A5054130270- Soft Robotics and Applications
- Modular Robots and Swarm Intelligence
- Robot Manipulation and Learning
- Robotic Path Planning Algorithms
- Fuel Cells and Related Materials
- Advanced Battery Technologies Research
- Combustion and flame dynamics
- Hybrid Renewable Energy Systems
- Robotic Locomotion and Control
- Advanced Combustion Engine Technologies
- Infrastructure Resilience and Vulnerability Analysis
- Infrastructure Maintenance and Monitoring
- Risk and Safety Analysis
- Information and Cyber Security
- Advanced Thermodynamic Systems and Engines
- Slime Mold and Myxomycetes Research
- Robotics and Automated Systems
- Video Surveillance and Tracking Methods
- Scientific Computing and Data Management
- Opinion Dynamics and Social Influence
- Fault Detection and Control Systems
The University of Tokyo
2024-2025
Okayama University
2019-2023
In this study, we propose a new robot system consisting of mobile and snake robot. The works not only as manipulator but also multi-agent by using the robot's ability to separate from Initially, is mounted on in carrying mode. When an operator uses manipulator, changes can detach command conduct lateral rolling motions. paper, present details our its performance World Robot Summit.
The physical protection systems of Nuclear Power Plant are utilized to safeguard targets against intrude by attacker. As the methods employed attackers become increasingly complex and diverse, there is an urgent need identify optimal defense strategies interrupt adversary intrusions. This paper focuses on studying security personnel intrusions utilizes evolutionary game approach select decisions for systems. Under assumption bounded rationality both attacker defender, constructs replication...
We propose two motions for a snake robot to move through crowded pipes. One motion is an S-shaped twisting performed by the as it moves around pipes in parallel To develop shape of robot, creates large and small semicircles alternately. In motion, lateral rolling used generate robot's along its body maneuver among The other traveling wave perpendicularly adds hyperbolic utilizing function. function produces little transferred from tail head ahead. this study, we describe design these exhibit...
The movement capabilities of snake robots allow them to be applied in a variety applications. We realized robot climbing crowded pipes. In this paper, we implement sinusoidal curve control method that allows the move faster. is composed hybrid force–position controller more stably. conducted experiments confirm effectiveness proposed method. experimental results show stable and effective compared previous had implemented robot.
In unstructured terrain, snakes can move more efficiently by actively pushing and avoiding obstacles, a capability believed to be realized through decentralized mechanism. Moreover, considering harsh unpredictable rescue environments where snake robots are expected deployed, such as post-earthquake scenarios, some joint sensors prone failure. We propose adaptation mechanism for navigate random pole environments. This integrates Fault-Tolerant Joint State Feedback Adaptive Control (FT-JSFAC)...
Large Language Models (LLMs) have demonstrated significant reasoning capabilities in robotic systems. However, their deployment multi-robot systems remains fragmented and struggles to handle complex task dependencies parallel execution. This study introduces the DART-LLM (Dependency-Aware Multi-Robot Task Decomposition Execution using Models) system, designed address these challenges. utilizes LLMs parse natural language instructions, decomposing them into multiple subtasks with establish...
In this paper, the idea of using torque propagation for robot propulsion is modified and v a lidated. The curvature derivatives formula by u sing logarithmic correction function adding motor viscous friction losses compensation term to improve mobility stability robot. This experiment uses ODE (Open Dynamics Engine) as physical engine observe locomotion in simulation environment verify effectiveness algorithm. We conduct several sets experiments compare proportional gain new results show...
In this article, an approach used for the inspection tasks in WRS2020 Plant Disaster Prevention Challenge is explained. The were categorized into three categories: reading pressure gauges, inspecting rust on a tank, and cracks tank. For “you only look once” algorithm was to focus specific gauge check range strings using optical character recognition algorithm. Finally, previously learned classifier read values shown gauge. inspection, image processes target plate that may be rusted...
Biological snakes, with an elongated, legless and lithe body, can adapt to complex varied environments. Snake robots, which are developed by imitating the characteristics of biological work in various circumstances, such as a disaster site large scale plant. In this research, we propose new locomotion that snake robots could move crowded pipes thread motion. paper, present basic idea We also conduct some experiments verify effective