教員一覧 List of faculty members

MIKAMI Sadayoshi 教授

MIKAMI, Sadayoshi Professor

Research Projects

We are conducting research to realize robust systems that leverage the strengths of simple "mechanisms and structures," enabling environmental adaptation, stabilization of unstable phenomena, and increased efficiency in information services.

In the field of mechanical technology, research is being conducted on robots that can move on uneven terrain, such as bipedal robots, technologies to improve the stability of human walking through the shape of the soles of the feet, and 3D omnidirectional legs realized solely through links.
In the field of intelligent technology, research includes developing self-learning techniques to recover from malfunctions or incapacitation in multi-legged robots.
In the field of information technology, we are working on traceability technology to prevent fraudulent labeling of fresh food, and as an entry point to that technology, we are working on identifying the deliciousness of fresh food based on image characteristics.

Although the subjects differ—force, information, and material flows—all of these studies aim to control and coordinate processes to strengthen the whole by appropriately applying small changes.

The appeal of research

Intelligent technology

For example, autonomous robots that perform tasks in places inaccessible to humans need to be designed to avoid stopping or malfunctioning in a variety of situations. This research involves having them go through trial and error to achieve simple but important objectives, such as moving forward or moving away from a given location. I find this combination of machine learning and robotics technology fascinating because it has the potential to imbue machines with the fundamental strengths of living organisms.

Robot technology

Stable bipedal locomotion is a sophisticated technology that requires powerful motors, precise sensors, and high-speed computing capabilities to maintain balance while walking. On the other hand, many mechanisms are known that cleverly utilize the natural self-recovering properties of shapes, such as roly-poly toys and boats. This research focuses on the shape of the soles of the feet, considering whether natural stabilization through shape can be incorporated into the complex process of walking. As the technology for realizing various types of robots and other devices advances, there are often cases where simpler mechanisms can be used behind the scenes.

information technology

Although it's a different field from the two mentioned above, the distribution of food and other goods is also a complex process. I believe that in such fields involving many people and goods, there may be opportunities for significant improvements through simpler mechanisms. As one example, we have developed and successfully implemented a traceability system for fresh seafood that uses weight as the key to prevent fraud. Information technology in the fresh food sector is still limited. I believe this is a field with many possibilities, starting with the development of apps for discerning fresh food.

Achievements

Intelligent technology

• I translated and published the first textbook on reinforcement learning, one of the artificial intelligence technologies.2000 2000 ).

Robot technology

• We achieved the world record for continuous walking by a passive walking robot (16.3 km/100 hours) and were certified by Guinness World Records.2011 2011 ).

information technology

• We have developed and put into practical use a traceability system to prevent fraudulent labeling of live clams, a pioneering initiative in the fresh seafood industry.2004 2004 ).
• This initiative led to the establishment of the NPO Fisheries Product Traceability Research Association, which continues to operate to this day.2005 2005 ~).

Awards

• ROBOMEC Award, Robotics and Mechatronics Division, Japan Society of Mechanical Engineers1997 1997 ).
• Artificial Neural Network in Engineering, “Theoretical Developments in Techniques Award” (1997 1997 ).
• Japan Society of Mechanical Engineers Robotics and Mechatronics Division - Divisional Contribution Award2004 2004 ).
• Information Processing Society of Japan Hokkaido Branch Technical Award (2004 2004 ).
• Heisei 20 2008 The Institute of Electrical Engineers of Japan, Electronics, Information and Systems Division Conference Planning Award (2009 2009 ).

Major publications and papers

Papers, international conferences, etc.

• S. Mikami, T. Fukuda, and S. Suzuki, “Gait Design by Graph Coloring for Robots That Have Legs on Their Faces,” in 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Busan, Korea, 2015, p. WeAT4.3–1–5.
• T. Omido, S. Mikami, and K. Hyodo, “Limiting Stance Leg Heel Angle by Sole Shape to Achieve Stable Passive Dynamic Walk,” in 13th International Conference on Control, Automation, Robotics and Vision, Singapore, 2014, p. Th37.6.
• S. Mikami, T. Fukuda, A. Igarashi, and S. Suzuki, “Prismatic Omni-Directional Legged Machine for Rough Environment Movement by a Simple Mechanical Drive,” in 13th International Conference on Control, Automation, Robotics and Vision, Singapore, 2014, p. Fr43.4.
• S. Mikami, N. Rikiishi, M. Sugawara, K. Hyodo, “The longest walk by a passive walking robot.” Guinness World Records, Apr-2013.
• Naoya Rikiishi, Manabu Sugawara, Takashi Omido, Kazuyuki Hyodo, Sadayoshi Mikami, “Walking Stabilization Enhancement Shoes Applying the Principle of Walking Stabilization for Bipedal Passive Walking Robots Based on Suppressive Foot Shape,” Journal of the Biomechanics Society, vol. 37, no. 1, pp. 66–69, Jan. 2013.
• T. Wakahara and S. Mikami, “Feedback Control of Traffic Signal Network of Less Traffic Sensors by Help of Machine Learning,” in 12th International Conference on Intelligent Autonomous System, Jeju Island, Korea, 2012, pp. T4C–S5, 1–5.
• T. Wakahara and S. Mikami, “Adaptive Nutrient Water Supply Control of Plant Factory System by Reinforcement Learning,” JACIII, vol. 15, no. 7, pp. 831–837, Sep. 2011.
• Kodai Niibori, Kazuyuki Hyodo, Kyosuke Sunayama, Sadayoshi Mikami, “Acquisition of Adaptive Locomotion Methods in a Modular Multilegged Robot Using Reinforcement Learning,” Journal of Information Society Japan, vol. 50, no. 3, pp. 1170–1180, Mar. 2009.
• Kazuyuki Hyodo, Sadayoshi Mikami, Shoji Suzuki, "Stabilization of passive walking by suppressing the falling-down phenomenon through the shape of the sole of the foot," Journal of the Japan Society of Mechanical Engineers, vol. 74, no. 742, pp. 1514–1521, 2008.
• S. Mikami, Y. Takahashi, A. Nagano, S. Kuwabara, H. Narumi, and T. Wakabayashi, “Enabling Secured Traceability of Fishery Products Using 2D Code and Digital Encryption,” in 12th Biennial Conference of the International Institute of Fisheries Economics and Trade, Tokyo, Japan, 2004, pp. 168–1–7.

Patent

• MIKAMI Sadayoshi, Takahashi Nobuyuki, SUZUKI Sho'ji, “Vehicle Support Device,” Japanese Patent Application No. 2014-062227.
• Akira Nagano, Sadayoshi Mikami, Hideto Narumi, Shinji Kuwahara, Takashi Wakabayashi, Yuta Takahashi, Mayumi Yoshikawa, “A system for identifying counterfeit or counterfeit goods,” 456987920-Aug-2010.

Book

• MIKAMI Sadayoshi, MINagawa M. Reinforcement Learning. Morikita Publishing, 2000.