Noriho Koyachi

Profile Information

Affiliation: Faculty of Engineering Department of Robotics, Kindai University

Degree: 博士(工学)(大阪大学)

J-GLOBAL ID: 200901082942109606
researchmap Member ID: 5000087563

External link: https://www.kindai.ac.jp/engineering/research-and-education/teachers/introduce/koyachi-noriho-5cf.html

Research Interests

Research Areas

Informatics / Mechanics and mechatronics / Robotics

Research History

Apr, 2014 - Present

Professor, Department of Robotics, Faculty of Engineering, Kindai University
Apr, 2001 - Mar, 2013

Field Robotics RG, Intelligent Systems RI, National Institute of Advanced Industrial Science and Technology (AIST)
Apr, 1979 - Mar, 2001

Autonomous Machinery Division, Robotics Department, Mechanical Engineering Laboratory

Education

Apr, 1975 - Mar, 1979

Department of Mechanical Engineering, Faculty of Engineering, Kyoto University

Committee Memberships

Dec, 2016 - Mar, 2020

ロボティクス・メカトロニクス部門代議員, 日本機械学会
May, 2008 - Apr, 2012

評議員, システム制御情報学会
Apr, 2001 - Mar, 2003

評議員, 日本ロボット学会
Apr, 1999 - Mar, 2001

理事・事業委員会委員長, 日本ロボット学会
Apr, 1994 - Mar, 1996

会誌編集委員会委員, 日本ロボット学会

Awards

May, 2020

Division Contribution Award, Robotics and Mechatronics Division, Japanese Society of Mechanical Engineers

Noriho Koyachi
Sep, 2016

Fellow, Robotics Society of Japan

KOYACHI Noriho
Dec, 2010

Best Paper Award, Path Planning and Position Control for Autonomous Loading Operation by Wheel Loader, Organaizing Committee of MPES2010

Shigeru Sarata, Noriho Koyachi
Feb, 2010

Testimonial on IMS Center, Award for long term contribution on IMS Center, manufacturing Science and Technology Center

KOYACHI Noriho
Oct, 2006

Best Paper Award, Development of Autonomous System for Loading Operation by Wheel Loader, OSARC 2006 Organizing Committee

Shigeru Sarata, Noriho Koyachi, Takashi Tsubouchi, Hisashi Osumi, Masamitsu Kurisu, Kazuhiro Sugawara

Papers

Walk Measurements Using a Novel Rollator with a Free Rotating Chest Pad and an Analysis of its Effectiveness in Walk Assistance

Jian Huang, Noriho Koyachi, Hiroaki Ashida, Takashi Harada

2019 IEEE 5th International Conference on Mechatronics System and Robots (ICMSR), Dec 9, 2019 Peer-reviewed
Measurements of Walking Using a Newly Developed Rollator Having an Free Rotating Chest Pad Integrated with Multiple Sensors

HUANG Jian, KOYACHI Noriho

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2017 2P1-P10, May 10, 2017
Evaluating the Assistance Effectiveness of a Newly Developed Rollator Mounted with a Freely Rotating Chest Support Pad

Jian Huang, Noriho Koyachi

2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 1185-1190, Dec 3, 2016 Peer-reviewed
Pile Shape Measuring in Excavating and Loading by Wheel Loader

KOYACHI Noriho, SARATA Shigeru, ISHIMOTO Hidefumi

Proceedings of 22nd International Symposium on Mine Planning and Equipment Selection (MPES 2013), 921-929, Oct 15, 2013 Peer-reviewedLead author
A Steering Assist Method for Formation Control of Personal Vehicles

HORIUCHI Eiichi, MATSUMOTO Osamu, TAKEI Toshinobu, KOYACHI Noriho, HASHIMOTO Takashi, ANDO Toshiyuki, IWAO Keijiro

Journal of the Robotics Society of Japan, 28(10) 1243-1250, Dec 15, 2010 Peer-reviewed
Path Planning and Position Control for Autonomous Loading Operation by Wheel Loader

SARATA Shigeru, KOYACHI Noriho

Proceedings of International Symposium on Mine Planning and Equipment Selection (MPES 2010), 293-300, Dec, 2010 Peer-reviewed
Path Planning and Path Following Control of an Autonomous Wheel Loader

Koyachi Noriho, Sarata Shigeru

The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM, 2010 699-704, 2010 Peer-reviewed
Stride Over Step by Four Wheeled and Four Legged Flexible Personal Robot |Step detection by tri-camera vision and hybrid motion by wheels and legs|-

KOYACHI Noriho, MARUYAMA Ken-ichi, KAWAI Yoshihiro, Tomita Fumiaki

Journal of Robotics Society of Japan, 27(8) 825-832, Oct, 2009 Peer-reviewed
Scoop and Loading Execution by the Autonomous Wheel Loader "Yamazumi-4"--Task Control and Path Following Control--

KOYACHI Noriho, SARATA Shigeru, SUGAWARA Kazuhiro

Journal of Robotics Society of Japan, 26(6) 514-524, Sep, 2008 Peer-reviewed
Safety and Application of Dynamic Updating of Robot Controller Programs

HORIUCHI Eiichi, MATSUMOTO Osamu, KOYACHI Noriho

Journal of the Robotics Society of Japan, 24(5) 647-653, Jul 15, 2006 Peer-reviewed
Sensor-based walking on rough terrain for legged robots

Yasushi Mae, Tatsuhi Mure, Kenji Inoue, Tatsuo Arai, Noriho Koyachi

Springer Tracts in Advanced Robotics, 24 255-264, 2006 Peer-reviewed
ロボット制御プログラム動的更新手法の安全性および応用

堀内英一, 松本治, 小谷内範穂

日本ロボット学会誌, 24(5) 647-653, 2006 Peer-reviewed
腕脚統合型ロボットの全方向移動

前泰志, 高橋裕也, 新井健生, 井上健司, 小谷内範穂

日本ロボット学会誌, 22(3) 329-335, 2004 Peer-reviewed
脚・腕統合リムメカニズムによる歩行と腕作業－2腕把持のための胴体･脚･腕変形－

小谷内範穗, 安達弘典, 新井健生, 和泉誠, 廣瀬武志, 先生直史, 村田良司

日本ロボット学会誌, 22(3) 411-421, 2004 Peer-reviewedLead author
Open MRI環境下手術支援マニピュレータのためのてこ－平行リンク式位置姿勢伝達機構－運動学と可動領域解析，剛性実験－

小関義彦, 小谷内範穗, 新井健生, 鎮西清行

日本ロボット学会誌, 22(5) 603-609, 2004 Peer-reviewed
Remote actuation mechanism for MR-compatible manipulator using leverage and parallelogram - Workspace analysis, workspace control, and stiffness evaluation

Y Koseki, N Koyachi, T Arai, K Chinzei

2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 652-657, 2003 Peer-reviewed
ハイブリッド駆動パラレルアームの張力補正と外力推定

前泰志, 新井健生, 上島啓史, 井上健司, 宮脇国男, 小谷内範穂

日本ロボット学会誌, 21(4) 436-443, 2003 Peer-reviewed
脚・腕統合リム・メカニズムを有した6脚歩行ロボットMELMANTIS-1の開発－脚腕変換及び物体把持を考慮した幾何学的設計－

小谷内範穗, 安達弘典, 新井健生

日本ロボット学会誌, 21(6) 682-689, 2003 Peer-reviewedLead author
A hybrid drive parallel arm for heavy material handling

T Arai, K Yuasa, Y Mae, K Inoue, K Miyawaki, N Koyachi

IEEE ROBOTICS & AUTOMATION MAGAZINE, 9(1) 45-54, Mar, 2002 Peer-reviewed
Control of walk and manipulation by a hexapod with Integrated Limb Mechanism: MELMANTIS-1

N Koyachi, H Adachi, M Izumi, T Hirose, N Senjo, R Murata, T Arai

2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 3553-3558, 2002 Peer-reviewed

Misc.

〈令和元年度活動報告〉先端ロボット工学研究センター活動報告

小谷内範穗, 黄健, 樹野淳也, 柴田瑞穂, 友國伸保, 田上将治

近畿大学次世代基盤技術研究所報告 = Annual Report of Fundamental Technology for Next Generation Research Institute, Kindai University, (11) 19-25, Jul, 2020
〈平成30年度活動報告〉先端ロボット工学研究センター活動報告

小谷内範穗, 黄健, 樹野淳也, 柴田瑞穂, 友國伸保, 田上将治

近畿大学次世代基盤技術研究所報告 = Annual Report of Fundamental Technology for Next Generation Research Institute, Kindai University, (10) 23-28, Oct, 2019
〈平成29年度活動報告〉先端ロボット工学研究センター活動報告

黄健, 小谷内範穗, 樹野淳也, 柴田瑞穂, 田上将治

近畿大学次世代基盤技術研究所報告 = Annual Report of Fundamental Technology for Next Generation Research Institute, Kindai University, (9) 22-26, Jul, 2018
〈平成28年度活動報告〉先端ロボット工学研究センター活動報告

黄健, 小谷内範穗, 樹野淳也, 柴田瑞穂, 田上将治

近畿大学次世代基盤技術研究所報告 = Annual Report of Fundamental Technology for Next Generation Research Institute, Kindai University, 8 21-25, Jun, 2017
817 A discussion on the mechanism design of a stewart platform type parallel link mechanism

TAGAMI Masaharu, KOYACHI Noriho, TAGUCHI Takao

2015(53) "817-1"-"817-2", Feb 27, 2015
1P1-L05 Analysis of Reaction Forces against Rock Piles in Scooping Operation

ARAI Toshio, TAKAHASHI Yuta, KANAI Osamu, OSUMI Hisashi, SARATA Shigeru, KOYACHI Noriho

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2007 _1P1-L05_1-_1P1-L05_3, May 10, 2007
ホイールローダによる積み込み作業のための自律作業システムの概要

皿田滋, 小谷内範穂, 坪内孝司, 大隅久, 栗栖正充, 菅原一宏

資源素材学会春季大会講演集. I, 資源編, 19(1) 151-152, Mar 29, 2007
2A1-B08 Scooping of A Rock Pile by A Wheel Loader Using Disturbance Observer

TAKAHASHI Yuta, YASUHARA Ryoutarou, KANAI Osamu, OSUMI Hisashi, SARATA Shigeru, KOYACHI Noriho

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2006 _2A1-B08_1-_2A1-B08_4, 2006
R08-(5) 革新的・知的フィールドファクトリの研究 (IF7) : 大型構造物組立の機械化システム

阿部愛和, 上川健司, 石井勇, 木川田一弥, 新井健生, 小谷内範穂

年次大会資料集, 2000 424-425, 2000
2A1-62-078 力制御を付加したマイクロマニピュレーション実験

谷川民生, 川井雅史, 小谷内範穂, 新井健生, 井出隆之, 金子新二, 太田亮

ロボティクス・メカトロニクス講演会講演概要集, 2000 70-70, 2000
2P2-21-027 大型構造物組立の機械化システム

上川健司, 阿部愛和, 石井勇, 木川田一弥, 新井健生, 小谷内範穂

ロボティクス・メカトロニクス講演会講演概要集, 2000 96-96, 2000
Cell Manipulation with Force Feedback Control in Micro Manipulation System

TANIKAWA Tamio, KOYACHI Noriho, ARAI Tatsuo

The proceedings of the JSME annual meeting, 2000 327-328, 2000
「次世代産業用ロボットを目指して」特集について

小谷内範穂

日本ロボット学会誌, 12(7) 1-1, Nov 15, 1994
Integrated Kinematics for a Parallel Manipulator and a Leg Mechanism.

新井健生, 小谷内範穂, 安達弘典, 本間敬子

日本ロボット学会学術講演会予稿集, 12th(3) 841-842, Nov, 1994
階段登降可能な6脚歩行ロボットの研究-1-固定歩容6脚歩行ロボットMELCRAB-1の設計・制御と自立形半固定歩容6脚歩行ロボットMELCRAB-2の設計 (極限作業ロボット<特集>)

小谷内範穂

機械技術研究所所報, 46(2) p94-112, Mar, 1992
Sensor-based Motion Switching Control in Stairclimbing of Hexapod

KOYACHI N.

Proceedings of 1992 Japan-USA Symposium on Flexible Automation, 765-768, 1992
Intelligence of mobile robots.

KOMORIYA Kiyoshi, KOYACHI Noriho

Journal of the Robotics Society of Japan, 9(1) 100-111, 1991
Stair-climbing Control of Self-contained Hexapod with Semi-fixed Gait

KOYACHI N.

Proceedings of 1991 the Fifth International Conference on Advanced Robotics, 747-752, 1991
Development of a quadruped walking machine with free gait. 3rd report: Gait adaptive for the position of the center of gravity.

安達弘典, 小谷内範穂, 中村達也, 新井健生, 本間敬子, 中野栄二

日本ロボット学会学術講演会予稿集, 8th(1) 289-290, Nov, 1990
Terrain Following Control of Self-Contained Semi-Fixed Gait Haxapod Walking Robot

KOYACHI N.

Proc. IROS '90, 309-314, 1990

Books and Other Publications

ロボット (図解雑学)

新井, 健生, 井上健司, 小谷内範穗, 八木康史, 松日楽信人, 小笠原司, 横井一仁

ナツメ社, May 4, 2005 (ISBN: 4816339167)
知能システム技術―コンセプト志向の発想 (産総研シリーズ)

産業技術総合研究所知能システム研究部門

丸善, Feb 20, 2003 (ISBN: 4621072102)
ロボット工学ハンドブック

日本ロボット学会, 浅川和雄, 麻田治男, 浅田春比古, 新井健生, 小谷内範穗

コロナ社, Oct 20, 1990 (ISBN: 4339031399)

Presentations

Control of a new stair climbing robot with a slider mechanism in a rotating link

Tsukasa Yoshimura, Nobuyasu Tomokuni, Noriho Koyachi

2021 JSME Conference on Robotics and Mechatronics, Jun 8, 2021
Design and Control of Rotaly Link with Built in Slider to improve inverted pendulum type robotic wheelchair with the ability to climb stairs

Ryo Ishimaru, Nobuyasu Tomokuni, Noriho Koyachi

2021 JSME Conference on Robotics and Mechatronics, Jun 8, 2021
Control simulation of front and rear two-wheeled robot

Yukihiro Kaneko, Noriho Koyachi, Nobuyasu Tomokuni

2021 JSME Conference on Robotics and Mechatronics, Jun 8, 2021
Development of a Measurement and Control System for a Rollator Equipped with a Motor- driven Chest Pad

Keita Mukai, Sora Miyamoto, Ryosuke Abe, Jian Huang, Noriho Koyachi

2021 JSME Conference on Robotics and Mechatronics, Jun 8, 2021
Design and Control of Small-scaled Dynamic Walking Quadruped Robot

Yuya Oonishi, Noriho Koyachi, Nobuyasu Tomokuni

2021 JSME Conference on Robotics and Mechatronics, Jun 8, 2021
Manufacture of force plate for measuring the position of the center of gravity of a miniature bipedal robot

Shohei Yano, Nobuyasu Tomokuni, Noriho Koyachi

2021 JSME Conference on Robotics and Mechatronics, Jun 7, 2021
Development of temperature logger with charging function for underwater robot

Kazuki Fujiwara, Noriho Koyachi, Mizuho Shibata

2021 JSME Conference on Robotics and Mechatronics, Jun 7, 2021
Measuring the environment with a depth camera using Raspberry Pi 4 and ROS2

Kousuke Yoshiga, Nobuyasu Tomokuni, Noriho Koyachi

2021 JSME Conference on Robotics and Mechatronics, Jun 7, 2021
Development of the force measurement system in a rollator with a driven chest pad

Ryosuke Abe, Noriho Koyachi, jian Huang, Keita Mukai, Sora Miyamoto

21st Annual Conference of System Integration Division, Society of Instruments and Automatic Control Engineers (SI2020), Dec 17, 2020
Motor Control for the Active-Driving Chest Pad of a Rollator

Keita Mukai, Atsushi Maeda, Ryousuke Abe, Sora Miyamoto, Jian Huang, Noriho Koyachi

29th Annual Conference of the SICE Chugoku Chapter, Nov 28, 2020
Design of small-scaled Dynamic Walking Quadruped Robot

Yuya OONISHI, Noriho KOYACHI

the 2020 JSME Conference on Robotics and Mechatronics, May 29, 2020
Making an electric skateboard a transport robot

Noriho KOYACHI, Kazuto NAKAO, Nobuyasu TOMOKUNI

the 2020 JSME Conference on Robotics and Mechatronics, May 29, 2020
Development of a rollator with a driven chest pad -Force measurement on chest pad-

Ryosuke ABE, Ryo WATANABE, Noriho KOYACHI, Jian HUANG

the 2020 JSME Conference on Robotics and Mechatronics, May 29, 2020
Measurement and Analyzation of Walk with or without Load on Legs Using a Rollator Equipped with a Rotating Chest Pad

Hiroaki ASHIDA, Ryosuke ABE, Jian HUANG, Noriho KOYACHI

the 2020 JSME Conference on Robotics and Mechatronics, May 29, 2020
Self-completion of a small 4-wheeled and 4-legged robot and torso posture control in stair-climbing

Hiroki KASAHARA, Noriho KOYACHI, Nobuyasu TOMOKUNI

the 2020 JSME Conference on Robotics and Mechatronics, May 29, 2020
Walk measurement and analysis by the rollator with a free rotational chest pad

ASHIDA Hiroaski, ABE Ryosuke, HUANG Jian, KOYACHI Noriho, HARADA Takashi

2019 RSJ 37th Annual Conference, Sep 6, 2019
Development of a Rollator Equipped with an Active Driving Chest Pad

ASHIDA Hiroaki, HUANG Jian, KOYACHI Noriho, HARADA Takashi

2019 JSME Conference on Robotics and Mechatronics, Jun 7, 2019
Rigid design and driving control of small 4-wheeled 4-legged robot

KASAHARA Hiroki, KOYACHI Noriho

2019 JSME Conference on Robotics and Mechatronics, Jun 7, 2019
Robot design of the electric skateboard

NAKAO Kazuto, KOYACHI Noriho

2019 JSME Conference on Robotics and Mechatronics, Jun 7, 2019
Position Control Based Impedance Control of Stewart Platform Aiming to a Multi Axis Load Test Device

TAGAMI Masaharu, KOYACHI Noriho

2019 JSME Conference on Robotics and Mechatronics, Jun 7, 2019

Teaching Experience

Professional Memberships

Research Projects

Development of a rollator with an active driving chest pad to promote walk

Grants-in-Aid for Scientific Research, Japan Society for the Promotion of Science, Apr, 2018 - Mar, 2021

HUANG Jian

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Research History

Education

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Papers

Misc.

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