ඛ➃ࣟ࣎ࢵࢺᕤᏛ◊✲ࢭࣥࢱ࣮άືሗ࿌          ඛ➃ࣟ࣎ࢵࢺᕤᏛ◊✲ࢭࣥࢱ࣮㛗 㯤 ೺ᡤဨ ᒸ ṇே㸪▮㔝 ᬛ᫛㸪ᑠ㇂ෆ ⠊✠㸪ᶞ㔝 ῟ஓ㸪཭ᅧ ఙಖ㸪ᰘ⏣ ⍞✑㸬ᖹᡂ  ᖺᗘάືሗ࿌ ඛ➃ࣟ࣎ࢵࢺᕤᏛ◊✲ࢭࣥࢱ࣮ࡣ㸪タ❧ᙜึ࠿ࡽ㸪㺀Ꮫෆ་ᕤ㐃ᦠ PJࠖࢆ୰ᚰ࡟ྲྀࡾ⤌ࢇ࡛ࡁࡓ㸬ᮏࣉࣟࢪ࢙ࢡࢺ◊✲ࡣ㸪་Ꮫ࡟ᕤᏛᢏ⾡ࢆ✚ᴟⓗ࡟ᑟධࡍࡿࡇ࡜࡛་Ꮫࡢࡉࡽ࡞ࡿⓎᒎ㸪ᝈ⪅ࡢ QOL ቑ኱࡟ᐤ୚ࡍࡿࡇ࡜ࢆ┠ᣦࡋ࡚་Ꮫ㒊㸪⌮ᕤᏛ㒊㸪ᕤᏛ㒊㸪⏕≀⌮ᕤᏛ㒊㸪⏘ᴗ⌮ᕤᏛ㒊࡞࡝඲Ꮫⓗ༠ຊ࡟ࡼࡗ࡚㐍ࡵࡽࢀ࡚࠸ࡿ㸬ձ ௓ㆤࣜࣇࢺᆺṌ⾜࢔ࢩࢫࢺࡢṌ⾜ホ౯㸦㯤࣭ᑠ㇂ෆ㸧 ᐷࡓࡁࡾࡸ⑵࿈ࢆ㜵Ṇࡍࡿࡓࡵ㸪ᅾᏯࡶࡋࡃࡣࣜࣁࣅࣜ᪋タ࡞࡝࡟⏕άࡋ࡚࠸ࡿ㧗㱋⪅ࡣ௓ㆤ⪅ࡢࢧ࣏࣮ࢺࢆཷࡅࡘࡘࡶ㸪࡛ࡁࡿࡔࡅ⮬ศࡢ࣮࣌ࢫ࡛Ṍ⾜カ⦎ࢆ⾜࠺⮬❧ᨭ᥼ᶵჾࡢ㛤Ⓨࡀษᐇ࡟ᮇᚅࡉࢀ࡚࠸ࡿ㸬ᮏ◊✲࡛ࡣ㸪Ṍ⾜ಁ㐍ࡢຠᯝࢆྥୖࡍࡿࡓࡵ㸪ᐊෆ࡛ࡢ฼⏝ࢆ┠ⓗ࡜ࡍࡿప౯᱁ࡢ௓ㆤࣜࣇࢺᆺṌ⾜㌴㸦࢔ࣝࣇ࢓࣮ࣟࣛ㸪 ᰴ ࣑ࣁ࣐㸧ࡢ⬚ࣃࢵࢻ࡟ 1 ㍈ᅇ㌿ᶵᵓࢆຍ࠼ࡿࡇ࡜࡟ࡼࡗ࡚⭜㒊ࡢࢫ࢖ࣥࢢࢆᘬࡁฟࡍ㸬ࡲࡓ㸪࣮ࣔࢩࣙࣥ࢟ࣕࣉࢳ࣮ࣕࢆ⏝࠸࡚Ṍ⾜୰ࡢ⭜㒊ࡸୗ⫥㒊ࡢ㐠ືࢆᐃࡋ㸪Ṍ⾜࢔ࢩࢫࢺࡢຠᯝࢆᐃ㔞ⓗ࡟ホ౯ࡍࡿ㸬ղ ⌫㠃࣮ࣔࢱࡢ㛤Ⓨ㸦▮㔝㸧
1 ྎ࡛⌫㠃ከ⮬⏤ᗘࡢືࡁࢆᐇ⌧ࡍࡿ⌫㠃࣮ࣔࢱᮏయ࠾ࡼࡧ⌫㠃㥑ື࡟ᚲせ࡞⌫㠃ࢭࣥࢧ㸪⌫㠃ᨭᣢᶵᵓ㸪⌫㠃ῶ㏿ᶵ࡞ࡽࡧ࡟ไᚚ᪉ἲࡢ◊✲ࢆ⾜ࡗ࡚࠸ࡿ㸬1 ḟඖ✵㛫࡟࠾ࡅࡿࢭࣥࢩࣥࢢ⌮ㄽࢆ 3 ḟඖ✵㛫࡟ᣑᙇࡋ㸪⏬ീࢭࣥࢧ᝟ሗ࠿ࡽ⌫యࡢጼໃࢆỴᐃࡍࡿ⌮ㄽࢆ☜❧ࡋࡓ㸬PID ไᚚ⌮ㄽࢆ 3 ḟඖ✵㛫࡟ᣑᙇࡋ㸪⌫యࡢጼໃࣇ࢕࣮ࢻࣂࢵࢡไᚚ⌮ㄽࢆ☜❧ࡋࡓ㸬⌫㠃࣮ࣔࢱไᚚᐇ㦂࡟ࡼࡾ⌮ㄽ᳨ドࢆ⾜ࡗࡓ㸬⌫㠃ῶ㏿ᶵࢆヨసࡋ㸪ࣔࢹࣝసᡂࡢࡓࡵࡢᇶ♏ᐇ㦂ࢆ⾜ࡗࡓ㸬ճ ࣇ࢕࣮ࣝࢻࣟ࣎ࢵࢺࡢ㛤Ⓨ㸦ᑠ㇂ෆ㸧ᐇ♫఍࡟ᙺ❧ࡘࣟ࣎ࢵࢺࢆ┠ᣦࡋࡓࣇ࢕࣮ࣝࢻࣟ࣎ࢸ࢕ࢡࢫࡢ◊✲㛤Ⓨࡢࡦ࡜ࡘ࡜ࡋ࡚
4 ㍯ 4 ⬮ᙧࣃ࣮ࢯࢼ࣭ࣝࣟ࣎ࢵࢺࡢ◊✲ࢆ⾜ࡗ࡚࠸ࡿ㸬㉸ᑡᏊ㧗㱋໬♫఍ࡢ฿᮶࡟ഛ࠼࡚⏕άᨭ᥼ศ㔝࡛ࡢࣟ࣎ࢵࢺࡢά⏝ࡀᙉࡃᮃࡲࢀ࡚࠾ࡾ㸪ࡑࡢࡓࡵࡢṌ⾜⪅㏣ᚑᆺࣟ࣎ࢵࢺࣉࣛࢵࢺࣇ࢛࣮࣒ࡢᵓ⠏ࢆ┠ᣦࡋ࡚࠸ࡿ㸬ࣃ࣮ࢯࢼ࣭ࣝࣟ࣎ࢵࢺ࡟ᚲせ࡞ 3 ḟඖ⛣ື⎔ቃࡢㄆ㆑ᢏ⾡ࡢ㛤Ⓨ࡜ࡋ࡚㸪2 ḟඖ࣮ࣞࢨ࣮ࢫ࢟ࣕࢼ࡟ࡼࡿỈᖹᆅᙧ㸪㖄┤ᆅᙧࡢィḟඖ࣮ࣞࢨ࣮ࢫ࢟ࣕࢼ࡟ࡼࡿ 3 ḟඖᆅᙧィ࡜㸪3ࡢᐇ㦂ࢆ⾜࠸㸪ࡑࢀࡒࢀࡢ≉㉁ࢆㄪ࡭ࡓ㸬մ ప័ᛶ࡞ࣟ࣎ࢵࢺ࢔࣮࣒ࡢ㛤Ⓨ㸦ᒸ㸧 ࣟ࣎ࢵࢺ࢔࣮࣒ࡣᚲせ࡞ࢺࣝࢡࢆᚓࡿࡓࡵ࡟ῶ㏿ࢠ࢔ࢆ⏝࠸࡚࠸ࡿ㸬ࡇࡢῶ㏿ࢠ࢔ࢆ⏝࠸ࡿࡇ࡜࡟ࡼࡾ㸪࢔࣮࣒඲యࡢ㔜㔞ࡀ㔜ࡓࡃ࡞ࡿḞⅬࡀ࠶ࡿ㸬ᮏ◊✲࡛ࡣࢿࢪᘧࡢ࢔࣮࣒ࢆ⏝࠸࡚࢔࣮࣒ࢆ㥑ືࡍࡿ㸬ࡇࢀ࡟ࡼࡾῶ㏿ࢠ࢔ࢆᚲせ࡜ࡋ࡞࠸ࢩࣥࣉ࡛ࣝ㍍㔞࡞ᵓ㐀࡛

－ 20 －࢔࣮࣒ࢆᵓᡂ࡛ࡁࡓ㸬ࡲࡓ㸪㟼Ṇ᫬࡟࠾࠸࡚ࡣ㟁ຊࢆᾘ㈝ࡋ࡞࠸㸦㟁☢ࣈ࣮ࣞ࢟ࢆᚲせ࡜ࡋ࡞࠸㸧≉ᚩࡀ࠶ࡿ㸬յ ⎔ቃಖ඲ᆺ㎰ᴗࢆᐇ㊶ࡍࡿ㎰సᴗࣟ࣎ࢵࢺࡢ㛤Ⓨ㸦ᶞ㔝㸧 ᒁᡤ⪔࠺ࢇ᱂ᇵ࡜ྡ௜ࡅࡽࢀࡓ⎔ቃಖ඲ᆺ㎰ᴗࢆᐇ㊶ࡍࡿ㎰ᴗ⏝ࣟ࣎ࢵࢺࢆ㛤Ⓨࡋ࡚࠸ࡿ㸬᪤ ࡢ◊✲࡟࡚㸪ᒁᡤ⪔࠺ࢇ᱂ᇵ࡜⬮ᘧ⛣ືᶵᵓ࡟ぶ࿴ᛶࡀ࠶ࡿࡇ࡜ࢆぢ࠸ฟࡋࡓࡇ
࡜࠿ࡽ㸪5 ⬮ᘧࡢ⛣ືᶵᵓࡢタィ࣭ヨసࢆ⾜ࡗࡓ㸬ࡲࡓ㸪࣮࣌ࣃ࣮࣏ࢵࢺᘧⱑࢆᐃ᳜ྍ⬟࡞సᴗᶵࡢ㛤Ⓨ࡟ࡶྲྀࡾ⤌ࡳ㸪ᅡሙ࡟࡚ⱑࡢ᳜࠼௜ࡅᛶ⬟ࡢヨ㦂ࢆᐇ᪋ࡋࡓ㸬ն ே㛫ᦚ஌ྍ⬟࡞㝵ẁ᪼㝆ࣟ࣎ࢵࢺࡢ◊✲㸦཭ᅧ㸧
2 ㍯ಽ❧⛣ືᶵᵓࢆᛂ⏝ࡋࡓே㛫ᦚ஌ྍ⬟࡞㝵ẁ᪼㝆ࣟ࣎ࢵࢺࡢ◊✲࡟࠾࠸࡚㸪3 ḟඖ≀⌮ࣔࢹࣝࡢタィ࡜ไᚚ๎ࡢ᳨ウࢆ࠾ࡇ࡞࠸㸪࢔ࢡࢸ࢕ࣈ࢟ࣕࢫࢱ࡟࠾࠸࡚㸪5mm ࡢẁᕪ஌ࡾ㉺࠼ྍ⬟࡞ࣁ࣮ࢻ࢙࢘࢔ࢆᐇ⌧ࡍࡿࡓࡵࡢῶ㏿ᶵ࡟ࡘ࠸࡚ࡢ◊✲ࢆ⾜ࡗࡓ㸬շ ᰂ㌾እẆỈ୰ࣟ࣎ࢵࢺ࡟㛵ࡍࡿ◊✲㸦ᰘ⏣㸧እẆࢆᰂ㌾࡞ᶞ⬡ࣇ࢕࣒࡛ࣝᵓᡂࡍࡿỈ୰ࣟ࣎ࢵࢺࢆヨసࡋ࡚࠸ࡿ㸬ᖹᡂ 26 ᖺᗘࡣ㸪ᾋຊᮦࢆ฼⏝ࡋࡓጼໃኚ᭦ᶵᵓࡢ〇సࡋࡓ㸬ࡲࡓ㸪ᶞ⬡ࣇ࢕࣒ࣝࡢ㟁Ἴ㏱㐣ᛶࢆ฼⏝ࡋ㸪㠀᥋ゐ⤥㟁ᶵ⬟࠾ࡼࡧ㏻ಙᶵ⬟ࢆ᭷ࡍࡿᐇᶵࢆ〇సࡋ㸪ࡑࡢ᭷⏝ᛶࢆ㸪ᐇ㦂ࢆ㏻ࡋ࡚☜ㄆࡋࡓ㸬ࡇࡢỈ୰ࣟ࣎ࢵࢺࡢ〇స࡟ࡣ┿✵ໟ⿦ࡢᢏ⾡ࢆ฼⏝ࡋ࡚࠸ࡿ㸬┿✵ໟ⿦ᶵ࡟㛵ࡋ࡚ࡣ㸪௻ᴗ࠿ࡽࡢᨭ᥼㸦ᶵჾ㈚୚㸧ࢆཷࡅ࡚࠸ࡿ㸬ո ᰂ㌾⣲ᮦࢆ฼⏝ࡋࡓṌ⾜ࣟ࣎ࢵࢺ࡟㛵ࡍࡿ◊✲㸦ᰘ⏣㸧ᮏయࢆᰂ㌾⣲ᮦ㸦ᶞ⬡ᮦ㸧࡛ᵓᡂࡍࡿእ㦵᱁ᆺ஧㊊Ṍ⾜ࣟ࣎ࢵࢺࢆヨసࡋ࡚࠸ࡿ㸬ᰂ㌾⣲ᮦࢆ฼⏝ࡍࡿࡇ࡜࡛㸪ᐇᶵࢆ㍍㔞࡟〇సࡍࡿࡇ࡜ࡀྍ⬟࡛࠶ࡿ㸬ࡲࡓ㸪᥋ゐ᫬㛫ࡢቑຍ࡜㸪࢚ࢿࣝࢠ࣮ᾘᩓࡢほⅬ࠿ࡽ⪏⾪ᧁᛶࢆ᭷ࡍࡿࡇ࡜ࡀᮇᚅࡉࢀࡿ㸬ᖹᡂ 26 ᖺᗘࡣ㸪ヨసࡋࡓࣟ࣎ࢵࢺࡢ⪏⾪ᧁᛶࢆᐇ㦂ⓗ࡟ホ౯ࡋࡓ㸬չ ࢭࣥࢱ࣮఍㆟࠾ࡼࡧ㛵㐃άື(1) ᖹᡂ 26 ᖺ 9 ᭶ 3 ᪥࡟➨ 1 ᅇ㏆␥኱Ꮫࣟ࣎ࢵࢺ࣓࢝ࢺࣟࢽࢡࢫ◊✲Ⓨ⾲఍ࡀᕤᏛ㒊࡛㛤ദࡉࢀࡓ㸬఍㆟࡛ࡣ㸪኱㜰኱Ꮫ 㔠Ꮚ ┿ ᩍᤵ࡟ࡼࡿ≉ูㅮ₇ࡢ࡯࠿㸪ࣟ࣎ࢵࢺ࣓࢝ࢺࣟࢽࢡࢫ㛵㐃ࡢ◊✲Ⓨ⾲ 5 ௳㸦⌮ᕤᏛ㒊 2 ௳㸪ᕤᏛ㒊 3 ௳㸧ࡀ⾜ࢃࢀࡓ㸬(2) ᖹᡂ 27 ᖺ 2 ᭶ 27 ᪥࡟ᮾ኱㜰࢟ࣕࣥࣃࢫ࡟࠾࠸࡚་ᕤ㐃ᦠࣉࣟࢪ࢙ࢡࢺ୺ദࡢ≉ูㅮ
₇఍࡜᭱⤊ሗ࿌఍ࡀ㛤ദࡉࢀࡓ㸬㸬ඹྠ◊✲(1) 㯤೺㸪ᑠ㇂ෆ⠊✠㸪཭ᅧఙಖ㸸ࠕ⛣ືࣜࣇࢺ࡟Ṍ⾜ጼໃࢆไᚚ࡛ࡁࡿᶵჾࢆࣂ࣮ࢪࣙࣥ࢔ࢵࣉ࡟㛵ࡍࡿ◊✲ࠖ㸪 ᰴ ࣑ࣁ࣐(2) ᑠ㇂ෆ⠊✠㸸ࠕࣇ࢕࣮ࣝࢻࣟ࣎ࢸ࢕ࢡࢫࡢ◊✲ࠖ㸪 ⊂ ⏘ᴗᢏ⾡⥲ྜ◊✲ᡤ(3) ᰘ⏣⍞✑㸸◊✲ᨭ᥼ࠕࣟ࣎ࢵࢺࣃࢵ࢟ࣥࢢᢏ⾡ࡢ㛤Ⓨࠖ㸪 ᰴ ྂᕝ〇సᡤ(4) ᰘ⏣⍞✑㸸ඹྠ◊✲ 1 ௳－ 21 －(5) ᰘ⏣⍞✑㸸ᐤ㝃◊✲ 1 ௳㸬୺せ࡞◊✲ᴗ⦼  ㄽᩥ㸦 ௳㸧1)ᰘ⏣ ⍞✑㸪͆ᕸᆅࡢᢲࡋࡘࡅ⛣ື᧯స࡟࠾ࡅࡿ⛣ື㊥㞳ࡢ᥎ᐃ͇㸪㏆␥኱Ꮫḟୡ௦ᇶ┙ᢏ⾡◊✲ᡤሗ࿌㸪Vol.5, (2014),pp.63-662)➟ᓥ Ọྜྷ㸪▮㔝 ᬛ᫛㸪ⰱ⏣ ᴟ㸪͆⌫㠃࣮ࣔࢱࡢ㛤Ⓨ㸦➨2ሗ㸸࣮ࣟࢱࡢጼໃ᳨ฟ࡜ࣇ࢕࣮ࢻࣂࢵࢡไᚚ㸧͇㸪᪥ᮏᶵᲔᏛ఍ㄽᩥ㞟C㸪Vol.80, No.809,(2014),pp.1-193)▮㔝 ᬛ᫛㸪͆⌫㠃࣮ࣔࢱࡢ◊✲ືྥ͇㸪㏆␥኱Ꮫḟୡ௦ᇶ┙ᢏ⾡◊✲ᡤሗ࿌㸪Vol.5,(2014),pp.145-1524)

Mizuho Shibata, Norimitsu Sakagami, “Fabrication of A Fish-like Underwater
Robot with Flexible Plastic Film Body”, Advanced Robotics, Vol.29, Issue1,(2015),pp.103-113

5)

Soichi Ibaraki, Tomoya Kudo, Tomoaki Yano, Toshiyuki Takatsuji, Sonko Osawa,“Estimation of three-dimensional volumetric errors of machiningcenters by atracking interferometer”, Precision Engineering, No.39,(2015), pp.179-186  Ꮫ఍Ⓨ⾲㸦 ௳㸧1)⏣ᓥ ῟㸪ຍ⸨ 㞞⩏㸪᳃㇂ ⨾⣖㸪஭ฟ ❶㸪ᶞ㔝 ῟ஓ㸪͆୰ᒣ㛫ᆅᇦ࡟࠾ࡅࡿ㐠ᦙືຊࡢ┬࢚ࢿࣝࢠ࣮໬࡟ࡘ࠸࡚͇㸪 ㎰సᴗ◊✲㸪Vol.49㸪Ex.1㸪᫓Ꮨ኱఍ㅮ₇せ᪨㞟㸪(2014-5)2)ᐿ㔝 㞞ኴ㸪⏣ᓥ ῟㸪ຍ⸨ 㞞⩏㸪◁ᕝ ග㸪ᶞ㔝 ῟ஓ㸪͆ᒁᡤ⪔࠺ࢇჾලࢆ⏝࠸ࡓ⪔࠺ࢇྠ᫬ホ౯ἲ࡟㛵ࡍࡿ◊✲㸫ྵỈ⋡ࡀ㏻Ẽᛶᣦᩘ࡟ཬࡰࡍᙳ㡪࡟ࡘ࠸࡚㸫͇㸪 ㎰స
ᴗ◊✲㸪Vol.49㸪Ex.1㸪᫓Ꮨ኱఍ㅮ₇せ᪨㞟㸪(2014-5)3)ᰗ㇂ ᐃᏹ㸪஬⚟ ᫂ኵ㸪▮㔝 ᬛ᫛㸪͆FPGAࢆ⏝࠸ࡓ14-12⌫㠃࣮ࣔࢱไᚚࢩࢫࢸ࣒ࡢ㛤Ⓨ͇㸪➨26ᅇ㟁☢ຊ㛵㐃ࡢࢲ࢖ࢼ࣑ࢡࢫࢩ࣏ࣥࢪ࣒࢘ㅮ₇ㄽᩥ㞟㸪(2014-5) pp.61-644)ᶓᐙ ኱㈗㸪஬⚟ ᫂ኵ㸪▮㔝 ᬛ᫛㸪➟ᓥ Ọྜྷ㸪͆㟁☢㥑ືᘧ⌫㠃࣮ࣔࢱࡢጼໃィホ౯͇㸪➨26ᅇ㟁☢ຊ㛵㐃ࡢࢲ࢖ࢼ࣑ࢡࢫࢩ࣏ࣥࢪ࣒࢘ㅮ₇ㄽᩥ㞟㸪(2014-5),pp.57-605)

Ᏻ㐩 ࿴㍤㸪஬⚟ ᫂ኵ㸪▮㔝 ᬛ᫛㸪➟ᓥ Ọྜྷ㸪͆୕ḟඖ㐃ᡂ☢ሙゎᯒࢯࣇࢺࢆ⏝࠸ࡓ
14-12⌫㠃࣮ࣔࢱࡢᅇ㌿ࢩ࣑࣮ࣗࣞࢩ͇ࣙࣥ㸪➨26ᅇ㟁☢ຊ㛵㐃ࡢࢲ࢖ࢼ࣑ࢡࢫࢩ࣏ࣥ
ࢪ࣒࢘ㅮ₇ㄽᩥ㞟㸪(2014-5) ,pp.53-56

6)

Kiwamu Adachi, Akio Gofuku, Tomoaki Yano, “Simulation of Rotation Behavior of a14-12 Spherical Motor”, Proceedings of the Symposium on Power Electronics,
Electrical Drives(Speedam2014), Automation & Motion,(2014-6),pp.1282-1286

7)

Akio Gofuku, Yuta Ohkido, Tomoaki Yano, “Evaluation of Basic Performances of a14-12 Spherical Motor”, Proceedings of the Symposium on Power Electronics,Electrical Drives, Automation & Motion(Speedam2014),(2014-6), pp.1277-1281

8)Mizuho Shibata, Norimitsu Sakagami, “A Portable Underwater Robot with
Tensegrity Body Composed of Thruster Units”, Mobile Service Robotics(CLAWAR2014),(2014-7),pp.503-510－ 22 －9)

Nagayoshi Kasashima, Kiwamu Ashida, Tomoaki Yano, Akio Gofuku, Mitsunobu
Shibata, “A New Control Method of an Electromagnetic Spherical Motor with Three
Degrees of Freedom”, Proceedings of ISCIE/ASME 2014 Int.Symp. Flexible
Automation (ISFA2014), No.ISFA2014-52, (2014-7),pp.1-410) ᅵᒇ ῟୍㸪㟷ᰗ Ꮫ㸪኱ᶫ ೺㸪➉ᮧ ◊἞㑻㸪┿ୗ ᬛ᫛㸪▮㔝 ᬛ᫛㸪͆᪂ୡ௦࢔ࢡࢳ࢚࣮ࣗࢱࡢ1⮬⏤ᗘ⣔ࡢᛶ⬟ホ౯࡜ከ⮬⏤ᗘ⣔ࡢホ౯࡟ྥࡅ࡚ࡢᅽ㟁㺃㉸㡢Ἴ࢔ࢡࢳ࢚࣮ࣗࢱࡢ඲య࠿ࡽࡢ఩⨨࡙ࡅ͇㸪ᖹᡂ26ᖺ㟁ẼᏛ఍⏘ᴗᛂ⏝㒊㛛኱఍ㅮ₇ㄽᩥ㞟㸪Vol.III, (2014-8) , pp.69-7211) Kensei Ishizu, Haruki Nakayama, Norimitsu Sakagami, Mizuho Shibata, Sadao
Kawamura, Shinji Matsuda, Atsushi Mitsui, “Preliminary Experiments of a
Human-Portable Underwater Gripper Robot for Dexterous Tasks”, Proceedings ofMTS/IEEE OCEANS 2014,(2014-9),131129-12412) ᰘ⏣ ⍞✑, ᆏୖ ᠇ග,͆ᰂ㌾እẆ㨶ࣟ࣎ࢵࢺࡢࡓࡵࡢᾋຊᮦෆⶶᆺጼໃኚ᭦ᶵᵓ͇, ➨32ᅇ᪥ᮏࣟ࣎ࢵࢺᏛ఍ㅮ₇㞟㸪(2014-9)
13) ᑠ஭ᅵ ဴᖹ㸪▼ὠ ㅬ⏕㸪୰ᒣ ἞ᶞ㸪⚟ᓥ ຬ㈗㸪ΎỈ ᬛᇶ㸪ዟᒣ ㈗ோ㸪ᆏୖ ᠇ග㸪ᰘ⏣ ⍞✑㸪ᕝᮧ ㈆ኵ㸪͆ᑠᆺỈ୰ࢢࣜࢵࣃࣟ࣎ࢵࢺ⏝∦ᡭ᧯⦪⿦⨨ࡢ㛤Ⓨ͇㸪➨32ᅇ᪥ᮏࣟ࣎ࢵࢺᏛ఍ㅮ₇㞟㸪(2014-9)14) Motoki Shino, Nobuyasu Tomokuni, Genki Murata, and Masaya Segawa, “WheeledInverted Pendulum Type Robotic Wheelchair with Integrated Control of Seat Sliderand Rotary Link between Wheels for ClimbingStairs”, The 2014 IEEE
International Workshop on Advanced Robotics and its Social Impacts (ARSO2014),
SaCT1.3, (2014-9)15) Nagayoshi Kasashima, Kiwamu Ashida, Tomoaki Yano, Akio Gofuku, “Posturemonitoring method of a multi-degree-of-freedom spherical motor by using imageprocessing”,Proceedings of the 9 th International Workshop on Microfactory(IWMF),Vol.TuAT2.4,(2014-10),pp.1-516) ኱ᇛᡞ ඃኴ㸪஬⚟ ᫂ኵ㸪▮㔝 ᬛ᫛㸪͆⌫㠃࣮ࣔࢱ࡟࠾ࡅࡿ⌫㠃ῶ㏿ᶵᵓ࡟㛵ࡍࡿ◊✲͇㸪➨23ᅇMAGDA ࢥࣥࣇ࢓ࣞࣥࢫin 㧗ᯇㅮ₇ㄽᩥ㞟㸪(2014-12),pp.315-31817) Ᏻ㐩 ࿴㍤㸪஬⚟ ᫂ኵ㸪▮㔝 ᬛ᫛㸪
͆14-12⌫㠃࣮ࣔࢱࡢᛶ⬟ホ౯ࡢࡓࡵࡢࢩ࣑࣮ࣗࣞ
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817㸬20) ᶓ⏣ ᡂᙯ, ᰘ⏣ ⍞✑,͆ᰂ㌾እ㦵᱁ᆺࣟ࣎ࢵࢺ࡟࠾ࡅࡿ஧㊊Ṍ⾜ືసࡢᐇ⌧࡜⪏⾪ᧁᛶホ౯͇, ᪥ᮏᶵᲔᏛ఍ ୰ᅜᅄᅜᏛ⏕఍➨45ᅇᏛ⏕ဨ༞ᴗ◊✲Ⓨ⾲ㅮ₇఍ㅮ₇๓ๅ㞟,(2015-3),㸦ඃ⚽Ⓨ⾲㈹㸧
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－ 25 － ࣭ ⊂ ᪂࢚ࢿࣝࢠ࣮㺃⏘ᴗᢏ⾡⥲ྜ㛤Ⓨᶵᵓ ࣆ࢔ࣞࣅࣗ࢔㸦2004.4.1㹼㸧
 ࣭ᩥ㒊⛉Ꮫ┬ ⛉Ꮫᢏ⾡ᨻ⟇◊✲ᡤᢏ⾡ືྥ◊✲ࢭࣥࢱ࣮ ᑓ㛛ㄪᰝဨ㸦2008.4.1㹼㸧
 ࣭⢭ᐦᕤᏛ఍ ḟୡ௦ࢭࣥࢧ㺃࢔ࢡࢳ࢚࣮ࣗࢱጤဨ఍ ጤဨ㸦2015.2.1㹼㸧
 ࣭Ᏹᐂ⯟✵◊✲㛤ⓎᶵᵓᏱᐂ⛉Ꮫ◊✲ᡤ ᏱᐂᕤᏛጤဨ఍◊✲⌜ဨ㸦2011.4.1㹼㸧
 ࣭Ᏹᐂ⯟✵◊✲㛤ⓎᶵᵓᏱᐂ⛉Ꮫ◊✲ᡤ ╔㝣ࢲ࢖ࢼ࣑ࢡࢫ◊✲఍ጤဨ㸦2013.4.1㹼㸧
 ࣭ᮾᗈᓥၟᕤ఍㆟ᡤ ࣮ࣔࢱ㺃ࢪ࢙ࢿ࣮ࣞࢱ◊✲఍఍ဨ㸦2014.4㹼㸧 ࣭ ⊂ ᪥ᮏᏛ⾡᣺⯆఍ ᑂᰝጤဨೃ⿵㸦2010.4㹼㸧
(4) ᑠ㇂ෆ ⠊✠࣭ࡘࡃࡤࢳࣕࣞࣥࢪ 2014 ᐇ⾜ጤဨ఍ ጤဨ(5) ᰘ⏣ ⍞✑࣭❧࿨㤋኱Ꮫ ඛ➃ࣟ࣎ࢸ࢕ࢡࢫ◊✲ࢭࣥࢱ࣮ ᐈဨ◊✲ဨ㸦2014 ᖺᗘ㸧࣭ࣟ࣎ࢸ࢕ࢡࢫ࣭࣓࢝ࢺࣟࢽࢡࢫㅮ₇఍ 2015 ࣉࣟࢢ࣒ࣛጤဨ㸦2014.12㹼㸧 ࡑࡢ௚(1) ᑠ㇂ෆ ⠊✠㸸୰ᅜ᪂⪺኱Ꮫࢼࣅ Web ≉ูㅮᗙࠕࣇ࢕࣮ࣝࢻࣟ࣎ࢸ࢕ࢡࢫࡢୡ⏺ࠖ㸪
2014.7(2) 㯤 ೺㸪཭ᅧ ఙಖ㸪ᮾᗈᓥၟ㆟ᡤ㸦௻ᴗ㸧ࡢ◊✲ᐊゼၥ㸦3D ࣉࣜࣥࢱ࣮ぢᏛ㸧㸪2014.8.28(3) 㯤 ೺㸪▮㔝 ᬛ᫛㸪ᑠ㇂ෆ ⠊✠㸪ᒸ ṇே㸪ᶞ㔝 ῟ஓ㸪཭ᅧ ఙಖ㸪ᰘ⏣ ⍞✑㸪⏘ᴗ⏝ࣟ࣎ࢵࢺά⏝㧗ᗘ໬◊✲఍୺ദ㏆኱ᕤᏛ㒊ࣟ࣎ࢵࢺ࣓࢝ࢺࣟࢽࢡࢫ◊✲ᐊබ㛤㸪
2014.9.3－ 26 －