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  2. 久保田 孝

久保田 孝

クボタ タカシ  (Takashi Kubota)

基本情報

所属
明治大学 理工学部 特任教授
国立研究開発法人宇宙航空研究開発機構 宇宙科学研究所 名誉教授
J-GLOBAL ID
200901071014528345
researchmap会員ID
1000174751
外部リンク

 

2014年4月1日〜2017年9月30日
・JAXA宇宙科学研究所 プログラムディレクタ

2018年4月1日〜2020年3月31日
・JAXA宇宙科学研究所 研究総主幹
・JAXA宇宙探査イノベーションハブ ハブ長
・はやぶさ２プロジェクト スポークスパーソン

2020年4月1日〜2023年5月31日
・JAXA統括チーフエンジニア

2024年4月より，明治大学理工学部特任教授

宇宙航空研究開発機構名誉教授（2025年4月1日）

日本ロボット学会フェロー(2022年9月7日)
宇宙探査ロボットの研究開発と実用化への取り組みならびに学会運営への貢献

研究キーワード

 9

研究分野

 5

経歴

 4

委員歴

 6
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受賞

 12
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論文

 133
  • 本橋優俊, 久保田孝
    日本ロボット学会誌 42(9) 908-911 2024年11月  査読有り責任著者
  • Stephane BONARDI, Lucas FROISSART, Toshihisa NIKAIDO, Francois LONGCHAMP, Auke IJSPEERT, Takashi KUBOTA
    Journal of Evolving Space Activities Vol.1(Article ID:6) 2023年1月  査読有り最終著者
  • 本橋優俊, 久保田孝
    日本ロボット学会誌 40(5) 441-444 2022年5月  査読有り最終著者
  • Hiroaki Inotsume, Takashi Kubota
    ROBOMECH Journal 9(1) 2022年1月  査読有り最終著者責任著者
    <title>Abstract</title>In this paper, a novel terrain traversability prediction method is proposed for new operation environments. When an off-road vehicle is operated on rough terrains or slopes made up of unconsolidated materials, it is crucial to accurately predict terrain traversability to ensure efficient operations and avoid critical mobility risks. However, the prediction of traversability in new environments is challenging, especially for possibly risky terrains, because the traverse data available for such terrains is either limited or non-existent. To address this limitation, this study proposes an adaptive terrain traversability prediction method based on multi-source transfer Gaussian process regression. The proposed method utilizes the limited data available on low-risk terrains of the target environment to enhance the prediction accuracy on untraversed, possibly higher-risk terrains by leveraging past traverse experiences on multiple types of terrain surface. The effectiveness of the proposed method is demonstrated in scenarios where vehicle slippage and power consumption are predicted using a dataset of various terrain surfaces and geometries. In addition to predicting terrain traversability as continuous values, the utility of the proposed method is demonstrated in binary risk level classification of yet to be traversed steep terrains from limited data on safer terrains.
  • Kosuke Sakamoto, Takashi Kubota
    ROBOMECH Journal 9(1) 2022年1月  査読有り最終著者責任著者
    <title>Abstract</title>Hopping robots, called hoppers, are expected to move on rough terrains, such as disaster areas or planetary environments. The uncertainties of the hopping locomotion in such environments are high, making path planning algorithms essential to traverse these uncertain environments. Planetary surface exploration requires to generate a path which minimises the risk of failure and maximises the information around the hopper. This paper newly proposes a hopping path planning algorithm for rough terrains locomotion. The proposed algorithm takes into account the motion uncertainties using Markov decision processes (MDPs), and generates paths corresponding to the terrain conditions, or the mission requirements, or both. The simulation results show the effectiveness of the proposed route planning scheme in three cases as the rough terrain, sandy and hard ground environment, and non-smooth borders.
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MISC

 65
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書籍等出版物

 9
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講演・口頭発表等

 162
  • 下田 真吾, 久保田 孝
    ロボティクス・メカトロニクス講演会講演概要集 2001年6月8日 一般社団法人日本機械学会
  • 土屋 明義, 黒田 洋司, 久保田 孝
    ロボティクス・メカトロニクス講演会講演概要集 2001年6月8日 一般社団法人日本機械学会
  • 吉光 徹雄, 久保田 孝, 川口 淳一郎
    宇宙科学シンポジウム 2001年1月11日 宇宙科学研究所
  • 橋本 樹明, 久保田 孝, 佐々 修一
    宇宙科学シンポジウム 2001年1月11日 宇宙科学研究所
  • 久保田 孝, 黒田 洋司, 國井 康晴
    宇宙科学シンポジウム 2001年1月11日 宇宙科学研究所
  • 沢井秀次郎, 中谷一郎, 橋本樹明, 久保田孝, 吉光徹雄
    宇宙科学技術連合講演会講演集 2001年
  • 村上誠典, 井筒秀明, 橋本樹明, 沢井秀次郎, 久保田孝
    宇宙科学技術連合講演会講演集 2001年
  • T Kubota, Y Kuroda, Y Kunii, T Yoshimitsu
    Proc. of the 2001 Int. Conf. on Robotics and Automation 2001年 IEEE
    This, paper describes a path planning method for a planetary microrover to make a path oil planetary surface, A planetary rover is required to travel safely over a long distance For many days in unfamiliar terrain, Hence it is very important how a planetary rover processes sensory information to understand the environment and to make decisions, The authors have developed a newly small rover for future lunar or planetary exploration. As a new data structure for a map information. an extended elevation map has been introduced, which includes the effect of the size of the rover. The proposed path planning call be conducted in such a way as if the rover were a point while the size of the rover is automatically taken into account. A map obtained by sensors includes uncertainty. So a path planning scheme based oil traversability probability is also proposed. The validity of the proposed method is verified by computer simulations.
  • Y Kunii, M Suhara, Y Kuroda, T Kubota
    Proc. of the 2001 Int. Conf. on Robotics and Automation 2001年 IEEE
    In this paper, we discuss tele-driving system I I or a long driving of a lunar rover and also describe our newly developed small, lightweight lunar rover called Micro-5 and its Visual sensor system. Ali operator uses virtual world simulator to make command path. The virtual environment of this simulator is constructed with measurement data from a rover on the moon. We have, however, a communication delay between the earth and the moon. So, there is the difference between old map data which operator used for path planning and new data which a rover is tracking on. The operator's path command has less reliability to avoid obstacles and to reach the goal. Therefore. to make high reliability of operator's command. we propose Command-Data Compensation (CDC), which compensates this difference as the distortion of the environmental map.
  • Proc. Sixth International Symposium on Artificial Intelligence, Robotics and Automation in Space 2001年
  • Proc. Sixth International Symposium on Artificial Intelligence, Robotics and Automation in Space 2001年
  • Proc. Sixth International Symposium on Artificial Intelligence, Robotics and Automation in Space 2001年
  • Workshop on Contact Dynamics, 2001年
  • Proc. of 10th Int. Conf. on Advanced Robotics, 2001年
  • Proc. of 10th Int. Conf. on Advanced Robotics, 2001年
  • Proc. of 10th Int. Conf. on Advanced Robotics, 2001年
  • Proc. of the Forth IFAC Symposium on Intelligent Autonomous, 2001年
  • Proc. of the Forth IFAC Symposium on Intelligent Autonomous, 2001年
  • Y Kunii, K Tada, Y Kuroda, T Kubota
    Proc. of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001年 IEEE
    In this paper, we discuss tele-driving method for a long driving of a lunar rover. An operator uses virtual world simulator to make command path. The virtual environment of this simulator is constructed with measurement data from a rover on the moon. We have, however, a communication delay between the earth and the moon. So, there is the difference between old map data which operator used for path planning and new data, which a rover is tracking on. The operator's path command has less reliability to avoid obstacles and to reach the goal. Therefore, to make high reliability of operator's command, we propose Command-Data Compensation (CDC), which compensates this difference as the distortion of the environmental map.
  • T Kubota, T Misu, T Hashimoto, K Ninomiya
    Proc. of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001年 IEEE
    This paper proposes a direct geographic recognition scheme from a gray-scale image without shape reconstruction. Several geographic categories are expressed in 3 x 3-arrays of normal-vector directions. Only by looking up a table, observed pixel-values (intensities) in a window are transformed into indices of conformity whether the scene in the window is due to each geographic category or not. Geographical features are extracted by multi-resolution interpretation and fuzzy-logical operations. The feasibility and robustness of the proposed method is shown by some computer simulations.
  • Proc. of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001年
  • T Hashimoto, Y Imamura, T Kubota, K Ninomiya
    Advances in the Astronautical Sciences, 2001年 UNIVELT INC
    This paper presents accurate onboard navigation system for Lunar landers or orbiters, based on the crater identification. The navigation system consists of three stages. At first, craters are extracted from the surface images taken onboard, and the list of positions and radii of detected craters is obtained. The second step is identification between detected craters and known terrain maps obtained by other missions in advance, The final stage is the calculation of position towards Moon-fixed coordinates. To verify the effectiveness and performance of the proposed navigation system, computer simulations including image processing are performed.
  • T Hashimoto, T Kubota, J Kawaguchi, M Uo, K Baba, T Yamashita
    Advances in the Astronautical Sciences, 2001年 UNIVELT INC
    This paper presents an autonomous descent and touch-down scheme of the asteroid sample and return spacecraft, MUSES-C. The spacecraft uses some optical sensors. such as a navigation camera (ONC-W1). a laser altimeter (LIDAR), a short range laser sensor (LRF), and an artificial landmark (TM) which is released at about 100m altitude. Navigation system contains image processing, integration of visual and range information, and Kalman filtering. To realize "time of arrival" guidance, the descending plan is uploaded to the spacecraft, considering the asteroid motion. Six degree-of-freedom control is performed by RCS and reaction wheels (RW). In this paper, after brief explanation of MUSES-C navigation, guidance, and control (NGC) system and descent and touch-down scenario, the navigation scheme mainly focused on image processing, descent guidance scheme, and six degree-of-freedom thruster control are described. To verify the performance of the proposed scheme, computer simulations including Graphical Asteroid Simulator are performed.
  • K Yoshida, T Kubota, S Sawai, A Fujiwara, M Uo
    Advances in the Astronautical Sciences, 2001年 UNIVELT INC
    The MUSES-C spacecraft, under the development by the Institute of Space and Astronautical Science (ISAS) of Japan for the asteroid sample-return mission, will make dynamic touch-down with the target asteroid when it acquires samples. The touch-down behavior is studied with simulations based on the multi-body dynamics with a friction model. Hardware experiments are carried out to verify the simulation model and evaluate the performance of the contact detector.
  • T Yoshimitsu, T Kubota, Nakatani, I, J Kawaguchi
    Advances in the Astronautical Sciences, 2001年 UNIVELT INC
    The authors have developed a small robotic lander named "MINERVA" (MIcro/Nano Experimental Robot Vehicle for Asteroid) and proposed it as an optional payload of ISAS's MUSES-C spacecraft which will conduct the sample return mission from newly discovered new-Earth asteroid 1998SF36. This paper describes the mobility system of the developed robot as well as the surface exploration strategy how to explore and navigate along the asteroid surface. Also the scientific observation functions onboard the robot are detailed.
  • T Kubota, T Hashimoto, M Uo, M Maruya, K Baba
    Advances in the Astronautical Sciences, 2001年 UNIVELT INC
    Global mapping from the sun side and the terminator side are scheduled in MUSES-C mission. The spacecraft keeps the home position around the asteroid during global mapping. This paper proposes a method for a spacecraft to keep the home position autonomously. The spacecraft is navigated based on the image obtained by ONC and the range information obtained by LIDAR. This paper also proposes a global mapping method to estimate the shape of the asteroid based on motion stereo techniques.
  • 沢井秀次郎, 久保田孝, 吉光徹雄, 川口淳一郎, 吉沢直樹, 二ノ宮賢治
    宇宙科学技術連合講演会講演集 2000年
  • 下田 真吾, 久保田 孝
    ロボティクス・メカトロニクス講演会講演概要集 2000年 一般社団法人日本機械学会
    微小重力環境下においてローバが移動する場合, 従来のように自重により発生する惑星表面との摩擦を利用した方法では移動に限界がある。また小惑星などの微小重力環境下は, 真空で微小重力であるため浮上して移動する方法がすぐれている。本研究ではローバ本体を微小に変位させることで連続して浮上移動を行う方法を提案する。この方法では一回の浮上移動距離が小さいため細かい位置制御が可能となる。
  • 黒田 洋司, 山宮 雅史, 中村 一明, 國井 康晴, 久保田 孝
    ロボティクス・メカトロニクス講演会講演概要集 2000年 一般社団法人日本機械学会
    本研究グループでMicro5を3機製作した。実ミッションにおいて探査ローバは「点」探査から「線」探査へと移りつつあるが, 有益なデータを得るために今後は「面」探査へ移行していくと考えられる。そのためにも, 探査ローバ単体が長距離長期間, 探査活動することは必須となると考えられる。そこで, 本研究ではMicro5ローバを用いてフィールド実験を行ったので, その報告をする。
  • 土屋 明義, 久保田 孝, 黒田 洋司, 吉光 徹雄
    ロボティクス・メカトロニクス講演会講演概要集 2000年 一般社団法人日本機械学会
    月表面の広範囲の探査を目的として月面探査ローバミッションが検討されている。探査ローバが目的地に到達するためには, 月面上での自己の位置を知ることが不可欠である。本研究では, ローバが月面上での自己の位置や向きを知るための手法を提案する。本手法では, ローバが活動する昼に必ず観測する事のできる太陽の位置をサンセンサにより測定する事によって, ローバの自己位置を推定する。本手法の有効性をシミュレーションにより検証する。
  • Proceedings of International Workshop on short-term experiments under strongly reduced gravity conditions : Drop Towers Days 2000 2000年
  • Proceedings of 4th IAA International Conference on Low-Cost Planetary Missions 2000年
  • H Takahashi, H Katoh, T Kubota, T Hashimoto, K Ninomiya
    PROCEEDINGS OF THE THIRD INTERNATIONAL CONFERENCE ON CLIMBING AND WALKING ROBOTS 2000年 PROFESSIONAL ENGINEERING PUBLISHING LTD
    In recent years, many researchers have earnestly studied and developed walking robots. Walking robots have so high mobility that they can move on rough terrain, climb steps, and cross ditches. In the field of planetary exploration, robots with multiple legs are expected to explore inside craters etc. However, so far developed walking robots are too big and heavy to explore the lunar or planetary surface. So this paper proposes a novel design scheme for multi-legged robots. To show the effectiveness of the proposed scheme, the design analysis on static and dynamic motion is performed.
  • T Kubota, H Katoh, Nakatani, I
    PROCEEDINGS OF THE THIRD INTERNATIONAL CONFERENCE ON CLIMBING AND WALKING ROBOTS 2000年 PROFESSIONAL ENGINEERING PUBLISHING LTD
    Toward the turn of the century, several schemes sending an unmanned mobile explorer to the moon or Mars are being planned for scientific exploration. Planetary revers are required to explore rough and steep areas such as craters, cliffs, etc. A legged rover can provide higher capability of moving in such a rough terrain than wheeled robots. Therefore the authors have studied a small and lightweight rover which can move across a rough terrain such as a steep slope inside craters. A prototype of the robot with six legs has been developed. This paper presents the system concept, architecture, and configuration of the developed walking rover for planetary exploration. This paper also discusses a walking algorithm.
  • Proceedings of International Workshop on short-term experiments under strongly reduced gravity conditions : Drop Towers Days 2000 2000年
  • 永松 弘行, 久保田 孝, 中谷 一郎, 二宮 敬虔
    電子情報通信学会ソサイエティ大会講演論文集 1999年8月16日 一般社団法人電子情報通信学会
  • 沢井秀次郎, 久保田孝, 橋本樹明, 川口淳一郎, 二宮敬けん
    電子情報通信学会大会講演論文集 1999年
  • 川勝康弘, 岩本祥広, 金子豊, 板垣春昭, 久保田孝, 中谷一郎
    宇宙科学技術連合講演会講演集 1999年
  • Proceeding of 14th International Symposium on Space Flight Dynamics 1999年
  • T Yoshimitsu, Nakatani, I, T Kubota
    ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS 1999年 IEEE
    Under the micro gravity environment such as on the surface of small planetary bodies (asteroids or comets), traditional wheeled revers are not expected to move effectively due to the low friction and the inevitable detachment from the surface. This paper discusses the friction-based mobility around the surface of small bodies and proposes a new mobility mechanism that drives the rover by hopping. The hop angle and the velocity are analyzed by numerical simulations, which show the effectiveness of the new mobility system.
  • T Yoshimitsu, T Kubota, Nakatani, I, T Adachi, H Saito
    ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS 1999年 IEEE
    Under the micro gravity environment such as on the surface of small planetary bodies (asteroids or comets), traditional wheeled revers are not expected to move effectively due to the low friction and inevitable detachment from the surface. Therefore the authors have proposed a hopping rover suitable for exploration on the surface of small bodies. This paper describes the micro-gravity experiments of a proposed hopping rover which is driven by an internal DC motor torquer. The proposed rover could hop under a micro gravity environment. Experimental results are compared with the computational simulations.
  • T Kubota, Y Kuroda, Y Kunii, Natakani, I
    ISAIRAS '99: FIFTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL INTELLIGENCE, ROBOTICS AND AUTOMATION IN SPACE 1999年 EUROPEAN SPACE AGENCY
    This paper describes a newly developed rover with small size, light-weight, low power consumption. In recent years, many researchers have extensively studied and developed unmanned mobile robots for surface exploration of the moon or planets. A lunar or planetary rover is required to travel safely over a long distance for many days in unfamiliar terrain. This paper presents scientific signification, requirements, and technology of a lunar or planetary rover. This paper proposes a new mobility system, which has four wheels and one supported wheel. This novel suspension system is a simple and light mechanism like a four-wheeled rover and provides a high degree of mobility like a six-wheeled rover. The performance of the developed rover is shown by some experiments.
  • Proceedings of 4th International Conference on Spacecraft Guidance, Navigation and Control Systems 1999年
  • 久保田孝, 水野貴秀, 斎藤宏文, 内田順三, 津野克彦, 木藤誠一, 生田宏二郎
    宇宙科学技術連合講演会講演集 1998年10月
  • 伊藤 政宏, 中谷 一郎, 久保田 孝, 飯島 恭彦
    全国大会講演論文集 1998年3月17日
  • 佐藤 健史, 中谷 一郎, 久保田 孝
    全国大会講演論文集 1998年3月17日
  • 久保田孝
    第16回日本ロボット学会学術講演会予稿集 1998年
  • T Kubota, Natakani, I, Y Kuroda, T Adachi, H Saito, T Iijima
    1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3 1998年 IEEE
    For evaluating the basic navigation techniques for a planetary rover an a natural terrain, long range navigation experiments had been performed at Mt.Mihara volcano of Izu-Ohshima Island in September of 1996. The experimental rover succeeded in traveling over 800[m] autonomously without hitting any obstacle. This paper describes navigation functions installed in the test-bed rover. This paper also presents the results obtained during the first long range navigation test.
  • The 1997 Int. Conf. on Mobile Planetary Robots and Rover Roundup 1997年
  • 4th Int. Symposium on Artificial Intelligence, Robotics and Automation in Space 1997年

担当経験のある科目(授業)

 3

所属学協会

 4

Works(作品等)

 1

共同研究・競争的資金等の研究課題

 10
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産業財産権

 2
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