  • A Robot Fish Encapsulated by An Electromagnetic Wave-Transmitting Plastic Film  [Not invited]
    Mizuho Shibata; Norimitsu Sakagami
    IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY  2015  IEEE
     
    This manuscript describes a robot fish, the surface of which is composed of a exible thin plastic film. Its internal mechanism, including an actuator (e.g. a servomotor), is encapsulated in the plastic film by a vacuum packaging machine. This plastic film has electromagnetic wave-transmitting properties, allowing sensors, wireless charging modules, and communication devices to be arranged within the device. To simplify the waterproofing and pressure resistance properties of the robot, the inner portion of the robot fish is filled with insulating fluid, such as industrial oil. The transmission performances of these devices, which utilize electromagnetic waves, may worsen due to the tendency of water or insulating fluids to attenuate the electromagnetic waves. This study therefore experimentally investigated the transmission performance of these devices, while taking into account the effects of water or insulating fluid. These devices were subsequently applied to our sh robot; enabling us to verify its performance by using infrared sensors to assess its autonomous locomotion.
  • Preliminary Experiments of a Human-Portable Underwater Gripper robot for Dexterous Tasks  [Not invited]
    Kensei Ishizu; Haruki Nakayama; Norimitsu Sakagami; Mizuho Shibata; Sadao Kawamura; Shinji Matsuda; Atsushi Mitsui
    OCEANS 2014 - TAIPEI  2014  IEEE
     
    This paper reports the development and experiments of an underwater 6-DOF gripper robot. The developed gripper robot is a human-portable remotely operated vehicle (ROV) that weighs approximately 31 kg in air. The most important feature of this robot is that it can grasp cylindrical objects of 50-500 mm diameter, and handle them in 6 DOF. We also developed a dedicated operating device to use the gripper robot effectively. To reduce the operator burden during underwater tasks, several software functions of the operating device are provided, such as thrust allocation, depth control, and pitch angle control. Experiments in a test tank demonstrated the motion performance of the developed robot and the effectiveness of the operating device.
  • Marker Tracking for Indirect Positioning During Fabric Manipulation  [Not invited]
    柴田 瑞穂
    The 3rd International Conference on Intelligent Robotics, Automations, Telecommunication facilities,  2013/07  Fukuoka, Japan  The 3rd International Conference on Intelligent Robotics, Automations, Telecommunication facilities,
  • A Fish-like Underwater Robot with Flexible Plastic Film Body
    Mizuho Shibata; Norimitsu Sakagami
    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)  2013  IEEE
     
    In underwater robot composed of a flexible thin plastic film. We utilized a vacuum packaging machine to fabricate the entire body of the robot. We call this fabrication robot packaging. This robot packaging method decreases the air remaining in the body of the robot, allowing the robot to maintain neutral buoyancy. This manuscript also discusses the design of the robot, allowing the entire body to maintain neutral buoyancy.
  • Mizuho Shibata; Norimitsu Sakagami
    IEEE International Conference on Robotics and Biomimetics(ROBIO)  2013  IEEE
  • テンセグリティ構造を利用した小型水中ロボットの開発  [Not invited]
    柴田 瑞穂; 宮田 繁春
    SICE SI 2012  2012/12  SICE SI 2012
  • A Fabric Manipulation Utilizing Contacts with Environments  [Not invited]
    柴田 瑞穂; Shinichi Hirai
    Int. Conf. on Automation Science and Engineering  2012/08  Republic of Korea, Seoul  Int. Conf. on Automation Science and Engineering
  • Ship Hull Inspection Using A Small Underwater Robot With A Mechanical Contact Mechanism  [Not invited]
    Kensei Ishizu; 柴田 瑞穂; Kouhei Ishimaru; Sadao Kawamura; Norimitsu Sakagami; Hiroyuki Onishi; Shigeo Murakami
    Int. Conf. on OCEANS  2012/05  Republic of Korea, Yeosu  Int. Conf. on OCEANS
  • Rolling Tensegrity Driven by Pneumatic Soft Actuators  [Not invited]
    Yuusuke Koizumi; 柴田 瑞穂; Shinichi Hirai
    Proc. IEEE Int. Conf. on Robotics and Automation  2012/05  Proc. IEEE Int. Conf. on Robotics and Automation
  • マッキベンアクチュエータにより駆動されるテンセグリティロボットの実験的評価  [Not invited]
    小泉 佑介; 柴田 瑞穂; 平井 慎一
    第17回ロボティクス・シンポジア  2012/03  萩  第17回ロボティクス・シンポジア
  • Yuusuke Koizumi; Mizuho Shibata; Shinichi Hirai
    Proceedings - IEEE International Conference on Robotics and Automation  2012  Institute of Electrical and Electronics Engineers Inc.
     
    In this paper, we describe the rolling of a tensegrity robot driven by a set of pneumatic soft actuators. Tensegrity is a mechanical structure consisting of a set of rigid elements connected by elastic tensional elements. Introducing tensegrity structures, we are able to build soft robots with larger size. Firstly, we show the prototype of a six-strut tensegrity robot, which is driven by twenty-four pneumatic McKibben actuators. Second, we formulate the geometry of the tensegrity robot. We categorize contact states between a six-strut tensegrity robot and a flat ground into two axial symmetric contact and planar symmetric contact. Finally, we experimentally examine if rolling can be performed over a flat ground for individual sets of the actuators and discuss the strategy of rolling. © 2012 IEEE.
  • Kensei Ishizu; Norimitsu Sakagami; Kouhei Ishimaru; Mizuho Shibata; Hiroyuki Onishi; Shigeo Murakami; Sadao Kawamura
    Program Book - OCEANS 2012 MTS/IEEE Yeosu: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities  2012 
    This paper presents ship hull inspection using a small underwater robot with a mechanical contact mechanism. We propose a mechanical contact approach in order to conduct ship hull inspection, and develop a contact mechanism, hand-eye vision system, and stereo camera system. The proposed contact mechanism enhances the position and orientation keeping performance of small underwater robots. The developed hand-eye system and stereo camera system provide fine and detailed vision information for inspection. In this paper, we numerically analyze the position and orientation keeping performance of a small underwater robot with a mechanical contact mechanism, and conduct fundamental experiments in a test tank. Additionally, we inspect a ship's hull in a port as a field experiment. © 2012 IEEE.
  • Mizuho Shibata; Shinichi Hirai
    IEEE International Conference on Automation Science and Engineering  2012 
    This paper presents a method of fabric manipulation utilizing contacts with rigid environment. During its manipulation, the fabric can be replaced and deformed favorably by the contacts. We first show that a single-handed manipulator can deal with a rectangular piece of fabric by utilizing the environment. We discuss in detail a motion involving placing, one of the basic tasks in fabric manipulation. We also describe a wiping motion, involving ways to deform and replace fabrics, as an application of fabric manipulations utilizing contacts with rigid environment. © 2012 IEEE.
  • 浮心移動機構を用いた小型水中ロボットのフィードバック姿勢制御  [Not invited]
    上田 智裕; 柴田 瑞穂; 石津 謙生; 川村; 坂上 憲光
    第29回日本ロボット学会学術講演会  2011/09  芝浦工大  第29回日本ロボット学会学術講演会
  • Pitch and roll control using independent movable floats for small underwater robots  [Not invited]
    Norimitsu Sakagami; 柴田 瑞穂; Tomohiro Ueda; Sadao Kawamura
    International Conference on Intelligent Robots and Systems  2011/09  America, San Francisco  International Conference on Intelligent Robots and Systems
  • 水中構造物調査のための本体支持機構を有する水中ロボットの位置・姿勢保持条件  [Not invited]
    石丸 浩平; 柴田 瑞穂; 川村 貞夫; 坂上 憲光
    第29回日本ロボット学会学術講演会  2011/09  芝浦工大  第29回日本ロボット学会学術講演会
  • テンセグリティロボットの連続転がりの評価  [Not invited]
    小泉 佑介; 柴田 瑞穂; 平井 慎一
    第29回日本ロボット学会学術講演会  2011/09  芝浦工大  第29回日本ロボット学会学術講演会
  • 双腕・浮力移動体を有する小型水中ロボットの開発とその利用実例  [Not invited]
    川村 貞夫; 柴田 瑞穂; 坂上 憲光; 村上 繁男; 大西
    第22回海洋工学シンポジウム  2011/08  第22回海洋工学シンポジウム
  • Development of A Removable Multi-DOF Manipulator System for Man-portable Underwater Robots  [Not invited]
    Norimitsu Sakagami; 柴田 瑞穂; Daisuke Ibata; Takaaki Ikeda; Tomohiro Ueda; Kouhei Ishimaru; Sadao Kawamura; Hiroyuki Onishi; Shigeo Murakami
    International Society of Offshore and Polar Engineers  2011/06  America, Hawaii  International Society of Offshore and Polar Engineers
  • 接触力分散センシングのためのマイコン内蔵型水中ロボットハンド開発  [Not invited]
    石津謙生; 柴田 瑞穂; 川村貞夫; 坂上憲光
    Robomec2011  2011/05  Robomec2011
     
    接触力分散センシングが可能なマイコン内蔵型水中ロボットハンドを開発した．
  • 双腕搭載型小型水中ロボットの腕・本体同時操縦システムの評価  [Not invited]
    川村貞夫; 柴田 瑞穂; 齋藤崇之; 坂上憲光
    船舶海洋工学会  2011/05  船舶海洋工学会
     
    双腕搭載型小型水中ロボットに関して開発した腕・本体同時操縦システムの評価を行った．
  • 浮心移動を利用した小型水中ロボットの姿勢角制御システムの解析  [Not invited]
    上田 智裕; 柴田 瑞穂; 川村 貞夫; 坂上 憲光; 大西浩之; 村上
    Robomec2011  2011/05  Robomec2011
     
    浮心移動を利用した小型水中ロボットの姿勢角制御システムの解析を行った．
  • 機械的接触を利用した水中ロボットの運動拘束による外乱抑制  [Not invited]
    石丸浩平; 柴田 瑞穂; 川村貞夫; 坂上憲光; 大西浩之; 村上
    Robomec2011  2011/05  Robomec2011
     
    水中ロボットの運動拘束を行うために，機械的接触の利用を試みた．
  • 浮心移動機構を用いた水中グリッパロボットの開発  [Not invited]
    石津 謙生; 柴田 瑞穂; 福島 勇基; 上田; 智裕; 川村; 貞夫; 大出 真純; 三井 厚司; 松田
    ロボティクス・メカトロニクス講演会2012  2011/05  浜松  ロボティクス・メカトロニクス講演会2012
  • Norimitsu Sakagami; Tomohiro Ueda; Mizuho Shibata; Sadao Kawamura
    2011 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS)  2011  IEEE
  • Mizuho Shibata; Takayuki Saito; Norimitsu Sakagami; Sadao Kawamura
    2010 IEEE International Conference on Robotics and Biomimetics(ROBIO)  2010  IEEE
  • Norimitsu Sakagami; Mizuho Shibata; Sadao Kawamura; Toshifumi Inoue; Hiroyuki Onishi; Shigeo Murakami
    IEEE International Conference on Robotics and Automation(ICRA)  2010  IEEE
  • Norimitsu Sakagami; Takafumi Kanayama; Tomohiro Ueda; Hideki Hashizume; Mizuho Shibata; Hiroyuki Onishi; Shigeo Murakami; Sadao Kawamura
    11th International Conference on Control, Automation, Robotics and Vision(ICARCV)  2010  IEEE
  • Norimitsu Sakagami; Mizuho Shibata; Sadao Kawamura; Toshifumi Inoue; Hiroyuki Onishi; Shigeo Murakami
    Proceedings - IEEE International Conference on Robotics and Automation  2010 
    As described in this paper, we propose an attitude control system for underwater vehicle/manipulator systems (UVMSs) based on control of the position of the center of buoyancy with respect to the center of gravity. Control of the center of buoyancy is accomplished using movable float blocks. The attitude control system is useful to control the pitch angle of UVMSs to enhance their performance and to improve their efficiency of underwater operations. A UVMS that has two 5-degree-of-freedom (DOF) manipulators was developed to verify the effectiveness of the proposed attitude control system. This paper presents a numerical study and some experimental results obtained using the UVMS with the attitude control system. We experimentally confirmed that the proposed system can change the pitch angle of the vehicle between -120 and +105 deg. In another experiment, attitudemaintenance control was conducted. Results show that the proposed system can maintain the vehicle's horizontal attitude during motion of the manipulators. ©2010 IEEE.
  • Norimitsu Sakagami; Mizuho Shibata; Hideki Hashizume; Yuuta Hagiwara; Kouhei Ishimaru; Tomohiro Ueda; Takayuki Saitou; Kazuhiro Fujita; Sadao Kawamura; Toshifumi Inoue; Hiroyuki Onishi; Shigeo Murakami
    OCEANS'10 IEEE Sydney, OCEANSSYD 2010  2010 
    In this paper, we describe the development of a human-sized remotely operated vehicle (ROV) with dual-arm. The developed ROV was designed to perform biological researches, geological researches and archaeological explorations in Lake Biwa, the biggest lake in Japan. This ROV has two distinguishing characteristics: one is a dual-manipulator system and the other is an attitude control system. The size of the manipulators is related to the size of a human arm so that the ROV can do work that human divers usually do using the arms. The attitude control system is capable of keeping the vehicle in a horizontal plane, and purposely changing the vehicle attitude angle. Additionally, we developed a new master-slave controller system for this ROV. Some fundamental experiments in a diving pool were performed in order to test the capabilities of the developed ROV. After those experiments, a field trial was conducted in Lake Biwa and the ROV carried out some works at a depth of about 10-20 meters. © 2010 IEEE.
  • Mizuho Shibata; Yuusuke Onishi; Sadao Kawamura
    IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings  2010 
    We describe here the development a joint mechanism for underwater robotic manipulators. Arms of underwater robots require small-scale bodies and high waterproofing properties. In most of underwater robots, electric motors are used as actuators to drive the robotic arm/arms, but using electric motors for underwater manipulators may be problematic due to the size/weight of the robotic arm and need to waterproof the electric motors. We develop a joint mechanism composed of combinations of rigid and flexible members, which can be deformed by a prismatic actuator fixed onto two rigid parts. We utilize a leaf spring as the flexible joint and a McKibben actuator driven by water hydraulic pressure as the prismatic actuator. The number of members in this mechanism is smaller than that of a mechanism composed of a combination of one pulley and one coil spring. One advantage of this mechanism is the avoidance of gears, thus eliminating sliding parts from the joint. ©2010 IEEE.
  • Norimitsu Sakagami; Takafumi Kanayama; Tomohiro Ueda; Hideki Hashizume; Mizuho Shibata; Hiroyuki Onishi; Shigeo Murakami; Sadao Kawamura
    11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010  2010 
    In this paper, we present the design and development of an attitude control system for a human-sized ROV (Remotely Operated Vehicle) with a dual-manipulator system. The main operations of the ROV are sampling operations for biological researches, geological researches and archaeological explorations in Lake Biwa, the biggest lake in Japan. In order to achieve these operations, we propose an attitude control system and explain the availability of the proposed system in this paper. For the design of the attitude control system, simulation analysis was conducted. Based on the analysis, a pitch angle control system was designed and developed as the prototype of the attitude control system. An experiment was conducted in a test tank to demonstrate the effectiveness of the proposed system. The result shows that the developed system is useful for pitch angle control of the ROV. ©2010 IEEE.
  • Mizuho Shibata; Takayuki Saito; Norimitsu Sakagami; Sadao Kawamura
    2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010  2010 
    Most robots with manipulators used in fieldwork use operating devices that are large and complicated, requiring a large system such as a flight cockpit and several operators to move the arms/arm and body of the robots separately. These robots may be more efficiently manipulated using small-scale operating devices, able to be manipulated by a single operator. We have developed an operating device composed of joysticks mounted onto link mechanisms, to manipulate the movement of the robot body. In addition, this device incorporates multi-DOF manipulator-like link structures, which can be intuitively operated by the operator. We also evaluated the operability of this device, as determined by the operator's mental workload and the physical configuration of the operator's hand. © 2010 IEEE.
  • 小型水中ロボットに着脱可能な多自由度マニピュレータの開発  [Not invited]
    第28回日本ロボット学会講演集  2010
  • 船底付着生物調査のための機械的接触利用の水中ロボットシステム開発  [Not invited]
    第28回日本ロボット学会講演集  2010
  • 左右独立に駆動する浮心移動機構を用いた小型水中ロボットの姿勢制御  [Not invited]
    第28回日本ロボット学会講演集  2010
  • 一人で操縦可能な双腕搭載型小型水中ロボットシステムの開発  [Not invited]
    日本船舶海洋工学会講演会論文集  2010
  • Simultaneous Operation of Dual Arm and Body of Mobile Robots  [Not invited]
    The 2010 IEEE International Conference on Robotics and Biomimetics  2010
  • Design and Development of An Attitude Control System for a Human-sized ROV  [Not invited]
    The 11th International Conference on Control, Automation, Robotics and Vision  2010
  • Robotic Unfolding of Hemmed Fabric using Pinching Slip Motion  [Not invited]
    International Conference on Advanced Mechatronics  2010
  • Experimental Evaluation of Flexible Joint Driven by Water Pressure for Underwater Robots  [Not invited]
    IEEE/RSJ International Conference on Intelligent Robots and Systems  2010
  • Moving Strategy of Tensegrity Robots with Semiregular Polyhedral Body  [Not invited]
    CLAWAR2010  2010
  • Development of a Human-Sized ROV with Dual-Arm  [Not invited]
    Proc. MTS/IEEE Int. Conf. on OCEANS  2010
  • An Attitude Control System for Underwater Vehicle-Manipulator Systems  [Not invited]
    Proc. IEEE Int. Conf. on Robotics and Automation  2010
  • 2A2-B01 Representation Method for Fabric Handling Operations Using Differential Geometry Coordinate
    SHIBATA Mizuho; OHTA Tsuyoshi; INDEN Takaaki; HIRAI Shinichi
    ロボティクス・メカトロニクス講演会講演概要集  2009/05  The Japan Society of Mechanical Engineers
     
    This paper describes a representation method of fabric manipulation, referred to as virtual rope theory. In this theory, fabric manipulation by robotic grippers is considered equivalent to manipulation of a deformable rope. Based on the theory, we define various fabric manipulations; we can judge the success or failure of these manipulations quantitatively. We define a fabric manipulation using differential geometry coordinates. We confirm the applicability of the virtual rope theory by experimental unfolding of a fabric.
  • 多面体移動ロボットの接地状態判定  [Not invited]
    SICE SI 2009  2009
  • 浮心移動機構を利用した水中ロボット-マニピュレータシステムの本体姿勢補償  [Not invited]
    SICE SI 2009  2009
  • つまみ滑り動作による布地の展開における縁の影響  [Not invited]
    SICE SI 2009  2009
  • テンセグリティ型多面体ロボットの転がり移動  [Not invited]
    第27回日本ロボット学会講演集  2009
  • 姿勢調整機構を持つ双腕水中ロボット  [Not invited]
    第27回日本ロボット学会講演集  2009
  • Virtual Rope Theory for Fabric Manipulation  [Not invited]
    Proc. IEEE Int. Symposium on Assembly and Manufacturing  2009
  • Stochastic Static Analysis of Link Driven by Actuator Bundles  [Not invited]
    Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems  2009
  • Rolling Locomotion of Deformable Tensegrity Structure  [Not invited]
    CLAWAR09  2009
  • Crawling by Body Deformation of Tensegrity Structure Robots  [Not invited]
    Proc. IEEE Int. Conf. on Robotics and Automation  2009
  • Wiping Motion for Deformable Object Handling  [Not invited]
    Proc. IEEE Int. Conf. on Robotics and Automation  2009
  • 1A1-A08 Mechanical System that Achieves Grasping, Unfolding, and Placing of Fabrics
    SHIBATA Mizuho; OTA Tsuyoshi; ENDO Yoshimasa; HIRAI Shinichi
    ロボティクス・メカトロニクス講演会講演概要集  2008/06  The Japan Society of Mechanical Engineers
     
    This paper presents a mechanical system that achieves grasping, unfolding, and placing motion of fabrics in series. Fabric setting process by human consists of grasping, unfolding, and placing motion of fabrics. We realize the setting process using a single-armed robot and a four degrees of freedom gripper hand. The robotic gripper wrinkles the fabric to make a grasping area using residual deformation of the fabric. In unfolding motion, we introduce a pinching slip motion, that fingertips slip on the fabric surface with grasping, similar to human unfolding motion of fabrics.
  • 1P1-A10 Dynamic Unfolding of Fabric with Hem by Pinching Slip Motion
    OTA Tsuyoshi; SHIBATA Mizuho; ENDO Yoshimasa; HIRAI Shinichi
    ロボティクス・メカトロニクス講演会講演概要集  2008/06  The Japan Society of Mechanical Engineers
     
    The paper presents dynamic unfolding of fabrics by pinching slip motion. By keeping the textile in contact with robot fingertips, the dynamic unfolding is done successfully in horizontal direction. The success rate depends on fingertips shape. The grasping force is important for dynamic unfolding of textile by pinching slip motion. We simulate the contact force between fingertips and the fabric. Here, we assume that the contact force is described by contact between fluid and an obstacle in duct. We confirm validity of the experimental results using computational fluid dynamics.
  • Handling of Hemmed Fabrics by a Single-Armed Robot  [Not invited]
    Proc. IEEE Conf. on Automation Science and Engineering  2008
  • Handling of Hemmed Fabrics by a Single-Armed Robot  [Not invited]
    Proc. IEEE Conf. on Automation Science and Engineering  2008
  • つまみ滑り動作による縁あり布地の動的な展開  [Not invited]
    ロボティクス・メカトロニクス講演会'08(CD-ROM)  2008
  • ノンコロケート機械システムの安定性解析  [Not invited]
    ロボティクス・メカトロニクス講演会'07(CD-ROM)  2008
  • 柔軟物と環境の力学的相互作用を利用した布地ハンドリングシステム  [Not invited]
    SICE SI 2008  2008
  • 転置ヤコビ行列制御を用いた水中作業ロボットの移動およびリーチング動作  [Not invited]
    SICE SI 2008  2008
  • テンセグリティ型柔軟ロボットの転がり移動の解析  [Not invited]
    SICE SI 2008  2008
  • つまみ滑り動作による動的な展開時における指先の圧力分布の解析  [Not invited]
    SICE SI 2008  2008
  • アクチュエータ特性のばらつきを考慮したLoosely Coupled Mechanismの静力学解析  [Not invited]
    SICE SI 2008  2008
  • テンセグリティ型柔軟移動ロボットの実験的検討  [Not invited]
    第26回日本ロボット学会講演集  2008
  • つまみ滑り動作による動的な布地の展開における接触の観察  [Not invited]
    第26回日本ロボット学会講演集  2008
  • 軌道追従階層フィードバック制御則の空気圧ゴム人工筋への適用  [Not invited]
    第26回日本ロボット学会講演集  2008
  • Handling of Hemmed Fabrics by a Single-Armed Robot  [Not invited]
    Proc. IEEE Conf. on Automation Science and Engineering  2008
  • 2P1-A10 Stability Analysis of Non-collocated Mechanical System
    SHIBATA Mizuho; HIRAI Shinichi
    ロボティクス・メカトロニクス講演会講演概要集  2007/05  The Japan Society of Mechanical Engineers
     
    This paper represents a stability analysis of a non-collocated mechanical system. Non-collocated mechanical systems include a visual feedback control of a flexible arm and an indirect simultaneous positioning of fabrics. Coefficient matrices of the dynamic equation are asymmetry in a linear non-collocated mechanical system. We analyze the stability of a non-collocated system by a particle model and a Lyapunov function. In derivative (D) control, the asymptotic stability depends on viscous modulus and whole length of a soft object not to depend on division number of a particle model. We also confirm that a pair of gains stabilize the system in position and derivative (PD) control.
  • 2P1-A11 Angle Control of Loosely Coupled Mechanism Driven by Actuator Bundles
    YOSHIMURA Takahiro; SHIBATA Mizuho; HIRAI Shinichi
    ロボティクス・メカトロニクス講演会講演概要集  2007/05  The Japan Society of Mechanical Engineers
     
    We present a link mechanism with a loosely coupled mechanism (LCM), modeled on a human joint. A viscoelastic object functions as a cartilaginous area and soft actuators as muscles. The link of an LCM has high compliance with soft materials, additionally bends smoothly as a human joint. We made an LCM using shape memory alloy (SMA) actuator bundles to regulate the link angle. Due to large generative force of actuator bundles, we have better response in angle control. Although it is impossible to set a high gain for each SMA, the whole system using actuator bundles can realize high gain feedback in angle control.
  • Loosely coupled joint driven by SMA coil actuators  [Not invited]
    Mizuho Shibata; Takahiro Yoshimura; Shinichi Hirai
    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10  2007  IEEE
     
    We introduce a robotic prototype of an arm with a loosely coupled joint, modeled on the human joint. A viscoelastic object functions as cartilage and soft actuators as muscles. First, we show that although viscoelastic object affords smooth movement owing to shift in the center of rotation, the repeat accuracy of the joint is poor under open-loop control. The repeat accuracy was much improved by visual feedback. Under P control, the prototype was shown to be highly robust against mechanical disturbance owing to its good mechanical compliance.
  • Angle control of a loosely coupled mechanism in 3D space using length sensors  [Not invited]
    Mizuho Shibata; Takahiro Yoshimura; Shinichi Hirai
    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9  2007  IEEE
     
    We describe here a mechanism for controlling angles of a human-like joint using length sensors in three-dimensional (3D) space. This joint mechanism, which is called a loosely coupled mechanism, includes a viscoelastic object and soft actuators in place of the cartilage and muscles of a human arm. To confirm motion of the link using one length sensor, we constructed a prototype of the mechanism in two-dimensional (2D) space. Based on this prototype, we constructed a 3D loosely coupled mechanism with length sensors, and we were able to control two projecting angles of the 3D prototype. In addition, we propose an appropriate method of measurement to reduce errors in measurement due to the length sensors. Using this method, we found that, for each projecting plane, the errors were less than 1.0 deg in our 3D prototype.
  • Angle Control of Loosely Coupled Mechanism in 3D Space Using Length Sensors  [Not invited]
    Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems  2007
  • Loosely Coupled Joint Driven by SMA Coil Actuators  [Not invited]
    Proc. of the 2007 IEEE Int. Conf. on Robotics and Automation  2007
  • Angle Control of Loosely Coupled Mechanism in 3D Space Using Length Sensors  [Not invited]
    Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems  2007
  • Loosely Coupled Joint Driven by SMA Coil Actuators  [Not invited]
    Proc. of the 2007 IEEE Int. Conf. on Robotics and Automation  2007
  • アクチュエータ束により駆動されるLoosely Coupled Mechanismの角度制御  [Not invited]
    ロボティクス・メカトロニクス講演会'07(CD-ROM)  2007
  • Soft object manipulation by simultaneous control of motion and deformation  [Not invited]
    Mizuho Shibata; Shinichi Hirai
    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10  2006  IEEE
     
    One of features of soft object manipulation is motion during deformation of the soft body. We analyze the stability of soft object manipulation by simultaneous control of motion and deformation. We model and formulate manipulation by simultaneous control of the motion and deformation of soft object. We then use the symmetric linear mass-damper-spring model for a simple analysis of its dynamical behavior. Second, we analyze the stability of the system. Thus, we show that an adequate feedback gain stabilized the system in PID control. This adequate feedback gain ranges between two positive values. The object cannot be stably controlled at too high a gain; neither can, it be regulated at too low a gain since the object is movable. Furthermore, we unravel the features of soft object manipulation by simultaneous control of motion and deformation.
  • 1P1-B19 Angle COntrol of Loosely Coupled Joint using Visual Feedback
    HINO Daisuke; SHIBATA Mizuho; UEDAN Kazuma; HIRAI Shinichi
    ロボティクス・メカトロニクス講演会講演概要集  2006  The Japan Society of Mechanical Engineers
     
    This paper focuses on a control of a joint including a viscoelastic object. The viscoelastic object corresponds to a cartilage of a human joint. This joint is referred to as a loosely coupled joint. First, we model a viscoelastic object of the cartilaginous area of a loosely coupled joint to formulate dynamic equations of the link. Based on the dynamic equations, we simulate the link motion to analyze the stability of the link in its angle control. Finally, we construct a prototype to experiment it in angle control of the link. From these results, we find the angle of the link by I control both in experiment and in simulation.
  • 1P1-B20 Simultaneous Control of Position and Deformation of Viscoelastic Object
    SHIBATA Mizuho; HIRAI Shinichi
    ロボティクス・メカトロニクス講演会講演概要集  2006  The Japan Society of Mechanical Engineers
     
    One of features of soft object manipulation is motion during deformation of the soft body. We analyze the stability of soft object manipulation by simultaneous control of position and deformation. We model and formulate manipulation by simultaneous control of the position and deformation of soft object. We then use the symmetric linear mass-damper-spring model for a simple analysis of its dynamical behavior. Second, we analyze the stability of the system. Thus, we show that an adequate feedback gain stabilized the system in PID control. Furthermore, we unravel the features of soft object manipulation by simultaneous control of position and deformation.
  • Soft Object Manipulation by Simultaneous Control of Motion and Deformation  [Not invited]
    Proc. of the 2006 IEEE Int. Conf. on Robotics and Automation  2006
  • Soft Object Manipulation by Simultaneous Control of Motion and Deformation  [Not invited]
    Proc. of the 2006 IEEE Int. Conf. on Robotics and Automation  2006
  • 一次元間接同時位置決めの安定性解析  [Not invited]
    計測自動制御学会SI部門講演会2006(CD-ROM)  2006
  • SMAを用いたLoosely Coupled Jointの視覚フィードバック制御  [Not invited]
    計測自動制御学会SI部門講演会2006(CD-ROM)  2006
  • 1P1-N-050 Modeling and Stability Analysis of Dynamic Control through A Soft Interface(New Control Theory and Motion Control 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)
    Shibata Mizuho; Hirai Shinichi
    ロボティクス・メカトロニクス講演会講演概要集  2005/06  The Japan Society of Mechanical Engineers
  • Mizuho Shibata; Shinichi Hirai
    2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS  2005 
    We analyze the stability of dynamic control on contact with a soft interface, the viscoelastic material between a manipulating finger and manipulated object. First, we model a dynamic control system on contact with a soft interface. The system is described in continuous-discrete time. Second, We formulate the dynamics using the modified z-transform in the continuous-discrete time system for feedback and feedforward control. Thus, we show that the stability of the system depends on viscoelasticity of the soft interface for feedback control. In particular, we point out that, in critical stability, the relationship between material viscosity and sampling time is not monotonous. Next, we analyze this phenomenon by the root locus method. Finally, we compare the stability analysis by the modified z-transform, simulations based on the Runge-Kutta method, and a regular z-transform. Thus, we demonstrate that the relationship is specific to the continuous-discrete time system. © 2005 IEEE.
  • Stability Analysis for Dynamic control on Contact with Soft Interface in Continuous-discrete Time System  [Not invited]
    Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems  2005
  • Stability Analysis for Dynamic control on Contact with Soft Interface in Continuous-discrete Time System  [Not invited]
    Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems  2005
  • Loosely Coupled Jointの試作とモデル化  [Not invited]
    計測自動制御学会SI部門講演会2005(CD-ROM)  2005
  • ソフトインターフェースを介した物体操作のモデル化と安定性解析  [Not invited]
    ロボティクス・メカトロニクス講演会'05(CD-ROM)  2005
  • Stability and Graspability Analysis in Grasping Task Taking Fingertip Dynamics into Consideration  [Not invited]
    Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems  2004
  • Stability and Graspability Analysis in Grasping Task Taking Fingertip Dynamics into Consideration  [Not invited]
    Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems  2004
  • 柔軟材料の粘性を利用した把持力制御における把持可能性の解析  [Not invited]
    計測自動制御学会SI部門講演会2004(CD-ROM)  2004
  • 柔軟指ハンドを用いた把持力制御における安定性と把持可能性の解析  [Not invited]
    ロボティクス・メカトロニクス講演会2004(CD-ROM)  2004
  • Soft-Fingered Handing with Tactile Sensor
    Shibata M.; Maebashi M.; Hirai S.
    ロボティクス・メカトロニクス講演会講演概要集  2003  The Japan Society of Mechanical Engineers
     
    本論文では, 指先に柔軟体を有するハンド用いて把持力制御を行った。対象物と指の間が面接触となるため, 力の計測に分布圧センサを用いた。また, バネ・マス・ダンパー系で柔軟指を用いたハンドリングをモデル化し解析を行った。
  • タクタイルセンサを有する柔軟指ハンドを用いた物体ハンドリング  [Not invited]
    ロボティクス・メカトロニクス講演会'03(CD-ROM)  2003
  • Gripping of Planar Motion Objects by Velocity Following Approach for Vision-based Handling
    Shibata M.; Hirai S.
    ロボティクス・メカトロニクス講演会講演概要集  2002  The Japan Society of Mechanical Engineers
     
    現在の産業界ではベルトコンベア上を流れる物体など平面運動物体を把持する場合, ティーチングを用いて行うことが多い。しかし, ティーチングでは流れてくる物体によって位置・姿勢・速度が変化するような場合には対応することが出来ない。そこで, 本報告ではビジュアルフィードバックを利用して物体の位置・姿勢・速度を検出し, ビデオフレームごとに速度軌道を計画しなおすことにより平面運動物体をロバストに把持する手法を提案する。
  • HIRAI Shinichi; SHIBATA Mizuho; INOUE Takahiro; Kim Byoung-Ho
    Memoirs of the Research Institute of Science & Engineering, Ritumeikan University  2002  Ritsumeikan University
  • 視覚ベースハンドリングのための速度追従法による平面運動物体の把持  [Not invited]
    ロボティクス・メカトロニクス講演会'02(CD-ROM)  2002

MISC

Industrial Property Rights

  • 特開2016-147687:食品盛り付け用ロボット  
    柴田瑞穂
  • 特許5145605:変形性薄物展開装置  
    遠藤善雅, 北川宏司, 平井慎一, 柴田瑞穂, 太田剛士, 白井良明, 島田伸敬
  • 特開2010-560:残留変形性薄物把持装置  
    遠藤善雅, 北川宏司, 平井慎一, 柴田瑞穂, 太田剛士, 白井良明, 島田伸敬
  • 特許5145606:変形性薄物展開装置  
    遠藤善雅, 北川宏司, 平井慎一, 柴田瑞穂, 太田剛士, 白井良明, 島田伸敬

Awards & Honors

  • 2022/12 第23回 計測自動制御学会 システムインテグレーション部門講演会 優秀講演賞
     WRS 2020タスクボード競技を対象としたロボットによる組立作業の分析 
    受賞者: 小河航輝;土橋宏規;柴田瑞穂;植村渉;横小路泰義
  • 2021/12 第22回 計測自動制御学会 システムインテグレーション部門講演会 優秀講演賞
     World Robot Summit 2020ものづくりカテゴリー「タスクボード競技」の競技結果および分析 
    受賞者: 柴田瑞穂;土橋宏規;植村渉;横小路泰義
  • 2020/08 The 23rd issue of the International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines Best Technical Paper Award
     Polyhedral rolling robot with expanded icosidodecahedron body 
    受賞者: Mizuho Shibata;Yushi Azuma
  • 2017/02 第17回計測自動制御学会システムインテグレーション部門講演会 優秀講演賞
     柔軟外殻水中ロボットにおける封入液量とひれ運動の関係 
    受賞者: 柴田瑞穂;坂上憲光
  • 2013/12 2013 IEEE International Conference on Robotics and Biomimetics Finalist, Best Paper in Biomimetics
     A Fish-like Underwater Robot with Flexible Plastic Film Body 
    受賞者: Mizuho Shibata;Norimitsu Sakagami

Research Grants & Projects

  • 日本学術振興会：科学研究費助成事業
    Date (from‐to) : 2023/04 -2026/03 
    Author : 柴田 瑞穂
  • 薄型柔軟素材で被覆された多関節ロボットの力学特性の解明
    日本学術振興会：科学研究費補助金
    Date (from‐to) : 2019/04 -2022/03 
    Author : 柴田 瑞穂
  • 変形することで移動効率を高める水中ロボットの実現
    高橋産業経済研究財団：研究助成
    Date (from‐to) : 2017/04 -2019/03 
    Author : 柴田 瑞穂
  • 高圧環境下での駆動を可能とする柔軟外殻水中ロボットの力学
    日本学術振興会：科学研究費補助金
    Date (from‐to) : 2014/04 -2016/03 
    Author : 柴田 瑞穂
  • 柔軟体の変形を積極的に利用する移動機構の巧みさの解明
    日本学術振興会：科学研究費補助金
    Date (from‐to) : 2009/04 -2012/03 
    Author : 柴田 瑞穂
  • 柔軟要素による可動結合がもたらす人指運動の巧みさの解明
    日本学術振興会：科学研究費補助金
    Date (from‐to) : 2007/04 -2009/03 
    Author : 柴田 瑞穂
  • -

Social Contribution

  • ひらめき☆ときめきサイエンス
    Date (from-to) : 2017/08/04
    Role : Lecturer
    Category : Others
    Sponser, Organizer, Publisher  : 日本学術振興会
    Event, Program, Title : 真空包装機で作る？水中ロボットを泳がせてみよう

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