Kakogawa Atsushi 加古川篤

Researcher Number	50755486
Other IDs
Affiliation (Current)	2026: 立命館大学, 理工学部, 准教授
Affiliation (based on the past Project Information) *help	2023 – 2024: 立命館大学, 理工学部, 准教授 2022: 立命館大学, 総合科学技術研究機構, 准教授 2019 – 2020: 立命館大学, 理工学部, 講師 2017 – 2018: 立命館大学, 理工学部, 助教
Review Section/Research Field	Principal Investigator Basic Section 20020:Robotics and intelligent system-related / Intelligent mechanics/Mechanical systems Except Principal Investigator Basic Section 20020:Robotics and intelligent system-related
Keywords	Principal Investigator 力制御 / 力／トルクセンサレス / 潤滑油レス / 防水シールレス / 水没型モータ / 力（トルク）制御 / 接触作業 / 柔軟アクチュエータ / 水中ロボット / 有限要素解析 … More / ダイレクトドライブモータ / 変分法 / 周期運動 / 板バネ / 共振 / 並列弾性アクチュエータ / 機械力学・制御 / 狭隘環境 / 多関節ロボット / 直列弾性アクチュエータ / アクチュエータ / 粘弾性体 / ヘビ型ロボット / インフラ点検 / 移動ロボット … More Except Principal Investigator ペンギン / 羽ばたき翼 / 水中ロボット / バイオミメティクス / バイオメカニクス Less

Basic Research on Torque Sensorless and Sealless Amphibious Flexible ActuatorPrincipal Investigator
- Principal Investigator
  
  Kakogawa Atsushi
- Project Period (FY)
  2024
- Research Category
  
  Grant-in-Aid for Scientific Research (B)
- Review Section
  
  Basic Section 20020:Robotics and intelligent system-related
- Research Institution
  Ritsumeikan University
羽ばたき遊泳動物の敏捷性と効率性を両立する運動制御メカニズムの解明
- Principal Investigator
  
  田中博人
- Project Period (FY)
  2024 – 2026
- Research Category
  
  Grant-in-Aid for Scientific Research (B)
- Review Section
  
  Basic Section 20020:Robotics and intelligent system-related
- Research Institution
  Institute of Science Tokyo
Study on efficient compact parallel elastic actuators using plate spring and DD motor for periodic movementPrincipal Investigator
- Principal Investigator
  
  Kakogawa Atsushi
- Project Period (FY)
  2019 – 2020
- Research Category
  
  Grant-in-Aid for Early-Career Scientists
- Review Section
  
  Basic Section 20020:Robotics and intelligent system-related
- Research Institution
  Ritsumeikan University
Research and Development of a Small Differential Elastic Actuator for Narrow EnvironmentsPrincipal Investigator
- Principal Investigator
  
  Kakogawa Atsushi
- Project Period (FY)
  2017 – 2018
- Research Category
  
  Grant-in-Aid for Young Scientists (B)
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  Ritsumeikan University

All 2025 2024 2023 2022 2021 2020 2019 2018 2017

All Journal Article Presentation Book Patent

[Book] Robotic Search and Rescue through In-pipe Movement2019
- Author(s)
  Atsushi Kakogawa and Shugen Ma
- Total Pages
  14
- Publisher
  IntechOpen "Unmanned Robotic Systems and Applications"
- ISBN
  9781789845679
- Data Source
  KAKENHI-PROJECT-19K14949
[Journal Article] A Pipeline Route Drawing System Equipped With a Towed Unit Using Only Low Cost Internal Sensors2025
- Author(s)
  Hirose Chihiro、Ota Shunsuke、Kakogawa Atsushi、Ma Shugen
- Journal Title
  
  IEEE Transactions on Industrial Electronics
  
  Volume: 72 Issue: 2 Pages: 1712-1722
- DOI
  10.1109/tie.2024.3419240
- Peer Reviewed / Open Access / Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-23K22727
[Journal Article] 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2024
- Author(s)
  小林泰三，伊藤真一，加古川篤，中川雅史，辻健，池永太一，谷口龍，滝川正則，北村啓太朗，佐野寿聰，松村聡，近藤明彦，米岡威，尾高潤一郎，島田徹也，尾崎伸吾
- Journal Title
  
  建設機械　特集：宇宙無人建設革新技術開発の動向①
  
  Volume: 60
- Data Source
  KAKENHI-PROJECT-23K22727
[Journal Article] 下水道圧送管路点検のための自走式ロボット技術，公益社団法人日本下水道協会2024
- Author(s)
  加古川篤
- Journal Title
  
  下水道協会誌2024年12月号
  
  Volume: 61
- Data Source
  KAKENHI-PROJECT-23K22727
[Journal Article] Elastic material selection for omni-wheels of in-pipe robots with high traction capability2024
- Author(s)
  Murata Kenya、Kusumegi Makoto、Kakogawa Atsushi、Ma Shugen
- Journal Title
  
  Advanced Robotics
  
  Volume: 38 Issue: 13 Pages: 896-905
- DOI
  10.1080/01691864.2024.2363405
- Peer Reviewed / Open Access / Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-23K22727
[Journal Article] 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2024
- Author(s)
  加古川篤
- Journal Title
  
  環境新聞社，月刊下水道2024年6月号「明日につなぐ下水道特集」
  
  Volume: 47
- Data Source
  KAKENHI-PROJECT-23K22727
[Journal Article] Grasping of Cylindrical Structures Using an Underwater Snake Robot Without Force/Torque Sensors and Actuator Waterproofing2024
- Author(s)
  Kakogawa Atsushi、Rajendrakumar Shah Darshankumar、Iwasaki Yuto
- Journal Title
  
  Journal of Robotics and Mechatronics
  
  Volume: 36 Issue: 6 Pages: 1458-1467
- DOI
  10.20965/jrm.2024.p1458
- ISSN
  0915-3942, 1883-8049
- Year and Date
  2024-12-20
- Language
  English
- Peer Reviewed / Open Access / Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-23K22727, KAKENHI-PROJECT-24K00845
[Journal Article] A V-Shaped In-Pipe Robot to Travel Through Complex Winding Pathways in Three Dimensions2024
- Author(s)
  Kakogawa Atsushi、Sekiya Kanade、Nakazawa Ryota、Ikuno Yasuyuki
- Journal Title
  
  Journal of Field Robotics
  
  Volume: - Issue: 5 Pages: 1808-1825
- DOI
  10.1002/rob.22486
- Peer Reviewed / Open Access / Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-23K22727
[Journal Article] ロボット産業における接触基盤技術の動向2023
- Author(s)
  加古川篤
- Journal Title
  
  月刊トライボロジー5月号
  
  Volume: － Pages: 1-5
- Data Source
  KAKENHI-PROJECT-23K22727
[Journal Article] Effect of Underactuated Parallelogram Shape-shifting for Environmentally-adapted Movement of a Three Modular In-pipe Robot2023
- Author(s)
  Atsushi Kakogawa, Shugen Ma
- Journal Title
  
  Frontiers in Robotics and AI | Field Robotics
  
  Volume: 10
- DOI
  10.3389/frobt.2023.1234835
- Peer Reviewed / Open Access
- Data Source
  KAKENHI-PROJECT-23K22727
[Journal Article] Automatic T-Branch Travel of an Articulated Wheeled In-Pipe Inspection Robot Using Joint Angle Response to Environmental Changes2023
- Author(s)
  Kakogawa Atsushi、Murata Kenya、Ma Shugen
- Journal Title
  
  IEEE Transactions on Industrial Electronics
  
  Volume: 70 Issue: 7 Pages: 7041-7050
- DOI
  10.1109/tie.2022.3201301
- Peer Reviewed / Open Access / Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-23K22727
[Journal Article] Plate-springed Parallel Elastic Actuator for Efficient Snake Robot Movement2021
- Author(s)
  Atsushi Kakogawa, Taihei Kawabata, and Shugen Ma
- Journal Title
  
  IEEE/ASME Transactions on Mechatronics
  
  Volume: Accepted Issue: 6 Pages: 3051-3063
- DOI
  10.1109/tmech.2021.3052037
- Peer Reviewed / Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-19K14949
[Journal Article] Shadow-Based Operation Assistant for a Pipeline-Inspection Robot Using a Variance Value of the Image Histogram2019
- Author(s)
  Atsushi Kakogawa, Yuki Komurasaki, and Shugen Ma
- Journal Title
  
  Journal of Robotics and Mechatronics
  
  Volume: 31 Issue: 6 Pages: 772-780
- DOI
  10.20965/jrm.2019.p0772
- NAID
  130007769591
- ISSN
  0915-3942, 1883-8049
- Year and Date
  2019-12-20
- Language
  English
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-19K14949
[Journal Article] 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2019
- Author(s)
  加古川篤，川端泰平，馬書根
- Journal Title
  
  システム制御情報学会論文誌
  
  Volume: 32 Pages: 227-233
- NAID
  130007706928
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-17K14632
[Journal Article] Suppression of Energy Consumption for Snake Robots using Parallel Elastic Actuators during Low Speed Movement2019
- Author(s)
  加古川篤，川端泰平，馬書根
- Journal Title
  
  Transactions of the Institute of Systems, Control and Information Engineers
  
  Volume: 32 Issue: 6 Pages: 227-233
- DOI
  10.5687/iscie.32.227
- NAID
  130007706928
- ISSN
  1342-5668, 2185-811X
- Year and Date
  2019-06-15
- Language
  Japanese
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-19K14949
[Journal Article] Stiffness Design of a Resonance-based Planar Snake Robot with Parallel Elastic Actuators2018
- Author(s)
  Atsushi Kakogawa, Soo Jeon, and Shugen Ma
- Journal Title
  
  IEEE Robotics and Automation Letters (RA-L)
  
  Volume: 3 Issue: 2 Pages: 1284-1291
- DOI
  10.1109/lra.2018.2797261
- Peer Reviewed / Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-17K14632
[Journal Article] Design of a Multilink-articulated Wheeled Pipeline Inspection Robot using Only Passive Elastic Joints2017
- Author(s)
  Atsushi Kakogawa and Shugen Ma
- Journal Title
  
  Advanced Robotics
  
  Volume: 32 Issue: 1 Pages: 37-50
- DOI
  10.1080/01691864.2017.1393348
- Peer Reviewed / Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-17K14632
[Patent] 液体タンクの床板検査用ロボット2024
- Inventor(s)
  広瀬茂男，加古川篤
- Industrial Property Rights Holder
  白山工業株式会社・学校法人立命館
- Industrial Property Rights Type
  特許
- Industrial Property Number
  2024-084947
- Filing Date
  2024
- Data Source
  KAKENHI-PROJECT-23K22727
[Patent] ロボットハンド制御システム2024
- Inventor(s)
  川村貞夫，加古川篤，森佳樹
- Industrial Property Rights Holder
  学校法人立命館
- Industrial Property Rights Type
  特許
- Industrial Property Number
  2024-061987
- Filing Date
  2024
- Data Source
  KAKENHI-PROJECT-23K22727
[Patent] 管内走行装置2023
- Inventor(s)
  加古川篤，山本知生
- Industrial Property Rights Holder
  加古川篤，山本知生
- Industrial Property Rights Type
  特許
- Industrial Property Number
  2023-009454
- Filing Date
  2023
- Data Source
  KAKENHI-PROJECT-23K22727
[Patent] 管内走行装置、管内走行装置の制御方法、及び管内走行装置の制御プログラム2023
- Inventor(s)
  生野康之、加古川篤ほか8名
- Industrial Property Rights Holder
  生野康之、加古川篤ほか8名
- Industrial Property Rights Type
  特許
- Industrial Property Number
  2023-104508
- Filing Date
  2023
- Data Source
  KAKENHI-PROJECT-23K22727
[Patent] 液体貯蔵容器の内側底部を保護する方法、及び、液体貯蔵容器の内側底部を保護する構造2023
- Inventor(s)
  広瀬茂男，加古川篤
- Industrial Property Rights Holder
  広瀬茂男，加古川篤
- Industrial Property Rights Type
  特許
- Industrial Property Number
  2023-175879
- Filing Date
  2023
- Data Source
  KAKENHI-PROJECT-23K22727
[Patent] 管内走行装置2023
- Inventor(s)
  加古川篤
- Industrial Property Rights Holder
  加古川篤
- Industrial Property Rights Type
  特許
- Industrial Property Number
  2023-008487
- Filing Date
  2023
- Data Source
  KAKENHI-PROJECT-23K22727
[Patent] 配管経路作成装置2022
- Inventor(s)
  馬書根，加古川篤，廣瀬千大
- Industrial Property Rights Holder
  馬書根，加古川篤，廣瀬千大
- Industrial Property Rights Type
  特許
- Industrial Property Number
  2022-085649
- Filing Date
  2022
- Data Source
  KAKENHI-PROJECT-23K22727
[Patent] ロボット装置2022
- Inventor(s)
  川村貞夫，加古川篤
- Industrial Property Rights Holder
  川村貞夫，加古川篤
- Industrial Property Rights Type
  特許
- Industrial Property Number
  2022-027563
- Filing Date
  2022
- Data Source
  KAKENHI-PROJECT-23K22727
[Patent] 水没型ギヤードサーボモータ2022
- Inventor(s)
  加古川篤，川村貞夫
- Industrial Property Rights Holder
  加古川篤，川村貞夫
- Industrial Property Rights Type
  特許
- Industrial Property Number
  2022-082719
- Filing Date
  2022
- Data Source
  KAKENHI-PROJECT-23K22727
[Patent] 弾性機構並びにそれを用いたアクチュエータ及び関節機構2019
- Inventor(s)
  川村貞夫，加古川篤，松井琢磨
- Industrial Property Rights Holder
  学校法人立命館
- Industrial Property Rights Type
  特許
- Industrial Property Number
  2020-030044
- Filing Date
  2019
- Data Source
  KAKENHI-PROJECT-19K14949
[Patent] 管内走行装置2019
- Inventor(s)
  馬書根・加古川篤
- Industrial Property Rights Holder
  学校法人立命館
- Industrial Property Rights Type
  特許
- Industrial Property Number
  2019-102358
- Filing Date
  2019
- Data Source
  KAKENHI-PROJECT-19K14949
[Patent] 把持装置2019
- Inventor(s)
  馬書根，加古川篤，海津祐貴
- Industrial Property Rights Holder
  学校法人立命館
- Industrial Property Rights Type
  特許
- Industrial Property Number
  2019-213940
- Filing Date
  2019
- Data Source
  KAKENHI-PROJECT-19K14949
[Presentation] Testing a Portable Underwater Robotic Manipulator with a Structure-Wall Suction Mechanism2025
- Author(s)
  Norimitsu Sakagami, Masatoshi Fukami, Yuki Tanaka, Aoi Koshioka, and Atsushi Kakogawa,
- Organizer
  30th International Symposium on Artificial Life and Robotics (AROB 30th 2025)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-24K00845
[Presentation] Testing a Portable Underwater Robotic Manipulator with a Structure-Wall Suction Mechanism2025
- Author(s)
  Norimitsu Sakagami, Masatoshi Fukami, Yuki Tanaka, Aoi Koshioka, and Atsushi Kakogawa
- Organizer
  30th Int. Symp. Artificial Life and Robotics (AROB 30th 2025), 10th Int. Sym. BioComplexity (ISBC10), 8th Int. Sym. Swarm Behavior and Bio-Inspired Robotics (SWARM8)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] 吸着式単腕型水中移動作業ロボット“Lampray-1” の開発 ―基本設計と中性浮力の検証―2024
- Author(s)
  廣本翔太，加古川篤，坂上憲光
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会2024
- Data Source
  KAKENHI-PROJECT-24K00845
[Presentation] Design of Lock/Unlock Controllable Joint for Wire-driven Robotic Arms2024
- Author(s)
  Yang Zhang, Zaiyang Liu, Atsushi Kakogawa, Yang Tian, Shugen Ma, and Zhongkui Wang
- Organizer
  The 2024 IEEE International Conference on Real-time Computing and Robotics (RCAR 2024)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] 水没型ギヤードサーボモータを用いたペンギン模倣遊泳ロボットの水中直進遊泳に関する研究2024
- Author(s)
  下岡大樹, 加古川篤, 田中博人
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会2024
- Data Source
  KAKENHI-PROJECT-24K00845
[Presentation] 水没型ギヤードサーボモータを用いたペンギン模倣遊泳ロボットの水中直進遊泳に関する研究2024
- Author(s)
  下岡大樹，加古川篤，田中博人
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] An Agile Robotic Penguin Driven by Submersible Geared Servomotors: Various Maneuvers by Active Feathering of the Wings2024
- Author(s)
  Taiki Shimooka, Atsushi Kakogawa, and Hiroto Tanaka
- Organizer
  The 2024 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2024)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] 実用的V字型配管内検査ロボットの開発とそのフィールド実験2024
- Author(s)
  関谷奏，加古川篤，中澤良太，生野康之
- Organizer
  第42回日本ロボット学会学術講演会
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] 起き上がり小法師型石油タンク床板肉厚測定検査ロボット“Tumbler-1”の開発ー基本設計と液中移動時の姿勢変化シミュレーションー2024
- Author(s)
  横山拓人，加古川篤，広瀬茂男
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] 吸着式単腕型水中移動作業ロボット“Lampray-1” の開発 ―基本設計と中性浮力の検証―2024
- Author(s)
  廣本翔太，加古川篤，坂上憲光
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] 被牽引式センシングユニットを用いた配管経路作図システム ―第２報：直管推定方法と曲管の回転角度分類方法の改良―2024
- Author(s)
  廣瀬千大，加古川篤
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] Underwater Forward Swimming of A Robotic Penguin by Flapping Wings2024
- Author(s)
  Taiki Shimooka, Atsushi Kakogawa, and Hiroto Tanaka
- Organizer
  The 9th International Symposium on Aero-aqua Bio-Mechanisms (ISABMEC2024)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] Development of an Unmanned Exploration Robot for Lunar Surface Geotechnical Investigation2024
- Author(s)
  Taizo Kobayashi, Atsushi Kakogawa, Shinichi Ito, Masafumi Nakagawa, Takeshi Tsuji, Shingo Ozaki, Satoshi Matsumura, Akihiko Kondo, Masanori Takigawa, Keitaro Kitamura, Takahito Hiramatsu, Hisatoshi Sano, Takeshi Yoneoka, Junichiro Odaka, Kenji Hosobori, Taichi Ikenaga and Ryu Taniguchi
- Organizer
  21st International and 12th Asia-Pacific Regional Conference of the International Society for Terrain-Vehicle Systems (ISTVS2024)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] An agile robotic penguin driven by submersible geared servomotors: various maneuvers by active feathering of the wings2024
- Author(s)
  Taiki Shimooka, Atsushi Kakogawa, and Hiroto Tanaka
- Organizer
  2024 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-24K00845
[Presentation] Underwater forward swimming of a robotic penguin by flapping wings2024
- Author(s)
  Taiki Shimooka, Atsushi Kakogawa and Hiroto Tanaka
- Organizer
  The 9th International Symposium on Aero Aqua Bio-Mechanisms
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-24K00845
[Presentation] Development of a Practical Articulated Wheeled In-pipe Robot for Both 3-4 in Force Main Inspection of Sewer Pipes2024
- Author(s)
  Kenya Murata, Atsushi Kakogawa
- Organizer
  29th International Symposium on Artificial Life and Robotics (AROB 29th 2024)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] 関節のバックドライブを利用した衝撃緩和マニピュレータの基礎研究ー受動３関節機構を用いた実機実験による衝撃力緩和の検証ー2024
- Author(s)
  清水悠太，加古川篤
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] 面外曲げ走行可能なV字型配管内検査ロボットの開発2023
- Author(s)
  関谷奏，廣瀬千大，村田憲哉，小林勇輝，加古川篤，馬書根
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会 2023
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] 月面における測量・地盤調査ロボットの開発2023
- Author(s)
  小林泰三・加古川篤・伊藤真一，中川雅史，滝川正則・北村啓太朗・佐野寿聰，辻健，米岡威・尾高潤一郎・島田徹也，松村聡・近藤明彦，池永太一・谷口龍，尾崎伸吾
- Organizer
  第67回宇宙科学技術連合講演会
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] 将来の月利用・拠点建設に向けた地質・地盤調査2023
- Author(s)
  小林泰三・加古川篤，中川雅史，滝川正則・北村啓太朗，辻健，米岡威・尾高潤一郎・島田徹也，松村聡・近藤明彦，池永太一・谷口龍
- Organizer
  日本航空宇宙学会第54期定時社員総会および年会講演会
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] 正逆の差動遊星歯車減速機を用いた1 自由度水没型グリッパ2023
- Author(s)
  加古川篤，奥島規志，坂上憲光
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会 2023
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] 内径に応じて回転波動駆動と螺旋駆動が切り替わる管内推進機構の考察2023
- Author(s)
  大國嵩人，山本知生，加古川篤，馬書根
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会 2023
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] An Underwater Snake Robot that Does Not Consider Actuators' Waterproof: Design and Primary Experiments2023
- Author(s)
  Shah Darshankumar Rajendrakumar, Atsushi Kakogawa, Shugen Ma
- Organizer
  IEEE International Conference on Robotics and Biomimetics (ROBIO 2023)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] 下水道圧送管内点検のための連結車輪型管内移動ロボットの開発2023
- Author(s)
  村田憲哉，廣瀬千大，加古川篤，馬書根
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会 2023
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] 緊急脱出のためのワイヤ駆動式伸縮機構を有する３インチ管内検査ロボット「Xbot 1」の開発2023
- Author(s)
  加古川篤，山本知生
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会 2023
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] ペンギン模倣遊泳ロボットに用いる水没型ギヤードサーボモータの研究2023
- Author(s)
  下岡大樹，加古川篤，田中博人
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会 2023
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] 押付力による弾性体の摩擦係数変化を考慮したオムニホイールの受動ローラの材料検討2023
- Author(s)
  村田憲哉，久壽米木麻琴，加古川篤，馬書根
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会 2023
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] Vertical Bend and T-branch Travels of an Articulated Wheeled In-pipe Inspection Robot by Combining Its Joint Angle and Torque Controls2022
- Author(s)
  Atsushi Kakogawa, Kenya Murata, Shugen Ma
- Organizer
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] 防水シールを用いない水没型ギアード電動サーボモータによる水中力制御2022
- Author(s)
  加古川篤，児島隆弘，森佳樹，川村貞夫，坂上憲光
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会 2022
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] 潤滑油とシーリングを用いない水没型ギアード電動サーボモータの電流ベーストルク制御の性能評価2022
- Author(s)
  加古川篤，村田彩夏，坂上憲光，馬書根
- Organizer
  第40回日本ロボット学会学術講演会
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] 被牽引式センシングユニットを用いた配管経路作図システム2022
- Author(s)
  廣瀬千大，加古川篤，馬書根
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会 2022
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] 配管内検査ロボットのケーブル摩擦軽減ユニットの開発2022
- Author(s)
  太田駿介，村田憲哉，加古川篤，馬書根
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会 2022
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] 連結車輪型管内検査ロボットの長距離走行に向けて2022
- Author(s)
  村田憲哉，加古川篤，馬書根
- Organizer
  第40回日本ロボット学会学術講演会
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] A Standards-Based Pipeline Route Drawing System Using a Towed Sensing Unit2022
- Author(s)
  Atsushi Kakogawa, Chihiro Hirose, Shugen Ma
- Organizer
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] １自由度能動関節のみを用いた連結車輪型管内移動ロボットのT字管走行 ―第2 報：角度センサの配置による関節角度およびトルクの計測性能の比較―2022
- Author(s)
  村田憲哉，加古川篤，馬書根
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会 2022
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] 8インチ中圧ガス管内検査ロボットの開発とその実用化に向けて2022
- Author(s)
  小林勇輝，加古川篤，馬書根
- Organizer
  第40回日本ロボット学会学術講演会
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] A Highly Backdrivable Robotic Arm using Low Friction and High Accuracy Cycloidal Geared Motors: ALFHA2022
- Author(s)
  Atsushi Kakogawa, Yoshiki Mori, Toshiki Fukasawa, Kurimoto Naoaki, Shinya Tokunaga, Takashi Tokuda, Akira Yamamoto, Sadao Kawamura
- Organizer
  IEEE/SICE International Symposium on System Integration (SII 2022)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] 配管の長距離経路作図に向けた被牽引センシングシステムの開発2022
- Author(s)
  廣瀬千大，加古川篤，馬書根
- Organizer
  第40回日本ロボット学会学術講演会
- Data Source
  KAKENHI-PROJECT-23K22727
[Presentation] バイナリ制御を用いたヘビ型ロボットの高効率な運動の検討2020
- Author(s)
  勝間洋平，加古川篤，馬書根
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会 2020
- Data Source
  KAKENHI-PROJECT-19K14949
[Presentation] ベルヌーイの原理を利用した非接触水中壁面吸着機構の吸着力のモデル構築2019
- Author(s)
  柴田大地，馬書根，加古川篤
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会 2019
- Data Source
  KAKENHI-PROJECT-19K14949
[Presentation] Plate Springed Parallel Elastic Actuators for Efficient Movement of a Planar Snake Robot2019
- Author(s)
  Atsushi Kakogawa, Taihei Kawabata, and Shugen Ma
- Organizer
  IEEE/ASME Int. Conf. Advanced Intelligent Mechatronics (AIM 2019)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-19K14949
[Presentation] Control System Design for the Quadruped Walking Platform TITAN-VIII2019
- Author(s)
  Guoteng Zhang, Yang Tian, Shugen Ma and Atsushi Kakogawa
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会 2019
- Data Source
  KAKENHI-PROJECT-19K14949
[Presentation] Joint Angle Control of an 8-inch Gas Pipeline Inspection Robot to Pass through Bends2019
- Author(s)
  Sera Fumiya, Atsushi Kakogawa, and Shugen Ma
- Organizer
  The 2019 International Conference on Advanced Mechatronic Systems (ICAMechS 2019)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-19K14949
[Presentation] 8インチガス管内検査ロボットの曲管走行のための関節角度制御2019
- Author(s)
  世良文哉，加古川篤，馬書根
- Organizer
  ロボティクス・メカトロニクス講演会 2019
- Data Source
  KAKENHI-PROJECT-17K14632
[Presentation] 水中における偏心パドル機構の新たな水泳方法の提案2019
- Author(s)
  沈雅怡，馬書根，加古川篤，田陽，張国騰，井上脩也
- Organizer
  ロボティクス・メカトロニクス講演会 2019
- Data Source
  KAKENHI-PROJECT-17K14632
[Presentation] Plate Springed Parallel Elastic Actuators for Efficient Movement of a Planar Snake Robot2019
- Author(s)
  Atsushi Kakogawa, Taihei Kawabata, and Shugen Ma
- Organizer
  IEEE/ASME Int. Conf. Advanced Intelligent Mechatronics (AIM 2019)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-17K14632
[Presentation] 8インチガス管内検査ロボットの曲管走行のための関節角度制御2019
- Author(s)
  世良文哉，加古川篤，馬書根
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会 2019
- Data Source
  KAKENHI-PROJECT-19K14949
[Presentation] An In-pipe Inspection Module with an Omnidirectional Bent-pipe Self-adaptation Mechanism using a Joint Torque Control2019
- Author(s)
  Atsushi Kakogawa and Shugen Ma
- Organizer
  IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2019)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-19K14949
[Presentation] 把持と引き上げ動作が可能な空気圧グリッパーの開発2019
- Author(s)
  海津祐貴，加古川篤，馬書根
- Organizer
  ロボティクス・メカトロニクス講演会 2019
- Data Source
  KAKENHI-PROJECT-17K14632
[Presentation] ベルヌーイの原理を利用した非接触水中壁面吸着機構の吸着力のモデル構築2019
- Author(s)
  柴田大地，馬書根，加古川篤
- Organizer
  ロボティクス・メカトロニクス講演会 2019
- Data Source
  KAKENHI-PROJECT-17K14632
[Presentation] 把持と引き上げ動作が可能な空気圧グリッパーの開発2019
- Author(s)
  海津祐貴，加古川篤，馬書根
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会 2019
- Data Source
  KAKENHI-PROJECT-19K14949
[Presentation] 水中における偏心パドル機構の新たな水泳方法の提案2019
- Author(s)
  沈雅怡，馬書根，加古川篤，田陽，張国騰，井上脩也
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会 2019
- Data Source
  KAKENHI-PROJECT-19K14949
[Presentation] 影画像情報に基づく配管検査ロボットのエルボー管内自動走行システム　―第2 報：影の認識方法の改良および連続エルボー管での実験―2018
- Author(s)
  加古川篤，小紫由基，馬書根
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会2018
- Data Source
  KAKENHI-PROJECT-17K14632
[Presentation] Multi-link Articulated Wheeled In-pipe Robot with Underactuated Twisting Joints2018
- Author(s)
  Atsushi Kakogawa, Yoshimichi Oka, and Shugen Ma
- Organizer
  IEEE Int. Conf. Mechatronics and Automation (ICMA 2018)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-17K14632
[Presentation] A Differential Elastic Joint for Multi-Linked Pipeline Inspection Robots2018
- Author(s)
  Atsushi Kakogawa and Shugen Ma
- Organizer
  IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2018)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-17K14632
[Presentation] Stopper Angle Design for a Multi-link Articulated Wheeled In-Pipe Robot with Underactuated Twisting Joints2018
- Author(s)
  Yoshimichi Oka, Atsushi Kakogawa, and Shugen Ma
- Organizer
  IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2018)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-17K14632
[Presentation] 直列弾性把持機構を有する配管外走行ロボットの段差走行性能および曲部走破性能に関する実験的研究2018
- Author(s)
  大谷修生，加古川篤，馬書根，田陽
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会2018
- Data Source
  KAKENHI-PROJECT-17K14632
[Presentation] 誘電エラストマーアクチュエータで駆動するイモムシロボットの開発2018
- Author(s)
  張国騰，川端泰平，馬書根，加古川篤
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会2018
- Data Source
  KAKENHI-PROJECT-17K14632
[Presentation] 並列弾性アクチュエータを用いた高効率2次元ヘビ型ロボットの剛性設計2018
- Author(s)
  加古川篤，馬書根
- Organizer
  第62回システム制御情報学会研究発表講演会 (SCI’18)
- Data Source
  KAKENHI-PROJECT-17K14632
[Presentation] 劣駆動型腱駆動アームを有する螺旋型円柱昇降ロボットの開発2018
- Author(s)
  大塚貴丈，井上脩也，馬捷，加古川篤，馬書根
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会2018
- Data Source
  KAKENHI-PROJECT-17K14632
[Presentation] 偏心パドル機構を備えた全地形対応ロボットの開発2018
- Author(s)
  沈雅怡，馬書根，冨田拓基，張国騰，田陽，加古川篤
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会2018
- Data Source
  KAKENHI-PROJECT-17K14632
[Presentation] Stiffness Design of a Resonance-based Planar Snake Robot with Parallel Elastic Actuators2018
- Author(s)
  Atsushi Kakogawa, Soo Jeon, and Shugen Ma
- Organizer
  IEEE Int. Conf. Robotics and Automation (ICRA2018), Accepted
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-17K14632
[Presentation] 剛体と弾性体を組み合わせた 1 自由度回転脚による地盤反力の変動抑制2017
- Author(s)
  向井奨，馬書根，加古川篤
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会2017
- Data Source
  KAKENHI-PROJECT-17K14632
[Presentation] 2リンク車輪型空調ダクト内清掃ロボットの開発2017
- Author(s)
  加古川篤，小紫由基，馬書根
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会2017
- Data Source
  KAKENHI-PROJECT-17K14632
[Presentation] Anisotropic Shadow-based Operation Assistant for a Pipeline-inspection Robot using a Single Illuminator and Camera2017
- Author(s)
  Atsushi Kakogawa, Yuki Komurasaki and Shugen Ma
- Organizer
  Proceedings of the IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS2017)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-17K14632
[Presentation] 車軸と体軸に差動機構を有する連結車輪型管内移動ロボットの開発2017
- Author(s)
  岡義倫，加古川篤，馬書根
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会2017
- Data Source
  KAKENHI-PROJECT-17K14632

1. 坂上憲光 (20373102)

# of Collaborated Projects: 1 results

# of Collaborated Products: 5 results
2. 田中博人 (80624725)

# of Collaborated Projects: 1 results

# of Collaborated Products: 4 results
3. 菊地デイル万次郎 (30793343)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
4. 青木尊之 (00184036)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
5. 中島求 (20272669)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results

Kakogawa Atsushi 加古川 篤

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Basic Research on Torque Sensorless and Sealless Amphibious Flexible ActuatorPrincipal Investigator

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羽ばたき遊泳動物の敏捷性と効率性を両立する運動制御メカニズムの解明

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Study on efficient compact parallel elastic actuators using plate spring and DD motor for periodic movementPrincipal Investigator

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Research and Development of a Small Differential Elastic Actuator for Narrow EnvironmentsPrincipal Investigator

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[Book] Robotic Search and Rescue through In-pipe Movement2019

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[Journal Article] A Pipeline Route Drawing System Equipped With a Towed Unit Using Only Low Cost Internal Sensors2025

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[Journal Article] 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2024

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[Journal Article] 下水道圧送管路点検のための自走式ロボット技術，公益社団法人日本下水道協会2024

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[Journal Article] Elastic material selection for omni-wheels of in-pipe robots with high traction capability2024

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[Journal Article] 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2024

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[Journal Article] Grasping of Cylindrical Structures Using an Underwater Snake Robot Without Force/Torque Sensors and Actuator Waterproofing2024

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[Journal Article] A V-Shaped In-Pipe Robot to Travel Through Complex Winding Pathways in Three Dimensions2024

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[Journal Article] ロボット産業における接触基盤技術の動向2023

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[Journal Article] Effect of Underactuated Parallelogram Shape-shifting for Environmentally-adapted Movement of a Three Modular In-pipe Robot2023

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[Journal Article] Automatic T-Branch Travel of an Articulated Wheeled In-Pipe Inspection Robot Using Joint Angle Response to Environmental Changes2023

Author(s)

Kakogawa Atsushi 加古川篤