研究者学術情報データベース

マ　ショコン
馬　書根
MA Shugen

所属理工学部ロボティクス学科

職名教授

論文
1.	2023/07	Automatic T-branch Travel of an Articulated Wheeled Inpipe Inspection Robot Using Joint Angle Response to Environmental Changes │ IEEE Transaction on Industrial Electronics │ 70 (7),7041-7050頁 (共著)
2.	2023/02	Koopman Operator-based Robust Data-Driven Control for Wheeled Mobile Robots │ IEEE/ASME Transaction on Mechatronics │ 28 (1),461-472頁 (共著)
3.	2023/01	Robotics in Search and Rescue (SAR) Operations: An Ethical and Design Perspective Framework for response phase │ Applied Sciences │ 13 (3),1800-1-1800-24頁 (共著)
4.	2022/09	Conditional Disturbance Negation based Control for an Omnidirectional Mobile Robot: an Energy Perspective │ IEEE Robotics and Automation Letters │ 7 (4),11641-11648頁 (共著)
5.	2022/08	An Anti-Drone Device Based on Capture Technology │ Biomimetic Intelligence and Robotics │ 2 (100060),1-7頁 (共著)
6.	2022/10	Optimal Path Following Control with Efficient Computation for Snake Robots Subject to Multiple Constraints and Unknown Frictions │ IEEE Robotics and Automation Letters │ 7 (4),9151-9158頁 (共著)
7.	2022/06	Bidirectional Locomotion of Soft Inchworm Crawler Using Dynamic Gaits │ Frontiers in Robotics and AI (section Soft Robotics) │ 9 (899850),1-10頁 (共著)
8.	2022/06	Active Disturbance Rejection Control of Euler ‒ Lagrange Systems Exploiting Internal Damping │ IEEE Transaction on Cybernetics │ 52 (6),4334-4345頁 (共著)
9.	2022/04	Automatic feature type selection in digital photogrammetry of piping │ Computer-Aided Civil and Infrastructure Engineering │ 37 (10),1335-1348頁 (共著)
10.	2022/04	The Impact of Dorsal Fin Design on the Swimming Performance of a Snake-Like Robot │ IEEE Robotics and Automation Letters │ 7 (2),4939-4944頁 (共著)
11.	2022/02	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)
12.	2022/02	Adaptive Model Predictive Control for an Omnidirectional Mobile Robot with Friction Compensation and Incremental Input Constraints │ Transactions of the Institute of Measurement and Control │ 44 (4),835-847頁 (共著)
13.	2022/02	Undulatory gait planning method of multi-legged robot with passive-spine │ Biomimetic Intelligence and Robotics │ 2 (100028),1-8頁 (共著)
14.	2022/01	Impact of caudal fin geometry on the swimming performance of a snake-like robot │ Ocean Engineering │ 245,110372-1-110372-10頁 (共著)
15.	2022/01	Automated Rust Removal: Rust Detection and Visual Servo Control │ Automation in Construction │ 134,104043-1-104043-11頁 (共著)
16.	2021/09	Inner pressure prediction of suction cup based on Bernoulli equation │ Measurement: Sensors │ 18,100139-1-100139-7頁 (共著)
17.	2021/05	Non-singular terminal sliding mode control of an omnidirectional mobile manipulator based on extended state observer │ International Journal of Intelligent Robotics and Applications │ 5,219-234頁 (共著)
18.	2021/04	A Coach-Based Bayesian Reinforcement Learning Method for Snake Robot Control │ IEEE Robotics and Automation Letters │ 6 (2),2319-2326頁 (共著)
19.	2021/02	Generation of Efficient Rectilinear Gait Based on Dynamic Morphological Computation and Its Theoretical Analysis │ IEEE Robotics and Automation Letters │ 6 (2),841-848頁 (共著)
20.	2021/02	Sensor-less and Controlless Underactuated Grippers with Pull-in Mechanisms for Grasping Various Objects │ Frontiers in Robotics and AI │ 8,1-19頁 (共著)
21.	2021/01	Plate-springed Parallel Elastic Actuator for Efficient Snake Robot Movement │ IEEE/ASME Transaction on Mechantronics │ 26 (6),3051-3063頁 (共著)
22.	2021/10	A Decentralized Bayesian Approach for Snake Robot Control │ IEEE Robotics and Automation Letters │ 6 (4),6955-6960頁 (共著)
23.	2020/08	Compensated model-free adaptive tracking control scheme for autonomous underwater vehicles via extended state observer │ Oceanic Engineering │ 217,107976:1-15 (共著)
24.	2020/07	Realizing Efficient Front Crawl Stroke with a Wheel-Paddle Integrated Mechanism: Inspired by Human Competitive Swimming │ IEEE Journal of Oceanic Engineering │ 45 (3),1558-1691 (共著)
25.	2020/06	A Motion Planning Approach for Nonprehensile Manipulation and Locomotion Tasks of a Legged Robot │ IEEE Transactions on Robotics │ 36 (3),855-874 (共著)
26.	2020/06	A Pressing Attachment Approach for a Wall-Climbing Robot Utilizing Passive Suction Cups │ Robotics │ 9 (2),26:1—16 (共著)
27.	2020/06	A Structure-improved Extended State Observer based Control with Application to an Omnidirectional Mobile Robot, │ ISA Transactions │ 101,335-345 (共著)
28.	2020/06	Adaptive virtual power-based collision detection and isolation with link parameter estimation │ Advanced Robotics │ 34 (12),814-825 (共著)
29.	2019/12	A force-sensorless approach to collision detection based on virtual powers │ Advanced Robotics │ 33 (23),1209-1224 (共著)
30.	2019/12	Extended State Observer based Sliding Mode Control of an Omnidirectional Mobile Robot with Friction Compensation │ IEEE Transaction on Industrial Electronics │ 66 (12),9480-9489 (共著)
31.	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)
32.	2019/10	Extended State Observer based Robust Friction Compensation for Tracking Control of an Omnidirectional Mobile Robot │ ASME Journal of Dynamic Systems, Measurement and Control │ 141 (10),101001(1-10) (共著)
33.	2019/09	A Snake-Like Robot with Envelope Wheels and Obstacle-Aided Gaits │ Applied Sciences │ 9 (18),3749-1-3749-17頁 (共著)
34.	2019/09	Omni-directional gait of a passive-spine hexapod │ Robotics and Autonomous Systems │ 119,231-246 (共著)
35.	2019/09	Passivity-based Tracking Control of an Omnidirectional Mobile Robot using only One Geometrical Parameter │ Control Engineering Practice │ 90 (9),161-168 (共著)
36.	2019/09	Research on Low Energy Consumption Static Postures of Bionic Feet │ Applied Sciences │ 9 (19),4031-1-4031-17頁 (共著)
37.	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 (共著)
38.	2018/12	影画像に基づく自動姿勢調整機能を備えた管内検査ロボット │ 配管技術 │ 60 (14),52-56 (共著)
39.	2018/11	Tracking Control of Tangential Velocity of Eel Robot Based on Iterative Learning Control │ 40 (6),769-778 (共著)
40.	2018/10	Curved Path Following Control for Planar Eel Robots │ Robotics and Autonomous Systems │ 108,129-139 (共著)
41.	2018/10	Development of a Wheel-Paddle Integrated Quadruped Robot for Rough Terrain and its Verification on Hybrid Mode, │ IEEE Robotics and Automation Letters │ 3 (4),4062-4067 (共著)
42.	2018/06	A Novel Serpentine Gait Generation Method for Snakelike Robots Based on Geometry Mechanics │ IEEE/ASME Transaction on Mechantronics │ 23 (3),1249-1258 (共著)
43.	2018/06	Passivity-based Active Disturbance Rejection Control of an Omni-directional Mobile Robot │ 33 (6),1081-1086 (共著)
44.	2018/02	Stiffness Design of a Resonance-Based Planar Snake Robot With Parallel Elastic Actuators │ IEEE Robotics and Automation Letters │ 3 (2),1284-1291 (共著)
45.	2018/01	Design of a Multilink-articulated Wheeled Pipeline Inspection Robot using only Passive Elastic Joints │ Advanced Robotics │ 32 (1),37-50 (共著)
46.	2017/11	Snake-Like Robot with Fusion Gait for High Environmental Adaptability: Design, Modeling, and Experiment │ Applied Sciences │ 7,1133,1-13 (共著)
47.	2017/11	Studying slippage on pushing applications with snake robots │ Robotics and Biomimetics │ 4 (9),1-12 (共著)
48.	2017/10	Development of an In-pipe Robot with Differential Screw Angles for Curved Pipes and Vertical Straight Pipes │ ASME Journal of Mechanisms and Robotics │ 9 (5),051014,1-11 (共著)
49.	2017/10	Experimental Verification of the Oscillating Paddling Gait for an ePaddle-EGM Amphibious Locomotion Mechanism │ IEEE Robotics and Automation Letters │ 2 (4),2322-2327 (共著)
50.	2017/08	An Energy Suboptimal Reconfiguration Planning Approach to Wheel-manipulator Robots │ 自動化学報 │ 43 (8),1359-1369 (共著)
51.	2017/08	Kidnapping Detection and Recognition in Previous Unknown Environment │ Journal of Sensors │ 2017,1-15 (共著)
52.	2017/07	Generating Vectored Thrust with the Rotational Paddling Gait of an ePaddle-EGM mechanism: Modeling and Experimental Verifications │ IEEE Journal of Oceanic Engineering │ 42 (3),522-531 (共著)
53.	2017/06	Dynamic Modeling of Reconfigurable Robots with Independent Locomotion and Manipulation Ability │ International Journal of Robotics and Automation │ 32 (3) (共著)
54.	2017/01	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 │ 日本機械学会論文集 │ 83 (845),16-00272 (共著)
55.	2016/12	Probabilistic Double Guarantee Kidnapping Detection in SLAM │ Robotics and Biomimetics │ 3 (20),1-7 (共著)
56.	2016/11	New Method Combining KECA-LDA With ELM for Classification of Chinese Liquors Using　Electronic Nose │ IEEE Sensors Journal │ 16 (22),8010/8017 (共著)
57.	2016/10	Force Analytic Method for Rolling Gaits of Tensegrity Robots │ IEEE/ASME Transaction on Mechantronics │ 21 (3),2249-2259 (共著)
58.	2016/10	Simulate the aerodynamic olfactory effects of gassensitive UAVs: A numerical model and its parallel implementation │ Advances in Engineering Software │ 102,123-133 (共著)
59.	2016/09	Design and Motion Mechanism of a Screw Drive Inpipe Robot with Adaptability to In-pipe Environment │ 52 (5),9-17 (共著)
60.	2016/09	Parameter Optimization for Rolling Motion of Structure Variable Robots │ 52 (17),127-136 (共著)
61.	2016/07	An Efficient Reconfiguration Planning Method for Mobile Type Modular Robot │ 38 (4),467-485 (共著)
62.	2016/07	Energy-efficient Control of a Screw-drive Pipe Robot with Consideration of Actuator's Characteristics │ Robotics and Biomimetics │ 3 (11),1-11 (共著)
63.	2016/07	Passivity-based Control of an Omnidirectional Mobile Robot │ Robotics and Biomimetics │ 3 (10),1-9 (共著)
64.	2016/06	A Bioinspired Neural Network for Data Processing in an Electronic Nose │ IEEE Transaction on Instrumentation and Measurement │ 65 (10),2369-2380 (共著)
65.	2016/06	Analysis of the Non-reciprocating Legged Gait for a Hexapod Robot based on the ePaddle-EGM │ Robotics and Biomimetics │ 3 (9),1-11 (共著)
66.	2016/06	Design of a High-mobility Multi-terrain Robot based on Eccentric Paddle Mechanism │ Robotics and Biomimetics │ 3 (8),1-11 (共著)
67.	2016/05	Adaptive controller design for underwater snake robot with unmatched uncertainties │ Science in China Series F: Information Sciences │ 59 (5),1-15 (共著)
68.	2016/02	Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes │ Science in China Series E: Technological Sciences │ 59 (2),191/202 (共著)
69.	2016/02	Designing Arm Length of a Screw Drive In-pipe Robot for Climbing Vertically Positioned Bent Pipes │ Robotica │ 34 (2),306-327 (共著)
70.	2016/01	Map Segmentation for Simultaneous Localization and Mapping in Ruins │ Advanced Robotics │ 30 (1),1-14 (共著)
71.	2015/11	Velocity Tracking Control of a Snake-like Robot Based on the Dynamics-Control Unified Model │ 自動化学報 │ 41 (11),1847-1856 (共著)
72.	2015/11	Fuzzy Theory based Control Method for an In-pipe Robot to Move in Variable Resistance Environment │ Chinese Journal of Mechanical Engineering │ 28 (6),1213-1221 (共著)
73.	2015/11	Planar Legged Walking of a Passive-spine Hexapod Robot │ Advanced Robotics │ 29 (23),1510-1525 (共著)
74.	2015/10	A Model Transformation of Map Repre- sentation for Hierarchical SLAM That Can Be Used in the After-Earthquake Buildings │ 自動化学報 │ 41 (10),1723-1733 (共著)
75.	2015/09	Continuous Robust Tracking Control for Magnetic Levitation System with Unidirectional Input │ IEEE Transaction on Industrial Electronics │ 62 (9),5971-5980 (共著)
76.	2015/08	Dynamics-control Unified Model of a Snakelike Robot based on Differential Geometry │ 45 (8),1080-1094 (共著)
77.	2015/06	Non-reciprocating legged gait for robot with epicyclic-gear-based eccentric paddle mechanism │ Robotics and Autonomous Systems │ 68,36-46 (共著)
78.	2015/06	Quantitative Study on the Attachment and Detachment of a Passive Suction Cup │ Vacuum │ 116,13-20 (共著)
79.	2015/03	Generalized Proportional Integral Observer based Control of an Omnidirectional Mobile Robot │ Mechatronics │ 26,36-44 (共著)
80.	2015/03	Learning to Rapidly Re-Contact the Lost Plume in Chemical Plume Tracing │ Sensors │ 15,7512-7536 (共著)
81.	2015/03	Modeling and Optimal Torque Control of a Snake-like Robot based on the Fiber Bundle Theory │ Science in China Series F: Information Sciences │ 58 (3),032205:1–032205:13 (共著)
82.	2015/03	Steering for a Transformable Robot with Heterogeneous Modules in Narrow Space │ 37 (2),161-167 (共著)
83.	2015/03	Underwater Propulsion Principle for a Non-superposition Amphibious Transformable Robot │ 51 (3),1-9 (共著)
84.	2015/02	A Continuous Dynamic Modeling Approach for an Omnidirectional Mobile Robot │ Advanced Robotics │ 29 (4),253-271 (共著)
85.	2015/01	Modular Dynamics Modeling Approach of Group Configuration of Wheel-manipulator Robots │ 51 (1),24-33 (共著)
86.	2014/12	Drawbar Pull of a Wheel with an Actively Actuated Lug on Sandy Terrain │ Journal of Terramechanics │ 56,17–24 (共著)
87.	2014/12	Stability Analysis and Gait Planning of a Quadruped Robot based on the Eccentric Paddle Mechanism │ Control and Intelligent Systems │ 42 (4) (共著)
88.	2014/11	An HCCPG Model-based 3D Gait Control of a Snake-like Robot │ 36 (6),697-703 (共著)
89.	2014/10	Characteristics of Normal and Tangential Forces acting on a Single Lug during Translational Motion in Sandy Soil │ Journal of Terramechanics │ 55,47-59 (共著)
90.	2014/09	Control Strategies of Energy Optimization for an In-pipe Robot with Inclining-Angle-Adjustable Screw Rollers │ 50 (17),8-16 (共著)
91.	2014/08	Biomechanical analysis of typical upper limb movements based on kinect-life MOD │ Applied Mechanics and Materials │ 599 - 601,534-538 (共著)
92.	2014/08	Motion Comparison Method Combining Segmented Multi-Joint Line Graphs with the SIFT Matching Technique │ Applied Mechanics and Materials │ 599 - 601,1566-1570 (共著)
93.	2014/08	Recurrence Characteristics Analysis of Near-Surface Wind Speed Signal with Different Sampling Frequencies │ Applied Mechanics and Materials │ 599 - 601,1605-1609 (共著)
94.	2014/07	A Simplified CPGs Network with Phase Oscillator Model for Locomotion Control of a Snake-like Robot │ Journal of Intelligent & Robotic Systems │ 75 (1),71-86 (共著)
95.	2014/07	Design and Strength Analysis of the Differential Omnidirectional Wheel │ 36 (4),498-502 (共著)
96.	2014/06	Experimental Study on the Oscillating Paddling Gait of an ePaddle Mechanism with Flexible Configuration │ Advanced Robotics │ 28 (11),769-780 (共著)
97.	2014/05	Electronic nose with a new feature reduction method and a multi-linear classifier for Chinese liquor classification │ Review of Scientific Instruments │ 85 (5),055004—055004-10 (共著)
98.	2014/05	The study of snake robots biomimetic control method with the environments adaptability │ 44 (5),647-663 (共著)
99.	2014/03	Smooth Transition for CPG-based Body Shape Control of a Snake-like robot │ Bioinspiration & Biomimetics │ 9 (1),016003 (共著)
100.	2013/12	Different-Level Simultaneous Minimization of Joint-Velocity and Joint-Torque for Redundant Robot Manipulators │ Journal of Intelligent & Robotic Systems │ 72 (3/4),301-323 (共著)
101.	2013/12	Method to Seek the Deformed Shape and to Find the Rolling Direction of Tensegrity Robots │ 58 (Suppl.II),97-103 (共著)
102.	2013/12	Simultaneous Localization and Mapping based on Morphological Characteristics of the Seismic Damage of the Interior Ruins │ 58 (Suppl.II),104-111 (共著)
103.	2013/11	Neurally Controlled Steering for Collision-free Behavior of a Snake Robot │ IEEE Transactions on Control Systems Technology │ 21 (6),2443-2449 (共著)
104.	2013/11	Simultaneous Localization and Mapping Based on the Hybrid Metric-Topological Map in the Ruins Environment │ 35 (6),762-768 (共著)
105.	2013/10	A Hierarchical Connectionist CPG Model for Controlling the 3-dimensional Gaits of the Snake-like Robots │ 自動化学報 │ 39 (10),1611-1622 (共著)
106.	2013/06	A Data Association Approach based on Multi-rules in VorSLAM │ 自動化学報 │ 39 (6),883-894 (共著)
107.	2013/05	A Versatile Locomotion Mechanism for Amphibious Robots: Eccentric Paddle Mechanism │ Advanced Robotics │ 27 (8),611-625 (共著)
108.	2013/04	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 (共著)
109.	2013/02	Towards Stable and Efficient Legged Race-walking of an ePaddlebased Robot │ Mechatronics │ 23 (1),108-120 (共著)
110.	2013/01	Self-adaptable Biomimetic Control Strategy for Snake Robots Based on Neural Stepping Stimulation Mechanism │ 49 (1),53-62 (共著)
111.	2013	A versatile locomotion mechanism for amphibious robots: eccentric paddle mechanism [J] │ Advanced Robotics │ 27 (8),611-625頁 (共著)
112.	2013	Towards stable and efficient legged race-walking of an ePaddle-based robot [J] │ Mechatronics │ 23 (1),108-120
113.	2012/12	研究の国際協力のすすめ — 日本からアジア，そして世界へ — │ 日本ロボット学会誌 │ 30 (10),20-21 (単著)
114.	2012/09	Mechanism-parameters Design Method of an Amphibious Transformable Robot Based on Multi-objective Genetic Algorithm │ 48 (17),10-20 (共著)
115.	2012/05	Development of an Amphibious Snake-like Robot and its Gaits on Ground and in Water │ 48 (9),18-25 (共著)
116.	2012/04	A Dynamic Shape-shifting Method for a Transformable Tracked Robot │ 22 (4),403-409 (共著)
117.	2012/03	Kinematics Study on an Omnidirectional Mobile Robot with MY Wheels │ 機器人 │ 34 (2),144-151 (共著)
118.	2012/02	Stiffness Design of Springs for a Screw Drive In-pipe Robot to Pass through Curved Pipes and Vertical Straight Pipes │ Advanced Robotics │ 26 (3-4),253-276 (共著)
119.	2012/01	Online Stair-Climbing Control Based On the Combined Motion Planning of a Transformable Tracked Robot │ 48 (1),47-56 (共著)
120.	2011/12	An Omnidirectional Mobile Robot │ Science in China Series F: Information Sciences │ 54 (12),2631-2638 (共著)
121.	2011/09	Simultaneous Localization and Mapping through a Voronoi-Diagarm-based Map Representation │ 自動化学報 │ 37 (9),1095-1104 (共著)
122.	2011/08	Development of a Modular Crawler for Tracked Robots │ Advanced Robotics │ 25 (13-14),1839-1849 (共著)
123.	2011/05	Gait Generation and Analysis for Snake-like Robots │ 機器人 │ 33 (3),371-378 (共著)
124.	2011/05	Simulation and Experimental Study of an Energy-based Control Method for the Serpentine Locomotion of a Snake-like Robot │ 自動化学報 │ 37 (5),604-614 (共著)
125.	2011/04	A SLAM Algorithm in Complex Environments: SLASEM │ Advanced Robotics │ 25 (6/7),941-962 (共著)
126.	2011/03	Analysis of the Constraint Relation between Ground and Self-adaptive Mobile Mechanism of a Transformable Wheel-track Robot │ Science in China Series E: Technological Sciences │ 54 (3),610-624 (共著)
127.	2011/03	Development of a Transformable Wheel-track Robot with Self-adaptive Ability │ 47 (5),1-10 (共著)
128.	2011/02	A Unified Dynamic Model for Locomotion and Manipulation of a Snake-like Robot based on Differential Geometry │ Science in China Series F: Information Sciences │ 54 (2),318-333 (共著)
129.	2011/02	Data Association Using General Distance in SLASEM │ 機器人 │ 33 (2),214-220 (共著)
130.	2010/12	Enumeration of the non-isomorphic configurations for a reconfigurable modular robot with square-cubic-cell modules │ International Journal of Advanced Robotic Systems │ 7 (4),61-72 (共著)
131.	2010/12	Simultaneous Localization and Sampled Environment Mapping based on a Divide-and-Conquer Ideology │ 自動化学報 │ 36 (12),1697-1705 (共著)
132.	2010/11	Screw Drive In-Pipe Robot with Axial and Circum-diectional Inspection Ability │ 46 (21),19-28 (共著)
133.	2010/05	Method of Kinematic Modeling of Wheeled Mobile Robot │ 46 (5),30-36 (共著)
134.	2010/04	Adaptive Creeping Locomotion of a CPG-controlled Snake-like Robot to Environment Change │ Autonomous Robots │ 28 (3),283-294 (共著)
135.	2010/03	Controllable Postures of a Dual-crawler-driven Robot │ Mechatronics │ 20 (2),281-292 (共著)
136.	2010/03	CPG-based Control of Serpentine Locomotion of a Snake-like Robot │ Mechatronics │ 20 (2),326-334 (共著)
137.	2009/10	Impact Analysis of a Dual-crawler-driven Robot │ Advanced Robotics │ 23 (11-12),1179-1797 (共著)
138.	2009/07	AMOEBA-I: A Shape-Shifting Modular Robot for Urban Search and Rescue │ Advanced Robotics │ 23 (9),1057-1083 (共著)
139.	2009/06	A Modular Universal Unit for a Snake-like Robot and Reconfigurable Robots │ Advanced Robotics │ 23 (7-8),865-887 (共著)
140.	2009/05	Development of a Three Dimensional Snake-like Robot Perambulator II │ 45 (5),128-133 (共著)
141.	2009/04	Configuration representation and reconfiguration optimization for the reconfigurable robots with independent manipulation │ Science in China Series F: Information Sciences │ 52 (4),674-687 (共著)
142.	2009/04	Reconfiguration of a Group of Wheel-manipulator Robots based on MSV and CSM │ IEEE/ASME Transaction on Mechantronics │ 14 (2),229-239 (共著)
143.	2009/01	Design and motion analysis of an In-Pipe robot with adaptability to pipe diameters │ 45 (1),154-161 (共著)
144.	2008/10	Network-based Reconfiguration Routes for a Self-reconfigurable Robot │ Science in China Series F: Information Sciences │ 51 (10),1532-1546 (共著)
145.	2008/04	Development of a Shape-shifting Mobile Robot for Urban Search and Rescue │ Chinese Journal of Mechanical Engineering │ 21 (2),31-35 (共著)
146.	2008/03	Gaits-Transferable CPG Controller for a Snake-like Robot │ Science in China Series F: Information Sciences │ 51 (3),293-305 (共著)
147.	2007/12	Design and modelling of a snake robot in traveling wave locomotion │ Mechanism and Machine Theory │ 42 (12),1632-1642 (共著)
148.	2007/12	Kinematics analysis of a robotic rock grinder │ 52 (23),3299-3304 (共著)
149.	2007/10	A Gait-Transmission CPG Controller for a Snake-like Robot │ 37 (10),1304-1315 (共著)
150.	2007/10	Configuration of Reconfigurable Modular Planetary Robots based on State Configuration Vector and State Configuration Matrix │ 43 (10),119-125 (共著)
151.	2007/07	Two-dimensional PSD based automatic docking of self-reconfiguration modular exploration robot system │ 28 (7),1198-1207 (共著)
152.	2007/05	A Center-configuration Selection Technique for the Reconfigurable Modular Robot │ Science in China Series F: Information Sciences │ 50 (5),697-710 (共著)
153.	2007/02	Development of a Novel Crawler Mechanism with Polymorphic Locomotion │ Advanced Robotics │ 21 (4),421-440 (共著)
154.	2007/01	3D Locomotion of a Snake-like Robot Controlled by Cyclic Inhibitory CPG Model │ 自動化学報 │ 33 (1),54-58 (共著)
155.	2007/01	Representing and Enumerating of the Non-Isomorphic Configurations of the Reconfiguration Modular Robot │ 42 (1),98-105 (共著)
156.	2006/11	Quasi-static Analysis for the Motion of a Novel Crawler-driven Robot │ Journal of Robotics and Mechatronics │ 18 (5),556-563 (共著)
157.	2006/11	Statics Analysis and Opengl Based 3D Simulation of Collaborative Reconfigurable Planetary Robots │ Academic Journal of Xian Jiaotong University (English Edition) │ 18 (2),102-105 (共著)
158.	2006/10	Control Architecture and implementation of modularized control system for RPRS │ 27 (10),1178-1182 (共著)
159.	2006/06	Analysis of Tipover Stability for Novel Shape-Shifting Modular Robot │ Chinese Journal of Mechanical Engineering │ 19 (2),181-186 (共著)
160.	2006/06	Crossing ditch for reconfigurable planetary robots │ Journal of Shanghai University (English Edition) │ 10 (3),256-261 (共著)
161.	2006/06	Twist-related locomotion of a snake-like robot │ 12 (2),143-149 (共著)
162.	2006/05	Communication Mechanism of a Planetary Exploration Multi-Robot System │ 機器人 │ 28 (3),309-315 (共著)
163.	2006/05	Snake-like Robot Controller with Cyclic Inhibitory CPG Model │ 42 (5),137-143 (共著)
164.	2006/04	Influence of Gradient of a Slope to Optimal Locomotion Curves of a Snake-like Robot │ Advanced Robotics │ 20 (4),413-428 (共著)
165.	2006/02	Omnidirectional Static Walking of a Quadruped Robot on a Slope │ Journal of Robotics and Mechatronics │ 18 (1),51-58 (共著)
166.	2006/02	重心高さを生かした最適胴体姿勢を有する４脚ロボットの斜面全方位静歩行 │ 日本機械学会論文集 │ 72 (714(C)),301-308 (共著)
167.	2006/01	Analysis of Creeping Locomotion of a Snake-like Robot on a Slope │ Journal of Autonomous Robots │ 20 (1),15-23 (共著)
168.	2006/01	Motion Planning for a Reconfigurable Robot to Cross over Obstacles │ 機器人 │ 28 (1),71-75 (共著)
169.	2006/01	Serpentine Locomotion of a Snake-like Robot Controlled by Cyclic Inhibitory CPG Model │ 自動化学報 │ 32 (1),133-139 (共著)
170.	2005/12	Mechanical Design of a Reconfigurable Planary Rover │ 41 (12),190-195 (共著)
171.	2005/11	Dynamic Analysis and Control of a New Reconfigurable Robot │ 16 (21),1889-1894 (共著)
172.	2005/11	Dynamics Analysis on Serpentine Locomotion of a New Snake-like Robot │ 機器人 │ 27 (6),555-560 (共著)
173.	2005/11	私のロボット研究と日中間の学術交流促進 │ 日本ロボット学会誌 │ 23 (8),20-23 (単著)
174.	2005/05	Bionic Research on Concertina Motion of a Snake-like Robot │ 41 (5),108-113 (共著)
175.	2005/05	Design and Implementation of a Reconfigurable Planetary Robot Control System │ 機器人 │ 27 (3) (共著)
176.	2005/05	拳拳赤子心悠悠愛国情 │ RTA、機器人技術と応用（ロボット技術と応用) │ 3,1-8 (単著)
177.	2005/04	Intelligent Mobile Manipulator Navigation Using Adaptive Neuro-Fuzzy Systems │ Information Sciences │ 171 (4),447-474 (共著)
178.	2005/04	Omni-directional Static Walking of a Quadruped Robot │ IEEE Trans. on Robotics │ 21 (2),152-161頁 (共著)
179.	2005/04	OpenGL Based Experimental Platform for Simulation of Reconfigurable Planetary Robot System │ 17 (4),885-888 (共著)
180.	2005/04	Space Docking for Reconfigurable Planetary Robot System │ 16 (8),659-663 (共著)
181.	2005/01	Kineinatic Modeling and Trajectory Planning for Reconfigurable Planetary Robot System │ 39 (1),87-91 (共著)
182.	2004/12	Analysis of Traveling Wave Locomotion of Snake Robot │ 40 (12),38-43 (共著)
183.	2004/12	Locomotion Control of a Snake-like Robot with Omnidirectional Mechanisms │ 15 (24),2235-2240 (共著)
184.	2004/11	Development of a Snake-like Robot with 3D Mobility │ 機器人 │ 26 (6) (共著)
185.	2004/10	Study on Turning and Sidewise Motion of a Snake-like Robot │ 40 (10),119-123,128 (共著)
186.	2004/06	A Kinetostatic Index to Measure the Task-Executing Ability of Robotic Manipulators with Limit-driven Characteristics of Actuators │ Advanced Robotics │ 18 (4),401-414 (単著)
187.	2004/06	Time Optimal Path-tracking Control of Kinematically Redundant Manipulators │ JSME Int. Journal, Series C: Dynamics, Control, Robotics, Design and Manufacturing │ 47 (2),582-590 (共著)
188.	2004/04	3次元蛇型ロボットの動力学解析 │ 日本機械学会論文集 │ 70 (692(C)),1077-1084 (共著)
189.	2004/02	Dynamic Control of Curve-constrained Hyper-Redundant Manipulators │ Journal of Robotics and Mechatronics │ 16 (1),1-7 (共著)
190.	2003/07	Coupled-drive-based Joint Design of a Snake Robot and its Body-lifting Method │ 機器人 │ 25 (5),419-423 (共著)
191.	2003/05	Study of Lateral Locomotion of a Snake Robot │ 機器人 │ 25 (3),246-249 (共著)
192.	2003/02	Development of the Master Control System of a Hardware Independent Architecture for CNC Machine Tools │ 39 (2),93-97 (共著)
193.	2002/12	Development of a Creeping Locomotion Snake-Robot │ International Journal of Robotics and Automation │ 17 (4),146-153 (共著)
194.	2002/12	Time Optimal Control of Kinematically Redundant Manipulators with Limit Heat Characteristics of Actuators │ Advanced Robotics │ 16 (8),735-749 (共著)
195.	2002/09	Control of a Multijoint Manipulator: Moray Arm │ IEEE/ASME Trans. on Mechatronics, │ 7 (3),304-317頁 (共著)
196.	2002/08	Realization of the Windows-Based Multi-Threads CNC System │ 22 (8),9-11 (共著)
197.	2002/06	モレイ型多関節ロボットアームの障害物回避制御 │ 日本機械学会論文集 │ 68 (670(C)),169-175 (共著)
198.	2002/05	Time Optimal Control of Manipulators with Limit Heat Characteristics of Actuator │ Advanced Robotics │ 16 (4),309-324頁 (単著)
199.	2002/05	クロール歩容と循環歩容に基づく四足ロボットの全方位歩行 │ 日本ロボット学会誌 │ 20 (4),85-92 (共著)
200.	2001/07	Minimum-time Control of Coupled Tendon-driven Manipulators │ Advanced Robotics │ 15 (4),409-427 (共著)
201.	2001/03	Analysis of Creeping Locomotion of a Snake-like Robot │ Advanced Robotics │ 15 (2),205-224 (単著)
202.	2000/04	An Obstacle Avoidance Control Scheme for the ``Moray Arm'' on Basis of Posture Space Analysis │ J. of Robotics and Autonomous Systems │ 32 (2),163-172 (共著)
203.	2000/01	アクチュエータの駆動特性を考慮したモレイ型多関節ロボットアームの軌道追従制御 │ 日本ロボット学会誌 │ 18 (1),135-141 (共著)
204.	1998/01	ヘビの運動形態に関する研究--- 第2報: 各種蛇行形状曲線におけるヘビの蛇行移動効率の比較 │ 日本機械学会論文集 │ 64 (617(C)),273-278 (共著)
205.	1997/10	形状空間における超冗長マニピュレータの障害物回避手法 │ 日本ロボット学会誌 │ 15 (7),59-64 (共著)
206.	1997/06	Local Torque Minimization of Redundant Manipulators with Considering End-Motion Joint Velocities │ International Journal of Robotics and Automation │ 12 (2),65-70 (単著)
207.	1997/05	ワイヤ干渉駆動型多関節マニピュレータの最適姿勢とそのワイヤ張力の考察 │ 日本機械学会論文集 │ 63 (609(C)),259-264 (単著)
208.	1996/08	A New Formulation Technique for Local Torque Optimization of Redundant Manipulators │ IEEE Trans. on Industrial Electronics │ 43 (4),462-468 (単著)
209.	1996/07	冗長マニピュレータの効率的な冗長制御法 │ 日本ロボット学会誌 │ 14 (5),703-709 (共著)
210.	1996/06	A Dynamic Approach to Realtime Obstacle Avoidance Control of Redundant Manipulators │ JSME Int. Journal, Series C: Dynamics, Control, Robotics, Design and Manufacturing │ 39 (2C),317-322 (共著)
211.	1996/04	Local Torque Minimization for Redundant Manipulators: A Correct Formulation │ Int. J. of Robotica │ 14 (2),235-239 (共著)
212.	1996/04	多関節マニピュレータのための2自由度慣性モレイ駆動 │ 日本ロボット学会誌 │ 14 (3),436-443 (共著)
213.	1996/03	A Balancing Technique to Stabilize Local Torque Optimization Solution of Redundant Manipulators │ J. of Robotic Systems │ 13 (3),177-185 (単著)
214.	1996/02	Dynamic Redundancy Resolution of Redundant Manipulators with Local Optimization of a Kinematic Criterion │ Advanced Robotics │ 10 (1),65-80 (共著)
215.	1996/01	ヘビの運動形態に関する研究 --- 第1報: ヘビの直進蛇行移動体形曲線 │ 日本機械学会論文集 │ 62 (593(C)),230-236 (単著)
216.	1995/11	ワイヤ干渉駆動型多関節マニピュレータの動的制御法 │ 日本機械学会論文集 │ 61 (591(C)),237-242 (共著)
217.	1995/07	冗長マニピュレータのための実時間動的冗長制御法 │ 日本ロボット学会誌 │ 13 (5),704-710 (共著)
218.	1995/06	Development of a Hyper-redundant Multijoint Manipulator for Maintenance of Nuclear Reactors │ Advanced Robotics │ 9 (3),281-300 (共著)
219.	1993/02	Design and Experiments for a Coupled Tendon-driven Manipulator │ IEEE Control Systems Magazine │ 13 (1),30-36 (共著)
220.	1991/02	Improving Local Torque Optimization Techniques for Redundant Robotic Mechanisms │ J. of Robotic Systems │ 8 (1),79-91 (共著)
221.	1990/11	ワイヤ干渉駆動型多関節マニピュレータの開発 │ 計測自動制御学会論文集 │ 26 (11),69-76 (共著)
222.	1990/02	多関節マニピュレータのモレイ駆動 │ 日本ロボット学会誌 │ 8 (1),2-16 (共著)
223.	1988/09	多関節マニピュレータの冗長性分解制御 │ 計測自動制御学会論文集 │ 24 (9),62-67 (共著)