Yusuke SUGAHARA, Ph.D.

Position

Assistant Professor

System Robotics Laboratory

Department of Bioengineering and Robotics

Tohoku University

Visiting Researcher

Advanced Research Institute for Science and Engineering

Waseda University

Biography

Place of Birth: Aioi City, Hyogo, Japan

Date of Birth: October 11^th, 1978

Nationality: Japanese

Education: Entered School of Science and Engineering, Waseda University April 1997, and graduated March 2001 with the degree of Bachelor of Engineering

Entered Graduate school of Science and Engineering, Waseda University April 2001, and graduated March 2003 with the degree of Master of Engineering

Entered Graduate school of Science and Engineering, Waseda University April 2003, and graduated March 2006 with the degree of Ph.D.

Occupation: Served as a Visiting Research Associate, Graduate School of Science and Engineering, Waseda University from September 2003 to March 2006

Served as a Research Associate, Advanced Research Institute of Science and Engineering, Waseda University from April 2006 to September 2007

Served as a Assistant Professor, Department of Bioengineering and Robotics, Tohoku University from October 2007

Research: 2000-2001 Development of bipedal humanoid robot “WABIAN”

2001- Research on biped walking vehicle “WL”

2005-2008 Research on the assistive locomotion mechanisms

2007-2009 Research on the collision safety of a robot manipulator

2007-2009 Research on “Greenhouse Partner Robot”

2007- Research on car transportation system “iCART”

2008- Research on human-friendly / cooperative working support robot for production site “PaDY”

2008- Research on assistive mobility system minimally-invasive for historical environments

2009- Research on floating levitation control of “Aero Train”

Contact

Address: 6-6-01, Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan

Email: sugahara AT irs.mech.tohoku.ac.jp

Phone/FAX +81-22-795-6916

Membership

Robotics Society of Japan (RSJ)

Japan Society of Mechanical Engineering (JSME)

Japanese Council of IFToMM: International Federation for the Promotion of Mechanism and Machine Science

Institute of Electrical and Electronics Engineers (IEEE)

Thesis:

・ Yusuke Sugahara, Study on Biped Walking Vehicle, Ph.D. thesis, Waseda University, March, 2006.

International Journal Papers:

・ Kenji Hashimoto, Yusuke Sugahara, Hun-Ok Lim and Atsuo Takanishi, Biped Landing Pattern Modification Method and Walking Experiments in Outdoor Environment, Journal of Robotics and Mechatronics, Vol. 20, No. 5, pp. 775-784, 2008.

・ Kenji Hashimoto, Yusuke Sugahara, Hun-Ok Lim and Atsuo Takanishi, Swizzle Movement for Biped Walking Robot Having Passive Wheels, Journal of Robotics and Mechatronics, Vol.20, No.3 pp. 413-419, 2008.

・ Yusuke Sugahara, Giuseppe Carbone, Kenji Hashimoto, Marco Ceccarelli, Hun-ok Lim and Atsuo Takanishi, Experimental Stiffness Measurement of WL-16RII Biped Walking Vehicle during Walking Operation, Journal of Robotics and Mechatronics, Vol. 19, No. 3, pp. 272-280, 2007.

・ Kenji Hashimoto, Yusuke Sugahara, Hun-ok Lim and Atsuo Takanishi, New Biped Foot System Adaptable to Uneven Terrain, Journal of Robotics and Mechatronics, Vol. 18, No. 3, pp. 271-277, 2006.

International Conference Papers (Full Paper Review):

・ Kenji Hashimoto, Akihiro Hayashi, Terumasa Sawato, Yuki Yoshimura, Teppei Asano, Kentaro Hattori, Yusuke Sugahara, Hun-ok Lim and Atsuo Takanishi, Terrain-Adaptive Control with Small Landing Impact Force for a Biped Walking Vehicle, Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2922-2927, St. Louis, USA, October, 2009.

・ Yusuke Sugahara, Keigo Noha, Kazuhiro Kosuge, Jun'ichiro Ooga, Hideichi Nakamoto, Takashi Yoshimi, Experimental Study on Manipulator Design for Low Collision Impact Force, Proceedings of the 2009 IEEE/ASME Conference on Advanced Intelligent Mechatronics, pp. 899-914, Singapore, July, 2009.

・ Kenji Hashimoto, Akihiro Hayashi, Terumasa Sawato, Yuki Yoshimura, Teppei Asano, Kentaro Hattori, Yusuke Sugahara, Hun-ok Lim and Atsuo Takanishi, Terrain-Adaptive Control to Reduce Landing Impact Force for Human-Carrying Biped Walking Robot, Proceedings of the 2009 IEEE/ASME Conference on Advanced Intelligent Mechatronics, pp. 174-179, Singapore, July, 2009.

・ Mitsuru Endo, Kenji Hirose, Yasuhisa Hirata, Kazuhiro Kosuge, Yusuke Sugahara, Kouki Suzuki, Kazunori Murakami, Kenichi Nakamura, Masaki Nakanishi, Takashi Kanbayashi, A Coordinated Control Algorithm based on the Caster-like Motion for a Car Transportation System -iCART-, Proceedings of the 2009 IEEE International Conference on Robotics and Automation, pp.2350-2355, Kobe, Japan, May, 2009.

・ Mitsuru Endo, Kenji Hirose, Yusuke Sugahara, Yasuhisa Hirata, Kazuhiro Kosuge, Takashi Kanbayashi, Mitsukazu Oomoto, Kouki Suzuki, Kazunori Murakami and Kenichi Nakamura, Trajectory Generation for Multiple Robots of a Car Transportation System, Distributed Autonomous Robotic Systems 8 - Proceedings of The 9th International Symposium on Distributed Autonomous Robotic Systems -, pp. 305-314, Tsukuba, Japan, November, 2008.

・ Kenji Hashimoto, Terumasa Sawato, Akihiro Hayashi, Yuki Yoshimura, Teppei Asano, Kentaro Hattori, Yusuke Sugahara, Hun-ok Lim and Atsuo Takanishi, Static and Dynamic Disturbance Compensation Control for a Biped Walking Vehicle, Proceedings of the 2008 the second IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 457-462, Arizona, USA, October, 2008.

・ Kenji Hashimoto, Yusuke Sugahara, Hun-ok Lim and Atsuo Takanishi, Development of New Foot System Adaptable to Uneven Terrain for All Biped Robots, ROMANSY 17 - Proceedings of the 17th CISM-IFToMM Symposium on Robot Design, Dynamics and Control, pp. 391-398, Tokyo, Japan, July, 2008.

・ Kenji Hashimoto, Yusuke Sugahara, Hiroyuki Sunazuka, Masamiki Kawase, Kentaro Hattori, Hun-ok Lim and Atsuo Takanishi, Human-carrying Biped Walking Vehicle, Proceedings of the 6th International Conference of the International Society for Gerontechnology, 075, Pisa, Italy, June, 2008.

・ Kenji Hashimoto, Yusuke Sugahara, Hun-ok Lim and Atsuo Takanishi, Optimization Design of a Stewart Platform Type Leg Mechanism for Biped Walking Vehicle, Preprints of the 13th International Symposium of Robotics Research, pp. 209-218, Hiroshima, Japan, November, 2007.

・ Kenji Hashimoto, Yusuke Sugahara, Chiaki Tanaka, Akihiro Ohta, Kentaro Hattori, Terumasa Sawato, Akihiro Hayashi, Hun-ok Lim, Atsuo Takanishi, Unknown Disturbance Compensation Control for a Biped Walking Vehicle, Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2204-2209, San Diego, USA, October, 2007.

・ Yusuke Sugahara, Kenji Hashimoto, Nobutsuna Endo, Terumasa Sawato, Masamiki Kawase, Akihiro Ohta, Chiaki Tanaka and Akihiro Hayashi, Hun-ok Lim, Atsuo Takanishi, Development of a Biped Locomotor with the Double Stage Linear Actuator, Proceedings of the 2007 IEEE International Conference on Robotics and Automation, pp.1850-1855, Roma, Italy, April, 2007.

・ Kenji Hashimoto, Yusuke Sugahara, Akihiro Hayashi, Masamiki Kawase, Terumasa Sawato, Nobutsuna Endo, Akihiro Ohta, Chiaki Tanaka, Hun-ok Lim, Atsuo Takanishi, New Foot System Adaptable to Convex and Concave Surface, Proceedings of the 2007 IEEE International Conference on Robotics and Automation, pp.1869-1874, Roma, Italy, April, 2007.

・ Yusuke Sugahara, Kenji Hashimoto, Masamiki Kawase, Terumasa Sawato, Akihiro Hayashi, Nobutsuna Endo, Akihiro Ohta, Chiaki Tanaka, Hun-ok Lim and Atsuo Takanishi, “Motion Pattern Generation for a Biped Walking Vehicle Using Dynamic Human Model,” Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2497-2502, Beijing, China, October, 2006.

・ Kenji Hashimoto, Yusuke Sugahara, Masamiki Kawase, Akihiro Ohta, Chiaki Tanaka, Akihiro hayashi, Nobutsuna Endo, Terumasa Sawato, Hun-ok Lim and Atsuo Takanishi, Walking Technology Adaptable to Uneven Terrain in Real Environment for Biped Locomotors, Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1755-1760, Beijing, China, October, 2006.

・ Yusuke Sugahara, Kenji Hashimoto, Hiroyuki Sunazuka, Masamiki Kawase, Akihiro Ohta, Chiaki Tanaka, Hun-ok Lim and Atsuo Takanishi, WL-16RII: Prototype of Biped Walking Wheelchair, ROMANSY 16, Proceedings of the 16th CISM-IFToMM Symposium on Robot Design, Dynamics and Control, pp.313-320, Warsaw, Poland, Springer Wien New York, June, 2006.

・ Giuseppe Carbone, Marco Ceccarelli, Yusuke Sugahara, Hun-ok Lim and Atsuo Takanishi, Stiffness Experimental Monitoring for WL-16RII Biped Locomotor During Walking, ROMANSY 16, Proceedings of the 16th CISM-IFToMM Symposium on Robot Design, Dynamics and Control, pp.105-112, Warsaw, Poland, Springer Wien New York, June, 2006.

・ Kenji Hashimoto, Yusuke Sugahara, Chiaki Tanaka, Masamiki Kawase, Hiroyuki Sunazuka, Akihiro Ohta, Hun-ok Lim and Atsuo Takanishi, Falling Avoidable Foot Mechanism for Biped Locomotor, Proceedings of the 2006 IEEE International Conference on Robotics and Automation, pp.1219-1224, Orlando, USA, May, 2006.

・ Kenji Hashimoto, Yusuke Sugahara, Hiroyuki Sunazuka, Chiaki Tanaka, Akihiro Ohta, Masamiki Kawase, Hun-ok Lim and Atsuo Takanishi, Biped Landing Pattern Modification Method with Nonlinear Compliance Control, Proceedings of the 2006 IEEE International Conference on Robotics and Automation, pp.1213-1218, Orlando, USA, May, 2006.

・ Yusuke Sugahara, Kenji Hashimoto, Hiroyuki Sunazuka, Masamiki Kawase, Akihiro Ohta, Chiaki Tanaka, Hun-ok Lim and Atsuo Takanishi, Towards the Biped Walking Wheelchair, Proceedings of the 2006 the first IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Pisa, Italy, February, 2006.

・ Kenji Hashimoto, Yusuke Sugahara, Akihiro Ohta, Hiroyuki Sunazuka, Chiaki Tanaka, Masamiki Kawase, Hun-ok Lim and Atsuo Takanishi, Realization of Stable Biped Walking on Public Road with New Biped Foot System, Proceedings of the 2006 the first IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Pisa, Italy, February, 2006.

・ Yusuke Sugahara, Akihiro Ohta, Kenji Hashimoto, Hiroyuki Sunazuka, Masamiki Kawase, Chiaki Tanaka, Hun-ok Lim and Atsuo Takanishi, Walking Up and Down Stairs Carrying a Human by a Biped Locomotor with Parallel Mechanism, Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3425-3430, Edmonton, Canada, August, 2005.

・ Kenji Hashimoto, Takuya Hosobata, Yusuke Sugahara, Yutaka Mikuriya, Hiroyuki Sunazuka, Masamiki Kawase, Hun-ok Lim and Atsuo Takanishi, Development of Foot System of Biped Walking Robot Capable of Maintaining Four-point Contact, Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1464-1469, Edmonton, Canada, August, 2005.

・ Yusuke Sugahara, Yutaka Mikuriya, Kenji Hashimoto, Takuya Hosobata, Hiroyuki Sunazuka, Masamiki Kawase, Hun-ok Lim and Atsuo Takanishi, Walking Control Method of Biped Locomotors on Inclined Plane, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp. 1989-1994, Barcelona, Spain, April, 2005.

・ Kenji Hashimoto, Takuya Hosobata, Yusuke Sugahara, Yutaka Mikuriya, Hiroyuki Sunazuka, Masamiki Kawase, Hun-ok Lim and Atsuo Takanishi, Realization by Biped Leg-wheeled Robot of Biped Walking and Wheel-driven Locomotion, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp. 2981-2986, Barcelona, Spain, April, 2005.

・ Yusuke Sugahara, Yutaka Mikuriya, Takuya Hosobata, Hiroyuki Sunazuka, Masamiki Kawase, Kenji Hashimoto, Hun-ok Lim and Atsuo Takanishi, Support Torque Reduction Mechanism for Biped Locomotor with Parallel Mechanism, Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3213-3218, Sendai, Japan, October, 2004.

・ Yusuke Sugahara, Tatsuro Endo, Takuya Hosobata, Yutaka Mikuriya, Hun-ok Lim and Atsuo Takanishi, WL-15: Prototype of a Multi-purpose Biped Locomotor with Parallel Mechanism, Proceedings of the 15th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2004), Rom04-38, Montreal, Canada, June, 2004.

・ Yusuke Sugahara, Takuya Hosobata, Yutaka Mikuriya, Hiroyuki Sunazuka, Hun-ok Lim and Atsuo Takanishi, Realization of Dynamic Human-Carrying Walking by a Biped Locomotor, Proceedings of the 2004 IEEE International Conference on Robotics and Automation, pp. 3055-3060, New Orleans, USA, April, 2004.

・ Yusuke Sugahara, Takuya Hosobata, Yutaka Mikuriya, Hun-ok Lim and Atsuo Takanishi, Realization of Stable Dynamic Walking by a Parallel Bipedal Locomotor on Uneven Terrain Using a Virtual Compliance Control, Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 595-600, Las Vegas, USA, October, 2003.

・ Yusuke Sugahara, Tatsuro Endo, Hun-ok Lim and Atsuo Takanishi, Control and Experiments of a Multi-purpose Bipedal Locomotor with Parallel Mechanism, Proceedings of the 2003 IEEE International Conference on Robotics and Automation, pp. 4342-4347, Taipei, Taiwan, September, 2003.

・ Hun-ok Lim, Yusuke Sugahara and Atsuo Takanishi, Development of a Biped Locomotor Applicable to Medical and Welfare Fields, Proceedings of the 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 950-955, Kobe, Japan, July, 2003.

・ Giuseppe Carbone, Yusuke Sugahara, Hun-ok Lim, Atsuo Takanishi and Marco Ceccarelli, Stiffness Performances Estimation for Biped Locomotor WL-15, Proceedings of the 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 956-961, Kobe, Japan, July, 2003.

・ Yusuke Sugahara, Tatsuro Endo, Hun-ok Lim and Atsuo Takanishi, Design of a Battery-powered Multi-purpose Bipedal Locomotor with Parallel Mechanism, Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2658-2663, Lausanne, Switzerland, October, 2002.

・ Yu Ogura, Yusuke Sugahara, Yoshiharu Kaneshima, Naoki Hieda, Hun-ok Lim, and Atsuo Takanishi, Interactive Biped Locomotion Based on Visual/Auditory Information, Proceedings of the 2002 IEEE International Workshop on Robot and Human Interactive Communication, pp. 253-258, Berlin, Germany, September, 2002.

・ Hun-ok Lim, Yusuke Sugahara and Atsuo Takanishi, Stabilization Walking Control for Human-like Biped Robots, Proceedings of the 2002 CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, pp. 471-480, Udine, Italy, July, 2002.