Researchers

IKEDA Masahiro

IKEDA Masahiro: Research associate

Faculty	Department of Human Factors Engineering and Environmental Design
Researchmap	https://researchmap.jp/ikeda-masahiro

Research Activities

Research Areas

Informatics, Mechanics and mechatronics
Informatics, Robotics and intelligent systems

Research Interests

Soft robot, Musculoskeletal robot, Robotics

Published Papers

"RobOstrich" Manipulator: A Novel Mechanical Design and Control Based on the Anatomy and Behavior of an Ostrich Neck.
Kazashi Nakano; Megu Gunji; Masahiro Ikeda; Keung Or; Mitsuhito Ando; Katsuma Inoue; Hiromi Mochiyama; Kohei Nakajima; Ryuma Niiyama; Yasuo Kuniyoshi
IEEE Robotics and Automation Letters 8 (5) , 3062-3069, May. 2023
Inflatable Humanoid Cybernetic Avatar for Physical Human-Robot Interaction.
Ryuma Niiyama; Masahiro Ikeda; Young Ah Seong
International Journal of Automation Technology 17 (3) , 277-283, May. 2023
Characterization of continuum robot arms under reinforcement learning and derived improvements.
Ryota Morimoto; Masahiro Ikeda; Ryuma Niiyama; Yasuo Kuniyoshi
Frontiers in Robotics and AI 9 Sep. 2022

Prototyping of a Quadruped Robot Having Passive Elastic Joints in the Trunk and Analysis of the Motion around Roll and Pitch axes , Ikeda Masahiro; Mizuuchi Ikuo , The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) , 2019 , 2A2-K03 , 2019
Summary:We have confirmed that passive elastic trunk joints affect the energy efficiency of quadruped robots. The main causes of energy loss are negative work and contact between the legs and ground. We clarified relationship between legs and trunk joints for decreasing energy loss. Elastic energy of the trunk joints increases at the timing when kinetic energy in robots decreases. On the other hand, elastic energy of the trunk joints is released at the timing when kinetic energy in robots increases. Energy loss is smaller by this mechanism. In this paper, we develop a quadruped walking robot having passive elastic joints in the trunk. Also, by this walking robot, we verify that the proposed relationship between leg and trunk joints is reliable.
Energy analysis and trial manufacture of a quadruped robot having a passive elastic joint in the trunk , 池田昌弘; 水内郁夫 , システム制御情報学会研究発表講演会講演論文集 , 62 , 6p , 16, May. 2018
Analysis of the Energy Loss on Quadruped Robot Having a Flexible Trunk Joint (Special Issue on Dynamically and Biologically Inspired Legged Locomotion) , Masahiro Ikeda; Ikuo Mizuuchi , Journal of robotics and mechatronics , 29 , 3 , 536 , 545 , Jun. 2017