Genya ISHIGAMI (English)


Gen'ya Ishigami

English/Japanese



  • Biographical Outline

  • Research

  • Academic Societies

  • Publications

  • Photo in Okinawa


    Address : Aramaki-aza Aoba 6-6-01, Sendai 980-8579, JAPAN
    Yoshida-Nagatani Lab. Department of Aerospace Engineering,
    Graduate School of Engineering, Tohoku University, JAPAN

    voice & FAX : +81-22-795-6993
    e-mail : ishigami [at] astro.mech.tohoku.ac.jp



    --- Biographical Outline ---

    He received his B.S., M.S, and Ph.D. degrees from Tohoku University, JAPAN, in 2003, 2005, and 2008, respectively. He has been Research Fellow (DC2) of the Japan Society for the Promotion of Science since 2006. He has been a postdoctoral associate in the Mechanical Engineering department at the Massachusetts Institute of Technology since 2008.

  • Doctor of Engineering (conferred in March 2008 from Tohoku University)

  •       Thesis : "Terramechanics-based Analysis and Control for Lunar/Planetary Exploration Robots"

  • Master of Engineering (conferred in March 2005 from Tohoku University)

  •       Thesis :"Locomotion Mechanics for Planetary Exploration Rovers based on Steering Characteristics"

  • Bachelor of Engineering (conferred in March 2003 from Tohoku University)

  •       Thesis :"Study on Dead reckoning and GPS-based Navigation for Rough Terrain Rover"



    --- Research ---

    Lunar/Planetary Exploration Rover

  • Wheel-Soil interaction model based on Terramechanics

  • Analysis on dynamics characteristics of lunar/planetary exploration rover

  • Path following control with slip compensation

  • Path planning and evaluation based on wheel slip dynamics

  • Rover Test Bed



  • --- Academic Societies ---

    IEEE

    The Robotics Society of Japan

    The Japan Society for Aeronautical and Space Sciences


    --- Publications ---

    Journal paper
    [4] Ishigami, G., Kewlani, G., and Iagnemma, K., "A Statistical Approach to Mobility Prediction for Planetary Surface Exploration Rovers in Uncertain Terrain," IEEE Robotics and Automation Magazine, (in press).

    [3] Reina, G., Ishigami, G., Nagatani, K., Yoshida, K., "Odometry Correction Using Visual Slip-Angle Estimation for Planetary Exploration Rovers," Advanced Robotics, (in press).

    [2] Ishigami, G., Nagatani, K., and Yoshida, K., "Slope Traversal Controls for Planetary Exploration Rover on Sandy Terrain," Journal of Field Robotics, Vol. 26, Issue 3, pp. 264-286, March, 2009.

    [1] Ishigami, G., Miwa, A., Nagatani, K., and Yoshida, K., "Terramechanics-Based Model for Steering Maneuver of Planetary Exploration Rovers on Loose Soil," Journal of Field Robotics, Volume 24, Issue 3, pp. 233-250, March 2007.



    International conference papers

    [18] Kewlani, G., Ishigami, G., and Iagnemma. K., "Stochastic Mobility-based Path Planning in Uncertain Environments," Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), 2009 (Accepted).

    [17] Mora, A., Ishigami, G., Nagatani, K., and Yoshida, K., "Sensing Position Planning for Lunar Exploration Rovers," Proceedings of the 2008 IEEE International Conference on Mechatronics and Automation (ICMA 2008), pp. 732-737, 2008.

    [16] Iagnemma, K., Udengaard, M., Ishigami, G., Spenko, M., Oncu, S., Khan, I., Overholt, J., and Hudas, G., "Design and Development of an Agile, Man Portable Unmanned Ground Vehicle," Proceedings of the 26th Annual Army Science Conference, 2008.

    [15] Ishigami, G., Nagatani, K., and Yoshida, K., "Trafficability Analysis for Lunar/Planetary Exploration Rover using Thrust-Cornering Characteristic Diagram," Proceedings of the 2008 IEEE/RSJ International Conference on Robots and Systems (IROS 2008), 2008.

    [14] Rohmer, E., Reina, G., Ishigami, G., Nagatani, K., and Yoshida, K., "Action Planner of Hybrid Leg-Wheel Robots for Lunar and Planetary Exploration," Proceedings of the 2008 IEEE/RSJ International Conference on Robots and Systems (IROS 2008), pp. 3902-3907, 2008.

    [13] Ishigami, G., Nagatani, K., and Yoshida, K., "Slope Traversal Experiments with Slip Compensation Control for Lunar/Planetary Exploration Rover," Proceedings of the 2008 IEEE International Conferenceon Robotics and Automation (ICRA 2008), pp. 2295-2300, 2008.

    [12] Reina, G., Ishigami, G., Nagatani, K., and Yoshida, K., "Vision-Based Estimation of Slip Angle for Mobile Robots and Planetary Rovers," Proceedings of the 2008 IEEE International Conferenceon Robotics and Automation (ICRA 2008), pp. 486-491, 2008.

    [11] Ishigami, G., Nagatani, K., and Yoshida, K., "Path Planning for Planetary Exploration Rovers and Its Evaluation based on Wheel Slip Dynamics," Proceedings of the 2008 IEEE International Conferenceon Robotics and Automation (ICRA 2007), pp. 2361-2366, 2007.

    [10] Yoshida, K., Nagatani, K., Ishigami, G., Shimizu, S., Sekimoto, K., Miyahara, A., and Yokoyama, T., "Soil Mechanics of Lunar Regolith Simulants for Probe Landing and Rover Locomotion," Preprints of Space Resources Roundtable VIII, 2006.

    [9] Ishigami, G., Nagatani, K., and Yoshida, K., "Path Following Control with Slip Compensation on Loose Soil for Exploration Rover," Proceedings of the 2006 IEEE/RSJ International Conference on Robots and Systems (IROS 2006), pp. 5552-5557, 2006.

    [8] Ishigami, G., Miwa, A., Nagatani, K., and Yoshida, K., "Terramechanics-Based Analysis on Slope Traversability for a Planetary Exploration Rover," The 25th International Symposium on Space Technology and Science (ISTS 2006), pp. 1025-1030, 2006.

    [7] Ishigami, G., Miwa, A., Nagatani, K., and Yoshida, K., "Steering Trajectory Analysis of Planetary Exploration Rovers Based on All-Wheel Dynamics Model," The 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2005), 2005.

    [6] Ishigami, G., and Yoshida, K., "Steering Characteristics of an Exploration Rover on Loose Soil Based on All-Wheel Dynamics Model," Proceedings of the 2005 IEEE/RSJ International Conference on Robots and Systems (IROS 2005), pp. 2041-2046, 2005.

    [5] Ishigami, G., and Yoshida, K., "Steering Characteristics of a Rigid Wheel for Exploration on Loose Soil," Proceedings of the 2004 IEEE/RSJ International Conference on Robots and Systems (IROS 2004), pp. 3995-4000, 2004.

    [4] Ishigami, G., Mizuno, N., Miwa, A., and Yoshida, K., "Long Range Navigation on Desert by a Dual-Wheel Micro Rover, " The 24th International Symposium on Space Technology and Science (ISTS 2004), 2004.

    [3] Yoshida, K., Mizuno, N., Ishigami, G., and Miwa, A., "Terramechanics-Based Analysis for Slope Climbing Capability of a Lunar/Planetary Rover," The 24th International Symposium on Space Technology and Science (ISTS 2004), 2004.

    [2] Yoshida, K., Watanabe, T., Mizuno, N., and Ishigami, G., "Terramechanics-Based Analysis and Traction Control of a Lunar/Planetary Rover," The 4th International Conference on Field and Service Robotics (FSR 2003), 2003.

    [1] Yoshida, K., Watanabe, T., Mizuno, N., and Ishigami, G., "Slip, Traction Control, and Navigation of a Lunar Rover," The 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2003), 2003.




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    Last update May 2008

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