URAKUBO TAKATERU 浦久保孝光

… Alternative Names

Urakubo Takateru 浦久保孝光

URAKUBO Takateru 浦久保孝光

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Researcher Number	10335424
Other IDs	https://orcid.org/0000-0002-7676-0204
Affiliation (Current)	2025: 神戸大学, システム情報学研究科, 教授
Affiliation (based on the past Project Information) *help	2020 – 2023: 神戸大学, システム情報学研究科, 准教授 2016 – 2018: 神戸大学, システム情報学研究科, 准教授 2013: 神戸大学, 大学院システム情報学研究科, 助教 2011 – 2013: 神戸大学, その他の研究科, 助教 2011: 神戸大学, 大学院・システム情報学研究科, 助教 2010 – 2011: 神戸大学, システム情報学研究科, 助教
Review Section/Research Field	Principal Investigator Intelligent mechanics/Mechanical systems / Basic Section 20010:Mechanics and mechatronics-related Except Principal Investigator Intelligent mechanics/Mechanical systems
Keywords	Principal Investigator 最適運動計画 / 動力学 / ロボティクス / 動力学解析 / 非線形力学 / 機械力学 / 特異姿勢 / 運動学 / 最適動作計画 / ロボットマニピュレータ … More / 知能ロボティックス / 機械力学・制御 / 運動制御 / 機構学 … More Except Principal Investigator 不静定のトポロジ / 適応構造物 / 力学特性モデル / 残留振動 / 動力学特性 / 運動方程式 / シミュレーション / 特異姿勢 / 並列メカニズム / 動作生成 / 逆運動学 / 運動学 / 試作システム / 形状記憶合金 / 可変形状トラス / メカトロニクス Less

Mechanics and control of dynamic robot motions using singular configurationsPrincipal Investigator
- Principal Investigator
  
  Urakubo Takateru
- Project Period (FY)
  2020 – 2023
- Research Category
  
  Grant-in-Aid for Scientific Research (C)
- Review Section
  
  Basic Section 20010:Mechanics and mechatronics-related
- Research Institution
  Kobe University
Dynamic characteristics of robot singular configurations and their applicationsPrincipal Investigator
- Principal Investigator
  
  Urakubo Takateru
- Project Period (FY)
  2016 – 2018
- Research Category
  
  Grant-in-Aid for Scientific Research (C)
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  Kobe University
Efficient Motion of a Robot Manipulator for Task Achievement near Singular ConfigurationsPrincipal Investigator
- Principal Investigator
  
  URAKUBO Takateru
- Project Period (FY)
  2011 – 2013
- Research Category
  
  Grant-in-Aid for Young Scientists (B)
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  Kobe University
SMA-Wire Actuated Variable Geometry Truss
- Principal Investigator
  
  HANAHARA Kazuyuki
- Project Period (FY)
  2008 – 2011
- Research Category
  
  Grant-in-Aid for Scientific Research (C)
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  Kobe University

All 2024 2023 2022 2021 2020 2018 2017 2016 2014 2013 2012 2010

All Journal Article Presentation

[Journal Article] A Study on Kicking Motion Strategy for a Legged Robot2022
- Author(s)
  Masashi Nakamura, Takao Muromaki, Takateru Urakubo
- Journal Title
  
  International Journal of Mechanical Engineering and Robotics Research
  
  Volume: 11 Pages: 145-150
- DOI
  10.18178/ijmerr.11.3.145-150
- Peer Reviewed / Open Access
- Data Source
  KAKENHI-PROJECT-20K04350
[Journal Article] Dragging motion of a two-link mobile manipulator with large pull force through singular configuration: theoretical analysis and experimental verification2018
- Author(s)
  Urakubo Takateru、Kitagawa Eri、Wan Xianglong、Mashimo Tomoaki
- Journal Title
  
  Advanced Robotics
  
  Volume: 32 Issue: 11 Pages: 623-634
- DOI
  10.1080/01691864.2018.1476180
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-16K06182
[Journal Article] 2リンクモバイルマニピュレータによる重量物運搬動作における特異姿勢の動力学的有用性2017
- Author(s)
  北側恵理，浦久保孝光，万象隆
- Journal Title
  
  システム制御情報学会論文誌
  
  Volume: 30 Pages: 87-96
- NAID
  130006890008
- Peer Reviewed / Acknowledgement Compliant
- Data Source
  KAKENHI-PROJECT-16K06182
[Journal Article] Efficient Pulling Motion of a Two-Link Robot Arm near Singular Configuration2010
- Author(s)
  T.Urakubo, ほか2名
- Journal Title
  
  Proc.2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
  
  Pages: 1372-1377
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20560238
[Journal Article] Efficient Pulling Motion of a Two-Link Robot Arm near Singular Configuration2010
- Author(s)
  T.Urakubo, T.Mashimo, T.Kanade
- Journal Title
  
  Proc.2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
  
  Pages: 1372-1377
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20560238
[Presentation] 衝撃力を用いた蹴り出し動作に関する実験2024
- Author(s)
  菊田潤、室巻孝郎、中村成志、浦久保孝光
- Organizer
  2023年度計測自動制御学会関西支部・システム制御情報学会シンポジウム
- Data Source
  KAKENHI-PROJECT-20K04350
[Presentation] 異なるリンク長さを持つ2リンクアームの特異姿勢付近における動的可操作性解析2024
- Author(s)
  中村成志、浦久保孝光、室巻孝郎
- Organizer
  2023年度計測自動制御学会関西支部・システム制御情報学会シンポジウム
- Data Source
  KAKENHI-PROJECT-20K04350
[Presentation] Dynamic motion of two-link arms with different link lengths using singularities2023
- Author(s)
  Masashi Nakamura, Takateru Urakubo, Takao Muromaki
- Organizer
  The 11th International Symposium on Adaptive Motion of Animals and Machines
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-20K04350
[Presentation] 特異姿勢付近における2リンクロボットアームの動的可操作性解析2023
- Author(s)
  中村成志、浦久保孝光、室巻孝郎
- Organizer
  2022年度計測自動制御学会関西支部・システム制御情報学会シンポジウム
- Data Source
  KAKENHI-PROJECT-20K04350
[Presentation] 脚型ロボットの蹴り出し動作実験2023
- Author(s)
  菊田潤、室巻孝郎、中村成志、浦久保孝光
- Organizer
  日本設計工学会関西支部 2022年度研究発表講演会
- Data Source
  KAKENHI-PROJECT-20K04350
[Presentation] 脚型ロボットの蹴り出し動作に対する動力学解析と最適化2022
- Author(s)
  中村成志、室巻孝郎、浦久保孝光
- Organizer
  2021年度計測自動制御学会関西支部・システム制御情報学会シンポジウム
- Data Source
  KAKENHI-PROJECT-20K04350
[Presentation] A Study on Kicking Motion Strategy for a Legged Robot2021
- Author(s)
  Masashi Nakamura, Takao Muromaki, Takateru Urakubo
- Organizer
  2021 6th Asia-Pacific Conference on Intelligent Robot Systems
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-20K04350
[Presentation] 脚型ロボットの蹴り出し動作の生成2021
- Author(s)
  中村成志、室巻孝郎、浦久保孝光
- Organizer
  日本設計工学会関西支部 2020年度研究発表講演会
- Data Source
  KAKENHI-PROJECT-20K04350
[Presentation] 跳躍動作における特異姿勢付近での動力学に関する考察2020
- Author(s)
  浦久保孝光
- Organizer
  計測自動制御学会システム・情報部門学術講演会2020
- Data Source
  KAKENHI-PROJECT-20K04350
[Presentation] 3回転関節を持つ脚型跳躍ロボットの開発2018
- Author(s)
  鰻田，井口，室巻，須田，浦久保
- Organizer
  日本設計工学会関西支部平成30年度研究発表講演会
- Data Source
  KAKENHI-PROJECT-16K06182
[Presentation] 特異姿勢付近における効率的跳躍動作の研究および脚型ロボットの開発2018
- Author(s)
  鰻田，室巻，須田，浦久保，万
- Organizer
  ロボティクス・メカトロニクス講演会
- Data Source
  KAKENHI-PROJECT-16K06182
[Presentation] Development of a Legged Robot for Studying an Efficient Jumping Motion near Singular Configurations2018
- Author(s)
  K. Unagida, T. Muromaki, A. Suda, X. Wan and T. Urakubo
- Organizer
  International Symposium on Flexible Automation
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-16K06182
[Presentation] Dynamic Advantages of Singular Configurations in Moving Heavy Objects with a 3-DOF Robot Manipulator2018
- Author(s)
  R. Kawanishi, T. Urakubo and X. Wan
- Organizer
  IEEE 15th International Workshop on Advanced Motion Control
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-16K06182
[Presentation] 跳躍動作を行う脚型ロボットの開発2017
- Author(s)
  鰻田圭介，室巻孝郎，須田敦，浦久保孝光，万象隆
- Organizer
  日本設計工学会関西支部・ヒューマンサポートサイエンス学会平成29年度研究発表講演会
- Data Source
  KAKENHI-PROJECT-16K06182
[Presentation] 2リンクモバイルマニピュレータによる特異姿勢を用いた重量物運搬動作の実験的検証2017
- Author(s)
  北側恵理，浦久保孝光，万象隆
- Organizer
  計測自動制御学会関西支部・システム制御情報学会若手研究発表会
- Place of Presentation
  大阪大学（大阪府・吹田市）
- Data Source
  KAKENHI-PROJECT-16K06182
[Presentation] 3自由度ロボットマニピュレータによる重量物運搬動作における特異姿勢の有用性に関する考察2017
- Author(s)
  川西亮平，浦久保孝光，万象隆
- Organizer
  第18回SICEシステムインテグレーション部門講演会
- Data Source
  KAKENHI-PROJECT-16K06182
[Presentation] 3リンク平面冗長マニピュレータによる重量物運搬動作における特異姿勢の有用性2016
- Author(s)
  馬少陽，浦久保孝光，万象隆
- Organizer
  平成28年電気学会電子・情報・システム部門大会
- Place of Presentation
  神戸大学（兵庫県・神戸市）
- Year and Date
  2016-08-31
- Data Source
  KAKENHI-PROJECT-16K06182
[Presentation] Advantage of Singular Configuration in Pulling Heavy Object with a Two-link Mobile Manipulator2016
- Author(s)
  E. Kitagawa, T. Urakubo and X. Wan
- Organizer
  2016 International Symposium on Flexible Automation
- Place of Presentation
  Cleveland (USA)
- Year and Date
  2016-08-01
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-16K06182
[Presentation] Experimental Study on Efficient Use of Singular Configuration in Pulling Heavy Objects with Two-link Robot Arm2014
- Author(s)
  T. Urakubo, H. Yoshioka, T. Mashimo and X. Wan
- Organizer
  IEEE International Conference on Robotics and Automation
- Place of Presentation
  香港
- Year and Date
  2014-06-04
- Data Source
  KAKENHI-PROJECT-23760230
[Presentation] Optimization of Jumping Motion of a Legged Robot for Different Take-off Postures2014
- Author(s)
  X. Wan, T. Urakubo, Y. Tada
- Organizer
  The Eighth China-Japan-Korea Joint Symposium on Optimization of Structural and Mechanical Systems
- Place of Presentation
  Gyeongju, Republic of Korea
- Data Source
  KAKENHI-PROJECT-23760230
[Presentation] Optimization of Jumping Motion of a Legged Robot for Different Take-off Postures2014
- Author(s)
  X. Wan, T. Urakubo, Y. Tada
- Organizer
  The 8th China-Japan-Korea Joint Symposium on Optimization of Structural and Mechanical Systems
- Place of Presentation
  韓国
- Year and Date
  2014-05-28
- Data Source
  KAKENHI-PROJECT-23760230
[Presentation] Experimental Study on Efficient Use of Singular Configuration in Pulling Heavy Objects with Two-link Robot Arm2014
- Author(s)
  T. Urakubo, H. Yoshioka, T. Mashimo and X. Wan
- Organizer
  IEEE International Conference on Robotics and Automation
- Place of Presentation
  Hong Kong, China
- Data Source
  KAKENHI-PROJECT-23760230
[Presentation] 特異姿勢付近におけるリンク機構の動力学的性質に関する考察2014
- Author(s)
  浦久保,万,真下
- Organizer
  第58回システム制御情報学会研究発表講演会
- Place of Presentation
  京都
- Year and Date
  2014-05-21
- Data Source
  KAKENHI-PROJECT-23760230
[Presentation] Landing Motion of a Legged Robot with Impact Force Reduction and Joint Torque Minimization2013
- Author(s)
  X. Wan, T. Urakubo and Y. Tada
- Organizer
  The Second International Conference on Robot, Vision and Signal Processing
- Place of Presentation
  北九州
- Year and Date
  2013-12-11
- Data Source
  KAKENHI-PROJECT-23760230
[Presentation] Landing Motion of a Legged Robot with Impact Force Reduction and Joint Torque Minimization2013
- Author(s)
  X. Wan, T. Urakubo and Y. Tada
- Organizer
  The Second International Conference on Robot, Vision and Signal Processing
- Place of Presentation
  Kitakyusyu, Japan
- Data Source
  KAKENHI-PROJECT-23760230
[Presentation] 脚型跳躍ロボットの着地過程における最適動作生成2013
- Author(s)
  万,浦久保,多田
- Organizer
  第31回日本ロボット学会学術講演会
- Place of Presentation
  東京
- Year and Date
  2013-09-05
- Data Source
  KAKENHI-PROJECT-23760230
[Presentation] 2リンクロボットアームの持ち上げ動作における特異姿勢の有用性の実験的検証2012
- Author(s)
  吉岡,浦久保,真下,万
- Organizer
  日本ロボット学会第30回記念学術講演会
- Place of Presentation
  札幌
- Year and Date
  2012-09-20
- Data Source
  KAKENHI-PROJECT-23760230
[Presentation] 脚型ロボットにおける特異姿勢付近での効率的跳躍動作に対する考察2012
- Author(s)
  万,浦久保,吉岡,多田
- Organizer
  日本機械学会第10回最適化シンポジウム
- Place of Presentation
  神戸
- Year and Date
  2012-12-06
- Data Source
  KAKENHI-PROJECT-23760230
[Presentation] A Study on Jumping Motion of a Legged Robot with Efficient Energy Supply near Singular Configuration2012
- Author(s)
  Wan Xianglong, Takateru Urakubo and Yukio Tada
- Organizer
  The 7th China-Japan-Korea Joint Symposium on Optimization of Structural and Mechanical Systems
- Place of Presentation
  Huangshan, China
- Data Source
  KAKENHI-PROJECT-23760230
[Presentation] A Study on Jumping Motion of a Legged Robot with Efficient Energy Supply near Singular Configuration2012
- Author(s)
  X. Wan, T. Urakubo and Y. Tada
- Organizer
  The 7th China- Japan-Korea Joint Symposium on Optimization of Structural and Mechanical Systems
- Place of Presentation
  中国
- Year and Date
  2012-06-20
- Data Source
  KAKENHI-PROJECT-23760230

1. HANAHARA Kazuyuki (70254430)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
2. TADA Yukio (70135812)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
3. MASHIMO Tomoaki

# of Collaborated Projects: 1 results

# of Collaborated Products: 1 results
4. MUROMAKI Takao

# of Collaborated Projects: 1 results

# of Collaborated Products: 4 results
5. WAN Xianglong

# of Collaborated Projects: 1 results

# of Collaborated Products: 10 results

URAKUBO TAKATERU 浦久保 孝光

Urakubo Takateru 浦久保 孝光

URAKUBO Takateru 浦久保 孝光

Research Projects

Research Products

Co-Researchers

Mechanics and control of dynamic robot motions using singular configurationsPrincipal Investigator

Principal Investigator

Project Period (FY)

Research Category

Review Section

Research Institution

Dynamic characteristics of robot singular configurations and their applicationsPrincipal Investigator

Principal Investigator

Project Period (FY)

Research Category

Research Field

Research Institution

Efficient Motion of a Robot Manipulator for Task Achievement near Singular ConfigurationsPrincipal Investigator

Principal Investigator

Project Period (FY)

Research Category

Research Field

Research Institution

SMA-Wire Actuated Variable Geometry Truss

Principal Investigator

Project Period (FY)

Research Category

Research Field

Research Institution

[Journal Article] A Study on Kicking Motion Strategy for a Legged Robot2022

Author(s)

Journal Title

DOI

Data Source

[Journal Article] Dragging motion of a two-link mobile manipulator with large pull force through singular configuration: theoretical analysis and experimental verification2018

Author(s)

Journal Title

DOI

Data Source

[Journal Article] 2リンクモバイルマニピュレータによる重量物運搬動作における特異姿勢の動力学的有用性2017

Author(s)

Journal Title

NAID

Data Source

[Journal Article] Efficient Pulling Motion of a Two-Link Robot Arm near Singular Configuration2010

Author(s)

Journal Title

Data Source

[Journal Article] Efficient Pulling Motion of a Two-Link Robot Arm near Singular Configuration2010

Author(s)

Journal Title

Data Source

[Presentation] 衝撃力を用いた蹴り出し動作に関する実験2024

Author(s)

Organizer

Data Source

[Presentation] 異なるリンク長さを持つ2リンクアームの特異姿勢付近における動的可操作性解析2024

Author(s)

Organizer

Data Source

[Presentation] Dynamic motion of two-link arms with different link lengths using singularities2023

Author(s)

Organizer

Data Source

[Presentation] 特異姿勢付近における2リンクロボットアームの動的可操作性解析2023

Author(s)

Organizer

Data Source

[Presentation] 脚型ロボットの蹴り出し動作実験2023

Author(s)

Organizer

Data Source

[Presentation] 脚型ロボットの蹴り出し動作に対する動力学解析と最適化2022

Author(s)

Organizer

Data Source

[Presentation] A Study on Kicking Motion Strategy for a Legged Robot2021

Author(s)

Organizer

URAKUBO TAKATERU 浦久保孝光

Urakubo Takateru 浦久保孝光

URAKUBO Takateru 浦久保孝光