FUJIMOTO Yasutaka

Affiliation

Faculty of Engineering, Division of Intelligent Systems Engineering

Job Title

Professor

Date of Birth

1971

Research Fields, Keywords

Biped Robot, Supply Chain Management, Sequential Control, System Optimization, Mechatronics, Motion Control, Production Scheduling, Discrete Event Systems, Discrete Event Control, Manufacturing Automation

Mail Address

E-mail address

Related SDGs




写真a

The Best Research Achievement in Research Career 【 display / non-display

The Best Research Achievement in the last 5 years 【 display / non-display

Education 【 display / non-display

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    1998

    Yokohama National University   Department of Electrical and Computer Engineering   Doctor Course   Completed

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    1993

    Yokohama National University   Department of Electrical and Computer Engineering   Graduated

Degree 【 display / non-display

  • Doctor of Engineering - Yokohama National University

Campus Career 【 display / non-display

  • 2013.4
     
     

    Duty   Yokohama National UniversityFaculty of Engineering   Division of Intelligent Systems Engineering   Professor  

  • 2007.4
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    2013.3

    Duty   Yokohama National UniversityFaculty of Engineering   Division of Intelligent Systems Engineering   Associate Professor  

  • 2002.4
    -
    2007.3

    Duty   Yokohama National UniversityFaculty of Engineering   Division of Intelligent Systems Engineering   Associate Professor  

  • 2001.4
    -
    2002.3

    Duty   Yokohama National UniversityFaculty of Engineering   Division of Intelligent Systems Engineering   Lecturer  

  • 2000.4
    -
    2001.3

    Duty   Yokohama National UniversitySchool of Engineering   Lecturer  

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External Career 【 display / non-display

  • 1998.4
    -
    1999.3

    Keio University, Japan   Department of Electrical Engineering,   Research Assistant  

  • 1995.4
    -
    1998.3

    Research Fellow, Japan Society for the Promotion of Science   Special researcher of the Japan Society for the Promotion of Science  

Academic Society Affiliations 【 display / non-display

  • 2004.1
     
     
     

    INFORMS

  • 2009.4
     
     
     

    Society of Automotive Engineers of Japan

  • 2008.4
     
     
     

    The Institute of Electronics, Information and Communication Engineers

  • 2006.1
     
     
     

    The Society of Instrument and Control Engineers

  • 1994.1
     
     
     

    The Robotics Society of Japan

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Research Areas 【 display / non-display

  • Others / Others  / Electric Machine

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Control and system engineering

  • Others / Others  / Robotics

 

Research Career 【 display / non-display

  • High Thrust Linear Actuators

    Project Year:

  • Humanoid Robots

    Project Year:

  • Discrete Event Systems and Manufacturing Automation

    Project Year:

  • Production Systems and Logistics

    Project Year:

Books 【 display / non-display

  • 電気機器学の基礎理論

    藤本 康孝, 赤津 観( Role: Joint author)

    コロナ社  ( ISBN:978-4-339-00936-1

    CiNii

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    Total pages:224   Language:Japanese Book type:Scholarly book

  • Recent Progress in Motion Control for High-Performance

    A.Kato,K.Tsuchiya,T.Shimono,H.Asai,Y.Hatta,Y.Fujimoto,Y.Kanai,K.Natori,M.Chiba,Y.Urakawa,Y.Yoshiura,Y.Yokokura,K.Yubai,Y.Asano,Y.Uchimura,T.Zanma,S.Katsura,N.Motoi,D.Yashiro,S.Yabui,J.Ohaki,N.Oda,S.Sakaino,H.Fujimoto,T.Enmei,D.Matsuka( Role: Joint author)

    IEE of Japan 

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    Total pages:94   Responsible for pages:4   Language:Japanese Book type:Report

  • Robot Control Handbook

    F. Matsuno, et al.( Role: Joint author)

    Kindai kagaku sha Co.,Ltd  ( ISBN:9784764904736

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    Total pages:1024   Responsible for pages:15.5.5章, 17.2.2章   Language:Japanese Book type:Scholarly book

  • Dynamics Analysis: Equations of Motion

    Tomomichi Sugihara,Yasutaka Fujimoto( Role: Joint author)

    Springer International Publishing  

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    Language:English Book type:Scholarly book

  • Motion Control for Innovative Industrial Infrastructure

    IEEJ Cooperative R&D Committee on Motion Control for Innovative Industrial Infrastructure( Role: Joint author)

    IEE of Japan 

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    Responsible for pages:3   Language:Japanese Book type:Other

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Thesis for a degree 【 display / non-display

  • Study on Biped Walking Robot with Environmental Force Interaction

    1998.3

    Doctoral Thesis   Single Work  

    DOI

  • スライディングモードを有する2自由度ロバスト制御と2足歩行ロボットへの応用

    藤本 康孝

    1995.3

    Master Thesis   Single Work  

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    横浜国立大学(修士)
    2自由度制御にスライディングモードを組み込んだ新しいロバスト制御法を提案し,2足歩行ロボットの関節サーボ制御に応用し,有効性を示した。

Papers 【 display / non-display

  • High Accuracy Real-Time 6D SLAM with Feature Extraction Using a Neural Network

    Wang Jiayi, Fujimoto Yasutaka

    IEEJ Journal of Industry Applications   10 ( 5 )   512 - 519   2021.9  [Reviewed]

    DOI CiNii

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:一般社団法人 電気学会   Joint Work  

    <p>We present a method for three-dimensional (3D), point cloud-based, six-dimensional (6D) simultaneous localization and mapping (SLAM) with high accuracy and very low computational cost. The two key points of our high accuracy and real-time SLAM process are feature extraction and scan matching optimization. For the 3D laser-based SLAM using the iterative closest point algorithm, we consider correct corresponding point pair searching for achieving high accuracy. Therefore, we propose extracting feature points from 3D point clouds for correct corresponding point pair searching. To extract features such as edges and corners in real-time, we propose the use of a trained neural network (NN). The NN used in our feature extraction scheme is a simple backpropagation (BP) NN with two hidden layers, which allows building a real-time system for 6D SLAM. To optimize the scan matching, we propose the use of particle swam optimization (PSO) and the extracted feature points. The PSO increases the accuracy of the estimated position by matching the most features with a global map stitched with all features. Compared with the state-of-art methods, the proposed method achieved the best performance for the KITTI Odometry Benchmark.</p>

    Other Link: https://ci.nii.ac.jp/naid/130008082786

  • Hybrid 3K Compound Planetary Reduction Gearbox with a Roller Transmission Mechanism

    Satoru Oba, Yasutaka Fujimoto

    IEEE/ASME Transactions on Mechatronics   2021.8  [Reviewed]

    DOI

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    Language:English   Publishing type:Research paper (scientific journal)   Joint Work  

  • Study on prediction errors caused by image zooming in execution phase of remote operation and possibility of compensation

    KAWAMURA Takumi, FUJIMOTO Yasutaka

    Transactions of the JSME (in Japanese)   87 ( 898 )   21 - 00161-21-00161   2021.6  [Reviewed]

    DOI CiNii

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    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Japan Society of Mechanical Engineers   Joint Work  

    <p>In this study, how to improve usability and quality of the remote participation experience using remote-controlled robots to support the active social participation of people who have mobility issues were investigated. Specifically, to reduce the prediction error caused when using remote-controlled robots revealed in the previous study and thus the burden of the remote operation, a series of experimental results was discussed. In these experiments, the error between the stop position of the robot that cannot be directly seen on the robotic perspective image and the target position was measured. The results show that (1) the zooming image from the robotic perspective during the execution phase induces a negative prediction error. The error might be caused when the information of the current position of the robot is inconsistent with that of the stop position. This result is an extension of our previous study. (2) The above situation needs to be considered because it is assumed in the application of remote operations using robots, such as the need to observe the target information in detail like face-to-face communication. (3) Depth cognition is important for remote control using images from the robotic perspective, and it was found that the information of the optic flow, which was thought to affect the depth motion perception involuntarily, significantly affected the size cue regarding the target position.</p>

    Other Link: https://ci.nii.ac.jp/naid/130008057113

  • Numerical Techniques for Optimization of Gait Generation

    Carnier Rodrigo Matos, Fujimoto Yasutaka

    IEEJ JOURNAL OF INDUSTRY APPLICATIONS   10 ( 2 )   236 - 246   2021.3  [Reviewed]

    DOI Web of Science CiNii

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:一般社団法人 電気学会   Joint Work  

    <p> Optimization of robotic bipedal walking widely uses simplified dynamical models to minimize the computational cost and generate fast solutions, but this poses the problem of modeling errors and increased inaccuracy. Moreover, direct methods of optimization are almost always used; however, most are not implemented to satisfy Pontryagin's Principle, which can lead to suboptimal solutions. This study presents the optimization of planar robotic bipedal walking using exact dynamics. We apply pseudospectral optimal control to optimize gait generation using two accuracy requirements: nonlinear multi-degree-of-freedom whole-body dynamics and satisfied conditions of optimality according to Pontryagin's Principle. In order to consistently achieve solvability of optimization in this type of problem, we present a novel methodology consisting of synergic techniques that address well-known numerical difficulties of optimization.</p>

    Other Link: https://ci.nii.ac.jp/naid/130007993702

  • Precise External Force Estimation of Helical Motors using Magnetic-attractive-force Error Compensation

    Koyama Masato, Fujimoto Yasutaka

    IEEJ JOURNAL OF INDUSTRY APPLICATIONS   10 ( 2 )   178 - 183   2021.3  [Reviewed]

    DOI Web of Science CiNii

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:一般社団法人 電気学会   Joint Work  

    <p>This paper presents the external force estimation for helical motors contain the magnetic levitation system. The helical shape of helical motors induces a wide inductive gap; thus, their thrust density is 1.5 times higher than that of general cylindrical linear motors. Furthermore, by magnetically levitating the mover, the motor can be directly driven. However, owing to the variations in the magnetic attractive force acting on the mover, the accuracy of external force estimation is lower than that of cylindrical motors. To solve this problem, this study proposed the combination of the thrust and torque disturbance observers of this motor for external force estimation irrespective of the magnetic attractive force. Numerical simulations and experimental results demonstrated that the proposed method can achieve the highest precision.</p>

    Other Link: https://ci.nii.ac.jp/naid/130007993779

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Review Papers 【 display / non-display

  • Conference Report: IE (Intelligent Electronics) Competition in the Annual Conference of Korean Institute of Power Electronics July 2-4, 2019, Resom Spa Castle, Chungcheong–South Korea

    IEEJ Transactions on Industry Applications   139 ( 11 )   NL11_3 - NL11_3   2019.11

    DOI CiNii

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    Language:Japanese   Publishing type:Other   Publisher:The Institute of Electrical Engineers of Japan   Single Work  

  • 産業応用フォーラム:「第二期メカトロ道場」を終えて

    藤本 康孝, 宮島 孝幸, 中野 郁太

    電気学会論文誌D(産業応用部門誌)   139 ( 7 )   NL7_9 - NL7_10   2019.7

    DOI CiNii

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    Language:Japanese   Publishing type:Other   Publisher:一般社団法人 電気学会   Joint Work  

  • Activities of Technical Committee on Industrial Instrumentation and Control

    Yasutaka Fujimoto

    IEEJ Transactions on Industry Applications   138 ( 3 )   NL3_1 - NL3_1   2018

    DOI

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    Language:Japanese   Publishing type:Other   Single Work  

  • Challenges in Human-friendly Mechatronics

    Yasutaka Fujimoto

    The 4th International Conference on Engineering and ICT   5 - 6   2016.4

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    Language:English   Publishing type:Lecture material (seminar, tutorial, course, lecture, etc.)   Single Work  

  • 最新ロボット事情40 スパイラルモータのロボット応用

    藤本康孝

    ロボコンマガジン   ( 92 )   104 - 107   2014.3

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    Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (scientific journal)   Single Work  

    スパイラルモータの基本原理とそのロボット応用について解説を行った。

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Industrial Property Rights 【 display / non-display

  • 電気機械エネルギー変換装置

    藤本 康孝

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    Applicant:国立大学法人横浜国立大学

    Application no:2015-163392  Date applied:2015.8.21

    Announcement no:2017-041996  Date announced:2017.2.23

    Country of applicant:Domestic  

  • 遊星歯車装置及びその設計方法

    藤本 康孝, 西岡 利恭

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    Applicant:国立大学法人横浜国立大学

    Application no:2015-164100  Date applied:2015.8.21

    Announcement no:2017-040348  Date announced:2017.2.23

    Country of applicant:Domestic  

  • 電力供給装置、及び電力供給システム

    野崎貴裕, 藤本康孝, 下野誠通, 水島清也, 永井栄寿

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    Applicant:国立大学法人横浜国立大学

    Application no:2015-011613  Date applied:2015.1.23

    Announcement no:2016-136821  Date announced:2016.7.28

    Country of applicant:Domestic  

  • 遊星歯車装置及びその設計方法

    藤本 康孝

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    Applicant:国立大学法人横浜国立大学

    Application no:2014-259621  Date applied:2014.12.24

    Announcement no:2016-118283  Date announced:2016.6.30

    Country of applicant:Domestic  

  • 磁気ねじアクチュエータ

    藤本 康孝

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    Applicant:国立大学法人横浜国立大学

    Application no:2014-146925  Date applied:2014.7.17

    Announcement no:2016-025700  Date announced:2016.2.8

    Country of applicant:Domestic  

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Awards 【 display / non-display

  • 電気学会 部門活動功労賞

    2019.8   電気学会   平成30年部門大会実行副委員長としての貢献

    Individual or group name of awards: 藤本康孝

  • IEEE ECCE2016 Best Paper Award

    2016.9    

  • 電気学会 産業応用部門 部門活動功労賞

    2016.8   電気学会  

    Individual or group name of awards: 藤本康孝

  • 電気学会 産業応用部門 部門活動功労賞

    2015.9   電気学会  

    Individual or group name of awards: 藤本康孝

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Grant-in-Aid for Scientific Research 【 display / non-display

  • エネルギー回生可能な革新的双方向アクチュエータの実現

    2021.4 - 2024.3

    科学研究費補助金  Grant-in-Aid for Scientific Research(A)

    Investigator(s):藤本康孝

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    Grant type:Competitive

  • 高周波電気機械エネルギー変換工学の開拓

    2017.6 - 2021.3

    科学研究費補助金  Grant-in-Aid for Challenging Research (Pioneering)

    Investigator(s):藤本康孝

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    Grant type:Competitive

  • スパイラルモータに基づくゼロ剛性ソフトマニピュレータの基盤技術開発

    2016.4 - 2019.3

    科学研究費補助金  Grant-in-Aid for Scientific Research(A)

    Investigator(s):藤本康孝

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    Grant type:Competitive

  • 小型・高効率を実現する複合遊星歯車機構

    2015.4 - 2017.3

    科学研究費補助金  Grant-in-Aid for challenging Exploratory Research

    Investigator(s):藤本康孝

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    Grant type:Competitive

  • Human-friendly human-support motion systems based on helical motors

    2012.4 - 2016.3

    Grant-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research(A)

    Investigator(s):Yasutaka Fujimoto

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    Grant type:Competitive

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Other external funds procured 【 display / non-display

  • ロボットアームによる身体知能獲得のための機械学習アルゴリズムの開発

    2020.4 - 2022.3

    Investigator(s):藤本康孝

  • 歩行支援杖型ロボットの開発

    2018.6 - 2019.3

    Investigator(s):藤本康孝

  • 高効率・高減速ギヤを備えた高出力アクチュエータの研究開発

    2015.7 - 2020.3

    次世代人工知能・ロボット中核技術開発

    Investigator(s):藤本康孝

  • 大出力超伝導回転機器に向けたキーハードの研究

    2010.4 - 2014.3

    Japan Science and Technology Agency  研究成果展開事業 戦略的イノベーション創出推進プログラム

  • 環境情報の構造化と獲得情報量の最大化を規範とした学習制御の研究

    2007.4 - 2008.3

    立石科学技術振興財団 研究助成

    Investigator(s):藤本康孝

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Presentations 【 display / non-display

  • Analysis of Force Generation in Microwave Motors

    IEEJ Int. Workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON) 

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    Event date: 2021.3

    Language:English   Presentation type:Oral presentation (general)  

  • Experimental Validation of Interface Aiding Human Depth Prediction on Images in terms of Usability

    IEEE International Conference on Mechatronics (ICM) 

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    Event date: 2021.3

    Language:English   Presentation type:Oral presentation (general)  

  • Modeling of Malware Propagation in IoT Network and Mitigation in Area Based on Local Routing Depth

    IEEJ Int. Workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON) 

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    Event date: 2021.3

    Language:English   Presentation type:Oral presentation (general)  

  • Mathematical Modeling, Finite Element Analysis, and Experimental Verification of Cross-Coupled 2-DOF Tubular SPMSM

    IEEJ Int. Workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON) 

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    Event date: 2021.3

    Language:English   Presentation type:Oral presentation (general)  

  • Postural Control of 3D Inverted Pendulum Through Wearable-CMG Using the Hybrid Method

    IEEJ Int. Workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON) 

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    Event date: 2021.3

    Language:English   Presentation type:Oral presentation (general)  

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Preferred joint research theme 【 display / non-display

  • Motion Control and Robotics

  • System Optimization

  • High Thrust Linear Actuator

Past of Collaboration and Commissioned Research 【 display / non-display

  • 歩行支援杖型ロボット

    Offer organization: 神奈川県産業技術総合研究所、株式会社タクマ精工   Cooperative Research within Japan  

    Project Year: 2018.6  -  2019.3 

  • High-efficiency, High-power-density, and High-reduction-ratio Actuators

    Funded Research on Investiment  

    Project Year: 2015.7  -  2020.2 

  • Superconducting motor

    Funded Research on Investiment  

    Project Year: 2010.4  -  2014.3 

 

Charge of on-campus class subject 【 display / non-display

  • 2021   エネルギー・制御実習

    Graduate school of Engineering Science

  • 2021   システム制御情報特論

    Graduate school of Engineering Science

  • 2021   先端制御・エネルギーシステム実証F

    Graduate school of Engineering Science

  • 2021   先端制御・エネルギーシステム実証S

    Graduate school of Engineering Science

  • 2021   先端制御・エネルギーシステム設計F

    Graduate school of Engineering Science

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Committee Memberships 【 display / non-display

  • 電気学会 産業応用部門 研究調査運営委員会

    2021.4 - 2023.3  副委員長

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    Committee type:Academic society 

  • 自動制御の多分野応用小委員会

    2021.3 - 2023.9  委員

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    Committee type:Other 

  • かわさき・神奈川ロボットビジネス協議会 役員会

    2019.7 - 2021.6  理事

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    Committee type:Academic society 

  • 電気学会 SAMCON2020実行委員会

    2019.5 - 2020.3  組織委員長

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    Committee type:Academic society 

  • 日本電機工業会 ネットワーク認証特別委員会

    2019.4 - 2022.3  委員長

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    Committee type:Academic society 

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Social Contribution(Extension lecture) 【 display / non-display

  • 神奈川県高度技術活用研修

    Role(s): Lecturer

    神奈川県立産業技術総合研究所  神奈川県海老名市  2020.12

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    Audience: Company

    Type:Seminar, workshop

  • 神奈川県高度技術活用研修

    Role(s): Lecturer

    神奈川県立産業技術総合研究所  神奈川県海老名市  2019.11

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    Audience: Company

    Type:Seminar, workshop

  • モータ技術シンポジウム

    Role(s): Lecturer

    2019.4

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    Audience: Researchers, General public, Company

    Type:Lecture

  • 動力効率よく伝える小型ギア 横国大

    Role(s): Filming support

    日経新聞  2019.2

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    Audience: General public

    Type:Newspaper, magazine

    日経新聞 (2019年2月24日)「動力効率よく伝える小型ギア 横国大」

  • 世界初、100:1の減速比でも逆駆動可能なギヤ NEDOと横浜国大が共同開発 ロボットの関節やEVの変速機への展開期待

    Role(s): Filming support

    電波新聞  2019.2

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    Audience: General public

    Type:Newspaper, magazine

    電波新聞 (2019年2月7日)「世界初、100:1の減速比でも逆駆動可能なギヤ NEDOと横浜国大が共同開発 ロボットの関節やEVの変速機への展開期待」

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