Updated on 2026/03/11

写真a

 
WATANABE Tomohiro
 
Organization
Academic Assembly Institute of Science and Technology SEISAN DESIGN KOUGAKU KEIRETU Assistant Professor
Graduate School of Science and Technology Advanced Materials Science and Technology Assistant Professor
Faculty of Engineering Department of Engineering Assistant Professor
Title
Assistant Professor
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Degree

  • 博士(工学) ( 2022.3   芝浦工業大学 )

  • 修士(工学) ( 2019.3   芝浦工業大学 )

  • 学士(工学) ( 2017.3   信州大学 )

Research Interests

  • ロボティクス

  • テラメカニクス

Research Areas

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Control and system engineering  / ロボティクス，テラメカニクス

Research History (researchmap)

  • Niigata University   Assistant Professor

    2023.4

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    Country：Japan

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  • Shibaura Institute of Technology

    2022.4 - 2023.3

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    Country：Japan

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  • Japan Society for the Promotion of Science

    2022.4 - 2023.3

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    Country：Japan

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  • Japan Society for the Promotion of Science

    2021.4 - 2022.3

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    Country：Japan

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Research History

  • Niigata University   Advanced Materials Science and Technology, Graduate School of Science and Technology   Assistant Professor

    2023.4

  • Niigata University   Department of Engineering, Faculty of Engineering   Assistant Professor

    2023.4

  • Niigata University   Institute of Science and Technology, Academic Assembly   Assistant Professor

    2023.4

Education

  • Shibaura Institute of Technology   Graduate School of Engineering and Science (Doctor's Program)   機能制御システム専攻

    2019.4 - 2022.3

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    Country： Japan

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  • Shibaura Institute of Technology   Graduate School of Engineering and Science (Master's Program)   機械工学専攻

    2017.4 - 2019.3

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    Country： Japan

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  • Shinshu University   Faculty of Textile Science and Technology   機能機械学課程

    2013.4 - 2017.3

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    Country： Japan

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Professional Memberships

Committee Memberships

  • 計測自動制御学会   第24回計測自動制御学会システムインテグレーション部門講演会, 実行委員  

    2023.8 - 2023.12   

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    Committee type：Academic society

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Papers

  • Experimental Verification of Anchor Tip Angles Suitable for Vibratory Penetration into Underwater Saturated Soft Soil Reviewed

    Akira Ofuchi, Daisuke Fujiwara, Tomohiro Watanabe, Noriaki Mizukami, Yasuhiro Kuwahara, Koji Miyoshi, Kojiro Iizuka

    Geotechnics   5 ( 4 )   68 - 68   2025.10

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    Language：English   Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

    Currently, Japan’s fishing industry is facing a severe decline in its workforce. As a response, fishing mechanization using small underwater robots is promoted. These robots offer advantages due to their compact size, although their operating time is limited. A major source of this limited operating time is posture stabilization, which requires continuous thruster use and rapidly drains the battery. To reduce power consumption, anchoring the robot to the seabed with anchors is proposed. However, due to neutral buoyancy, the available thrust is limited, making penetration into the seabed difficult and reducing stability. To address this, we focus on composite-shaped anchors and vibration. The anchors combine a conical tip and a cylindrical shaft to achieve both penetrability and holding force. However, a trade-off exists between these functions depending on the tip angle; anchors with larger angles provide better holding capacity but lower penetrability. To overcome this limitation, vibration is applied to reduce soil resistance and facilitate anchor penetration. While vibration is known to aid penetration in saturated soft soils, the effect of tip angle under such conditions remains unclear. This study aims to clarify the optimal tip angle for achieving sufficient penetration and holding performance under vibratory conditions. Experiments in underwater saturated soft soil showed that vibration improves both penetration and holding. This effect was strong in anchors with tip angles optimized for holding force. These findings support the development of energy-efficient anchoring systems for autonomous underwater operations in soft seabed environments.

    DOI： 10.3390/geotechnics5040068

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  • Experimental Investigation of Enhanced Bearing Capacity Due to Vibration on Loose Soils Under Low-Atmospheric-Pressure Conditions Reviewed

    Tomohiro Watanabe, Ryoma Higashiyama, Kojiro Iizuka

    Geotechnics   5 ( 3 )   54 - 54   2025.8

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    Authorship：Lead author,　Corresponding author   Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

    Legged rovers are gaining interest for planetary exploration due to their high mobility. However, loose regolith on celestial surfaces like the Moon and Mars often leads to slippage as legs disturb the soil. To address this, a walking technique has been proposed that enhances soil support by transmitting vibrations from the robot’s legs. This approach aims to improve mobility by increasing the ground’s bearing capacity. To evaluate its effectiveness in space-like environments, this study experimentally investigates the effect of vibration on bearing capacity under low atmospheric pressure, which can influence soil behavior due to reduced air resistance. Using Silica No. 5 and Toyoura sand as test materials, experiments were conducted to compare bearing capacities under standard and low pressure. The results demonstrate that applying vibration significantly improves bearing capacity and that the influence of atmospheric pressure is minimal. These findings support the viability of vibration-assisted locomotion for planetary rovers operating in low-pressure extraterrestrial environments.

    DOI： 10.3390/geotechnics5030054

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  • Analyzing bearing capacity changes due to vibration in discrete element method simulations Invited Reviewed

    Tomohiro Watanabe, Ryoma Higashiyama, Dai Watanabe, Kojiro Iizuka

    Journal of Terramechanics   118   101031 - 101031   2025.4

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    Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Elsevier BV  

    DOI： 10.1016/j.jterra.2024.101031

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  • Experimental Investigation of the Relationship Between Vibration Acceleration and Bearing Capacity for Space Exploration Legged Rovers Reviewed

    Tomohiro Watanabe, Yutaka Fukura, Kazuhiko Hiramoto, Kojiro Iizuka

    Geotechnics   5 ( 1 )   21 - 21   2025.3

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    Language：English   Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

    In the exploration missions for Mars and the Moon, rovers with legs as mobility mechanisms are necessitated owing to their high mobility. However, the surface of Mars and the Moon is loose, leading the rovers to slip by virtue of the ground easily deforming due to the leg movements of the rover. A walking method aimed at preventing slippage was proposed to address this issue. Prior studies have confirmed that applying vibrations increases the shear strength of the ground and sinkage of the rover legs, thereby enhancing bearing capacity, that is, the resistance force exerted on the legs of the rover by the ground. Identifying the optimal vibration is crucial for maximizing performance. This study investigated the relationship between bearing capacity and vibration acceleration, revealing a correlation between the peak bearing capacity and the main vibration acceleration spectra. This finding provides insight into determining the optimal time for imparting vibrations to the ground, thereby improving the performance of space exploration rovers.

    DOI： 10.3390/geotechnics5010021

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  • Quasi-preview control: A novel method for active structural vibration control subject to seismic disturbances using adaptive filters and multiple remote seismic observations Reviewed

    Shinya FUJIMURA, Tomohiro WATANABE, Kazuhiko HIRAMOTO

    Mechanical Engineering Journal   2025

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    Language：English   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

    DOI： 10.1299/mej.24-00363

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  • Method for Underground Motion Using Vibration-Induced Ground Resistance Changes for Planetary Exploration Reviewed

    Tomohiro Watanabe, Koya Kobayashi, Kazuhiko Hiramoto, Kojiro Iizuka

    Aerospace   11 ( 10 )   811 - 811   2024.10

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    Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

    Exploration rovers have difficulty moving underground because the drag force from the ground restricts their movement; this hinders underground exploration. This study aimed to address this challenge. We posit a hypothesis that the rover can move underground by imparting vibration to the ground and changing the drag force. To validate this hypothesis, a testbed that moves underground was developed, and the drag force when imparting vibration was investigated. The results revealed that the drag force while imparting vibration is smaller than that after imparting vibration, and we accordingly devised the operation for moving underground. The proposed operation causes bias of the drag force by imparting vibration to make the testbed move in the direction of the small drag force. The effectiveness of the proposed method was assessed through an experiment wherein the testbed was set to move underground. The experimental results demonstrate the superiority of the proposed method, as the movement distance achieved with vibration is considerably greater than that without vibration. The findings validate the hypothesis that using vibration for underground motion is effective in improving mobility and provides valuable insights into the design of robots for underground motion.

    DOI： 10.3390/aerospace11100811

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  • Experimental investigation of relationship between bearing capacity and vibration parameters for planetary exploration legged rovers Reviewed

    Tomohiro Watanabe, Kojiro Iizuka

    ROBOMECH Journal   10 ( 27 )   2023.11

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    Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)  

    DOI： 10.1186/s40648-023-00265-9

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  • Observation of Movement of Ground Particles Given Vibration When Rod Is Dragged Invited Reviewed

    Tomohiro Watanabe, Kojiro Iizuka

    International Journal of Engineering and Technology   14 ( 1 )   1 - 8   2022.2

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    Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：IACSIT Press  

    Supporting force, that a rod receives from the ground, is increased when vibration gives to the ground. This phenomenon is effective to improve the running performance for the legged rovers. In this study, the flow of the ground particles when a rod is dragged is measured using PIV for improving the running performance of the legged rovers. As observed from the experimental result, the larger the supporting force is, the larger the area that the particles move is. Therefore, the supporting force is related to the movement of the ground particles. Moreover, the area that the particles move becomes large by providing vibration whose frequency is high. The reason is considered that density is increased in a wide range of the ground when the vibration whose frequency is high. It is considered that the supporting force is increased by providing vibration to the ground because the area, that the particles move, grows by increasing density of the ground. The findings of this study suggest facilitating further planetary exploration using legged rovers.

    DOI： 10.7763/ijet.2022.v14.1193

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  • Proposal of walking to prevent a fall of a planetary exploration legged rover using effect of loose soil caused by a propagation of vibration Invited Reviewed

    Tomohiro Watanabe, Kojiro Iizuka

    Journal of Artificial Intelligence and Technology   1 ( 3 )   153 - 165   2021.7

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    Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Intelligence Science and Technology Press Inc.  

    In this study, a walking method which prevents to a fall of the planetary exploration legged rover is proposed. In the proposed walking method, the leg is sunk by giving vibration to the ground. The posture of the rover is changed in order to prevent to a fall of the rover by sinking leg. First of all, the relationship between the kind of vibration and the subsidence of the leg is confirmed. In this experimental result, the leg is shown to be easy to sink to the ground by giving vibration. Moreover, the larger vibratory force is, the easier the leg sinks to the ground. Finally, the legged testbed walks on the loose ground with a slope using the proposed walking method. In this experimental result, the testbed is difficult to fall down when it uses the proposed walking. Moreover, the angle of a slope that the testbed can walk becomes large by using the proposed walking.

    DOI： 10.37965/jait.2021.0007

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  • Study on Connection between Kind of Vibration and Influence of Ground for Leg Typed Rovers Invited Reviewed

    Tomohiro Watanabe, Kojiro Iizuka

    International Journal of Mechanical Engineering and Robotics Research   9 ( 7 )   979 - 986   2020.7

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    Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：EJournal Publishing  

    DOI： 10.18178/ijmerr.9.7.979-986

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  • Proposal of walking to reduce slipping behavior using compaction effect of loose soil caused by a propagation of vibration for small light lunar planetary exploration rovers with legs Reviewed

    Tomohiro WATANABE, Kojiro IIZUKA

    Transactions of the JSME (in Japanese)   86 ( 886 )   19 - 00263   2020.6

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    Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

    Purpose of our research is to improve the movement performance of small leg typed rovers using effects caused by vibration propagation. When the loose ground is given vibration, there are two effects. One is to increase density of the loose ground, and the other is to increase sinkage of legs. If the density of the ground is increased by vibration/stop, the rovers are not easy to slip. This means that the shearing strength becomes large since the loose ground is given effect of vibration/stop. Moreover, when the sinkage of legs are increased, the supporting force becomes large. The difference of ground before and after vibrating are confirmed by implemented some experiments such as measurement of shearing strength, sinkage and earth pressure. As results, the value of shearing strength and sinkage of leg were increased after vibration. Also, the value of earth pressure was increased after vibration. Furthermore, these effects given by vibration/stop are confirmed using multi-legged rover. In experimental results, walking distance of proposed rovers with vibration was longer than one without vibration. From theses experimental results, we could get knowledge that the method using vibration/stop was very effective for the leg typed rovers.

    DOI： 10.1299/transjsme.19-00263

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Presentations

  • 畦畔除草ロボットの横滑りを抑制するアウトリガーアームの提案

    飯塚浩二郎, 王玉譲, 渡邉智洋, 長谷川裕紀, 橋本穂高, 藤原大祐, 土田悠斗

    第23回 計測自動制御学会 システムインテグレーション部門講演会  2022.12 

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    Event date： 2022.12

    Language：Japanese   Presentation type：Oral presentation (general)  

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  • Experimental Investigation of Relationship between Supporting Force and Acceleration of Vibration for Planetary Exploration Rovers

    渡邉智洋, 飯塚浩二郎

    第32回 アストロダイナミクスシンポジウム  2022.7 

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    Language：Japanese   Presentation type：Oral presentation (general)  

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  • PIVを用いた振動を与えた地盤での牽引時の地盤粒子の動きの観察

    渡邉智洋, 飯塚浩二郎

    SICE中部支部シンポジウム&若手研究発表会2021  2021.10 

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    Language：Japanese   Presentation type：Oral presentation (general)  

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  • 軟弱地盤における振動を与えた際に増加する水平牽引支持力の推定モデルの提案

    渡邉智洋, 飯塚浩二郎

    第42回テラメカニックス研究会  2021.10 

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    Language：Japanese   Presentation type：Oral presentation (general)  

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  • Experimental investigation of changing traction force caused by a propagation of vibration for planetary exploration rovers with legs

    渡邉智洋, 飯塚浩二郎

    第31回 アストロダイナミクスシンポジウム  2021.7 

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  • 振動したロッドを軟弱地盤に貫入した際の抵抗力の測定および評価

    渡邉智洋, 飯塚浩二郎

    第41回テラメカニックス研究会  2020.11 

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    Language：Japanese   Presentation type：Oral presentation (general)  

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  • 軟弱地盤における沈下量を低減する振動を用いた車輪の形状の提案

    渡邉智洋, 飯塚浩二郎

    SICE中部支部シンポジウム&若手研究発表会2020  2020.11 

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    Language：Japanese   Presentation type：Oral presentation (general)  

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  • 振動伝播を用いた月・惑星探査脚型ローバの形状検討

    黒沼慈, 渡邉智洋, 飯塚浩二郎

    SICE中部支部シンポジウム2019  2019.9 

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    Language：Japanese   Presentation type：Oral presentation (general)  

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  • 振動伝播を用いた脚型探査ローバのスリップ抑制歩行の提案

    渡邉智洋, 飯塚浩二郎

    SICE中部支部シンポジウム2019  2019.9 

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    Language：Japanese   Presentation type：Oral presentation (general)  

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  • 沈下現象を用いた軟弱地盤における脚型機構の移動方法の提案

    渡邉智洋, 飯塚浩二郎

    第38回テラメカニックス研究会  2017.11 

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    Language：Japanese   Presentation type：Oral presentation (general)  

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  • キャンバ角可変機構を用いた無人車両の斜面横断性能に関する研究

    渡邉智洋, 飯塚浩二郎, 岳済也

    SICE中部支部シンポジウム2017  2017.9 

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Awards

  • SI2022 優秀講演賞

    2022.12   第23回 計測自動制御学会 システムインテグレーション部門講演会  

    飯塚浩二郎, 王玉譲, 渡邉智洋, 長谷川裕紀, 橋本穂高, 藤原大祐, 土田悠斗

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  • 部門優秀論文表彰

    2022.6   日本機械学会ロボティクス・メカトロニクス部門   振動伝播による軟弱地盤の締め固め効果を利用した小型軽量月・惑星脚型探査ローバのスリップ抑制歩行の提案

    渡邉智洋, 飯塚浩二郎

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  • Best Presentation Award

    2022.4   7th International Conference on Control and Robotics Engineering (ICCRE 2022)   Observation of Movement of Ground Particles Given Vibration When Rod Is Dragged

    渡邉智洋

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  • Functional Control System Award

    2022.3   芝浦工業大学大学院理工学研究科   月・惑星脚型探査ローバのための能動的振動伝播による支 持力推定モデルの構築

    渡邉智洋

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  • 優秀発表賞

    2020.11   SICE中部支部シンポジウム&若手研究発表会2020   軟弱地盤における沈下量を低減する振動を用いた車輪の形状の提案

    渡邉智洋

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  • Best Presentation

    2020.6   Study on connection between shape of wheel and resistance force from ground for small wheel typed rovers

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  • 制御賞

    2019.9   SICE中部支部シンポジウム2019   振動伝播を用いた脚型探査ローバのスリップ抑制歩行の提案

    渡邉智洋

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  • Best Paper Award

    2019.9   The 15th ISTVS European-African Regional Conference   Study on Legged Typed Rovers with Function of Vibration/Stop to Travel on Loose Soil

    渡邉智洋, 飯塚浩二郎

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  • 機械工学専攻賞

    2019.3   芝浦工業大学大学院理工学研究科   振動伝播を用いた脚型ロボットの軟弱地盤移動方法の提案

    渡邉智洋

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  • 最優秀模型賞

    2016.11   第24回衛星設計コンテスト   月面の傾斜地移動に特化したローバの提案

    渡邉智洋, 榊枝裕太, 近藤晃弘, 坂田雅志

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  • 日本機械学会宇宙工学部門一般表彰スペースフロンティア

    2016.11   第24回衛星設計コンテスト   月面の傾斜地移動に特化したローバの提案

    渡邉智洋, 榊枝裕太, 近藤晃弘, 坂田雅志

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Research Projects

  • Application of distinct element method to analyses of change in supporting force when imparting vibration

    2023.8 - 2024.3

    System name：国際交流援助

    Awarding organization：中部電気利用基礎研究振興財団

    渡邉智洋

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    Authorship：Principal investigator 

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  • 畦畔上で除草を行うアウトリガーアーム装着ロボットのための自動走行システムの開発および評価

    2023.7 - 2024.5

    System name：試験研究助成

    Awarding organization：佐々木環境技術振興財団

    渡邉智洋

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  • Developing control method of ground resistance using sand flowing fenomenon by vibration for underground exploration robot

    Grant number：23K13296

    2023.4 - 2026.3

    System name：Grants-in-Aid for Scientific Research

    Research category：Grant-in-Aid for Early-Career Scientists

    Awarding organization：Japan Society for the Promotion of Science

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    Grant amount：\4680000 （ Direct Cost: \3600000 、 Indirect Cost：\1080000 ）

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  • 畦畔上で除草を行うアウトリガーアーム装着ロボットのための斜面横断経路追従制御システムの構築

    2023.4 - 2024.3

    System name：学術研究助成

    Awarding organization：山口育英奨学会

    渡邉智洋

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  • Study on Wheel Typed Rovers with Soil Hardening Function by Vibration to Travel on Loose Soil

    2021.9

    System name：国際交流援助(海外渡航費援助)

    Awarding organization：中部電気利用基礎研究振興財団

    渡邉智洋

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  • Research of movement method using changes of ground by vibration for exploration rovers

    Grant number：21J11944

    2021.4 - 2023.3

    System name：Grants-in-Aid for Scientific Research Grant-in-Aid for JSPS Fellows

    Research category：Grant-in-Aid for JSPS Fellows

    Awarding organization：Japan Society for the Promotion of Science

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    Grant amount：\1500000 （ Direct Cost: \1500000 ）

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  • Study on Legged Typed Rovers with Function of Vibration/Stop to Travel on Loose Soil

    2019.9

    System name：海外派遣援助

    Awarding organization：村田学術振興財団

    渡邉智洋

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Teaching Experience

  • 機械工学実験IV

    2024
    Institution name：新潟大学

  • 機械工学実験III

    2024
    Institution name：新潟大学

  • 機械工学実験I

    2024
    Institution name：新潟大学

  • 卒業研究

    2024
    Institution name：新潟大学

  • 先端研究入門

    2024
    Institution name：新潟大学

  • 工学リテラシー入門(力学分野)

    2024
    Institution name：新潟大学

  • 卒業研修

    2024
    Institution name：新潟大学

  • 英文輪読I

    2024
    Institution name：新潟大学

  • 英文輪読II

    2024
    Institution name：新潟大学

  • 機械工学演習

    2024
    Institution name：新潟大学

  • 機械工学実験II

    2024
    Institution name：新潟大学

  • くらしを支える機械システム工学

    2023
    Institution name：新潟大学

  • ロボット工学

    2023
    Institution name：新潟大学

  • 宇宙探査ロボティクス特論

    2023
    Institution name：新潟大学

  • 機械工学概論

    2023
    -
    2024
    Institution name：新潟大学

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