AIConfPaper
← Search

Masahiro Watanabe

28 accepted papers

2026

Drone Landing Performance in Windy Conditions: Comparing the Vertical and Horizontal Landing Approaches with the EAGLES Port

Iuri Pereira Barros, Yoshito Okada, Kenjiro Tadakuma, Masahiro Watanabe, Masashi Konyo, Kazunori Ohno +3
ICRA 2026poster

Drone docking stations promote efficient operations of drones, but they usually support only one vehicle, and are accessible primarily through vertical landing. These limitations hinder multi-drone operations and result in challenges for fast, precise docking, particularly under severe wind conditio…

Cited by 0Source ↗Scholar ↗
2025

Poloidal Drive: Direct-Drive Transmission Mechanism for Active Omni-Wheels With Spoke Interference Avoidance

Shunsuke Sano, Kenjiro Tadakuma, Ryotaro Kayawake, Masahiro Watanabe, Kazuki Abe, Yuto Kemmotsu +1
RA-L 2025

Wheels require extra space for steering. Omnidirectional wheels are ideal for confined spaces as they can move in all directions: forward/backward and left/right. Conventional omnidirectional wheels with passive rollers achieve this movement by combining multiple wheels. However, if even one wheel l

Cited by 2Source ↗Scholar ↗
2025

Tube Mechanism for Positively Pressurized Variable Stiffness by Lever and Wire

Issei Onda, Masahiro Watanabe, Kenjiro Tadakuma, Kazuki Abe, Satoshi Tadokoro
RA-L 2025

In the field of soft robotics, research on variable stiffness mechanisms that combine flexible structures for deformation with a solid structure for transmitting external forces is underway. This investigation is focused on a mechanism for achieving a high adjustable locking force with minimal actua

Cited by 1Source ↗Scholar ↗
2024

Balloon Pin-Array Gripper: Two-Step Shape Adaptation Mechanism for Stable Grasping Against Object Misalignment

Yuto Kemmotsu, Kenjiro Tadakuma, Kazuki Abe, Masahiro Watanabe, Satoshi Tadokoro
RA-L 2024

This letter introduces a balloon pin-array gripper combining shape adaptability to various objects, stable holding by multipoint contact, and isotropic grasping performance. This is particularly useful when the shape or position of the objects cannot be accurately determined because of sensor limita

Cited by 10Source ↗Scholar ↗
2024

Tube Mechanism With 3-Axis Rotary Joints Structure to Achieve Variable Stiffness Using Positive Pressure

Issei Onda, Masahiro Watanabe, Kenjiro Tadakuma, Kazuki Abe, Satoshi Tadokoro
RA-L 2024

Studies on soft robotics have explored mechanisms of switching the stiffness of a robot structure. The hybrid soft-rigid approach, which combines soft materials and high-rigidity structures, is the most commonly-used method for the variable stiffness mechanism. The positive-pressurization method, in

Cited by 6Source ↗Scholar ↗
2024

Versatile Variable-Stiffness Scooping End-Effector: Tilting-Scooping-Transfer Mechanism for Objects with Various Properties

Yuta Takahashi, Kenjiro Tadakuma, Kazuki Abe, Masahiro Watanabe, Shoya Shimizu, Satoshi Tadokoro
IROS 2024poster

To address the setup and changeover time issues in high-mix, low-volume production systems, we developed an end-effector capable of uniformly scooping, holding, and transporting a wide variety of objects, and demonstrated this system with prototype. Our experiments showed that the prototype was succ…

Cited by 0Source ↗Scholar ↗
2023

Inflated Bendable Eversion Cantilever Mechanism With Inner Skeleton for Increased Stiffness

Tomoya Takahashi, Masahiro Watanabe, Kazuki Abe, Kenjiro Tadakuma, Naoto Saiki, Masashi Konyo +1
RA-L 2023

Inflatable structures used in soft robotics applications have unique characteristics. In particular, the tip-extension structure, which extends the structure from its tip, can grow without creating friction with the environment. However, these inflatable structures need high pressure to maintain the

Cited by 13Source ↗Scholar ↗
2023

Permanent-Magnetically Amplified Robotic Gripper With Less Clamping Width Influence on Compensation Realized by a Stepless Width Adjustment Mechanism

Tori Shimizu, Kenjiro Tadakuma, Masahiro Watanabe, Kazuki Abe, Masashi Konyo, Satoshi Tadokoro
RA-L 2023

Machines such as robotic grippers use powerful actuators or gearboxes to exert large loads at the expense of energy consumption, volume, and mass. We propose a stepless force amplification mechanism that assists clamping by a pair of permanent magnets, in which the external control force required to

Cited by 0Source ↗Scholar ↗
2023

Protective Skin Mechanism with an Exhaustive Arrangement of Tiny Rigid Bodies for Soft Robots: Evaluation of Puncture Resistance, Elasticity, and Descaling Resistance of the Scale Mechanism

Kenjiro Tadakuma, Masahiro Watanabe, Satoshi Tadokoro
IROS 2023poster

Soft actuators have several advantages, including large deformation, safety and adaptability to the environment, and shock absorbance. However, they are weak against sharp objects owing to their soft bodies. This paper proposes a novel protective skin mechanism with an exhaustive arrangement of tiny…

Cited by 0Source ↗Scholar ↗
2022

Anisotropic-Stiffness Belt in Mono wheeled Flexible Track for Rough Terrain Locomotion

Yu Ozawa, Masahiro Watanabe, Kenjiro Tadakuma, Satoshi Tadokoro
IROS 2022poster

Rescue robots that search around on debris during natural disasters require high mobility to overcome various shaped materials scattered in the environment. Our previous study developed a new tracked mechanism called Mono-wheel Track, an elastic track driven by a single wheel, having a high capabili…

Cited by 2Source ↗Scholar ↗
2022

Experimental Study of the Mechanical Properties of a Spherical Parallel Link Mechanism With Arc Prismatic Pairs

Naoto Saiki, Kenjiro Tadakuma, Masahiro Watanabe, Kazuki Abe, Masashi Konyo, Satoshi Tadokoro
RA-L 2022

A two-degrees-of-freedom spherical parallel link mechanism (2-DOF SPM) was designed to ensure that it only has rotational degrees of freedom in two directions around a fixed center. In general, 2-DOF SPM includes passive rotating pairs, and at least two actuators are needed to change the end-effecto

Cited by 2Source ↗Scholar ↗
2022

Highly Articulated Tube Mechanism With Variable Stiffness and Shape Restoration Using a Pneumatic Actuator

Issei Onda, Kenjiro Tadakuma, Masahiro Watanabe, Kazuki Abe, Tetsuyou Watanabe, Masashi Konyo +1
RA-L 2022

Recently, soft robotics research has focused on mechanisms to control the stiffness of robot structures. There are several types of variable stiffness mechanisms that can change the stiffness of such structures by altering friction force. Among these, the negative-pressurization method applies negat

Cited by 8Source ↗Scholar ↗
2022

Permanent-Magnetically Amplified Brake Mechanism Compensated and Stroke-Shortened by a Multistage Nonlinear Spring

Tori Shimizu, Kenjiro Tadakuma, Masahiro Watanabe, Kazuki Abe, Masashi Konyo, Satoshi Tadokoro
RA-L 2022

Electromagnetic (EM) brakes are widely used but consume electricity continuously to maintain their activated state. In this letter, for efficient braking and idling of robots and vehicles, we proposed a concept of a brake mechanism using a permanent magnet for the amplification of the pressing force

Cited by 1Source ↗Scholar ↗
2022

Toroidal Origami Monotrack: Mechanism to Realize Smooth Driving and Bending for Closed-Skin-Drive Robots

Masahiro Watanabe, Yuto Kemmotsu, Kenjiro Tadakuma, Kazuki Abe, Masashi Konyo, Satoshi Tadokoro
IROS 2022poster

We propose a novel toroidal origami monotrack capable of smooth-skin driving and bending for closed-skin-drive robots. Monotracks are a promising solution for achieving high mobility in unstructured environments. Toroidal-drive mechanisms enable whole skin drive; however, conventional methods experi…

Cited by 2Source ↗Scholar ↗
2021

2-DOF Spherical Parallel Mechanism Capable of Biaxial Swing Motion with Active Arc Sliders

Naoto Saiki, Kenjiro Tadakuma, Masahiro Watanabe, Eri Takane, Masashi Nobutoki, Shintaro Suzuki +2
RA-L 2021

Most articulated robots comprise multiple joints and links that control the position and posture of the end effector. The kinematic pair arrangement determines characteristics such as output force. The link configurations can be classified as serial link and parallel link mechanisms. A typical paral

Cited by 8Source ↗Scholar ↗
2021

Amplification of Clamping Mechanism Using Internally-Balanced Magnetic Unit

Tori Shimizu, Kenjiro Tadakuma, Masahiro Watanabe, Eri Takane, Masashi Konyo, Satoshi Tadokoro
IROS 2021poster

Machines tend to use powerful actuators and large gearboxes to bear large loads, which are inconvenient in terms of responsiveness as they affect the duration of operations. Thus, to compensate the force to grasp an object, we propose a clamping mechanism implementing the internally-balanced magneti…

Cited by 1Source ↗Scholar ↗
2021

Eversion Robotic Mechanism With Hydraulic Skeletonto Realize Steering Function

Tomoya Takahashi, Kenjiro Tadakuma, Masahiro Watanabe, Eri Takane, Natsumi Hookabe, Hiroshi Kajihara +3
RA-L 2021

For rescue or endoscope applications, snake-like robots have been extensively studied to access and explore confined spaces, such as small-diameter holes or complicated debris. Among them, eversion robot which can evert their flexible surface membrane to extend, exhibit high-mobility performance, ev

Cited by 26Source ↗Scholar ↗
2021

Internally-Balanced Displacement-Force Converter for Stepless Control of Spring Deformation Compensated by Cam With Variable Pressure Angle

Tori Shimizu, Kenjiro Tadakuma, Masahiro Watanabe, Eri Takane, Masashi Konyo, Satoshi Tadokoro
RA-L 2021

The force required to drive a mechanism can be compensated by adding an equivalent load in the opposite direction. By reversing the input and output of the load compensation, we proposed the concept of a displacement-force converter that enables the deformation of the elastic element to be controlle

Cited by 1Source ↗Scholar ↗
2021

Two-Sheet Type Rotary-Driven Thin Bending Mechanism Realizing High Stiffness

Tomoya Takahashi, Masahiro Watanabe, Kenjiro Tadakuma, Eri Takane, Masashi Konyo, Satoshi Tadokoro
RA-L 2021

Thin construction is an advantage in the design of mechanisms. Among them, the soft-bending thin sheet actuator can fit into the shape of an object and grasp it after inserting a finger into a narrow space. However, to facilitate bending, these mechanisms are thin or made of soft materials, which le

Cited by 2Source ↗Scholar ↗
2020

Bundled Rotary Helix Drive Mechanism Capable of Smooth Peristaltic Movement

Masahiro Watanabe, Kenjiro Tadakuma, Masashi Konyo, Satoshi Tadokoro
RA-L 2020

Herein, we focus on the design method of a robot, named Wave Wheel, capable of generating a smooth continuous peristaltic wave, which is driven by a bundled rotary helix drive mechanism. Wave Wheel mainly consists of a braided mesh tube, multiple helices that are arranged on the circumference, and s

Cited by 12Source ↗Scholar ↗
2020

Internally-Balanced Magnetic Mechanisms Using a Magnetic Spring for Producing a Large Amplified Clamping Force

Tori Shimizu, Kenjiro Tadakuma, Masahiro Watanabe, Eri Takane, Masashi Konyo, Satoshi Tadokoro
ICRA 2020poster

To detach a permanent magnet using a control force much smaller than its original attractive force, the internally-balanced magnetic unit (IB Magnet) was invented. It has been applied to magnetic devices such as wall-climbing robots, ceiling-dangling drones, and modular swarm robots. In contrast to…

Cited by 7Source ↗Scholar ↗
2020

Radial-Layer Jamming Mechanism for String Configuration

Rio Mukaide, Masahiro Watanabe, Kenjiro Tadakuma, Yu Ozawa, Tomoya Takahashi, Masashi Konyo +1
RA-L 2020

In the soft robotics field, soft structures are required for safe human interactions, adaptive shape grippers, and haptic interfaces. Conversely, rigid structures are necessary for high force transmission devices and precise position control applications. The tunable stiffness mechanism is a crucial

Cited by 22Source ↗Scholar ↗
2020

Retraction Mechanism of Soft Torus Robot With a Hydrostatic Skeleton

Tomoya Takahashi, Masahiro Watanabe, Kenjiro Tadakuma, Masashi Konyo, Satoshi Tadokoro
RA-L 2020

Soft robots have attracted much attention in recent years owing to their high adaptability. Long articulated soft robots enable diverse operations, and tip-extending robots that navigate their environment through growth are highly effective in robotic search applications. Robots that extend from the

Cited by 17Source ↗Scholar ↗
2020

Toward Enabling a Hundred Drones to Land in a Minute

Daiki Fujikura, Kenjiro Tadakuma, Masahiro Watanabe, Yoshito Okada, Kazunori Ohno, Satoshi Tadokoro
IROS 2020poster

Currently, drone research and development has received significant attention worldwide. Particularly, delivery services employ drones as it is a viable method to improve delivery efficiency by using a several unmanned drones. Research has been conducted to realize complete automation of drone contro…

Cited by 4Source ↗Scholar ↗
2019

Basic Performance of Planar Omnidirectional Crawler during Direction Switching using Disturbance Degree of Ground Evaluation Method

Eri Takane, Kenjiro Tadakuma, Tori Shimizu, Sosuke Hayashi, Masahiro Watanabe, Shingo Kagami +3
IROS 2019poster

We introduced the disturbance degree of ground and proposed an evaluation method to measure the mobile performance of a crawler on soft ground during direction switching. First, we developed a planar omnidirectional crawler, which had a configuration with two left and right unit crawlers for perform…

Cited by 4Source ↗Scholar ↗
2017

Soft sheet actuator generating traveling waves inspired by gastropod's locomotion

Masahiro Watanabe, Hideyuki Tsukagoshi
ICRA 2017poster

In this paper, we propose an epoch-making soft sheet actuator called “Wavy-sheet”. Inspired by gastropod's locomotion, Wavy-sheet can generate continuous traveling waves on the whole soft body. It aims to be applied to a mobile soft mat capable of moving and transporting without damaging the object…

Cited by 23Source ↗Scholar ↗
2015

Aerial manipulator with perching and door-opening capability

Hideyuki Tsukagoshi, Masahiro Watanabe, Takahiro Hamada, Dameitry Ashlih, Ryuma Iizuka
ICRA 2015poster

This paper presents an aerial robot with a manipulator to implement door opening mission. Although general aerial robots have advantages of flying in the three-dimensional space freely, they don't have any capability of moving to another room when the door is closed. To overcome this problem, we pro…

Cited by 111Source ↗Scholar ↗