研究者学術情報データベース

カコガワ　アツシ
加古川　篤
KAKOGAWA ATSUSHI

所属理工学部ロボティクス学科

職名准教授

論文
1.	2024/05	下水道圧送管路点検用ロボットおよび配管経路作図システムの開発 │ 月刊下水道６月号　明日につなぐ下水道特集 │ 47 (7),1-4頁 (単著)
2.	2024/04	月面の３次元地質地盤図を作成するための測量・地盤調査法 │ 建設機械　特集：宇宙無人建設革新技術開発の動向① │ 60 (4) (共著)
3.	2023/12	An Underwater Snake Robot that Does Not Consider Actuators' Waterproof: Design and Primary Experiments │ Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO 2023) │ ,226-231頁 (共著)
4.	2023/09	Effect of Underactuated Parallelogram Shape-shifting for Environmentally-adapted Movement of a Three Modular In-pipe Robot │ Frontiers in Robotics and AI \| Field Robotics │ 10,1-14頁 (共著)
5.	2023/07	Automatic T-branch Travel of an Articulated Wheeled In-pipe Inspection Robot Using Joint Angle Response to Environmental Changes │ IEEE Transactions on Industrial Electronics │ 70 (7),7041-7050頁 (共著)
6.	2023/05	ロボット産業における接触基盤技術の動向 │ 月刊トライボロジー5月号 │ ,1-5頁 (単著)
7.	2022/10	A Standards-Based Pipeline Route Drawing System Using a Towed Sensing Unit │ Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) │ ,7167-7173頁 (共著)
8.	2022/10	Vertical Bend and T-branch Travels of an Articulated Wheeled In-pipe Inspection Robot by Combining Its Joint Angle and Torque Controls │ Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) │ ,13254-13259頁 (共著)
9.	2022/01	A Highly Backdrivable Robotic Arm using Low Friction and High Accuracy Cycloidal Geared Motors: ALFHA │ Proceedings of the IEEE/SICE International Symposium on System Integration (SII 2022) │ ,428-433頁 (共著)
10.	2021/12	Control Technique of a V-Shaped In-Pipe Robot Composed of Two Underactuated Roll-Pitch Joints │ Advanced Robotics │ 36 (4),205-216頁 (共著)
11.	2021/12	Plate-springed Parallel Elastic Actuator for Efficient Snake Robot Movement │ IEEE/ASME Transactions on Mechatronics │ 26 (6),3051-3063頁 (共著)
12.	2021/05	A Wheeled V-shaped In-pipe Robot with Clutched Underactuated Joints │ Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2021) │ ,11457-11462頁 (共著)
13.	2021/03	機械的接触を基盤とするロボットの事業化に向けて～低摩擦ギアード電動モータからのアプローチ～ │ 日本ロボット学会誌 │ 39 (2),125-131頁 (共著)
14.	2021/02	Sensor-less and Control-less Underactuated Grippers with Pull-in Mechanisms for Grasping Various Objects │ Frontiers in Robotics and AI \| Soft Robotics │ 8,1-11頁 (共著)
15.	2020/10	A Multi-link In-pipe Inspection Robot Composed of Active and Passive Compliant Joints │ Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020) │ ,6472-6478頁 (共著)
16.	2019/12	Shadow-based Operation Assistant for a Pipeline-inspection Robot using a Variance Value of the Image Histogram │ Journal of Robotics and Mechatronics │ 31 (6),772-780 (共著)
17.	2019/11	An In-pipe Inspection Module with an Omnidirectional Bent-pipe Self-adaptation Mechanism using a Joint Torque Control │ Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019) │ ,4347-4352頁 (共著)
18.	2019/08	Joint Angle Control of an 8-inch Gas Pipeline Inspection Robot to Pass through Bends │ Proceedings of the 2019 International Conference on Advanced Mechatronic Systems (ICAMechS 2019) │ ,28-33頁 (共著)
19.	2019/07	Plate Springed Parallel Elastic Actuators for Efficient Movement of a Planar Snake Robot │ Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2019) │ ,235-240頁 (共著)
20.	2019/06	並列弾性アクチュエータを用いたヘビ型ロボットの低速運動時におけるエネルギー消費抑制 │ システム制御情報学会論文誌 │ 32 (6),227-233頁 (共著)
21.	2018/12	影画像に基づく自動姿勢調整機能を備えた管内検査ロボット │ 配管技術　特集「高経年化設備の検査・診断技術」 │ 60 (14),52-56頁 (共著)
22.	2018/10	A Differential Elastic Joint for Multi-Linked Pipeline Inspection Robots │ Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) │ ,949-954頁 (共著)
23.	2018/10	Stopper Angle Design for a Multi-link Articulated Wheeled In-Pipe Robot with Underactuated Twisting Joints │ Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) │ ,973-978頁 (共著)
24.	2018/08	Multi-link Articulated Wheeled In-pipe Robot with Underactuated Twisting Joints │ Proceedings of the IEEE International Conference on Mechatronics and Automation (ICMA 2018) │ ,942-947頁 (共著)
25.	2018/04	Stiffness Design of a Resonance-based Planar Snake Robot with Parallel Elastic Actuators │ IEEE Robotics and Automation Letters (RA-L) │ 3 (2),1284-1291頁 (共著)
26.	2018/01	Design of a Multilink-articulated Wheeled Pipeline Inspection Robot using Only Passive Elastic Joints │ Advanced Robotics (Selected and extended paper from IROS 2016) │ 32 (1),37-50頁 (共著)
27.	2017/09	Anisotropic Shadow-based Operation Assistant for a Pipeline-inspection Robot using a Single Illuminator and Camera │ Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017) │ ,1305-1310頁 (共著)
28.	2016/12	Underactuated Modular Finger with Pull-in Mechanism for a Robotic Gripper │ Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO 2016) │ ,556-561頁 (共著)
29.	2016/12	飛び移り座屈現象を利用した吸着持続可能な板バネ懸架吸盤の開発 │ 日本機械学会誌 │ 83 (845),16-00372 (共著)
30.	2016/10	Design of a Multilink-articulated Wheeled Inspection Robot for Winding Pipelines: AIRo-II │ Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) │ ,2115-2121頁 (共著)
31.	2016/02	Designing Arm Length of a Screw Drive In-pipe Robot for Climbing Vertically Positioned Bent Pipes │ Robotica │ 34 (2),306-327頁 (共著)
32.	2015/12	Recognition of Pathway Directions based on Nonlinear Least Squares Method │ Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO 2015) │ ,1596-1601頁 (共著)
33.	2015/06	An Articulated Wheeled In-pipe Inspection Robot with Holonomic Rolling Motion │ Proceedings of the IEEE International Conference on Real Time Computing and Robotics (RCAR 2015) │ (共著)
34.	2014/12	Speed Analysis of Three Driving Modules for an In-pipe Inspection Robot to Pass through a Bent Pipe │ Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO 2014) │ ,1731-1736頁 (共著)
35.	2014/06	An In-pipe Robot with Underactuated Parallelogram Crawler Modules │ Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2014) │ ,1687-1692頁 (共著)
36.	2013/12	Design of an Underactuated Parallelogram Crawler Module for an In-pipe Robot │ Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO 2013) │ ,1324-1329頁 (共著)
37.	2013/12	Study on Air Inflow of a Passive Suction Cup │ Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO 2013) │ ,1330-1335頁 (共著)
38.	2013/10	Development of a Screw Drive In-pipe Robot for Passing through Bent and Branch Pipes │ Proceedings of the IEEE International Symposium on Robotics (ISR 2013) │ (共著)
39.	2013/05	Development of a Suction Cup with a Disc Spring │ Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2013) │ ,1354-1359頁 (共著)
40.	2013/02	Improvement of a Screw Drive In-pipe Robot with Pathway Selection Mechanism to Pass Through T-branches │ Journal of Robotics and Mechatronics │ 25 (2),340-346頁 (共著)
41.	2012/12	Development of an Underactuated Robot Gripper Capable of Retracting Motion │ Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO 2012) │ ,2161-2166頁 (共著)
42.	2012/08	Pathway Selection Mechanism of a Screw Drive In-pipe Robot in T-branches │ Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE 2012) │ ,612-617頁 (共著)
43.	2012/04	Stiffness Design of Springs for a Screw Drive In-Pipe Robot to Pass through Curved Pipes and Vertical Straight Pipes │ Advanced Robotics │ 26 (3),253-276頁 (共著)
44.	2011/12	Experimental Verification of Analytical Torques Enabling a Screw Drive In-pipe Robot to Pass through Bent Pipes │ Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO 2011) │ ,1742-1747頁 (共著)
45.	2010/12	Mobility of an In-pipe Robot with Screw Drive Mechanism inside Curved Pipes │ Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO 2010) │ ,1530-1535頁 (共著)