Updated on 2024/05/11

写真a

 
SAKAMOTO Kosuke
 
Organization
Faculty of Science and Engineering Research Associate
Contact information
The inquiry by e-mail is 《here
External link

Degree

  • 博士(工学) ( 東京大学 )

  • 修士(工学) ( 早稲田大学 )

Education

  • 2021.3
     

    The University of Tokyo   doctor course   completed

  • 2018.3
     

    Waseda University   master course   completed

  • 2016.3
     

    Waseda University   graduated

Research History

  • 2021.4 -  

    中央大学理工学部助教

Research Interests

  • Robotics

  • Reinforcement Learning

  • Terramechanics

  • Path Planning

  • Motion Control

  • Swarm Intelligence

Research Areas

  • Frontier Technology (Aerospace Engineering, Marine and Maritime Engineering) / Aerospace engineering  / Aerospace engineering

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Control and system engineering  / Robotics, Machine learning, Artificial intelligence, Aerospace engineering

Papers

  • Exploration System for Distributed Swarm Robots Using Probabilistic Action Decisions Reviewed

    Toui Sato, Kosuke Sakamoto, Takao Maeda, Yasuharu Kunii

    Distributed Autonomous Robotic Systems   453 - 465   2024.2

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    Publishing type:Part of collection (book)   Publisher:Springer Nature Switzerland  

    DOI: 10.1007/978-3-031-51497-5_32

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  • A Random Walk-Based Stochastic Distributed Exploration Algorithm for Low-Cost Swarm Robots Reviewed

    Kosuke Sakamoto, Toui Sato, Kiyohisa Izumi, Tomoki Kato, Takao Maeda, Yasuharu Kunii

    2024 IEEE/SICE International Symposium on System Integration (SII)   2024.1

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    Authorship:Lead author   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/sii58957.2024.10417163

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  • Probabilistic Presence Density Control for Areal Wide-area Distributed Exploration with Swarm Robots Reviewed

    Toui Sato, Kosuke Sakamoto, Takao Maeda, Yasuharu Kunii, Takeshi Toda, Hiroki Kato

    Journal of the Robotics Society of Japan   41 ( 10 )   869 - 880   2023.12

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    Publishing type:Research paper (scientific journal)   Publisher:The Robotics Society of Japan  

    DOI: 10.7210/jrsj.41.869

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  • A MDPs-Based Dynamic Path Planning in Unknown Environments for Hopping Locomotion Reviewed

    Kosuke Sakamoto, Yasuharu Kunii

    IEEE Access   11   66694 - 66712   2023

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    Authorship:Lead author   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers ({IEEE})  

    DOI: 10.1109/ACCESS.2023.3291401

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  • Hopping path planning in uncertain environments for planetary explorations Reviewed

    Kosuke Sakamoto, Takashi Kubota

    ROBOMECH Journal   9 ( 4 )   2022.2

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    Authorship:Lead author   Language:English   Publisher:Springer Open  

    <title>Abstract</title>Hopping robots, called hoppers, are expected to move on rough terrains, such as disaster areas or planetary environments. The uncertainties of the hopping locomotion in such environments are high, making path planning algorithms essential to traverse these uncertain environments. Planetary surface exploration requires to generate a path which minimises the risk of failure and maximises the information around the hopper. This paper newly proposes a hopping path planning algorithm for rough terrains locomotion. The proposed algorithm takes into account the motion uncertainties using Markov decision processes (MDPs), and generates paths corresponding to the terrain conditions, or the mission requirements, or both. The simulation results show the effectiveness of the proposed route planning scheme in three cases as the rough terrain, sandy and hard ground environment, and non-smooth borders.

    DOI: 10.1186/s40648-022-00219-7

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    Other Link: https://link.springer.com/article/10.1186/s40648-022-00219-7/fulltext.html

  • Discussion of Relationship between Expansion Trajectory of Jumping Mechanism and Mobility Performance Reviewed

    Minegishi Riki, Maeda Takao, Sakamoto Kosuke, Kunii Yasuharu

    Journal of the Robotics Society of Japan   40 ( 7 )   643 - 646   2022

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    Language:Japanese   Publisher:The Robotics Society of Japan  

    Small rovers are suitable for carpooling or precursor missions and have been expected to explore complex areas where large rovers are hard to traverse. However, the moving performance of small rovers is lower than that of large rovers in general. This study designs a novel jumping mechanism that mimics a grasshopper leg for small rovers. We produced nine different leg expansion trajectories by changing the joint positions of the mechanism and investigated how these trajectories affected jumping performance. The highest jumping was obtained with a straight expansion trajectory and a kicking behind the foot, and kicking in front of the foot with a upward convex expansion trajectory generated the longest jump distance.

    DOI: 10.7210/jrsj.40.643

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  • Evaluation of hopping robot performance with novel foot pad design on natural terrain for hopper development Reviewed

    Kosuke Sakamoto, Masatsugu Otsuki, Takao Maeda, Kent Yoshikawa, Takashi Kubota

    IEEE Robotics and Automation Letters   4 ( 4 )   3294 - 3301   2019.10

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    Authorship:Lead author   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers ({IEEE})  

    © 2016 IEEE. This letter presents the hopping performance evaluation on three types of terrains and novel foot pad designs for efficient traverse of hopping rovers. Hopping rovers, called Hopper, are expected to explore scientific richness areas where wheeled vehicles are hard to traverse. In order to succeed in the robotic planetary exploration, optimization and efficient designs of rovers are essential. Almost all planetary surfaces are covered with sand, called regolith, which makes hopping efficiency bad. In this letter, we discover the hopping performance on three kinds of terrains. Moreover, we also propose the method of increasing hopping performance on soft soil. Inspired by the conventional wheeled vehicle design, treads, called grouser, are installed on the bottom of the foot pad. While grousers are effective on hard ground and soft soil, they are ineffective on bilayer terrain. Bilayer means that hard ground is covered with thin regolith. And the other novel grouser shape is designed based on the soil interaction model using a multi-objective evolutionary algorithm. The proposed design improves the hopping performance on soft soil in comparison with the straight grouser.

    DOI: 10.1109/LRA.2019.2926222

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  • A Mechanical Design for Efficient Hopping of Planetary Rover on Soft Soil Reviewed

    Kosuke Sakamoto, Masatsugu Otsuki, Takao Maeda, Kent Yoshikawa, Takashi Kubota

    2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)   2018-July   1092 - 1097   2018.7

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    Authorship:Lead author   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    © 2018 IEEE. This paper presents a novel mechanical design for efficient traverse of hopping rovers. In order to continue the exploration of planetary environment without any human help, optimizations and efficient designs of rovers are essential. In particular, improving robustness and decreasing energy consumption are crucial aspects of rovers design. Hopping efficiency on sandy surfaces is strikingly worse than on hard ground, because such soil is deformed and easily causes slip. The purpose of this paper is to develop a novel mechanical design which can get enough friction from granular media. First, the effects of soft soil for hopping are studied by comparing with hopping on hard ground in terms of energy. Next, a novel foot pad design for hopping on planetary terrain is proposed. Inspired by the conventional wheeled vehicle design, treads, called grouser, are installed for the bottom of the proposed foot pad. The effectiveness of the proposed design is validated through experimental evaluation.

    DOI: 10.1109/aim.2018.8452427

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  • Hopping motion estimation on soft soil by resistive force theory Reviewed

    Kosuke Sakamoto, Masatsugu Otsuki, Takashi Kubota, Yoshiki Morino

    Journal of Robotics and Mechatronics   29 ( 5 )   895 - 901   2017.10

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    Authorship:Lead author   Publishing type:Research paper (scientific journal)  

    © 2017, Fuji Technology Press. All rights reserved. Various planetary terrains or asteroids, which are hard to traverse with wheeled platforms, are expected to be explored. Bekker’s model cannot be applied to estimate the motions of rovers without wheels, such as the hopping rover (hopper). In this paper, the resistive force theory (RFT) approach is introduced. This approach is not based on Bekker’s model, and is expected to apply to any platform. However, this RFT approach only applies to static or quasi-static motion, such as in the case of slow motions. To apply the RFT approach to dynamic motions, such as hopping, the effect of velocity as a dynamic variable is also studied. Through the hopping experiments, the effectiveness of RFT with the velocity-term approach is investigated and compared to the RFT approach.

    DOI: 10.20965/jrm.2017.p0895

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  • A new mechanism of smart jumping robot for lunar or planetary satellites exploration Reviewed

    Kent Yoshikawa, Masatsugu Otsuki, Takashi Kubota, Takao Maeda, Masataka Ushijima, Satoshi Watanabe, Kousuke Sakamoto, Yasuharu Kunii, Kazunoti Umeda

    2017 IEEE Aerospace Conference   2017.3

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    Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    © 2017 IEEE. For planetary exploration, small robots of just a few kilograms installed in the main spacecraft have a lot of advantages. Small robots can provide us with a wide range of exploration opportunities by using multi-robots, technical demonstrations, and science missions which require detailed data acquisition. There are not only mission advantages, but they can also be developed in a short period of time and at a low cost. MINERVA, MINERVA II, MASCOT are examples which are installed in the main spacecraft for surface exploration. In order to move on the surface of a "low gravity" object, like the Moon by a small robot, there are several options of locomotion, such as jumping, wheels, and legs. Wheel locomotion cannot step over obstacles where the size is bigger than the wheel radius, and the structure of leg locomotion is a very complicated piece of machinery and requires a lot of actuators. However, jumping locomotion is capable of moving a long distance by one action and the number of actuators required for jumping capability is very small. In addition, it can travel a longer distance on a planet or satellite which has a gravity lower than the Earth. For instance, it can jump 6 times longer on the Moon than on the Earth. To realize jumping locomotion for small robots in a low gravity environment, the mechanism has to meet the following functional requirements. (1) it can charge the required jumping energy, (2) it can release the energy instantly, (3) it can change the amount of the energy needed to control jumping distance, (4) it doesn't consume resources such as fuel and should be able to repeat the movement, (5) it has a ground contact part to apply power, (6) the size should be small and the weight should be small (7) it can move in a space environment (vacuum, high radiation). We studied some jumping mechanism concepts to meet these requirements. Our design of the mechanism uses springs to charge the energy and they are supported and connected to the shaft structure. A jumping pad is attached to the end of the structure and pushes the ground and robot so it can jump from the ground. For actuation, only one motor is used. In our mechanism, a one-way clutch is used to change from energy charge mode to release mode. This mode change is executed by changing the direction of motor rotation. After jumping, it can change the mode to energy charge mode again. The authors have developed a research model of the jumping rover which the jumping mechanism is mounted on. This model is developed for a lunar exploration mission. Science mission equipment mock-ups and wheels are also mounted on the model. The wheel is used to control the jumping direction. In this paper, our design of the jumping mechanism, development of a research model, and test results are presented in detail.

    DOI: 10.1109/aero.2017.7943807

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MISC

  • An Optimization of Generation Process of Saliency Map with Hue Features for Singular Object Detection in Lunar Environment

    峰岸理樹, 坂本康輔, 前田孝雄, 國井康晴, 吉光徹雄

    宇宙科学技術連合講演会講演集(CD-ROM)   66th   2022.10

  • 移動ロボットのための複数情報を組み合わせた追跡対象を特定する手法の提案

    篠田祥吾, 坂本康輔, 國井康晴

    日本ロボット学会学術講演会予稿集(CD-ROM)   40   2022.10

  • 群ロボットの存在領域制御のための発光周波数解析による群中心マーカ認識のロバスト化及び高速化

    塚本翔, 泉清久, 前田孝雄, 坂本康輔, 國井康晴, 戸田武

    日本ロボット学会学術講演会予稿集(CD-ROM)   40   2022.10

  • 群誘導における衝突ストレスを用いた確率的な障害物回避アルゴリズムの検討

    安藤拓眞, 坂本康輔, 國井康晴, 前田孝雄, 宮口幹太

    日本ロボット学会学術講演会予稿集(CD-ROM)   40   2022.10

  • Study on a singular target detection in lunar environment using saliency map

    MINEGISHI Riki, MAEDA Takao, SAKAMOTO Kosuke, KUNII Yasuharu

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2022   1P1-I03   2022

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    Small rover navigation needs to realise the direction of a landmark such as a mother lander. However, due to the hardware limitations, small rovers are hard to implement high accuracy perception algorithms. This paper proposeds a novel detection algorithm using saliency map. We focus on the peculiarity of an artifical object in natural environment, and study the estimation of the lander by analyzing the saliency map, painting, and linearity of the feature area from the image. We can detection landa by low accuracy perception algorithms.

    DOI: 10.1299/jsmermd.2022.1p1-i03

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  • Discussion of Relationship between Expansion Trajectory of Jumping Mechanism and Mobility Performance

    峰岸理樹, 前田孝雄, 坂本康輔, 國井康晴

    日本ロボット学会誌   40 ( 7 )   2022

  • Hopping Path Planning in Unknown Environments for Planetary Explorations

    坂本康輔, 久保田孝

    ロボティクスシンポジア予稿集   26th (CD-ROM)   2021

  • 惑星探査のための強化学習を用いた車輪-跳躍ハイブリッド移動ロボットの行動計画

    坂本康輔, 久保田孝

    日本ロボット学会学術講演会予稿集(CD-ROM)   38th   2020

  • 跳躍ロボットによる惑星探査の検討

    坂本康輔, 久保田孝

    日本ロボット学会学術講演会予稿集(CD-ROM)   37th   2019

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Presentations

  • Dynamic Path Planning for Hopping Robot in Unknown Environment

    Kosuke Sakamoto, Takashi Kubota

    The 31th Workshop on JAXA Astrodynamics and Flight Mechanics  2021.7 

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  • 未知環境における不確実性を考慮した跳躍経路計画

    坂本康輔, 久保田孝

    第26回ロボティクスシンポジア  2021.3 

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    Presentation type:Oral presentation (general)  

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  • 惑星探査のための強化学習を用いた車輪-跳躍ハイブリッド移動ロボットの行動計画

    坂本康輔, 久保田孝

    第38回日本ロボット学会学術講演会  2020.10 

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  • Evaluation of Hopping Robot Locomotion for Planetary Exploration by 3D Simulator International conference

    Kosuke Sakamoto, Auke Jan Ijspeert, Takashi Kubota

    International Symposium on Artificial Intelligence, Robotics and automation in Space  2020.9 

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    Language:English   Presentation type:Oral presentation (general)  

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  • Evaluation of Hopping Robot Locomotion for Planetary Exploration by 3D Simulator

    Kosuke Sakamoto, Takashi Kubota

    The 30th Workshop on JAXA Astrodynamics and Flight Mechanics  2020.7 

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  • Evaluation of Hopping Robot Performance with Novel Foot Pad Design on Natural Terrain for Hopper Development International conference

    Kosuke Sakamoto, Masatsugu Otsuki, Takao Maeda, Kent Yoshikawa, Takashi Kubota

    IEEE/RSJ International Conference on Intelligent Robots and Systems  2019.11 

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    Language:English   Presentation type:Oral presentation (general)  

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  • 跳躍ロボットによる惑星探査の検討

    坂本康輔, 久保田孝

    第37回日本ロボット学会学術講演会  2019.10 

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  • Hopping Path Planning for Planetary Exploration

    Kosuke Sakamoto, Takashi Kubota

    The 29th Workshop on JAXA Astrodynamics and Flight Mechanics  2019.7 

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  • A mechanical design for efficient hopping of planetary rover on soft soil International conference

    Kosuke Sakamoto, Masatsugu Otsuki, Takao Maeda, Kent Yoshikawa, Takashi Kubota

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM  2018.8 

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    Language:English   Presentation type:Oral presentation (general)  

    © 2018 IEEE. This paper presents a novel mechanical design for efficient traverse of hopping rovers. In order to continue the exploration of planetary environment without any human help, optimizations and efficient designs of rovers are essential. In particular, improving robustness and decreasing energy consumption are crucial aspects of rovers design. Hopping efficiency on sandy surfaces is strikingly worse than on hard ground, because such soil is deformed and easily causes slip. The purpose of this paper is to develop a novel mechanical design which can get enough friction from granular media. First, the effects of soft soil for hopping are studied by comparing with hopping on hard ground in terms of energy. Next, a novel foot pad design for hopping on planetary terrain is proposed. Inspired by the conventional wheeled vehicle design, treads, called grouser, are installed for the bottom of the proposed foot pad. The effectiveness of the proposed design is validated through experimental evaluation.

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  • A Study on Foot Pad Design of Hopping Rover Based on Soil Features

    Kosuke Sakamoto, Masatsugu Otsuki, Takao Maeda, Kent Yoshikawa, Takashi Kubota

    The 28th Workshop on JAXA Astrodynamics and Flight Mechanics  2018.7 

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    Presentation type:Symposium, workshop panel (public)  

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  • A new mechanism of smart jumping robot for lunar or planetary satellites exploration International conference

    Kent Yoshikawa, Masatsugu Otsuki, Takashi Kubota, Takao Maeda, Masataka Ushijima, Satoshi Watanabe, Kousuke Sakamoto, Yasuharu Kunii, Kazunoti Umeda

    IEEE Aerospace Conference Proceedings  2017.6 

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    Language:English   Presentation type:Oral presentation (general)  

    © 2017 IEEE. For planetary exploration, small robots of just a few kilograms installed in the main spacecraft have a lot of advantages. Small robots can provide us with a wide range of exploration opportunities by using multi-robots, technical demonstrations, and science missions which require detailed data acquisition. There are not only mission advantages, but they can also be developed in a short period of time and at a low cost. MINERVA, MINERVA II, MASCOT are examples which are installed in the main spacecraft for surface exploration. In order to move on the surface of a "low gravity" object, like the Moon by a small robot, there are several options of locomotion, such as jumping, wheels, and legs. Wheel locomotion cannot step over obstacles where the size is bigger than the wheel radius, and the structure of leg locomotion is a very complicated piece of machinery and requires a lot of actuators. However, jumping locomotion is capable of moving a long distance by one action and the number of actuators required for jumping capability is very small. In addition, it can travel a longer distance on a planet or satellite which has a gravity lower than the Earth. For instance, it c

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  • RFT-based analysis of hopping rover on soft soil for planetary exploration International conference

    Kosuke Sakamoto, Masatsugu Otsuki, Takashi Kubota, Yoshiki Morino

    International Symposium on Artificial Intelligence, Robotics and automation in Space  2016.6 

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    Language:English   Presentation type:Oral presentation (general)  

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Research Projects

  • ロボット間通信を用いない未知環境における小型群ロボットの群行動戦略

    Grant number:24K17245  2024.4 - 2027.3

    日本学術振興会  科学研究費助成事業  若手研究  中央大学

    坂本 康輔

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    Grant amount: \4810000 ( Direct Cost: \3700000 、 Indirect Cost: \1110000 )

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  • Study on Hopping Motion Strategy in Unknown Environments Based on Soil Interaction

    Grant number:19J10278  2019.4 - 2021.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for JSPS Fellows  Grant-in-Aid for JSPS Fellows  The University of Tokyo

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    Grant amount: \1700000 ( Direct Cost: \1700000 )

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