Publishing type：Research paper (scientific journal)  

DOI： 10.1109/ACCESS.2023.3297147

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DOI： 10.1109/ISIE51358.2023.10228062

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Other Link： https://dblp.uni-trier.de/db/conf/isie/isie2023.html#IshiiIN23

Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/ROBIO58561.2023.10354779

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Other Link： https://dblp.uni-trier.de/db/conf/robio/robio2023.html#OkumaNIN23

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

DOI： 10.1007/978-3-031-15226-9_33

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Other Link： https://dblp.uni-trier.de/db/conf/clawar/clawar2022.html#NaruseTIW022

Publishing type：Research paper (scientific journal)  

DOI： 10.1109/LRA.2022.3191962

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

DOI： 10.1007/978-3-031-15226-9_49

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Other Link： https://dblp.uni-trier.de/db/conf/clawar/clawar2022.html#IshiiIK022

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

DOI： 10.1109/ICIT48603.2022.10002778

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Other Link： https://dblp.uni-trier.de/db/conf/icit2/icit2022.html#ItoKOKIN22

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

DOI： 10.1109/ICIT48603.2022.10002720

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Other Link： https://dblp.uni-trier.de/db/conf/icit2/icit2022.html#YamanakaHIN22

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

DOI： 10.1109/IECON49645.2022.9969096

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Other Link： https://dblp.uni-trier.de/db/conf/iecon/iecon2022.html#KunisadaFION22

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

DOI： 10.1109/IECON49645.2022.9968391

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Other Link： https://dblp.uni-trier.de/db/conf/iecon/iecon2022.html#UchiyamaSIN22

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

DOI： 10.1109/SII52469.2022.9708739

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Other Link： https://dblp.uni-trier.de/db/conf/sii/sii2022.html#HitomiYIN22

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

DOI： 10.1007/978-3-030-86294-7_13

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Other Link： https://dblp.uni-trier.de/db/conf/clawar/clawar2021.html#UchiyamaSIK021

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

DOI： 10.1007/978-3-030-86294-7_31

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Other Link： https://dblp.uni-trier.de/db/conf/clawar/clawar2021.html#YamanakaHI021

Publishing type：Research paper (scientific journal)  

DOI： 10.1109/ACCESS.2021.3114698

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Publishing type：Research paper (scientific journal)  

DOI： 10.1109/ACCESS.2021.3135035

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

DOI： 10.1109/SII46433.2020.9026165

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Other Link： https://dblp.uni-trier.de/db/conf/sii/sii2020.html#ItoKON20

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

DOI： 10.1109/AIM43001.2020.9158972

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Other Link： https://dblp.uni-trier.de/db/conf/aimech/aim2020.html#SatoMIYONN20

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

DOI： 10.1109/SII46433.2020.9026201

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Other Link： https://dblp.uni-trier.de/db/conf/sii/sii2020.html#OkuiIKN20

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

DOI： 10.1109/IROS40897.2019.8967648

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Other Link： https://dblp.uni-trier.de/db/conf/iros/iros2019.html#ItoKKYN19

Language：Japanese   Publisher：The Robotics Society of Japan  

DOI： 10.7210/jrsj.40.893

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Publisher：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/lra.2022.3190614

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Other Link： https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-18K19336/

Language：Japanese   Publisher：The Robotics Society of Japan  

DOI： 10.7210/jrsj.40.411

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Language：Japanese   Publisher：The Robotics Society of Japan  

DOI： 10.7210/jrsj.40.304

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Language：Japanese   Publisher：The Robotics Society of Japan  

DOI： 10.7210/jrsj.40.221

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Language：Japanese   Publisher：The Robotics Society of Japan  

DOI： 10.7210/jrsj.40.218

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Language：Japanese   Publisher：The Robotics Society of Japan  

This paper presents the design and experiment of the instantaneous force generation mechanism based on the motion of the mantis shrimp, considering the occurrence of cavitation. This study aims to develop a robot that strengthen the striking force by generating cavitation. In conventional studies, it has been confirmed that mantis shrimp generated two consecutive impacts on a hard object by hitting and cavitation in water. However, there is no robot that can impact twice with a mantis shrimp's striking mechanism. In this paper, striking mechanism of mantis shrimp was modeled and the mechanism was designed and developed based on the model. From the experiment, it was confirmed that the proposed mechanism caused cavitation only at the point of collision with the object. This result indicates the possibility of strengthening the striking force.

DOI： 10.7210/jrsj.40.639

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Other Link： https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-22KJ2769/

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Publisher：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/lra.2021.3094740

DOI： 10.7210/jrsj.40.639_references_DOI_SSFBKC5M72g0qsDilu06WcZtCAJ

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Other Link： https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-18K19336/

Language：Japanese   Publisher：東京 : 日本工業出版  

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Other Link： http://id.ndl.go.jp/bib/031757396

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper, a water suction unit which removes residual water was designed and developed to obtain clear images of the inside of sewer pipes from the camera. When PEW-RO V, which was developed in a previous study, inspects sewer pipes, it cannot inspect inside of sewer pipes taken by its camera in residual water. Residual water removal mechanism consists of the water suction pump and the water suction unit. In the experiment, the location of the pump was determined and PEW-RO V with the water suction unit successfully drained the residual water to a level where the camera could acquire images.

DOI： 10.1299/jsmermd.2021.2p1-e03

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Language：Japanese   Publisher：The Robotics Society of Japan  

In this paper, the authors described a method of increasing traction force by a small number of pneumatic actuators of a wave propagation type pipe inspection robot with a series antagonistic mechanism. The pipes used for fluid transportation in the factory have a long distance. They have the small inner diameter and multiple bends to be installed small space. Therefore, it is difficult to evaluate the overall cleanliness in long-distance, complex and small inner diameter pipes with the endoscopy due to friction between the side surface of the endoscope and the inner wall of the pipe. In this study, we proposed a method for inspecting the pipes in a factory by a wave propagation type pipe inspection robot (PI-Ro) with a linear antagonistic mechanism that actively outputs pushing force and traction force. However, the simple application of PI-Ro is expected to reduce the inspection speed in complex and thin pipes with long-distance in factories. In this paper, we proposed a mechanism to increase the traction force by synthesis of the linear antagonistic mechanisms while minimizing the increase in the number of drive units. This mechanism increased the theoretical traction force by 1.88 times and realized the inspecting of the factory piping mockup.

DOI： 10.7210/jrsj.39.665

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper describes the results of an inspection test in an actual environment using a wave propagation type pipe inspection robot, PI-Ro II. it has been difficult to inspect pipes with thin, long, and complicated layouts from the viewpoint of both propulsive force (force to push the robot deeper into the pipe) and traction force (force to pull the robot into the pipe). Therefore, we developed PI-Ro II, a compact robot with a mechanism that enables both propulsion and traction forces, and confirmed its inspection performance in a mockup. However, it is difficult to perfectly reproduce the piping conditions actually used in factories with this mockup. To solve this problem, we conducted an inspection test using PI-Ro II in a pipe used in an actual factory, and succeeded in acquiring images of the inside of the pipe and inspecting 3.8 m of pipe, including passage through two consecutive 90-degree bends.

DOI： 10.1299/jsmermd.2021.1p1-k14

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In the inspection of sewage pipes, it is necessary to prepare a pipeline map in order to efficiently identify the damaged areas, which are often lost so it is necessary to prepare a pipeline map at the same time as the inspection. The authors have previously developed a peristaltic robot for sewer pipe inspection and have estimated the pipe shape using IMU sensors. However, the accuracy of the estimated map was not enough to be put into practice. In this study, we try to improve the estimation accuracy by measuring the information of the position and orientation of the start and end points of the pipeline to constrain the estimated pipeline shape. The authors represent the pipe geometry with only three parameters, and the correction is performed by iterative calculation using the inverse Jacobian matrix.

DOI： 10.1299/jsmermd.2021.1a1-g08

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this study, the authors started to develop a robot that can clean grease dust in ventilation ducts. In this paper, we investigated the required specifications of the robot, constructed a model of the cleaning brush, and developed grease dust samples. We also conducted cleaning experiments to confirm the cleaning performance of cleaning tools with different bristle and stiffnesses. Form the experiments, we confirmed that the contact area of the brushes affected on the cleaning performance and the cleaning performance of the nylon brush was 68%, which was the highest compared to other brushes.

DOI： 10.1299/jsmermd.2021.1p1-k04

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Language：Japanese   Publisher：The Robotics Society of Japan  

In this paper, the authors described the modeling method of the instantaneous force generation mechanism inspired by the striking motion of Odontodactylus scyllarus and the evaluation of the mechanism. Animals use the contraction of living muscle as actuators to perform various movements. Some arthropods produce instantaneous movements by using the combined force of the exoskeleton spring and muscle force. Few reports deal with such an instantaneous force generation mechanism of the combined force in the numerical simulation. Our purpose of this study was to construct the instantaneous force generation mechanism by the combined force of elastic elements of the exoskeleton and pneumatic artificial muscles, inspired by the instantaneous force generation mechanism of Odontodactylus scyllarus. In the previous study, we have confirmed that the instantaneous force generation device and the possibility of generating instantaneous force by the physical model. In this paper, the authors further constructed a model of the proposed mechanism as a translational rotation system and performed a dynamic analysis by numerical simulation, confirming the effectiveness of the proposed model.

DOI： 10.7210/jrsj.39.181

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper, the authors report the results of an inspection test on a double-elbow pipe using a wave propagation type pipe inspection robot. In previous study, we developed a small and powerful robot to inspect pipes in the factory, and conducted an inspection test in a real field. In the test, it was confirmed the developed robot didn’t stably passage a double-elbow pipe (two 90-degree bent pipes installed close to 100-300 mm). It was confirmed that the path of the robot changed in the curved pipes and the displacement of the actuator was not effcientry converted into the amount of movement of the robot. In this study ,we increased the maximum extension length of the extension unit from 25 mm to 60 mm to solve the above problem. In the experiments of passage a double-elbow pipes in the lablatory, the redesigned robot was successfully pass the double-elbow pipes 10 times in a row.

DOI： 10.1299/jsmemecj.2021.s151-11

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper introduces a two-degree-of-freedom pipe selection mechanism using contraction and extension unit composed of single tube and a T branch experiment of an in-pipe mobile robot equipped with this mechanism. Household piping is used for gas transportation to each household. If the pipe is cracked or corroded due to long-term use, it becomes difficult to supply a stable gas. Therefore, inspection of household piping is necessary. The existing methods require a lot of time for the inspection or it is difficult to inspect the entire pipeline. Therefore, in this study we developed an inspection robot for home piping using a mobile robot. To date, the robots proposed have been able to bend in the direction along the pipeline, as the tip of the robot passively bends when passing through the curved pipe. However, at the branch pipe, there is no mechanism that actively bends the tip of the robot, and the pipe cannot be selected and moved in a specific direction. Therefore, this paper proposes the application of a small pipe selection mechanism combining a ball-point pen knock mechanism and a wire bending mechanism to an in-pipe mobile robot using the pressure difference of a single tube.

DOI： 10.1299/transjsme.20-00052

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In the recent years, aged pipes are increasing, and many road collapse accidents occur. Therefore, it is necessary to inspect the condition of the pipe to efficiently determine whether a replacement or repair is necessary. However, pressure pipes that are capable of coping with complex terrains, the pipelines are complicated and are difficult to inspect with the existing inspection equipment. Therefore, based on the earthworm's peristaltic movement and artificial muscles, the authors developed a peristaltic robot in a previous research for inspecting the inside of a pressure-feeding pipe. However, owing to the unevenness its joint, the robot was unable to maneuver through the corners of a curved pipe. Therefore, in this study, we developed a high rigid joint attachment that enables the robot to pass through a curved pipe, and evaluated its effectiveness through traveling experiments by using a curved pipe.

DOI： 10.1299/jsmermd.2020.2a2-h07

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Language：Japanese   Publisher：The Robotics Society of Japan  

In recent years, the aging of pipelines has been severe and has caused fatal accidents. The pipe diameters are small, and the layouts are complex. Pneumatically driven mobile robots have become popular as inspection methods. Various types of robots have been studied, like earthworm-type robots, inchworm-type robots, and spiral-tube-type robots. Typically, they make periodic movements; however, they have challenges because they are driven by existing pneumatic valve technologies, which are limited to small mobile robots. Small pneumatic valves have low flow rates and limit the performance of pneumatic actuators. Therefore, we focused on the structure of the ball valve and periodic motion. Furthermore, in this paper, we developed the Compact Rotary Valve Mechanism for pneumatic mobile robots in pipe inspection, which generates periodic air pressure.

DOI： 10.7210/jrsj.38.965

DOI： 10.20965/jrm.2023.p0633_references_DOI_GrMm5ygjFtfynoUzZ62TOKgGCeZ

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In the inspection of sewer pipes, it is necessary to identify the damaged part, and a pipe diagram is indispensable, but it is often dissipated and many pipe maps do not exist. Therefore, it is required to create pipeline diagrams. Therefore, the authors used an IMU sensor that measures three-axis acceleration and three-axis angular velocity, and corrected the cumulative error that occurred at that time by using the traveling characteristics of the earthworm's peristaltic motion, which is a periodic motion of progression and stopping. We tried to measure the pipe length and the pipe shape. In this report, we conducted a basic evaluation experiment to measure the pipe length with high accuracy, and investigated the effectiveness of this method.

DOI： 10.1299/jsmermd.2020.2a2-h06

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper describes multi-segmentation of artificial muscles integrally molded by a 3D printer and simplification of post-processing. In recent years, with the improvement in performance of 3D printers, it has become possible to integrally mold flexible and hard materials. From this, attention has been focused on the integral molding of actuators that makes effective use of the complex structure of 3D printers. Most of the actuators using 3D printers use air pressure, and in consideration of the material properties, pistons using a bellows structure are common. However, the output of the piston is small because the pressure receiving area is small. Therefore, the pneumatic artificial muscle was integrally molded using the structural advantage. In this paper, we focused on the contraction length of the artificial muscle, and integrally molded the artificial muscle with the increased number of segments. In addition, the design was changed to reduce post-processing after molding. We also discussed the effect of increasing the number of segments on contraction by measuring the contraction of the artificial muscle.

DOI： 10.1299/jsmermd.2020.1p2-h14

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Language：English   Publisher：Fuji Technology Press Ltd.  

This paper describes a method to increase both the cleaning performance and speed of a peristaltic duct-cleaning robot, besides the cleaning of a real house duct. Duct piping ventilation is an important component for safeguarding indoor human health. However, dust accumulates inside such ducts during long-term use of ventilation systems. This dust leads to the generation of bacteria, dispersal of which can cause serious human health problems. Therefore, it is necessary to clean such ducts. The ducts used in factories, for example, have a large cross-sectional area and so are easy to clean by conventional duct-cleaning methods. However, as housing ducts have a small cross-sectional area and many curves, they are difficult to clean via the passive method of inserting a cleaning tool through the duct ports. For this reason, the authors attempted to develop a method of duct cleaning using a robot that imitates the peristaltic movement of earthworms. Herein, the authors examine the type and mounting position of the cleaning brush that produces the optimum cleaning efficiency. From this, we confirmed the duct cleanability of the peristaltic robot.

DOI： 10.20965/jrm.2019.p0781

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Other Link： https://www.fujipress.jp/main/wp-content/themes/Fujipress/phyosetsu.php?ppno=ROBOT003100060005

Language：Japanese   Publisher：東京 : 日本フルードパワーシステム学会  

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Other Link： http://id.ndl.go.jp/bib/030105300

Language：Japanese   Publisher：東京 : 日本フルードパワーシステム学会  

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Other Link： http://id.ndl.go.jp/bib/029781898

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The pneumatic soft actuator converts the input energy by utilizing structural deformation or material deformation according to the applied pressure to obtain the output. Although various forms of operation are conceivable, in practice it was difficult to freely design under manufacturing constraints. In recent years, with the development of 3D printers, flexible materials such as rubber as well as hard materials such as conventional resin can be printed. It is now possible to manufacture an actuator having a complicated shape combining a resin material and a rubber material that have been difficult to produce. In this paper, Pleated Pneumatic Artificial Muscles using 3D printer which can design freely using resin and rubber material with fabricated and evaluated contraction characteristics.

DOI： 10.1299/jsmermd.2019.2a1-c07

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Ventilation ducts has become important in urban high airtight houses. However, due to the long-term use of ducts, dust accumulates inside. Therefore, cleaning inside the duct is required. In the conventional cleaning method, there is a method of pushing the cleaning tool inside the duct. In this method, the deep portion of the duct cannot be cleaned by the friction between the cleaning tool and the inner wall of the duct. Also, cleaning time is limited. Therefore, the authors propose a peristaltic motion type robot for duct cleaning using a high contraction unit as a method of cleaning up to the deepest part of a duct in a limited time.

DOI： 10.1299/jsmermd.2019.2a1-k07

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Language：Japanese   Publisher：The Society of Instrument and Control Engineers  

There are many pipe-systems such as a water pipe, a gas pipe and a ventilation duct in a plant, factory and house. The inspection of these pipe-systems is necessary to prevent accidents and malfunctions. However, many pipes are very narrow, and it is difficult for people to inspect directly. In this study, a brush wheel type robot which has the simple and compact drive mechanism and does not need large space to move, is proposed. When moving inside of a pipe, this robot uses the elastic force of a brush wheel to hold the robot in pipe. Additionally, the robot can move a vertical pipe and a curved pipe by replacing the brush wheels. This paper reports the robot's structure, the drive mechanism, the operation principle, the prototype evaluation and three type pipe running experiments.

DOI： 10.9746/sicetr.55.692

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Other Link： https://www.jstage.jst.go.jp/article/sicetr/55/11/55_692/_pdf

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Periodic cleaning is necessary for the duct which performs ventilation inside the house. However, existing duct cleaning tools are difficult to clean thoroughly. Therefore, a duct cleaning robot is required. In the previous study, we focused on a peristaltic motion type robot and developed a peristaltic motion type duct cleaning robot for 75 A duct. We conducted a cleaning experiment. The usefulness of a peristaltic motion type robot was confirmed from a speed of 6.1 mm / s and a cleaning rate of 99%. Therefore, in this paper, we first develop robots that are compatible with 50 A ducts that are popular in Japan. However, it is difficult to achieve the target speed simply by miniaturizing the conventional robot. Therefore, we propose speed improvement by the control method focusing on the dynamic characteristics of the unit. Finally, we conduct a driving experiment and confirm its usefulness.

DOI： 10.1299/jsmermd.2019.2a1-l01

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