多田隈 建二郎 博士（工学）
Kenjiro TADAKUMA, Ph.D.

大阪大学 大学院工学研究科
機械工学専攻
金子・東森研究室
助教

略歴

2002.4: 東京工業大学大学院 理工学研究科 機械宇宙工学システム専攻
           修士課程入学．
2004.3: 同上修了．
2004.4: 東京工業大学大学院 理工学研究科 機械宇宙工学システム専攻
           博士課程入学．
2007.3: 同上修了，博士（工学）．
2006.9: Massachusetts Institute Technology 客員研究員．
2007.4: Massachusetts Institute Technology Postdoctral Associate．
2008.1: 東北大学大学院 工学研究科 航空宇宙工学専攻 産学連携研究員．
2008.4: 電気通信大学 知能機械工学科 助教．
2009.8: 大阪大学大学院 工学研究科 機械工学専攻 助教．

研究内容： ロボット機構設計，全方向移動機構．(球状全方向車輪“Omni-Ball”，円形断面クローラ機構“Omni-Crawler”,全方向包み込み式なじみグリッパ“Omni-Gripper”)

  

 連絡先

E-Mail tadakuma[at]mech.eng.osaka-u.ac.jp
TEL 06-6879-7333
FAX 06-6879-4185
住所 〒565-0871 吹田市山田丘2-1
大阪大学大学院工学研究科 機械工学専攻

研究業績

　原著学術雑誌論文

  • [12] 溝口善智, 多田隈建二郎, 長谷川浩章, 明愛国, 石川正俊, 下条誠「近接・触・すべり覚を統合したインテリジェントロボットハンドの開発」計測自動制御学会論文集2009年9月提出（査読中）
  • [11] Seiichi Teshigawara，Kenjiro Tadakuma，Aiguo Ming，Masatoshi Ishikawa，and Makoto Shimojo, "High Speed and High Sensitivity Slip Sensor Utilizing Characteristics of Conductive Rubber - Relationship Between Shear Deformation of Conductive Rubber and Resistance Change - ", pp.200-208, Vol.21 No.2, 2009 Journal of Robotics and Mechatronics
  • [10] Plante, J.-S.; Tadakuma, K.; DeVita, L.M.; Kacher, D.F.; Roebuck, J.R.; DiMaio, S.P.; Jolesz, F.A.; Dubowsky, S. , “An MRI-compatible needle manipulator concept based on elastically averaged dielectric elastomer actuators for prostate cancer treatment: an accuracy and MR-compatibility evaluation in phantoms”, Journal of Medical Devices, v 3, n 3 ,031005 (10 pp.), Sept. 2009 ISSN: 1932-6181 CODEN: JMDOA4 Publisher: ASME, USAt: an accuracy and MR-compatibility evaluation in phantoms
  • [9] Kenjiro Tadakuma, Riichiro Tadakuma and Shigeo Hirose, "Motions on Steps and Slopes of Omni-Directional Mobile Robot, "VmaxCarrier2"", International Journal of Factory Automation, Robotics and Soft Computing, INTERNATIONAL SOCIETY FOR ADVANCED RESEARCH, pp69-76, Issue 4, October 2007
  • [8] 多田隈 理一郎， 多田隈 建二郎， 横井 一仁, 「ウェアラブル触覚ディスプレイを用いた有毛部皮膚の触覚に関する研究」, 日本バーチャルリアリティ学会論文誌 Vol.13，No.4，pp.429-438, 2008
  • [7] 多田隈建二郎，多田隈理一郎，広瀬茂男, “球状全方向車輪「Omni-Ball」の開発” ，日本ロボット学会誌，2012掲載決定　(9ページのフルペーパー，採録決定)
  • [6] Kenjiro Tadakuma, Masatsugu Matsumoto, Shigeo Hirose: “Mechanical Design and Basic Running Experiments of "Tri-StarIII": Horizontal Polyarticular Expandable 3-wheeled Planetary Rover”, Journal of Robotics and Mechatronics” Vol.20 No.6, Dec. 2008, pp887-896
  • [5] Kenjiro Tadakuma, Riichiro Tadakuma, Jose Berengueres, "Tetrahedral Mobile Robot with Spherical Omnidirectional Wheel", Journal of Robotics and Mechatronics, Vol.20 No.1, Feb. 2008, pp125-134
  • [4] Kenjiro Tadakuma, “Connected Two Units Crawlers to Realize Automatic Multiple Configurations as Search and Rescue Robot”, Journal of Robotics and Mechatronics, Vol.20 No.1, Feb. 2008, pp106-115
  • [3] Jose Berengueres, Shigeki Saito and Kenjiro Tadakuma, "Structural properties of a scaled gecko foot-hair" 2007 Bioinspiration & Biomimetics, IOP(Institute of Physics), Vol. 2,　2007, PP.1-8
  • [2] Kenjiro Tadakuma, MASATSUGU MATSUMOTO, SHIGEO HIROSE: “Mechanical Design of Joint Braking and Underactuated Mechanism of "Tri-Star3”, Horizontal Polyarticular Arm Equipped 3-Wheeled Expandable Mobile Robot", International Journal of Factory Automation, Robotics and Soft Computing, Issue 2, ISSN 1828-6984, April 2007, pp128-134
  • [1] Kenjiro Tadakuma, Riichiro Tadakuma and Shigeo Hirose, “Mechanical Design of VmaxCarrier2, Omnidirectional Mobile Robot with Function of Step-Climbing”, Journal of Robotics and Mechatronics, Vol.17 No.2, 2005, pp198-207

　国際会議論文　( 査読付 )

  • [27] Kenjiro Tadakuma, Riichiro Tadakuma, Akira Maruyama, Eric Rohmer, Keiji Nagatani, Kazuya Yoshida, Aigo Ming, Makoto Shimojo, Mitsuru Higashimori and Makoto Kaneko “Armadillo-Inspired Wheel-Leg Retractable Module” , IEEE International Conference on Robotics and Biomimetics (accepted)
  • [26] Kenjiro Tadakuma, Riichiro Tadakuma, Keiji Nagatani, Kazuya Yoshida, Aigo Ming, Makoto Shimojo, Karl Iagnemma"Throwable Tetrahedral Robot with Transformation Capability ", TuIIT10.3, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009, Hyatt Regency St. Louis Riverfront, St. Louis, USA (accepted)
  • [25] Kenjiro Tadakuma, Riichiro Tadakuma, Keiji Nagatani, Kazuya Yoshida, Aigo Ming, Makoto Shimojo, Karl Iagnemma"Basic Running Test of the Cylindrical Tracked Vehicle with Sideways Mobility" , MoIVT4.1, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009, Hyatt Regency St. Louis Riverfront, St. Louis, USA (accepted)
  • [24] Seiichi Teshigawara, Kenjiro Tadakuma, Aiguo Ming, Masatoshi Ishikawa, Makoto Shimojo “Development of High-Sensitivity Slip Sensor Using Special Characteristics of Pressure Conductive Rubber”, pp.3289-3294, 2009 IEEE International Conference on Robotics and Automation
  • [23] Kenjiro Tadakuma, Riichiro Tadakuma, Keiji Nagatani, Kazuya Yoshida, Martin Udengaard, Karl Iagnemma, Aiguo Ming, Makoto Shimojo, “Crawler Vehicle with Circular Cross-Section toRealize Sideways Motion” Video Proceeding, pp.1603-1604, 2009 IEEE International Conference on Robotics and Automation
  • [22] Kenjiro Tadakuma, Riichiro Tadakuma, Hiroaki Kinoshita, Keiji Nagatani, Kazuya Yoshida, Steven Peters, Martin Udengaard, Karl Iagnemma, “Crawler Vehicle with Circular Cross-Section Unit to Realize Sideways Motion”, WeCT5.1, IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, 22-26 Sept. 2008 Page(s):2422 - 2428
  • [21] Kenjiro Tadakuma, Riichiro Tadakuma, Hiroaki Kinoshita, Keiji Nagatani, Kazuya Yoshida, Martin Udengaard, Karl Iagnemma, “Mechanical Design of Cylindrical Track for Sideways Motion” WA2-4, 2008 IEEE International Conference on Mechatronics and Automation, IEEE ICMA2008
  • [20] K. Tadakuma, L.M. DeVita, J.S. Plante, Y. Shaoze and S. Dubowsky, “The Experimental Study of a Precision Parallel Manipulator with Binary Actuation: With Application to MRI Cancer Treatment”, Proceedings of 2008 The IEEE International Conference on Robotics and Automation, 19-23 May 2008, Page(s):2503-2508
  • [19] Jose Berengueres, Robert Kratz, Kenjiro Tadakuma, "Fiber-based Solar Cell for Mobile Suits"the 22nd European Photovoltaic Solar Energy Conference and Exhibition, Milan, September 2007
  • [18] Riichiro Tadakuma, Kenjiro Tadakuma, Robert D. Howe, "Few D.O.F. Walking Robot with Outer-Wheels" The 3rd annual IEEE Conference on Automation Science and Engineering (IEEE CASE 2007) IEEE Catalog Number: 07EX1754C, ISBN: 1-4244-1154-8, Library of Congress: 2007922962 22-25 Sept. 2007 Page(s):1117-1124
  • [17] Kenjiro Tadakuma, Riichiro Tadakuma,"Mechanical Design of "Omni-Ball": Spherical Wheel for Holonomic Omnidirectional Motion", The 3rd annual IEEE Conference on Automation Science and Engineering (IEEE CASE2007), IEEE Catalog Number: 07EX1754C, ISBN: 1-4244-1154-8, Library of Congress: 2007922962, 22-25 Sept. 2007 Page(s):788 - 794
  • [16] Kenjiro Tadakuma, Riichiro Tadakuma, Jose Berengueres, "Development of Holonomic Omnidirectional Vehicle with "Omni-Ball": Spherical Wheels ", 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems ( IROS 2007 ), Oct. 29 2007-Nov. 2 2007 Page(s):33 - 39, IEEE Catalog Number: 07CH37863D, ISBN: 1-4244-0912-8, Library of Congress: 2006940968
  • [15] Jose Berengueres, Kenjiro Tadakuma, Tatsuaki Kamoi, "On the Form and Function of Gecko foot-hair for Wall Mobility (video background)", Video Proceedings of 2007 The IEEE International Conference on Robotics and Automation, PP.3126-3127 ，Roma Italy, April 2007
  • [14] Jose Berengueres, Kenjiro Tadakuma, Tatsuaki Kamoi and Robert Kratz, "Compliant Distributed Magnetic Adhesion Device for Wall Climbing", Proceedings of 2007 The IEEE International Conference on Robotics and Automation(ICRA 2007), PP. 1256-1261, Roma, Italy, 10-14 April 2007
  • [13] Jose Berengueres, Masataka Urago, Shigeki Saito, Kenjiro Tadakuma, Hiroyuki Meguro; Gecko inspired Electrostatic Chuck, ROBIO '06. IEEE International Conference on Robotics and Biomimetics, ISBN: 1-4244-0571-8,Kunming China, 17-20 December 2006, Page(s):1018 - 1023
  • [12] Jose Berengueres, Kenjiro Tadakuma, Shigeki Saito, “Gecko-On The Shape and Function of Gecko Foot-Hair”, Capsule Summaries of Cotestants, MRS Material Research Society Fall Meeting (MRS 2006), Boston October 2006
  • [11] Jose Berengueres, Kunio Takahashi, Shigeki Saito, Kenjiro Tadakuma, "Magnetic Hair for Wall Mobility" Proceedings of The IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS 2006), Beijing-China, October9-15, 2006, Page(s):3934-3939
  • [10] Kenjiro Tadakuma, Masatsugu Matsumoto, Shigeo Hirose, "Tri-Star3; Horizontal Polyarticular Arm Equipped 3-Wheeled Expandable Rover", The video Proceedings of 2006 The IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS 2006), Beijing-China, October 2006, Page(s):5 - 5
  • [9] Kenjiro Tadakuma, Masatsugu Matsumoto, Shigeo Hirose, "Mechanical Design of Joint Braking Mechanism and Underactuated Performance of Horizontal Polyarticular Arm Equipped 3-Wheeled Expandable Mobile Robot; "Tri-Star3"", Proceedings of The IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS 2006), Beijing-China, October9-15, 2006. 9-15 Oct. 2006 Page(s):4252 - 4259
  • [8] Kenjiro Tadakuma, Jose Berengueres, "Throwable Search and Rescue Robot with Tetrahedral Shape", 2006 IEEE International Workshop on Safety, Security, and Rescue Robotics(SSRR 2006), National Institute of Standards and Technology, Gaithersburg, MD USA, August 2006
  • [7] Kenjiro Tadakuma, "Connected Two Units Crawlers to Realize Automatic Multiple Configurations as Search and Rescue Robot", 2006 IEEE International Workshop on Safety, Security, and Rescue Robotics, National Institute of Standards and Technology, Gaithersburg MD USA, August 2006
  • [6]K. Tadakuma, "Tetrahedral Mobile Robot with Novel Ball Shape Wheel ", The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006). Parallel Session 6: " Animal-Inspired Model and Mechanisms", Pisa-Italy February 20th 2006 ISBN1-4244-0040-6, Pisa-Italy, February 20th, 2006, Page(s):946 - 952
  • [5] K. Tadakuma, "Joint Mechanism to Automatically Realize Multiple Configurations for a Connected Vehicle," The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. Parallel Session 6: "Animal-Inspired Models and Mechanisms,"ISBN 1-4244-0040-6, Pisa-Italy, February 2006, Page(s):988 - 994
  • [4] Kenjiro Tadakuma, Riichiro Tadakuma, Shigeo Hirose: "Motions on Steps and Slopes of Omni-Directional Mobile Robot, "VmaxCarrier2"", Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robotics and Systems(IROS 2005), number:1190, Edmonton; Canada, August 2005, ISBN: 0-7803-8913-1, 2-6 Aug. 2005 Page(s):4129 - 4136
  • [3] Kenjiro Tadakuma, Masatsugu Matsumoto, Shigeo Hirose: "Mechanical Design of Holizontal Polyarticular Expandable 3-wheeled Planetary Rover; "Tri-Star3""　 The 2005 IEEE International Conference on Mechatronics and Automation, number:618, Ontario-Canada, July 2005, Volume 1, 29 July-1 Aug. 2005 Page(s):236 - 241 Vol. 1
  • [2] Kenjiro Tadakuma, Riichiro TADAKUMA, Shigeo HIROSE: "Omni-Directional Mobile Robot with Step-Climbing Capability: "VmaxCarrier2,"" 1st IEEE Technical Exhibition Based Conference on Robotics and Automation Proceedings( TExCRA 2004 ), IEEE Catalog Number: 04EX878, ISBN: 0-7803-8564-0 Library of Congress: 2004106117, pp95-96, Tokyo, November 2004
  • [1] Kenjiro Tadakuma, Riichiro TADAKUMA, Shigeo HIROSE: "Development of VmaxCarrier2: Omni-Directional Mobile Robot with Function of Step-Climbing" Proceedings of The IEEE International Conference on Robotics and Automation (ICRA 2004), ISBN: 0-7803-8233-1, pp.3111-3118, 2004

　総説・解説　

  • [6] 多田隈建二郎　“第20回独創性を拓く先端技術大賞特別賞を受賞して”，東工大クロニクル　No. 413, Sep. 2006, pp.20-21
  • [5] 松浦　大輔，多田隈　建二郎，篠崎　明　“第１回　上海・西安交通大学−東京工業大学ワークショップ”，東工大クロニクル　No. 405 , Dec., 2005, pp. 13-15
  • [4] 多田隈建二郎　“２１世紀ＣＯＥ8大学拠点合同シンポジウム”，東工大クロニクル　No. 400, June 2005, ISSN 1349-9300, pp.13-15
  • [3] 多田隈建二郎“日本ロボット学会協力企画　最新ロボット事情　第３回　正四面体型探査ロボット　Tetra Rover”，Robocon Magazine No.54, PP.98〜 101，2007 年10 月 15 日，ISBN978-4-274-20467-8
  • [2] 多田隈建二郎，福島Ｅ .文彦　 "日本ロボット学会協力企画　名物研究者から未来の研究者へのメッセージ　第 8回 東京工業大学大学院理工学研究科機械宇宙システム専攻　広瀬・米田研究室 "， Robocon Magazine No.25, PP.92〜 94，2002 年12 月 14 日，ISBN： 4-274-08734-4
  • [1] 多田隈 建二郎，広瀬茂男， "先端ロボット開発を核とした創造技術の革新 −東京工業大学 21世紀ＣＯＥプログラム−"，日本ロボット学会誌　２１世紀ＣＯＥプログラム ―ロボット系若手研究者の視点から−（解説論文）ＪＲＳＪ Vol. 25 No.3, , 2007年4 月15日発行　第 25巻　第 3号 通巻 175 号, PP. 343-345

　著書

  • [2] Kenjiro Tadakuma, Riichiro Tadakuma, Shigeo Hirose: "Motions on Steps and Slopes of Omni-Directional Mobile Robot, "VmaxCarrier2"," International Scientific Book, Recent advances in Control Systems, Robotics and Automation　−Second edition, pp163-170, ISBN: 978-88-901928-3-8, 2008
  • [1] Kenjiro Tadakuma, MASATSUGU MATSUMOTO, SHIGEO HIROSE: "Mechanical Design of Joint Braking and Underactuated Mechanism of "Tri-Star3"; Horizontal Polyarticular Arm Equipped 3-Wheeled Expandable Mobile Robot", the book Emerging Technologies, Robotics and Control Systems, pp17-23, ISBN: 978-88-901928-9-5

　特許

  • [8] 発明の名称[円状断面を有する無限軌道機構] （整理番号07-002） 多田隈 建二郎，吉田 和哉，永谷 圭司 出願番号：特願２００８−１１４５０６ 受付番号：１０８０１１９０００２
  • [7] 発明の名称[単双極子型静電凝着繊維を用いた静電チャック] 齋藤 滋規, 鞠谷 雄士, ロペスベレンゲレス ホセオリオル, 目黒 寛之, 多田隈 建二郎 出願番号 : 特許出願２００６−３３６５１１ 出願日 : ２００６年１２月１４日 公開番号 : 特許公開２００８−１５４３０１
  • [6] 発明の名称［推進力発生装置連結機構］ 多田隈建二郎 出願番号 : 特許出願２００６−６８３２６ 出願日 : ２００６年２月１５日 公開番号 : 特許公開２００７−２１６９３６ 公開日 : ２００７年８月３０日
  • [5] 発明の名称［全方向移動体用球状車輪および全方向移動体］多田隈建二郎 出願番号 : 特許出願２００６−５８６０７，出願日 : ２００６年２月７日 公開番号 : 特許公開２００７−２１０５７６，　公開日 : ２００７年８月２３日
  • [4] 発明の名称［回転体支持機構］広瀬茂男，多田隈建二郎，松本正嗣, 出願番号 : 特許出願２００５−２４３４０２, 公開番号 : 特許公開２００７−３０８６０
  • [3] 発明の名称[起重装置] 広瀬茂男，多田隈建二郎, 出願番号 : 特許出願２００３−４３１２７２, 公開番号 : 特許公開２００５−１５４１３９
  • [2] 発明の名称[アクチュエータおよび全方向移動車両] 広瀬茂男，多田隈建二郎, 出願番号 : 特許出願２００３−３９４３６２, 公開番号 : 特許公開２００５−１５５７６４
  • [1] 発明の名称[全方向移動車両] 広瀬茂男，多田隈建二郎, 出願番号 : 特許出願２００２−２９９５３０, 公開番号 : 特許公開２００４−１３１０１７

受賞リスト

  • [13] 日本機械学会ROBOMEC表彰受賞 2009年5月25日 ROBOMEC2008での講演「横方向移動を可能にする円形断面クローラ， - 基本概念の提案と第一次試作機の設計・開発 - 」に対して
  • [12] 日本機械学会 研究奨励賞受賞2009年4月7日 「高い走破性を実現する球状全方向車輪“Omni-Ball”の開発」
  • [11] SI2008優秀講演賞 2008年12月7日　第9回（社）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
  • [10] Best Paper Award, 2008年8月8日，ICMA 2008: IEEE International Conference on Mechatronics and Automation にて，（発表論文：Mechanical Design of Cylindrical Track for Sideways Motion）.
  • [9] Best Paper Award, 2008年7月13日，IFToMM会議において，発表論文「円形断面により横方向移動を実現するクローラユニットの開発　〜球状全方向車輪”Omni-Ball”の発展型機構として〜」
  • [8] 第23回 日本ロボット学会 研究奨励賞，2008年9月10日 RSJ2007での講演内容に対して
  • [7] Best Paper Award Finalist, 2007年10月，The IEEE/RSJ International Conference on Robotics and Automation(IROS2007) , San Diego-USA, にて発表論文：“Development of Holonomic Omnidirectional Vehicle with "Omni-Ball": Spherical Wheels”
  • [6] IEEE Robotics and Automation Society Japan Chapter Young Award 2006 年10月　The IEEE/RSJ International Conference on Robotics and Automation(IROS2006), Beijing-China, October9-15, 2006 において
  • [5] 第20回 先端技術大賞特別賞，2006 年7月
  • [4] 1st prize Film Award, 2006 MRS (Material Research Society) Fall Meeting ( Boston, October 2006) “Capsule Summaries of Cotestants Title: Gecko-On The Shape and Function of Gecko Foot-Hair” Jose Berengueres, Kenjiro Tadakuma, Shigeki Saito
  • [3] IEEE 優秀賞，2005 年2月　IEEE Tokyo Young Researcher Workshop 2005 にて
  • [2] 日本機械学会ロボティクス・メカトロニクス講演会 (2004)にて優秀講演賞
  • [1] 日本機械学会より畠山賞, 2002 年3月　
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