SUGIUCHI Hajime

Affiliation

Faculty of Engineering, Division of Systems Research

Job Title

Lecturer

Date of Birth

1959

Research Fields, Keywords

Hand, Robotics, Multi-Finger, Dexterous Hand Work, Tactile Sensor

Mail Address

E-mail address



Education 【 display / non-display

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    1988

    The University of Tokyo   Mechanical engineering   Doctor Course   Completed

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    1982

    The University of Tokyo

Degree 【 display / non-display

  • Doctor of Engineering

Campus Career 【 display / non-display

  • 2001.4
     
     

    Duty   Yokohama National UniversityFaculty of Engineering   Division of Systems Research   Lecturer  

  • 1988.4
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    2001.3

    Duty   Yokohama National UniversitySchool of Engineering   Lecturer  

  • 2021.4
     
     

    Concurrently   Yokohama National UniversityInterfaculty Graduate School of Innovative and Practical Studies   Lecturer  

  • 2018.4
     
     

    Concurrently   Yokohama National UniversityGraduate school of Engineering Science   Department of Mechanical Engineering, Materials Science and Ocean Engineering   Lecturer  

  • 2017.4
     
     

    Concurrently   Yokohama National UniversityCollege of Engineering Science   Department of Mechanical Engineering, Materials Science and Ocean Engineering   Lecturer  

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Academic Society Affiliations 【 display / non-display

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    IEEE

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    日本ロボット学会

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    The Society of Instrument and Control Engineers

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    日本機械学会

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    精密工学会

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Research Areas 【 display / non-display

  • Informatics / Robotics and intelligent system

  • Informatics / Mechanics and mechatronics

 

Research Career 【 display / non-display

  • Control of Robot Hand

    The Other Research Programs  

    Project Year:

  • Development of tactile Sensor for Robot Hand

    The Other Research Programs  

    Project Year:

Thesis for a degree 【 display / non-display

  • 低剛性ロボットアームの予見追跡制御

    杉内 肇

    54 ( 506 )   2491 - 2497   1987.12

    Doctoral Thesis   Single Work  

    DOI

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    東京大学 工学研究科

    目標軌道の先見情報を利用して軌道追随性能を向上させる予見追跡制御則を低剛性ロボットマニピュレータに適用し複雑な動力学計算を行わずに運動性能を著しく改善可能であることを示した。
    研究企画の一部と実験,解析,まとめを担当

Papers 【 display / non-display

  • Development of a Delta-Type Mobile Robot Driven by Three Standing-Wave-Type Piezoelectric Ultrasonic Motors

    Zhou Juntian, Suzuki Masaki, Takahashi Ryoma, Tanabe Kengo, Nishiyama Yuki, Sugiuchi Hajime, Maeda … Show more authors

    IEEE ROBOTICS AND AUTOMATION LETTERS   5 ( 4 )   6717 - 6723   2020.10  [Reviewed]

    DOI Web of Science

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

  • Analyzing skating posture of skate robot using depth camera

    SATO Kazuki, SUGIUCHI Hajime

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2020 ( 0 )   1P2 - L01   2020

    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, we developed a system to analyze the skating motion of a small biped robot using 3D point cloud obtained by depth camera. To recognize the robot, four LED feature points were installed on the body. By measuring the positions of the feature points, the position and orientation of the robot were calculated. Within 2.6m, we were able to measure the centroid and attitude angle when skating. It became possible to evaluate the skating movement.</p>

    Other Link: https://ci.nii.ac.jp/naid/130007943749

  • Improvement of kicking motion of the small biped skating robot

    KAIHARA Hikaru, SUGIUCHI Hajime, UCHIDA Taichi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2020 ( 0 )   2A2 - L02   2020

    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, we devised a new kicking motion to make the robot's skating movement more stable. In the conventional method, we used ramp trajectory as pitch joint reference. This trajectory brought instability and sometimes caused a failure of skating. In order to improve this problem, we developed "equi-energy trajectory". By using this trajectory, the total mechanical energy of the robot during skating was constant. The effectiveness of this trajectory was shown in the experiment.</p>

    Other Link: https://ci.nii.ac.jp/naid/130007944153

  • Improvement of stability of Small Humanoid Wall Climbing Robot

    SUGIUCHI Hajime, KOHAMA Satoshi, Jumonji Takuya

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2018 ( 0 )   1P2 - J01   2018

    DOI CiNii

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

    <p>Small humanoid robots are expected to advance into society in the field of nursing care and welfare. Among them, the home robots need to move freely even in space with obstacles. Based on these facts, we have the goal to let climb between walls on a small humanoid robot. By the previous work, we made a small humanoid robot and the robot succeeded in climbing between walls. I improve the stability of this developed action using theory of grip. Using this theory, I calculate the required joint torques and the optimal position to support the robot. Then I compare the results obtained with the current results. In addition, I verify the maximum raising distance per cycle.</p>

    Other Link: https://ci.nii.ac.jp/naid/130007551359

  • Development of control system for small humanoid robot

    SUGIUCHI Hajime, YONESHIMA Jun, KOHAMA Satoshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017 ( 0 )   2A1 - C09   2017

    DOI CiNii

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

    <p>Small humanoid robots are expected to advance into society in the field of nursing care and welfare. Among them, the home robots need to move freely even in space with obstacles. Based on these facts, we have the goal to let overcome a step on a small humanoid robot. By the previous work, we made a small humanoid robot and the robot succeeded in climbing a step. I improve the stability of this developed action using an event-driven motion description system. I use the system developed for robot hand and called "SAEN". I will create a new one modified for a small humanoid robot. Then I verify that system using ODE simulation.</p>

    Other Link: https://ci.nii.ac.jp/naid/130006220851

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Industrial Property Rights 【 display / non-display

  • 圧力分布および摩擦力分布測定用センサ

    杉内肇,佐藤滋

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    Applicant:独立行政法人産業技術総合研究所

    Application no:特願2000-148088 

    Patent/Registration no:3374179  Date issued:2002.11

    Country of applicant:Domestic  

    接触面に分布する圧力と摩擦力を同時に測定できるセンサである.

Presentations 【 display / non-display

  • Moving Particle Simulation and Real Machine Validation of Trajectory Planning to Transport Liquid Container for Robot

    A.SEKINE, S. KOSHIZUKA, H. SUGIUCHI, S.ISHIBASHI

    The 12th World Congress on Computational Mechanics (WCCM XII) 

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    Event date: 2016.7

    Language:English   Presentation type:Oral presentation (general)  

  • 液体入り容器の運搬軌道計画のシミュレーション検証におけるMPS法の利用

    A.SEKINE, S.ISHIBASHI, H. SUGIUCHI

    日本機械学会第28回計算力学講演会  (横浜) 

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    Event date: 2015.10

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:横浜  

    ロボットによる液体入り容器の運搬作業を対象にEMPS法シミュレーションの妥当性を検証した。
    研究企画,解析,まとめを担当
    (DOI)10.1299/jsmecmd.2015.28._135-1_

  • 液体入り容器の運搬軌道計画

    A.SEKINE, S.ISHIBASHI, H. SUGIUCHI

    第33回ロボット学会学術講演会<液体入り容器の運搬軌道計画>  (東京) 

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    Event date: 2014.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:東京  

    ロボットによる液体入り容器の運搬作業を対象に運搬軌道計画法を提案し、本手法の有効性をEMPS法シミュレーションと実験により検証した。
    研究企画,解析,まとめを担当
    1G1-04
    (DOI)10.1299/jsmermd.2013._2P1-K07_1

  • 液体入り容器の運搬軌道計画

    A.SEKINE, K.YAMAOKA, H. SUGIUCHI

    第32回ロボット学会学術講演会<液体入り容器の運搬軌道計画>  (福岡) 

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    Event date: 2014.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:福岡  

    ロボットによる液体入り容器の斜め上方への運搬作業を対象に運搬軌道計画法を提案し、本手法の有効性をMPS法シミュレーションにより検証した。
    3D3-01
    (DOI)10.1299/jsmermd.2013._2P1-K07_1

  • 小型二足ロボットによるスケート運動 旋回動作の実現

    茂呂和樹, 堀江祐太郎, 杉内 肇

    第32回ロボット学会学術講演会<小型二足ロボットによるスケート運動 旋回動作の実現>  (福岡) 

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    Event date: 2014.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:福岡  

    小型の二足ロボットを用いてスケート運動を実現したものである。旋回動作に成功した。
    実験の一部と研究企画,解析,まとめを担当
    3D1-01

    (DOI)10.1299/jsmekanto.2015.21._20203-1_

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Preferred joint research theme 【 display / non-display

  • Remote control of biped robot

  • Realization of dexterous hand task by using multi finger robot hand

  • Realization of Japanese sign language communication by using Robot

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

  • 腕時計型PCによる腕静脈認証のためのLinux環境開発

    Cooperative Research within Japan  

    Project Year: 2005.7  -  2006.2 

  • Robot control by using Wearable computer

    Funded Research offered by Enterprises  

    Project Year: 2003.10  -  2004.1 

  • Realization of hand task by using robot hand with vision sensor

    Funded Research offered by Enterprises  

    Project Year: 2002.7  -  2003.3 

 

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

  • 2021   統合システム製作B

    Graduate school of Engineering Science

  • 2021   統合システム製作A

    Graduate school of Engineering Science

  • 2021   統合システム設計B

    Graduate school of Engineering Science

  • 2021   統合システム設計A

    Graduate school of Engineering Science

  • 2021   アドバンスト ロボティクス

    Graduate school of Engineering Science

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