Organization
School of Engineering Assistant Professor
Title
Assistant Professor
External link
TAKATA ATSUSHI
Degree
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Doctor of Engineering ( 2022.3 Tokyo Institute of Technology )
Research Areas
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Informatics / Mechanics and mechatronics / リンク機構
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Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Machine elements and tribology / Kinematics
Education
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Tokyo Institute of Technology Department of Mechanical Engineering
2020.4 - 2022.3
Country： Japan
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Tokyo Institute of Technology Department of Mechanical Engineering
2017.4 - 2019.3
Country： Japan
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Tokyo Institute of Technology Faculty of Engineering Department of Mechano-Aerospace Engineering
2013.4 - 2017.3
Country： Japan
Research History
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Institute of Science Tokyo School of Engineering Assistant Professor
2024.10
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Tokyo Institute of Technology School of Engineering Assistant Professor
2024.4 - 2024.9
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Tokyo University of Agriculture and Technology Institute of Engineering Division of Advanced Mechanical Systems Engineering Assistant Professor
2022.7 - 2024.3
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JSPS Research Fellow PD
2022.4 - 2022.6
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Canon Inc.
2019.4 - 2020.2
Professional Memberships
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The Japan Society of Mechanical Engineers
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IEEE(The Institute of Electrical and Electronics Engineers)
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The Robotics Society of Japan
Committee Memberships
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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 広報委員会委員長
2025.4 - 2026.3
Committee type：Academic society
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日本ロボット学会 第43回日本ロボット学会学術講演会（RSJ2025）プログラム委員
2025.3 - 2025.9
Committee type：Academic society
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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 広報委員会副委員長
2024.4 - 2025.3
Committee type：Academic society
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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 広報委員会委員
2023.4 - 2024.3
Committee type：Academic society
Papers
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Dynamics-based Control and Path Planning Method for Long-reach Coupled Tendon-driven Manipulator Reviewed International journal
Atsushi Takata, Gen Endo
Journal of Robotics and Mechatronics 36 ( 1 ) 30 - 38 2024.2
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Automatic Design of Serial Linkage Using Virtual Screw Joint Reviewed International journal
Atsushi Takata
Journal of Robotics and Mechatronics 36 ( 1 ) 149 - 157 2024.2
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Enhancement of Control Stability Using Double Pulleys for the Coupled Tendon-driven Long-reach Manipulator "Super Dragon" Reviewed International journal
Yuki Shizume, Atsushi Takata, Gen Endo
Journal of Robotics and Mechatronics 36 ( 1 ) 21 - 29 2024.2
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Ryota Kawamae, Atsushi Takata, Kenjiro Takemura, Yuta Kurashina
Lab on a Chip 26 ( 7 ) 2173 - 2186 2026.4
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Masafumi OKADA, Toshiki GOTO, Atsushi TAKATA
Transactions of the JSME (in Japanese) 2025.12
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Direct visualization of Euler’s belt theory by Brillouin optical correlation-domain reflectometry Reviewed
Rei SUGIHARA, Kohei NODA, Shinya SADACHIKA, Atsushi TAKATA, Kentaro NAKAMURA, Yosuke MIZUNO, Sze Yun SET, Shinji YAMASHITA, Gen ENDO
Transactions of the JSME (in Japanese) 2025.12
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Masafumi OKADA, Ryo KIHARA, Atsushi TAKATA
Transactions of the JSME (in Japanese) 91 ( 951 ) 25 - 00127 2025.10
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Tension Control Method Utilizing Antagonistic Tension to Enlarge the Workspace of Coupled Tendon-Driven Articulated Manipulator International journal
Atsushi Takata, Hiroyuki Nabae, Koichi Suzumori, Gen Endo
IEEE Robotics and Automation Letters 6 ( 4 ) 6647 - 6653 2021.10
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Shape Recognition of a Tensegrity With Soft Sensor Threads and Artificial Muscles Using a Recurrent Neural Network Reviewed International journal
Wen-Yung Li, Atsushi Takata, Hiroyuki Nabae, Gen Endo, Koichi Suzumori
IEEE Robotics and Automation Letters 6 ( 4 ) 6228 - 6234 2021.10
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Development of a super long reach coupled tendon-driven manipulator “Super Dragon” Reviewed
Gen ENDO, Atsushi TAKATA, Atsushi HORIGOME
Transactions of the JSME (in Japanese) 85 ( 875 ) 19 - 75 2019.6
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Super Dragon: A 10-m-Long-Coupled Tendon-Driven Articulated Manipulator International journal
Gen Endo, Atsushi Horigome, Atsushi Takata
IEEE Robotics and Automation Letters 4 ( 2 ) 934 - 941 2019.4
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Development of New Terminal Fixation Method for Synthetic Fiber Ropes International journal
Atsushi Horigome, Gen Endo, Atsushi Takata, Youki Wakabayashi
IEEE Robotics and Automation Letters 3 ( 4 ) 4321 - 4328 2018.10
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Modeling of Synthetic Fiber Ropes and Frequency Response of Long-Distance Cable–Pulley System Reviewed International journal
Atsushi Takata, Gen Endo, Koichi Suzumori, Hiroyuki Nabae, Yoshihiro Mizutani, Yoshiro Suzuki
IEEE Robotics and Automation Letters 3 ( 3 ) 1743 - 1750 2018.7
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Gen ENDO, Atsushi HORIGOME, Youki WAKABAYASHI, Atsushi TAKATA
Transactions of the JSME (in Japanese) 84 ( 864 ) 18 - 67 2018.6
Presentations
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A multi-Degrees-of-Freedom Soft Robotic Chamber that Mimics Muscles to Stimulate Myoblasts
Atsushi Takata, Yuta Kurashina
9th International Conference on Soft Robotics (RoboSoft) 2026.4
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Optimal Design of Passive Link Systems and Sensor Fusion for Precise Position Measurement of Robot End-Effector
Morito Sato, Atsushi Takata, Masafumi Okada
2026 IEEE/SICE International Symposium on System Integration (SII) 2026.1
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投擲ロボットの関節角加速度と初期関節角度を設計変数としたパワーに基づく任意最適運動設計
小川 康輔, 髙田 敦, 岡田 昌史
第43回日本ロボット学会学術講演会 2025.9
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空間1自由度7関節閉ループ機構の運動解析と具現化
髙田 敦, 岡田 昌史
第43回日本ロボット学会学術講演会 2025.9
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分解能楕円体に基づくセンサフュージョンを用いたロボットの手先精密計測
佐藤 杜斗, 髙田 敦, 岡田 昌史
第43回日本ロボット学会学術講演会 2025.9
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Forming Three-Dimensional Cellular Tissue in Micro-Molded Agarose Gels Using Mechanical Stimulation
R. Kawamae, A. Takata, K. Takemura, Y. Kurashina
2025 23rd International Conference on Solid-State Sensors, Actuators and Microsystems (Transducers) 2025.6
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スクリュー理論に基づく一般1 自由度7 回転関節閉ループ機構の設計
高田 敦, Megzer Itgel, 岡田 昌史
日本機械学会ロボティクス・メカトロニクス講演会2025 2025.6
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傾斜地形での掘削距離と深さの変更による目標量自律掘削
Abekawa Hinata, Atsushi Takata, Masafumi Okada
2025.6 The Japan Society of Mechanical Engineers
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大域的安定アトラクタの軌道補間に基づく連続領域の半自律掘削
Li Xishen, Atsushi Takata, Masafumi Okada
2025.6 The Japan Society of Mechanical Engineers
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ロボットの精密制御を実現する手先位置計測のための受動計測リンク設計とセンサフュージョン
Sato Morito, Atsushi Takata, Masafumi Okada
2025.6 The Japan Society of Mechanical Engineers
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投擲ロボットの手先スナップを設計変数としたパワーに基づく運動最適化
Ogawa Kousuke, Atsushi Takata, Masafumi Okada
2025.6 The Japan Society of Mechanical Engineers
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人の落下を対象とするエネルギー蓄積型衝撃吸収床の開発
Masafumi Okada, Kihara Ryo, Atsushi Takata
2025.6 The Japan Society of Mechanical Engineers
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操縦者の意図推定/ 主導権譲渡による半自律掘削支援インタフェース
Atsushi Takata, Ooba Wataru, Masafumi Okada
2025.6 The Japan Society of Mechanical Engineers
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感度に基づくデータの外れ値検定・除去とロボットのパラメータ同定への応用
Goto Toshiki, Atsushi Takata, Masafumi Okada
2025.6 The Japan Society of Mechanical Engineers
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トーラス空間を含む多次元多重らせんアトラクタによる半自律掘削
Ren Yeqiang, Atsushi Takata, Masafumi Okada
2025.6 The Japan Society of Mechanical Engineers
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Soft force sensor based on silicone rubber embedding single mode fiber using Brillouin optical correlation-domain reflectometry
Kohei Noda, Atsushi Takata
29th International Conference on Optical Fiber Sensors 2025.5
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Design and Analysis of Spatial 7-joint Closed-loop Mechanism
Atsushi Takata, Nozumu Yanaka, Takayoshi Kamada
ROBOMECH20204 2024.5 The Japan Society of Mechanical Engineers
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ハイドロゲルとソフトアクチュエータを用いた細胞組織形成システム
Ryota Kawamae, Atsushi Takata, Kenjiro Takemura, Yuta Kurashina
2023.1
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Development of Screw Pair and Numerical Analysis using Screw Representation for Closed-loop Mechanism
Atsushi Takata
ROBOMECH20203 in Nagoya 2023.1 The Japan Society of Mechanical Engineers
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空気駆動ソフトアクチュエータによるスフェロイド形成
Ryota Kawamae, Atsushi Takata, Kenjiro Takemura, Yuta Kurashina
2023.1
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キャスタのトー角駆動を用いたブレーキユニットの開発とキャスタワゴンの地震応答低減
Atsushi Takata
2023.1
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Forming Spheroid Using Hydrogel Microwellnad Pneumatic Soft Actuator International conference
Ryota Kawamae, Atsushi Takata, Kenjiro Takemura, Yuta Kurashina
The 37th International Conference on Micro Electro Mechanical Systems (IEEE MEMS2024) 2024.1
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Continuous Strain Profiling with Low-Coherence Brillouin Optical Correlation-Domain Reflectometry International conference
Kohei Noda, Rei Sugihara, Shinya Sadachika, Atsushi Takata, Kentaro Nakamura, Gen Endo, Yosuke Mizuno, Sze Y. Set, Shinji Yamashita
The Conference on Lasers and Electro-Optics (CLEO) 2024 2024.5
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Direct Visualization of Euler’s Belt Theory by Brillouin Optical Correlation-Domain Reflectometry
Rei Sugihara, Kouhei Noda, Shinya Sadachika, Atsushi Takata, Kentaro Nakamura, Yosuke Mizuno, Sze Yun Set, Shinji Yamashita, Gen Endo
ROBOMECH20204 in Utsunomiya 2024.5
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ハイドロゲルマイクロウェルを用いた空気圧印加による細胞組織の形成
Ryota Kawamae, Atsushi Takata, Kenjiro Takemura, Yuta Kurashina
2024.6
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Path Planning of Long-reach Coupled Tendon-driven Manipulator
Atsushi Takata, Hiroyuki Nabae, Koichi Suzumori, Hiroshige Kikura, Hideharu Takahashi, Gen Endo
2022 JSME Conference on Robotics and Mechatronics 2022.1 The Japan Society of Mechanical Engineers
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Gen Endo, Toshiya Nagai, Atsushi Takata, Hiroshige Kikura, Hideharu Takahashi
2022.1 Atomic Energy Society of Japan
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Basic study for drive mechanism with synthetic fiber rope -Sixth report: Repetitive bending durability of heat-set UHMWPE ropes-
Atsushi Takata, Gen Endo, Masahito Kanekiyo, Koichi Suzumori, Hiroyuki Nabae
2018 JSME Conference on Robotics and Mechatronics 2018.1 The Japan Society of Mechanical Engineers
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Tension Control Method Utilizing Antagonistic Tension to Enlarge the Workspace of Coupled Tendon-driven Articulated Manipulator International conference
Atsushi Takata, Hiroyuki Nabae, Koichi Suzumori, Gen Endo
The 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021) 2021.1 IEEE
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Shape Recognition of a Tensegrity With Soft Sensor Threads and Artificial Muscles Using a Recurrent Neural Network International conference
Wen-Yung Li, Atsushi Takata, Hiroyuki Nabae, Gen Endo, Koichi Suzumori
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021.1 IEEE
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Inverse Kinematics of a Weight-compensated and Coupled Tendon-driven Redundant Manipulator
Atsushi Takata, Hiroyuki Nabae, Koichi Suzumori, Gen Endo
the 21th SICE System Integration Division Annual Conference 2020.1 The Society of Instrument and Control Engineers
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Positioning Accuracy of a Super Long-reach Coupled Tendon-driven Manipulator “Super Dragon”
Atsushi Takata, Gen Endo, Koichi Suzumori, Hiroyuki Nabae
2019 JSME Conference on Robotics and Mechatronics 2019.1 The Japan Society of Mechanical Engineers
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Development using Advanced Super Dragon Articulated Robot Arm (2)Development of an Articulated Robot Arm with Telescopic Structure International conference
Gen Endo, Toshiya Nagai, Atsushi Takata, Zhenyu Wang, Hiroshige Kikura, Hideharu Takahashi
International Topical Workshop on Fukushima Decommissioning Research 2022 (FDR2022), 2022.1
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化学繊維ロープを用いたワイヤ干渉駆動型多関節アームの安定性解析
Atsushi Takata, Hiroyuki Nabae, Koichi Suzumori, Hiroshige Kikura, Hideharu Takahashi, Gen Endo
2021.1 The Robotics Society of Japan
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Atsushi Takata, Hiroyuki Nabae, Koichi Suzumori, Hiroshige Kikura, Hideharu Takahashi, Gen Endo
ROBOMECH2021 in Osaka 2021.1 The Japan Society of Mechanical Engineers
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Thin McKibben Muscle Actuated 3-bar Tensegrity Prism and Deformation Sensing with Soft Sensor
Wen-Yung Li, Atsushi Takata, Hiroyuki Nabae, Gen Endo, Koichi Suzumori
The 65th Annual Conference of the Institute of Systems, Control and Information Engineers (SCI’21) 2021.1
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Coupled-tendon driven long-reach manipulator using synthetic fiber wires
Gen Endo, Atsushi Horigome, Atsushi Takata
2019.1 Robotics Society of Japan
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Super Dragon: A 10-m-Long-Coupled Tendon-Driven Articulated Manipulator International conference
Gen Endo, Atsushi Horigome, Atsushi Takata
IEEE/International Conference on Robotics and Automation(ICRA2019) 2019.1 IEEE
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Basic study for drive mechanism with synthetic fiber rope -Third report: Creep Testing Machine and Preliminary Experiments-
Atsushi Takata, Gen Endo, Koichi Suzumori, Hiroyuki Nabae
2017 JSME Conference on Robotics and Mechatronics 2017.1 The Japan Society of Mechanical Engineers
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Modeling of Synthetic Fiber Ropes and Frequency Response of Long-Distance Cable Pulley System International conference
Atsushi Takata, Gen Endo, Koichi Suzumori, Hiroyuki Nabae, Yoshihiro Mizutani, Yoshiro Suzuki
2018 IEEE International Conference on Robotics and Automation (ICRA2018) 2018.1 IEEE
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Basic study for drive mechanism with synthetic fiber rope Terminal fixation method using a grooved pulley and a figure-eight knot
Gen Endo, Atsushi Horigome, Youki Wakabayashi, Atsushi Takata
2018.1 Japan Society of Mechanical Engineers
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Development of New Terminal Fixation Method for Synthetic Fiber Ropes International conference
Atsushi Horigome, Gen Endo, Atsushi Takata, Youki Wakabayashi
IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2018) 2018.1 IEEE
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Basic Study for Drive Mechanism with Synthetic Fiber Rope -Fourth report: Testing Machine for Long-distance Transmission and Frequency Response Measurement-
Atsushi Takata, Gen Endo, Koichi Suzumori, Hiroyuki Nabae, yoshihiro mizutani, Yoshirou Suzuki
2017 JSME Conference on Robotics and Mechatronics 2017.1 The Japan Society of Mechanical Engineers
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Development of Extended Super Dragon Articulated Robot Arm with a Linear Telescopic Boom
Toshiya Nagai, Hyo Tei, Atsushi Takata, HIROSHIGE KIKURA, Hideharu Takahashi, Gen Endo
2022.1 The Japan Society of Mechanical Engineers
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MATLABライブラリを用いた機構解析 Invited
髙田敦
日本機械学会No.25-164講習会 「今日から始めるスクリュー理論」 2025.12
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ワイヤ干渉駆動型超長尺多関節アームSuper Dragonの手先コンプライアンス
Yuki Shizume, Atsushi Takata, Hiroyuki Nabae, Koichi Suzumori, Gen Endo
2022.1 The Robotics Society of Japan
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Development of an End-effector for Coupled Tendon-driven Manipulator for On-site Elemental Analysis in Decommissioning Work
Yuki Shizume, Atsushi Takata, Hiroyuki Nabae, Koichi Suzumori, Hironori Ohba, Katsuaki Akaoka, Ikuo Wakaida, Hiroshige Kikura, Hideharu Takahashi, Gen Endo
2022.1 The Japan Society of Mechanical Engineers
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仮想切断した連鎖の冗長逆運動学によるねじ対偶を含む空間閉ループ機構の運動解析
Atsushi Takata
2022.1
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拡張型スーパードラゴン多関節ロボットアームによる 遠隔探査システムの開発(2) 多関節ロボットアームの開発
Gen Endo, Toshiya Nagai, Atsushi Takata, Zhenyu Wang, Hideharu Takahashi
2022.1
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Power Consumption Measurement of a Super Long-reach Coupled Tendon-driven Articulated Arm "Super Dragon"
Yuki Shizume, Atsushi Takata, Hiroyuki Nabae, Gen Endo
ROBOMECH20203 in Nagoya 2023.1 The Japan Society of Mechanical Engineers
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ものづくりを続けながら食っていく
Atsushi Takata
2023.1
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Soft Robot for Cell Culture with Multi-directional Mechanical Stretches International conference
Atsushi TAKATA, Takayoshi KAMADA, Yuta KURASHINA
The 16th IFToMM World Congress 2023.1
Industrial property rights
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車椅子電動化装置
遠藤玄, 有賀嵩紘, 髙田敦, 野田康平, 元岡歩, 東 浩昭, 田中 隆, 犬尾 武, 清水 治代, 山西 博道, 川端 眞人, 上原 隆浩, 森田 智好, 武田 英敏
Awards
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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 部門優秀論文表
2022.6
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FA財団 論文賞
2020.12
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SICE 第21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 優秀講演賞
2020.12
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計測自動制御学会システムインテグレーション部門 研究奨励賞
2019.12
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第24回ロボティクスシンポジア 優秀賞
2019.3
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三浦賞
2019.3 日本機械学会
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IEEE Robotics and Automation Society Japan Joint Chapter Young Award ICRA 2018
2018.5
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畠山賞
2017.3 日本機械学会
Research Projects
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ねじ関節が拓く省自由度パラレルリンク機構の運動経路レパートリ
Grant number：23K13275 2023.4 - 2026.3
日本学術振興会 科学研究費助成事業 若手研究 若手研究
高田 敦
Authorship：Principal investigator
Grant amount：\4680000 （ Direct Cost: \3600000 、 Indirect Cost：\1080000 ）
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筋細胞に多方向刺激を与える培養器一体型ソフトアクチュエータの開発
2023.4 - 2024.3
油空圧機器技術振興財団
髙田敦
Authorship：Principal investigator
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ねじ対偶要素の開発とリンク機構の新展開
2023.3 - 2025.2
メカトロニクス技術高度化財団
髙田敦
Authorship：Principal investigator
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化学繊維ロープを用いた長尺多関節ロボットアームの研究
Grant number：21J14027 2021.4 - 2023.3
日本学術振興会 科学研究費助成事業 特別研究員奨励費
高田 敦
Grant amount：\2100000 （ Direct Cost: \2100000 ）
本研究では長尺な腱駆動ロボットアームで顕在化するロープの伸びに起因する関節角制御の不安定性を研究課題としている．本年度ではこの不安定性を解消，または軽減する手法を探索すべく，以下の内容を実施した．
1) 全長10 mロボットアーム実機の電装系を改良し，ロープの伸びを可観測とした．具体的には電磁モータに変位センサを取り付けた．モータは20本の腱をそれぞれ巻き取り，腱は10個の関節を引っ張って駆動する．アームの関節に備えられた回転センサとモータの変位センサの値の差からロープの伸びが分かる．加えて，モータの巻き取り量を所定の値に固定することが可能となった．これにより，モータを静止させた状態で撃力を加え，ロープの伸びに起因する過渡的な応答を観察した．
2) 関節角の不安定性を抑制する機構的手法の1例として，関節補剛機構を検討した．これはアームの関節部に後付けする腱と弾性体から成る．弾性体の復元力が増幅されて関節剛性となるように設計されており，剛性を補う．
3) ロープの剛性を考慮したアーム動力学シミュレーションを行い，アームの姿勢によって変化する重力成分が不安定性を引き起こすことを明らかにした．特にアームの体幹が上向きの姿勢ではこの不安定性が大きく，腱弾性による関節剛性を凌駕して関節角の不安定挙動を発生させる．また，高剛性な素材である鋼鉄の剛性を仮定したシミュレーションでも不安定性を完全に解消されなかったことから，腱素材の選定といった機構的手法では抜本的な改善は見込めないと判断した．従って，不安定姿勢を避ける制御的手法や後付けする機構などを候補として探索する計画に変更した．
また，計画に加えて，腱の張力の決定法を提案した．重力による関節トルクを支える腱の張力の組合せには無数の選択肢がある．アームの機構的特徴を活用して，腱の負担を分散させた組み合わせを求める手法を定式化した．