Mochiyama Hiromi

J-GLOBAL         Last updated: Aug 8, 2019 at 02:40
 
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Name
Mochiyama Hiromi
Affiliation
University of Tsukuba
Section
Faculty of Engineering, Information and Systems
Job title
Associate Professor

Research Areas

 
 

Academic & Professional Experience

 
Dec 2007
 - 
Feb 2008
Visiting Scholar, University of Sheffield, Department of Automatic Control and Systems Engineering
 

Education

 
Apr 1989
 - 
Mar 1993
Department of Electrical Engineering, Faculty of Science and Engineering, Waseda University
 
Apr 1993
 - 
Mar 1995
Department of Electrical Engineering, Graduate School, Division of Science and Engineering, Waseda University
 
Apr 1995
 - 
Mar 1998
Department of Information Systems, Schoolof Information Science, Japan Advanced Institute of Science and Technology, Hokuriku
 

Committee Memberships

 
Sep 2017
 - 
Sep 2017
IEEE/RSJ  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2017)Workshop on Smart Mechanics / Organizer
 
Jan 2015
   
 
The Robotics Society of Japan  Advanced Robotics / Senior Editor
 
Jan 2012
 - 
Dec 2014
The Robotics Society of Japan  Advanced Robotics / Associate Editor
 
Nov 2013
 - 
Nov 2013
IEEE/RSJ  IEEE/RSJ 2013 International Conference on Intelligent Robots and Systems (IROS2013) / Finance Chair
 
Sep 2008
 - 
Nov 2010
Institute of Electrical and Electronics Engineers (IEEE)  The 2009 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO2009)/ Finance Chair
 

Awards & Honors

 
Nov 2010
Best Poster Award in 2010 International Symposium on Micro-NanoMechatronics and Human Science (MHS2010), MHS2010
 
Bio-manipulation with a Robotic Straw
Sep 2008
Best Paper Award in the category of “Support Technologies for Mobile Machines”, The 11th International Conference on Climbing and Walking Robots and the Supporting Technologies for Mobile Machines (CLAWAR2008), CLAWAR Association
 
A Robotic Catapult based on the Closed Elastica with an Anisotropic Stiffness Point and Its Application to Compact Continuous Jumping Robot
Jul 1997
The Shimemura Young Author Prize, The 2nd Asian Control Conference, The Steering Committee of the Asian Control Conference
 
Control of Manipulators with Hyper Degrees of Freedom: Shape Tracking Using Only Position Measurement

Published Papers

 
閉ループ弾性体の空間形状計算のためのTornado Shooting法
渡邊大輔;望山, 洋
第20回ロボティクス・シンポジア      Mar 2015
体幹の“ しなやかさ”をつくる
望山, 洋;郡司, 芽久;新山, 龍馬
日本機械学会誌      Apr 2019
Surface Undulation Detection System Using Wearable Artificial Skin Layer with Strain Gauge
Masaki, Toshiaki;Ando, Mitsuhito;Takei, Toshinobu;Fujimoto, Hideo;Mochiyama, Hiromi
Proc. of the 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)      Apr 2019   [Refereed]
アクティブタッチで形状をはかる:ひずみゲージ埋め込み ゴム製人工皮膚による面の形状推定
安藤潤人;竹囲年延;望山, 洋
日本バーチャルリアリティ学会ハプティクス研究委員会第21回研究会      Dec 2018
人工皮膚センサによる凸/平面識別
正木俊明;安藤潤人;竹囲年延;望山, 洋;藤本英雄
情報処理学会第80回全国大会講演論文集      Mar 2018
Make:Animacy
望山, 洋;翠健仁;吉井彰;安藤潤人
第36回日本ロボット学会学術講演会講演論文集      Sep 2018
弾性板の共振を利用した小型水中ロボットにおけ る形状と加振力の移動性能への影響
小林, 優美;稲葉, 亜佑美;望山, 洋;武居, 直行
第19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(SI2018)      Dec 2018
直動機構の変位測定を可能にするデバイス内蔵型センサ機構の開発
福崎琢也;望山, 洋
第19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(SI2018)      Dec 2018
ソフトロボット学のための弾性ロッドの高速形状計算
望山, 洋
第24回ロボティクスシンポジア講演論文集      Mar 2019   [Refereed]
Real-time Shape Estimation of an Elastic Rod Using a Robot Manipulator Equipped with a Sense of Force
Nakagawa, Naohiro;Mochiyama, Hiromi
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)      Oct 2018   [Refereed]
A Compact Wheeled Robot That Can Jump while Rolling
Misu, Kenji;Yoshii, Akira;Mochiyama, Hiromi
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)      Oct 2018   [Refereed]
KOBAYASHI,Yumi;INABA,Ayumi;MOCHIYAMA,Hiromi;TAKESUE,Naoyuki
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2018 2P1-C08   Jun 2018
<p>Miniature aquatic robots are required for survey in a narrow space. In this study, we develop a robot with multiple elastic plates, in whitch a vibration motor selectively resonates the elastic plate to achieve propulsion in multiple directions...
Takei, Toshinobu; Ando, Mitsuhito; Mochiyama, Hiromi
ADVANCED ROBOTICS   32(21:::SI) 1122-1134   Nov 2018   [Refereed]
TouchLens Amplifies the Strain inside a Rubber Artificial Skin Layer
安藤, 潤人;竹囲, 年延;望山, 洋
第23回ロボティクスシンポジア講演論文集   296-297   Mar 2018   [Refereed]
Human Joint Impedance Estimation With a New Wearable Device Utilizing Snap-Through Buckling of Closed-Elastica
Yagi, Keisuke;Suzuki, Kenji;Mochiyama, Hiromi
IEEE ROBOTICS AND AUTOMATION LETTERS   1506-1513   Jan 2018   [Refereed]
弾性体の飛び移り座屈機構によるヒト手首関節インピーダンス推定のための摂動入力
矢木, 啓介;望山, 洋
第18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(SI2017)      Dec 2017
弾性体の飛び移り座屈を利用した装着型ヒト関節インピーダンス推定装置
水島, 洋哉;矢木, 啓介;望山, 洋
第18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(SI2017)      Dec 2017
帯状弾性体の飛び移り座屈を利用した小型移動ロボット用跳躍機構
翠, 健仁;吉井, 彰;望山, 洋
第18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(SI2017)      Dec 2017
ヒトの動きに合わせてジャンプする小型移動ロボット
吉井, 彰;翠, 健仁;望山, 洋
第18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(SI2017)      Dec 2017
ヒトの指骨格を有するワイヤ駆動型連続体マニピュレータ
蕭, 凱文;望山, 洋
第18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(SI2017)      Dec 2017
弾性体の飛び移り座屈を利用したロボット機構の動特性設計
菅原, 直樹;望山, 洋
第18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(SI2017)      Dec 2017
摩擦的特性を用いたロボット関節のための磁気粘性流体デバイスの開発と評価
江尻, 啓太;望山, 洋
第18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(SI2017)      Dec 2017
ROBO-DIP: ロボット化ゴムディッピングによる触覚デバイスの作製法
安藤, 潤人;望山, 洋
第18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(SI2017)      Dec 2017
重力下にあるKirchhoff 弾性ロッドモデルに関する一考察
中川, 尚大;望山, 洋
第18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(SI2017)      Dec 2017
Inaba,Ayumi;Kobayashi,Yumi;Mochiyama,Hiromi;Takesue,Naoyuki
Proceedings of the Japan Joint Automatic Control Conference   60(0) 880-881   Nov 2017
Sakai,Yusuke;Takesue,Naoyuki;Mochiyama,Hiromi
Proceedings of the Japan Joint Automatic Control Conference   60(0) 886-889   Nov 2017
On the determination of mapping rule and sampling interval for human joint impedance estimation
Yagi, Keisuke;Mochiyama, Hiromi
2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)   1357-1362   Sep 2017   [Refereed]
摩擦特性に起因するダイナミクスの不連続性を利用したパワーフロー制御
矢木, 啓介;相山康道;鈴木健嗣;望山, 洋
第35回日本ロボット学会学術講演会講演論文集      Sep 2017
Tarsusmeter: 装着型デバイスによるヒトの足関節のインピーダンス推定
ハサン, モダル;矢木, 啓介;望山, 洋;鈴木健嗣
第35回日本ロボット学会学術講演会講演論文集      Sep 2017
Robo-Dip: ロボット化ゴムディッピングによる薄型柔軟構造体の作製法
安藤潤人;望山, 洋
第35回日本ロボット学会学術講演会講演論文集      Sep 2017
Robot Tailのためのコンパクトなワイヤ駆動機構
蕭, 凱文;望山, 洋
第35回日本ロボット学会学術講演会講演論文集      Sep 2017
剛性と柔軟性を融合させるスマートメカニクス
望山, 洋;矢木, 啓介;ハサン, モダル;蕭, 凱文;安藤潤人;相山康道;鈴木健嗣
第35回日本ロボット学会学術講演会講演論文集      Sep 2017
MOCHIYAMA,Hiromi
The Proceedings of Mechanical Engineering Congress, Japan   2017 F112001   Sep 2017
A Wire-driven Continuum Manipulator Model without assuming Shape Curvature Constancy
Hsiao, Kaiwen;Mochiyama, Hiromi
2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2017)   436-443   Sep 2017   [Refereed]
Tarsusmeter: Development of a wearable device for ankle joint impedance estimation
Hassan, Modar;Yagi, Keisuke;Hsiao, Kaiwen;Mochiyama, Hiromi;Suzuki, Kenji
Engineering in Medicine and Biology Society (EMBC), 2017 39th Annual International Conference of the IEEE   3293-3296   Jul 2017   [Refereed]
蕭, 凱文;望山, 洋;竹囲, 年延;篠塚英;小川清
Journal of the Robotics Society of Japan   35(3) 221-229   May 2017   [Refereed]
In this paper, we propose a method to fabricate a slim continuum manipulator by embedding pulling-wire mechanisms into a thin rubber layer formed around an elastic backbone of the manipulator without increasing its elasticity largely. Fundamental ...
EJIRI,Keita;MOCHIYAMA,Hiromi
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017(0) 1A1-H07   May 2017
<p>In this research, a soft passive rotational joint using magneto-rheological fluid(MRF) is proposed. The proposed device has a rotational vane which allows us to utilize not only the shear mode of MRF but also its valve mode. Experimental result...
Real-time Shape Estimation of Kirchhoff Elastic Rod Based on Force/Torque Sensor
Takano, Ryo;Mochiyama, Hiromi;Takesue, Naoyuki
Proc. of the 2017 IEEE INTERNATIONAL CONFERENCE ON Robotics and Automation (ICRA 2017)   2508-2515   May 2017   [Refereed]
望山, 洋;矢木, 啓介;ハサン, モダル;蕭, 凱文;安藤, 潤人;江尻, 啓太;相山康道;鈴木, 健嗣
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017 2A2-L01   May 2017
<p>Herein we present the research and development in Smart Mechanics; a project affiliated by NEDO in the University of Tsukuba. We are developing new robotic joints using a combination of magnetorheological fluids and springs. The developed semi-...
SAKAI,Yusuke;MOCHIYAMA,Hiromi;TAKESUE,Naoyuki
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017(0) 2A2-F09   May 2017
<p>In this research, we propose a propulsion mechanism of a swimming quick capable of rapid turning. In this swimming mechanism of the underwater robot, the rod-shaped continuum waterjet pipe is oriented in all directions by wire driving, and ther...
Effect of the Tactile Contact Lens on the Rubber Artificial Skin Layer with a Strain Gauge
Ando, Mitsuhito;Mochiyama, Hiromi;Takei, Toshinobu;Fujimoto, Hideo
Proceeding of the 2016 IEEE/SICE International Symposium on System Integration      Dec 2016   [Refereed]
On a Haptic Phenomenon by Combined Use of the Rubber Artificial Skin Layer with a Strain Gauge and the Tactile Contact Lens
Ando, Mitsuhito;Mochiyama, Hiromi;Takei, Toshinobu;Fujimoto, Hideo
AsiaHaptics2016      Oct 2016   [Refereed]
ANDO,Mitsuhito;FUKUDA,Kouhei;MOCHIYAMA,Hiromi;TAKEI,Toshinobu;FUJIMOTO,Hideo
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2016 1A2-19b3   2016
<p>This paper introduce a sensor for detection of surface undulation. This sensor is composed of two objects. One is artificial rubber skin layer with strain gauge. The second is a tactile devise, we call a "tactile contact lens (TCL)". The tactil...
Model Validation of Discretized Spatial Closed Elastica
Mochiyama, Hiromi
2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)   5216-5223   Oct 2016   [Refereed]
HSIAO,Kaiwen;MOCHIYAMA,Hiromi
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2016 2P1-13b7   2016
<p>In this paper, we propose a method to fabricate a slim continuum manipulator by embedding 3 pulling-wire mechanisms into a thin rubber layer formed around an elastic backbone of the manipulator without increasing its elasticity largely. Fundame...
ゴム皮膚層にワイヤ駆動機構を内蔵する連続体マニピュレータの非一定曲率モデル
望山,洋;蕭,凱文;竹囲,年延
第16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(SI2015)   1510-1513   Dec 2015
A Study on Planar Non-constant Curvature Model for Continuum Manipulator with Rubber Skin Layer including Pulling-wire Mechanism
Hsiao,Kaiwen;Mochiyama,Hiromi;Takei,Toshinobu
The 6th International Conference on Advanced Mechatronics (ICAM2015), JSME Robotics and Mechatronics Division   2015(6) 56-57   Dec 2015   [Refereed]
In this paper, we show a study on a planar non-constant curvature model for the continuum manipulator with rubber skin layer including pulling-wire mechanism. In order to derive the condition for calculating the shape of the manipulator, we make t...
触覚コンタクトレンズのRapid Prototypingによる触知覚現象の探索
安藤,潤人;望山,洋
第16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(SI2015)   2676-2677   Dec 2015
触圧測定のための指型ゴム製人工皮膚層ひずみゲージサンド
竹囲,年延;望山,洋;和田,有司
第6回横幹連合コンファレンス      Dec 2015
触感デザインのためのソフトスキンモデリング
望山,洋;藤本,英雄
第6回横幹連合コンファレンス      Dec 2015
ゴム皮膚層にワイヤ駆動機構を内蔵する連続体マニピュレータの運動学
蕭,凱文;竹囲,年延;望山,洋
第33回日本ロボット学会学術講演会講演論文集   RSJ2015AC3A1-08(1)-RSJ2015AC3A1-08(2)   Sep 2015
皮膚の内部歪に着目した触感デザインアプローチ
望山,洋;藤本,英雄
第33回日本ロボット学会学術講演会講演論文集   RSJ2015AC3A2-04(1)-RSJ2015AC3A2-04(2)   Sep 2015
Walker, Ian; Xiao, Jing; Mochiyama, Hiromi
ADVANCED ROBOTICS   29(13:::SI) 815-815   Jul 2015
Cooperative String Looping by Dual Shooting Manipulation
Tomofumi,Hatakeyama;Mochiyama,Hiromi
Proc. of 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2015)   1096-1101   Jul 2015   [Refereed]
Palm-top Jumping and Crawling Robot using Snap-through Buckling of Arched Elastica supported by Omega-shaped Frame
Fukamachi, Naofumi;Mochiyama, Hiromi
Proc. of 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM2015)   1102-1107   Jul 2015   [Refereed]
In this paper, we propose a compact jumping robot using snap-through buckling of an arched closed elastica supported by an Omega-shaped frame in an effort to quick stair climbing. The proposed jumping robot is a modified version of an existing rob...
2A2-X08 Finger Cot type Strain-gauge-sandwiched Rubber Artificial Skin Layer for measurement of the finger pressure
竹囲,年延;望山,洋;和田,有司
ロボティクス・メカトロニクス講演会講演論文集   2015 2A2-X08(1)-2A2-X08(4)   May 2015
We propose the Finger Cot type Strain-gauges-sandwiched Rubber Artificial Skin Layer. It is a wearable sensor for measurement of the finger pressure. The thickness, lightness and excellent wearing feeling are the better features than other wearabl...
2P1-R10 Stair-step Jump by Palm-top Jumping Robot using Arch-type Closed Elastica supported by Q-Shaped Frame
深町,尚史;望山,洋
ロボティクス・メカトロニクス講演会講演論文集   2015 2P1-R10(1)-2P1-R10(2)   May 2015
In this paper, we report a stair-step jumping experiment using an improved version of a compact jumping robot based on snap-through buckling of an arch-type closed elastica supported by an fi-shaped frame. Experimental results show that the robot ...
1P2-E04 Position and Orientation Measurement System based on Shape Estimation of Elastic Rod
高野,亮;望山,洋
ロボティクス・メカトロニクス講演会講演論文集   2015 1P2-E04(1)-1P2-E04(3)   May 2015
In this paper, we propose a position and orientation measurement system based on shape estimation of elastic rod. The proposed system consists of an elastic rod, a 6-axes force/torque sensor and a PC with a display for real time measurement and di...
2A2-E05 Compact Swimming Mechanism with Flexible Waterjet Nozzle
高原,駿;望山,洋
ロボティクス・メカトロニクス講演会講演論文集   2015 2A2-E05(1)-2A2-E05(4)   May 2015
In this paper, we propose a compact swimming mechanism which has not only horizontal but also vertical slalom performance despite its compact body. The proposed mechanism has two distinguished features. One is the use of a water jet as a driving d...
2A2-F09 Flying Strategy of Single Rotor Flying Robot with Vertical Wings
崎重,貴裕;望山,洋
ロボティクス・メカトロニクス講演会講演論文集   2015 2A2-F09(1)-2A2-F09(4)   May 2015
In this paper, we consider a flying strategy of a single rotor flying robot with vertical wings, with which we have a possibility to develop a very small and light-weight flying robot. Based on a flight experiment using its prototype with a size o...
Chameleon-like Shooting Manipulator for Accurate 10-meter Reaching
Mochiyama,Hiromi;Hiroto,Nakajima;Tomofumi,Hatakeyama
Proc. of 2015 10th Asian Control Conference (ASCC2015)      May 2015   [Refereed]
In this paper, we propose a shooting manipulator for accurate 10-meter reaching. The shooting manipulator mechanistically acts on a remote target by constraining an end-effector catapulted by an instantaneous force. The characteristic of the propo...
2A2-W10 Strain-gauge-sandwiched Rubber Artificial Skin Layer formed by Direct Dipping
福田,航平;望山,洋;竹囲,年延
ロボティクス・メカトロニクス講演会講演論文集   2015 2A2-W10(1)-2A2-W10(4)   May 2015
In this paper, we propose a novel touch sensor named strain-gauge-sandwiched rubber artificial skin layer formed by direct dipping. One of the most distinguished features of the proposed sensor is its rubber layer forming method where a part of th...
A study of fine texture perception using microparticulate plate(<Special Issue>Haptic Contents)
Kuroki,Scinob;Tsuboi,Hiroki;Mochiyama,Hiroshi;Watanabe,Junji
Transactions of the Virtual Reality Society of Japan   19(4) 589-592   Dec 2014   [Refereed]
The tactile roughness perception of fine-texture has been investigated by using non-uniform surface materials such as polishing papers, and it has been difficult to quantitatively discuss the relationship between physical properties of surface tex...
Shape Computation of Closed Elastica under External Forces
Watanabe,Daisuke;Mochiyama,Hiromi
Proc. of 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014)   623-627   Jul 2014   [Refereed]
This paper deals with a computation method for calculating a largely deformed shape of a closed elastica subject to external forces. The computation method considered here utilizes a dimensionless discrete elastica model discretized by a multi-lin...
Tsuboi,Hiroki;Inoue,Makoto;Kuroki,Scinob;Mochiyama,Hiromi;Watanabe,Junbi
Proc. of Eurohaptics 2014   8618 446-452   Jun 2014   [Refereed]
Tactile roughness perception of fine-texture has been investigated by using non-uniform surface materials (e.g., polishing papers), and therefore it was difficult to quantitatively discuss the relationship between physical surface property and per...
Palm-top Jumping Robot using Arch-type Closed Elastica supported by Ω-Shaped Frame(Mobile Robot with Special Mechanism (1))
FUKAMACHI,Naofumi;MOCHIYAMA,Hiromi
ロボティクス・メカトロニクス講演会講演概要集   2014 1P1-O03(1)-1P1-O03(4)   May 2014
In this paper, we propose a palm-top jumping robot based on snap-through buckling of closed elastica for stair-climbing. The proposed robot is a modified version of an existing robot using spatially deformable arch-type closed elastica, but has mu...
Fabrication of Tactile Feeling Plates with Variation of Depth of Hollows in Texture on Surface(Tactile and Force Sensing (1))
TATENO,Ryo;TAKEI,Toshinobu;WATANABE,Ryosuke;MOCHIYAMA,Hiromi
ロボティクス・メカトロニクス講演会講演概要集   2014 1P1-X02(1)-1P1-X02(3)   May 2014
In this paper, we report a work for investigation that whether or not depth of texture affect tactile feeling in the case that the textures on the surface are same. For making tactile feeling plates with variation of depth of hollows in texture on...
Shape Computation Algorithm for Closed Elastica
髙須,亮輔;望山,洋
JRSJ   32(4) 365-371   May 2014   [Refereed]
In this paper, we propose a shape computation algorithm for quasi-static shape transition of a planar closed elastica which has a function as an impulse force generator utilizing a snap-through buckling of an elastic strip. The proposed algorithm ...
Texture Display using Hidden Vibration Perception(Haptic Interface (2))
MINEGISHI,Yuichi;MOCHIYAMA,Hiromi
ロボティクス・メカトロニクス講演会講演概要集   2013 1A2-E05(1)-1A2-E05(2)   May 2013
In this paper, we propose a texture display using phenomenon named hidden vibration perception. This was found in an investigation of haptic feelings with vibrating plate. Hidden vibration perception is a tactile perception that when drag a plane ...
Lateral Motion by Palm-top Single-rotor Flying Robot with Asymmetric Wings(Aerial Robot and Mechatronics (1))
YAMAGUCHI,Yuki;MOCHIYAMA,Hiromi
ロボティクス・メカトロニクス講演会講演概要集   2013 1A1-G01(1)-1A1-G01(4)   May 2013
In this paper, we propose a palm-top single-rotor flying robot with asymmetric wings as an experimental prototype for designing a novel compact robot, to move over uneven terrain. The proposed robot prevents its body from rotating by the rotor rea...
Biologically Inspired Artificial Suction Tongue(Bio-Mimetics and Bio-Mechatronics (2))
Hatakeyama,Tomofumi;Mochiyama,Hiromi
ロボティクス・メカトロニクス講演会講演概要集   2013 1A2-A12(1)-1A2-A12(4)   May 2013
In this paper, we propose an artificial suction tongue inspired by the biological tongue of a chameleon. The artificial tongue easily sticks to a target surface. When the artificial tongue is impulsively pulled back, large grasping force is passiv...
Swimming Robot with Active Flexible Nozzle driven by a Water Jet Pump(Flexible Robot/Mechanism and its Control)
TAKAHARA,Shun;MOCHIYAMA,Hiromi
ロボティクス・メカトロニクス講演会講演概要集   2013 1P1-F07(1)-1P1-F07(4)   May 2013
In this paper, we propose a swimming robot driven by a water jet pump with an active exible nozzle for steering. The proposed robot is of 220[mm] in length and consists of a slim body for entering a narrow space. Experimental results using a proto...
Comparison Experiments of Some Types of Flapping Wings(Aerial Robot and Mechatronics (1))
KADOTA,Koya;TAKESUE,Naoyuki;MOCHIYAMA,Hiromi
ロボティクス・メカトロニクス講演会講演概要集   2013 1A1-F10(1)-1A1-F10(4)   May 2013
The goal of this study is to realize the flapping robot which can take off without run, as a bird jumps from the ground and climb strongly. In this paper, we report the result of comparison experiments of some types of flapping wings. We have meas...
Repeated Impulse Force Generator by Active Pantograph with Rubber
Ishida,Yuta;Mochiyama,Hiromi
Journal of the Robotics Society of Japan   31(5) 491-496   2013   [Refereed]
In this paper, we propose a repeated impulse force generator by an active pantograph with a rubber as an energy storage. The proposed impulse force generator consists of a rubber which has high energy storage capacity per unit mass, only one motor...
未知の好触感を探る
望山,洋
塗装工学      2013
Impulse Force Generator based on Snap-through Buckling of Robotic Closed Elastica: Analysis by Quasi-static Shape Transition Simulation
Mochiyama, Hiromi;Kinoshita, Aya;Takasu, Ryosuke
Proc. of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS13)   4583-4589   2013   [Refereed]
In this paper, we investigate the property of an impulse force generator based on snap-through buckling of a robotic closed elastic rod which is considered as one of good examples of continuum robots. The impulse force generator considered here ut...
Hatakeyama, Tomofumi; Mochiyama, Hiromi
IEEE-ASME TRANSACTIONS ON MECHATRONICS   18(2) 527-535   Apr 2013   [Refereed]
Searching for Haptic Illusions
Mochiyama,Hiromi
Journal of the Robotics Society of Japan   30(5) 478-480   Jun 2012
Non-holonomic Single Rotor Micro Flying Robot(Bio-Mimetics and Bio-Mechatronics(2))
IMAI,Yusuke;MOCHIYAMA,Hiromi
ロボティクス・メカトロニクス講演会講演概要集   2012 1A2-Q09(1)-1A2-Q09(4)   May 2012
In this paper, we propose a non-holonomic single rotor micro flying robot which has high energy efficiency and sufficient mobility, in spite of being compact and lightweight. The proposed robot is just a mechanism where a rotor and a body connecte...
Jumping robot by Active Pantograph with Rubber(Flexible Robot/Mechanism and its Control)
ISHIDA,Yuta;MOCHIYAMA,Hiromi
ロボティクス・メカトロニクス講演会講演概要集   2012 2A1-D02(1)-2A1-D02(4)   May 2012
In this paper, we propose a jumping robot by an active pantograph with a rubber as an energy storage. The proposed robot has the repeated jumping capability to jump on the desk repeatedly. The proposed robot is based on the mechanism which consist...
Propose of V-shaped closed elastica and its application to fish-like robot
Nagasawa,M.;Sekiya,T.;Takesue,Naoyuki;Mochiyama,Hiromi
Proc. of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2012)   207-214   2012   [Refereed]
Basic performance of flat kick-swimming robot powered by impulse
Imai,Syota;Mochiyama,Hiromi
Proc. of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2012)   297-304   2012   [Refereed]
Shooting Manipulation System with High Reaching Accuracy
Tomofumi, Hatakeyama;Hiromi, Mochiyama
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2011)   4652-4657   Sep 2011   [Refereed]
In this paper, we propose a shooting manipulation system for manipulating a distant object in an instant. The proposed system mechanistically acts on a remote target by constraining an end-effector catapulted by an impulsive air flow through a fle...
Impulse Force Generator based on Closed Elastica
Mochiyama,Hiromi;Yamada,Atsushi;Fujimoto,Hideo
Journal of the Robotics Society of Japan   29(6) 492-495   Jul 2011
PWM Controlled Suction-and-Exhalation Master-Slave System for Micro-Manipulation
Yuki, Shirato;Hiromi, Mochiyama;Hisato, Kobayashi;Junya, Tatsuno;Hiroyuki, Kawai
Journal of Robotics and Mechatronics   23(3) 393-399   Jun 2011   [Refereed]
An Impulsive Force Generator Based on Closed Elastica with Bending and Distorsion and Its Application to Swimming Tasks
A., Yamada;Y., Sugimoto;H., Mochiyama;H., Fujimoto
Proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA2011)   957-962   May 2011   [Refereed]
Impulse Force Generator Based on a Serial Chain of Torsion Springs for Catapulting an Object
ICHIKAWA,Yasuhisa;MOCHIYAMA,Hiromi;FUJIMOTO,Hideo
Journal of the Robotics Society of Japan   29(1) 47-54   Jan 2011   [Refereed]
In this paper, we propose an impulse force generator for catapulting an object. The proposed impulse force generator utilizes snap-through buckling of an elastic body. The distinguished feature of the device is to adopt a serial chain of torsion s...
Bio-manipulation with a Robotic Straw
Hiromi, Mochiyama;Yuki, Shirato;Hisato, Kobayashi;Junya, Tatsuno;Hiroyuki, Kawai
Proceedings of the 2010 International Symposium on Micro-NanoMechatronics and Human Science (MHS2010)   290-295   Nov 2010   [Refereed]
Shooting Manipulation
Tomofumi, Hatakeyama;Hiromi, Mochiyama
Proceedings of the 5th International Conference on the Advanced Mechatronics (ICAM2010)   456-461   Oct 2010   [Refereed]
Robotic Jerboa: A Compact Bipedal Kick-and-Slide Robot powered by Unidirectional Impulse Force Generators
Tsuda,Takashi;Mochiyama,Hiromi;Fujimoto,Hideo
Proc. of the IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)   2523-2524   Oct 2010   [Refereed]
In this video, we propose the robotic jerboa which is a compact bipedal kick-and-slide robot powered by unidirectional impulse force generators. The robotic jerboa moves fast not only running forward but also turning right and left by kicking and ...
A Compact Jumping Robot utilizing Snap-through Buckling with Bend and Twist
Atsushi, Yamada;Hiroshi, Mameda;Hiromi, Mochiyama;Hideo, Fujimoto
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010)   389-394   Oct 2010   [Refereed]
A Rubber-Rainforced Serial Chain of Torsion Springs for an Impulse Force Generator based on Snap-through Buckling of Closed Elastica
Yasuhisa, Ichikawa;Hiromi, Mochiyama;and, Hideo Fujimoto
Proceedings of the 5th International Conference on the Advanced Mechatronics (ICAM2010)   647-652   Oct 2010   [Refereed]
Micro-manipulation System with Straw Interface based on Body Image Embedding
Yuki, Shirato;Hiromi, Mochiyama;Hisato, Kobayashi;Junya, Tatsuno;Hiroyuki, Kawai
Proceedings of the First IFToMM Asian Conference on Mechanism and Machine Science (Asian MMS 2010)   (1-6)   Oct 2010   [Refereed]
AN IMPULSIVE TURNING MECHANISM FOR SWIMMING ROBOTS BASED ON REPEATED SNAP-THROUGH BUCKLINKG
A., Yamada;Y., Sugimoto;H., Mameda;H., Fujimoto;H., Mochiyama
Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2010)   253-260   Aug 2010   [Refereed]
THE COMPACT KICK-AND-SLIDE ROBOT POWERED BY UNIDIRECTIONAL IMPULSE FORCE GENERATORS
Takashi, Tsuda;Hiromi, Mochiyama;Hideo, Fujimoto
Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2010)   229-236   Aug 2010   [Refereed]
A COMPACT JUMPING ROBOT BASED ON CONTINUOUS SNAP-THROUGH BUCKLINKG FOR HYBRID ENVIRONMENT
A., Yamada;H., Mameda;H., Fujimoto;H., Mochiyama
Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2010)   245-252   Aug 2010   [Refereed]
触覚イリュージョンとインタラクションデザイン
望山洋
日本機械学会講習会教材「触覚技術の基礎と応用」-- ヒトの触覚理解からヒューマンマシンインタフェースやロボットへの応用まで --(東京)   (10-58) 13-16   Jul 2010
2A2-A03 PWM Controlled Suck-and-blow Master-Slave System for Micro-Manipulation
SHIRATO,Yuki;MOCHIYAMA,Hiromi;KOBAYASHI,Hisato;TATSUNO,Junya;KAWAI,Hiroyuki
ロボティクス・メカトロニクス講演会講演概要集   2010(0) 2A2-A03(1)-2A2-A03(4)   Jan 2010
In this paper, we show a performance of the suck-and-blow master-slave system for micro-manipulation. The system was proposed by authors. In the proposed system, we can generate the air flow at the tip of the micro-straw in the slave side accordin...
2A2-A06 Extraction of Acoustic Information from Image Information Obtained through Microscope to Improve Maneuverability of Bio-manipulation
TATSUNO,Junya;KAWAI,Hiroyuki;MOCHIYAMA,Hiromi;KOBAYASHI,Hisato
ロボティクス・メカトロニクス講演会講演概要集   2010(0) 2A2-A06(1)-2A2-A06(2)   Jan 2010
The operability of micro-manipulator is a key issue to improve the efficiency of research and development in biological field. Though the real magnified haptic feedback must be helpful to improve the maneuverability of micro-manipulator, its reali...
1A1-E22 Robotic Jerboa : a Compact Kick-and-Slide Robot realizing Quick Turnings powered by Unidirectional Impulse Force Generators
TSUDA,Takashi;MOCHIYAMA,Hiromi;FUJIMOTO,Hideo
ロボティクス・メカトロニクス講演会講演概要集   2010(0) 1A1-E22(1)-1A1-E22(4)   Jan 2010
In this paper, we propose the robotic jerboa which is a compact bipedal kick-and-slide robot realizing quick turnings powered by unidirectional impulse force generators. The robotic jerboa moves fast not only running forward but also turning right...

Books etc

 
-触覚センサ・触覚ディスプレイ-感覚重視型 技術の最前線-心地良さと意外性を生み出す技術-(監修:秋山庸子)
望山, 洋;藤本英雄 (Part:Contributor, 第5 章触覚ではかる)
シーエムシー出版   Mar 2018   
触覚認識メカニズムと応用技術-触覚セン サ・触覚ディスプレイ-【増補版】(下条誠, 前野隆司, 篠田裕之, 佐野明人編)
望山洋 (Part:Contributor, 第2章 触の錯覚 第1節 触の錯覚(基礎編))
S&T出版   Mar 2014   
狙いどおりの触覚・触感をつく る技術
望山, 洋 (Part:Contributor, 誰も知らない好触感をつくる(第2 章第8 節))
サイエンス&テクノロジー   Nov 2017   
リアルタイム計測による生命現象の解析(監修:村田静昭)
望山, 洋;白土, 勇輝;小林, 尚登;樹野, 淳也;河合, 宏之 (Part:Contributor, マスタ・スレーブ型マイクロマニピュレーション(第5章))
シーエムシー出版   Mar 2011   
触覚認識メカニズムと応用技術 -触覚センサ・触覚ディスプレイ-(下条誠、前野隆司、篠田裕之、佐野明人編)
望山洋 (Part:Contributor, 第2章 触の錯覚 第1節 触の錯覚(基礎編))
サイエンス&テクノロジー   Sep 2010   

Conference Activities & Talks

 
TouchLens Amplifies the Strain inside a Rubber Artificial Skin Layer
安藤, 潤人;竹囲, 年延;望山, 洋
第23回ロボティクスシンポジア   14 Mar 2018   
人工皮膚センサによる凸/平面識別
正木俊明;安藤潤人;竹囲年延;望山, 洋;藤本英雄
情報処理学会第80回全国大会   13 Mar 2018   
Make:Animacy
望山, 洋;翠健仁;吉井彰;安藤潤人
第36回日本ロボット学会学術講演会   5 Sep 2018   
Development of Miniature Aquatic Robot Utilizing Resonant of Elastic Fin (Relation between Size and Resonance Frequency of Tail Made of Silicone Rubber)
稲葉, 亜佑美;小林, 優美;望山, 洋;武居, 直行
第60回自動制御連合講演会   10 Nov 2017   
Development of Miniature Aquatic Robot Utilizing Resonance of Multiple Elastic Plates
小林, 優美;稲葉, 亜佑美;望山, 洋;武居, 直行
ロボティクス・メカトロニクス講演会   4 Jun 2018   日本機械学会