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URAKUBO Takateru
Graduate School of System Informatics / Department of System Informatics
Professor

Researcher basic information

■ Research Keyword
  • UAV
  • robotics
  • nonlinear control theory
■ Research Areas
  • Manufacturing technology (mechanical, electrical/electronic, chemical engineering) / Control and systems engineering
  • Informatics / Robotics and intelligent systems
  • Informatics / Mechanics and mechatronics

Research activity information

■ Award
  • Jul. 2023 IFAC and ARF, World Drone Competition Award, First Place
    Kobe Univ. and Aerosense Inc.

  • Aug. 2022 ICIUS 2022 Best Paper Award, Aerodynamic Analysis of a Tilt-rotor UAV in Level Flight with Different Tilt Angles
    T. Urakubo, K. Wada, K. Sabe, S. Hirai

  • Apr. 2014 日本機械学会, 2013年度日本機械学会賞（論文）, 災害監視を目的とした屋外型飛行船ロボットの経路追従制御
    佐伯 一夢, 深尾 隆則, 浦久保 孝光, 河野 敬

  • May 2003 システム制御情報学会, 2003年度 奨励賞, 障害物のある水平面上での二輪移動ロボットのフィードバック制御

■ Paper
  • Yoji Takayama, Takateru Urakubo, Hisashi Tamaki
    Institute of Electrical and Electronics Engineers (IEEE), May 2024, IEEE Transactions on Control Systems Technology, 32(3) (3), 934 - 944, English
    [Refereed]
    Scientific journal

  • Takateru Urakubo, Ryota Nakamura, Chihiro Kikumoto, Kohtaro Sabe, Yuichi Hazama
    Lead, IEEE, Oct. 2023, IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society, English
    [Refereed]
    International conference proceedings

  • Yoji Takayama, Takateru Urakubo, Hisashi Tamaki
    Institute of Navigation, Oct. 2023, Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023), 1974 - 1983, English
    [Refereed]
    International conference proceedings

  • Takateru Urakubo, Ryota Nakamura, Chihiro Kikumoto, Kohtaro Sabe, Shinji Hirai
    Lead, IEEE, Oct. 2023, 2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 3406 - 3411, English
    [Refereed]
    International conference proceedings

  • Takateru Urakubo, Koki Wada, Kohtaro Sabe, Shinji Hirai, Masafumi Miwa
    This paper examines the aerodynamic drag force acting on a tilt-rotor UAV that has three mini fans and a main rotor with a tilt mechanism. The mini fans are embedded in the nose and the left and right wings. The main rotor is located near the center of the vehicle, and its front half is surrounded by the trailing edge of the nose in rotary-wing mode. The downward airflow from the fans and the main rotor generates an aerodynamic drag force called momentum drag, which is linearly proportional to the airspeed of UAV. To verify the existence of momentum drag, parameter identification of drag coefficients is performed from experimental data where the UAV flies forward in rotary-wing mode. The drag force is also investigated using computational fluid dynamics simulations. These experimental and numerical results are consistent with theoretical results based on momentum theory.
    Lead, Fuji Technology Press Ltd., Apr. 2023, Journal of Robotics and Mechatronics, 35(2) (2), 417 - 423, English
    [Refereed]
    Scientific journal
    Link to Kobe Univ. Repository (Kernel)

  • Yoji Takayama, Takateru Urakubo, Hisashi Tamaki
    Institute of Navigation, Oct. 2022, ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation, 1831 - 1839, English
    [Refereed]
    International conference proceedings

  • Chihiro Kikumoto, Takateru Urakubo, Kohtaro Sabe, Yuichi Hazama
    Institute of Electrical and Electronics Engineers (IEEE), Oct. 2022, IEEE Robotics and Automation Letters, 7(4) (4), 11697 - 11704, English
    [Refereed]
    Scientific journal

  • Aerodynamic Analysis of a Tilt-rotor UAV in Level Flight with Different Tilt Angles
    T. Urakubo, K. Wada, K. Sabe, S. Hirai
    Lead, Aug. 2022, Proc. the 18th International Conference of Intelligent Unmanned Systems, 295 - 300, English
    [Refereed]
    International conference proceedings

  • Optimization of Transition Flight Trajectory for a Dual Propulsion VTOL UAV
    C. Kikumoto, T. Urakubo, H. Yoneda, K. Sabe, Y. Hazama
    Aug. 2022, Proc. the 18th International Conference of Intelligent Unmanned Systems, 307 - 312, English
    [Refereed]
    International conference proceedings

  • Chihiro Kikumoto, Yoh Harimoto, Takeshi Yoshida, Takateru Urakubo
    Last, The Institute of Systems, Control and Information Engineers, May 2022, Transactions of the Institute of Systems, Control and Information Engineers, 35(5) (5), 109 - 117, Japanese
    [Refereed]
    Scientific journal

  • Masashi Nakamura, Takao Muromaki, Takateru Urakubo
    For generating a translational motion of a robot in a horizontal plane or under microgravity, it is possible to utilize an impact force between the end-effector and a surface such as a wall and the ground. In this paper, we consider a legged robot consisting of four links that pushes a certain surface to obtain a translational momentum in a horizontal plane. The motion that maximizes the momentum is searched for, under the condition that the torque consumption during it is the same, by numerical optimization. The optimization results indicate that the motion with an impact force that is caused by hitting the surface is advantageous in increasing the translational momentum.
    Last, EJournal Publishing, Mar. 2022, International Journal of Mechanical Engineering and Robotics Research, 11(3) (3), 145 - 150, English
    [Refereed]
    Scientific journal

  • Eric Tan Kai Chiang, Takateru Urakubo, Tomoaki Mashimo
    Institute of Electrical and Electronics Engineers (IEEE), Jan. 2022, IEEE Access, 10, 13210 - 13218, English
    [Refereed]
    Scientific journal

  • Yoji Takayama, Takateru Urakubo, Hisashi Tamaki
    One of the great unsolved GNSS problems is inaccuracy in urban canyons due to Non-Line-Of-Sight (NLOS) signal reception. Owing to several studies about the NLOS signal rejection method, almost all NLOS signals can be excluded from the calculation of the position. However, such precise NLOS rejection would make satellite geometry poor, especially in dense urban environments. This paper points out, through numerical simulations and theoretical analysis, that poor satellite geometry leads to unintentional performance degradation of the Kalman filter with a conventional technique to prevent filter divergence. The conventional technique is to bump up process noise covariance, and causes unnecessary inflation of estimation-error covariance when satellite geometry is poor. We propose a novel choice of process noise covariance based on satellite geometry that can reduce such unnecessary inflation. Numerical and experimental results demonstrate that performance improvement can be achieved by the choice of process noise covariance even for a poor satellite geometry.
    MDPI AG, Sep. 2021, Sensors, 21(18) (18), 6056 - 6056, English
    [Refereed]
    Scientific journal
    Link to Kobe Univ. Repository (Kernel)

  • Chihiro Kikumoto, Yoh Harimoto, Kazuki Isogaya, Takeshi Yoshida, Takateru Urakubo
    The increased use of UAVs (Unmanned Aerial Vehicles) has heightened demands for an automated landing system intended for a variety of tasks and emergency landings. A key challenge of this system is finding a safe landing site in an unknown environment using on-board sensors. This paper proposes a method to generate a heat map for safety evaluation using images from a single on-board camera. The proposed method consists of the classification of ground surface by CNNs (Convolutional Neural Networks) and the estimation of surface flatness from optical flow. We present the results of applying this method to a video obtained from an on-board camera and discuss ways of improving the method.
    Last, Fuji Technology Press Ltd., Apr. 2021, Journal of Robotics and Mechatronics, 33(2) (2), 292 - 300, English
    [Refereed]
    Scientific journal
    Link to Kobe Univ. Repository (Kernel)

  • Yoji Takayama, Takateru Urakubo, Takaki Tominaga, Hisashi Tamaki
    The Institute of Systems, Control and Information Engineers, Feb. 2021, Transactions of the Institute of Systems, Control and Information Engineers, 34(2) (2), 37 - 46, Japanese
    [Refereed]
    Scientific journal

  • A Study on Efficient LiDAR-based Localization with Initial Pose Estimation
    Y. Takayama, T. Urakubo, H. Tamaki
    Jan. 2020, Proc. the 2020 IEEE/SICE International Symposium on System Integration, 985 - 990, English
    [Refereed]
    International conference proceedings

  • Efficient Energy Supply from Joint Torques near Singular Configurations for a Two-link Robot Arm with Joint Friction
    T. Urakubo, X. Wan, T. Mashimo
    Lead, Jan. 2020, Proc. the 2020 IEEE/SICE International Symposium on System Integration, 1193 - 1198, English
    [Refereed]
    International conference proceedings

  • 自律型無人飛行船を用いた災害監視システムとその飛行制御技術の研究開発
    佐伯 一夢, 新井場 公徳, 深尾 隆則, URAKUBO TAKATERU, 天野 久徳
    Sep. 2018, 消防研究所報告, (125) (125), Japanese
    Research institution

  • Takateru Urakubo, Eri Kitagawa, Xianglong Wan, Tomoaki Mashimo
    Informa UK Limited, Jun. 2018, Advanced Robotics, 32(11) (11), 623 - 634, English
    [Refereed]
    Scientific journal

  • Tomoaki Mashimo, Takateru Urakubo, Yukiharu Shimizu
    We propose a micro geared ultrasonic motor, the smallest set of a micro ultrasonic motor and micro planetary gear. Our micro ultrasonic motor is one of the most powerful motors in one-millimeter-scale motors. The use of a micro planetary gear amplifies the motor torque to several tens of times and the geared motor enables a high torque density that was unachievable by existing miniature motors. The goal of this paper is to analyze the dynamic characteristic of the micro geared ultrasonic motor with a mathematical model and confirm the torque amplification experimentally using a micro planetary gear prototype. To build the microgear components, we employ a micro-injection molding process using metallic glass, a relatively new material, with a low melting temperature. The micro planetary gear assembly with a diameter of 2 mm, a length of 5.9 mm, and a gear ratio of 256 is built and connected to the micro ultrasonic motor. The micro geared ultrasonic motor demonstrates a continuous torque of 0.4 mN and a peak torque of 1 mN m in the load lifting experiments.
    Institute of Electrical and Electronics Engineers Inc., Apr. 2018, IEEE/ASME Transactions on Mechatronics, 23(2) (2), 781 - 787, English
    [Refereed]
    Scientific journal

  • Dynamic Advantages of Singular Configurations in Moving Heavy Objects with a 3-DOF Robot Manipulator
    R. Kawanishi, T. Urakubo, X. Wan
    Mar. 2018, Proceedings of IEEE 15th International Workshop on Advanced Motion Control, 47 - 53, English
    [Refereed]
    International conference proceedings

  • Development of a Legged Robot for Studying an Efficient Jumping Motion near Singular Configurations
    UNAGIDA Keisuke, MUROMAKI Takao, SUDA Atushi, WAN Xianglong, URAKUBO Takateru
    2018, Proceedings of 2018 International Symposium on Flexible Automation, S108, English
    [Refereed]
    International conference proceedings

  • A Study on State Estimation with Multiple GNSS Antennas and a Low-cost IMU Using Double and Triple Differences of Carrier Phase
    FUJII Kotaro, URAKUBO Takateru, ITOH Eiji
    2018, Proceedings of the 16th IAIN World Congress 2018, P2 - 2, English
    [Refereed]
    International conference proceedings

  • Takateru Urakubo
    This paper presents a theoretical analysis on the stability of nonholonomic systems when a potential field method is applied to them, and shows a numerical example for a nonholonomic underwater vehicle among obstacles. Nonholonomic systems with a potential function have an infinite number of equilibrium points, because the motion of the systems cannot always be generated exactly along the gradient vector of the potential function. By utilizing the component of the input that does not increase or decrease the potential function, the equilibrium points other than the critical points of the function can be destabilized, if the controllability of the systems is satisfied with the first-order Lie brackets of input vector fields. A time-invariant controller is proposed based on the theoretical analysis on the stability of equilibrium points, and applied to an underwater vehicle among obstacles. When the potential function has saddles as its critical points, the potential function is modified to be time-varying near the saddles in order to prevent the system from being trapped in the saddles. Numerical simulation results demonstrate that the underwater vehicle with the proposed controller converges to the desired point without collision with obstacles.
    Springer Netherlands, Jan. 2018, Journal of Intelligent and Robotic Systems: Theory and Applications, 89(1-2) (1-2), 121 - 137, English
    [Refereed]
    Scientific journal

  • Xianglong Wan, Takateru Urakubo, Yukio Tada
    This paper demonstrates dynamic advantages of singular configurations for a two-link mechanism by theoretical analysis and numerical simulations. The advantages can be utilized in moving a heavy object by the mechanism. The theoretical analysis reveals that the configurations of the mechanism near the singular ones are advantageous in generating large acceleration of the object through the joint torques and the kinetic energy of the mechanism. We illustrate the advantages by numerical simulations for two typical motions, that is, a lifting motion of a two-link manipulator and a jumping motion of a two-link legged robot. It is shown that the joint torques necessary to achieve these motions are reduced to a large extent by using the advantages.
    SPRINGER, Oct. 2017, MULTIBODY SYSTEM DYNAMICS, 41(2) (2), 149 - 172, English
    [Refereed]
    Scientific journal

  • 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
    KITAGAWA ERI, URAKUBO TAKATERU, WAN XIANGLONG
    システム制御情報学会, Mar. 2017, システム制御情報学会論文誌, 30(3) (3), 87 - 96, Japanese
    [Refereed]
    Scientific journal

  • Takateru Urakubo, Mamoru Monno, Satoshi Maekawa, Hisashi Tamaki
    In this paper, we derive a dynamic model of a spherical rolling robot that has a new driving mechanism equipped with a gyro and design a controller to stabilize a desired translational motion of the robot. Due to the angular momentum of the gyro, nutation motion of the internal mechanism of the robot may be caused. A feedback controller is designed to achieve the stabilization to a straight motion of the robot and nutation damping in the internal mechanism simultaneously. The asymptotic stability is proved using a Lyapunov function, and the effectiveness of the controller is verified by experiments. The controller is also successfully applied to other translational motions such as a circular motion and a meandering motion.
    IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, Sep. 2016, IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 24(5) (5), 1669 - 1679, English
    [Refereed]
    Scientific journal

  • Eri Kitagawa, Takateru Urakubo, Xianglong Wan
    In this paper, we reveal the advantage of singular configuration in pulling heavy objects with a two-link mobile manipulator. Unlike humans, the mobile manipulator can pull or drag the objects passing through its singular configuration where the manipulator is stretched out. The motion through singular configuration can generate, from the same amount of joint torques, much larger pulling force than the motion that avoids the configuration. Although the large force occurs only for a short period near the singular configuration, it can maximize the distance that the object is moved by the mobile manipulator under the condition that the consumption of joint torques is restricted. This advantage of singular configuration is verified by numerical simulations and theoretical analysis.
    IEEE, 2016, 2016 INTERNATIONAL SYMPOSIUM ON FLEXIBLE AUTOMATION (ISFA), 436 - 441, English
    [Refereed]
    International conference proceedings

  • URAKUBO Takateru, WAN Xianglong, MASHIMO Tomoaki
    For a serial linkage mechanism, the kinematic relationship between the end effector and the joint angles is nonlinear. The kinematics highly affects the dynamics of the mechanism near singular configurations where the relationship is singular. In this paper, we examine dynamic characteristics of singular configurations for a two-link robot arm, and show that the singular configurations are advantageous in reducing the joint torques necessary to achieve the task of pulling a heavy object.
    THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), Sep. 2015, システム制御情報学会論文誌, 28(9) (9), 377 - 383, Japanese
    [Refereed]
    Scientific journal

  • Takateru Urakubo
    In this paper, a feedback controller for a nonholonomic system with three states and two inputs is derived using an artificial potential function that has no local minima, and the stability of equilibria of the system is analyzed. Although the system with the controller has an infinite number of equilibria due to the nonholonomic constraint, those equilibria except the critical points of the potential function are unstable because of a skew-symmetric component of the controller. When the potential function has critical points of saddle type, the saddles may be stable equilibria in addition to the stable equilibrium at the minimum of the function. The controller is applied to a two-wheeled mobile robot among obstacles and modified by using a time-varying potential function in order to avoid convergence to the saddles. As a result, with the controller, the mobile robot converges to a desired position and orientation without collision with obstacles.
    SPRINGER, Aug. 2015, NONLINEAR DYNAMICS, 81(3) (3), 1475 - 1487, English
    [Refereed]
    Scientific journal

  • Tomoaki Mashimo, Takateru Urakubo, Takeo Kanade
    We propose a mechanism that exploits the singular configuration in a closed-loop four-bar linkage that can produce a high impulsive torque (a high torque for a short period in time) at the start of motion and high angular velocity during the successive motion. Such characteristics make the mechanism suitable for executing with high energy efficiency a certain class of tasks, such as lifting heavy objects. In this paper, we define the singularity-based linkage mechanism (SLM), analyze its characteristics of torque generation and energy efficiency theoretically, and then confirm them experimentally by using an SLM prototype. The performance of the SLM is compared with that of a comparable size parallelogram mechanism (PM). It is shown that the energy efficiency of the SLM comes from the fact that it achieves the high acceleration of the output link in the neighborhood of the singular configuration by providing energy with low current and high voltage to the motor; whereas the typical PM requires high current to produce the comparable impulsive torque.
    ASME, Aug. 2015, JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 7(3) (3), 031002, English
    [Refereed]
    Scientific journal

  • Xianglong Wan, Takateru Urakubo, Yukio Tada
    This paper deals with an optimal jumping motion of a four-link legged robot that minimizes the necessary joint torques during the motion. A fixed amount of translational energy is supplied to the robot from joint torques by the take-off time when the foot leaves the ground, and the rotations of joints are stopped in the air by the time when the robot reaches the maximum height with the joints fully extended. Numerical optimization results for different take-off postures show that the take-off posture that is close to a singular configuration has an advantage in supplying translational energy efficiently in ground phase, and is also useful for reducing the rotational energy that has to be eliminated in aerial phase.
    KOREAN SOC MECHANICAL ENGINEERS, Apr. 2015, JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 29(4) (4), 1391 - 1397, English
    [Refereed]
    Scientific journal

  • Landing Motion of a Legged Robot with Minimization of Impact Force and Joint Torque
    Wan Xianglong, URAKUBO TAKATERU, Tada Yukio
    Jan. 2015, Journal of Robotics and Mechatronics, 27(1) (1), 32 - 40, English
    [Refereed]
    Scientific journal

  • Control for Suppressing Roll Motion of Outdoor Blimp Robots for Disaster Surveillance
    Saiki Hitomu, Kobayashi Taisuke, Fukao Takanori, URAKUBO TAKATERU, Araiba Kiminori, Amano Hisanori
    Jan. 2015, Proceedings of AIAA Infotech @ Aerospace, AIAA 2015 - 0714, English
    [Refereed]
    International conference proceedings

  • Generation of Large Pulling Force by a Mobile Manipulator Through Singular Configuration
    Xianglong Wan, Takateru Urakubo, Tomoaki Mashimo
    This paper deals with the optimal motion of a mobile manipulator for dragging a heavy object with the end effector. When the object is moved a certain distance, the torques that are consumed in the mobile manipulator during the motion are minimized by numerical optimization. In the optimized motion, the arm mounted on the mobile base passes through its singular configuration, and a large force to pull the object is generated simultaneously. A theoretical analysis is performed to explain the numerical results by using a simplified model of the mobile manipulator.
    IEEE, 2015, 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 408 - 414, English
    [Refereed]
    International conference proceedings

  • Development of a Tilt-rotor UAV for Information Gathering
    Inoue Naoki, Hayashida Gakuyo, URAKUBO TAKATERU, Fukao Takanori
    Nov. 2014, Proceedings of 2nd International Conference on Maintenance Science and Technology, 239 - 240, English
    [Refereed]
    International conference proceedings

  • ジャイロ搭載型球体ロボットの直進運動制御
    URAKUBO TAKATERU, Monno Mamoru, Satoshi Maekawa, Tamaki Hisashi
    Jul. 2014, 日本ロボット学会誌, 32(6) (6), 543 - 549, Japanese
    [Refereed]
    Scientific journal

  • Optimization of Jumping Motion of a Legged Robot for Different Take-off Postures
    Wan Xianglong, URAKUBO TAKATERU, Tada Yukio
    May 2014, Proceedings of the Eighth China-Japan-Korea Joint Symposium on Optimization of Structural and Mechanical Systems, No. 0205, English
    [Refereed]
    International conference proceedings

  • Takateru Urakubo, Takeo Kanade
    This paper examines the capturability of a guidance law that provides a desired angular acceleration of the heading angle to a pursuer. The guidance law has originally been proposed by Fajen and Warren[13], in order to explain the behavior of walking humans. It is shown that the relative rotational motion between a pursuer and an evader can be represented by an equation similar to the equation of motion for a pendulum with a disturbance. A set of sufficient conditions for successful pursuit are derived, and it is proved that the gain parameters of the guidance law can be chosen so that the conditions are satisfied. For sufficiently large gains, a pursuer controlled by the guidance law catches a maneuvering evader while achieving motion camouflage.
    Institute of Electrical and Electronics Engineers Inc., Mar. 2014, 2009 European Control Conference, ECC 2009, 2390 - 2395, English
    International conference proceedings

  • Experimental Study on Efficient Use of Singular Configuration in Pulling Heavy Objects with Two-link Robot Arm
    Takateru Urakubo, Hiroki Yoshioka, Tomoaki Mashimo, Xianglong Wan
    This paper demonstrates that singular configuration of a two-link robot arm is advantageous in doing the task of pulling or lifting up a heavy object with small joint torques. As a result of numerical optimization, the initial configuration that minimizes the joint torques necessary for the task is close to the singular configuration where the arm is stretched out. The singular configuration has the dynamic feature that the joint angle vector can be accelerated in a certain direction almost independently of the mass of the object. Then, the joint torques can generate large kinetic energy efficiently at the singular configuration, and the energy can be utilized to pull or lift up the object. The experimental results show that the dynamic feature is practically useful, even when a feedback control is applied in order to make the object follow a planned trajectory.
    IEEE, 2014, 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 4582 - 4587, English
    [Refereed]
    International conference proceedings

  • 災害監視を目的とした屋外型飛行船ロボットの経路追従制御
    SAIKI HITOMU, FUKAO TAKANORI, URAKUBO TAKATERU, KOHNO TAKASHI
    Feb. 2013, 日本機械学会論文集（C 編）, 79(798) (798), 236 - 251, Japanese
    [Refereed]
    Scientific journal

  • Xianglong Wan, Takateru Urakubo, Yukio Tada
    This paper deals with an optimal landing motion of a 4-link legged robot that minimizes the impact force at the contact point and the joint torques necessary during the motion. The cost function for optimization is given as the weighted sum of the one for impact force and the one for joint torques. While the configuration where the leg is bent is advantageous in reducing the impact force, the configuration that is close to a singular configuration is advantageous in minimizing the joint torques. It is shown by numerical optimization results with different weights for the cost function. © 2013 IEEE.
    IEEE Computer Society, 2013, Proceedings - 2013 2nd International Conference on Robot, Vision and Signal Processing, RVSP 2013, 259 - 264, English
    [Refereed]
    International conference proceedings

  • XIANGLONG WAN, URAKUBO TAKATERU, TADA YUKIO
    In this paper, we consider the optimal jumping motion planning problem for a legged robot composed of one leg and the body, and examine the jumping motion obtained by numerical simulations for the purpose of clarifying the effective usage of singular configuration of the robot. The integral of the squared joint torques during jump is minimized on the assumptions that the joint torques supply a fixed amount of energy to the body and that the motion of the robot's center of mass is generated only in vertical direction. By choosing the initial posture of the robot and the spline functions representing the body position as optimization parameters, we apply a numerical optimization method to find the optimal motion. For the optimized motion,the final posture of the robot is close to the singular configuration where the robot is fully extended.
    The Japan Society of Mechanical Engineers, Jun. 2012, Proceedings of The 7th China-Japan-Korea Joint Symposium on Optimization of Structural and Mechanical Systems, 2012, C097 - 1_-_1103-4_, English
    [Refereed]
    International conference proceedings

  • Capturability Analysis of a Three-dimensional Guidance Law with Angular Acceleration Input
    Takateru Urakubo, Takeo Kanade
    This paper presents the capturability analysis of a three-dimensional guidance law that provides a desired angular acceleration of the heading angle to a pursuer. The relative rotational motion between a pursuer and an evader is represented by an equation similar to the equation of motion for a spherical pendulum with a disturbance. A set of sufficient conditions for successful pursuit are derived, and it is proved that the conditions are satisfied by suitably choosing the gain parameters of the guidance law. For sufficiently large gains, a pursuer controlled by the guidance law catches a maneuvering evader while achieving motion camouflage.
    IEEE COMPUTER SOC, 2012, 2012 AMERICAN CONTROL CONFERENCE (ACC), 2551 - 2556, English
    [Refereed]
    International conference proceedings

  • Takateru Urakubo, Masanori Osawa, Hisashi Tamaki, Yukio Tada, Satoshi Maekawa
    This paper presents a prototype of a spherical rolling robot with a new driving mechanism and shows some experimental results to verify the feasibility of the mechanism. The spherical robot has a momentum wheel (gyro) that rotates at a large velocity inside an outer spherical shell. The attitude of an inner mechanism with the gyro is stabilized through the gyroscopic effect, and the outer shell is driven by DC motors installed in the inner mechanism. The translational motion of the robot is interpreted to be caused by the transmission of angular momentum from the gyro to the outer shell. Experimental results show that a feedback controller makes the robot move at a desired translational velocity. © 2012 IEEE.
    2012, 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012, 1602 - 1607, English
    [Refereed]
    International conference proceedings

  • Hitomu Saiki, Takanori Fukao, Takateru Urakubo, Takashi Kohno
    After large-scale disasters, a surveillance system is required to gather information about the stricken area safely and quickly. An autonomous blimp is the best option for this purpose. This paper proposes a control design method for automatic hovering of outdoor blimp robots under strong winds by a path-following approach. The method consists of inverse optimal path-following control in the horizontal plane and Proportional-Integral-Derivative (PID) control for altitude and pitching motion of the blimp in the longitudinal plane. Some simulations and experiments for a 12m class outdoor blimp are performed to confirm the usefulness of the proposed method.
    Fuji Technology Press, 2011, Journal of Robotics and Mechatronics, 23(2) (2), 207 - 214, English
    [Refereed]
    Scientific journal

  • MacLaurin Hutagalung, Tomohisa Hayakawa, Takateru Urakubo
    A consensus control framework for configuration of two underactuated planar rigid bodies is developed. Following the result by Bullo et al. (2000) and modifying the framework of Hutagalung et al. (2008), we propose a control law that achieves asymptotic consensus between the planar rigid bodies. Finally, we present a numerical example to show efficacy of the proposed approach. © 2011 IFAC.
    2011, IFAC Proceedings Volumes (IFAC-PapersOnline), 18(1) (1), 6721 - 6726, English
    [Refereed]
    International conference proceedings

  • Configuration Consensus of Two Underactuated Planar Rigid Bodies
    Maclaurin Hutagalung, Tomohisa Hayakawa, Takateru Urakubo
    A consensus control framework for configuration of multiple underactuated planar rigid bodies is developed. Following the results by Bullo et al. (2000), we propose a control law that achieves asymptotic consensus between the planar rigid bodies. Finally, we present a numerical example to show efficacy of the proposed approach.
    IEEE, 2011, SICE Journal of Control, Measurement, and System Integration, 4(6) (6), 430 - 438, English
    [Refereed]
    Scientific journal

  • Hitomu Saiki, Takanori Fukao, Takateru Urakubo, Takashi Kohno
    In recent years, a surveillance system has been required to gather information after large-scale disasters on stricken areas safely and quickly. For this purpose, we have proposed an autonomous blimp system with a rotational stereo camera and laser range-finder to capture three-dimensional images. This paper proposes a new path following control method for outdoor blimp robots under windy conditions to collect information. The method consists of path following control in the wind coordinate on the horizontal plane and altitude control on the longitudinal plane. And this method minimizes the lateral errors arising from the wind disturbances considering path regeneration. Some simulations and experiments for a 12m class blimp are performed to confirm the usefulness of the proposed method. © 2011 IEEE.
    2011, 2011 IEEE/SICE International Symposium on System Integration, SII 2011, pp. 978-984, 978 - 984, English
    [Refereed]
    International conference proceedings

  • 球体ロボットの接地点軌跡を利用した最適軌道計画
    URAKUBO Takateru, MAEKAWA Satoshi, UEDA Tetsuya, TAMAKI Hisashi
    計測自動制御学会, Oct. 2010, 計測自動制御学会論文集, vol. 46, no. 10, pp. 623–631(10) (10), 623 - 631, Japanese
    [Refereed]
    Scientific journal

  • Singularity-Based Mechanism with High Responsiveness
    Tomoaki Mashimo, Takateru Urakubo, Takeo Kanade
    We propose a singularity-based mechanism (SBM) to exploit the singular configuration that improves the angular acceleration instead of constraining the movement. The tradeoff between the responsiveness and the range of motion is achieved by varying a length of linkage in the SBM. In this paper, we clarify the responsiveness of the SBM using the dynamics analysis. For the demonstration, we build an experimental SBM system with the high responsiveness, a practical range of motion, and a size comparable to a human arm. In the experiment, the effectiveness of the SBM is shown in a vertical lifting task. The characteristic of the SBM that generates a large acceleration at start is similar to the human arm moved by a muscle. The similarity between the SBM and the human arm is analyzed in terms of the static torque.
    IEEE, 2010, IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), pp.4207-4212, 4207 - 4212, English
    [Refereed]
    International conference proceedings

  • Efficient Pulling Motion of a Two-Link Robot Arm near Singular Configuration
    Takateru Urakubo, Tomoaki Mashimo, Takeo Kanade
    This paper discusses the advantages of singular configurations of a two-link robot arm in achieving tasks of pulling or lifting a heavy object. Optimal base location and arm motion for minimizing the joint torques are examined by numerical simulations, and the base location where the robot arm is near a singular configuration at the start time of task is optimal. It is shown analytically that joint torques can supply energy to the system composed of the robot arm and the object efficiently near singular configurations of the arm. The energy supply rates at two singular configurations are derived based on the equations of motion of the system.
    IEEE, 2010, IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), pp.1372-1377, 1372 - 1377, English
    [Refereed]
    International conference proceedings

  • Analysis of Task Feasibility for a Home Robot using Prismatic Joints
    Tomoaki Mashimo, Rosen Diankov, Takateru Urakubo, Takeo Kanade
    This paper evaluates the dynamic and kinematic properties of a prismatic mechanism and shows its capabilities in performing home manipulation tasks when integrated into a robotic arm. Our design is motivated from the observation that human hand motions often follow a linear trajectory when manipulating everyday objects. We present the mechanical design for a light-weight, energy-efficient robot named PRISM that emphasizes translational motion. By simulating the dynamics equations and comparing the structure of commonly used anthropomorphic arms and our proposed arm, we verify that translational motion is more energy efficient with PRISM, and the robot can maneuver itself in narrower places. Through simulation experiments using state of the art manipulation planning algorithms, we analyze the success rates of PRISM and an anthropomorphic robot arm in performing basic tasks. The simulation experiments center on pick-and-place tasks in cluttered kitchen scenes. We show a real-world prototype of PRISM and perform several manipulation experiments with it.
    IEEE, 2010, IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), pp.2370-2376, 2370 - 2376, English
    [Refereed]
    International conference proceedings

  • Hitomu Saiki, Takanori Fukao, Takateru Urakubo, Takashi Kohno
    A surveillance system is required to gather information about the stricken area safely and quickly after large-scale disasters. An autonomous blimp is the best option for this purpose. This paper proposes a control design method for automatic hovering of outdoor blimp robots under strong wind by using path following approach. The method consists of inverse optimal path following control in horizontal plane and PID control for altitude and pitching motion of the blimp in longitudinal plane. Some simulations and experiments for an outdoor blimp whose length is 12m are performed to confirm the usefulness of the proposed method. © 2010 IEEE.
    2010, Proc. 2010 IEEE Multi-conference on Systems and Control, 2124 - 2129, English
    [Refereed]
    International conference proceedings

  • Capturability of a Simple Guidance Law with Angular Acceleration Input
    Takateru Urakubo, Takeo Kanade
    Aug. 2009, Proc. the European Control Conference 2009, pp.2390-2395
    [Refereed]
    International conference proceedings

  • Optimal Placement of a Two-Link Manipulator for Door Opening
    Takateru Urakubo, Tomoaki Mashimo, Takeo Kanade
    This paper presents a study on the optimal base location and arm motion of a mobile manipulator for door opening task. Numerical simulation results show that the base location where the manipulability of the two-link arm is almost degenerated at the start and end points of door opening is optimal. We show by analysis that the location has an advantage in supplying kinetic energy to the door by using torques at the joints of arm. In order to represent properly the arm motion near a singular point of manipulability, the rotational motion of the door is parameterized by piecewise fifth order polynomials of time, and the parameters of polynomials are optimized to minimize the joint torques.
    IEEE, 2009, Proc. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1446 - 1451, English
    [Refereed]
    International conference proceedings

  • Maclaurin Hutagalung, Tomohisa Hayakawa, Takateru Urakubo
    A consensus control framework for configuration of multiple underactuated planar rigid bodies is developed. Following the results by Bullo et al. (2000), we propose a control law that achieves asymptotic consensus between the planar rigid bodies. Finally, we present a numerical example to show efficacy of the proposed approach. © 2008 IEEE.
    2008, Proceedings of the IEEE Conference on Decision and Control, 5016 - 5021, English
    [Refereed]
    International conference proceedings

  • Dynamics and Control of a Spherical Rolling Robot Equipped with a Gyro
    URAKUBO Takateru, MAEKAWA Satoshi, TAMAKI Hisashi, TADA Yukio, OTANI Toshiaki, KOBAYASHI Hiroshi
    Jul. 2006, Proceedings of 2006 International Symposium on Flexible Automation, pp.1013-1016
    [Refereed]
    Scientific journal

  • Design and Control of Indoor Nearfloor Mover with Autonomy for Welfare
    TADA Yukio, KITANO Kenta, URAKUBO Takateru
    Jul. 2006, Proceedings of 2006 International Symposium on Flexible Automation
    [Refereed]
    Scientific journal

  • A Study on Attitude Control of a Space Robot Composed of Two Axisymmetric Rigid Bodies
    URAKUBO Takateru, TADA Yukio
    Jul. 2006, Proceedings of 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, pp.177-182
    [Refereed]
    Scientific journal

  • Position and attitude control of a spherical rolling robot equipped with a gyro
    Toshiaki Otani, Takateru Urakubo, Satoshi Maekawa, Hisashi Tamaki, Yukio Tada
    This paper deals with the problem of controlling the position and attitude of a spherical rolling robot. The driving torque for the rolling robot is generated by a new type of mechanism equipped with a gyro. We derive two types of models, a kinematic model and a dynamic model, from the equations of motion for the robot. A feedback controller for the kinematic model is designed by using our previous method that is based on Lyapunov control. And then, from the controller, we obtain a feedback controller for the dynamic model by Backstepping technique. The effectiveness of both controllers is demonstrated by numerical simulations.
    IEEE, 2006, 9TH IEEE INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, VOLS 1 AND 2, PROCEEDINGS, pp.416-421, 416 - +, English
    [Refereed]
    International conference proceedings

  • Discontinuous Feedback Stabilization of a Class of Nonholonomic Systems Based on Lyapunov Control
    T. Urakubo
    2005, Proc. the Fifth International Workshop on Robot Motion and Control, 91 - 96, English
    [Refereed]
    International conference proceedings

  • K Tsujita, K Tsuchiya, T Urakubo, Z Sugawara
    This paper deals with trajectory and force control of a two-link manipulator with elastic links. The manipulator has a macro-micro mechanism and at the tip of which is an end-effector with a force sensor. Equations of motion are first derived by using a finite-element method for the elastic deformations. Then, by eliminating the residual modes based on the eigenvalue analysis, the reduced-order equations for controller design are derived. Geometrical constraints are modeled by using a Lagrangian multiplier. The proposed control system consists of a feedforward controller and a feedback controller. The feedforward controller generates the input torques and force based on inverse dynamics. It also generates the reference signals for the feedback controller based on inverse kinematics. The calculation methods for inverse dynamics and inverse kinematics are based on the algorithm that we have proposed. The performance of the proposed control system is verified by numerical simulations and hardware experiments.
    SAGE PUBLICATIONS LTD, Sep. 2004, JOURNAL OF VIBRATION AND CONTROL, 10(9) (9), 1271 - 1289, English
    [Refereed]
    Scientific journal

  • Feedback Control of a Two Wheeled Mobile Robot with Obstacle Avoidance Using Potential Functions
    URAKUBO Takateru, OKUMA Kenji, TADA Yukio
    Sep. 2004, Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, p.2428-2433, English
    [Refereed]
    Scientific journal

  • T Urakubo, K Tsuchiya, K Tsujita
    This paper deals with the attitude control of a rigid spacecraft with two reaction wheels. First, we derive a discontinuous state feedback law based on Lyapunov control. The control input is obtained by multiplying the gradient vector of the Lyapunov function by a matrix that is composed of a symmetric matrix and an asymmetric one. Under this method, when the angular momentum of the system is zero, the desired point is the only stable equilibrium point of the controlled system. Next, we investigate the behavior of the controlled system when the angular momentum of the system is not zero but small. In this case, the system converges to either a limit cycle or an equilibrium point which is not the desired point; however, in both cases, the error in attitude remains small.
    SAGE PUBLICATIONS LTD, Sep. 2004, JOURNAL OF VIBRATION AND CONTROL, 10(9) (9), 1291 - 1311, English
    [Refereed]
    Scientific journal

  • Lyapunov Control of a Two Wheeled Mobile Robot in the Presence of Obstacles
    URAKUBO Takateru, OKUMA Kenji, TADA Yukio
    Jul. 2004, Proceedings of the 2004 Japan-USA Symposium on Flexible Automation, JS026; p.1-4, English
    [Refereed]
    Scientific journal

  • Motion control of a nonholonomic system based on the Lyapunov control method
    K Tsuchiya, T Urakubo, K Tsujita
    A new design method of a feedback controller for nonholonomic systems based on Lyapunov control is presented. In Lyapunov control, the control input is obtained by multiplying the gradient vector of the Lyapunov function by a tensor. The main contribution of our method is that this tensor is composed of two components, one of which is a negative definite symmetric tensor and the other of which is an asymmetric one. As a result, the goal point in the state space of the controlled system becomes the only globally stable equilibrium point, and exponential convergence to the goal point can be achieved. The proposed method is applied to a two-wheeled mobile robot, and the effectiveness is confirmed by numerical simulations.
    AMER INST AERONAUT ASTRONAUT, Mar. 2002, JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 25(2) (2), 285 - 290, English
    [Refereed]
    Scientific journal

  • Attitude Control of a Spacecraft with Two Reaction Wheels
    T. Urakubo, K. Tsuchiya, K. Tsujita
    Lead, 2002, Proc. 5th Cranfield Conference on Dynamics and Control of Systems and Structures in Space 2002, 89 - 96, English
    [Refereed]
    International conference proceedings

  • Reorientation Maneuver of a Spacecraft Composed of Two Rigid Bodies
    T. Urakubo, K. Tsuchiya, Y. Tada
    In this paper, attitude control of a spacecraft which consists of two rigid bodies coupled by a ball joint is discussed. First, we propose a time-invariant discontinuous feedback controller for a class of nonholonomic systems, first order systems, based on Lyapunov control. The first order system is a system where the input vector fields and the first level of Lie brackets between them span the tangent space at each configuration. Next, the controller is applied to the spacecraft when the angular momentum of the system is zero, and the effectiveness of the controller is verified by numerical simulations.
    Lead, The Japan Society of Mechanical Engineers, 2002, Proc. The 6th International Conference on Motion and Vibration Control, 6(1) (1), 355 - 360, English
    [Refereed]
    International conference proceedings

  • Feedback Control of a Two Wheeled Mobile Robot among Obstacles
    T. Urakubo, K. Okuma, Y. Tada
    Lead, 2002, Proc. 2002 Japan-USA Symposium on Flexible Automation, 189 - 192, English
    [Refereed]
    International conference proceedings

  • URAKUBO Takateru, TSUCHIYA Kazuo, TSUJITA Katsuyoshi
    In this paper, we deal with the control problem of a class of non-holonomic systems with m input variables. In the system, if the input vector fields and the first level of Lie brackets between them span the tangent space at each configuration, the system can move in every direction using the first level of Lie bracket motions and it is controllable. This class of systems is called as first order systems. We derive a time-invariant discontinuous state feedback law for the system based on the Lyapunov control: The input is designed so that the derivative of the Lyapunov function is composed of a symmetric and an asymmetric bilinear form in the gradient vectors of the Lyapunov function. In the controlled system, the desired point is the only stable equilibrium point. The performance of the controller is verified by numerical simulations.
    計測自動制御学会, Nov. 2001, 計測自動制御学会論文集, 37(11) (11), 1020 - 1025, Japanese
    [Refereed]
    Scientific journal

  • Takateru Urakubo, Kazuo Tsuchiya, Katsuyoshi Tsujita
    The design of the controller of a two-wheeled mobile robot is usually based on a kinematical model. The kinematical model is derived under the assumption that the wheels do not skid or float. However, in the real world, wheels may skid on the ground or float away from the ground due to the rotational motion of the body. This paper analyzes the effects of the skid and the float on the robot with a controller designed based on the kinematical model - by the use of the Lyapunov control method. Numerical simulations are carried out based on the dynamic model including the translational and rotational motion of the body, and then experiments are performed using a hardware model.
    2001, Advanced Robotics, 15(7) (7), 711 - 728, English
    [Refereed]
    Scientific journal

  • A Motion Control of a Two-Wheeled Mobile Robot
    K. Tsuchiya, T. Urakubo, K. Tsujita
    1999, Proc. IEEE International Conference on Systems, Man, and Cybernetics, v-690 - v-696, English
    [Refereed]
    International conference proceedings

■ MISC
  • 色差と明度を考慮したドローン空撮画像からの安全な着陸地点検出
    髙千代紗都子, 菊本 智寛, 浦久保 孝光
    Last, Feb. 2024, 第5回測位技術振興会研究発表講演会講演論文集, 42 - 52, Japanese
    [Refereed]
    Summary national conference

  • Advancements in Tilted-Rotor Unmanned Aerial Vehicles: A Comprehensive Review
    T. Urakubo, A. Budiyono
    Dec. 2023, Journal of Instrumentation, Automation and Systems, 10(3) (3), 93 - 104, English
    [Refereed]
    Introduction scientific journal

  • Dynamic Motion of Two-link Arms with Different Link Lengths Using Singularities
    Masashi Nakamura, Takateru Urakubo, Takao Muromaki
    Jun. 2023, Proc. of the 11th International Symposium on Adaptive Motion of Animals and Machines, 105 - 106, English
    [Refereed]
    Summary international conference

  • 脚型ロボットの蹴り出し動作実験
    菊田 潤, 室巻 孝郎, 中村 成志, 浦久保 孝光
    Last, Mar. 2023, 日本設計工学会関西支部 2022年度研究発表講演会講演論文集, 13 - 14, Japanese
    Summary national conference

  • 異なるタイプのドローンによる配送経路問題に関する考察
    岩橋 陽, 浦久保 孝光, 玉置 久
    Jan. 2023, 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 講演論文集, 75 - 76, Japanese
    Summary national conference

  • 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
    中村 成志, 浦久保 孝光, 室巻 孝郎
    Jan. 2023, 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 講演論文集, 53 - 54, Japanese
    Summary national conference

  • ManeuverabilityにもとづくQuad-plane UAVの上昇飛行に関する考察
    菊本 智寛, 浦久保 孝光, 佐部 浩太郎, 硲間 優一
    Jan. 2023, 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 講演論文集, 45 - 46, Japanese
    Summary national conference

  • Vector Field を用いたVTOL UAVの着艦制御に関する考察
    柏木 風真, 浦久保 孝光, 村岡 浩治
    Jan. 2023, 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 講演論文集, 1 - 2, Japanese
    Summary national conference

  • ドローン空撮画像を用いた地表の着陸安全性評価に関する考察
    髙千代 紗都子, 菊本 智寛, 浦久保 孝光
    Last, Sep. 2022, 第4回測位技術振興会研究発表講演会講演論文集, 17 - 24, Japanese
    [Refereed]
    Summary national conference

  • ティルトロータUAVにおける異なるティルト角での空力特性解析
    和田浩樹, 浦久保孝光, 佐部浩太郎, 平井真二
    Jun. 2022, ロボティクス・メカトロニクス講演会2022講演論文集, Japanese
    Summary national conference

  • ドローン空撮画像を用いた着陸可能領域および着陸候補地点の抽出
    髙千代紗都子, 菊本智寛, 吉田武史, 浦久保孝光
    Last, May 2022, 第66回システム制御情報学会研究発表講演会講演論文集, 19 - 25, Japanese
    Summary national conference

  • マヌーバラビリティにもとづくVTOLドローンの遷移制御に関する考察
    菊本智寛, 浦久保孝光, 佐部浩太郎, 硲間優一
    May 2022, 第66回システム制御情報学会研究発表講演会講演論文集, 26 - 28, Japanese
    Summary national conference

  • 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
    中村 成志, 室巻 孝郎, 浦久保 孝光
    Last, Jan. 2022, 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 講演論文集, Japanese
    Summary national conference

  • ティルトロータUAVにおける異なるティルト角での水平飛行時のエネルギ効率
    和田浩樹, 浦久保孝光, 佐部浩太郎
    Nov. 2021, 第58回日本航空宇宙学会関西・中部支部合同秋期大会講演論文集, Japanese
    Summary national conference

  • ドローン空撮画像を用いたピクセル単位の着陸安全性判別法とその検証
    菊本智寛, 吉田武史, 浦久保孝光
    Last, Sep. 2021, 第3回測位技術振興会研究発表講演会講演論文集, Japanese
    Summary national conference

  • GNSS の衛星配置に基づいたプロセスノイズ設定に関する考察
    高山洋史, 浦久保孝光
    Last, Sep. 2021, 第3回測位技術振興会研究発表講演会講演論文集, Japanese
    Summary national conference

  • Optimization of Take-off and Landing Maneuvers for a Quad-plane UAV
    菊本智寛, 浦久保孝光, 米田洋, 佐部浩太郎, 硲間優一
    Jun. 2021, ロボティクス・メカトロニクス講演会2021講演論文集, Japanese

  • Safe Landing Area Detection Using Camera Images for Automatic Landing of Drones
    張本 暘, 菊本 智寛, 吉田 武史, 浦久保 孝光
    Last, May 2021, 第65回システム制御情報学会研究発表講演会講演論文集, 874 - 877, Japanese

  • 脚型ロボットの蹴り出し動作の生成
    中村 成志, 室巻 孝郎, 浦久保 孝光
    Last, Mar. 2021, 日本設計工学会関西支部 2020年度研究発表講演会講演論文集, 37 - 40, Japanese

  • 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
    浦久保 孝光
    Lead, Nov. 2020, 計測自動制御学会システム・情報部門学術講演会2020講演論文集, 588 - 588, Japanese

  • カメラ画像を用いたドローンの安全な着陸地点検出に関する考察
    菊本智寛, 張本暘, 磯谷和樹, 浦久保孝光, 吉田武史
    Sep. 2020, 第2回測位技術振興会研究発表講演会講演論文集, 22 - 25, Japanese
    [Refereed]

  • 幾何学モデルを用いたNLOS信号排除による測位精度改善に関する考察
    高山洋史, 浦久保孝光, 冨永貴樹, 玉置久
    Sep. 2020, 第2回測位技術振興会研究発表講演会講演論文集, 4 - 11, Japanese
    [Refereed]

  • ティルトロータUAVの固定翼機モードにおける空力特性改善
    和田 浩樹, 浦久保 孝光, 米田 洋, 佐部 浩太郎, 平井 真二
    May 2020, 第64回システム制御情報学会研究発表講演会講演論文集, 1007 - 1011, Japanese

  • ティルトロータUAVにおける離陸マヌーバの最適化
    菊本智寛, 柴森博人, 浦久保孝光, 米田洋, 佐部浩太郎
    May 2020, ロボティクス・メカトロニクス講演会2020講演論文集, Japanese

  • ロボットマニピュレータの特異姿勢付近における動力学性質に関する考察
    浦久保孝光
    Lead, Jan. 2020, 第32回自律分散システム・シンポジウム論文集, 2C1-4, Japanese

  • 搭乗者を含む2輪スケートボードの力学モデル構築
    菊本智寛, 浦久保孝光, 川田昌克, 室巻孝郎, 玉置久
    Nov. 2019, 計測自動制御学会システム・情報部門学術講演会2019講演論文集, 325 - 327, Japanese

  • ティルトロータUAVの固定翼機モードにおける空力特性に関する考察
    和田浩樹, 浦久保孝光, 米田洋, 佐部浩太郎
    Nov. 2019, 第56回日本航空宇宙学会関西・中部支部合同秋期大会講演論文集, B10, Japanese

  • VTOL型ドローンにおける最適なモード間遷移飛行に関する考察
    柴森博人, 浦久保孝光, 米田洋, 佐部浩太郎
    Nov. 2019, 第56回日本航空宇宙学会関西・中部支部合同秋期大会講演論文集, D14, Japanese

  • ティルトロータ型UAVの飛行特性解析とシミュレータ構築
    柴森博人, 浦久保孝光
    Sep. 2019, 2019年電気学会電子・情報・システム部門大会講演論文集, 819 - 823, Japanese

  • 脚型ロボットによる跳躍動作実験
    室巻孝郎, 浦久保孝光, 須田敦 万象隆
    Sep. 2019, 日本設計工学会2019年度秋季大会研究発表講演会講演論文集, 57 - 58, Japanese

  • ティルトロータ型UAVの自動着陸のための安全な着陸地点の検出
    磯谷和樹, 張本暘, 浦久保孝光
    May 2019, ロボティクス・メカトロニクス講演会2019講演論文集, 1P2-N09, Japanese

  • ティルトロータ型UAVにおける低速飛行特性の解析
    弓場洋輝, 河野大輔, 浦久保孝光, 三輪昌史
    May 2019, ロボティクス・メカトロニクス講演会2019講演論文集, 1P2-N07, Japanese

  • 長距離高速飛行可能なVTOL型ドローンの研究開発
    URAKUBO TAKATERU
    Mar. 2019, 平成31年度電気学会全国大会講演論文, S21 - 3, Japanese

  • Maciej Marcin Michałek, Andrea L’Afflitto, Takateru Urakubo
    Springer Netherlands, 01 Jan. 2018, Journal of Intelligent and Robotic Systems: Theory and Applications, 89(1-2) (1-2), 3 - 5, English
    [Refereed]

  • 鰻田 圭介, 室巻 孝郎, 須田 敦, URAKUBO TAKATERU, 万 象隆
    To increase the chance of achieving various tasks by a robot, it is necessary to operate the robot efficiently even with the limited capability of actuators. For a legged robot, it has been proposed that the joint torques of the robot can be minimized by utilizing its singular configuration. In this study, we develop an experimental prototype and demonstrate the jumping motion of a legged robot. The experimental apparatus is composed of a legged robot with a three degree of freedom and a slope table on which the jumping motion is performed. The legged robot on the slope table can achieve a jumping motion with a smaller load on the actuator according to the slope inclination.
    The Japan Society of Mechanical Engineers, 2018, ロボティクス・メカトロニクス講演会2018講演論文集, 2018, 2A2 - F13, Japanese

  • ティルトロータ型UAVにおける低速飛行特性の実験的検証
    吉村 啓史, URAKUBO TAKATERU, 三輪 昌史, 佐部 浩太郎, 村越 象, 平井 真二
    2018, 第62回システム制御情報学会研究発表講演会講演論文集, 225 - 6, Japanese

  • VTOL型ドローンにおける自動離着陸のためのセンサシステムの検討
    磯谷 和樹, URAKUBO TAKATERU
    2018, 第19回SICEシステムインテグレーション部門講演会論文集, 3133 - 3135, Japanese

  • 3回転関節を持つ脚型跳躍ロボットの開発
    鰻田 圭介, 井口 望, 室巻 孝郎, 須田 敦, URAKUBO TAKATERU
    2018, 日本設計工学会関西支部 平成30年度研究発表講演会講演論文集, 11 - 12, Japanese

  • 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
    川西 亮平, URAKUBO TAKATERU, 万 象隆
    Dec. 2017, 第18回SICEシステムインテグレーション部門講演会論文集, 208 - 212, Japanese

  • 跳躍動作を行う脚型ロボットの開発
    鰻田 圭介, 室巻 孝郎, 須田 敦, URAKUBO TAKATERU, 万 象隆
    Nov. 2017, 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講演論文集, 3 - 4, Japanese

  • ティルトロータUAVに加わる空気力に関する考察
    河野 大輔, URAKUBO TAKATERU, 佐部 浩太郎, 村越 象, 平井 真二
    Nov. 2017, 第55回飛行機シンポジウム講演集, Japanese

  • ティルトロータ型UAVの飛行特性に関する考察
    URAKUBO TAKATERU, 河野 大輔, 佐部 浩太郎, 村越 象, 平井 真二
    May 2017, 第61回システム制御情報学会研究発表講演会講演論文集, Japanese

  • 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
    北側 恵理, URAKUBO TAKATERU, 万 象隆
    計測自動制御学会関西支部・システム制御情報学会, Jan. 2017, 計測自動制御学会関西支部・システム制御情報学会 若手研究発表会講演論文集, 54 - 56, Japanese

  • 屋外移動ロボットのための高精度状態推定システム構築に向けた取り組み
    与儀 夏実, URAKUBO TAKATERU, 伊藤 英治
    測位航法学会, Oct. 2016, 第21回GPS/GNSSシンポジウム2016テキスト, 286, Japanese

  • 屋外移動ロボットにおけるGPSとINSの統合手法と状態推定精度に関する検討
    与儀 夏実, URAKUBO TAKATERU, 伊藤 英治
    電気学会, Sep. 2016, 平成28年電気学会電子・情報・システム部門大会講演論文集, 954 - 955, Japanese

  • 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
    馬 少陽, URAKUBO TAKATERU, 万 象隆
    電気学会, Sep. 2016, 平成28年電気学会電子・情報・システム部門大会講演論文集, 928 - 929, Japanese

  • ティルトロータ型UAVのモード間遷移時における飛行制御系に対する考察
    櫻井 圭輔, URAKUBO TAKATERU, 中務 拳斗, 松崎 庸介, 佐部 浩太郎
    システム制御情報学会, May 2016, 第60回システム制御情報学会研究発表講演会講演論文集, 363 - 5, Japanese

  • 1周波RTK-GPSおよびIMUを用いた屋外ロボットの状態推定精度に関する考察
    林田 岳陽, URAKUBO TAKATERU, 与儀 夏実, 伊藤 英治
    システム制御情報学会, May 2016, 第60回システム制御情報学会研究発表講演会講演論文集, 312 - 4, Japanese

  • Research and Development of a VTOL Drone : Toward Realization of the Next-generation Drones
    浦久保孝光
    システム制御情報学会, 2016, システム/制御/情報, 60(10) (10), 437 - 442, Japanese
    Introduction scientific journal

  • ティルトロータ型UAVの低空ホバリングにおける飛行状態推定
    HAYASHIDA Gakuyo, URAKUBO Takateru, TADA Yukio
    NTS出版, Sep. 2015, SICE第32回センシングフォーラム資料, 230, Japanese

  • 脚型ロボットの着地動作における衝撃力と関節トルクに関する考察
    WAN Xianglong, URAKUBO Takateru, TADA Yukio
    May 2015, 第59回システム制御情報学会研究発表講演会講演論文集, 341 - 3, Japanese

  • モバイルマニピュレータによる重量物引っ張り動作の動力学的考察
    KITAGAWA Eri, URAKUBO Takateru, WAN Xianglong, MASHIMO Tomoaki, TADA Yukio
    May 2015, 第59回システム制御情報学会研究発表講演会講演論文集, 351 - 1, Japanese

  • 視覚情報を用いたＵＡＶの位置推定精度向上
    熊谷 拓也, URAKUBO TAKATERU, TADA YUKIO
    Mar. 2015, 日本機械学会関西支部第90期定時総会講演会講演論文集, 412, Japanese

  • ティルトロータ型ＵＡＶの固定翼機モードにおける自律飛行制御
    井上 直己, 櫻井 圭輔, URAKUBO TAKATERU, TADA YUKIO
    Mar. 2015, 日本機械学会関西支部第90期定時総会講演会講演論文集, 415, Japanese

  • 2A2-C03 Image Measurement for Monitoring at Disaster Site by an Autonomous Blimp Robot(Aerial Robot and Mechatronics (2))
    SAIKI Hitomu, FUKAO Takanori, URAKUBO Takateru, ARAIBA Kiminori, AMANO Hisanori
    This paper describes image measurement for monitoring at disaster site by an autonomous blimp robot. A surveillance system has been required to gather information after large-scale disasters on stricken areas safely and quickly. To collect the information, it is useful to use a blimp, because of its low-sky availability, safety and long flight. We have already proposed automatic flight control systems for outdoor blimp robots. This paper shows a dense point cloud that is reconstructed by using 165 pictures captured from an autonomous blimp robot.
    The Japan Society of Mechanical Engineers, 24 May 2014, ロボティクス・メカトロニクス講演会講演概要集, 2014, "2A2 - C03(1)"-"2A2-C03(3)", Japanese

  • 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
    URAKUBO TAKATERU, 万 象隆, 真下 智昭
    May 2014, 第58回システム制御情報学会研究発表講演会講演論文集, 132 - 8, Japanese

  • ジャイロ搭載型球体ロボットにおける内部ニューテーション抑制を考慮した直進運動制御系の構築
    門野 守, URAKUBO TAKATERU, 前川 聡, TADA YUKIO
    May 2014, 第58回システム制御情報学会研究発表講演会講演論文集, 315 - 6, Japanese

  • 小型UAVの高度推定精度向上に関する考察
    林田 岳陽, URAKUBO Takateru, TADA Yukio
    Mar. 2014, 日本機械学会関西支部第８９期定時総会講演会関西学生会平成２５年度学生員卒業研究発表講演会講演前刷集, p.17 - 5, Japanese

  • ティルトロータ型UAVのホバリング時における横風の影響に関する考察
    佐々木 駿, URAKUBO Takateru, TADA Yukio, 井上 直己
    Mar. 2014, 日本機械学会関西支部第８９期定時総会講演会関西学生会平成２５年度学生員卒業研究発表講演会講演前刷集, p.17 - 6, Japanese

  • カメラ情報を用いたティルトロータ型ＵＡＶの離着陸制御
    吉田 空視, URAKUBO Takateru, TADA Yukio
    Mar. 2014, 日本機械学会関西支部第８９期定時総会講演会講演論文集，日本機械学会講演論文集, (No.144-1) (No.144-1), p.7 - 11, Japanese

  • Researcher's Profile : Interview with Professor Kazuo Tsuchiya
    URAKUBO Takateru
    Institute of Systems, Control and Information Engineers, 2014, Systems, control and information, 58(5) (5), 207 - 212, Japanese

  • 災害監視を目的とした屋外型飛行船ロボットの縦系制御
    SAIKI Hitomu, FUKAO TAKANORI, URAKUBO TAKATERU, 新井場 公徳, 天野 久徳
    Dec. 2013, 第14回SICEシステムインテグレーション部門講演会論文集, 1250 - 1254, Japanese

  • アクチュエータ特性を考慮したティルトロータ型UAVのホバリング制御
    井上 直己, URAKUBO TAKATERU, FUKAO TAKANORI
    Dec. 2013, 第14回SICEシステムインテグレーション部門講演会論文集, 1039 - 1043, Japanese

  • 災害監視を目的とした屋外型飛行船ロボットのロール抑制制御
    佐伯 一夢, 小林 大介, FUKAO TAKANORI, URAKUBO TAKATERU, 新井場 公徳, 天野 久徳
    Nov. 2013, 第51回飛行機シンポジウム講演集, 2F01, Japanese

  • 脚型跳躍ロボットの着地過程における最適動作生成
    万 象隆, URAKUBO Takateru, TADA Yukio
    Sep. 2013, 第31回日本ロボット学会学術講演会予稿集, 2E2 - 04, Japanese

  • 宇宙エレベータのテザー形状設計
    MUROMAKI TAKAO, KUSUMOTO KOUDAI, URAKUBO TAKATERU, HANAHARA KAZUYUKI
    Sep. 2013, 日本機械学会2013年度年次大会講演論文集, Japanese

  • ジャイロ搭載型球体ロボットの直進制御実験
    門野 守, URAKUBO Takateru, TADA Yukio, 前川聡
    May 2013, 第５７回システム制御情報学会研究発表講演会講演論文集, #333 - 7, p.1-5, Japanese

  • カメラを用いた UAV の飛行状態推定
    熊谷 拓也, URAKUBO Takateru, TADA Yukio
    Mar. 2013, 日本機械学会関西支部第８８期定時総会講演会関西学生会平成２４年度学生員卒業研究発表講演会講演前刷集, p.16 - 19, Japanese

  • カナード翼を持つ UAV における飛行制御系構築
    井上 直己, URAKUBO Takateru, TADA Yukio
    Mar. 2013, 日本機械学会関西支部第８８期定時総会講演会関西学生会平成２４年度学生員卒業研究発表講演会講演前刷集, p.17 - 5, Japanese

  • 万 象隆, URAKUBO Takateru, 吉岡 広樹, TADA Yukio
    In this paper, we consider the optimal jumping motion planning problem for a legged robot composed of one leg and the body, and examine the jumping motion obtained by numerical simulations for the purpose of clarifying the effective usage of singular configuration of the robot. The integral of the squared joint torques during jump is minimized on the assumptions that the joint torques supply a fixed amount of energy to the body and that the motion of the robot's center of mass is generated only in vertical direction. By choosing the initial posture of the robot and the spline functions representing the body position as optimization parameters, we apply a numerical optimization method to find the optimal motion. For the optimized motion,the final posture of the robot is close to the singular configuration where the robot is fully extended.
    The Japan Society of Mechanical Engineers, Dec. 2012, 日本機械学会第10回最適化シンポジウムCD-ROM講演論文集，日本機械学会講演論文集, 2012(12-37) (12-37), #1103, p.1 - 4, Japanese

  • 屋外型飛行船ロボットによる災害監視の実現性
    佐伯 一夢, 深尾 隆則, URAKUBO TAKATERU, 河野 敬
    Dec. 2012, 第13回SICEシステムインテグレーション部門講演会論文集, 1607 - 1610, Japanese

  • GPS/IMUを用いたティルトロータ型UAVの飛行状態推定
    福家 朋来, URAKUBO TAKATERU, 深尾 隆則
    Nov. 2012, 第55回自動制御連合講演会論文集, 584 - 585, Japanese

  • 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
    吉岡 広樹, URAKUBO TAKATERU, 真下 智昭, 万 象隆
    Sep. 2012, 日本ロボット学会第30回記念学術講演会予稿集, 4O3 - 5, Japanese

  • 搬送用ロボットのための視覚・深度情報を用いたダンボール認識
    与那嶺 大貴, URAKUBO Takateru, 室巻 孝郎, TADA Yukio
    May 2012, 第５５回システム制御情報学会研究発表講演会講演論文集, p.237 - 238, Japanese

  • ティルトロータ型飛行ロボットにおけるホバリング姿勢安定化
    宮本 尚幸, URAKUBO TAKATERU, 深尾 隆則
    May 2012, ロボティクス・メカトロニクス講演会2012講演論文集, 2A1 - H11, Japanese

  • Controllability and State Feedback
    URAKUBO TAKATERU
    システム制御情報学会, Apr. 2012, Systems, Control and Information, 56(4) (4), 180 - 183, Japanese
    [Invited]
    Introduction scientific journal

  • ティルトロータ型飛行ロボットの開発と飛行状態推定
    福家 朋来, 浦久保 孝光, 深尾 隆則
    2012, 計測自動制御学会関西支部・システム制御情報学会 若手研究発表会講演論文集, pp. 145-146, Japanese

  • J122012 Optimum Structural Design of Space Elevator
    MUROMAKI Takao, URAKUBO Takateru, HANAHARA Kazuyuki, TADA Yukio
    In this paper, we discuss a shape design of tether in a space elevator system. The system consists of a long tether with flexibility and an elevator. The length of the tether is determined by considering a balance on centrifugal and gravitational forces. The cross-sectional area for long tethered structure is designed using the ideal area requirements for a constant stress tapered tether. The obtained shape of the tether has exponentially varying cross-section in axial direction. The cross-sectional area of tether at Earth-side end is determined by a specified allowable stress. A modal analysis is presented by using an FEM method for a uniform shape and for the obtained shape. We compared the eigen frequencies with the result of the reference literature, in which the tether is modeled by a long string which is fixed at the both end. We obtain the tether structure whose periods of the first and second modes are on the order of 20 hour and 10 hour.
    The Japan Society of Mechanical Engineers, 11 Sep. 2011, Mechanical Engineering Congress, Japan, 2011, "J122012 - 1"-"J122012-5", Japanese

  • 727 Study on human-like motion for a robot arm
    Meng XiangChao, HANAHARA Kazuyuki, TADA Yukio, URAKUBO Takateru
    The Japan Society of Mechanical Engineers, 19 Mar. 2011, 関西支部講演会講演論文集, 2011(86) (86), "7 - 27", Japanese

  • 713 Experimental study on motion control of spherical robot equipped with gyro
    KISHIDA Takuya, URAKUBO Takateru, MAEKAWA Satoshi, TAMAKI Hisashi, TADA Yukio
    The Japan Society of Mechanical Engineers, 19 Mar. 2011, 関西支部講演会講演論文集, 2011(86) (86), "7 - 13", Japanese

  • 飛行船ロボットの強風下での対空制御系設計法
    佐伯 一夢, 深尾 隆則, 浦久保 孝光, 河野 敬
    2011, 第55回システム制御情報学会研究発表講演会講演論文集, pp. 645-646, Japanese

  • 垂直離着陸型UAVの開発と制御
    勝田 雄大, 浦久保 孝光, 深尾 隆則, 金出 武雄
    2011, 第48回日本航空宇宙学会関西・中部支部合同秋期大会講演論文集, B42, Japanese

  • 角加速度入力を用いた移動ターゲットへの追跡制御
    西川 和輝, 浦久保 孝光, 多田 幸生
    2011, 第55回システム制御情報学会研究発表講演会講演論文集, pp. 375-376, Japanese

  • 角加速度を入力とする3次元誘導制御則の捕捉可能性
    浦久保 孝光, 金出 武雄
    2011, 第40回制御理論シンポジウム資料, pp. 345-350, Japanese

  • 屋外型飛行船ロボットの直線経路追従制御
    佐伯 一夢, 深尾 隆則, 浦久保 孝光, 河野 敬
    2011, 第12回SICEシステムインテグレーション部門講演会論文集, pp. 0034-0037, Japanese

  • ジャイロ搭載型球体ロボット実験機におけるフィードバック制御
    大澤 正典, 浦久保 孝光, 岸田 拓也, 多田 幸生, 前川 聡
    2011, 第55回システム制御情報学会研究発表講演会講演論文集, pp. 637-638, Japanese

  • ジャイロ搭載型球体ロボットの開発と制御
    大澤 正典, 浦久保 孝光, 前川 聡, 多田 幸生
    2011, 第12回SICEシステムインテグレーション部門講演会論文集, pp. 1024-1025, Japanese

  • 1228 Simultaneous control of position and nutation of a spherical rolling robot equipped with a gyro
    西村 智幸, 浦久保 孝光, 前川 聡, 玉置 久, 多田 幸生
    The Japan Society of Mechanical Engineers, 16 Mar. 2009, 関西支部講演会講演論文集, 2009(84) (84), "12 - 28", Japanese

  • 1P1-F09 Development of Indoor Blimp Robot Systems
    YOSHIDA Takeshi, FUKAO Takanori, URAKUBO Takateru, OSUKA Koichi, KOBAYASHI Shigeru, TAKAMORI Toshi
    In order to prevent disasters or crimes as few as possible, or minimize the damage even if they occur, quick information gathering system for search and surveillance is required. An indoor blimp robot has the excellent information gathering capability and can perform three-dimensional movement. The indoor three-dimensional robot which is very close to men should be safe, quiet, and non-annoying. The blimp satisfies these properties perfectly. In this paper, a flexible switching system between manual operation and automatic operation through computers is developed. The automatic control system is constructed by tracking markers on a blimp from a pan-tilt camera on ground and estimating the position.
    The Japan Society of Mechanical Engineers, 06 Jun. 2008, ロボティクス・メカトロニクス講演会講演概要集, 2008, "1P1 - F09(1)"-"1P1-F09(4)", Japanese

  • Motion Planning of a Space Robot with a Momentum Wheel
    MINEGISHI Shinichiro, TSUCHIYA Kazuo, URAKUBO Takateru
    Mar. 2007, Proc. the 16th Workshop on JAXA Astrodynamics and Flight Mechanics, pp.279-284

  • 一次可制御な非ホロノミック系の制御
    浦久保 孝光, 土屋 和雄, 多田 幸生
    Jul. 2006, 電子情報通信学会技術研究報告（非線形問題研究会）, NLP2006-39,pp.31-36, Japanese

  • Fukuhara Masahiro, Urakubo Takateru, Tada Yukio
    ３回転自由度を持つ関節で繋がれた２剛体からなる宇宙ロボットの姿勢制御問題は、６状態３入力の非ホロノミック系として定式化される。我々は２剛体が軸対称な同一形状である場合にリャプノフ法に基くフィードバック則を提案している。しかし、これは２剛体が軸対称な同一形状であることに基く姿勢表現を用いており、各剛体の形状が異なる場合には制御性能が劣化する。本研究では、後者の場合に数値シミュレーションを通して系の振舞を調べ、制御性能改善の方策を検討する。
    The Institute of Systems, Control and Information Engineers, 2006, Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers, 6, 229 - 229

  • Kobayashi Hiroshi, Maekawa Satoshi, Urakubo Takateru, Tamaki Hisashi
    本講演では，球体内部に搭載したジャイロの角運動量を制御することによって駆動トルクを発生・制御する構造の球体ロボットについて，球体ロボット本体および操縦インタフェースの設計・製作，シミュレーションおよび実機実験による性能評価結果を報告する．また，実機におけるニューテーションや外乱の影響についても考察・検討する．
    The Institute of Systems, Control and Information Engineers, 2006, Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers, 6, 16 - 16

  • ジャイロ駆動型球体ロボットの位置姿勢制御に関する考察
    Takateru Urakubo, Toshiaki Otani, Satoshi Maekawa, Hisashi Tamaki, Yukio Tada
    Nov. 2005, SICE第34回制御理論シンポジウム資料, pp.275-280, Japanese

  • 2つの軸周りのトルクによる宇宙機の姿勢制御に関する一考察
    Takateru Urakubo, Kazuhisa Okamoto, Yukio Tada
    Oct. 2005, 第5回サイバネティック・フレキシブル・オートメーション・シンポジウム講演論文集, pp.55-56, Japanese

  • 速度拘束を受ける機械システムに対する強化学習を用いた運動生成
    Takateru Urakubo, Ryusuke Sugine, Yukio Tada
    May 2005, 第49回システム制御情報学会研究発表講演会講演論文集, pp.313-314, Japanese

  • ジャイロ駆動型球体ロボットにおける動特性解析
    Takateru Urakubo, Tsutomu Okaichi, Satoshi Maekawa, Hisashi Tamaki, Yukio Tada
    May 2005, 第49回システム制御情報学会研究発表講演会講演論文集, pp.635-636, Japanese

  • 2つの軸対称剛体からなる宇宙ロボットの姿勢制御
    Urakubo Takateru, Hirofumi Tajima, Yukio Tada
    May 2005, SICE第5回制御部門大会資料, pp.377-380, Japanese

  • 一次可制御構造を持つ非ホロノミックスシステムの制御
    浦久保 孝光, 土屋 和雄
    Jan. 2005, システム／制御／情報, 49, 1, 20-25, Japanese
    Others

  • Attitude Control of a Spacecraft Composed of Two Rigid Bodies Using Internal Motion
    URAKUBO Takateru, TSUCHIYA Kazuo, TADA Yukio
    2004, Proc. 2003 ISAS 13th Workshop on Astrodynamics and Flight Mechanics, p.186-191, English
    Others

■ Books And Other Publications
  • 倒立振子で学ぶ制御工学 第5章 可制御性と状態フィードバック
    URAKUBO TAKATERU
    Joint work, 森北出版, Feb. 2017, Japanese
    Scholarly book

  • 飛躍するドローン - マルチ回転翼型無人航空機の開発と応用研究，海外動向，リスク対策まで -，第1章4節
    URAKUBO TAKATERU
    Others, NTS出版, Jan. 2016, Japanese
    Scholarly book

■ Lectures, oral presentations, etc.
  • 二重推進式VTOLドローンの水平飛行時における急減速マヌーバに関する考察
    坂本 貫汰, 菊本 智寛, 浦久保 孝光, 佐部 浩太郎, 硲間 優一
    第68回システム制御情報学会研究発表講演会講演論文集, May 2024, Japanese
    Oral presentation

  • VTOLドローンのホバリング時における力学モデル構築と耐風性能解析
    吉田 奨, 菊本 智寛, 浦久保 孝光, 佐部 浩太郎, 硲間 優一
    第68回システム制御情報学会研究発表講演会講演論文集, May 2024, Japanese
    Oral presentation

  • 二重推進式VTOLドローンの急上昇飛行に関する考察
    山口 颯大, 菊本 智寛, 浦久保 孝光, 佐部 浩太郎, 硲間 優一
    ロボティクス・メカトロニクス講演会2024講演論文集, May 2024, Japanese
    Poster presentation

  • 色差と明度を考慮したドローン空撮画像からの安全な着陸地点検出
    髙千代紗都子, 菊本 智寛, 浦久保 孝光
    第5回測位技術振興会研究発表講演会講演論文集, Feb. 2024, Japanese

  • 衝撃力を用いた蹴り出し動作に関する実験
    菊田潤, 室巻孝郎, 中村成志, 浦久保孝光
    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 講演論文集, Jan. 2024, Japanese

  • 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
    中村成志, 浦久保孝光, 室巻孝郎
    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 講演論文集, Jan. 2024, Japanese

  • Dynamic Motion of Two-link Arms with Different Link Lengths Using Singularities
    Masashi Nakamura, Takateru Urakubo, Takao Muromaki
    Proc. of the 11th International Symposium on Adaptive Motion of Animals and Machines, Jun. 2023, English

  • Tilt-rotor UAVの高速旋回飛行に関する考察
    浦久保 孝光, 中村 亮太, 菊本 智寛, 佐部 浩太郎, 平井 真二
    ロボティクス・メカトロニクス講演会2023講演論文集, Jun. 2023, Japanese

  • Quad-plane UAVの高速飛行時の最小旋回半径に関する考察
    中村 亮太, 菊本 智寛, 浦久保 孝光, 佐部 浩太郎, 硲間 優一
    第67回システム制御情報学会研究発表講演会講演論文集, May 2023, Japanese

  • VTOL UAVの着艦制御におけるVector Fieldの構築
    柏木 風真, 浦久保 孝光, 村岡 浩治
    第67回システム制御情報学会研究発表講演会講演論文集, May 2023, Japanese

  • ティルトロータUAVにおける異なるティルト角での空力特性解析
    和田浩樹, 浦久保孝光, 佐部浩太郎, 平井真二
    ロボティクス・メカトロニクス講演会2022講演論文集, Jun. 2022, Japanese

  • マヌーバラビリティにもとづくVTOLドローンの遷移制御に関する考察
    菊本智寛, 浦久保孝光, 佐部浩太郎, 硲間優一
    第66回システム制御情報学会研究発表講演会講演論文集, May 2022, Japanese

  • ドローン空撮画像を用いた着陸可能領域および着陸候補地点の抽出
    髙千代紗都子, 菊本智寛, 吉田武史, 浦久保孝光
    第66回システム制御情報学会研究発表講演会講演論文集, May 2022, Japanese

  • 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
    中村 成志, 室巻 孝郎, 浦久保 孝光
    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 講演論文集, Jan. 2022, Japanese

  • ティルトロータUAVにおける異なるティルト角での水平飛行時のエネルギ効率
    和田浩樹, 浦久保孝光, 佐部浩太郎
    第58回日本航空宇宙学会関西・中部支部合同秋期大会講演論文集, Nov. 2021, Japanese

  • GNSS の衛星配置に基づいたプロセスノイズ設定に関する考察
    高山洋史, 浦久保孝光
    第3回測位技術振興会研究発表講演会講演論文集, Sep. 2021, Japanese

  • ドローン空撮画像を用いたピクセル単位の着陸安全性判別法とその検証
    菊本智寛, 吉田武史, 浦久保孝光
    第3回測位技術振興会研究発表講演会講演論文集, Sep. 2021, Japanese

  • Optimization of Take-off and Landing Maneuvers for a Quad-plane UAV
    菊本智寛, 浦久保孝光, 米田洋, 佐部浩太郎, 硲間優一
    ロボティクス・メカトロニクス講演会2021講演論文集, Jun. 2021, Japanese

  • Safe Landing Area Detection Using Camera Images for Automatic Landing of Drones
    張本 暘, 菊本 智寛, 吉田 武史, 浦久保 孝光
    第65回システム制御情報学会研究発表講演会講演論文集, May 2021, Japanese

  • 脚型ロボットの蹴り出し動作の生成
    中村 成志, 室巻 孝郎, 浦久保 孝光
    日本設計工学会関西支部 2020年度研究発表講演会講演論文集, Mar. 2021, Japanese

  • 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
    浦久保 孝光
    計測自動制御学会システム・情報部門学術講演会2020講演論文集, Nov. 2020, Japanese

  • 幾何学モデルを用いたNLOS信号排除による測位精度改善に関する考察
    高山洋史, 浦久保孝光, 冨永貴樹, 玉置久
    第2回測位技術振興会研究発表講演会講演論文集, Sep. 2020, Japanese

  • カメラ画像を用いたドローンの安全な着陸地点検出に関する考察
    菊本智寛, 張本暘, 磯谷和樹, 浦久保孝光, 吉田武史
    第2回測位技術振興会研究発表講演会講演論文集, Sep. 2020, Japanese

  • ティルトロータUAVにおける離陸マヌーバの最適化
    菊本智寛, 柴森博人, 浦久保孝光, 米田洋, 佐部浩太郎
    ロボティクス・メカトロニクス講演会2020講演論文集, May 2020, Japanese

  • ティルトロータUAVの固定翼機モードにおける空力特性改善
    和田 浩樹, 浦久保 孝光, 米田 洋, 佐部 浩太郎, 平井 真二
    第64回システム制御情報学会研究発表講演会講演論文集, May 2020, Japanese

  • Efficient Energy Supply from Joint Torques near Singular Configurations for a Two-link Robot Arm with Joint Friction
    T. Urakubo, X. Wan, T. Mashimo
    The 2020 IEEE/SICE International Symposium on System Integration, Jan. 2020, English
    Oral presentation

  • A Study on Efficient LiDAR-based Localization with Initial Pose Estimation
    Y. Takayama, T. Urakubo, H. Tamaki
    The 2020 IEEE/SICE International Symposium on System Integration, Jan. 2020, English
    Oral presentation

  • ロボットマニピュレータの特異姿勢付近における動力学性質に関する考察
    浦久保孝光
    第32回自律分散システム・シンポジウム, Jan. 2020, Japanese
    Oral presentation

  • VTOL型ドローンにおける最適なモード間遷移飛行に関する考察
    柴森博人, 浦久保孝光, 米田洋, 佐部浩太郎
    第56回日本航空宇宙学会関西・中部支部合同秋期大会, Nov. 2019, Japanese
    Oral presentation

  • ティルトロータUAVの固定翼機モードにおける空力特性に関する考察
    和田浩樹, 浦久保孝光, 米田洋, 佐部浩太郎
    第56回日本航空宇宙学会関西・中部支部合同秋期大会, Nov. 2019, Japanese
    Oral presentation

  • 搭乗者を含む2輪スケートボードの力学モデル構築
    菊本智寛, 浦久保孝光, 川田昌克, 室巻孝郎, 玉置久
    計測自動制御学会システム・情報部門学術講演会2019, Nov. 2019, Japanese
    Poster presentation

  • 脚型ロボットによる跳躍動作実験
    室巻孝郎, 浦久保孝光, 須田敦 万象隆
    日本設計工学会2019年度秋季大会研究発表講演会, Sep. 2019, Japanese
    Oral presentation

  • ティルトロータ型UAVの飛行特性解析とシミュレータ構築
    柴森博人, 浦久保孝光
    2019年電気学会電子・情報・システム部門大会, Sep. 2019, Japanese
    Oral presentation

  • ティルトロータ型UAVにおける低速飛行特性の解析
    弓場洋輝, 河野大輔, 浦久保孝光, 三輪昌史
    ロボティクス・メカトロニクス講演会2019, May 2019, Japanese
    Poster presentation

  • ティルトロータ型UAVの自動着陸のための安全な着陸地点の検出
    磯谷和樹, 張本暘, 浦久保孝光
    ロボティクス・メカトロニクス講演会2019, May 2019, Japanese
    Poster presentation

  • 災害監視を目的とした屋外型飛行船ロボットの縦系制御
    SAIKI Hitomu, FUKAO Takanori, URAKUBO Takateru, ARAIBA Kiminori, AMANO Hisanori
    第14回計測自動制御学会システムインテグレーション部門講演会 (SI2013), Dec. 2013, Japanese, Domestic conference
    Oral presentation

  • 災害監視を目的とした屋外型飛行船ロボットのロール抑制制御
    SAIKI Hitomu, KOBAYASHI Taisuke, FUKAO Takanori, URAKUBO Takateru, ARAIBA Kiminori, AMANO Hisanori
    第51回飛行機シンポジウム, Nov. 2013, Japanese, Domestic conference
    Oral presentation

  • 視覚制御を用いた飛行ロボットの着陸制御
    吉田 空視, URAKUBO Takateru, TADA Yukio
    日本機械学会関西支部第87期定時総会講演会関西学生会平成23年度学生員卒業研究発表講演会, Mar. 2012, Japanese, 日本機械学会関西支部, 吹田, Domestic conference
    Oral presentation

  • ティルトロータ型飛行ロボットの開発と飛行状態推定
    FUKE Tomoki, URAKUBO Takateru, FUKAO Takanori
    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, Jan. 2012, Japanese, 計測自動制御学会, 大阪市, Domestic conference
    Oral presentation

  • 屋外型飛行船ロボットの直線経路追従制御
    SAIKI Hitomu, FUKAO Takanori, URAKUBO Takateru, KOHNO Takashi
    計測自動制御学会 システムインテグレーション部門講演会 (SI2011), Dec. 2011, Japanese, 計測自動制御学会, 京都市, Domestic conference
    Oral presentation

  • ジャイロ搭載型球体ロボットの開発と制御
    大澤 正典, URAKUBO Takateru, 前川 聡, TADA Yukio
    第12 回計測自動制御学会システムインテグレーション部門 講演会, Dec. 2011, Japanese, 計測自動制御学会システムインテグレーション部門, 京都, Domestic conference
    Oral presentation

  • A Path Following Control Method under Wind Disturbances for Outdoor Blimp Robots
    SAIKI Hitomu, FUKAO Takanori, URAKUBO Takateru, KOHNO Takashi
    2011 IEEE/SICE International Symposium on System Integration, Dec. 2011, English, SICE, IEEE, 京都市, International conference
    Oral presentation

  • 垂直離着陸型 UAV の開発と制御
    KATSUDA Yudai, URAKUBO Takateru, FUKAO Takanori
    日本航空宇宙学会 関西支部・中部支部大会, Nov. 2011, Japanese, 日本航空宇宙学会, 神戸市, Domestic conference
    Oral presentation

  • 屋外型飛行船ロボットの自律飛行制御
    SAIKI Hitomu, FUKAO Takanori, URAKUBO Takateru, KOHNO Takashi
    日本航空宇宙学会 関西支部・中部支部大会, Nov. 2011, Japanese, 日本航空宇宙学会, 神戸市, Domestic conference
    Oral presentation

  • 宇宙エレベータの最適構造設計
    室巻 孝郎, URAKUBO Takateru, HANAHARA Kazuyuki, TADA Yukio
    日本機械学会2011年度年次大会, Sep. 2011, Japanese, 日本機械学会, 東京, Domestic conference
    Oral presentation

  • 飛行船ロボットの強風下での滞空制御系設計法
    SAIKI Hitomu, FUKAO Takanori, URAKUBO Takateru, KOHNO Takashi
    システム制御情報学会 研究発表講演会 SCI'11, May 2011, Japanese, システム制御情報学会, 京都市, Domestic conference
    Oral presentation

  • 角加速度入力を用いた移動ターゲットへの追跡制御
    西川 和輝, URAKUBO Takateru, TADA Yukio
    第55回システム制御情報学会研究発表講演会, May 2011, Japanese, システム制御情報学会, 吹田, Domestic conference
    Oral presentation

  • ジャイロ搭載型球体ロボット実験機におけるフィードバック制御
    大澤 正典, URAKUBO Takateru, 岸田 拓也, TADA Yukio, 前川 聡
    第55回システム制御情報学会研究発表講演会, May 2011, Japanese, システム制御情報学会, 吹田, Domestic conference
    Oral presentation

  • 飛行ロボット開発に向けた力学シミュレータの構築
    MIYAMOTO Naoyuki, URAKUBO Takateru, TADA Yukio
    日本機械学会関西支部第86期定時総会講演会関西学生会平成22年度学生員卒業研究発表講演会, Mar. 2011, Japanese, 京都市, Domestic conference
    Oral presentation

  • 拡張カルマンフィルタを用いた飛行ロボットの状態推定
    FUKE Tomoki, URAKUBO Takateru, TADA Yukio
    日本機械学会関西支部第86期定時総会講演会関西学生会平成22年度学生員卒業研究発表講演会, Mar. 2011, Japanese, 京都市, Domestic conference
    Oral presentation

  • 屋外型飛行船ロボットの風外乱下での飛行制御系設計法
    SAIKI Hitomu, FUKAO Takanori, URAKUBO Takateru, KOHNO Takashi
    第16回ロボティクスシンポジア, Mar. 2011, Japanese, RSJ/JSME/SICE, 指宿市, Domestic conference
    Oral presentation

  • ロボットアームの人間らしい動作に関する考察
    孟 相超, HANAHARA Kazuyuki, TADA Yukio, URAKUBO Takateru
    日本機械学会関西支部第86期定時総会講演会講演会, Mar. 2011, Japanese, 京都市, Domestic conference
    Oral presentation

  • ジャイロ搭載型球体ロボットの運動制御実験
    KISHIDA Takuya, URAKUBO Takateru, 前川 聡, TAMAKI Hisashi, TADA Yukio
    日本機械学会関西支部第86期定時総会講演会講演会, Mar. 2011, Japanese, 京都市, Domestic conference
    Oral presentation

  • ガルバノミラー最適形状の基礎検討
    SANO Shinichi, HANAHARA Kazuyuki, TADA Yukio, URAKUBO Takateru
    日本機械学会関西支部第86期定時総会講演会関西学生会平成22年度学生員卒業研究発表講演会, Mar. 2011, Japanese, 京都市, Domestic conference
    Oral presentation

  • 2リンクロボットアームの引っ張り動作における特異姿勢の有用性についての考察
    YOSHIOKA Hiroki, URAKUBO Takateru, TADA Yukio
    日本機械学会関西支部第86期定時総会講演会関西学生会平成22年度学生員卒業研究発表講演会, Mar. 2011, Japanese, 京都市, Domestic conference
    Oral presentation

  • ジャイロ搭載型球体移動ロボットにおける運動状態推定
    OHSAWA Masanori, URAKUBO Takateru, 前川 聡, TADA Yukio
    第7 回NCP フォーラム, Feb. 2011, Japanese, 福井県あわら市, Domestic conference
    Oral presentation

  • ロボットアームの特異姿勢付近における効率的エネルギ供給
    Takateru Urakubo, Tomoaki Mashimo, Takeo Kanade
    第28回日本ロボット学会学術講演会, Sep. 2010, Japanese, 日本ロボット学会, 名古屋, Domestic conference
    Oral presentation

  • Hovering Control of Outdoor Blimp Robots Based on Path Following
    SAIKI Hitomu, FUKAO Takanori, URAKUBO Takateru, KOHNO Takashi
    2010 IEEE Multi-Conference on Systems and Control, Sep. 2010, English, IEEE, 横浜市, International conference
    Oral presentation

  • Path Followingに基づいた屋外型飛行船ロボットの滞空制御
    SAIKI Hitomu, FUKAO Takanori, URAKUBO Takateru, KOHNO Takashi
    日本機械学会 ロボティクス・メカトロニクス講演会2010 (ROBOMEC'10), Jun. 2010, Japanese, 日本機械学会, 旭川市, Domestic conference
    Poster presentation

  • ロボットマニピュレータの特異姿勢付近作業に対する力学的考察
    Takateru Urakubo, Tomoaki Mashimo, Takeo Kanade
    第54回システム制御情報学会研究発表講演会, May 2010, Japanese, システム制御情報学会, 京都, Domestic conference
    Oral presentation

  • ジャイロ搭載型球体ロボット実験機における動特性解析
    OHSAWA Masanori, URAKUBO Takateru, KISHIDA Takuya, 前川 聡, TADA Yukio
    第54回システム制御情報学会研究発表講演会, May 2010, Japanese, システム制御情報学会, 京都市, Domestic conference
    Oral presentation

  • ジャイロ搭載型球体ロボットの直進制御
    岸田 拓也, URAKUBO Takateru, 大澤 正典, 前川 聡, TADA Yukio
    第6回NCPフォーラム, Mar. 2010, Japanese, 大津, Domestic conference
    Oral 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についての考察
    大道 陵平, URAKUBO Takateru, TADA Yukio
    日本機械学会関西支部第85期定時総会講演会関西学生会平成21年度学生員卒業研究発表講演会, Mar. 2010, Japanese, 日本機械学会関西支部, 神戸, Domestic conference
    Oral presentation

  • ジャイロ搭載型球体ロボットの運動制御実験
    岸田 拓也, 大澤 正典, URAKUBO Takateru, 前川 聡, TADA Yukio
    計測自動制御学会関西支部平成21 年度シンポジウム若手研究発表会, Jan. 2010, Japanese, 計測自動制御学会 関西支部, 大阪, Domestic conference
    Oral presentation

  • Optimal Placement of a Two-Link Manipulator for Door Opening
    Takateru Urakubo, Tomoaki Mashimo, Takeo Kanade
    2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 2009, English, St. Louis, Missouri, USA, International conference
    Oral presentation

  • Capturability of a Simple Guidance Law with Angular Acceleration Input
    Takateru Urakubo, Takeo Kanade
    European Control Conference 2009, Aug. 2009, English, Budapest, Hungary, International conference
    Oral presentation

  • ジャイロ搭載型球体ロボットにおける外殻位置と内部ニューテーションの同時制御
    Tomoyuki Nishimura, Takateru Urakubo, Satoshi Maekawa, Hisashi Tamaki, Yukio Tada
    日本機械学会関西支部第84期定時総会講演会講演会, Mar. 2009, Japanese, 東大阪市, Domestic conference
    Oral presentation

  • ジャイロ搭載型球体ロボットの可制御性に関する考察 - 外殻位置と内部ニューテーションの同時制御 -
    Tomoyuki Nishimura, Takateru Urakubo, Satoshi Maekawa, Yukio Tada, Hisashi Tamaki
    第26 回日本ロボット学会学術講演会, Sep. 2008, Japanese, 神戸市, Domestic conference
    Oral presentation

  • 屋内型飛行船ロボットシステムの開発
    吉田 武史, 深尾 隆則, 浦久保 孝光, 大須賀 公一, 小林 滋, 高森 年
    ROBOMEC, Jun. 2008, Japanese, Domestic conference
    Poster presentation

  • 停止を含む目標軌道に対する二輪移動車の追従制御
    Masahiro Fukuhara, Takateru Urakubo, Tada Yukio
    第52回システム制御情報学会研究発表講演会, May 2008, Japanese, 京都, Domestic conference
    Oral presentation

  • 仮想バネ・ダンパを用いた二輪移動ロボットのフォーメーション制御
    和田 淳也, URAKUBO Takateru, TADA Yukio
    日本機械学会関西支部第83期定時総会講演会講演会関西学生会平成19年度卒業研究発表講演会, Mar. 2008, Japanese, 日本機械学会関西支部, 豊中, Domestic conference
    Oral presentation

  • 球体ロボットの最適軌道形成法に関する試案
    上田 哲也, 玉置 久, 浦久保 孝光, 前川 聡
    平成19年度計測自動制御学会関西支部若手研究発表会, Jan. 2008, Japanese, 大阪, Domestic conference
    Oral presentation

  • ２剛体からなる宇宙ロボットの姿勢制御
    浦久保 孝光, 多田 幸生
    第3回NCPフォーラム, Mar. 2007, Japanese, 兵庫県美方郡新温泉町, Domestic conference
    Oral presentation

  • ジャイロ搭載型ロボットの動特性に関する考察
    西村 智幸, 浦久保 孝光, 前川 聡, 玉置 久, 多田 幸生
    日本機械学会関西支部第８２期定時総会講演会関西学生会平成１８年度卒業研究発表講演会, Mar. 2007, Japanese, 大東, Domestic conference
    Oral presentation

  • Dynamics and Control of a Spherical Rolling Robot Equipped with a Gyro
    URAKUBO Takateru, MAEKAWA Satoshi, TAMAKI Hisashi, TADA Yukio, OTANI Toshiaki, KOBAYASHI Hiroshi
    2006 International Symposium on Flexible Automation, Jul. 2006, English, Osaka, Japan, International conference
    Oral presentation

  • Design and Control of Indoor Nearfloor Mover with Autonomy for Welfare
    TADA Yukio, KITANO Kenta, URAKUBO Takateru
    2006 International Symposium on Flexible Automation, Jul. 2006, English, Suita, International conference
    Oral presentation

  • A Study on Attitude Control of a Space Robot Composed of Two Axisymmetric Rigid Bodies
    URAKUBO Takateru, TADA Yukio
    3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Jul. 2006, English, Nagoya, International conference
    Poster presentation

  • ２剛体からなる宇宙ロボットの姿勢制御 ～ロボットの形態と制御性能についての考察～
    福原 正浩, 浦久保 孝光, 多田 幸生
    第５０回システム制御情報学会研究発表講演会, May 2006, Japanese, 京都, Domestic conference
    Oral presentation

  • 障害物のある水平面上における二輪移動ロボットのリヤプノフ制御（実機における有効性の検証）
    澤本 拓也, 浦久保 孝光, 多田 幸生
    日本機械学会関西支部第８１期定時総会講演会関西学生会平成１７年度卒業研究発表講演会, Mar. 2006, Japanese, Domestic conference
    Oral presentation

  • Position and Attitude Control of a Spherical Rolling Robot Equipped with a Gyro
    Takateru Urakubo, Toshiaki Otani, Satoshi Maekawa, Hisashi Tamaki, Yukio Tada
    The 9th IEEE International Workshop on Advanced Motion Control, Mar. 2006, English, Istanbul, Turkey, International conference
    Oral presentation

  • ジャイロ駆動型球体移動ロボットの設計・製作・制御
    TAMAKI Hisashi, URAKUBO Takateru, MAEKAWA Satoshi
    第5回CFAシンポジウム, Nov. 2005, Japanese, システム制御情報学会, 大阪, Domestic conference
    Oral presentation

  • ジャイロ駆動型球体ロボットの位置姿勢制御に関する考察
    尾谷 紀明, 浦久保 孝光, 前川 聡, 玉置 久, 多田 幸生
    計測自動制御学会第34回制御理論シンポジウム, Nov. 2005, Japanese, Domestic conference
    Oral presentation

  • ２つの軸周りのトルクによる宇宙機の姿勢制御に関する一考察
    岡本 和久, 浦久保 孝光, 多田 幸生
    システム制御情報学会第５回サイバネティック・フレキシブル・オートメーション・シンポジウム, Oct. 2005, Japanese, 吹田, Domestic conference
    Oral presentation

  • 速度拘束を受ける機械システムに対する強化学習を用いた運動生成
    杉根 隆介, 浦久保 孝光, 多田 幸生
    第49回システム制御情報学会研究発表講演会, May 2005, Japanese, 京都, Domestic conference
    Oral presentation

  • ジャイロ搭載型球体ロボットの操縦インタフェースの設計
    SASAKI Kazuma, TAMAKI Hisashi, KITAMURA Shinzo, URAKUBO Takateru, MAEKAWA Satoshi
    第49回システム制御情報学会研究発表講演会, May 2005, Japanese, システム制御情報学会, 京都, Domestic conference
    Oral presentation

  • ジャイロ駆動型球体ロボットにおける動特性解析
    岡市 努, 浦久保 孝光, 玉置 久, 前川 聡, 多田 幸生
    第49回システム制御情報学会研究発表講演会, May 2005, Japanese, 京都, Domestic conference
    Oral presentation

  • 2つの軸対称剛体からなる宇宙ロボットの姿勢制御
    浦久保 孝光, 田島 宏史, 多田 幸生
    第５回計測自動制御学会制御部門大会, May 2005, Japanese, Domestic conference
    Oral presentation

  • 2つの軸対称剛体からなる宇宙ロボットの姿勢制御 -制御則構成に適した姿勢表現の導入-
    多田 幸生, 浦久保 孝光, 田島 宏史
    日本機械学会関西支部第80期定時総会講演会関西学生会学生員卒業研究発表講演会, Mar. 2005, Japanese, 日本機械学会関西支部, 京都大学, Domestic conference
    Oral presentation

  • 2つの軸周りのトルクを用いた宇宙機の姿勢制御
    多田 幸生, 浦久保 孝光, 岡本 和久
    日本機械学会関西支部第80期定時総会講演会関西学生会学生員卒業研究発表講演会, Mar. 2005, Japanese, 日本機械学会関西支部, 京都大学, Domestic conference
    Oral presentation

  • 一次可制御な非ホロノミックシステムのフィードバック制御 -４入力系の可制御性と安定化-
    浦久保 孝光, 土屋 和雄, 多田 幸生
    第33回制御理論シンポジウム, Nov. 2004, Japanese, 制御部門・制御理論部会, 浜松, Domestic conference
    Oral presentation

  • Feedback Control of a Two Wheeled Mobile Robot with Obstacle Avoidance Using Potential Functions
    URAKUBO Takateru, OKUMA Kenji, TADA Yukio
    2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 2004, English, IEEE/RSJ, Sendai, Japan, International conference
    Oral presentation

  • Lyapunov Control of a Two Wheeled Mobile Robot in the Presence of Obstacles
    OOKUMA Kenji, URAKUBO Takateru, TADA Yukio
    The 2004 Japan-USA Symposium on Flexible Automation, Jul. 2004, English, ASME-DSC, ISCIE, Denver, USA, International conference
    Oral presentation

  • 障害物回避を含む二輪移動ロボットのフィードバック制御
    浦久保 孝光, 大熊 賢治, 多田 幸生
    計測自動制御学会第4回制御部門大会, May 2004, Japanese, 計測自動制御学会制御部門, 北九州市, Domestic conference
    Oral presentation

  • 非ホロノミック水中ロボットの運動制御
    多田 幸生, 浦久保 孝光, 堀内 祥次
    日本機械学会関西支部第79期定時総会講演会関西学生会学生員卒業研究発表講演会, 2004, Japanese, 日本機械学会関西支部, 大阪府立大学, Domestic conference
    Oral presentation

  • 障害物のある水平面上における二輪移動ロボットのリヤプノフ制御
    大熊 賢治, 浦久保 孝光, 多田 幸生
    日本機械学会関西支部第79期定時総会講演会, 2004, Japanese, 日本機械学会関西支部, 大阪府立大学, Domestic conference
    Oral presentation

  • 2つの軸周りのトルクによる宇宙機の姿勢変更操作
    多田 幸生, 浦久保 孝光, 村上 博昭
    日本機械学会関西支部第79期定時総会講演会関西学生会学生員卒業研究発表講演会, 2004, Japanese, 日本機械学会関西支部, 大阪府立大学, Domestic conference
    Oral presentation

  • 非ホロノミック移動ロボットの強化学習による運動生成
    多田 幸生, 浦久保 孝光, 杉根 隆介
    日本機械学会関西支部第78期定時総会講演会関西学生会学生員卒業研究発表講演会, 2003, Japanese, 日本機械学会, 大阪工業大学大宮学舎, Domestic conference
    Oral presentation

■ Affiliated Academic Society
  • The Japan Society for Aeronautical and Space Sciences
    Apr. 2019 - Present

  • The Japan Society of Mechanical Engineers
    Dec. 2017 - Present

  • IEEE
    Mar. 2007 - Present

  • システム制御情報学会
    Apr. 2002 - Present

  • 日本ロボット学会
    Sep. 2000 - Present

  • 計測自動制御学会
    Nov. 1999 - Present

■ Research Themes
  • 特異姿勢を用いたロボットのダイナミック動作における力学と制御
    浦久保 孝光
    日本学術振興会, 科学研究費助成事業 基盤研究(C), 基盤研究(C), 神戸大学, 01 Apr. 2020 - 31 Mar. 2023
    2021年度は、2020年度に引き続いて、冗長自由度を有する多リンクロボットの押し動作について、力学解析および最適運動計画を行った。具体的に、4リンクからなる脚型ロボットが水平面内で壁を押す（蹴り出す）場合を考え、消費トルクが一定である条件の下で、壁から離れるときの運動量を最大化するロボット動作を数値最適化によって求めた。このとき、最適化によって得られた動作においては、膝関節がほぼ伸びきった特異姿勢に近い姿勢を用いている。動作中の各時刻のロボット姿勢における動的可操作性を調べ、特異姿勢に近い姿勢を用いることで、一定の大きさの関節トルクの下でも壁を押す方向に大きな力を発生可能であることを明らかにした。 さらに、同様な押し動作として、微小重力下の宇宙ロボットの跳躍動作を数値シミュレーションによって調べた。上述の脚型ロボットと同様な関節自由度、リンク長のロボットを考えるが、関節の回転角度に対する制約を設けず、広い範囲で回転可能であると想定した場合、最適運動計画の結果、足リンクを大きく回転させて、足先を地面に叩き付け、その際の衝撃力によって跳躍することによって大きな運動量が得られることが分かった。大きな衝撃力はハードウェアの損傷などを招く恐れがあるが、弾性要素を組み込むことでその大きさは低減可能であり、微小重力下の新しい跳躍動作の可能性を示す結果と言える。 4リンクからなるロボットの水平面内での押し動作に関する最適運動計画および力学解析結果に関しては国内会議において1件の発表を行い、微小重量下での宇宙ロボットの最適跳躍動作に関しては国際会議発表1件および学術誌論文発表1件を行った。

  • 浦久保 孝光
    学術研究助成基金助成金／基盤研究(C), Apr. 2016 - Mar. 2019, Principal investigator
    Competitive research funding

  • URAKUBO Takateru
    Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Young Scientists (B), Kobe University, 2011 - 2013, Principal investigator
    For motion control of a robot arm, singular configurations of the arm tend to be avoided. In this study, we showed that, when a certain kind of tasks are performed by a robot arm, the joint torques necessary to achieve the tasks can be reduced by using singular configurations. The optimal motion for achieving the tasks was obtained by numerical optimization, and the dynamic features of singular configurations were revealed by analyzing the obtained motion. The experiments for an actual robot arm to achieve the obtained motion were performed to show that the advantage of singular configurations in reducing the joint torques is practically useful.
    Competitive research funding

  • HANAHARA Kazuyuki, TADA Yukio, URAKUBO Takateru
    Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (C), Kobe University, 2010 - 2011
    Variable geometry truss(VGT) is a typical structural system consisting of a number of length-adjustable truss members. In this study, we deal with this type of mechanical system having a number of shape memory alloy(SMA) wires as its actuators. Kinematical as well as dynamic characteristics of the SMA-wire actuated VGT are studied. The feasibility is also demonstrated through experimental studies with 2D and 3D prototype VGT systems.
    Competitive research funding

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