Wheeled Mobile Robots
Research members： Dr. Masayoshi Wada, Dr. Hiroshi Koyasu
Research fields： Mechanical engineering
Departments： Institute of Engineering, Advanced Mechanical Systems Engineering
Keywords： Robotics and Mechatronics
Summary
In our laboratory, research topics include wheeled mobile robots, automobile and mechatronics systems. Electric motors controlled by computer systems enable robots and mechatronic systems to move faster and more powerful than human.
Such systems with the control technologies support human activities in working, moving, etc. However, it might harm humans if the system made wrong decisions or the system became un-controllable.
In this lab., wheeled mobile robots(omnidirectional mobile robots), motion control of electric mobiles(electric wheelchairs), and human-machine interface of mechatronics systems(joystick car driving systems for disabel people) are researched and developed, which are covering wide area of engineering technologies including machine design, electric circuit design, programming, and control theories.
Reference articles and patents
和田正義、亀田藤雄、"片手による自動車の運転を支援するジョイスティックシステム" 日本福祉工学会誌、 Vol.11. No.2, pp.43-48, 2009.11
Masayoshi Wada, Yusuke Inoue and Takahiro Hirama," A New Active-caster Drive System with a Dual-ball Transmission for Omnidirectional Mobile Robots," Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), pp.2525-2532, Algarve, Portugal, October 2012.
和田正義、亀田藤雄、斎藤征道，"ジョイスティック式自動車運転装置による操舵制御に関する検討" 計測自動制御学会論文誌 Vol.49.No.4, pp.417-424, 2013.4.
和田正義、井上雄介，平間貴大，"球による動力伝達機構を用いたアクティブキャスタの運動解析と機構設計" 日本ロボット学会誌、 Vol.31, No.6, pp.591-598, 2013.7
宗方宥，和田正義、"アクティブキャスタを用いた簡易電動車いす駆動システムに関する研究" 日本ロボット学会誌、 Vol.32, No.2, pp.172-182, 2013
Yu MUNAKATA, Masayoshi WADA, "アクティブキャスタを用いた簡易電動車いす駆動システムに関する研究" International Journal of Mechatronics and Automation、Inderscience, Vol.4, No.4, pp222-235, 2013
Yusuke Inoue, Takahiro Hirama and Masayoshi Wada," Design of Omnidirectional Mobile Robots with ACROBAT Wheel Mechanisms," Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2013), pp.4852-4859, Tokyo, Japan, November 2013.
和田正義、" 全方向移動車両およびその制御方式" 特許3560403号
Masayoshi Wada, "Omnidirectional Vehicle and Method of Controlling the Same," U.S. Patent No.5,924,512.
Masayoshi Wada and Haruhiko H. Asada, "Reconfigurable Footprint Mechanism for Omnidirectional Vehicle," U.S. Patent No.5,927,423
亀田藤雄、和田正義、“自動車運転支援装置および自動車”，特許5406096号
Contact
University Research Administration Center(URAC),
Tokyo University of Agriculture andTechnology
urac[at]ml.tuat.ac.jp
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