Faculty Profiles - NAKAJIMA Shuro

Published Papers - NAKAJIMA Shuro

Division display >> ／ All the affair displays1 - 53 of about 53

How the CYBATHLON Competition Has Advanced Assistive Technologies

Lukas Jaeger, Roberto de, Souza Baptista, Chiara Basla, Patricia Capsi-Morales, Yong Kuk Kim, Shuro Nakajima, Cristina Piazza, Michael Sommerhalder, Luca Tonin, Giacomo Valle, Robert Riener, and Roland Sigris

Annual Review of Control, Robotics, and Autonomous Systems 6 447 - 476 2023.05 [Refereed]

Stair-climbing gait for a four-wheeled vehicle

Shuro Nakajima （Part： Lead author,　Corresponding author )

ROBOMECH Journal ( Springer Nature ) 7 article 20:1 - 8 2020.04 [Refereed]

DOI

A New Personal Mobility Vehicle for Daily Life Improvements on a new RT-Mover that enable greater mobility are showcased at the Cybathlon

Shuro Nakajima （Part： Lead author,　Corresponding author )

IEEE ROBOTICS & AUTOMATION MAGAZINE ( IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC ) 24 ( 4 ) 37 - 48 2017.12 [Refereed]

DOI

Proposal of a personal mobility vehicle capable of traversing rough terrain

Shuro Nakajima （Part： Lead author,　Corresponding author )

Disability and Rehabilitation: Assistive Technology ( Informa Healthcare ) 9 ( 3 ) 248 - 259 2014 [Refereed]

Purpose: Personal mobility vehicles (PMVs) are now being actively developed. Most PMVs are wheel-driven, a mode of transport notable for its efficiency. However, such vehicles tend to have little mobility over rough terrain. We propose a new type of PMV, a vehicle that traverses relatively smooth terrain by wheel but is capable of negotiating rough terrain by using its wheel mechanisms as legs. Method: The PMV we propose is intended to provide its user with a degree of outdoor mobility in daily urban life, say when going to a neighbourhood shop or simply taking a stroll. We do not consider elevators and other infrastructural elements that should be barrier-free, but rather focus on unimproved terrains that act as barriers to transport
for example, the steps that often act as de facto boundaries around building entrances. Results: We developed a new type of PMV and implemented a new algorithm to realize the capability to move on rough terrain. We experimentally compared the capability of a commercially available PMV and the developed PMV. Conclusions: Through an experiment involving the traversing of a representative terrain and a comparative experiment using a stock PMV, we demonstrated the features of the proposed PMV. © 2014 Informa UK Ltd.

DOI

RT-Mover: a rough terrain mobile robot with a simple leg-wheel hybrid mechanism

Shuro Nakajima （Part： Lead author,　Corresponding author )

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH ( SAGE PUBLICATIONS LTD ) 30 ( 13 ) 1609 - 1626 2011.11 [Refereed]

There is a strong demand in many fields for practical robots, such as a porter robot and a personal mobility robot, that can move over rough terrain while carrying a load horizontally. We have developed a robot, called RT-Mover, which shows adequate mobility performance on targeted types of rough terrain. It has four drivable wheels and two leg-like axles but only five active shafts. A strength of this robot is that it realizes both a leg mode and a wheel mode in a simple mechanism. In this paper, the mechanical design concept is discussed. With an emphasis on minimizing the number of drive shafts, a mechanism is designed for a four-wheeled mobile body that is widely used in practical locomotive machinery. Also, strategies for moving on rough terrain are proposed. The kinematics, stability, and control of RT-Mover are also described in detail. Some typical cases of rough terrain for wheel mode and leg mode are selected, and the robot's ability of locomotion is assessed through simulations and experiments. In each case, the robot is able to move over rough terrain while maintaining the horizontal orientation of its platform.

DOI

Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Fifth Report: Integrated Gait).

Shuro Nakajima, Eiji Nakano （Part： Lead author )

Journal of Robotics and Mechatronics 21 ( 3 ) 419 - 426 2009 [Refereed]

DOI

Motion control technique for practical use of a leg-wheel robot on unknown outdoor rough terrains.

Shuro Nakajima, Eiji Nakano, Takayuki Takahashi （Part： Lead author )

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28 - October 2, 2004 ( IEEE ) 1353 - 1358 2004 [Refereed]

DOI

Proposal of a Gait Vector and a Similarity between Gait Vectors

Issei Maeda, Kenichi Tokuda, Shuro Nakajima （Part： Corresponding author )

Transactions of the Society of Instrument and Control Engineers vol.58 ( no.12 ) pp.548 - 557 2022.12 [Refereed]

Human machine interface to provide a driver with information on a next motion of personal mobility vehicles

Kojiro Maeda, Shuro Nakajima （Part： Corresponding author )

The SICE Annual Conference 2021 Paper FrB05.2 2021.09 [Refereed]

Gait emergence by discrete leg motion period control using contact signals and CPGs

Issei MAEDA, Shun MAEOKA, Kenichi TOKUDA, Shuro NAKAJIMA （Part： Corresponding author )

Transactions of the JSME (in Japanese) 87 ( 897 ) 1 - 13 2021.05 [Refereed]

The Development of a Personal Mobility Vehicle that can be Transformed Mutually between Front/Rear Steering Mode and Differential Wh]eeled Mode

Shin Sawada, Shuro Nakajima （Part： Corresponding author )

自動車技術会論文集 51 ( 6 ) 1056 - 1061 2020.11 [Refereed]

Methodology of climbing and descending stairs for four-wheeled vehicles

Shuro Nakajima, Shin Sawada （Part： Lead author,　Corresponding author )

Proceedings of 2020 IEEE Intelligent Transportation Systems Conference 2238 - 2243 2020.09 [Refereed]

高機能電動車いすにおける段差昇り動作時の中断に対する乗り心地の良い安全確保動作の検討

前田孝次朗, 中嶋秀朗（Part： Corresponding author )

日本機械学会論文集 86 ( 881 ) 19-00281 - 19-00293 2020.01 [Refereed]

User Test Report of Personal Mobility Vehicle, RT-Mover PType WA.

Shuro Nakajima （Part： Lead author,　Corresponding author )

IEEE International Conference on Consumer Electronics, ICCE 2019, Las Vegas, NV, USA, January 11-13, 2019 ( IEEE ) 1 - 2 2019.03 [Refereed]

© 2019 IEEE. The demands for continued development in Personal Mobility Vehicles (PMVs) are increasing due to the need to improve users' lives. For example, wheelchair users, including people with disabilities, need powered wheelchairs for their daily activities, and elderly people expect to use mobile platforms for a better quality of life. We have developed RT-Mover-type PMVs, which has two drive modes, in accordance with the terrain encountered in daily activities: wheel mode and leg motion mode. The latest version of RT-Mover-type PMVs is the RT-Mover PType WA (P-WA). In this paper, one set of results of user tests of P-WA in a real environment is described. The scenario discussed in this paper is climbing up and down a sidewalk on a slope. In the scenario, the sidewalk has a height of 14.5 cm and a slope of approximately 10 degrees. Through these tests, P-WA shows its potential for use in our daily lives.

DOI

車いすユーザによるPType WA使用レポート

中嶋秀朗（Part： Lead author,　Corresponding author )

地域ケアリング 20 ( 11 ) 52‐57 2018.10 [Invited]

Step up/down motion for a four-wheel-type vehicle

Shuro Nakajima （Part： Lead author,　Corresponding author )

IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC ( Institute of Electrical and Electronics Engineers Inc. ) 2018- 1 - 6 2018.03 [Refereed]

DOI

Performance of Mobile Platform and Lessons Learned through Cybathlon

中嶋秀朗（Part： Lead author,　Corresponding author )

日本ロボット学会誌 35 ( 10 ) 739‐749(J‐STAGE) 2017.12 [Refereed]

DOI

Evaluation of the Mobility Performance of a Personal Mobility Vehicle for Steps

Shuro Nakajima （Part： Lead author,　Corresponding author )

IEEE ACCESS ( IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC ) 5 9748 - 9756 2017 [Refereed]

There is increasing demand for continued development in personal mobility vehicles, because many people want to use them to improve their life. For example, wheelchair users, including people with disabilities, need powered wheelchairs for their daily activities, and elderly people expect to use mobile platforms for better quality of life. There are two main research targets for these types of vehicles: more intelligence and higher mobility performance. This paper discusses the latter topic. The vehicle proposed in this paper has high mobility performance on rough terrain; notably, it has the capability of traversing steps obliquely, even though conventional vehicles are supposed to move on steps only from the very front of the steps, not obliquely. Its performance for climbing up/down steps is evaluated in this paper, which is an evaluation for climbing up steps that consists of seven patterns of approach angles to the step for one step and two steps. Tests for climbing down steps were also conducted. Through those tests, the ability of our vehicle to traverse steps obliquely was confirmed.

DOI

Concept of a personal mobility vehicle for daily life

Shuro Nakajima （Part： Lead author,　Corresponding author )

2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) ( IEEE ) 1492 - 1497 2016 [Refereed]

This paper describes the concept of a Personal Mobility Vehicle (PMV) for daily life. Although powered wheelchairs, which is one category of PMVs, already exist commercially, some capabilities of them are not adapted for a certain scenarios of our daily life. In this paper, we pick up the necessary features that are not performed enough by conventional wheelchairs and discuss how to solve them. We developed a brand new PMV, named RT-Mover PType WA, and show its primitive motions.

DOI

Mobility Support System for Personal Mobility Vehicles.

Taro Fujikawa, Makiko Ishikawa, Shuro Nakajima （Part： Last author,　Corresponding author )

Journal of Robotics and Mechatronics 27 ( 6 ) 715 - 716 2015.12 [Refereed]

DOI

Development of a Series of RT-Mover, Which is a Four-Wheel Type of Mobile Platform with an Ability of Negotiating Obstacles.

Shuro Nakajima （Part： Lead author,　Corresponding author )

Journal of Robotics and Mechatronics ( Fuji Technology Press ) 27 ( 5 ) 587 - 589 2015.10 [Refereed]

DOI

Gait algorithm of personal mobility vehicle for negotiating obstacles

Shuro Nakajima （Part： Lead author,　Corresponding author )

Disability and Rehabilitation: Assistive Technology 9 ( 2 ) 151 - 163 2014.03 [Refereed]

Purpose: Personal mobility vehicles (PMVs) are under active development. Most PMVs are wheel-driven, a mode of transport notable for its efficiency. However, wheeled PMVs tend to have poor mobility against negotiating obstacles. The four-wheeled vehicle RT-Mover PType 3 has been developed featuring wheeled legs capable of leg motion. This allows the PMV to overcome uneven terrains, including a step approached at an angle, which ordinary wheelchairs cannot negotiate. Method: This article discusses a gait algorithm in which a leg executes the necessary leg motion when optionally presented with obstacles on a road. In order to lift a wheel off the ground and perform a leg motion, the support wheels must be moved to support points to ensure that the vehicle remains stable on three wheels. When moving towards the target support point, a wheel may encounter another obstacle, and a response method for this case is also described. Results: To assess the gait algorithm, several configurations of obstacles were used for performance tests with a passenger. The capabilities of the PMV were demonstrated through experiments. Conclusion: We proposed a novel gait algorithm for our PMV and realised the proposed motion pattern for PMV-based negotiating obstacles.Implications for RehabilitationOur single-seat personal mobility vehicle, RT-Mover PType 3 features wheels attached on legs capable of performing leg motion, which allows the vehicle to traverse rough terrains in urban areas.We proposed a gait algorithm for RT-Mover PType 3 consisting of a series of leg motions in response to rough terrain. With this algorithm, the vehicle can traverse not only randomly placed obstacles, but also a step approached at an oblique angle, which conventional powered wheelchairs cannot navigate.Experiments with a passenger demonstrated the effectiveness of the proposed gait algorithm, suggesting that RT-Mover PType 3 can expand the mobility and range of activities of wheelchair users. © 2014 Informa UK Ltd.

DOI

Improved Gait Algorithm and Mobility Performance of RT-Mover Type Personal Mobility Vehicle

Shuro Nakajima （Part： Lead author,　Corresponding author )

IEEE ACCESS ( IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC ) 2 26 - 39 2014 [Refereed]

We have developed a personal mobility vehicle (PMV) with four driven wheels that is capable of negotiating obstacles with a leg motion mechanism. When obstacles are encountered, wheels are lifted, moved ahead in a stepping-like motion, and lowered back down, thereby allowing the PMV to advance further. In our previous paper, we discussed the principle of the gait algorithm used by our PMV, in which wheels are utilized as legs to negotiate obstacles. In the original algorithm, when the wheels encountered terrain that might require leg motion to traverse, the system determined whether such motion was applicable and, if it was, orchestrated a series of leg motions. However, there were terrains that could not be negotiated using the original algorithm. In this paper, we propose an improved gait algorithm, in which when the vehicle encounters terrain intractable by leg motion with its current posture, the vehicle changes its posture until it can traverse that terrain. We verified the effectiveness of the improved gait algorithm through a variety of mobility tests with a passenger. In addition, we present numerical data on the range of terrain topologies that could be negotiated by the proposed algorithm.

DOI

Design Guidline for a Rough Terrain Mobile Platform, RT-Movers

Shuro Nakajima, Takuma Kondo （Part： Lead author,　Corresponding author )

設計工学 ( 日本設計工学会 ) vol.47 ( no.9 ) pp.423-432 - 432 2012.09 [Refereed]

In this paper, we propose the guideline for designing a rough terrain mobile platform, named a series of RT-Mover, according to a target environment, because we have already developed five RT- Movers and begun to grasp the point of designing it. RT-Movers have the strength that they have both of wheel mode and leg mode in spite of the simplicity of mechanism. The purpose of this paper is to introduce the method to decide boundary dimension of this robot and to derive the necessary torque and angular velocity of each axis. After proposing the methodology of designing RT-Movers, we introduce the two samples of RT-Movers.

Proposal for An IR System to Support Automatic Control for A Personal Mobility Vehicle

Taro Fujikawa, Shuro Nakajima

2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012) ( IEEE ) 2207 - 2212 2012 [Refereed]

We propose a supporting system for automatic control of personal mobility vehicles (PMVs) to pass through a narrow space in indoor environment. This system consists of IR markers located on an entrance of a narrow space and an IR sensor to mount on a PMV. An IR sensor calculates relative distance between itself and an IR marker and angle of approach to pass through on a marker. To validate the proposed system we perform both experiments to estimate accuracy of calculated relative distance and angle and to demonstrate automatic control using our manufactured PMV. These results show that the proposed IR system is effective in path guidance for PMVs.

DOI

Concept of Adaptive Gait for Leg-wheel Robot, RT-Mover

Shuro Nakajima, Kazuhisa Ietomi （Part： Lead author,　Corresponding author )

2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012) ( IEEE ) 293 - 300 2012 [Refereed]

We have been conducting research into developing sufficient mobilization through usage of the leg-wheel type robot known as "RT-Mover" in its intended environment. This robot uses 4 drive wheels and 5 driving axes to provide simple mechanics, while also delivering a wheel mode and a leg mode. Past research has confirmed the robot's underlying mobilization capability on standard terrain, examined the wheel mode's mobility, and tested the robot's capability to move over rough terrain not suitable for wheel mode via the leg mode. This paper proposes concept of adaptive gait using leg functions. When the wheels come in contact with convex terrain, adaptive gait will allow movement to continue through the use of leg motions. This paper provides a proposal concerning the basic operation of adaptive gait and validates their efficacy using the results of simulations and experiments.

DOI

PERFORMANCE OF THE ADAPTIVE GAIT FOR THE LEG-WHEEL ROBOT, RT-MOVER

Shuro Nakajima, Kazuhisa Ietomi （Part： Lead author,　Corresponding author )

ADAPTIVE MOBILE ROBOTICS ( WORLD SCIENTIFIC PUBL CO PTE LTD ) 603 - 610 2012 [Refereed]

We have developed a robot,called RT-Mover, which shows adequate mobility performance on targeted types of rough terrain.It has four drivable wheels and two leg-like axles but only five active shafts.A strength of this robot is that it realizes both a leg mode and a wheel mode in a simple mechanism.We are now researching and developing an adaptive gait algorithm targeting terrain on which random areas of raised terrain exists.In"adaptive gait" only the wheel in contact with the raised terrain performs a leg motion and movement continues. In this research,we numerically analyzed the range of raised terrain which can be traversed using adaptive gait, and verified movement ability through experimentation.From those results,we have found that adaptive gait allows motion from an arbitrary posture in an environment with arbitrarily positioned raised terrain if the height of the terrainis within about 0.1[m].

Proposal for personal mobility vehicle supported by mobility support system

Shuro Nakajima, Taro Fujikawa （Part： Lead author,　Corresponding author )

2012 IEEE International Electric Vehicle Conference, IEVC 2012 2012 [Refereed]

We propose a personal mobility vehicle (PMV) supported by mobility support system (MSS), which expands the field of activities of PMV. This vehicle, which is called RT-Mover P-type 2, shows adequate mobility performance in urban area. A strength of it is that it realize both a leg mode and a wheel mode in a simple mechanism. In this paper, we introduce a whole system integrated with both PMV and MSS, and evaluate basic mobility performance by itself experimentally. © 2012 IEEE.

DOI

Development of a Personal Mobility Vehicle for Rough Terrain

Proceedings of the 14th CLAWAR ( World Scientific ) pp.650-657 2011.09 [Refereed]

An IR system in the mobility support system to expand the field of activities for personal mobility vehicles

Taro Fujikawa, Masaki Shirata, Shuro Nakajima

2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 ( IEEE ) 571 - 576 2011 [Refereed]

In this paper, we propose a system called mobility support system (MSS) in order to expand the field of activities of personal mobility vehicles (PMVs). We validate a method using an infrared (IR) system that is one of the components of MSS for providing self-localization for PMVs. To this end, we use the IR system to perform experiments for estimating the angle of approach of the PMV toward an IR marker so as to pass through a narrow space such as a ticket gate in a station. Our results show that this system determined the angle of approach with accuracy. © 2011 IEEE.

DOI

Joint education program between technical high school and university for technical high school student through developing robots

Ryohei Shimanuki, Shuro Nakajima （Part： Corresponding author )

Journal of Robotics and Mechatronics ( Fuji Technology Press ) 23 ( 5 ) 840 - 849 2011 [Refereed]

This report details, in terms of the management and course content, joint projects between technical high schools in Chiba Prefecture, Japan, and a university. The projects were courses that intended to improve, through a wide range of manufacturing activities involving the development of robots, the manufacturing abilities and basic skills as working people of technical high school students. In 2009 and 2010, various high schools and a university ran courses in cooperation, and through questionnaire surveys we discovered the significance of the use of robots as an educational subject of study and learned useful points regarding the course content.

DOI

Hands-on education of robotics department for four years of college

Yasuo Hayashibara, Shuro Nakajima, Ken Tomiyama, Kan Yoneda

Journal of Robotics and Mechatronics ( Fuji Technology Press ) 23 ( 5 ) 789 - 798 2011 [Refereed]

In this paper, we introduce engineering education at the Department of Advanced Robotics, Chiba Institute of Technology. At the department, we try to teach useful knowledge and provide laboratory work leading to useful experience. One purpose of the curriculum is to enable students to design a system with a mechanism, control circuit, and computer programming. We then provide many lectures related to system design - control engineering, mechanics, mechanical dynamics, electronic circuits, information engineering, mechanical drawing, and so on - and provide laboratory work on related theory in the lectures. Laboratory work helps students understand abstract theories that are difficult to understand based on desk study alone. This laboratorywork continues fromthe first to fourth years. In addition, we provide many project studies. Some students try to develop their own systems through extracurricular studies. Through the project, students obtain much knowledge and experience. After introducing our curriculum, we discuss the results of this curriculum.

DOI

Proposal for step-up gait of RT-Mover, a four-wheel-type mobile robot for rough terrain with simple leg mechanism

Shuro Nakajima （Part： Lead author,　Corresponding author )

2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 ( IEEE ) 351 - 356 2010 [Refereed]

RT-Mover can move on continuous rough terrain using a motion control technique proposed in a previous paper[1]. There is, however, larger rough terrain in a real environment than in the previous paper, so, RT-Mover can not operate there using that technique. In this paper, a step-up gait for an upward step is proposed for use in discontinuous rough terrain. The flow of processes in the step-up gait and stability during the gait are discussed. The proposed gait is evaluated through simulation and experiment. © 2010 IEEE.

DOI

KINEMATICS FOR A ROUGH TERRAIN MOBILE ROBOT TO CLIMB UP A STEP

Shuro Nakajima （Part： Lead author,　Corresponding author )

EMERGING TRENDS IN MOBILE ROBOTICS ( WORLD SCIENTIFIC PUBL CO PTE LTD ) 825 - 833 2010 [Refereed]

The rough terrain mobile robot "RT-Mover", which is a leg-wheel-type robot built of very simple mechanism, can move on continuous rough terrain.(1) However, in a real environment there is also discontinuous rough terrain, where it can not get about. The step-up gait for an upward step has been studied to walk on discontinuous rough terrain. In this paper, a flow of the step-up gait is introduced. After that, kinematics to climb up a step is discussed in detail, and is evaluated through simulation and experiment.

DOI

Proposal and Development of Wheel‐type Mobile Robot for Rough Terrain

中嶋秀朗（Part： Lead author,　Corresponding author )

千葉工業大学研究報告理工編 ( 千葉工業大学 ) no.56 ( 56 ) 15 - 22 2009.03 [Refereed]

Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Fourth Report: Step-Over Gait).

Shuro Nakajima, Eiji Nakano （Part： Lead author )

Journal of Robotics and Mechatronics 21 ( 2 ) 285 - 292 2009 [Refereed]

DOI

Concept of a Novel Four-wheel-type Mobile Robot for Rough Terrain, RT-Mover

Shuro Nakajima （Part： Lead author,　Corresponding author )

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS ( IEEE ) 3257 - 3264 2009 [Refereed]

In many fields employing robots, e.g., wheelchair robots, rescue robots, and construction robots, those which can move on rough terrain are desired. A robot with a simple mechanism and high mobility for all-terrain is discussed in this paper. A novel type of four-wheel-type mobile robot is developed, and its design is discussed from a functional viewpoint. In addition, strategies for moving on rough terrain are introduced, and its fundamental capability of moving on rough terrain is verified through simulations and experiments.

DOI

Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Third Report: Step-Down Gait).

Shuro Nakajima, Eiji Nakano （Part： Lead author )

Journal of Robotics and Mechatronics 21 ( 1 ) 12 - 19 2009 [Refereed]

DOI

Adaptive Gait for Large Rough Terrain of a Leg-wheel Robot (First Report : Gait Strategy).

Shuro Nakajima, Eiji Nakano （Part： Lead author )

Journal of Robotics and Mechatronics 20 ( 5 ) 801 - 805 2008 [Refereed]

DOI

Free Gait Algorithm with Two Returning Legs of a Leg-Wheel Robot.

Shuro Nakajima, Eiji Nakano, Takayuki Takahashi （Part： Lead author )

Journal of Robotics and Mechatronics 20 ( 4 ) 661 - 668 2008 [Refereed]

DOI

Adaptive Gait for a Leg-Wheel Robot Traversing Rough Terrain (Second Report: Step-Up Gait).

Shuro Nakajima, Eiji Nakano （Part： Lead author )

Journal of Robotics and Mechatronics 20 ( 6 ) 912 - 919 2008 [Refereed]

DOI

Adaptive Gait for Large Rough Terrain of a Leg-wheel Robot (6th Report, Gait for an Upward Step on Slope)

Shouichi Morimura, Shuro Nakajima, Eiji Nakano

Transactions of the Japan society of mechanical engineers. C ( 日本機械学会 ) vol.73 ( no.732 ) pp.2287-2294 2007.08 [Refereed]

DOI

脚車輪分離型ロボットの大不整地適応歩容(第4報，乗り越え歩容編)

中嶋秀朗, 中野栄二（Part： Lead author )

日本機械学会論文集，C編 ( 日本機械学会 ) vol.72 ( no.721 ) pp.2948-2955 2006.09 [Refereed]

DOI

脚車輪分離型ロボットの大不整地適応歩容(第5報，総合歩容編)

中嶋秀朗, 中野栄二（Part： Lead author )

日本機械学会論文集，C編 ( 日本機械学会 ) vol.72 ( no.721 ) pp.2956-2963 2006.09 [Refereed]

DOI

脚車輪分離型ロボットの大不整地適応歩容(第3報，段差下り歩容編)

中嶋秀朗, 中野栄二（Part： Lead author )

日本機械学会論文集，C編 ( 日本機械学会 ) vol.72 ( no.721 ) pp.2940-2947 2006.09 [Refereed]

DOI

脚車輪分離型ロボットの大不整地適応歩容(第1報，歩容戦略編)

中嶋秀朗, 中野栄二（Part： Lead author )

日本機械学会論文集，C編 ( 日本機械学会 ) vol.72 ( no.721 ) pp.2926-2931 2006.09 [Refereed]

DOI

脚車輪分離型ロボットの大不整地適応歩容(第2報，段差上り歩容編)

中嶋秀朗, 中野栄二（Part： Lead author )

日本機械学会論文集，C編 ( 日本機械学会 ) vol.72 ( no.721 ) pp.2932-2939 2006.09 [Refereed]

DOI

脚車輪分離型ロボットの2 脚復帰型自由歩容

中嶋秀朗, 中野栄二, 高橋隆行（Part： Lead author )

日本機械学会論文集，C編 ( 日本機械学会 ) vol.71 ( no.705 ) pp.1696-1703 2005.05 [Refereed]

DOI

The Motion Control Method for a Leg-wheel Robot on Unexplored Rough Terrains

Shuro Nakajima, Eiji Nakano, Takayuki Takahashi （Part： Lead author )

Journal of the Robotics Society of Japan ( The Robotics Society of Japan ) vol.22 ( no.8 ) pp.1082-1092 - 1092 2004.11 [Refereed]

A leg-wheel robot, which has mechanically separated four legs and two wheels, performs high mobility and stability on rough terrain. In this paper, we propose a basic control method for the leg-wheel robot moving on unexplored rough terrains. When moving on a rough terrain, the compliance values and the trajectories of legs are set up in proportion to the environment without using external sensors. And the step axis mechanism that we have developed realizes the stable rolling movement of the robot. The proposed method is evaluated by simulations and experiments. Using this method combined with the predictive event driven gaits, the leg-wheel robot can move on rough terrains in arbitrary directions.

DOI

Trot and Pace Gaits based on the Predictive Event Driven Method for a Leg-wheel Robot

Shuro Nakajima, Eiji Nakano, Takayuki Takahashi （Part： Lead author )

Journal of the Robotics Society of Japan ( The Robotics Society of Japan ) vol.22 ( no.8 ) pp.1070-1081 - 1081 2004.11 [Refereed]

A leg-wheel robot has mechanically separated four legs and two wheels, and it performs high mobility and stability on rough terrains. In this paper, we propose gait algorithms for trot and pace gaits, and velocity limitation method, which allow continuous locomotion of a leg-wheel robot under random velocity commands. The gait algorithms which are based on the predictive event driven method determine the leg lifting timing to avoid the legs reaching the border of the work space. The velocity limitation method limits the velocity command when it exceeds the mechanical specifications of the robot. Combined the velocity limitation method with the gait algorithms, the proposed method ensures the continuity of locomotion on trot and pace gaits. It is evaluated by simulations and experiments.

DOI

The Set Up Method of Legs' Compliance for Crawl Gait of a Leg-wheel Robot

Shuro Nakajima, Eiji Nakano, Takayuki Takahashi （Part： Lead author )

Journal of the Robotics Society of Japan ( The Robotics Society of Japan ) vol.22 ( no.8 ) pp.1061-1069 - 1069 2004.11 [Refereed]

A leg-wheel robot, Chariot II, has been developed for the purpose of moving on an unknown unexplored rough terrain without using many sensors such as visual and tactile/force sensors that need accurate and complex control and heavy calculations. The robot equips with mechanically separated wheels and legs, which allows to utilize the advantages of two mechanisms. This paper presents a set up method for legs' compliance of the leg-wheel robot to decrease the pitching and rolling movement of its body when moving on unknown unexplored rough terrains. Using the proposed method, the leg's basic compliance is adjusted in proportion to the roughness of the surface when a phase of leg changes from returning phase to supporting phase. The effectiveness of this method is confirmed by simulation and experiments.

DOI

予測型イベントドリブン方式による脚車輪分離型ロボットを用いたトロット歩容及びペース歩容の実現

中嶋秀朗, 高橋隆行, 中野栄二（Part： Lead author )

第9回ロボティクスシンポジア予稿集 228 - 235 2004.03 [Refereed]

A Simplified Cooperational Motion Control Method of a Leg-Wheel Robot for an Unexplored Rough Terrain Environment

E.Nakano, T.Takahashi, Z.Wang, Y.Dai, S.Nakajima

Proceedings of The 4th World Multiconference on Systems, Cybernetics and Informatics vol.XII pp.a27-a32 2000.01 [Refereed]

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Published Papers - NAKAJIMA Shuro