詳細

柴田　瑞穂 （シバタ　ミズホ）

  • 工学部 ロボティクス学科　准教授
Last Updated :2024/04/25

コミュニケーション情報 byコメンテータガイド

  • コメント

    柔軟物体を利用したロボットシステムについて研究しています。布地を扱うロボット、ゴムなどの柔軟要素を利用したロボットなどを研究開発しています。

研究者情報

学位

  • 博士（工学）（立命館大学）

ホームページURL

J-Global ID

研究キーワード

  • ソフトロボット   ロボティクス   Robotics   

現在の研究分野（キーワード）

    柔軟物体を利用したロボットシステムについて研究しています。布地を扱うロボット、ゴムなどの柔軟要素を利用したロボットなどを研究開発しています。

研究分野

  • 情報通信 / 知能ロボティクス
  • 情報通信 / 機械力学、メカトロニクス
  • 情報通信 / ロボティクス、知能機械システム

経歴

  • 2018年 - 現在  近畿大学工学部准教授
  • 2011年 - 2018年  近畿大学工学部講師
  • 2008年 - 2011年  立命館大学 理工学部 助教
  • 2007年 - 2008年  立命館大学 理工学部 助手

学歴

  •         - 2006年   立命館大学   理工学研究科   総合理工学
  •         - 2006年   立命館大学   Graduate School, Division of Science and Engineering

所属学協会

  • IEEE   計測自動制御学会   日本機械学会   日本ロボット学会   

研究活動情報

論文

  • Hiroki Dobashi; Koki Ogawa; Mizuho Shibata; Wataru Uemura; Yasuyoshi Yokokohji
    Advanced Robotics 1 - 18 2023年10月 [査読有り]
  • Mizuho Shibata; Hiroki Dobashi; Wataru Uemura; Shinya Kotosaka; Yusuke Maeda; Yasumichi Aiyama; Takeshi Sakaguchi; Yoshihiro Kawai; Akio Noda; Kazuhito Yokoi; Yasuyoshi Yokokohji
    Advanced Robotics 36 22 1 - 19 2022年10月 [査読有り]
     
    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 36 22 1 - 20 2022年08月 [査読有り]
     
    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 34 1 40 - 46 2022年02月 [査読有り]
     
    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 33 6 1234 - 1247 2021年12月 [査読有り]
     
    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 64 3 283 - 291 2021年08月 [査読有り]
  • 柴田瑞穂; 土橋宏規; 植村渉; 横小路泰義
    Transactions of the Institute of Systems, Control and Information Engineers 34 4 98 - 106 2021年04月 [査読有り]
  • Kenneth Kimble; Karl Van Wyk; Joe Falco; Elena Messina; Yu Sun; Mizuho Shibata; Wataru Uemura; Yasuyoshi Yokokohji
    IEEE Robotics and Automation Letters 5 2 883 - 889 2020年04月 [査読有り]
  • Mizuho Shibata; Hiroki Dobashi; Wataru Uemura; Shinya Kotosaka; Yasumichi Aiyama; Takeshi Sakaguchi; Yoshihiro Kawai; Akio Noda; Kazuhito Yokoi; Yasuyoshi Yokokohji
    Advanced Robotics 1 - 23 2020年01月 [査読有り]
  • Mizuho Shibata; Norimitsu Sakagami
    Artificial Life and Robotics 25 1 100 - 105 2019年10月 [査読有り]
  • Yasuyoshi Yokokohji; Yoshihiro Kawai; Mizuho Shibata; Yasumichi Aiyama; Shinya Kotosaka; Wataru Uemura; Akio Noda; Hiroki Dobashi; Takeshi Sakaguchi; Kazuhito Yokoi
    Advanced Robotics 33 17 876 - 899 2019年09月 [査読有り]
  • Mizuho Shibata; Shinichi Hirai
    Robotics 5 2 10 - 10 2016年04月 [査読有り]
  • Mizuho Shibata; Norimitsu Sakagami
    ADVANCED ROBOTICS 29 1 103 - 113 2015年01月 [査読有り]
     
    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 25 5 804 - 811 2013年10月 [査読有り]
     
    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 30 4 624 - 640 2013年05月 [査読有り]
  • 柴田瑞穂; 太田剛士; 平井慎一
    日本ロボット学会誌 27 9 67 - 74 The Robotics Society of Japan 2009年 [査読有り]
     
    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 18 3 242 - 248 2006年06月 [査読有り]
     
    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.
  • 柴田瑞穂; 平井慎一
    日本ロボット学会誌 24 4 873 - 880 The Robotics Society of Japan 2006年 [査読有り]
     
    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.
  • 柴田瑞穂; 平井慎一
    日本ロボット学会誌 24 3 349 - 355 The Robotics Society of Japan 2006年 [査読有り]
     
    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.

書籍

  • Lamination - Theory and Application
    (担当:分担執筆範囲:Chapter 4)InTech 2018年03月
  • ロボット制御学ハンドブック
    (担当:分担執筆範囲:第28章4節：ソフトインターフェースを介した物体操作)近代科学社 2017年12月
  • Recent Advances in Robotic Systems
    Shibata Mizuho (担当:分担執筆範囲:Chapter 11)InTech 2016年10月
  • 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 (担当:共著範囲:)コロナ社 2012年08月

講演・口頭発表等

  • Development of Pressure Measurement Equipment Fabricated by Robot Packaging Method
    Mizuho Shibata; Norimitsu Sakagami
    2021 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 2021年 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年 IEEE
  • Polyhedral rolling robot with expanded icosidodecahedron body  [通常講演]
    Mizuho Shibata; Yushi Azuma
    The International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines 2020年08月 口頭発表（一般）
  • 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年05月 システム制御情報学会
  • Modeling of serial link robots covered with a thin flexible film  [通常講演]
    柴田瑞穂; 坂上憲光
    IEEE International Conference on Robotics and Biomimetics 2019年12月 口頭発表（一般）
  • Mizuho Shibata; Norimitsu Sakagami
    2019 IEEE International Conference on Robotics and Biomimetics(ROBIO) 2019年 IEEE
  • 柴田 瑞穂; 坂上 憲光
    ロボティクス・メカトロニクス講演会講演概要集 2019年 一般社団法人 日本機械学会
     
    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.
  • 友國 伸保; 黄 健; 岡 正人; 小谷内 範穂; 柴田 瑞穂; 田上 将治
    ロボティクス・メカトロニクス講演会講演概要集 2019年 一般社団法人 日本機械学会
     

    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.

  • 坂上 憲光; 柴田 瑞穂
    ロボティクス・メカトロニクス講演会講演概要集 2018年 一般社団法人 日本機械学会
     
    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年
  • 1P2-E02 柔軟外骨格型ロボットにおける耐衝撃性評価
    横田 成彬; 柴田 瑞穂
    ロボティクス・メカトロニクス講演会講演概要集 2015年05月 一般社団法人日本機械学会
     
    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年 
    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年 IEEE
  • A Robot Fish Encapsulated by An Electromagnetic Wave-Transmitting Plastic Film  [通常講演]
    Mizuho Shibata; Norimitsu Sakagami
    IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY 2015年 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  [通常講演]
    Kensei Ishizu; Haruki Nakayama; Norimitsu Sakagami; Mizuho Shibata; Sadao Kawamura; Shinji Matsuda; Atsushi Mitsui
    OCEANS 2014 - TAIPEI 2014年 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  [通常講演]
    柴田 瑞穂
    The 3rd International Conference on Intelligent Robotics, Automations, Telecommunication facilities, 2013年07月 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年 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年 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  [通常講演]
    柴田 瑞穂; 宮田 繁春
    SICE SI 2012 2012年12月 SICE SI 2012
  • A Fabric Manipulation Utilizing Contacts with Environments  [通常講演]
    柴田 瑞穂; Shinichi Hirai
    Int. Conf. on Automation Science and Engineering 2012年08月 Republic of Korea, Seoul Int. Conf. on Automation Science and Engineering
  • Ship Hull Inspection Using A Small Underwater Robot With A Mechanical Contact Mechanism  [通常講演]
    Kensei Ishizu; 柴田 瑞穂; Kouhei Ishimaru; Sadao Kawamura; Norimitsu Sakagami; Hiroyuki Onishi; Shigeo Murakami
    Int. Conf. on OCEANS 2012年05月 Republic of Korea, Yeosu Int. Conf. on OCEANS
  • Rolling Tensegrity Driven by Pneumatic Soft Actuators  [通常講演]
    Yuusuke Koizumi; 柴田 瑞穂; Shinichi Hirai
    Proc. IEEE Int. Conf. on Robotics and Automation 2012年05月 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  [通常講演]
    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年03月 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年 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年 
    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年 
    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  [通常講演]
    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年09月 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  [通常講演]
    Norimitsu Sakagami; 柴田 瑞穂; Tomohiro Ueda; Sadao Kawamura
    International Conference on Intelligent Robots and Systems 2011年09月 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  [通常講演]
    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年09月 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  [通常講演]
    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年09月 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  [通常講演]
    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年08月 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  [通常講演]
    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年06月 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  [通常講演]
    石津謙生; 柴田 瑞穂; 川村貞夫; 坂上憲光
    Robomec2011 2011年05月 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  [通常講演]
    川村貞夫; 柴田 瑞穂; 齋藤崇之; 坂上憲光
    船舶海洋工学会 2011年05月 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  [通常講演]
    上田 智裕; 柴田 瑞穂; 川村 貞夫; 坂上 憲光; 大西浩之; 村上
    Robomec2011 2011年05月 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  [通常講演]
    石丸浩平; 柴田 瑞穂; 川村貞夫; 坂上憲光; 大西浩之; 村上
    Robomec2011 2011年05月 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  [通常講演]
    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年05月 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年 IEEE
  • Mizuho Shibata; Takayuki Saito; Norimitsu Sakagami; Sadao Kawamura
    2010 IEEE International Conference on Robotics and Biomimetics(ROBIO) 2010年 IEEE
  • Norimitsu Sakagami; Mizuho Shibata; Sadao Kawamura; Toshifumi Inoue; Hiroyuki Onishi; Shigeo Murakami
    IEEE International Conference on Robotics and Automation(ICRA) 2010年 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年 IEEE
  • Norimitsu Sakagami; Mizuho Shibata; Sadao Kawamura; Toshifumi Inoue; Hiroyuki Onishi; Shigeo Murakami
    Proceedings - IEEE International Conference on Robotics and Automation 2010年 
    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年 
    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年 
    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年 
    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年 
    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  [通常講演]
    第28回日本ロボット学会講演集 2010年
  • 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  [通常講演]
    第28回日本ロボット学会講演集 2010年
  • 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  [通常講演]
    第28回日本ロボット学会講演集 2010年
  • 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  [通常講演]
    日本船舶海洋工学会講演会論文集 2010年
  • Simultaneous Operation of Dual Arm and Body of Mobile Robots  [通常講演]
    The 2010 IEEE International Conference on Robotics and Biomimetics 2010年
  • Design and Development of An Attitude Control System for a Human-sized ROV  [通常講演]
    The 11th International Conference on Control, Automation, Robotics and Vision 2010年
  • Robotic Unfolding of Hemmed Fabric using Pinching Slip Motion  [通常講演]
    International Conference on Advanced Mechatronics 2010年
  • Experimental Evaluation of Flexible Joint Driven by Water Pressure for Underwater Robots  [通常講演]
    IEEE/RSJ International Conference on Intelligent Robots and Systems 2010年
  • Moving Strategy of Tensegrity Robots with Semiregular Polyhedral Body  [通常講演]
    CLAWAR2010 2010年
  • Development of a Human-Sized ROV with Dual-Arm  [通常講演]
    Proc. MTS/IEEE Int. Conf. on OCEANS 2010年
  • An Attitude Control System for Underwater Vehicle-Manipulator Systems  [通常講演]
    Proc. IEEE Int. Conf. on Robotics and Automation 2010年
  • 2A2-B01 微分幾何標記による布地ハンドリング動作の定義手法
    柴田 瑞穂; 太田 剛士; 位田 崇彰; 平井 慎一
    ロボティクス・メカトロニクス講演会講演概要集 2009年05月 一般社団法人日本機械学会
     
    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  [通常講演]
    SICE SI 2009 2009年
  • 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  [通常講演]
    SICE SI 2009 2009年
  • つまみ滑り動作による布地の展開における縁の影響  [通常講演]
    SICE SI 2009 2009年
  • テンセグリティ型多面体ロボットの転がり移動  [通常講演]
    第27回日本ロボット学会講演集 2009年
  • 姿勢調整機構を持つ双腕水中ロボット  [通常講演]
    第27回日本ロボット学会講演集 2009年
  • Virtual Rope Theory for Fabric Manipulation  [通常講演]
    Proc. IEEE Int. Symposium on Assembly and Manufacturing 2009年
  • Stochastic Static Analysis of Link Driven by Actuator Bundles  [通常講演]
    Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems 2009年
  • Rolling Locomotion of Deformable Tensegrity Structure  [通常講演]
    CLAWAR09 2009年
  • Crawling by Body Deformation of Tensegrity Structure Robots  [通常講演]
    Proc. IEEE Int. Conf. on Robotics and Automation 2009年
  • Wiping Motion for Deformable Object Handling  [通常講演]
    Proc. IEEE Int. Conf. on Robotics and Automation 2009年
  • 1A1-A08 布地の把持・展開・定置を実現する機械システム(ロボットハンドの機構と把持戦略)
    柴田 瑞穂; 太田 剛士; 遠藤 善雅; 平井 慎一
    ロボティクス・メカトロニクス講演会講演概要集 2008年06月 一般社団法人日本機械学会
     
    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 つまみ滑り動作による縁あり布地の動的な展開(ロボットハンドの機構と把持戦略)
    太田 剛士; 柴田 瑞穂; 遠藤 善雅; 平井 慎一
    ロボティクス・メカトロニクス講演会講演概要集 2008年06月 一般社団法人日本機械学会
     
    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  [通常講演]
    Proc. IEEE Conf. on Automation Science and Engineering 2008年
  • Handling of Hemmed Fabrics by a Single-Armed Robot  [通常講演]
    Proc. IEEE Conf. on Automation Science and Engineering 2008年
  • つまみ滑り動作による縁あり布地の動的な展開  [通常講演]
    ロボティクス・メカトロニクス講演会'08(CD-ROM) 2008年
  • ノンコロケート機械システムの安定性解析  [通常講演]
    ロボティクス・メカトロニクス講演会'07(CD-ROM) 2008年
  • 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  [通常講演]
    SICE SI 2008 2008年
  • 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  [通常講演]
    SICE SI 2008 2008年
  • テンセグリティ型柔軟ロボットの転がり移動の解析  [通常講演]
    SICE SI 2008 2008年
  • 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  [通常講演]
    SICE SI 2008 2008年
  • 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  [通常講演]
    SICE SI 2008 2008年
  • テンセグリティ型柔軟移動ロボットの実験的検討  [通常講演]
    第26回日本ロボット学会講演集 2008年
  • 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  [通常講演]
    第26回日本ロボット学会講演集 2008年
  • 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  [通常講演]
    第26回日本ロボット学会講演集 2008年
  • Handling of Hemmed Fabrics by a Single-Armed Robot  [通常講演]
    Proc. IEEE Conf. on Automation Science and Engineering 2008年
  • 2P1-A10 ノンコロケート機械システムの安定性解析(フレキシブル・メカニズム)
    柴田 瑞穂; 平井 慎一
    ロボティクス・メカトロニクス講演会講演概要集 2007年05月 一般社団法人日本機械学会
     
    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 アクチュエータ束により駆動されるLoosely Coupled Mechanismの角度制御(フレキシブル・メカニズム)
    吉村 尚洋; 柴田 瑞穂; 平井 慎一
    ロボティクス・メカトロニクス講演会講演概要集 2007年05月 一般社団法人日本機械学会
     
    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  [通常講演]
    Mizuho Shibata; Takahiro Yoshimura; Shinichi Hirai
    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 2007年 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  [通常講演]
    Mizuho Shibata; Takahiro Yoshimura; Shinichi Hirai
    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 2007年 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  [通常講演]
    Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems 2007年
  • Loosely Coupled Joint Driven by SMA Coil Actuators  [通常講演]
    Proc. of the 2007 IEEE Int. Conf. on Robotics and Automation 2007年
  • Angle Control of Loosely Coupled Mechanism in 3D Space Using Length Sensors  [通常講演]
    Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems 2007年
  • Loosely Coupled Joint Driven by SMA Coil Actuators  [通常講演]
    Proc. of the 2007 IEEE Int. Conf. on Robotics and Automation 2007年
  • アクチュエータ束により駆動されるLoosely Coupled Mechanismの角度制御  [通常講演]
    ロボティクス・メカトロニクス講演会'07(CD-ROM) 2007年
  • Soft object manipulation by simultaneous control of motion and deformation  [通常講演]
    Mizuho Shibata; Shinichi Hirai
    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 2006年 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 視覚フィードバックによるLoosely Coupled Jointの角度制御
    日野 太輔; 柴田 瑞穂; 上段 数馬; 平井 慎一
    ロボティクス・メカトロニクス講演会講演概要集 2006年 一般社団法人日本機械学会
     
    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 粘弾性物体の位置と変形の同時制御
    柴田 瑞穂; 平井 慎一
    ロボティクス・メカトロニクス講演会講演概要集 2006年 一般社団法人日本機械学会
     
    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  [通常講演]
    Proc. of the 2006 IEEE Int. Conf. on Robotics and Automation 2006年
  • Soft Object Manipulation by Simultaneous Control of Motion and Deformation  [通常講演]
    Proc. of the 2006 IEEE Int. Conf. on Robotics and Automation 2006年
  • 一次元間接同時位置決めの安定性解析  [通常講演]
    計測自動制御学会SI部門講演会2006(CD-ROM) 2006年
  • SMAを用いたLoosely Coupled Jointの視覚フィードバック制御  [通常講演]
    計測自動制御学会SI部門講演会2006(CD-ROM) 2006年
  • 1P1-N-050 ソフトインターフェースを介した動的制御のモデル化と安定性解析(制御の新理論とモーションコントロール2,生活を支援するロボメカ技術のメガインテグレーション)
    柴田 瑞穂; 平井 慎一
    ロボティクス・メカトロニクス講演会講演概要集 2005年06月 一般社団法人日本機械学会
  • Mizuho Shibata; Shinichi Hirai
    2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2005年 
    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  [通常講演]
    Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems 2005年
  • Stability Analysis for Dynamic control on Contact with Soft Interface in Continuous-discrete Time System  [通常講演]
    Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems 2005年
  • Loosely Coupled Jointの試作とモデル化  [通常講演]
    計測自動制御学会SI部門講演会2005(CD-ROM) 2005年
  • 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  [通常講演]
    ロボティクス・メカトロニクス講演会'05(CD-ROM) 2005年
  • Stability and Graspability Analysis in Grasping Task Taking Fingertip Dynamics into Consideration  [通常講演]
    Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems 2004年
  • Stability and Graspability Analysis in Grasping Task Taking Fingertip Dynamics into Consideration  [通常講演]
    Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems 2004年
  • 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  [通常講演]
    計測自動制御学会SI部門講演会2004(CD-ROM) 2004年
  • 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  [通常講演]
    ロボティクス・メカトロニクス講演会2004(CD-ROM) 2004年
  • 1A1-3F-B5 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
    柴田 瑞穂; 前橋 みらい; 平井 慎一
    ロボティクス・メカトロニクス講演会講演概要集 2003年 一般社団法人日本機械学会
     
    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  [通常講演]
    ロボティクス・メカトロニクス講演会'03(CD-ROM) 2003年
  • 1P1-I04 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
    柴田 瑞穂; 平井 慎一
    ロボティクス・メカトロニクス講演会講演概要集 2002年 一般社団法人日本機械学会
     
    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。
  • 平井 慎一; 柴田 瑞穂; 井上 貴浩; Kim Byoung-Ho
    立命舘大学理工学研究所紀要 2002年 立命館大学
  • 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  [通常講演]
    ロボティクス・メカトロニクス講演会'02(CD-ROM) 2002年

MISC

産業財産権

  • 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

受賞

  • 2022年12月 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年12月 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年08月 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年02月 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年12月 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

共同研究・競争的資金等の研究課題

  • 日本学術振興会：科学研究費助成事業
    研究期間 : 2023年04月 -2026年03月 
    代表者 : 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
    研究期間 : 2019年04月 -2022年03月 
    代表者 : 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
    研究期間 : 2017年04月 -2019年03月 
    代表者 : 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
    研究期間 : 2014年04月 -2016年03月 
    代表者 : 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
    研究期間 : 2009年04月 -2012年03月 
    代表者 : 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
    研究期間 : 2007年04月 -2009年03月 
    代表者 : 柴田 瑞穂
  • -

委員歴

  • 2023年04月 - 現在   第29回ロボティクスシンポジア実行委員会
  • 2021年01月 - 現在   計測自動制御学会   2021-22年度代議員
  • 2022年04月 - 2023年03月   日本機械学会ロボティクス・メカトロニクス部門   第100期 部門幹事
  • 2021年04月 - 2022年03月   日本機械学会ロボティクス・メカトロニクス部門   第99期 表彰委員会幹事
  • 2017年11月 - 2022年02月   World Robot Summit ものづくりカテゴリー   競技委員
  • 2017年03月 - 2021年02月   日本ロボット学会   2017年度代議員
  • 2018年01月 - 2020年01月   計測自動制御学会中国支部   運営委員
  • 2017年08月 - 2019年06月   ロボティクス・メカトロニクス講演会2019（ROBOMECH2019）   プログラム委員コアメンバー

担当経験のある科目

  • 科学技術英語近畿大学
  • プログラミング近畿大学，立命館大学
  • アクチュエータ工学近畿大学
  • 数値解析近畿大学
  • 力学近畿大学，立命館大学

社会貢献活動

  • ひらめき☆ときめきサイエンス
    期間 : 2017年08月04日
    役割 : 講師
    種別 : その他
    主催者・発行元 : 日本学術振興会
    イベント・番組・新聞雑誌名 : 真空包装機で作る？水中ロボットを泳がせてみよう

その他のリンク

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