Updated on 2025/06/10

写真a

 
SAKAMOTO Kosuke
 
Organization
Research and Development Initiative Institute Associate Professor
External link

Degree

  • 博士(工学) ( 東京大学 )

Education

  • 2021.3
     

    The University of Tokyo   doctor course   completed

Research History

  • 2025.4 - Now

    Chuo University   Research and Development Initiative   Institute Associate Professor

  • 2021.4 - 2025.3

    中央大学理工学部助教

Professional Memberships

  • 2023.12 - Now

    The Society of Instrument and Control Engineers

  • 2020.7 - Now

    Institute of Electrical and Electronics Engineers (IEEE)

  • 2019.5 - Now

    The Robotics Society of Japan

Research Interests

  • Swarm Control

  • Path Planning

  • Terramechanics

  • Robotics

  • 自律移動ロボット

  • Motion Control

  • Swarm Intelligence

  • Reinforcement Learning

Research Areas

  • Informatics / Robotics and intelligent system

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

  • Informatics / Mechanics and mechatronics

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

Papers

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MISC

  • ⼩型群ロボットのための未知環境における確率的障害物回避⼿法 Reviewed

    坂本康輔, 越場悠太郎, 國井康晴

    第30回ロボティクスシンポジア   2025.3

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    Authorship:Lead author, Corresponding author  

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  • 小型月面探査ロボットのスタック状態の検出に関する研究

    鍋田航洋, 前田孝雄, 坂本康輔

    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(CD-ROM)   25th   2024.12

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  • 環境適応型ロボットのための進化型モジュール構成に関する検討

    片山拓海, 坂本康輔, 鈴木大和, 國井康晴

    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(CD-ROM)   25th   2024.12

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  • 世界初の月面跳躍移動ロボット LEV1に向けたナビゲージョン技術の検討

    國井康晴, 坂本康輔, 前田孝雄, 吉光徹雄

    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(CD-ROM)   25th   2024.12

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  • 洞窟環境下での未知未踏領域探査手法に関する研究

    鈴木道広, 國井康晴, 坂本康輔

    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(CD-ROM)   25th   2024.12

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  • 観測誤差修正に基づく経路計画の軌道補正アルゴリズムの検討

    吉田朋弥, 石井樹, 國井康晴, 坂本康輔

    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(CD-ROM)   25th   2024.12

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  • Evolutionary Modular Architecture for Generating Behaviors of Lunar Exploration Robots Reviewed

    Takumi Katayama, Yamato Suzuki, Kosuke Sakamoto, Yasuharu Kunii

    International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS)   2024.11

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    Language:English   Publishing type:Research paper, summary (international conference)  

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  • Vector Field Histogram based Probabilistic Obstacle Avoidance for Swarm Robots Exploration in Unknown Environment Reviewed

    Yutaro Koeba, Kosuke Sakamoto, Yasuharu Kunii

    International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS)   2024.11

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    Language:English   Publishing type:Research paper, summary (international conference)  

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  • Investigation of stuck detection and escape actions for small lunar jumping robots Reviewed

    Koyo Nabeta, Takao Maeda, Kosuke Satamoto

    International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS)   2024.11

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  • Environmental Classification Using Frequency Analysis of Acceleration for Unknown Environment Exploration by Small Swarm Robots Reviewed

    Tomoaki Kita, Kosuke Sakamoto, Yasuharu Kunii

    International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS)   2024.11

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    Language:English   Publishing type:Research paper, summary (international conference)  

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  • 小型ローバのための軽量化顕著性マップを用いた月面着陸機検出 Reviewed

    坂本康輔, 峰岸理樹, 前田孝雄, 國井康晴

    第29回ロボティクスシンポジア   2024.3

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  • Proposal of Swarm Guidance Method for Exploration of Unexplored Environment

    井上翔平, 國井康晴, 坂本康輔

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2024   2024

  • 群ロボットによる月面地下環境探査のための進化型行動モジュールアーキテクチャの基本設計検討

    片山拓海, 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)   42nd   2024

  • 小型二輪ローバにおける扇形を複数枚用いたグローサの扇形間位相差による走行性能評価

    鎌田祥太朗, 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)   42nd   2024

  • Collision Detection Method Using IMU for Small Robots

    小室幹太, 國井康晴, 坂本康輔

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2024   2024

  • Probabilistic Position Distribution for Small Swarm Robots Exploration and Navigation in Unknown Environments

    泉清久, 坂本康輔, 前田孝雄, 國井康晴

    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(CD-ROM)   24th   2023

  • An Obstacle Avoidance Methods for Small-scale Swarm Robots with Hopping Mechanism

    加藤智貴, 坂本康輔, 國井康晴, 前田孝雄

    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(CD-ROM)   24th   2023

  • Behavioral Decision Making by Stray State Transitions Based on Stress Values Using the Framework of Expected Utility Theory under Ambiguous Information

    篠田祥吾, 國井康晴, 坂本康輔

    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(CD-ROM)   24th   2023

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

    CiNii Research

    J-GLOBAL

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  • 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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  • 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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Awards

  • SI2024 優秀講演表彰

    2024.12   計測自動制御学会   世界初の月面跳躍移動ロボット LEV1 に向けた ナビゲージョン技術の検討

    國井康晴, 坂本康輔, 前田孝雄, 吉光徹雄

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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Teaching Experience

  • No title

    2021.4 - 2025.3   Institution:Chuo University