Japanese

Takateru Urakubo
Associate Professor, Ph.D.

Department of Information Science,
Graduate School of System Informatics, Kobe University
1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, JAPAN



Date of Birth: July 19, 1973

Place of Birth: Mie, JAPAN

Education :

Academic Experience:

Research Interests:

Publications
Journal papers:

  1. T. Urakubo, E. Kitagawa, X. Wan and T. Mashimo :
    Dragging Motion of a Two-link Mobile Manipulator with Large Pull Force through Singular Configuration: Theoretical Analysis and Experimental Verification,
    Advanced Robotics, Vol. 32, No. 11, pp. 623-634, 2018 (DOI 10.1080/01691864.2018.1476180)
  2. T. Mashimo, T. Urakubo and Y. Shimizu :
    Micro Geared Ultrasonic Motor,
    IEEE/ASME Transactions on Mechatronics, Vol. 23, No. 2, pp. 781-787, 2018 (DOI 10.1109/TMECH.2018.2792462)
  3. T. Urakubo :
    Stability Analysis and Control of Nonholonomic Systems with Potential Fields,
    Journal of Intelligent & Robotic Systems, Vol. 89, Issue 1-2, pp. 121-137, 2018 (DOI 10.1007/s10846-017-0473-1)
  4. X. Wan, T. Urakubo and Y. Tada :
    Dynamic Advantages of Singular Configurations in Moving Heavy Object by a Two-link Mechanism,
    Multibody System Dynamics, Vol. 41, Issue 2, pp. 149-172, 2017 (DOI 10.1007/s11044-016-9553-4)
  5. E. Kitagawa, T. Urakubo and X. Wan :
    Advantageous Dynamic Feature of Singular Configuration in Dragging Heavy Objects with a Two-link Mobile Manipulator,
    Transactions of the Institute of Systems, Control and Information Engineers, Vol. 30, No. 3, pp. 87-96, 2017 (in Japanese)
  6. T. Urakubo, M. Monno, S. Maekawa and H. Tamaki :
    Dynamic Modeling and Controller Design for a Spherical Rolling Robot Equipped with a Gyro,
    IEEE Transactions on Control Systems Technology, Vol. 24, No. 5, pp. 1669-1679, 2016 (DOI 10.1109/TCST.2015.2508008)
  7. T. Urakubo, X. Wan and T. Mashimo :
    A Study on Dynamic Characteristics of Two-link Robot Arm near Singular Configurations,
    Transactions of the Institute of Systems, Control and Information Engineers, Vol. 28, No. 9, pp. 377-383, 2015 (in Japanese)
  8. T. Urakubo :
    Feedback Stabilization of a Nonholonomic System with Potential Fields: Application to a Two-wheeled Mobile Robot among Obstacles,
    Nonlinear Dynamics, Vol. 81, Issue 3, pp. 1475-1487, 2015 (DOI 10.1007/s11071-015-2082-5)
  9. X. Wan, T. Urakubo and Y. Tada :
    Optimization of Jumping Motion of a Legged Robot for Different Take-off Postures,
    Journal of Mechanical Science and Technology, Vol. 29, Issue 4, pp. 1391-1397, 2015
  10. X. Wan, T. Urakubo and Y. Tada :
    Landing Motion of a Legged Robot with Minimization of Impact Force and Joint Torque,
    Journal of Robotics and Mechatronics, Vol. 27, No. 1, pp. 32-40, 2015
  11. T. Mashimo, T. Urakubo and T. Kanade :
    Singularity-Based Four-Bar Linkage Mechanism for Impulsive Torque With High Energy Efficiency,
    ASME Journal of Mechanisms and Robotics, Vol. 7, Isuue 3, 031002, 2015 (DOI 10.1115/1.4028930)
  12. T. Urakubo, M. Monno, S. Maekawa and H. Tamaki :
    Control for Straight Motion of Spherical Rolling Robot Equipped with a Gyro,
    Journal of the Robotics Society of Japan, Vol. 32, No. 6, pp. 543-549, 2014 (in Japanese)
  13. H. Saiki, T. Fukao, T. Urakubo and T. Kohno :
    A Path Following Control of Outdoor Blimp Robots for Disaster Surveillance,
    Transactions of the Japan Society of Mechanical Engineers. C, Vol. 79, No. 798, pp. 236-251, 2013 (in Japanese)
  14. M. Hutagalung, T. Hayakawa and T. Urakubo :
    Configuration Consensus of Two Underactuated Planar Rigid Bodies,
    SICE Journal of Control, Measurement, and System Integration, Vol. 4, No. 6, pp. 430-438, 2011
  15. H. Saiki, T. Fukao, T. Urakubo and T. Kohno :
    Hovering Control of Outdoor Blimp Robots Based on Path Following,
    Journal of Robotics and Mechatronics, Vol. 23, No. 2, pp. 207-214, 2011
  16. T. Urakubo, S. Maekawa, T. Ueda and H. Tamaki :
    Optimization of Contact Point Trajectory for a Spherical Rolling Robot,
    Transactions of the Society of Instrument and Control Engineers, Vol. 46, No. 10, pp. 623-631, 2010 (in Japanese)
  17. T. Urakubo, K. Tsuchiya and K. Tsujita :
    Attitude Control of a Spacecraft with Two Reaction Wheels,
    Journal of Vibration and Control, Vol. 10, Issue 9, pp. 1291-1311, 2004
  18. K. Tsujita, K. Tsuchiya, T. Urakubo and Z. Sugawara :
    Trajectory and Force Control of a Manipulator with Elastic Links,
    Journal of Vibration and Control, Vol. 10, Issue 9, pp. 1271-1289, 2004
  19. K. Tsuchiya, T. Urakubo and K. Tsujita :
    Motion Control of a Nonholonomic System Based on the Lyapunov Control Method,
    Journal of Guidance, Control, and Dynamics, Vol. 25, No. 2, pp. 285-290, 2002
  20. T. Urakubo, K. Tsuchiya and K. Tsujita :
    Motion Control of a Two-wheeled Mobile Robot,
    Advanced Robotics, Vol. 15, No. 7, pp. 711-728, 2001
  21. T. Urakubo, K. Tsuchiya and K. Tsujita :
    Lyapunov Control of a Class of Non-holonoimc Systems,
    Transactions of the Society of Instrument and Control Engineers, Vol. 37, No. 11, pp. 1020-1025, 2001 (in Japanese)

Survey/Tutorial Papers:

  1. T. Urakubo :
    Research and Development of a VTOL Drone - Toward Realization of the Next-generation Drones,
    Systems, Control and Information, Vol. 60, No. 10, pp. 437-442, 2016 (in Japanese)
  2. T. Urakubo :
    Controllability and State Feedback,
    Systems, Control and Information, Vol. 56, No. 4, pp. 180-183, 2012 (in Japanese)
  3. T. Urakubo and K. Tsuchiya :
    Control of Nonholonomic Systems with First Order Lie Brackets,
    Systems, Control and Information, Vol. 49, No. 1, pp. 20-25, 2005 (in Japanese)

Refereed Conference Papers:

  1. K. Unagida, T. Muromaki, A. Suda, X. Wan and T. Urakubo:
    Development of a Legged Robot for Studying an Efficient Jumping Motion near Singular Configurations,
    Proc. 2018 International Symposium on Flexible Automation, S108, 2018
  2. R. Kawanishi, T. Urakubo and X. Wan:
    Dynamic Advantages of Singular Configurations in Moving Heavy Objects with a 3-DOF Robot Manipulator,
    Proc. IEEE 15th International Workshop on Advanced Motion Control, pp. 47-53, 2018
  3. E. Kitagawa, T. Urakubo and X. Wan:
    Advantage of Singular Configuration in Pulling Heavy Object with a Two-link Mobile Manipulator,
    Proc. 2016 International Symposium on Flexible Automation, pp. 444-449, 2016
  4. X. Wan, T. Urakubo and T. Mashimo:
    Generation of Large Pulling Force by a Mobile Manipulator Through Singular Configuration,
    Proc. the 2015 IEEE Conference on Robotics and Biomimetics, pp. 408-414, 2015
  5. H. Saiki, T. Kobayashi, T. Fukao, T. Urakubo, K. Araiba and H. Amano:
    Control for Suppressing Roll Motion of Outdoor Blimp Robots for Disaster Surveillance,
    Proc. AIAA Infotech @ Aerospace, AIAA 2015-0714, 2015
  6. N. Inoue, G. Hayashida, T. Urakubo and T. Fukao:
    Development of a Tilt-rotor UAV for Information Gathering,
    Proc. 2nd International Conference on Maintenance Science and Technology, pp. 239-240, 2014
  7. T. Urakubo, H. Yoshioka, T. Mashimo and X. Wan:
    Experimental Study on Efficient Use of Singular Configuration in Pulling Heavy Objects with Two-link Robot Arm,
    Proc. 2014 IEEE International Conference on Robotics and Automation, pp. 4582-4587, 2014
  8. X. Wan, T. Urakubo and Y. Tada:
    Optimization of Jumping Motion of a Legged Robot for Different Take-off Postures,
    Proc. the Eighth China-Japan-Korea Joint Symposium on Optimization of Structural and Mechanical Systems, No. 0205, 2014
  9. X. Wan, T. Urakubo and Y. Tada:
    Landing Motion of a Legged Robot with Impact Force Reduction and Joint Torque Minimization,
    Proc. The Second International Conference on Robot, Vision and Signal Processing, pp. 259-264, 2013
  10. T. Urakubo, M. Osawa, S. Maekawa, H. Tamaki and Y. Tada:
    Development of a Spherical Rolling Robot Equipped with a Gyro,
    Proc. 2012 IEEE International Conference on Mechatronics and Automation, pp. 1602-1607, 2012
  11. T. Urakubo and T. Kanade:
    Capturability Analysis of a Three-dimensional Guidance Law with Angular Acceleration Input,
    Proc. the 2012 American Control Conference, pp. 2551-2556, 2012
  12. X. Wan, T. Urakubo and Y. Tada:
    A Study on Jumping Motion of a Legged Robot with Efficient Energy Supply near Singular Configuration,
    Proc. of The 7th China-Japan-Korea Joint Symposium on Optimization of Structural and Mechanical Systems, C097, 2012
  13. H. Saiki, T. Fukao, T. Urakubo and T. Kohno:
    A Path Following Control Method under Wind Disturbances for Outdoor Blimp Robots,
    Proc. SI International 2011, pp. 978-984, 2011
  14. M. Hutagalung, T. Hayakawa and T. Urakubo:
    Consensus Control for Underactuated Vehicles,
    Preprints of the 18th IFAC World Congress, pp. 6721-6726, 2011
  15. T. Urakubo, T. Mashimo and T. Kanade:
    Efficient Pulling Motion of a Two-Link Robot Arm near Singular Configuration,
    Proc. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1372-1377, 2010
  16. T. Mashimo, T. Urakubo and T. Kanade:
    Singularity-Based Mechanism with High Responsiveness,
    Proc. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4207-4212, 2010
  17. T. Mashimo, R. Diankov, T. Urakubo and T. Kanade:
    Analysis of Task Feasibility for a Home Robot using Prismatic Joints,
    Proc. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2370-2376, 2010
  18. H. Saiki, T. Fukao, T. Urakubo and T. Kohno:
    Hovering Control of Outdoor Blimp Robots Based on Path Following,
    Proc. 2010 IEEE Multi-conference on Systems and Control, pp. 2124-2129, 2010
  19. T. Urakubo, T. Mashimo and T. Kanade:
    Optimal Placement of a Two-Link Manipulator for Door Opening,
    Proc. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1446-1451, 2009
  20. T. Urakubo and T. Kanade:
    Capturability of a Simple Guidance Law with Angular Acceleration Input,
    Proc. the European Control Conference 2009, pp. 2390-2395, 2009
  21. M. Hutagalung, T. Hayakawa and T. Urakubo:
    Configuration Consensus of Two Underactuated Planar Rigid Bodies,
    Proc. the 47th IEEE Conference on Decision and Control, pp. 5016-5022, 2008
  22. T. Urakubo and Y. Tada:
    A Study on Attitude Control of a Space Robot Composed of Two Axisymmetric Rigid Bodies,
    Proc. 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, pp. 177-182, 2006
  23. T. Urakubo, S. Maekawa, H. Tamaki, Y. Tada, T. Otani and H. Kobayashi:
    Dynamics and Control of a Spherical Rolling Robot Equipped with a Gyro,
    Proc. 2006 International Symposium on Flexible Automation, pp. 1013-1016, 2006 [PDF]
  24. T. Otani, T. Urakubo, S. Maekawa, H. Tamaki and Y. Tada:
    Position and Attitude Control of a Spherical Rolling Robot Equipped with a Gyro,
    Proc. the 9th IEEE International Workshop on Advanced Motion Control, pp. 416-421, 2006
  25. T. Urakubo :
    Discontinuous Feedback Stabilization of a Class of Nonholonomic Systems Based on Lyapunov Control,
    Proc. the Fifth International Workshop on Robot Motion and Control, pp. 91-96, 2005
  26. T. Urakubo, K. Okuma and Y. Tada :
    Feedback Control of a Two Wheeled Mobile Robot with Obstacle Avoidance Using Potential Functions,
    Proc. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2428-2433, 2004
  27. K. Okuma, T. Urakubo and Y. Tada :
    Lyapunov Control of a Two Wheeled Mobile Robot in the Presence of Obstacles,
    Proc. 2004 Japan-USA Symposium on Flexible Automation, JS026, 2004
  28. T. Urakubo, K. Tsuchiya and K. Tsujita :
    Attitude Control of a Spacecraft with Two Reaction Wheels,
    Proc. 5th Cranfield Conference on Dynamics and Control of Systems and Structures in Space 2002, pp. 89-96, 2002
  29. T. Urakubo, K. Tsuchiya and Y. Tada :
    Reorientation Maneuver of a Spacecraft Composed of Two Rigid Bodies,
    Proc. The 6th International Conference on Motion and Vibration Control, pp. 355-360, 2002
  30. T. Urakubo, K. Okuma and Y. Tada :
    Feedback Control of a Two Wheeled Mobile Robot among Obstacles,
    Proc. 2002 Japan-USA Symposium on Flexible Automation, pp. 189-192, 2002
  31. K. Tsuchiya, T. Urakubo and K. Tsujita :
    A Motion Control of a Two-Wheeled Mobile Robot,
    Proc. IEEE International Conference on Systems, Man, and Cybernetics, pp. v-690-v-696, 1999

Not Refereed Conference Papers (written in English):

Prizes:

  1. JSME Medal for Outstanding Paper 2013 :
    H. Saiki, T. Fukao, T. Urakubo and T. Kohno,
    A Path Following Control of Outdoor Blimp Robots for Disaster Surveillance,
    Transactions of the Japan Society of Mechanical Engineers. C, Vol. 79, No. 798, pp. 236-251, 2013 (in Japanese)
  2. Prize for Encouragement of ISCIE 2003 :
    T. Urakubo, K. Okuma, Y. Tada,
    Feedback Control of a Two-wheeled Mobile Robot in the Presence of Obstacles,
    Proc. the 46th Annual Conference of the Institute of Systems, Control and Information Engineers, pp. 99-100, 2002 (in Japanese)