@article{MosesJRM2024,

title = {Soft Pipe Inspection Robot with Vibrating Cilia Capable of Underwater Transport},

author = {Moses Gladson Selvamuthu and Ryuto Okada and Riichiro Tadakuma},

url = {https://www.fujipress.jp/jrm/rb/robot003600061387/},

doi = {10.20965/jrm.2024.p1387},

year  = {2024},

date = {2024-12-20},

urldate = {2024-12-20},

journal = {Journal of Robotics and Mechatronics (JRM)},

volume = {36},

number = {6},

abstract = {The maintenance and inspection of pipelines are crucial in various industries, including oil and gas, water supply, and sewage systems. Traditional methods often involve significant human labor, risks, and costs. Inspired by biological systems, soft robotics offers innovative solutions with the potential to navigate complex and confined environments. This study discusses the development of soft pipe inspection robots equipped with vibration cilia for enhanced mobility and inspection capabilities. The cilia are driven by a vibration motor that can generate controlled vibrations for propulsion. The coordinated movement of the cilia allows the robot to navigate vertically or through complex pipe networks. A notable advancement in this study is the robot’s capability to move under water, which thereby enables its locomotion across stagnant water in pipes. This study also discusses the basic design, modeling, performance analysis, and waterproof compactability verified through experiments. Its flexible design and bio-inspired locomotion offer a safer, more efficient, and cost-effective solution for maintaining vital pipeline infrastructure.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{TadakumaSICE2024,

title = {回転頭角を有する配管用移動ロボットの推進機構に関する研究},

author = {多田隈理一郎 and 岡田龍斗 and 酒井柊 and 菅井祐太},

doi = {10.9746/sicetr.60.58},

year  = {2024},

date = {2024-01-30},

urldate = {2024-01-30},

journal = {計測自動制御学会論文集},

volume = {60},

number = {1},

pages = {58-66},

abstract = {In this study, we propose a locomotion mechanism with rotation of curved horns and vibration of elastic cilia of a mobile robot for pipe inspection. At first, the mobile robot with elastic cilia and a vibration motor was developed to examine the thrust with vibrating cilia. The cilium of this first prototype has a circular cross section. Second, the vibration motor was replaced with tilted horn that rotates around roll axis of the robot at its head. This second prototype selects a route in branching pipes by orienting its horn to the desired direction. It can also move forward and backward with continuous rotation of its horn and soft cilia with rectangle cross section. Fundamental running experiments were conducted to evaluate the effect of the rotating horn with the biased center of mass and elastic cilia of the pipe inspection robot.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{MosesAdvRobo2022,

title = {Development of soft inchworm robot with friction control of feet using double-network gel},

author = {Selvamuthu Gradson Moses and Tadakuma Riichiro and Fujiwara Naofumi and Yoshida Kazunari and Takagi Minoru and Hoshino Hiroyuki and Suzuki Yoshiyuki and Furukawa Hidemitsu},

doi = {10.1080/01691864.2022.2152291},

year  = {2022},

date = {2022-10-10},

urldate = {2022-10-10},

journal = {Advanced Robotics},

volume = {37},

number = {6},

pages = {407–422},

publisher = {Taylor & Francis},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{abe2021study,

title = {Study on hypercompact and lightweight data logger separators for wild animals},

author = {Takuma Abe and Natsumi Kubo and Kazuki Abe and Hirokazu Suzuki and Ken Yoda and Riichiro Tadakuma and Yuichi Tsumaki},

doi = {10.1080/01691864.2020.1855245},

year  = {2021},

date = {2021-01-01},

urldate = {2021-01-01},

journal = {Advanced Robotics},

volume = {35},

number = {2},

pages = {81–92},

publisher = {Taylor & Francis},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{abe2021abenics,

title = {ABENICS: Active ball joint mechanism with three-DoF based on spherical gear meshings},

author = {Kazuki Abe and Kenjiro Tadakuma and Riichiro Tadakuma},

url = {https://youtu.be/hhDdfiRCQS4?si=28orumQBkJfeA8A-},

doi = {10.1109/TRO.2021.3070124},

year  = {2021},

date = {2021-01-01},

urldate = {2021-01-01},

journal = {IEEE Transactions on Robotics},

volume = {37},

number = {5},

pages = {1806–1825},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{abe2021development,

title = {Development of Data Logger Separator for Bio-Logging of Wild Seabirds},

author = {Takuma Abe and Natsumi Kubo and Kazuki Abe and Hirokazu Suzuki and Yuichi Mizutani and Ken Yoda and Riichiro Tadakuma and Yuichi Tsumaki},

doi = {10.20965/jrm.2021.p0446},

year  = {2021},

date = {2021-01-01},

urldate = {2021-01-01},

journal = {Journal of Robotics and Mechatronics},

volume = {33},

number = {3},

pages = {446–456},

publisher = {Fuji Technology Press Ltd.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{aizawa2021study,

title = {Study on portable haptic guide device with omnidirectional driving gear},

author = {Tetsuya Aizawa and Haruhiko Iizima and Kazuki Abe and Kenjiro Tadakuma and Riichiro Tadakuma},

doi = {10.1080/01691864.2021.1888796},

year  = {2021},

date = {2021-01-01},

urldate = {2021-01-01},

journal = {Advanced Robotics},

volume = {35},

number = {5},

pages = {320–336},

publisher = {Taylor & Francis},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{abe2020development,

title = {Development of the omnidirectional transporting table based on omnidirectional driving gear},

author = {Kazuki Abe and Gaku Matsui and Kenjiro Tadakuma and Mitsuhiro Yamano and Riichiro Tadakuma},

doi = {10.1080/01691864.2020.1719884},

year  = {2020},

date = {2020-01-01},

urldate = {2020-01-01},

journal = {Advanced Robotics},

volume = {34},

number = {6},

pages = {358–374},

publisher = {Taylor & Francis},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{zambrano2020studyAR,

title = {Study on visual machine-learning on the omnidirectional transporting robot},

author = {Adrian Zambrano and Kazuki Abe and Ikumi Suzuki and Theo Combelles and Kenjiro Tadakuma and Riichiro Tadakuma},

doi = {10.1080/01691864.2020.17627},

year  = {2020},

date = {2020-01-01},

urldate = {2020-01-01},

journal = {Advanced Robotics},

volume = {34},

number = {13},

pages = {917–930},

publisher = {Taylor & Francis},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{nokey,

title = {山形大学におけるソフトマターロボティクスの取り組み},

author = {多田隈理一郎},

doi = {10.7210/jrsj.37.50},

year  = {2019},

date = {2019-01-15},

urldate = {2019-01-15},

journal = {日本ロボット学会誌},

volume = {37},

number = {1},

pages = {50-52},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{takagi2019sliding,

title = {Sliding Walk With Friction Control of Double-Network Gel on Feet of Inchworm Robot},

author = {Minoru Takagi and Kazunari Yoshida and Hiroyuki Hoshino and Riichiro Tadakuma and Yoshiyuki Suzuri and Hidemitsu Furukawa},

doi = {10.3389/fmech.2019.00044},

year  = {2019},

date = {2019-01-01},

urldate = {2019-01-01},

journal = {Frontiers in Mechanical Engineering},

pages = {44},

publisher = {Frontiers},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{takagi2018,

title = {自由曲面に対応した全方向駆動歯車の研究—二つの曲率を有する駆動ユニットの基本動作特性—},

author = {高木稔 and ムワイ・モーセス・ムキラ and 多田隈建二郎 and 多田隈理一郎},

doi = {10.7210/jrsj.36.497},

year  = {2018},

date = {2018-01-01},

urldate = {2018-01-01},

journal = {日本ロボット学会誌},

volume = {36},

number = {7},

pages = {497–507},

publisher = {一般社団法人 日本ロボット学会},

abstract = {Omnidirectional driving gear is a proprietary technology designed and possessed by Tadakuma laboratory in Yamagata University. It is a next generation gear mechanism having two degrees of freedom on one gear surface. We have newly developed a free form omnidirectional driving gear by combining flat and convex arc surfaces. A v-grove rail guide mechanism is adopted to enable stable horizontal motion along the planar gear surface and rotational motion round the convex gear surface. With this setup, we were able to design and operate an omnidirectional driving gear corresponding to a free-form surface. Although this mechanism adopt rail and cantilever structure, it was confirmed by experiments that its performance is comparable to that of the conventional flat plate omnidirectional driving gear. In this design, the motion range is small and is limited to the shape of the curvature. We plan to come up with a 2nd prototype design which will be more flexible and that will be able to achieve sophisticated motion path trajectories.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{tadakumak20182,

title = {2 自由度を有する球状全方向駆動歯車機構の研究},

author = {多田隈建二郎 and 齋藤寛人 and 阿部一樹 and 羽尾伸之介 and 多田隈理一郎},

doi = {10.7210/jrsj.36.627},

year  = {2018},

date = {2018-01-01},

urldate = {2018-01-01},

journal = {日本ロボット学会誌},

volume = {36},

number = {9},

pages = {627–638},

publisher = {一般社団法人 日本ロボット学会},

abstract = {The spherical motor with gear structure to realize two degrees of freedom with crossed revolute axes has been developed. This spherical motor is called “spherical omnidirectional driving gear” because its structure is based on the theory of the omnidirectional driving gear with two gear structures that are perpendicular to each other developed by the authors in previous research. The gear structure with involute curve is deployed on the outer surface of the inner core gear and the inner surface of the outer shell gear. These gear structures are perpendicular to each other to realize rotational motions around two axes. Spur gears with conical teeth transmits power to the inner core gear and the outer shell gear. In this paper, we introduce two possible mechanisms of the spherical omnidirectional driving gear and explain their principles. The experiments to compare the power transmission efficiencies of the spherical omnidirectional driving gear and the ordinary spur gear were conducted.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{moya2017two,

title = {Two-axis gimbal with passive revolute joints for motion isolation of a stabilizing mechanism},

author = {Erick Moya and Keizo Araki and Masaki Okada and Akira Mizuno and Kenjiro Tadakuma and Riichiro Tadakuma},

doi = {10.25046/aj0203176},

year  = {2017},

date = {2017-01-01},

urldate = {2017-01-01},

journal = {Advances in Science, Technology and Engineering Systems},

volume = {2},

number = {3},

pages = {1401–1412},

publisher = {ASTES Publishers},

abstract = {Energy efficiency is a salient design consideration for stabilization mechanisms when assembled on a battery-powered vehicle. In this paper we study the implementation of a two-axis gimbal with passive revolute joints for motion isolation of an inertially stabilized platform (ISP) mounted on a host vehicle. The objective is for the ISP to maintain a steady line of sight (LOS) of a payload placed in an arbitrary position on the ISP workspace by performing mass stabilization. The proposed method eliminates the need to operate gimbal motors throughout the operation of the host vehicle, stabilizing the platform LOS by relying on the gimbal passive joints acting as suspension to isolate the ISP from disturbances imparted by the host vehicle. We describe the principle of operation and a prototype of the proposed stabilizing mechanism is presented.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{tadakuma2014worm,

title = {Worm wheel mechanism with passive rollers},

author = {Kenjiro Tadakuma and Riichiro Tadakuma and Shotaro Onishi and Yuichi Tsumaki},

doi = {10.1080/01691864.2014.967294},

year  = {2014},

date = {2014-01-01},

urldate = {2014-01-01},

journal = {Advanced Robotics},

volume = {28},

number = {24},

pages = {1617–1635},

publisher = {Taylor & Francis},

abstract = {In this study, we developed new worm wheel mechanisms with passive rollers as their teeth and confirmed useful functions of these worm wheels with passive rollers to transmit power from worm gears with higher energy efficiency than ordinary worm wheels. By using passive rollers as their teeth, the developed worm wheels could realize high-power transmission efficiency with rolling frictional resistance instead of sliding frictional resistance. A worm wheel with conical passive rollers and one with disk-shaped passive rollers was fabricated as prototypes and examined in experiments. Smooth back-drivability of the worm wheels with passive rollers, which is difficult to realize with conventional worm wheels, was also demonstrated in the experiments. These serial experiments revealed that the developed worm wheel mechanism with passive rollers can replace conventional worm wheels with the same number of teeth and module in ordinary power transmission mechanisms with worm gearing and realize higher energy efficiency and smooth back-drivability. These features can be very useful to realize safe and soft actuators for automation systems in a human environment.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{omnigear2012,

title = {全方向駆動歯車機構の研究—各曲率の駆動ユニット構造と基本動作特性について—},

author = {多田隈建二郎 and 多田隈理一郎 and 井岡恭平 and 妻木勇一},

doi = {10.7210/jrsj.30.611},

year  = {2012},

date = {2012-01-01},

urldate = {2012-01-01},

journal = {日本ロボット学会誌},

volume = {30},

number = {6},

pages = {611–620},

publisher = {一般社団法人 日本ロボット学会},

abstract = {As ordinary dual-axis driving mechanisms in X–Y directions, for example, commercially available X–Y stages with ball screws are familiar. However, such driving mechanisms have two stages, namely both upper and lower linear actuators, the latter of which must generate sufficient thrust to carry large weights, including that of the upper actuator mechanism, which has hampered efforts to achieve suitably fast and smooth driving motion due to the inertial force effect. It is also difficult to achieve a small and slimline driving mechanism with such overlapping two-stage structure. In these ordinary two-stage driving mechanisms, the motion of the X–Y stage can be disturbed by the cords of the upper actuator. In this research, we have considered the abovementioned problems, and propose a new omnidirectional driving gear mechanism that enhances its driving area from the normal X–Y plane to convex and concave curved surfaces respectively, and even various combinations of both. The smoothness of basic omnidirectional motion and effectiveness of the driving method of this proposed omnidirectional driving gear mechanism have been confirmed with several experiments involving our setups.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}