Updated on 2026/03/13

写真a

 
KURABAYASHI DAISUKE
 
Organization
School of Engineering Professor
Title
Professor
Contact information
メールアドレス
Profile

1998年東京大学大学院工学系研究科博士課程修了，博士（工学）．同年より理化学研究所基礎科学特別研究員．2001年東京工業大学大学院理工学研究科講師．同助教授，同准教授，同教授を経て2016年東京工業大学工学院教授．2024年より東京科学大学工学院教授．

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News & Topics

  • 生物はどのように効率的に匂い源を探索するのか？ 昆虫用VRで明らかになった複数感覚の情報統合

    2021/12/22

    Languages： Japanese

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    要点-効率的な匂い源探索に複数感覚の情報統合が必要であることを発見-これまで複雑環境下での匂い源探索行動を観察する方法がなかったが、VRシステムを開発したことで可能に-ガス漏れ探索機やレスキューロボットへの応用に期待概要大阪大学大学院基礎工学研究科の大学院生の山田真由さん（博士前期課程）、大橋ひろ乃

  • A moth's virtual reality

    2021/12/21

    Languages： English

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    Researchers build a multi-modal VR system to study the behavior of male silkmoths searching for females using visual, wind, and odor signals, helping

Degree

  • Doctor of Engineering ( The University of Tokyo )

Research Interests

  • 自律分散システム

  • ネットワーク

  • Distributed Autonomous Systems

  • Networks

  • Motion Planning

  • Mobile robots

  • 動作計画

  • 移動ロボット

Research Areas

  • Informatics / Robotics and intelligent system

  • Informatics / Mechanics and mechatronics

Education

  • 東京大学大学院   工学系研究科   精密機械工学専攻

    1995.4 - 1998.3

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    Country： Japan

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  • The University of Tokyo   Graduate School, Division of Engineering   Precision Machinery Engineering

    1993.4 - 1995.3

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    Country： Japan

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  • The University of Tokyo   The Faculty of Engineering

    1989.4 - 1993.3

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    Country： Japan

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Research History

  • Institute of Science Tokyo   School of Engineering   Professor

    2024.10

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    Country：Japan

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  • Tokyo Institute of Technology   School of Engineering   Professor

    2016.4 - 2024.9

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  • Tokyo Institute of Technology   Graduate school, Mechanical and Control Engineering   Professor

    2014.4 - 2016.3

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  • Tokyo Institute of Technology   Graduate school, Mechanical and Control Engineering   Associate Professor

    2007.4 - 2014.3

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  • Tokyo Institute of Technology   Graduate school, Mechanical and Control Engineering   Associate Professor

    2003.4 - 2007.3

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  • Tokyo Institute of Technology   Graduate school, Mechanical and Control Engineering   Associate Professor

    2001.4 - 2003.3

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  • RIKEN   Special Postdoctoral Researcher

    1998.4 - 2001.3

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Professional Memberships

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Committee Memberships

  • The Robotics Society of Japan   Director (Annual Conference)  

    2024.4 - 2026.3   

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    Committee type：Academic society

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  • Advanced Robotics   Editor in Chief  

    2022.4   

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    Committee type：Academic society

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  • The Society of Instrument and Control Engineers   Director (Publication)  

    2020.4 - 2022.3   

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    Committee type：Academic society

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  • 日本ロボット学会   理事（欧文誌）  

    2014.4 - 2016.3   

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    Committee type：Academic society

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  • 計測自動制御学会   常務理事（総務）  

    2014.2 - 2016.1   

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    Committee type：Academic society

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  • 日本ロボット学会   理事（事業）  

    2005.4 - 2007.3   

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    Committee type：Academic society

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  •   日本ロボット学会評議委員（平成１８年度～２０年度）  

       

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  •   日本機械学会ロボティクス・メカトロニクス部門評議委員（平成１７年度～２０年度）  

       

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  •   計測自動制御学会論文集委員会委員（平成２０年度～２１年度）  

       

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  •   計測自動制御学会第19回自律分散システム・シンポジウム実行委員長（平成１９年）  

       

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Papers

  • Winfree-Model-Type Synchronization Control for Swimming Modular Robot Through Physical Interaction

    Kohei Nishikawa, Hayato Dan, Daisuke Kurabayashi

    IEEE Robotics and Automation Letters   2026.4

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    Publishing type：Research paper (scientific journal)  

    DOI： 10.1109/LRA.2026.3668705

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  • Insect-inspired adaptive behavioral compensation strategy against olfactory sensory deficiency for robotic odor source localization

    Shunsuke Shigaki, Keisuke Yokota, Ryoko Sekiwa, Daisuke Kurabayashi, Dai Owaki

    npj Robotics   2026.2

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    Publishing type：Research paper (scientific journal)  

    DOI： 10.1038/s44182-026-00080-5

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  • Frequency-Shaped Primal-Dual Optimization for Distributed Model Predictive Control of Nonlinear Multi-Agent Systems

    Hayato Dan, Daisuke Kurabayashi

    IEEE Control Systems Letters   10   25 - 30   2026

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    Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers (IEEE)  

    DOI： 10.1109/lcsys.2026.3657295

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  • Daily Activity Monitoring Through Wheelchair Movement Analysis in Individuals with Spinal Cord Injury

    Yuta Watanabe, Daisuke Kurabayashi, Toru Ogata, Shoichi Masaki, Kazushi Sanada, Satoshi Shirogane, Hayato Dan, Atsushi Takashima

    2025 SICE Festival with Annual Conference (SICE FES)   1638 - 1643   2025.9

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

    DOI： 10.23919/sicefes67750.2025.11236683

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  • An asymmetric allocation rule of constraints derived from control barrier function for collision avoidance between autonomous robots Reviewed

    Hayato Dan, Hiroki Etchu, Kanon Yokoi, Yuki Origane, Daisuke Kurabayashi

    SICE Journal of Control, Measurement, and System Integration   18 ( 1 )   2025.3

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    Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Informa UK Limited  

    DOI： 10.1080/18824889.2025.2457203

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  • Risk-Aware Trajectory Optimization and Control for an Underwater Suspended Robotic System

    Yuki Origane, Nicolas Hoischen, Tzu-Yuan Huang, Daisuke Kurabayashi, Stefan Sosnowski, Sandra Hirche

    IFAC-PapersOnLine   59 ( 22 )   348 - 353   2025

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    Publishing type：Research paper (scientific journal)   Publisher：Elsevier BV  

    DOI： 10.1016/j.ifacol.2025.11.657

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  • Reactive-probabilistic hybrid search method for odour source localization in an obstructed environment Reviewed

    Duc-Nhat Luong, Huu Quoc Dong Tran, Daisuke Kurabayashi

    SICE Journal of Control, Measurement, and System Integration   17 ( 1 )   2024.7

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    Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Informa UK Limited  

    DOI： 10.1080/18824889.2024.2374569

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  • Fault-Tolerant Phototaxis of a Modular System Inspired by Gonium pectorale Using Phase-Based Control Reviewed

    Kohei Nishikawa, Yuki Origane, Hiroki Etchu, Daisuke Kurabayashi

    Symmetry   2024.5

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    Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)  

    DOI： 10.3390/sym16050630

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  • Swarm Search Algorithm Based on Chemotactic Behaviors of Caenorhabditis elegans Nematodes Reviewed

    Seiya Nomoto, Yuya Hattori, Daisuke Kurabayashi

    Journal of Robotics and Mechatronics   35 ( 4 )   911 - 917   2023.8

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    Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press Ltd.  

    We investigated the chemotactic behaviors of the nematode Caenorhabditis elegans, whose individuals have only 302 neurons but might sense the density of other individuals. As an individual detects areas with high concentration of a target chemical, mimicking their behavior may improve the exploration efficiency of autonomous distributed agents with limited sensing area and no direct communication with others. Inspired by this behavior, we experimentally determined the relationship between the density of individuals and probability of rapid turns to develop a search algorithm. We found a parameter set of “elite” individuals that achieved a high similarity of individual distributions with respect to a chemical gradient. Then, we implemented a motion selection algorithm that reflects the observation results so that an autonomous distributed agent, which has limited sensing range, achieves effective searching in a multi-peak environment. We simulated autonomous agents and applied the parameter sets obtained from elite, inferior, and single individuals. Through verifications using various benchmark potential functions, we concluded that the parameters of the elite group improved the search efficiency.

    DOI： 10.20965/jrm.2023.p0911

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  • Analysis of Odor-Tracking Performance of Silk Moth Using a Sensory–Motor Intervention System

    Shunsuke Shigaki, Noriyasu Ando, Takeshi Sakurai, Daisuke Kurabayashi

    Integrative And Comparative Biology   2023.6

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    Publishing type：Research paper (scientific journal)   Publisher：Oxford University Press (OUP)  

    Synopsis

    Animals can adaptively behave in different environmental conditions by converting environmental information obtained from their sensory organs into actions. This sensory–motor integration enables the accomplishment of various tasks and is essential for animal survival. This sensory–motor integration also plays an important role in localization to females, relying on sex pheromones floating in space. In this study, we focused on the localization behavior of the adult male silk moth, Bombyx mori. We investigated sensory–motor integration against time delay using odor plume tracking performance as an index when we set a certain time delay for the sensory and motor responses. Given that it is difficult to directly intervene in the sensory and motor functions of the silk moth, we constructed an intervention system based on a mobile behavior measurement system controlled by them. Using this intervention system, not only can timing the detection of the odor in the environment and timing the presentation of the odor to the silk moth be manipulated, but timing the reflection of the movement of the silk moth can also be manipulated. We analyzed the extent to which the localization strategy of the silk moth could tolerate sensory delays by setting a delay to the odor presentation. We also evaluated behavioral compensation by odor sensory feedback by setting a delay to the motor. The results of the localization experiment have shown that the localization success rate did not decrease when there was a motor delay. However, when there was a sensory delay, the success rate decreased depending on the time delay. Analysis of the change in behavior after detection of the odor stimulus has shown that the movement was more linear when we set a motor delay. However, the movement was accompanied by a large rotational movement when there was a delay in the sensory input. This result has suggested that behavior is compensated for the delay in motor function by feedback control of odor sensation, but not when accompanied by sensory delay. To compensate for this, the silk moth may acquire appropriate information from the environment by making large body movements.

    DOI： 10.1093/icb/icad055

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  • Robust Moth-Inspired Algorithm for Odor Source Localization Using Multimodal Information Reviewed

    Shunsuke Shigaki, Mayu Yamada, Daisuke Kurabayashi, Koh Hosoda

    Sensors   23 ( 3 )   1475 - 1475   2023.1

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    Language：English   Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

    Odor-source localization, by which one finds the source of an odor by detecting the odor itself, is an important ability to possess in order to search for leaking gases, explosives, and disaster survivors. Although many animals possess this ability, research on implementing olfaction in robotics is still developing. We developed a novel algorithm that enables a robot to localize an odor source indoors and outdoors by taking inspiration from the adult male silk moth, which we used as the target organism. We measured the female-localization behavior of the silk moth by using a virtual reality (VR) system to obtain the relationship between multiple sensory stimuli and behavior during the localization behavior. The results showed that there were two types of search active and inactive depending on the direction of odor and wind detection. In an active search, the silk moth moved faster as the odor-detection frequency increased, whereas in the inactive search, they always moved slower under all odor-detection frequencies. This phenomenon was constructed as a robust moth-inspired (RMI) algorithm and implemented on a ground-running robot. Experiments on odor-source localization in three environments with different degrees of environmental complexity showed that the RMI algorithm has the best localization performance among conventional moth-inspired algorithms. Analysis of the trajectories showed that the robot could move smoothly through the odor plume even when the environment became more complex. This indicates that switching and modulating behavior based on the direction of odor and wind detection contributes to the adaptability and robustness of odor-source localization.

    DOI： 10.3390/s23031475

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  • Odor Source Localization in Obstacle Regions Using Switching Planning Algorithms with a Switching Framework Reviewed

    Duc-Nhat Luong, Daisuke Kurabayashi

    Sensors   23 ( 3 )   1140 - 1140   2023.1

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    Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

    Odor source localization (OSL) robots are essential for safety and rescue teams to overcome the problem of human exposure to hazardous chemical plumes. However, owing to the complicated geometry of environments, it is almost impossible to construct the dispersion model of the odor plume in practical situations to be used for probabilistic odor source search algorithms. Additionally, as time is crucial in OSL tasks, dynamically modifying the robot’s balance of emphasis between exploration and exploitation is desired. In this study, we addressed both the aforementioned problems by simplifying the environment with an obstacle region into multiple sub-environments with different resolutions. Subsequently, a framework was introduced to switch between the Infotaxis and Dijkstra algorithms to navigate the agent and enable it to reach the source swiftly. One algorithm was used to guide the agent in searching for clues about the source location, whereas the other facilitated the active movement of the agent between sub-environments. The proposed algorithm exhibited improvements in terms of success rate and search time. Furthermore, the implementation of the proposed framework on an autonomous mobile robot verified its effectiveness. Improvements were observed in our experiments with a robot when the success rate increased 3.5 times and the average moving steps of the robot were reduced by nearly 35%.

    DOI： 10.3390/s23031140

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  • Wave-Type Interaction within a Robotic Swarm System for Decentralized Estimation of Global Geometric States Reviewed

    Yuki Origane, Daisuke Kurabayashi

    Symmetry   14 ( 8 )   1578 - 1578   2022.7

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    Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

    For a robotic swarm system composed of autonomous mobile robots, controlling and using asymmetric global geometric states promotes the task performance of the swarm. This paper presents a systematic method for estimating asymmetric global geometric states over a swarm system. To overcome the limitations of local observation or communication ability, we propose a wave-type interaction among neighboring robots. We assume that each robot has a scalar state variable called a phase, which is manipulated through interactions. Through the analysis of eigenvalues of a graph Laplacian matrix corresponding to a local communication network of robots, we show that a robot can estimate global states, such as the size of an entire swarm, by frequency analysis of its phase. We also analyzed the stability of the wave-type interaction based on von-Neumann stability. We verified the proposed method by computer simulations, in which robots in a swarm detected the deformation in the shape of the swarm when the swarm was passing through a narrow area. The result will contribute to building a control system for swarms that can manipulate their shape or characteristics to adapt themselves based on tasks or environmental requirements.

    DOI： 10.3390/sym14081578

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  • Frequency response of swarm deformation with control barrier function Reviewed

    Y. Origane, Y. Hattori, D. Kurabayashi

    Artificial Life and Robotics   27 ( 2 )   248 - 254   2022.2

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    Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer Science and Business Media LLC  

    Abstract

    In this study, we focused on robotic swarms, allowing multiple anonymous autonomous robots to gather and move mutually in tasks. We proposed a method to design a parameter of the control barrier function (CBF) in a robotic swarm so that the swarm can achieve collision-free deformation considering the environmental conditions. We analyzed the responses to perturbations of swarming robots, to which we applied the CBF. Although we can guarantee a safe distance between mobile robots, the CBF limits their actions and prevents swarm deformation. Through analysis of the frequency domain, we investigated the effects of a selected parameter in the CBF on the deformability of a swarm. We obtained an appropriate range of parameters that realize both distance maintenance and deformability retention.

    DOI： 10.1007/s10015-022-00745-y

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    Other Link： https://link.springer.com/article/10.1007/s10015-022-00745-y/fulltext.html

  • Learning a Generic Olfactory Search Strategy From Silk Moths by Deep Inverse Reinforcement Learning Reviewed

    Cesar Hernandez-Reyes, Shunsuke Shigaki, Mayu Yamada, Takeshi Kondo, Daisuke Kurabayashi

    IEEE Transactions on Medical Robotics and Bionics   4 ( 1 )   241 - 253   2022.2

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    Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers (IEEE)  

    DOI： 10.1109/tmrb.2021.3129113

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  • Classification of Physiological Factors of Physical Condition in People Suffering from Spinal Cord Injury∗.

    Takuo Adachi, Atsushi Takashima, Daisuke Kurabayashi, Kazushi Sanada, Koji Tomiyasu, Atsuko Yatabe, Toyoko Suzuki, Yukiharu Higuchi, Shintaro Nishiki, Yoshio Tanimoto, Toru Ogata

    IEEE/SICE International Symposium on System Integration(SII)   666 - 671   2022

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

    DOI： 10.1109/SII52469.2022.9708762

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    Other Link： https://dblp.uni-trier.de/db/conf/sii/sii2022.html#AdachiTKSTYSHNT22

  • Palm-Sized Quadcopter for Three-Dimensional Chemical Plume Tracking Reviewed

    Shunsuke Shigaki, Yuki Yoshimura, Daisuke Kurabayashi, Koh Hosoda

    IEEE Transactions on Instrumentation and Measurement   71   1 - 12   2022

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    Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers (IEEE)  

    DOI： 10.1109/tim.2022.3218316

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  • Animal-in-the-loop System with Multimodal Virtual Reality to Elicit Natural Olfactory Localization Behavior Reviewed

    Shunsuke Shigaki, Natsuki Minakawa, Mayu Yamada, Hirono Ohashi, Daisuke Kurabayashi, Koh Hosoda

    Sensors and Materials   33 ( 12 )   4211 - 4211   2021.12

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    Language：English   Publishing type：Research paper (scientific journal)   Publisher：MYU K.K.  

    DOI： 10.18494/sam.2021.3609

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  • Multisensory-motor integration in olfactory navigation of silkmoth, Bombyx mori, using virtual reality system Reviewed

    Mayu Yamada, Hirono Ohashi, Koh Hosoda, Daisuke Kurabayashi, Shunsuke Shigaki

    eLife   10   2021.11

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    Language：English   Publishing type：Research paper (scientific journal)   Publisher：eLife Sciences Publications, Ltd  

    Most animals survive and thrive due to navigational behavior to reach their destinations. In order to navigate, it is important for animals to integrate information obtained from multisensory inputs and use that information to modulate their behavior. In this study, by using a virtual reality (VR) system for an insect, we investigated how the adult silkmoth integrates visual and wind direction information during female search behavior (olfactory behavior). According to the behavioral experiments using a VR system, the silkmoth had the highest navigational success rate when odor, vision, and wind information were correctly provided. However, the success rate of the search was reduced if the wind direction information provided was different from the direction actually detected. This indicates that it is important to acquire not only odor information but also wind direction information correctly. When the wind is received from the same direction as the odor, the silkmoth takes positive behavior; if the odor is detected but the wind direction is not in the same direction as the odor, the silkmoth behaves more carefully. This corresponds to a modulation of behavior according to the degree of complexity (turbulence) of the environment. We mathematically modeled the modulation of behavior using multisensory information and evaluated it using simulations. The mathematical model not only succeeded in reproducing the actual silkmoth search behavior but also improved the search success relative to the conventional odor-source search algorithm.

    DOI： 10.7554/elife.72001

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    Other Link： https://cdn.elifesciences.org/articles/72001/elife-72001-v1.xml

  • Insect-Inspired Odor Intake Method for Chemical Plume Tracing in an Outdoor Environment

    Shunsuke Shigaki, Kei Okajima, Kazushi Sanada, Daisuke Kurabayashi

    2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)   2021.9

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

    DOI： 10.1109/iros51168.2021.9636125

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  • A novel framework based on a data-driven approach for modelling the behaviour of organisms in chemical plume tracing Reviewed

    Kei Okajima, Shunsuke Shigaki, Takanobu Suko, Duc-Nhat Luong, Cesar Hernandez Reyes, Yuya Hattori, Kazushi Sanada, Daisuke Kurabayashi

    Journal of The Royal Society Interface   18 ( 181 )   20210171 - 20210171   2021.8

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    Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Royal Society  

    We propose a data-driven approach for modelling an organism's behaviour instead of conventional model-based strategies in chemical plume tracing (CPT). CPT models based on this approach show promise in faithfully reproducing organisms’ CPT behaviour. To construct the data-driven CPT model, a training dataset of the odour stimuli input toward the organism is needed, along with an output of the organism’s CPT behaviour. To this end, we constructed a measurement system comprising an array of alcohol sensors for the measurement of the input and a camera for tracking the output in a real scenario. Then, we determined a transfer function describing the input–output relationship as a stochastic process by applying Gaussian process regression, and established the data-driven CPT model based on measurements of the organism’s CPT behaviour. Through CPT experiments in simulations and a real environment, we evaluated the performance of the data-driven CPT model and compared its success rate with those obtained from conventional model-based strategies. As a result, the proposed data-driven CPT model demonstrated a better success rate than those obtained from conventional model-based strategies. Moreover, we considered that the data-driven CPT model could reflect the aspect of an organism’s adaptability that modulated its behaviour with respect to the surrounding environment. However, these useful results came from the CPT experiments conducted in simple settings of simulations and a real environment. If making the condition of the CPT experiments more complex, we confirmed that the data-driven CPT model would be less effective for locating an odour source. In this way, this paper not only poses major contributions toward the development of a novel framework based on a data-driven approach for modelling an organism’s CPT behaviour, but also displays a research limitation of a data-driven approach at this stage.

    DOI： 10.1098/rsif.2021.0171

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    Other Link： https://royalsocietypublishing.org/doi/full-xml/10.1098/rsif.2021.0171

  • Effect of the agent size on the performance of an infotactic and a hybrid olfactory search based on the burstiness of odor pulses

    Cesar Hernandez-Reyes, Shunsuke Shigaki, Daisuke Kurabayashi

    2021 18th International Conference on Ubiquitous Robots, UR 2021   458 - 463   2021.7

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    Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

    DOI： 10.1109/UR52253.2021.9494650

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  • Control Input Design for a Robot Swarm Maintaining Safety Distances in Crowded Environment

    Yuki Origane, Yuya Hattori, Daisuke Kurabayashi

    Symmetry   2021.3

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    Publishing type：Research paper (scientific journal)  

    DOI： 10.3390/sym13030478

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  • Identification of Exploration and Exploitation Balance in the Silkmoth Olfactory Search Behavior by Information-Theoretic Modeling

    Cesar A. Hernandez-Reyes, Shumpei Fukushima, Shunsuke Shigaki, Daisuke Kurabayashi, Takeshi Sakurai, Ryohei Kanzaki, Hideki Sezutsu

    Frontiers in Computational Neuroscience   15   2021.2

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    Publishing type：Research paper (scientific journal)   Publisher：Frontiers Media SA  

    Insects search for and find odor sources as their basic behaviors, such as when looking for food or a mate. This has motivated research to describe how they achieve such behavior under turbulent odor plumes with a small number of neurons. Among different insects, the silk moth has been studied owing to its clear motor response to olfactory input. In past studies, the “programmed behavior” of the silk moth has been modeled as the average duration of a sequence of maneuvers based on the duration of periods without odor hits. However, this model does not fully represent the fine variations in their behavior. In this study, we used silk moth olfactory search trajectories from an experimental virtual reality device. We achieved an accurate input by using optogenetic silk moths that react to blue light. We then modeled such trajectories as a probabilistic learning agent with a belief of possible source locations. We found that maneuvers mismatching the programmed behavior are related to larger entropy decrease, that is, they are more likely to increase the certainty of the belief. This implies that silkmoths include some stochasticity in their search policy to balance the exploration and exploitation of olfactory information by matching or mismatching the programmed behavior model. We believe that this information-theoretic representation of insect behavior is important for the future implementation of olfactory searches in artificial agents such as robots.

    DOI： 10.3389/fncom.2021.629380

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  • Chemical plume tracing model learning from insect behavior

    Kei Okajima, Shunsuke Shigaki, Kazushi Sanada, Daisuke Kurabayashi

    2021 IEEE/SICE International Symposium on System Integration, SII 2021   839 - 840   2021.1

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    Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

    DOI： 10.1109/IEEECONF49454.2021.9382638

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  • Real-Time Odor Discrimination Using Single Antenna of Insect

    Shunsuke Shigaki, Hirono Ohashi, Takeshi Sakurai, Masahiro Shimizu, Koh Hosoda, Daisuke Kurabayashi

    IEEE Sensors Letters   4 ( 10 )   1 - 4   2020.10

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    Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers (IEEE)  

    DOI： 10.1109/lsens.2020.3024606

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  • Single-actuator AUV performing 3-DOF motion

    Kei Kunimatsu, Yuya Hattori, Daisuke Kurabayashi

    Advanced Robotics   34 ( 5 )   282 - 298   2020.3

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

    DOI： 10.1080/01691864.2019.1709894

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  • Variable Capture-Angle Sampling for Chemical Plume Tracing by an Autonomous Mobile Robot Reviewed

    R. Yanagawa, K. Kurabayashi, K. Okajima, S. Shunsuke, Y. Hattori, D. Kurabayashi

    Proceeding of IEEE/SICE International Symposium on System Integration (SII) 2020   2020.1

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  • Analysis of the Effect of Sampling Strategy: Flicking for Chemical Plume Tracing by an Autonomous Robot Reviewed

    K. Okajima, S. Shunsuke, C. Hernandez Reyes, K. Sanada, D. Kurabayashi

    Proceeding of IEEE/SICE International Symposium on System Integration (SII) 2020   2020.1

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    Language：English  

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  • A trial of linear dynamic model extension to improve prediction accuracy of core temperature change for persons with spinal cord injury.

    Masaru Yokota, Jun Suzurikawa, Yukiharu Higuchi, Toshiyo Tamura, Daisuke Kurabayashi, Takenobu Inoue, Toru Ogata, Atsushi Takashima

    2020 IEEE/SICE International Symposium on System Integration(SII)   266 - 270   2020

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    DOI： 10.1109/SII46433.2020.9026179

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    Other Link： https://dblp.uni-trier.de/db/conf/sii/sii2020.html#YokotaSHTKIOT20

  • Flicking: variable sampling method for chemical plume tracing by an autonomous robot

    Kei OKAJIMA, Shunsuke SHIGAKI, Kazushi SANADA, Daisuke KURABAYASHI

    Transactions of the JSME (in Japanese)   86 ( 887 )   19 - 00340   2020

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    DOI： 10.1299/transjsme.19-00340

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  • Modeling of the Adaptive Chemical Plume Tracing Algorithm of an Insect Using Fuzzy Inference. Reviewed

    Shunsuke Shigaki, Yusuke Shiota, Daisuke Kurabayashi, Ryohei Kanzaki

    IEEE Trans. Fuzzy Systems   28 ( 1 )   72 - 84   2020

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    DOI： 10.1109/TFUZZ.2019.2915187

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  • Experimental Analysis of the Influence of Olfactory Property on Chemical Plume Tracing Performance Reviewed

    Shunsuke Shigaki, Kei Okajima, Kazushi Sanada, Daisuke Kurabayashi

    IEEE Robotics and Automation Letters   4 ( 3 )   2847 - 2853   2019.7

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    DOI： 10.1109/LRA.2019.2921948

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  • Analysis of the role of wind information for efficient chemical plume tracing based on optogenetic silkworm moth behavior. Reviewed International journal

    Shunsuke Shigaki, Shoma Haigo, Cesar Hernandez Reyes, Takeshi Sakurai, Ryohei Kanzaki, Daisuke Kurabayashi, Hideki Sezutsu

    Bioinspiration & biomimetics   14 ( 4 )   046006 - 046006   2019.5

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    Many animals use olfactory information to search for feeding areas and other individuals in real time and with high efficiency. We focus on the chemical plume tracing (CPT) ability of male silkworm moths and investigate an efficient CPT strategy for an autonomous robot. In the case of flying insects, the wind direction is an important factor in CPT, because the wind carries odors amongst other environmental information. However, whether the same phenomenon occurs in the walking silkworm moth has not been investigated. Therefore, we examine how the silkworm moth uses wind information during CPT. To accurately investigate the response to the wind direction, we introduce an optogenetic approach that replaces the odor stimulation with light stimulation, allowing us to separate the 'wind stimulus' from the 'odor stimulus'. We examine how the moth uses wind direction information in a biological experiment, and find that the movement speed is significantly reduced when the wind speed is relatively fast (1.0 m s-1). By implementing this phenomenon in an autonomous robot, we can improve the successful search rate over that of the conventional moth-inspired algorithm. Regarding the search time, the proposed algorithm finds the odor source faster in a low-frequency odorant emission environment, whereas the search is slower than the conventional method when the odor frequency is higher. Therefore, switching from the use of wind direction information to odor information according to the frequency with which the odor is encountered leads to efficient CPT performance.

    DOI： 10.1088/1748-3190/ab1d34

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  • Development of Omnidirectional Mobile Treadmill for Neuroethology

    Shunsuke Shigaki, Kazushi Sanada, Daisuke Kurabayashi

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   11556   360 - 364   2019

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    DOI： 10.1007/978-3-030-24741-6_38

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  • Fusion of Cognitive and Reactive Algorithms for Chemical Plume Tracing on an Autonomous Mobile Robot Reviewed

    C. Hernandez Reyes, S. Fukushima, S. Shigaki, D. Kurabayashi

    The proceedings of SICE 2019   264 - 267   2019

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  • Linear Dynamic Model to Predict Core Temperature of Persons with Spinal Cord Injury.

    Masaru Yokota, Jun Suzurikawa, Yukiharu Higuchi, Toshiyo Tamura, Daisuke Kurabayashi, Takenobu Inoue, Toru Ogata, Atsushi Takashima

    IEEE/SICE International Symposium on System Integration(SII)   249 - 253   2019

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    DOI： 10.1109/SII.2019.8700350

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    Other Link： https://dblp.uni-trier.de/db/conf/sii/sii2019.html#YokotaSHTKIOT19

  • Design and Experimental Evaluation of an Odor Sensing Method for a Pocket-Sized Quadcopter Reviewed

    Shunsuke Shigaki, Muhamad Rausyan Fikri, Daisuke Kurabayashi

    Sensors   18 ( 11 )   3720   2018.11

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    DOI： 10.3390/s18113720

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  • Prediction of core temperature decrease induced by neck cooling in wheelchair athletes with spinal cord injury using the Pierce two-node model and parameter search Reviewed

    Kenta Takizawa, Jun Suzurikawa, Yukiharu Higuchi, Huang Ming, Toshiyo Tamura, Daisuke Kurabayashi, Takenobu Inoue, Toru Ogata, Atushi Takashima

    2017 IEEE Life Sciences Conference, LSC 2017   2018-   178 - 181   2018.1

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    DOI： 10.1109/LSC.2017.8268172

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  • Animal-in-the-loop system to investigate adaptive behavior. Reviewed

    Shigaki Shunsuke, Muhamad Rausyan Fikri, C. Hernandez Reyes, Takeshi Sakurai, Noriyasu Ando, Daisuke Kurabayashi, Ryohei Kanzaki, Hideki Sezutsu

    Advanced Robotics   32 ( 17 )   945 - 953   2018

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    Publishing type：Research paper (scientific journal)   Publisher：Informa {UK} Limited  

    DOI： 10.1080/01691864.2018.1511473

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  • Time-Varying Moth-Inspired Algorithm for Chemical Plume Tracing in Turbulent Environment. Reviewed

    Shigaki Shunsuke, Takeshi Sakurai, Noriyasu Ando, Daisuke Kurabayashi, Ryohei Kanzaki

    IEEE Robotics and Automation Letters   3 ( 1 )   76 - 83   2018

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    DOI： 10.1109/LRA.2017.2730361

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  • Construction of chemical plume tracing simulator in a non-rectifying environment Reviewed

    R. Yanagawa, S. Shigaki, D. Kurabayashi

    Proceeding of SICE Annual Conference 2018   147-150   2018

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  • Chemical Plume Tracing using Palm-Sized Quadrotor in 2D Obstacle Environment Reviewed

    M. R. Fikri, S. Shigaki, D. Kurabayashi

    Proceeding of SICE Annual Conference 2018   154-157   2018

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  • Construction of a soft wearable body cooling system for persons with spinal cord injury. Reviewed International journal

    Atsushi Takashima, Kensuke Sato, Kenta Takizawa, Jun Suzurikawa, Yukiharu Higuchi, Ming Huang, Yoshinori Teshima, Toshiyo Tamura, Daisuke Kurabayashi, Takenobu Inoue, Toru Ogata

    Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference   2017   913 - 916   2017.7

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    DOI： 10.1109/EMBC.2017.8036973

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  • Characterization of the pierce two-node model under exercise load by parameter optimization toward construction of a modified thermal model for persons with spinal cord injury. Reviewed International journal

    Kenta Takizawa, Jun Suzurikawa, Yukiharu Higuchi, Huang Ming, Toshiyo Tamura, Daisuke Kurabayashi, Takenobu Inoue, Toru Ogata, Atushi Takashima

    Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference   2017   2466 - 2469   2017.7

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  • Construction of a soft wearable body cooling system for persons with spinal cord injury. Reviewed

    Takashima A, Sato K, Takizawa K, Suzurikawa J, Higuchi Y, Huang M, Teshima Y, Tamura T, Kurabayashi D, Inoue T, Ogata T

    Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference   2017   913 - 916   2017.7

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  • Characterization of the pierce two-node model under exercise load by parameter optimization toward construction of a modified thermal model for persons with spinal cord injury. Reviewed

    Takizawa K, Suzurikawa J, Higuchi Y, Huang Ming, Tamura T, Kurabayashi D, Inoue T, Ogata T, Takashima A

    Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference   2017   2466 - 2469   2017.7

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  • A novel method for full locomotion compensation of an untethered walking insect Reviewed

    Shunsuke Shigaki, Shunpei Fukushima, Daisuke Kurabayashi, Takeshi Sakurai, Ryohei Kanzaki

    BIOINSPIRATION & BIOMIMETICS   12 ( 1 )   2017.2

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    DOI： 10.1088/1748-3190/12/1/016005

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  • 化学物質探索行動における気流環境に応じた吸気積極性の実験的検討 Reviewed

    吉原 拓実, 志垣 俊介, 倉林 大輔

    日本機械学会論文集   83 ( 853 )   17--00108   2017

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    DOI： 10.1299/transjsme.17-00108

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  • 3D Order Formation of Robot Swarm by Using Phase Oscillators with Directional Information

    YAMASHITA Shunya, KURABAYASHI Daisuke, HATTORI Yuya

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017   1A1 - F10   2017

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    <p>In this paper, we propose a system for a robot swarm in 3D space based on local interaction by using low-dimensional information. Generally, communication cost of multi-robot system rises by using high-dimensional information. Using low-dimensional information can hold down communication cost of a robot swarm. Thus, we propose the system with a phase oscillator. It is known that phase oscillators interact with each other, by using a phase which is only one-dimensional information. We propose the phase oscillator model with directional information in order to control a robot swarm in 3D space. Also, we show the effectiveness of the proposed method by analysis and experiments.</p>

    DOI： 10.1299/jsmermd.2017.1A1-F10

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  • Behavior Estimation of an Insect Based on Flight Muscle Electromyograms using the Support Vector Machine Reviewed

    Shunsuke Shigaki, Daisuke Kurabayashi

    2016 55TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)   1323 - 1328   2016

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    DOI： 10.1109/SICE.2016.7749217

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  • Experiment of Stereo Sensors for Chemical Plume Tracing by Optogenetic Silkworm Moth Reviewed

    Kotaro Kishi, Daisuke Kurabayashi, Ryo Minegishi, Takeshi Sakurai, Ryohei Kanzaki, Masashi Tabuchi, Hideki Sezutsu

    INTELLIGENT AUTONOMOUS SYSTEMS 13   302   1481 - 1489   2016

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    DOI： 10.1007/978-3-319-08338-4_106

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  • Guidance of Robot Swarm by Phase Gradient in 3D Space Reviewed

    Keita Horayama, Daisuke Kurabayashi, Syarif Ahmad, Ayaka Hashimoto, Takuro Moriyama, Tatsuki Choh

    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2016, PT I   9834   444 - 451   2016

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    DOI： 10.1007/978-3-319-43506-0_39

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  • Echo state networks with Tikhonov regularization: optimization using integral gain Reviewed

    Jouh Yeong Chew, Daisuke Kurabayashi, Yudai Nakamura

    ADVANCED ROBOTICS   29 ( 12 )   801 - 814   2015.6

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    DOI： 10.1080/01691864.2015.1010576

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  • Memory mediated by internal state: memory of lost supresses motivation of fight in the cricket gryllus bimaculatus Reviewed

    Aonuma H, Sakura M, Kurabayashi D

    Memory Consolidation   37 - 52   2015

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  • 3-DOF servosphere: A novel experiment system for measuring locomotion of free walking silkworm moth Reviewed

    S. Shigaki, S. Fukushima, D. Kurabayashi, R. Minegishi, R. Kanzaki

    Proceeding of SICE Annual Conference 2015   1295-1298   2015

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  • Quantitative Analysis of the Silk Moth's Chemical Plume Tracing Locomotion Using a Hierarchical Classification Method Reviewed

    Jouh Yeong Chew, Daisuke Kurabayashi

    JOURNAL OF BIONIC ENGINEERING   11 ( 2 )   268 - 281   2014.4

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    DOI： 10.1016/S1672-6529(14)60036-6

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  • Estimation of stimuli timing to evaluate chemical plume tracing behavior of the silk moth Reviewed

    Jouh Yeong Chew, Kotaro Kishi, Yohei Kinowaki, Daisuke Kurabayashi

    Advances in Intelligent Systems and Computing   274   619 - 631   2014

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    DOI： 10.1007/978-3-319-05582-4_53

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  • カイコガ行動計測のための 3 自由度サーボスフィアの構築 Reviewed

    志垣 俊介, 福島 俊平, 峯岸 諒, 倉林 大輔, 神崎 亮平

    日本機械学会論文集   80 ( 813 )   DR0131--DR0131   2014

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    DOI： 10.1299/transjsme.2014dr0131

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  • Embodiment sensing for self-generated zigzag turning algorithm using vision-based plume diffusion

    Jouh Yeong Chew, Takumi Yoshihara, Daisuke Kurabayashi

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   8810   498 - 508   2014

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    Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer Verlag  

    DOI： 10.1007/978-3-319-11900-7_42

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  • Time-Variant Chemical Plume Tracing Inspired by the Silk Moth Reviewed

    J. Y. Chew, S. Shigaki, D. Kurabayashi

    Proceedings of Safety, Security, and Rescue Robotics (SSRR) 2014   1-2   2014

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  • 1P2-U02 Analysis of relationships between leg movement and electromyogram supported by electomyogram recording from a behaving animal(Mobiligence and embodiment systems science)

    MIYASHITA Shuto, OOTSUBO Hirohide, MINEGISHI Ryo, KURABAYASHI Daisuke

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2014   _1P2-U02_1 - _1P2-U02_2   2014

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    Animals are able to cope with tasks adaptively despite unexpected situation while robots can perform in limited situations. Robot controlled by electromyogram enable us to investigate mechanisms of animal's adaptability, but we have to obtain the rule to convert electromyogram into actual behavior in real space to realize such robot. We construct experimental system which can measure both behavior of walking silkworm moth and electromyogram recorded from a leg of the silkworm moth simultaneously, in order to reveal that transformation rule. Leg movements were recorded by high-speed camera, and converted into relative angles observed by silkworm moth, using image processing of video of behavior.

    DOI： 10.1299/jsmermd.2014._1p2-u02_1

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  • A Tethered System to Investigate the Behavioral Changes of the Silk Moth for Chemical Plume Tracing Reviewed

    Jouh Yeong Chew, Kotaro Kishi, Yohei Kinowaki, Ryo Minegishi, Daisuke Kurabayashi

    2013 10TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI)   37 - 38   2013

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    DOI： 10.1109/URAI.2013.6677466

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  • Adaptive Control System of an Insect Brain during Odor Source Localization Reviewed

    Ryo Minegishi, Yosuke Takahashi, Atsushi Takashima, Daisuke Kurabayashi, Ryohei Kanzaki

    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   357 - 362   2013

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    DOI： 10.1109/IROS.2013.6696376

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  • Modification in Command Neural Signals of an Insect's Odor Source Searching Behavior on the Brain-Machine Hybrid System. Reviewed

    Ryo Minegishi, Yosuke Takahashi, Atsushi Takashima, Daisuke Kurabayashi, Ryohei Kanzaki

    Biomimetic and Biohybrid Systems - Second International Conference   167 - 178   2013

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    DOI： 10.1007/978-3-642-39802-5_15

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  • Property Investigation of Chemical Plume Tracing Algorithm in an Insect Using Bio-machine Hybrid System. Reviewed

    Daisuke Kurabayashi, Yosuke Takahashi, Ryo Minegishi, Elisa Tosello, Enrico Pagello, Ryohei Kanzaki

    Biomimetic and Biohybrid Systems - Second International Conference   131 - 142   2013

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    DOI： 10.1007/978-3-642-39802-5_12

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  • Asymmetric global order to control a group of anonymous mobile robots by using loose-coupled local interactions Reviewed

    Ayaka Hashimoto, Daisuke Kurabayashi, Takuro Moriyama, Tatsuki Choh

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   79 ( 799 )   593 - 603   2013

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    DOI： 10.1299/kikaic.79.593

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  • Construction of a brain-machine hybrid system to evaluate adaptability of an insect Reviewed

    Ryo Minegishi, Atsushi Takashima, Daisuke Kurabayashi, Ryohei Kanzaki

    ROBOTICS AND AUTONOMOUS SYSTEMS   60 ( 5 )   692 - 699   2012.5

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    DOI： 10.1016/j.robot.2011.06.012

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  • Special issue on mobiligence Reviewed

    Daisuke Kurabayashi, Naomichi Ogihara, Koichi Osuka

    ROBOTICS AND AUTONOMOUS SYSTEMS   60 ( 5 )   669 - 669   2012.5

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  • An oscillator network exhibiting a long-lasting response to an external signal Reviewed

    Takuro Moriyama, Daisuke Kurabayashi

    BIOINSPIRATION & BIOMIMETICS   7 ( 1 )   2012.3

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    DOI： 10.1088/1748-3182/7/1/016004

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  • Artificial pheromone potential field built by interacting between mobile agents and RFID tags Reviewed

    Piljae Kim, Daisuke Kurabayashi

    Lecture Notes in Electrical Engineering   107   377 - 386   2012

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    DOI： 10.1007/978-94-007-2598-0_40

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  • A model for group-size-dependent behaviour decisions in insects using an oscillator network Reviewed

    Tetsuro Funato, Masahito Nara, Daisuke Kurabayashi, Masatoshi Ashikaga, Hitoshi Aonuma

    JOURNAL OF EXPERIMENTAL BIOLOGY   214 ( 14 )   2426 - 2434   2011.7

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    DOI： 10.1242/jeb.057356

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  • Analog Implementation of Segmentation Algorithm Using Oscillator Network

    NAKAMURA Yudai, MORIYAMA Takuro, KURABAYASHI Daisuke, TANAKA Hidekazu

    TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A   77 ( 783 )   4165 - 4180   2011

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    We propose a bio-inspired visual processing system for pattern segmentation which parallelizes the information and shows high-speed performance and flexible features. Locally Excitatory Globally Inhibitory Network (LEGION) is one of the bio-inspired visual processing systems. The network is composed of an array of oscillators and Global Inhibitor. In the network, a global element had functions to receive input from the entire network and feedback. We propose a network structure in which each oscillator module shares the function and the global element can be regarded as a data field. As a result, we successfully enhance the features as a parallel and distributed system. We also propose a new oscillator model which has three modes; charge, discharge and stop. The period of oscillation is controlled by means of switching these modes and it enables the network to easily achieves both synchronization within oscillators which belong to the same object and desynchronization between different objects. We indicate the feature that the period of oscillation is proportional to the number of objects. We verify these features by simulations and experiments with real implementation of analog circuit and show the result of pattern segmentation with it.

    DOI： 10.1299/kikaic.77.4165

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  • Forming an artificial pheromone potential field using mobile robot and RFID tags Reviewed

    Piljae Kim, Daisuke Kurabayashi

    2011 IEEE/SICE International Symposium on System Integration, SII 2011   621 - 626   2011

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    DOI： 10.1109/SII.2011.6147520

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  • Robotic homing through a noisy potential field using information entropy Reviewed

    Piljae Kim, Satoru Nakamura, Daisuke Kurabayashi

    URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence   594 - 597   2011

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    DOI： 10.1109/URAI.2011.6145889

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  • Adaptive control using an oscillator network with capacitive couplers Reviewed

    Takuro Moriyama, Daisuke Kurabayashi

    Journal of Advanced Computational Intelligence and Intelligent Informatics   15 ( 6 )   632 - 638   2011

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    DOI： 10.20965/jaciii.2011.p0632

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  • Construction of a Brain-machine Hybrid System to Analyze Adaptive Behavior of Silkworm Moth Reviewed

    Atsushi Takashima, Ryo Minegishi, Daisuke Kurabayashi, Ryohei Kanzaki

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)   2389 - 2394   2010

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    DOI： 10.1109/IROS.2010.5650313

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  • Adaptive formation transition of a swarm of mobile robots based on phase gradient Reviewed

    Daisuke Kurabayashi, Tatsuki Choh, Jia Cheng, Tetsuro Funato

    Journal of Robotics and Mechatronics   22 ( 4 )   467 - 474   2010

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  • Synthetic distance estimation using defocus images obtained by a single camera Reviewed

    Akihiro Tsuchiya, Yuichi Teranishi, Daisuke Kurabayashi

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   76 ( 772 )   3246 - 3254   2010

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    DOI： 10.1299/kikaic.76.3246

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  • Estimation of feedback system during programmed behavior exhibited by silkworm moth Reviewed

    Atsushi Takashima, Ryo Minegishit, Daisuke Kurabayashi, Ryohei Kanzaki

    Proceedings - 2010 2nd World Congress on Nature and Biologically Inspired Computing, NaBIC 2010   92 - 97   2010

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    DOI： 10.1109/NABIC.2010.5716382

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  • An Oscillator Network with a Temporary Memory Function Reviewed

    Takuro Moriyama, Daisuke Kurabayashi

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4   2024 - 2029   2009

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    DOI： 10.1109/ROBIO.2009.4913312

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  • Realization of an Artificial Pheromone System in Random Data Carriers Using RFID Tags for Autonomous Navigation Reviewed

    Herianto, Daisuke Kurabayashi

    ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7   1424 - 1429   2009

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    DOI： 10.1109/ROBOT.2009.5152405

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  • Adaptive Formation Transition among a Mobile Robot Group based on Phase Gradient Reviewed

    Daisuke Kurabayashi, Tatsuki Choh, Jia Cheng, Teteuro Funato

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4   2001 - +   2009

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    DOI： 10.1109/ROBIO.2009.4913308

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  • Optomotor response of medaka fish to rotating stripes at sinusoidal speed. Reviewed

    Suehiro Y, Okuyama T, Imada H, Naruse K, Kurabayashi D, Shimada A, Takeda H, Kubo T, Takeuchi H

    <i>The proceeding of 3rd International Symposium on Mobiligence</i>   308 - 311   2009

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  • Study of adaptability in an insect by using a brain-machine fusion system Reviewed

    Ryo Minegishi, Atsushi Takashima, Daisuke Kurabayashi, Hiroshi Yamagishi, Ryohei Kanzaki

    COMPARATIVE BIOCHEMISTRY AND PHYSIOLOGY B-BIOCHEMISTRY & MOLECULAR BIOLOGY   151 ( 4 )   447 - 448   2008.12

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  • Modeling a Behavior Selection Mechanism of Insects via Structural Transition of Oscillator Networks Reviewed

    Tetsuro Funato, Masahito Nara, Daisuke Kurabayashi, Hitoshi Aonuma, Masatoshi Ashikaga

    Mobiligence workship in IROS2008   11   2008.9

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  • Implementation of formation transition system using synchronization in a mobile robot group Reviewed

    Takaaki Shimone, Daisuke Kurabayashi, Kunio Okita, Tetsuro Funato

    FIELD AND SERVICE ROBOTICS: RESULTS OF THE 6TH INTERNATIONAL CONFERENCE   42   423 - 432   2008

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    DOI： 10.1007/978-3-540-75404-6_40

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  • Investigation of adaptive behavior of insects through constructing bio-machine hybrid system Reviewed

    Ryohei Kanzaki, Noriyasu Ando, Syuhei Emoto, Ryo Minegishi, Daisuke Kurabayashi, Shigeru Toriihara

    COMPARATIVE BIOCHEMISTRY AND PHYSIOLOGY B-BIOCHEMISTRY & MOLECULAR BIOLOGY   148 ( 3 )   350 - 350   2007.11

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  • Development of structure-mediated behaviour selector using oscillator network Reviewed

    Tetsuro Funato, Daisuke Kurabayashi, Masahito Nara, Hitoshi Aonuma

    2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5   1206 - +   2007

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    DOI： 10.1109/ROBIO.2007.4522336

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  • Adaptive routing system by intelligent environment with media agents Reviewed

    Takenori Matsuoka, Daisuke Kurabayashi, Katsunori Urano

    DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 6   55 - +   2007

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    DOI： 10.1007/978-4-431-35873-2_6

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  • Functional structure of autonomically emerged network in an environment. Reviewed

    Tetsuro Funato, D.Kurabayashi

    IEEE International Conference on Computational Cybernetics   315 - 320   2006.8

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  • Development of oscillator network model for behavioral processing. Reviewed

    Tetsuro Funato, Hitoshi Aonuma, Daisuke Kurabayashi, Masahito Nara

    2nd International Workshop of Research Group of Invertebrate Nervous System   8   2006.8

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  • Emergence of small-world in Ad-hoc communication network among individual agents Reviewed

    Daisuke Kurabayashi, Tomohiro Inoue, Akira Yajima, Tetsuro Funato

    INTELLIGENT AUTONOMOUS SYSTEMS 9   605 - +   2006

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  • Indoor navigation for mobile robot by using environment-embedded local information management device and optical pointer Reviewed

    Tsuyoshi Suzuki, Taiki Uehara, Kuniaki Kawabata, Daisuke Kurabayashi, Igor E. Paromtchik, Hajime Asama

    FIELD AND SERVICE ROBOTICS: RECENT ADVANCES IN RESEARCH AND APPLICATIONS   24   41 - +   2006

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    DOI： 10.1007/10991459_5

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  • Synchronization control by structural modification of nonlinear oscillator network Reviewed

    Tetsuro Funato, Daisuke Kurabayashi, Masahito Nara

    DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 7   41 - +   2006

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    DOI： 10.1007/4-431-35881-1_5

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  • Obstacle avoidance of a mobile robot group using a nonlinear oscillator network Reviewed

    Daisuke Kurabayashi, Kunio Okita, Tetsuro Funato, Ryota Sakaematsu

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12   186 - +   2006

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    DOI： 10.1109/IROS.2006.282314

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  • Emergence of adaptive behaviors through topological structures of networks Reviewed

    Daisuke Kurabayashi, Tetsuro Funato

    ZOOLOGICAL SCIENCE   22 ( 12 )   1414 - 1415   2005.12

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  • Autonomous transition of transportation network by interactions between agents and an environment

    Daisuke Kurabayashi, Katsunori Urano, Tetsuro Funato

    Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA   243 - 248   2005

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  • Strategy Optimization of Cooperative Agents (Master's Thesis)

    Ikki Fujiwara, Daisuke Kurabayashi

    Master's Thesis, Department of Mechanical and Control Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology   2004

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  • Approach to global and local guidance of multiple mobile robots Reviewed

    IE Paromtehik, D Kurabayashi, H Asama

    INTELLIGENT AUTONOMOUS VEHICLES 2001   327 - 332   2002

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  • Hybrid power supply for mobile robots Reviewed

    C Wattanasin, Y Aiyama, D Kurabayashi, J Ota, T Arai

    ADVANCED ROBOTICS   15 ( 6 )   695 - 710   2001

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  • Development of intelligent data carrier systems for cooperative organization of multiple robots and their operating environment Reviewed

    H Asama, D Kurabayashi, T Fujii, K Kawabata, Y Arai, H Kaetsu, Endo, I, H Tashiro

    MOBILE ROBOT TECHNOLOGY, PROCEEDINGS   233 - 238   2001

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  • Information assistance in rescue using intelligent data carriers Reviewed

    D Kurabayashi, H Asama, K Noda, Endo, I, H Hashimoto

    IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4   2294 - 2299   2001

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    DOI： 10.1109/IROS.2001.976412

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  • Information Assistance in Rescue using Inteigent Data Carriers Reviewed

    D.Kurabayashi, H.Asama, K.Noda, I.Endo, H.Hashimoto

    Proc. IEEE/RSJ Int. Conf. on Inteligent Robots and Systems   2294 - 2299   2001

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  • Communication between Autonomous Robots and Environments by Intelligent Data Carriers

    KURABAYASHI Daisuke, ASAMA Hajime

    JRSJ   17 ( 5 )   633 - 636   1999.7

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    Language：Japanese   Publisher：The Robotics Society of Japan  

    DOI： 10.7210/jrsj.17.633

    CiNii Books

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    Other Link： https://jlc.jst.go.jp/DN/JALC/00061598447?from=CiNii

  • Iterative transportation by cooperative mobile robots in unknown environment Reviewed

    K Inoue, J Ota, T Hirano, D Kurabayashi, T Arai

    INTELLIGENT AUTONOMOUS SYSTEMS   30 - 37   1998

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Books

  • Heuristic Approach of a Distributed Autonomous Guidance System to Adapt to the Dynamic Environment

    Distributed Autonomous Robotic Systems  2002 

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  • Heuristic Approach of a Distributed Autonomous Guidance System to Adapt to the Dynamic Environment

    Distributed Autonomous Robotic Systems  2002 

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  • 知能ロボット入門～動作計画問題の解法～

    コロナ社  2001 

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  • Introduction to Intelligent Robots -- Solution for Motion Planning Problems --

    Corona publishing co., ltd.  2001 

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  • Performance Evaluation of Autonomous Knowledge Acquisition and Sharing by Intelligent Data Carriers

    Distributed Autonomous Robotic Systems, Springer  2000 

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  • Performance Evaluation of Autonomous Knowledge Acquisition and Sharing by Intelligent Data Carriers

    Distributed Autonomous Robotic Systems, Springer  2000 

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  • Iterative Transportation by Cooperative Mobile Robots

    Distributed Autonomous RoboticSystems  1998 

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  • Real-time Path Adaptation for Sweeping by Autonomous Mobile Robots

    Distributed Autonomous Robotic Systems, Springer  1998 

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  • Iterative Transportation by Cooperative Mobile Robots

    Distributed Autonomous RoboticSystems  1998 

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  • Real-time Path Adaptation for Sweeping by Autonomous Mobile Robots

    Distributed Autonomous Robotic Systems, Springer  1998 

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  • Cooperative Sweeping in Environments with Movable Obstacles

    Distributed Autonmous Robotic Systems, Springer  1996 

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  • Iterative Transportation Planning of Multiple Objects by Cooperative Mobile Robots

    Distributed Autonomous Robotic Systems  1996 

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  • Cooperative Sweeping in Environments with Movable Obstacles

    Distributed Autonmous Robotic Systems, Springer  1996 

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  • Iterative Transportation Planning of Multiple Objects by Cooperative Mobile Robots

    Distributed Autonomous Robotic Systems  1996 

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MISC

  • Improvement of Phototactic Performance of Underwater Modular Robots through Stroke Synchronization. Reviewed

    Kohei Nishikawa, Jumpei Yamaguchi, Hayato Dan, Daisuke Kurabayashi

    The 12th International Symposium on Adaptive Motion of Animals and Machines   2025.7

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  • Proposal of a Marker-less Registration Method for Measuring Changes in Daily Swelling of the Foot of Individuals with Spinal Cord Injury using a Handheld 3D Scanner Reviewed

    Atsushi Takashima, Yuichi Eguchi, Kazushi Sanada, Daisuke Kurabayashi, Satoshi Shirogane, Shoichi Masaki, Toru Ogata

    The 47th Annual International Conference of the IEEE Engineering in Medicine and Biology Society   2025.7

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  • 結合振動子を用いたParticle Swarm Optimizationの分散化

    横井花音, 折金悠生, 檀隼人, 倉林大輔

    日本機械学会ロボティクス・メカトロニクス部門講演会2025   2025.6

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  • Winfreeモデル型制御による分散ロボットシステムの自己組織化

    西川航平, 折金悠生, 檀隼人, 倉林大輔

    日本機械学会ロボティクス・メカトロニクス部門講演会2025   2025.6

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  • 真性粘菌の情報伝達に学ぶ群ロボットの大域状態推定

    折金悠生, 倉林大輔

    第37回計測自動制御学会自律分散システム・シンポジウム   2025.6

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  • 複数誘因源下における自律移動体群の統一的意思決定に基づくリーダー選出と統括的誘導

    砂川舞由子, 折金悠生, 檀隼人, 倉林大輔

    第37回計測自動制御学会自律分散システム・シンポジウム   2025.6

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  • 高自由度化学計測器を用いた匂い源探索のための知覚状態弁別

    草川惟織, 牧俊介, Duc-Nhat Luong, 檀隼人, 倉林大輔

    日本機械学会ロボティクス・メカトロニクス部門講演会2025   2025.6

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  • カイコガを用いた逆強化学習による匂い源探索戦略の抽出ー特徴設定が匂い源探索に与える影響ー

    並木練作, Duc-Nhat Luong, 檀隼人, 倉林大輔

    日本機械学会ロボティクス・メカトロニクス部門講演会2025   2025.6

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  • 物理的相互作用を介した自己組織化による水中モジュラーロボットの走光性実現

    西川航平, 山口淳平, 檀隼人, 倉林大輔

    第37回計測自動制御学会自律分散システム・シンポジウム   2025.6

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  • 頸髄損傷者を対象とした車椅子駆動時間の分布推定と体調指標との相関考察

    渡邉祐太, 倉林大輔, 緒方徹, 眞田一志, 白銀暁, 檀隼人, 高嶋淳

    第25回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   2024.12

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  • Synchronized Motion Switching of Robotic Swarm by using Wave-Type Local Interaction of Coupled Oscillator Systems Reviewed

    Yuki Origane, Daisuke Kurabayashi

    2024.10

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  • 受動関節パドルによる遊泳特性解析と走光性水中モジュラーロボットのパラメーター設計

    山口淳平, 西川航平, 檀隼人, 倉林大輔

    第42回日本ロボット学会学術講演会   2024.9

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  • 車椅子加速度による頚髄損傷者の活動度推定方法の検討

    高嶋淳, 倉林大輔, 眞田一志, 白銀暁, 緒方徹

    第42回日本ロボット学会学術講演会   2024.9

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  • Distributed PSO with Coupled Oscillator System for Robot Swarms Reviewed

    Kanon Yokoi, Yuki Origane, Daisuke Kurabayashi

    THE 8TH INTERNATIONAL SYMPOSIUM ON SWARM BEHAVIOR AND BIO-INSPIRED ROBOTICS 2024   2024.9

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  • 振動的相互作用を用いた分散的大域状態推定によるデッドロック解消

    折金悠生, 檀隼人, 倉林大輔

    第42回日本ロボット学会学術講演会   2024.9

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  • Mapping Obstructed Environment using High-Degree-of-Freedom Gas Sensor Device Reviewed

    Duc-Nhat Luong, Shunsuke Maki, Hayato Dan, Daisuke Kurabayashi

    2024 SICE Annual Conference   2024.8

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  • 自律型移動ロボットを用いた非対称制御バリア関数の有効性評価

    横井花音, 折金悠生, 倉林大輔

    日本機械学会ロボティクス・メカトロニクス部門講演会2024   2024.5

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  • スワームネットワークグラフの変化による振動的相互作用のエネルギー不安定性

    折金悠生, 倉林大輔

    日本機械学会ロボティクス・メカトロニクス部門講演会2024   2024.5

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  • 多細胞ボルボシン藻類を模した走光性水中モジュラーロボットの開発

    西川航平, 山口淳平, 倉林大輔

    日本機械学会ロボティクス・メカトロニクス部門講演会2024   2024.5

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  • 局所相互作用に基づく自律移動体群の外界センサに応じた分散状態切替

    砂川舞由子, 折金悠生, 倉林大輔

    日本機械学会ロボティクス・メカトロニクス部門講演会2024   2024.5

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  • 頸髄損傷者を対象とした車椅子日常動作に基づく駆動時間比率の推定 Reviewed

    大島龍之介, 倉林大輔, 緒方徹, 眞田一志, 白銀暁, 樋口幸治, 冨安幸志, 高嶋淳

    第29回ロボティクスシンポジア   2024.3

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  • Stroke Synchronization of Underwater Modular Robot through Physical Interaction Reviewed

    Kohei Nishikawa, Yuki Origane, Daisuke Kurabayashi

    The 2023 IEEE International Conference on Robotics and Biomimetics   2023.12

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  • カイコガの適応的匂い源探索アルゴリズムのモデル化とロボットシステムへの実装に向けて Invited

    志垣俊介, 倉林大輔

    昆虫と自然   53 ( 13 )   37-38   2018.12

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  • Construction of core temperature linear dynamical model of spinal cord injury under high temperature environment while exercising

    YOKOTA Masaru, SUZURIKAWA Jun, HIGUCHI Yukiharu, TAMURA Toshiyo, KURABAYASHI Daisuke, INOUE Takenobu, OGATA Toru, TAKASHIMA Astushi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2018 ( 0 )   1P1 - D11   2018

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    <p>For the construction of a body cooling system to prevent hyperthermia for spinal cord injury(SCI), the difference between persons with SCI and able-bodied persons in heat transfer between body and air is important. This paper proposes new simple linear dynamical model focused on heat transfer which can be measured from experiments. To confirm this model, experiments were conducted targeted at persons with SCI and able-bodied persons. We evaluated estimation errors of the model fitting for core temperature data were less than the limit of detection of core temperature thermometer(Core temp.CM-210, Terumo Corporation). Furthermore, persons with SCI are statistically significantly lower than able-bodied persons regarding fitting parameters related to heat transfer between body and air(p<0.05).</p>

    DOI： 10.1299/jsmermd.2018.1P1-D11

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  • Construction of Body Temperature Control Systems for Persons with Disabilities

    TAKASHIMA Atsushi, INOUE Takenobu, OGATA Toru, SATO Kensuke, TAKIZAWA Kenta, SUZURIKAWA Jun, HIGUCHI Yukiharu, HUANG Ming, TESHIMA Yoshinori, TAMURA Toshiyo, KURABAYASHI Daisuke

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017 ( 0 )   2A2 - H06   2017

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    &lt;p&gt;This paper describes construction of body temperature contorl systems for persons with disabilities. Our concepts of cooling system are (1) easy to wear and use, (2) minimize risks, (3) minimize disturbance for the persons&#039; daily activities and (4) have enough abilities to cool body. Two types of control systems were constructed in our projects. These systems share concepts of design, however realization methods are different. One is &quot;back-support type,&quot; and another is &quot;neck cooling type.&quot; Both of them proved that they have the ability to cool a body and to reduce a mount of sweating of healthy abled-person in hot environment.&lt;/p&gt;

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  • カイコガの匂い源探索行動における推定状態算出とパフモデル環境への適用

    岩崎孝弘, 倉林大輔, 福島俊平, 峯岸諒

    ロボティクスシンポジア予稿集   21st   2016

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  • 2A1-G01 Construction of multi-copter system for Chemical Plume Tracing

    FUKUSHIMA Shunpei, SHIGAKI Shunsuke, KURABAYASHI Daisuke

    2015   "2A1 - G01(1)"-"2A1-G01(2)"   2015.5

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    Chemical Plume Tracing (CPT), locating the distant odor source in a turbulent environment, has been studied for robotics odor source search. Many robots moving on the ground are designed. In real-world, however, obstacles on the ground prevent the robots from approaching odor source. Flying CPT robots can approach odor source even if obstacles are on the ground, so design of the the flying robots are needed. We propose flying CPT robot system which can inhale odor ahead of the robot and detect the odor. This system is installed CPT algorithm of 2-dimension and the flying robot can locate the distant odor source under constant altitude condition.

    CiNii Books

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  • 1P1-S05 Embodiment Design of Biomimetic Sniffing System for Chemical Plume Tracing Robot

    YOSHIHARA Takumi, YEONG Chew Jouh, MINEGISHI Ryo, FUKUSHIMA Shunpei, KURABAYASHI Daisuke, KANZAKI Ryohei

    2015   "1P1 - S05(1)"-"1P1-S05(2)"   2015.5

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    Chemical plume tracing by the autonomous robot is expected in various fields including detection of toxic gas source. In this study, we improved CPT performance of robot by designing sniffing system. The design is based on silkmoth's wing flapping which draw surrounding air to deliver smells to its antennae. To evaluate the system, we carried out odor source localization experiment in three different odor environments of (1)wind tunnel, (2)open space and (3)shifting wind. At the odor source, air containing ethanol is spouted every second. As a result, our sniffing system showed high environmentally robustness performance of which success ratio are higher than 90% in all environments we set.

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  • 1P2-U01 Discussion of behavior change by simultaneous measurement of EAG on 3-DOF servosphere(Mobiligence and embodiment systems science)

    FUKUSHIMA Shunpei, SHIGAKI Shunsuke, MINEGISHI Ryo, KURABAYASHI Daisuke

    2014   "1P2 - U01(1)"-"1P2-U01(2)"   2014.5

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    Chemical Plume Tracing(CPT), locating the distant odor source in a turbulent environment, has been studied for robotic odor source search. However, solving CPT problem is not easy because structure of plume in the air is complicated. Therefore we focus on the behavior of silkworm moth. Silkworm moth, bombyx mori, is one of the insects that have the ability to solve CPT problem. To measure their CPT algorithm, we propose the behavior observation untethered system, 3-DOF servosphere and it can enable us observe silkworm's natural behavior. We also developed simultaneous estimation system of stimuli input. In this study, we can analyze interaction between CPT algorithm and stimuli input.

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  • 匂い源探索行動におけるカイコガ雄成虫の行動パラメタに対する定位性能評価

    倉林大輔, 高橋洋介, 峯岸諒, TOSELLO Elisa, PAGELLO Enrico, 神崎亮平

    自律分散システム・シンポジウム(CD-ROM)   26th   2014

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  • 雄カイコガの適応的匂い源探索行動理解のためのロボットを用いたアプローチ

    峯岸諒, 高橋洋介, 倉林大輔, 神崎亮平

    日本応用動物昆虫学会大会講演要旨   58th   2014

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  • 飛翔筋活動電位に基づくカイコガ雄成虫の行動分別

    志垣俊介, 福島俊平, 峯岸諒, 倉林大輔, 安藤規泰, 神崎亮平

    日本ロボット学会学術講演会予稿集(CD-ROM)   32nd   2014

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  • 2A2-G10 Behavioral Analysis of Insects with Virtual Environments for Biomimetic Chemical Plume Tracing(Sense, Motion and Measurement (2))

    KISHI Kotaro, GOTO Takahide, TABUCHI Masashi, MINEGISHI Ryo, SEZUTSU Hideki, KANZAKI Ryohei, KURABAYASHI Daisuke

    ロボティクス・メカトロニクス講演会講演概要集   2013   "2A2 - G10(1)"-"2A2-G10(2)"   2013.5

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    In this paper, we focus on the odor-searching behavior of silkworm moth, bombyxmori. To measure their CPT strategy, we propose the behavior observation system using optogenetic approach. In order to control its olfactory system, we will use genetically-modified moth which react to blue light as it does with the pheromone. This system link the virtual environment in the simulator with the moth using a light stimulator and a tethered behavior measuring device. The proposed system can measure the behavior of silkworm moth CPT in an arbitrary environment. We measured their CPT behavior in different odor fields. The result of the experiments indicates the effectiveness of our measuring device and the strategy of silkworm moth against CPT.

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  • 2P1-F02 The evaluation of localization performance for behavior parameters during insect odor source search behavior(Biorobotics (2))

    TAKAHASHI Yosuke, MINEGISHI Ryo, TAKASHIMA Atsushi, KANZAKI Ryohei, KURABAYASHI Daisuke

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2013 ( 0 )   _2P1 - F02_1-_2P1-F02_2   2013

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    In robotics, chemical plume tracing has been a challenging problem since odor distribution is very complex. Male silkworm moths have the ability to search for females by tracing their pheromone plumes. To investigate the moth&#039;s brain adaptability to modify its behavior, we identified the brain as a dynamic model by using a brain-machine hybrid system, which was composed of a moth&#039;s brain and a robotic body. As a result, the brain has the ability to keep the angular velocity responses constant. Then we evaluated by computer simulations whether the localization performance was related to the angular velocity, which was one of the behavior parameters. In conclusion, adjusting the angular velocity of robots to the average angular velocity of moths potentially improves the localization performance.

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  • 1P1-B06 Analysis of insect odor source localization behavior by manipulating sensory feedback using a brain-machine hybrid system(Neurorobotics & Cognitive Robotics)

    MINEGISHI Ryo, TAKAHASHI Yosuke, TAKASHIMA Atsushi, KURABAYASHI Daisuke, KANZAKI Ryohei

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2013 ( 0 )   _1P1 - B06_1-_1P1-B06_2   2013

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    We analyzed properties of a brain responding to unnatural sensory feedback by using a brain-machine hybrid system. The brain-machine hybrid system is a two-wheeled mobile robot with an insect&#039;s head as a controller. On the robot, we recorded neural signals relating to steering behavior and translated them into angular velocity of the robot. Because the hybrid system has sensors on an insect, we can give disturbances to control sensory feedback by manipulating motor output of the robot. By calculating neural activities responding to disturbances, we could observe that an insect cancelled out rotational disturbances. Moreover an insect kept motor output of the hybrid system by modifying neural activities according to conversion rule during odor source localization behavior.

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  • カイコガ自由行動計測のための3自由度サーボスフィア

    志垣俊介, 福島俊平, 峯岸諒, 倉林大輔, 神崎亮平

    日本ロボット学会学術講演会予稿集(CD-ROM)   31st   2013

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  • 脳-機械融合システムによる雄カイコガの匂い源探索行動中の適応的神経活動の解析

    峯岸諒, 峯岸諒, 高橋洋介, 高嶋淳, 倉林大輔, 神崎亮平

    日本動物学会大会予稿集   83rd   2012

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  • Understanding Adaptability of an Insect Though Brain-machine Hybrid System

    KURABAYASHI Daisuke, KANZAKI Ryohei

    Journal of Japan Society for Design Engineering   46 ( 6 )   302 - 307   2011.6

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  • Construction of a Brain-Machine Hybrid System to Investigate Adaptive Functionality of a Micro Brain

    Takashima Atsushi, Minegishi Ryo, Kurabayashi Daisuke, Kanzaki Ryohei

    Journal of the Robotics Society of Japan   28 ( 4 )   445 - 454   2010

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    Language：Japanese   Publisher：The Robotics Society of Japan  

    We have created a brain-machine hybrid system (BMHS) which is able to solve the chemical plume tracing (CPT) problem using a micro brain of a male silkworm moth. The purpose of the system is to investigate adaptability which is derived from interactions between the microbrain, body, and environment. In this paper, we describe a method of creating the BMHS. The BMHS is a kind of cyborg system in which the body of a living being is replaced with a mobile robot and its brain is used to control the robot. The artificial body is controlled by motor commands for the original body that are extracted from a signal recorded in the brain. For that purpose, a small measurement system to record the signals was created and a method to reconstruct the motor commands from the signals was established. We demonstrate the BMHS can behave like a silkworm moth and then confirmed the system can solve the CPT problem in an experimental environment. Our system has the potential to reveal principles of adaptability in silkworm moth behavior.

    DOI： 10.7210/jrsj.28.445

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  • Construction of a Brain-Machine Hybrid System to Investigate Adaptive Functionality of a Micro Brain

    Atsushi Takashima, Ryo Minegishi, Daisuke Kurabayashi, Ryohei Kanzaki

    Journal of the Robotics Society of Japan   28 ( 4 )   445 - 454   2010

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    Language：Japanese   Publisher：The Robotics Society of Japan  

    We have created a brain-machine hybrid system (BMHS) which is able to solve the chemical plume tracing (CPT) problem using a micro brain of a male silkworm moth. The purpose of the system is to investigate adaptability which is derived from interactions between the microbrain, body, and environment. In this paper, we describe a method of creating the BMHS. The BMHS is a kind of cyborg system in which the body of a living being is replaced with a mobile robot and its brain is used to control the robot. The artificial body is controlled by motor commands for the original body that are extracted from a signal recorded in the brain. For that purpose, a small measurement system to record the signals was created and a method to reconstruct the motor commands from the signals was established. We demonstrate the BMHS can behave like a silkworm moth and then confirmed the system can solve the CPT problem in an experimental environment. Our system has the potential to reveal principles of adaptability in silkworm moth behavior.

    DOI： 10.7210/jrsj.28.445

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  • 脳-機械融合実験系による雄カイコガの環境適応行動における感覚フィードバックの研究

    峯岸諒, 高嶋淳, 倉林大輔, 神崎亮平

    日本比較生理生化学会大会予稿集   32nd   2010

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  • Analysis of Schooling-like Behavior of Medaka Fish and Identification of a Telencephalon-and-Hypothalamus-Preferential Gene in the Medaka Brain Reviewed

    Haruka Imada, Yuji Suehiro, Teruhiro Okuyama, Daisuke Kurabayashi, Atsuko Shimada, Kiyoshi Naruse, Hiroyuki Takeda, Takeo Kubo, Hideaki Takeuchi

    Proceeding of the Third International Symposium on Mobiligence （査読有り国際紀要）   295 - 298   2009.11

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  • 2A1-E15 Distribution Shift and Task Allocation of Distributed Autonomous System by Double Repressing model

    HARUYAMA Hiroki, KURABAYASHI Daisuke, TAKEUCHI Hideaki

    2009   "2A1 - E15(1)"-"2A1-E15(4)"   2009.5

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    Honeybee which is social insect changes the work with age in day and does division of labor in a colony. A feature of this division is one of the suitability of creatures, a model of controlling juvenile hormone of honeybee which increases with age in day was proposed as a conventional research. In this model, there are 2 repressing effects for juvenile hormone, one is generated in inside, the other is generated when contact with other honeybees. But contact is not defined because this model is not considered about spatial relation. So we expand the model to be considered about contact on a colony, and define 2 task modes with hormone content for express division of labor. Next, we derive local and whole rates of division of labor in a colony by analyzing equilibrium conditions of the hormone equations. And we verify that these rates have stability for disturbance.

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  • 脳-機械融合システムを用いた雄カイコガ行動指令信号の研究

    峯岸諒, 高嶋淳, 倉林大輔, 神崎亮平

    日本比較生理生化学会大会予稿集   31st   2009

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  • 昆虫の脳を用いた自律移動型脳-機械融合系の実現

    高嶋淳, 峯岸諒, 倉林大輔, 神崎亮平

    ロボティクスシンポジア予稿集   14th   2009

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  • 2P2-I13 Environment dependent order generation among insect-based robots

    FUNATO Tetsuro, Nara Masahito, Kurabayashi Daisuke, Aonuma Hitoshi, Ashikaga Masatoshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2008 ( 0 )   "2P2 - I13(1)"-"2P2-I13(4)"   2008.6

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    Language：Japanese   Publisher：一般社団法人日本機械学会  

    Crickets have a fixed habit to avoid the fighting for a certain minutes after their defeat. If the fighting opportunity is too frequent, some crickets cannot recover the militancy, which limits the number of fighting crickets depending on their group density. This phenomenon shows the property of crickets as an autonomous system that adapts to the density variation, i.e., environmental change, only by a local interaction. In this research, the mechanism of such a biological adaptability is discussed from the viewpoint of brain function. The behaviour selector is modelled using oscillator ne...

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  • Network structure for control of coupled multiple nonlinear oscillators

    Tetsuro Funato, Daisuke Kurabayashi

    IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics   38 ( 3 )   675 - 681   2008.6

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  • Switching mechanism of sensor-motor coordination through an oscillator network model

    Tetsuro Funato, Daisuke Kurabayashi, Masahito Nara, Hitoshi Aonuma

    IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics   38 ( 3 )   764 - 770   2008.6

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  • Switching mechanism of sensor-motor coordination through an oscillator network model

    Tetsuro Funato, Daisuke Kurabayashi, Masahito Nara, Hitoshi Aonuma

    IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS   38 ( 3 )   764 - 770   2008.6

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  • Network structure for control of coupled multiple nonlinear oscillators

    Tetsuro Funato, Daisuke Kurabayashi

    IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS   38 ( 3 )   675 - 681   2008.6

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  • 振動子網を用いた行動切替によるロボット群の挙動分化

    奈良維仁, 舩戸徹郎, 倉林大輔, 足利昌俊, 青沼仁志, 森山拓郎

    ロボティクスシンポジア予稿集   13th   338 - 343   2008.3

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  • Realization of a Pheromone Potential Field for Autonomous Navigation by Radio Frequency Identification

    Herianto, Toshiki Sakakibara, Tomoaki Koiwa, Daisuke Kurabayashi

    ADVANCED ROBOTICS   22 ( 13-14 )   1461 - 1478   2008

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  • The dance of the honeybee: How do honeybees dance to transfer food information effectively?

    R. Okada, H. Ikeno, Noriko Sasayama, H. Aonuma, D. Kurabayashi, E. Ito

    ACTA BIOLOGICA HUNGARICA   59 ( Supplement 24 )   157 - 162   2008

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  • 脳-機械融合システムを用いた昆虫の環境適応能の研究

    峯岸諒, 峯岸諒, 高嶋敦, 倉林大輔, 山岸宏, 神崎亮平

    日本比較生理生化学会大会予稿集   30th   2008

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  • Round-Table Discussion : Mobiligence, Social Adaptation, and Integrated Approach of Biology and Engineering

    ASAMA Hajime, KANZAKI Ryohei, AONUMA Hitoshi, MIURA Toru, KURABAYASHI Daisuke, OTA Jun

    計測と制御 = Journal of the Society of Instrument and Control Engineers   46 ( 12 )   951 - 957   2007.12

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    Language：Japanese   Publisher：計測自動制御学会  

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  • 生物の社会適応機能の解明とその工学的応用 社会的適応行動から学ぶ情報共有システムの構築―ミツバチの8の字ダンスを対象として

    岡田龍一, 池野英利, 青沼仁志, 倉林大輔, 伊藤悦朗

    計測と制御   46 ( 12 )   916 - 921   2007.12

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    Language：Japanese   Publisher：計測自動制御学会  

    DOI： 10.11499/sicejl1962.46.916

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  • Emergent transportation networks by considering interactions between agents and their environment

    Daisuke Kurabayashi, Katsunori Urano, Tetsuro Funato

    ADVANCED ROBOTICS   21 ( 12 )   1339 - 1349   2007.12

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  • Artificial pheromone system using RFID for navigation of autonomous robots

    Herianto, Toshiki Sakakibara, Daisuke Kurabayashi

    JOURNAL OF BIONIC ENGINEERING   4 ( 4 )   245 - 253   2007.12

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  • Artificial pheromone system using RFID for navigation of autonomous robots

    Herianto, Toshiki Sakakibara, Daisuke Kurabayashi

    JOURNAL OF BIONIC ENGINEERING   4 ( 4 )   245 - 253   2007.12

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  • Development of a Robot Model by Structural Function of Oscillator Network

    FUNATO TETSURO, NARA MASAHITO, D'ANGELO A, PAGELLO E, KURABAYASHI DAISUKE, AONUMA HITOSHI

    日本ロボット学会学術講演会予稿集(CD-ROM)   25th   1D16   2007.9

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  • Neuronal activity changes in adaptive behavior after fight.

    HIRAGUCHI TETSUTARO, AONUMA HITOSHI, KURABAYASHI DAISUKE

    インテリジェント・システム・シンポジウム講演論文集   17th   189 - 190   2007.8

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  • Artificial model for behaviour switching by using network transition through neuromodulation effect

    D. Kurabayashi, H. Aonuma, T. Funato, T. Fujiki, M. Ashikaga, J. Ota, H. Asama

    COMPARATIVE BIOCHEMISTRY AND PHYSIOLOGY A-MOLECULAR & INTEGRATIVE PHYSIOLOGY   148   S32 - S32   2007.8

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

    DOI： 10.1016/j.cbpa.2007.06.080

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  • Insect-machine hybrid systems for analyzing adaptive behaviors

    R. Kanzaki, S. Emoto, E. Minegishi, S. Toriihara, D. Kurabayashi, N. Ando, H. Takahashi

    COMPARATIVE BIOCHEMISTRY AND PHYSIOLOGY A-MOLECULAR & INTEGRATIVE PHYSIOLOGY   148   S32 - S32   2007.8

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

    DOI： 10.1016/j.cbpa.2007.06.081

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  • Algorithms in Individuals to Behave as an Intelligent Swarm

    KURABAYASHI Daisuke

    Journal of The Society of Instrument and Control Engineers   46 ( 11 )   829 - 834   2007

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

    DOI： 10.11499/sicejl1962.46.829

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  • Emergence of a small-world like communication network by local ad hoc negotiations

    Daisuke Kurabayashi, Tomohiro Inoue, Akira Yajima, Tetsuro Funato

    Journal of Robotics and Mechatronics   19 ( 4 )   459 - 465   2007

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  • 振動子網を用いた行動遷移メカニズムの考察

    舩戸徹郎, 倉林大輔, 奈良維仁, 青沼仁志

    物性研究   87 ( 4 )   579 - 582   2007

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  • Emergence of a small-world like communication network by local ad hoc negotiations

    Daisuke Kurabayashi, Tomohiro Inoue, Akira Yajima, Tetsuro Funato

    Journal of Robotics and Mechatronics   19 ( 4 )   459 - 465   2007

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  • Understanding and Reconstruction of the Environmental Adaptability by the Bio-Machine Hybrid System

    KANZAKI Ryohei, KURABAYASHI Daisuke

    Journal of The Society of Instrument and Control Engineers   46 ( 12 )   934 - 939   2007

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

    DOI： 10.11499/sicejl1962.46.934

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  • 生物-機械融合実験系を用いた昆虫脳の行動司令情報の研究

    峯岸諒, 鳥井原茂, 倉林大輔, 神崎亮平

    日本動物学会大会要旨集   78th   2007

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  • 昆虫-機械融合システムによる適応能の理解

    神崎亮平, 安藤規泰, 江本周平, 峯岸諒, 鳥井原茂, 倉林大輔

    日本比較生理生化学会大会予稿集   29th   2007

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  • Development of Behavioral Processor Model using Oscillator Network

    FUNATO TETSURO, KURABAYASHI DAISUKE, NARA MASAHITO, AONUMA HITOSHI

    日本ロボット学会学術講演会予稿集(CD-ROM)   24th   1K33   2006.9

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  • Control of Multiple Nonlinear Oscillator Network via Structural Transition

    Tetsuro Funato, Daisuke Kurabayashi

    Transaction of SICE   42 ( 8 )   934 - 940   2006

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  • Control of Multiple Nonlinear Oscillator Network via Structural Transition

    FUNATO Tetsuro, KURABAYASHI Daisuke

    Transactions of the Society of Instrument and Control Engineers   42 ( 8 )   934 - 940   2006

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    Publisher：The Society of Instrument and Control Engineers  

    The structural features of a system deeply affect on the attribute of the system and the function. The effect of this phenomenon can be found in wide area, such as WWW and animal brains. In this paper, a method for controlling the behavior of system by manipulation on the structure is dealt using coupled non-uniform van der Pol (VDP) oscillators. At first, we describe a simple characteristic between the a of oscillators and the convergent states by two kind of oscillators. Secondly, controlling method is built with this disposition. Then, the process of changing the states is mathematically analyzed. Finally, several characteristics for more oscillators are described.

    DOI： 10.9746/sicetr1965.42.934

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  • Autonomous Robotic Systems that Communicate with their Environment by Intelligent Data Carriers

    HADA Yasushi, KURABAYASHI Daisuke, KAWABATA Kuniaki, ASAMA Hajime

    JRSJ   23 ( 6 )   683 - 686   2005

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    Language：Japanese   Publisher：The Robotics Society of Japan  

    DOI： 10.7210/jrsj.23.683

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  • Formation Transition based on Geometrical Features for Multiple Autonomous Mobile Robots

    KURABAYASHI Daisuke, OSAGAWA Kenta

    JRSJ   23 ( 3 )   376 - 382   2005

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    Language：Japanese   Publisher：The Robotics Society of Japan  

    In this paper, we propose a formation transition algorithm adapting to geometrical features of an environment for multiple autonomous mobile robots. In order to be compatible both keeping formation and avoiding collisions, we emproyee Delaunay diagram. According to geometrical features that apper in Delaunay diagram, the proposing algorithm determs appropriate neighbors in multiple robots. By adding an algorithm to avoid deadlock situations, the proposing algorithm can guarantee ability that all followers can move with an leader without get lost their ways. We have verified the algorith by carrying out simulations and an experiment.

    DOI： 10.7210/jrsj.23.376

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  • Autonomous Robotic Systems that communicate with their environment by Intelligent Data Carriers

    Hada Yasushi Kurabayashi, Daisuke Kawabata Kuniaki, Asama Hajime

    Journal of RSJ   23 ( 6 )   683 - 686   2005

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  • Formation Transition based on Geometrical Features for Multpile Autonomous Mobile Robots

    Kurabayashi Daisuke, Osagawa Kenta

    Journal of RSJ   23 ( 3 )   376 - 382   2005

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    Language：Japanese   Publisher：The Robotics Society of Japan  

    In this paper, we propose a formation transition algorithm adapting to geometrical features of an environment for multiple autonomous mobile robots. In order to be compatible both keeping formation and avoiding collisions, we emproyee Delaunay diagram. According to geometrical features that apper in Delaunay diagram, the proposing algorithm determs appropriate neighbors in multiple robots. By adding an algorithm to avoid deadlock situations, the proposing algorithm can guarantee ability that all followers can move with an leader without get lost their ways. We have verified the algorith by carrying out simulations and an experiment.

    DOI： 10.7210/jrsj.23.376

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  • 2A1-S-063 Autonomous Control of Blimp for Indoor Experiment (2)(Flying Robot 3,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    HADA YASUSHI, TOMITA ISSEI, KAWABATA KUNIAKI, KAETSU HAYATO, ASAMA HAJIME, GOTO NORIHIRO, KURABAYASHI DAISUKE, KURODA YOJI

    Robomech   2005 ( 0 )   2005

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

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  • 1A1-N-029 Adaptive Formation Transition by Autonomous Mobile Robots(Multi-agent Robot System,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Shimone Takaaki, Kurabayashi Daisuke, Osagawa Kenta

    12 - 12   2005

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

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  • Adaptive Routing System by Intelligent Environment with Media Agents

    Takenori Matsuoka, Daisuke Kurabayashi, Katsunori Urano

    Proc. Int. Symp. Distributed Autonomous Robotic Systems   51 - 60   2004

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  • Autonomous transportation network organization by interactions between agents and an environment

    D Kurabayashi, K Urano, T Matsuoka

    SICE 2004 ANNUAL CONFERENCE, VOLS 1-3   2247 - 2250   2004

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  • Adaptive Routing System by Intelligent Environment with Media Agents

    Takenori Matsuoka, Daisuke Kurabayashi, Katsunori Urano

    Proc. Int. Symp. Distributed Autonomous Robotic Systems   51 - 60   2004

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  • 協働群における行動戦略最適化～他エージェントの行動戦略推定

    沖田邦夫, 倉林大輔, 藤原一毅

    日本機械学会ロボティクス・メカトロニクス講演会論文集   2A1-L1-33   2004

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  • 協働群における行動戦略最適化～競合期待値を最小化する行動戦略決定

    藤原一毅, 倉林大輔, 沖田邦夫

    日本機械学会ロボティクス・メカトロニクス講演会論文集   2A1-L1-32   2004

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  • 移動体と環境の相互作用によるネットワーク構造の発現

    倉林大輔

    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論文集   26 - 27   2004

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  • Autonomous transportation network organization by interactions between agents and an environment

    D Kurabayashi, K Urano, T Matsuoka

    SICE 2004 ANNUAL CONFERENCE, VOLS 1-3   2247 - 2250   2004

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  • Development of Intelligent Data Carriers for rescue which collect victims' voices in rubble

    Hada Y, Fukuda Y, Kurabayashi D, Kawabata K, Kaetsu H, Asama H

    Robomech   2004 ( 0 )   2004

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  • Information Assistance for Victim Search in Rescue by Intelligent Data Carriers and a Data Retrieval Blimp

    Daisuke Kurabayashi, Ken-ichi Noda, Hajime Asama, Kuniaki Kawabata, Hiroshi Hashimoto

    Journal of Robotics and Mechatronics   15 ( 5 )   521 - 527   2003

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  • Motion algorithm for autonomous rescue agents based on information assistance system

    D Kurabayashi, H Tsuchiya, Fujiwara, I, H Asama, K Kawabata

    2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS   1132 - 1137   2003

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  • Cooperation among an intelligent environment and mobile agents by media agents

    D Kurabayashi, T Matsuoka, A Yajima

    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4   1739 - 1744   2003

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  • Information Assistance for Victim Search in Rescue by Intelligent Data Carriers and a Data Retrieval Blimp

    Daisuke Kurabayashi, Ken-ichi Noda, Hajime Asama, Kuniaki Kawabata, Hiroshi Hashimoto

    Journal of Robotics and Mechatronics   15 ( 5 )   521 - 527   2003

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  • Cooperation among an intelligent environment and mobile agents by media agents

    D Kurabayashi, T Matsuoka, A Yajima

    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4   1739 - 1744   2003

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  • Intelligent Data Carrier for Rescue(<Special Issue>Disaster Response Robotics)

    KURABAYASHI Daisuke, ASAMA Hajime, KAETSU Hayato, KAWABATA Kuniaki, NODA Kenichi

    Journal of the Society of Mechanical Engineers   106 ( 1019 )   786 - 789   2003

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  • An intelligent data carrier system as an information assistant in rescue

    Daisuke Kurabayashi, Hajime Asama, Ken-Ichi Noda, Hiroshi Hashimoto

    Advanced Robotics   16 ( 6 )   549 - 552   2002

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  • Knowledge acquisition and sharing among autonomous robots by intelligent data carriers

    D Kurabayashi, H Asama, H Kaetsu, Endo, I, T Arai

    ADVANCED ROBOTICS   16 ( 2 )   105 - 122   2002

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  • Performance of decision making: Individuals and an environment

    D Kurabayashi, T Kushima, H Asama

    2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS   2831 - 2836   2002

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  • Performance of Decision Making: Individuals and an Environment, IEEE Int. Conf. on Intelligent Robots and Systems

    Daisuke Kurabayashi Taira Kushima, Hajime Asama

    Proc. Int. Conf. on Intelligent Robots and Systems   2831 - 2836   2002

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  • Secure System Using Intelligent Data Carrier

    Noda K, Kurabayashi D, Suzuki T, Asama H, Hashimoto H

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2002 ( 0 )   2002

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    本稿では, 知的データキャリアを用いて原子力施設などの極限作業環境の遠隔操作ロボットにおいて最も重要な事項の1つである, 外部からの不正な進人を防止するセキュアシステムを提案する。ロボットを遠隔操作する人間の複数の身体情報を本人に分からないように自律的に計測, 記録可能な局所通信計算機&quot;知的データキャリア&quot;と, 記録した情報をセキュアに通信するアルゴリズムを融合したシステムにより実現する。これらを実験によって, 手法の有効性を示す。

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  • 2P1-E7 Adaptive Guidance System by Distributed Information Management

    Kurabayashi D., Asama H., Tashiro H.

    2001   58 - 58   2001.6

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  • Distributed Guidance Knowledge Management by Intelligent Data Carriers

    Daisuke Kurabayashi, Katsumi Konishi, Hajime Asama

    Int. Journal of Robotics and Automation   16 ( 4 )   207 - 216   2001

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  • Victim Search in Rescue using Intelligent Data Carriers

    Hajime Asama, Daisuke Kurabayashi, Hideo Tashiro

    Proc. 32nd Int. Symp. on Robotics   1612 - 1617   2001

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  • Approach Global and Local Guidance of Multiple Mobile Robots, Intelligent Autonomous Vehicles

    Igor Paromtchik, Daisuke Kurabayashi, Hajime Asama

    Proc. Intelligent Autonomous Vehicles   350 - 355   2001

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  • Autonomous Knowledge Acquisition and Revision by Intelligent Data Carriers in a Dynamic Environment

    Daisuke Kurabayashi, Hajime Asama

    Journal of Robotics and Mechatronics   13 ( 2 )   154 - 159   2001

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  • Distributed Guidance Knowledge Management by Intelligent Data Carriers

    Daisuke Kurabayashi, Katsumi Konishi, Hajime Asama

    Int. Journal of Robotics and Automation   16 ( 4 )   207 - 216   2001

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  • Victim Search in Rescue using Intelligent Data Carriers

    Hajime Asama, Daisuke Kurabayashi, Hideo Tashiro

    Proc. 32nd Int. Symp. on Robotics   1612 - 1617   2001

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  • Approach Global and Local Guidance of Multiple Mobile Robots, Intelligent Autonomous Vehicles

    Igor Paromtchik, Daisuke Kurabayashi, Hajime Asama

    Proc. Intelligent Autonomous Vehicles   350 - 355   2001

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  • Autonomous Knowledge Acquisition and Revision by Intelligent Data Carriers in a Dynamic Environment

    Daisuke Kurabayashi, Hajime Asama

    Journal of Robotics and Mechatronics   13 ( 2 )   154 - 159   2001

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  • 2P1-E8 Rescue Assistance System by Distributed Information Management

    Kurabayashi D, Noda K, Asama H, Endo I, Hashimoto H

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2001 ( 0 )   2001

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  • 知的データキャリアを用いた実験動物管理システムの開発

    日下部守昭, 浅間一, 倉林大輔, 遠藤勲, 嘉悦早人, 吉木淳

    日本実験動物学会総会講演要旨集   48th   2001

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  • Knowledge Sharing and Cooperation of Autonomous Robots by Intelligent Data Carrier System

    Daisuke Kurabayashi, Hajime Asama

    Proc. IEEE Int. Conf. on Robotics and Automation   464 - 469   2000

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  • Path Learning by Robot Group in Unknown Environment

    Tomokazu Hirano, Jun Ota, Kousuke Inoue, Daisuke Kurabayashi, Tamio Arai

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   66 ( 642 )   522 - 529   2000

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  • 自律移動ロボットの動作環境整備のための分散型情報管理システム配置設計

    小西克巳, 倉林大輔, 淺間一 新誠一

    電気学会論文誌C   120 ( 5 )   641 - 647   2000

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  • Autonomous acquisition and correction of navigation knowledge in a dynamic environment by intelligent data carriers

    D Kurabayashi, H Asama, K Konishi

    ADVANCED ROBOTICS   14 ( 5 )   347 - 349   2000

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  • Knowledge Sharing and Cooperation of Autonomous Robots by Intelligent Data Carrier System

    Daisuke Kurabayashi, Hajime Asama

    Proc. IEEE Int. Conf. on Robotics and Automation   464 - 469   2000

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  • Path Learning by Robot Group in Unknown Environment

    Tomokazu Hirano, Jun Ota, Kousuke Inoue, Daisuke Kurabayashi, Tamio Arai

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   66 ( 642 )   522 - 529   2000

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  • Autonomous acquisition and correction of navigation knowledge in a dynamic environment by intelligent data carriers

    D Kurabayashi, H Asama, K Konishi

    ADVANCED ROBOTICS   14 ( 5 )   347 - 349   2000

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  • 1A1-06-011 知的データキャリアを用いたレスキュー支援環境構築の構想

    淺間 一, 倉林 大輔

    ロボティクス・メカトロニクス講演会講演概要集   2000   32 - 32   2000

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    家電製品をはじめとする家庭内の機器, 建築構造物の部材, 各部屋の床や壁, 火災報知器などに, 人間とのコミュニケーション・インタフェース機能, ロボットとの通信機能, 情報処理機能を内蔵させたデータキャリアを設置しておくことにより, 災害時のレスキュー活動を支援できる環境を構築する構想について述べる。

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  • Performance evaluation of autonomous knowledge acquisition and sharing by intelligent data carriers

    KURABAYASHI D.

    Distributed Autonomous Robotic Syst.   4   69 - 78   2000

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  • 2P1-33-035 知的データキャリアによる誘導情報の自律獲得と環境変化に適応した情報更新

    倉林 大輔, 淺間 一

    ロボティクス・メカトロニクス講演会講演概要集   2000   81 - 81   2000

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    本報では, 知的データキャリアを用いたロボットの誘導情報自律獲得と, 環境変化に適応した情報更新手法を明らかにする。環境変化によって, ロボットに矛盾する動作を行わせる誘導情報を, 蓄積された想定到達ステップ数情報とロボットから報告される移動ステップ数の比から判定し, 正規化関数を用いた確率算出によって, 既存の情報を消去・更新する。シミュレーションにより, 手法の有効性を示す。

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  • Development of an Intelligent Data Carrier for Multiple Mobile Robots : Algorithm of distributed data management and evaluation of a layout of IDCs

    KURABAYASHI Daisuke, KONISHI Katsumi, ASAMA Hajime

    11   241 - 244   1999.1

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  • Toward realization of collective intelligence and emergent robotics

    KURABAYASHI D.

    Proc. IEEE Int. Conf. on Systems, Man, and Cybernetics, Tokyo, 1999   IV   748 - 753   1999

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  • Behavior of a Group Composed of Robots with Heterogeneous Motion Algorithms

    Daisuke Kurabayashi Jun, Ota Tamio Arai, Katsuyuki Noguchi

    Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems   241/246   1999

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  • Function Emergence in Multirobot Systems Utilizing Intelligent Data Carriers

    FUJII Teruo, ASAMA Hajime, KURABAYASHI Daisuke, KAETSU Hayato, ENDO Isao

    JRSJ   17 ( 6 )   848 - 854   1999

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    This paper describes the use of the newly developed system named"Intelligent Data Carrier System: IDC System"to execute several tasks by a multirobot system in a so-called"emergent"manner. In order to realize the function emergence in real systems, it is important to consider how to design and embed the system into a real form, rather than theoretical or numerical researches on an emergent behavior itself. Based on the discussion on the design frameworks of an"emergent system", we try to implement the IDC system along with an actual multirobot system which consists of omnidirectional mobile robots equipped with folk lifts for handling of the IDC units. The applicability of the IDC system is demonstrated through the experiments for two kinds of tasks; 1) object transportation, and 2) patrolling. It can be concluded that the IDC system is effectively used in the tasks appearing in the practical missions of multirobot systems which can be regarded as one of the physical (real) systems that could realize"function emergence".

    DOI： 10.7210/jrsj.17.848

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  • Real-time Path Adaptation for Sweeping by Autonomous Mobile Robots

    KURABAYASHI Daisuke, ARAI Tamio, IWASE Kanji, OTA Jun

    JRSJ   17 ( 5 )   677 - 684   1999

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    In this paper, we propose an algorithm of real time path adaptation for sweeping tasks by autonomous mobile robot. Sweeping means a motion that a robot covers a 2-dimensional area. A robot driven by model based path planner has to arrange its path according to real contour in real time because its map can have errors. We apply reactive motions to traditional path planning method. The proposed algorithm interprets global constraints for a sweeping task into local constraints which describe relationship between elements of a map and curves which consists of a sweeping path. An autonomous robot can obtain local conditions according to the algorithm and adjusts its path by reactive motions without heavy calculation. We verify the efficiency of the algorithm by simulations and an experiment with actual autonomous mobile robot.

    DOI： 10.7210/jrsj.17.677

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  • Local Path Replanning for Unforeseen Obstacle Avoidance by Autonomous Sweeping Robots

    KURABAYASHI Daisuke, KOGA Shingo, ARAI Tamio, OTA Jun

    JRSJ   17 ( 7 )   966 - 973   1999

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    In this paper, we propose a planning algorithm for sweeping tasks in environments with unforeseen obstacles. Sweeping means a motion that a robot covers a 2-dimensional area. When a mobile robot finds an unforeseen obstacle, it has to not only avoid collision but also sweep the whole area including where the obstacle is located. In the proposed algorithm, a robot determines local area where sweeping path should be arranged based on it's limited sensing ability. The algorithm avoids heavy calculation cost by limiting the planning area. A robot minimizes length of path when it connects path inside and outside the local area. An autonomous mobile robot can omit running time by the algorithm. We verify the efficiency of the algorithm and discuss the trade-off between running time and sensing/calculation time by simulations and experiments.

    DOI： 10.7210/jrsj.17.966

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  • Evaluation of Efficiency of Distributed Map Management by Intelliget Data Carriers

    KURABAYASHI Daisuke, KONISHI Katsumi, ASAMA Hajime

    Transactions of the Society of Instrument and Control Engineers   35 ( 9 )   1213 - 1219   1999

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    In this paper, we propose a quantitative evaluation algorithm of task execution by autonomous mobile robots. We have developed a device called "Intelligent Data Carrier (IDC)" which enables local communication and data storage in an environment. Based on simple Malkov model, we propose a function to evaluate effect of layout of the IDCs which provide local map information to autonomous mobile robots. The proposed algorithm arranges a map of environment in which robots works to express robot motions driven by local map information. We realize actual experimetal system of autonomous mobile robot by the IDC system. We verify effectiveness of the proposed algorithm by simulations and experiments.

    DOI： 10.9746/sicetr1965.35.1213

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  • Efficiency of a Group Consisted of Robots with Heterogeneous Motion Algorithms

    KURABAYASHI Daisuke, OTA Jun, ARAI Tamio, NOGUCHI Katsuyuki

    Transactions of the Society of Instrument and Control Engineers   35 ( 11 )   1377 - 1384   1999

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    In this paper, we propose a heterogeneous robot group for cooperative task execution. The "heterogeneous" robot group is composed of autonomous robots which have different motion algorithms. In this paper, we investigate characteristics of the heterogeneous robot groups by simulations of multi-agent taveling salesman problem, which we can hardly solve by centralized algorithm. Then we propose an algorithm to arrange balance of mixture of robots driven by different algorithms. We verify the efficiency of the autonomous heterogeneous robot group by simulations.

    DOI： 10.9746/sicetr1965.35.1377

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  • Effective Iterative Transportation by Autonomous Mobile Robots which Obtain Information for Navigation by Intelligent Data Carriers

    Daisuke Kurabayashi, Hajime Asama, Hayato Kaetsu, Isao Endo, Tamio Arai

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   65 ( 640 )   4744 - 4749   1999

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  • Analysis of Emergence by Intelligent Data Carrier System for Collective Robots based o Stochastic Models

    Katsumi Konishi, Daisuke Kurabayashi, Hajime Asama Seiichi Shin

    Proc. IEEE Int. Conf. on System, Man and Cybernetics   ( IV )   769 - 774   1999

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  • Development of an intelligent data carrier (IDC) system and its applications

    Daisuke Kurabayashi

    Proc. Int. Symp. on Artificial Life and Robotics   34 - 39   1999

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  • Toward Realization of Collective Intelligence and Emergent Robotics

    Daisuke Kurabayashi

    Proc. IEEE Int. Conf. on System, Man and Cybernetics   IV   748 - 753   1999

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  • Behavior of a Group Composed of Robots with Heterogeneous Motion Algorithms

    Daisuke Kurabayashi Jun, Ota Tamio Arai, Katsuyuki Noguchi

    Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems   241/246   1999

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  • Analysis of Emergence by Intelligent Data Carrier System for Collective Robots based o Stochastic Models

    Katsumi Konishi, Daisuke Kurabayashi, Hajime Asama Seiichi Shin

    Proc. IEEE Int. Conf. on System, Man and Cybernetics   ( IV )   769 - 774   1999

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  • Development of an Intelligent Data Carrier (IDC) System and Its Applications

    KURABAYASHI D.

    Proc. of The Fourth Int. Symp. on Artificial Life and Robotics   34 - 39   1999

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  • Development of an Intelligent Data Carrier for Multiple Mobile Robots : Cooperation of Multiple Autonomous Mobile Robots by Intelligent Data Carriers

    KURABAYASHI Daisuke, ASAMA Hajime, FUJII Teruo, KAETSU Hayato, ENDO Isao

    10   343 - 346   1998.1

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  • Local path re-planning for unforeseen obstacle avoidance by an autonomous sweeping robot

    D Kurabayashi, S Koga, T Arai, J Ota, H Asama, Endo, I

    1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4   3153 - 3158   1998

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  • A hybrid technique to supply indoor service robots

    C Wattanasin, Y Aiyama, D Kurabayashi, J Ota, T Arai

    1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4   89 - 94   1998

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  • Iterative Transportation Planning of Multiple Objects by Cooperative Mobile Robots

    YOSHIMURA Yuji, OTA Jun, INOUE Kousuke, HIRANO Tomokazu, KURABAYASHI Daisuke, ARAI Tamio

    JRSJ   16 ( 4 )   499 - 507   1998

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    This paper focuses on a planning method for an iterative transportation task by cooperative mobile robots. This task requires the generation of appropriate robot paths and the formation of groups of cooperating robots. In order to realize efficient transportation, the planning architecture consisting of "Path-Generation Phase" and "Strategy-Making Phase" is proposed. The former phase generates robot paths from global environmental information and produces a graph network from the derived robot paths. In the latter phase, every robot learns a behavior strategy based on the derived graph. An asymptotic strategy-making method is used here. The global transportation strategy derived by the proposed architecture can be divided into three types, and simulation results indicate that forming the global transportation type realizes efficient transportation. Experimental results indicate that the proposed architecture is practical enough for real situation.

    DOI： 10.7210/jrsj.16.499

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  • Motion Planning of Multiple Mobile Robotis for Cooperative Sweeping

    KURABAYASHI Daisuke, OTA Jun, ARAI Tamio, YOSHIDA Eiichi

    JRSJ   16 ( 2 )   181 - 188   1998

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    In this paper, we propose an off-line planning algorithm for cooperative sweeping of multiple mobile robots. Sweeping of a whole work area is fundamental and essential task of mobile robots. For efficient cooperation, setting appropriate burden onto each robot is very important because interference of robots and overlaps of their sweeping units make efficiency low. In proposed algorithm, sweeping cost is evaluated by means of length of paths on which robot should move. We introduce both edges of the configuration space and Voronoi diagram so as to compute paths in the whole area. We generate a tour for traversing all the paths by applying the algorithm of the Chinese Postman Problem. According to the cost evaluation, appropriate paths of the tour are assigned to each robot. The efficiency of the proposed algorithm is verified by simulations.

    DOI： 10.7210/jrsj.16.181

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  • A hybrid technique to supply indoor service robots

    C Wattanasin, Y Aiyama, D Kurabayashi, J Ota, T Arai

    1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4   89 - 94   1998

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  • 知的データキャリア(IDC)を用いた分散地図管理による自律ロボットの作業実行

    倉林大輔

    第16回日本ロボット学会学術講演会予稿集   185   1998

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  • Regrasp in Transportation of a Large Object by Cooperation of Multiple Mobile Robots

    OTA Jun, MIYATA Natsuki, ARAI Tamio, YOSHIDA Eiichi, KURABAYASHI Daisuke, SASAKI Jun

    Transactions of the Japan Society of Mechanical Engineers. Series C.   63 ( 605 )   174 - 181   1997.1

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    This paper deals with a real-time planning method for transportation/regrasp of a large object by multiple robots (a robot group). Real-time performance can be realized by iterating two-step sub-planning in one sampling interval: (1) motion planning of the object, and (2) that of the robot group. The virtual impedance method, which was proposed by the authors, is extended to sub-planning (1). For sub-planning (2), nonlinear programming is used to determine the optimal distribution of the robot group with consideration of obstacle avoidance and stable grasping. Simulations are performed for transport of a rectangular object by three robots. The effectiveness of the proposed method is shown in terms of evaluating distance between the robots and obstacles and grasping stability.

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  • Regrasp in Transportation of a Large Object by Cooperation of Multiple Mobile Robots.

    Jun OTA, Natsuki MIYATA, Tamio ARAI, Eiichi Yoshida, Daisuke KURABAYASHI, Jun SASAKI

    Transactions of the Japan Society of Mechanical Engineers Series C   63 ( 605 )   174 - 181   1997

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    DOI： 10.1299/kikaic.63.174

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  • A Design Method of Optimal Communication Area in Multiple Mobile Robot System

    YOSHIDA Eiichi, YAMAMOTO Masakazu, ARAI Tamio, OTA Jun, KURABAYASHI Daisuke

    JRSJ   15 ( 3 )   394 - 401   1997

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    This paper presents a method for optimal design of local communication area. Despite many studies of local communication for multiple mobile robots, communication area has not been designed based on mathematical analysis, but on only time-consuming simulations of many-robot communication. We therefore analyzed the efficiency of information transmission, and derived the optimal communication area which minimizes the information transmission time to multiple robots. This optimization mainly consists of two steps. First, we derive the"information transmission probability"for various task models. And next, as the evaluation function to minimize, the information transmission time is represented using the derived information transmission probability. The analytical results are also verified by computer simulations of many-robot communication.

    DOI： 10.7210/jrsj.15.394

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  • Motion skills in multiple mobile robot system

    J Ota, T Arai, E Yoshida, D Kurabayashi, J Sasaki

    ROBOTICS AND AUTONOMOUS SYSTEMS   19 ( 1 )   57 - 65   1996.11

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  • Motion skills in multiple mobile robot system

    J Ota, T Arai, E Yoshida, D Kurabayashi, J Sasaki

    ROBOTICS AND AUTONOMOUS SYSTEMS   19 ( 1 )   57 - 65   1996.11

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  • Cooperative sweeping by multiple mobile robots

    D Kurabayashi, J Ota, T Arai, E Yoshida

    1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4   1744 - 1749   1996

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  • Cooperative sweeping by multiple mobile robots with relocating portable obstacles

    D Kurabayashi, J Ota, T Arai, S Ichikawa, S Koga, H Asama, Endo, I

    IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3   1472 - 1477   1996

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  • Cooperative Grasping of an Unknown Object by Multiple Mobile Robots

    SASAKI Jun, OTA Jun, ARAI Tamio, YOSHIDA Eiichi, KURABAYASHI Daisuke

    JRSJ   14 ( 7 )   1010 - 1017   1996

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    Language：Japanese   Publisher：The Robotics Society of Japan  

    We aim at handling an unknown object by cooperating multiple mobile robots consist of various moving costs and load capacities. We focus on the problems of determining an appropriate grasping arrangement prior to handling operations. This method is proposed to avoid bad situations, such as making an object fall down, or some robots overloaded in handling. The algorithm we propose in this paper includes two optimization problems; one is the "determination of initial arrangement, " the other is the "determination of final arrangement." The difference between these optimizations is that the mass center position of the object is recognized or not. In the first optimization, the robots are placed where the possibility that robots can lift the object with no trouble. In the second optimization, the penalty index is defined to minimize the energy the system consumes and to maximize an index of stability. We have confirmed that the robots moved to the optimal arrangement in computer simulations.

    DOI： 10.7210/jrsj.14.1010

    CiNii Books

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    Other Link： https://jlc.jst.go.jp/DN/JALC/00042428053?from=CiNii

  • Cooperative sweeping by multiple mobile robots with relocating portable obstacles

    D Kurabayashi, J Ota, T Arai, S Ichikawa, S Koga, H Asama, Endo, I

    IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3   1472 - 1477   1996

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  • Cooperative transport with regrasping of torque-limited mobile robots

    N Miyata, J Ota, T Arai, E Yoshida, D Kurabayashi, J Sasaki, Y Aiyama

    IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3   304 - 309   1996

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  • Evaluating the efficiency of local and global communication in distributed mobile robotic systems

    E Yoshida, T Arai, M Yamamoto, J Ota, D Kurabayashi

    IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3   1661 - 1666   1996

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  • Transferring and regrasping a large object by cooperation of multiple mobile robots

    Ota, J., Miyata, N., Arai, T., Yoshida, E., Kurabatashi, D., Sasaki, J.

    Proceedings. 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots (Cat. No.95CB35836)   543 - 548   1995

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  • A design method of local communication range in multiple mobile robot system

    E YOSHIDA, M YAMAMOTO, T ARAI, J OTA, D KURABAYASHI

    IROS '95 - 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS: HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS, PROCEEDINGS, VOL 2   274 - 279   1995

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  • Acquisition and utilization of motion skills in motion planning of multiple mobile robots

    T ARAI, J OTA, E YOSHIDA, D KURABAYASHI

    1995 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS, VOLS 1-5   3712 - 3717   1995

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  • An algorithm of dividing a work area to multiple mobile robots

    D KURABAYASHI, J OTA, T ARAI, E YOSHIDA

    IROS '95 - 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS: HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS, PROCEEDINGS, VOL 2   286 - 291   1995

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  • Motion Planning of Robot Groups in Consideration of Tasks of the Groups

    OTA Jun, ARAI Tamio, KURABAYASHI Daisuke

    JRSJ   13 ( 4 )   517 - 524   1995

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    Language：Japanese   Publisher：The Robotics Society of Japan  

    A motion planning method for robot groups is presented in this paper. The method aims at considering the tasks of the robots while determining motion of the group. The concept of "cohesion"is proposed to express characteristics of tasks of groups. A motion planning method including"cohesion"is presented. The method is implemented in Virtual Impedance Method, which was proposed by authors. Each robot has two kinds of impedance mode between another robot : one is connecting model, in which the two robots keep near distance each other. The other is independent model, in which each robot moves individually and independently. Each robot decide the mode with the robots of the same group by comparing "cohesion" given to the group and index of danger calculated by environmental situation. Effectiveness of the method is verified by simulation results.

    DOI： 10.7210/jrsj.13.517

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  • Real Time Planning Method for Multiple Mobile Robots

    Jun Ota Tamio, Arai Eiichi Yoshida Daisuke Kurabayashi Tomoyuki Mori

    Proc. IEEE Int. Symp. Assembly and Task Planning   406 - 411   1995

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  • Motion planning of multiple mobile robots by a combination of learned visibility graphs and virtual impedance

    Ota, J., Arai, T., Yoshimura, Y., Miyata, N., Kurabayashi, D., Sasaki, J., Yoshida, E.

    Advanced Robotics   10 ( 6 )   605 - 620   1995

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  • Real Time Planning Method for Multiple Mobile Robots

    OTA J.

    Proc. 1995 IEEE Int. Symp. on Assembly and Task Planning   406 - 411   1995

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  • A design method of local communication area in multiple mobile robot system

    E YOSHIDA, M YAMAMOTO, T ARAI, J OTA, D KURABAYASHI

    PROCEEDINGS OF 1995 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3   2567 - 2572   1995

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  • Cooperating grasping of a large object by multiple mobile robots

    J SASAKI, J OTA, E YOSHIDA, D KURABAYASHI, T ARAI

    PROCEEDINGS OF 1995 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3   1205 - 1210   1995

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  • Transferring and regrasping a large object by cooperation of multiple mobile robots

    Ota, J., Miyata, N., Arai, T., Yoshida, E., Kurabatashi, D., Sasaki, J.

    Proceedings. 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots (Cat. No.95CB35836)   543 - 548   1995

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  • Acquisition and utilization of motion skills in motion planning of multiple mobile robots

    T ARAI, J OTA, E YOSHIDA, D KURABAYASHI

    1995 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS, VOLS 1-5   3712 - 3717   1995

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    Language：English  

    Web of Science

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  • An algorithm of dividing a work area to multiple mobile robots

    D KURABAYASHI, J OTA, T ARAI, E YOSHIDA

    IROS '95 - 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS: HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS, PROCEEDINGS, VOL 2   286 - 291   1995

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  • Real-time Measuring System of Relative Position on Mobile Robots System

    Tamio Arai, Hisayuki Kimura Jun, Ota, Daisuke Kurabayashi

    Proc. 24th Int. Symp. Industrial Robots   931 - 938   1993

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  • Real-time measuring system of relative position on mobile robot system

    ARAI Y.

    Proc. Int. Symp. on Industrial Robots   931 - 938   1993

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Presentations

  • Artificial Pheromone System using RFID for Autonomous Navigation

    International Conference of Intelligent Unmanned Systems  2007 

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  • Development of Structure-Mediated Behaviour Selector Using Oscillator Network

    IEEE International Conference on Robotics and Biomimetics  2007 

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  • Artificial model for behavior switching by using network transition through neuro modulation effect

    the 7th International Congress of Comparative Physiology and Biochemistry  2007 

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  • 非線形振動子を利用した群ロボットの移動制御

    日本機械学会ロボティクス・メカトロニクス講演会  2006 

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  • 不整地走行二輪車に対する軌道計画

    日本機械学会ロボティクス・メカトロニクス講演会  2006 

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  • バランサー搭載型二輪車の自動制御：実験的検証

    日本機械学会ロボティクス・メカトロニクス講演会  2006 

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  • Emergence of small-world in Ad-hoc communication network among individual agents

    The 9th International Conference on Intelligent Autonomous Systems  2006 

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  • スモールワールド・アドホック通信網発現のための自律移動体行動アルゴリズム

    第11回ロボティクスシンポジア  2006 

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  • Obstacle avoidance of a mobile robot group using a nonlinear oscillator network

    IEEE/RSJ International Conference on Intelligent Robots and Systems  2006 

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  • Functional structure of autonomically emerged network in an environment

    IEEE International Conference on Computational Cybernetics  2006 

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  • Development of oscillator network model for behavioral processing

    2nd International Workshop by Research Group of Invertebrate Nervous System of Japan  2006 

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  • Synchronization control by structural modification of nonlinear oscillator network

    8th International Symposium on Distributed Autonomous Robotic Systems  2006 

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  • 構造操作による振動子網のパターン遷移とその実験的考察

    日本機械学会ロボティクス・メカトロニクス講演会  2006 

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  • レスキュー･コミュニケータを用いた被災者探索システム

    計測自動制御学会ＳＩ講演会  2005 

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  • アドホック通信網におけるスモールワールド構造生成

    計測自動制御学会ＳＩ講演会  2005 

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  • ネットワーク機能構造から考える適応的行動の発現

    日本動物学会第７６回大会  2005 

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  • バランサー搭載型二輪車の自動制御

    日本ロボット学会学術講演会  2005 

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  • Autonomous Transition of Transportation Network by Interactions between Agents and Environment

    IEEE International Symposium on Computational Intelligence on Robotics and Automation  2005 

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  • 外郭距離情報を利用したロボット群の狭領域通過

    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  2006 

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  • 振動子網を用いた行動遷移メカニズムの考察

    生命リズムと振動子ネットワーク  2006 

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  • Obstacle avoidance of a mobile robot group using a nonlinear oscillator network

    IEEE/RSJ International Conference on Intelligent Robots and Systems  2006 

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  • 振動子網を用いた行動制御モデルの考察

    第24回日本ロボット学会学術講演会  2006 

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  • 周期的計測信号を利用した移動ロボット群の狭領域通過行動

    計測自動制御学会第35回制御理論シンポジウム  2006 

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  • 工学的フェロモン場を利用した輸送網自律形成

    日本機械学会第16回インテリジェント・システム・シンポジウム  2006 

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  • Autonomous Transition of Transportation Network by Interactions between Agents and Environment

    IEEE International Symposium on Computational Intelligence on Robotics and Automation  2005 

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  • 自律分散ロボットによる任意編隊形成と適応移動制御

    日本機械学会ロボティクス・メカトロニクス講演会  2005 

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  • 動的ネットワークにおけるスモールワールド型通信路網の生成

    計測自動制御学会・自律分散システム・シンポジウム  2005 

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  • Creative Design Lecture Series 窶髏€ Beyond Robocon 窶髏

    2009 

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  • Adaptive Formation Transition among a Mobile Robot Group

    IEEE International Conference on Robotics and Biomimetics  2009 

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  • An Oscillator Network with a temporary memory function

    IEEE International Conference on Robotics and Biomimetics  2009 

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  • 昆虫の脳を用いた自律移動型脳－機械融合系の実現

    第１４回ロボティクスシンポジア  2009 

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  • Realization of an Artificial Pheromone System in Random Data Carriers Using RFID Tags for Autonomous Navigation

    IEEE/RSJ International Conference on Robotics and Automation  2009 

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  • 外部抑制と自己抑制による自律分散システムの空間的作業分化

    日本機械学会ロボティクス・メカトロニクス講演会２００９  2009 

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  • Network Configuration in Artificial Pheromone System by Consdering Exploration and Exploitation

    The 6th Int. Conf. on Ubiquitous Robots and Ambient Intelligence  2009 

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  • Understanding Social Adaptive Functions in Animals

    3rd Int. Symp. on Mobiligence  2009 

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  • Brain-Machine Hybrid System :The New System for Investigation of Adaptive Behaviors of Insects

    2009 

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  • Analysis of Schooling-like Behavior of Medaka Fish and Identification of a Telencephalon-and-Hypothalamus-Preferential Gene in the Medaka Brain

    3rd Int. Conf. on Mobiligence  2009 

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  • Optomotor Response of Medaka fish to Rotating Stripes at Sinusoidal Speed

    3rd Int. Symp. on Mobiligence  2009 

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  • An Oscillator Network with a temporary memory function

    IEEE International Conference on Robotics and Biomimetics  2009 

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  • Realization of an Artificial Pheromone System in Random Data Carriers Using RFID Tags for Autonomous Navigation

    IEEE/RSJ International Conference on Robotics and Automation  2009 

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  • Distribution Shift and Task Allocation of Distributed Autonomous System

    2009 JSME Conference on Robotics and Mechatronics  2009 

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  • Network Configuration in Artificial Pheromone System by Consdering Exploration and Exploitation

    The 6th Int. Conf. on Ubiquitous Robots and Ambient Intelligence  2009 

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  • Understanding Social Adaptive Functions in Animals

    3rd Int. Symp. on Mobiligence  2009 

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  • Understanding Adaptive Behavior Selection of a Micro Brain through Bio-Machine Hybrid System

    3rd Int. Symp. on Mobiligence  2009 

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  • Oscillator Network Model for Signal Buffer in Neural Circuits

    3rd Int. Symp. on Mobiligence  2009 

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  • Brain-Machine Hybrid System to Evaluate Adaptability in an Insect

    3rd Int. Symp. on Mobiligence  2009 

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  • 脳－機械融合系を用いたカイコガＣＰＴ行動の解析

    第１６回創発システム・シンポジウム  2010 

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  • 仮想空間とリンクしたカイコガ適応動態の計測

    計測自動制御学会第１６回創発システム・シンポジウム  2010 

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  • Adaptive Formation Transition among a Mobile Robot Group

    IEEE International Conference on Robotics and Biomimetics  2009 

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  • 振動子網を用いた昆虫規範ロボット群の挙動分化

    日本機械学会ロボティクス・メカトロニクス講演会  2008 

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  • 振動子網による一時記憶機構の実現

    日本機械学会ロボティクス・メカトロニクス講演会  2008 

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  • アドホック通信網上の伝染モデルを用いた複数移動体の動的作業割り当て

    日本機械学会ロボティクス・メカトロニクス講演会  2008 

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  • 振動子網を用いた生物規範型視覚情報処理モデル

    第２６回日本ロボット学会学術講演会  2008 

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  • 適応行動発現を制御する振動情報と肢及び触角の運動

    第１７回インテリジェント・システム・シンポジウム  2008 

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  • Realization of an Artificial Pheromone System by Using Random

    The 5th International Conference on Ubiquitous Robots and Ambient Intelligence  2008 

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  • Autonomous Configuration of a Transportation Network by Artificial Pheromone System

    IEEE 7th International Symposium on Computational Intelligence in Robotics and Automation  2007 

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  • 昆虫の逃避行動時における歩容パターンの分析

    第２０回計測自動制御学会自律分散システム・シンポジウム  2008 

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  • 振動子網を用いた行動切替によるロボット群の挙動分化

    第１３回ロボティクス・シンポジア  2008 

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  • Construction of a brain-machine fusion system to evaluate adaptability in an insect

    4th International Symposium on Adaptive Motion of Animals and Machines  2008 

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  • Analysis of Schooling-like Behavior of Medaka Fish and Identification of a Telencephalon-and-Hypothalamus-Preferential Gene in the Medaka Brain

    3rd Int. Conf. on Mobiligence  2009 

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  • Optomotor Response of Medaka fish to Rotating Stripes at Sinusoidal Speed

    3rd Int. Symp. on Mobiligence  2009 

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  • 昆虫微小脳解析のための脳‐機械融合系構築

    第１０回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  2009 

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  • 創造設計窶買鴻{コンを超えて窶髏

    第３回横幹連合コンファレンス  2009 

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  • Construction of a brain-machine fusion system to evaluate adaptability in an insect

    4th International Symposium on Adaptive Motion of Animals and Machines  2008 

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  • Realization of an Artificial Pheromone System by Using Random

    The 5th International Conference on Ubiquitous Robots and Ambient Intelligence  2008 

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  • 位相振動子を用いた回頭制御によるロボット群の狭領域通過

    第２０回自律分散システム・シンポジウム  2008 

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  • 脳－機械融合システムを用いた昆虫適応能の評価

    第２０回計測自動制御学会自律分散システム・シンポジウム  2008 

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  • Oscillator Network Model for Signal Buffer in Neural Circuits

    3rd Int. Symp. on Mobiligence  2009 

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  • Brain-Machine Hybrid System to Evaluate Adaptability in an Insect

    3rd Int. Symp. on Mobiligence  2009 

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  • Understanding Adaptive Behavior Selection of a Micro Brain through Bio-Machine Hybrid System

    3rd Int. Symp. on Mobiligence  2009 

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  • Task allocation among autonomous agents through limited communication range

    SICE Annual Symposium on Distributed Autonomous Systems  2010 

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  • Pattern Generation by an Oscillator Network including Capacitive Couplers

    2010 Robotics Symposia  2010 

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  • Distance Estimation using Defocus Images obtained by a Single Camera

    2010 JSME Conference on Robotics and Mechatronics  2010 

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    Presentation type：Poster presentation  

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  • Brain-Machine Hybrid System 窶典o Investigate Adaptability of an Insect Brain-

    3rd Int. Symp. on Mobiligence  2010 

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  • 動員範囲の抑制による複数移動体の動的作業割当

    計測自動制御学会自律分散システム・シンポジウム  2010 

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  • 容量性結合を含んだ振動子網による匂い源探索パターンの生成

    第１５回ロボティクスシンポジア  2010 

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  • 撮像領域を考慮した単眼カメラ画像のボケ量に基づく距離計測

    日本機械学会ロボティクス・メカトロニクス講演会２０１０  2010 

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  • Brain-Machine Hybrid System 窶典o Investigate Adaptability of an Insect Brain-

    3rd Int. Symp. on Mobiligence  2010 

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  • 社会的適応行動から学ぶ情報共有システムの構築－ミツバチの８の字ダンスを対象として

    計測と制御  2007 

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  • Emergence of small-world in Ad-hoc communication network among individual agents

    The 9th International Conference on Intelligent Autonomous Systems  2006 

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  • Synchronization control by structural modification of nonlinear oscillator network

    8th International Symposium on Distributed Autonomous Robotic Systems  2006 

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  • Development of oscillator network model for behavioral processing

    2nd International Workshop by Research Group of Invertebrate Nervous System of Japan  2006 

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  • Functional structure of autonomically emerged network in an environment

    IEEE International Conference on Computational Cybernetics  2006 

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  • 生物‐機械融合実験系を用いた昆虫脳の行動司令情報の研究

    第78回日本動物学会  2007 

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  • フタホシコオロギ逃避行動時における歩容の変化

    第78回日本動物学会  2007 

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  • Artificial Pheromone System using RFID for Autonomous Navigation

    International Conference of Intelligent Unmanned Systems  2007 

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  • Development of Structure-Mediated Behaviour Selector Using Oscillator Network

    IEEE International Conference on Robotics and Biomimetics  2007 

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  • スモールワールド的特性を有するアドホック通信網のパラメタ設計モデル

    第８回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  2007 

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  • 振動子網を用いた行動切替メカニズムの実現

    計測自動制御学会制御部門大会  2007 

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  • 外郭距離情報を利用した自律移動ロボットの狭領域通過の実現

    日本機械学会ロボティクス・メカトロニクス講演会  2007 

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  • Autonomous Configuration of a Transportation Network by Artificial Pheromone System

    IEEE 7th International Symposium on Computational Intelligence in Robotics and Automation  2007 

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  • Implementation of Formation Transition System using synchronization among a Mobile Robot Group

    International Conference on Field and Service Robotics  2007 

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  • Artificial model for behavior switching by using network transition through neuro modulation effect

    the 7th International Congress of Comparative Physiology and Biochemistry  2007 

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  • 結合振動子による行動選択回路の実装と行動評価

    第25回日本ロボット学会学術講演会  2007 

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  • Implementation of Formation Transition System using synchronization among a Mobile Robot Group

    International Conference on Field and Service Robotics  2007 

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Awards

  • 第25回論文賞

    2011.9   日本ロボット学会   身体･脳・環境の相互作用に能動的に介入する脳－機械融合系の構築

    高嶋淳, 峯岸諒, 倉林大輔, 神崎亮平

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  • 総合学術奨励会石井学術奨励賞奨励賞

    1998  

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    Country：Japan

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Research Projects

  • 匂い可視化と仮想現実の融合で挑む生物規範型ロボット嗅覚の創成

    Grant number：25H01157  2025.4 - 2029.3

    日本学術振興会  科学研究費助成事業  基盤研究(A)

    志垣 俊介, 倉林 大輔, 櫻井 健志, 寺田 努, 眞部 寛之

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    Grant amount：\46280000 （ Direct Cost: \35600000 、 Indirect Cost：\10680000 ）

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  • Quantitative Evaluation of "Swelling" as a Health Indicator for the Severely Disabled Persons and its Transition by Activity History

    Grant number：23K28479  2023.4 - 2026.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (B)

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    Grant amount：\19110000 （ Direct Cost: \14700000 、 Indirect Cost：\4410000 ）

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  • 気流可視化と電気生理の融合による昆虫能動的化学感覚フィードバック系の解析

    Grant number：23K22721  2022.4 - 2025.3

    日本学術振興会  科学研究費助成事業  基盤研究(B)

    志垣 俊介, 倉林 大輔, 櫻井 健志

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    Grant amount：\17420000 （ Direct Cost: \13400000 、 Indirect Cost：\4020000 ）

    本研究では，化学感覚器である触角の形態的多様性が大きい昆虫を題材とし，生物の化学感覚システムの解明を目指すとともに，構造および情報処理を模倣することで人工化学センサの空間情報獲得性能の向上に挑戦する．
    2023年度は，2022年度に引き続き単離した触角に対する微小領域気流可視化実験を行った．実験には歩行昆虫であるカイコガ雄成虫の触角を用いており，カイコガの触角は櫛のような側枝構造となっている．粒子を提示する際の流速を網羅的に変えて実験を行った結果，カイコガの羽ばたきによって生じる風速近傍で触角内部に渦が発生することが確認された．他の風速では生じなかったことを考慮すると身体的特徴とリンクした特異的形態を触角が有している可能性が示唆された．これと並行し，行動実験によって風速差から生まれる探索性能について調査を行った．翅を切除した個体を用いて，一定風速を生成可能な整流環境下で匂い源定位実験を行った結果，渦を巻く風速を提示した際の条件がより直線的に匂い源に到達できていることがわかった．加えて，匂い感覚から運動出力までの昆虫の情報処理システムを調査するために，実環境で実際に匂い刺激を受容したタイミングから遅れ時間を設けて昆虫に刺激を提示する介入系を構築し，行動実験を行った．その結果，匂い刺激感覚に遅れ時間を設けると匂い源への探索性能は低下するものの，依然として匂い源定位という機能を維持できることが明らかとなった．これらの成果は，査読付き論文誌2編，国際会議発表5件，ほかにおいて発表された．

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  • Coordinated Behavior Organization of Autonomous Modules through Self Organization inspired by Volvocine Algae

    Grant number：23K22711  2022.4 - 2025.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (B)

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    Grant amount：\17420000 （ Direct Cost: \13400000 、 Indirect Cost：\4020000 ）

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  • 機能不全を考慮した温熱生理モデルにもとづく体温調節支援システムのユーザー指向型開発

    2017.4

    日本医療研究開発機構  長寿・障害総合研究事業障害者対策総合研究開発事業 

    緒方 徹

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    Grant type：Competitive

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  • 昆虫の状況依存的行動応答変化を規範とする探索アルゴリズムの構築

    2013.4 - 2016.3

    日本学術振興会  科学研究費補助金・基盤研究(C) 

    倉林 大輔

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    Authorship：Principal investigator  Grant type：Competitive

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  • 生体の適応行動発現に対するネットワーク機能構造からの理解

    2005.4 - 2010.3

    文部科学省  科学研究費補助金・特定領域研究 

    倉林 大輔

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    Authorship：Principal investigator  Grant type：Competitive

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  • ネットワーク構造に着目した生体の機能発現機構解明と工学的再現

    2005.4 - 2008.3

    日本学術振興会  科学研究費補助金・若手研究(A) 

    倉林 大輔

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    Authorship：Principal investigator  Grant type：Competitive

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  • ノンホロノミック拘束を受ける車両群の編隊形成制御とその発展に関する研究

    2002.4 - 2005.3

    日本学術振興会  科学研究費補助金・基盤研究(B)(2) 

    倉林 大輔

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    Authorship：Principal investigator  Grant type：Competitive

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  • Emergent Intelligence of Group Agents

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    Grant type：Competitive

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