工学博士, 東京大学

料理ロボット

エンタテイメントロボット

柔軟物マニピュレーション

高技能マニピュレーション

RTミドルウェア

知能ロボット

Manufacturing technology (mechanical, electrical/electronic, chemical engineering), Control and systems engineering

Informatics, Software

Informatics, Mechanics and mechatronics

Informatics, Robotics and intelligent systems

Informatics, Intelligent robotics

01 Apr. 2009
電気通信大学, 教授

01 Apr. 2005 - 31 Mar. 2009
筑波大学, 連携大学院 教授

01 Apr. 2001 - 31 Mar. 2009
産業技術総合研究所（電総研からの改組）

01 Apr. 1980 - 31 Mar. 2001
Electrotechnical Laboratory

01 Apr. 1993 - 31 Mar. 1997
技術研究組合 新情報処理研究機構, 能動知能研究室 室長

12 Jun. 1990 - 11 Jun. 1991
カーネギーメロン大学, 客員研究員

Apr. 1978 - Mar. 1980
東京大学大学院科, 工学系研究科, 電子工学専門課程

01 Apr. 1972 - 31 Mar. 1974
東京教育大学附属高等学校（現，筑波大学附属高等学校）, 普通科, Japan

01 Apr. 2011
末廣尚士, ロボットビジネス推進協議会・ＲＴミドルウェアＷＧ, Others

01 Apr. 2009
末廣尚士, ＲＴミドルウエア国際標準化調査専門委員会, Others

Dec. 2019
計測自動制御学会システムインテグレーション部門
双腕ロボットによる箱を紐で十字に縛る作業の実現
SI2019 優秀講演賞, 宋秋熹;滝澤優;末廣尚士;工藤俊亮
Publisher, Japan

Dec. 2017
計測自動制御学会システムインテグレーション部門
RTミドルウェア国際標準化調査専門委員会
部門功績賞, RTミドルウェア国際標準化委員会;員長;末廣尚士
Publisher, Japan

Dec. 2015
計測自動制御学会システムインテグレーション部門
RTミドルウェアコンテスト 実行委員会
功績賞, RTミドルウェアコンテスト;実行委員会
Publisher

Dec. 2014
SICE SI部門
「楽器演奏のためのMIDI RTコンポーネントの開発」
奨励賞（ウィン電子工業賞，HOTMOCK賞，グローバルアシスト賞）, 松田啓明;二瓶陽介;田附雄一;工藤俊亮;末廣尚士
Japan society

Dec. 2012
SICE SI部門
「コマンド式サーボモータを用いたロボットアームRTC」
奨励賞（GR-001賞）, 松田啓明;末廣尚士
Japan society

Mar. 2010
ファナックFAロボット財団
バイラレラル遠隔操作を利用したタスクスキルトランスファー手法
ファナックFAロボット財団論文賞, 尹 祐根;末廣 尚士;音田 弘;北垣 高成
Publisher

Dec. 2009
SICE SI部門
「WiiRTC コンポーネントの開発」
奨励賞(世界一軽いRTコンポーネント賞), TRINH VAN VINH;冨沢 哲雄;末廣 尚士
Japan society

Dec. 2007
計測自動制御学会
「RTミドルウェア開発および標準化推進チーム」
SI部門技術業績賞, 故谷江和雄;内数に末廣尚
Others

Dec. 2005
計測自動制御学会
「タスクスキルによる丸型ハンドルバルブ操作」
SI部門 SI2005ベストセッション講演賞, 尹 祐根;末廣 尚士;音田 弘;北垣 高成
Japan society

Dec. 2005
「RTコンポーネント・サービスフレームワーク」
SI部門 SI2005ベストセッション講演賞, 安藤 慶昭;LEMAIRE Olivier;北垣 高成;神徳 徹雄;末廣 尚士
Japan society

Mar. 2005
計測自動制御学会
「RTコンポーネントによるロボットシステム開発－RTミドルウェアの基本機能に関する研究開発(その10)－」
SI部門 SI2004ベストセッション講演賞, 安藤慶昭;末廣尚士;北垣高成;神徳徹雄;尹祐根
Japan society

Sep. 1998
日本ロボット学会
「並列処理型センサベーストマニピュレーションシステム：匠」
日本ロボット学会論文賞, 北垣高成;末廣尚士;小笠原司;劉雲輝
Official journal

Nov. 1993
日本ロボット学会
「環境モデルと作業スキルの統合によるロボット作業システム」
日本ロボット学会論文賞, 長谷川勉;末廣尚士;高瀬國克
Official journal

Apr. 1987
日本ロボット学会
「ＤＤマニピュレータのための姿勢適応形デジタル２次フィルタ」
日本ロボット学会学術奨励賞
Japan society

Precision Pouring into Unknown Containers by Service Robots
Chenyu Dong; Masaru Takizawa; Shunsuke Kudoh; Takashi Suehiro
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, ThAT1.6, 07 Nov. 2019, Peer-reviwed
International conference proceedings, English

Learning From Observation of Tabletop Knotting Using a Simple Task Mode
Masaru Takizawa; Zhuonan Yao; Hiromu Onda; Shunsuke Kudoh; Takashi Suehiro
The 2019 IEEE/SICE International Symposium on System Integration, 85-91, 14 Jan. 2019, Peer-reviwed
International conference proceedings, English

Study on Tying of a Deformable Band-shaped Object by a Dual Arm Robot
Atsushi Seo; Masaru Takizawa; Shunsuke Kudoh; Takashi Suehiro
The 2019 IEEE/SICE International Symposium on System Integration, 79-84, 14 Jan. 2019, Peer-reviwed
International conference proceedings, English

A Two-Layer Tactical System for an Air-Hockey-Playing Robot
Hideaki Shimada; Yusuke Kutsuna; Shunsuke Kudoh; Takashi Suehiro
IROS2017, WeCT18.1, 24 Sep. 2017, Peer-reviwed, This paper proposes an architecture with a two-layered structure for implementing an air-hockey robot that
performs tactically in the deployment of entertainment robots. The two-layered architecture is comprised of two components: a tactical component that governs tactics and a skill component that deals with individual shots. The skill layer shoots a puck autonomously by selecting an appropriate way of shooting while considering what is physically feasible. The tactical layer controls the behavior of the skill layer by adjusting a probability function for selecting shooting methods. In this study, we implemented the architecture and conducted experiments to demonstrate its usefulness.
International conference proceedings, English

Knotting task execution based a hand-rope relation
Trinh Van Vinh; Tetsuo Tomizawa; Shunsuke Kudoh; Takashi Suehiro
ADVANCED ROBOTICS, TAYLOR & FRANCIS LTD, 31, 11, 570-579, 2017, Peer-reviwed, In this paper, we focus on relationship between the rope and fingers to implement a knot and estimate error occurred during execution of knotting task. In the previous work, the authors have proposed a method for making various knots from synthesis of basic operations called skills that are derived from analyzing the knotting processes. Each individual skill has an operation to handle the rope and conditions for executing and completing the task skill. By combining these skills, we can make the whole knotting process robust. In this paper, the relations', which describe the positions of the rope relative to the fingers, found from the successful cases, using the teaching data, were defined as the conditions of the task skills. Relation of rope and fingers at a specific state is presented by using propositional variables and logical connectives. Knotting skills were constructed to be executed robustly using the detected conditions. Occurrence of an error is estimated by finding out an abnormal relation. In this case, a corrective action can be inserted to modify the position of contact points, which are relative to the unsatisfied conditions to satisfy the detected conditions; therefore, skill execution is more reliable. We confirm the effectiveness of the methods through experiments.
Scientific journal, English

Implementation of Twisting Skill to Robot Hands for Manipulating Linear Deformable Objects
Masaru Takizawa; Shunsuke Kudoh; Takashi Suehiro
IROS2016, TuT22, 12, 09 Oct. 2016, Peer-reviwed, This paper describes the implementation of a twisting skill to a multi-DOF end effector for manipulating linear deformable objects (LDOs). When manipulating of LDOs such as rope knotting, an important factor is to control torsion. However, controlling torsion is difficult using only the robot arm movement because of the range limit of a manipulator and the danger of collision with the environment such as a table and objects to be tied. On the other hand, implementing the movement into a robot hand as in-hand manipulation means that the robot-arm movement can be compact. In this study, we extract what is needed in a ``twisting skill'', implement them into multi-DOF end effectors mounted on a dual-arm robot, and evaluate the skill.
International conference proceedings, English

ロボットによる被覆操作のための教示方法
林直宏; 冨沢哲雄; 末廣尚士; 工藤俊亮
日本ロボット学会誌, The Robotics Society of Japan, 34, 5, 340-351, Jun. 2016, Peer-reviwed, A purpose of this study is to achieve wrapping operation by robots. As a teaching method of wrapping operation, this study uses an intuitive instruction based on a movement of a hand, and generates robot commands from the instruction. This study represents wrapping operation based on a three-layered model as intermediate representation, which is originally proposed in our previous study. In this paper, as a key elements of this study, we describe the teaching method which is a part of inputting to the model. This method can understand an intention of the rough instruction and generate appropriate intermediate representation which represents the intention. In the intermediate representation, a part of hand path generation method is extended to loosen limitations about shapes of objects and fabric that can be handled. Finally, we integrate them into a total wrapping robot system, and confirm that the proposed method is effective to achieve wrapping operation by a robot.
Scientific journal, Japanese

A Proposal for MIDI RT-component for Entertainment Robots
Hiroaki Matsuda; Yosuke Nihei; Yuuichi Taduke; Shunsuke Kudoh; Takashi Suehiro
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 52, 3, 172-179, Mar. 2016, Peer-reviwed, This paper proposes a design of RTC (Robotics Technology Component specified by OMG) for MIDI (Musical Instrument Digital Interface), which is a standard interface for electronic musical instruments. It is also useful for entertainment robots, as well as electric musical instruments, that play a musical instrument. In face, MIDI is often used for music playing robots to enable them to cooperate with other robots and musical instruments, so it is useful to provide the interface to MIDI on common robotics frameworks. This paper describes how to handle MIDI on RTM (Robotics Technology Middleware). First, the structure of a MIDI RTC is proposed, and then, based on it, basic MIDI RTCs are implemented. These RTCs are verified by constructing a simple music system that controls a MIDI keyboard and a software synthesizer. Next, a practical music playing robot system that plays the handbells is implemented based on our proposal. The robot gave musical performances of handbells to several audiences. Through questionnaire to the audience, the effectiveness of the proposed framework is verified.
Scientific journal, Japanese

Handling and Describing String-Tying Operations Based on Metrics Using Segments Between Crossing Sections
Hiromu Onda; Shunsuke Kudoh; Takashi Suehiro
IEEE RA LETTERS, 1, 1, 375-382, Jan. 2016, Peer-reviwed
Scientific journal, English

In-Air Knotting of Rope by a Dual-Arm Multi-Finger Robot
Shunsuke Kudoh; Tomoyuki Gomi; Ryta Katano; Tetsuo Tomizawa; Takashi Suehiro
IROS2015, ThFT7.1, 28 Sep. 2015, Peer-reviwed, In the present paper, we propose a method for in-air knotting by a dual-arm, multi-finger robot. Most previous studies about knotting by robots assume that the rope is placed on a table. However, in-air knotting requires more skillful hand manipulations, such as swapping ropes between the right and left hands. Therefore, we herein focus on hand motion and first extract the essential hand motions for knotting, referred to herein as skill motions, by observing human knotting procedures. Next, hardware with the capability of executing these skill motions is developed. Finally, experiments are conducted to confirm that several types of knots can be tied in the air using the proposed method.
International conference proceedings, English

Realization of Five Types of Tabletop Knotting with Dual-Arm Robot
Ryota Katano; Tomoyuki Gomi; Tetsuo Tomizawa; Shunsuke Kudoh; Takashi Suehiro
Journal of Robotics Society Japan, 33, 7, 25-33, Sep. 2015, Peer-reviwed, This paper proposes a new method for knotting a rope with a dual-arm robot system. A knotting task is divided
into a series of “ steps ” taking account for a timing of getting visual information. The start state of each step will
be observed and con rmed visually. And an adequate operation from the start state to the end state (i.e. the start
state of the next step) is conducted according to the visual information. The method was implemented on a dual-arm
robot. Five different types of knotting tasks were realized with the robot system. These knotting tasks have common
steps each other and the steps were successfully reused. The experimental result showed that complicated knotting
tasks could be realized as a sequence of these kind of steps.
Scientific journal, Japanese

Method for Placing a Rope in a Target Shape and Its Application to a Clove Hitch
Masaru Takizawa; Shunsuke Kudoh; Takashi Suehiro
2015 24TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN), IEEE, 646-651, 2015, Peer-reviwed, This paper describes a method for generating hand trajectories for a robot to enable it to place a rope on a table in a target shape. In many aspects of rope-work, e. g., making knots, hitches, and bends, it is important to control not only the topological relations (e. g., a tangle of string), but also to control the shape (e. g., the position, size, and so on). The shape of the rope on a table is the starting stage of the rope-work in that it affects the result of the rope-work, e. g., the position and size of a knot. Thus, it is necessary to generate hand trajectories automatically according to the target ropeshape when executing rope-work with a robot arm. To generate trajectories from a tabletop target shape, it is necessary to consider a positional relationship between the robot hand and the touchdown point, which is the point that the rope is placed on the table. In this study we propose a rope-shape model which can be used in limited situations, and derive hand trajectories from the model in a simple manner. The parameter needed for the model is easily identified. An experiment of making a loop was conducted to verify the effectiveness and limitations of the proposed method. As further verification, the method was applied to making a clove hitch using a dual-arm robot. In the starting stage of tying a clove hitch, two loops were created in a specified shape, and the clove hitch was successfully tied.
International conference proceedings, English

Development of intelligent mobile cart in a crowded environment - Robust localization technique with unknown objects -
Satoshi Muramatsu; Tetsuo Tomizawa; Shunsuke Kudoh; Takashi Suehiro
Journal of Robotics and Mechatronics, 26, 2, 204-213, Apr. 2014, Peer-reviwed, This paper describes a localization method for mobile robots. The proposed method is based on a three dimensional space observation model that provides stochastic information for robot location assumption. We previously developed a localization method based on the two dimensional space observation model to be used in an environment with many unknown obstacles such an pedestrians. The previous method used a two-dimensional laser scanner and particle filtering to realize robust effective localization of the mobile robot in such environments. It sometimes failed to estimate the robots' location due to a lack of information about its environment, so we extended the previous method based on a three-dimensional space observation model that is expected to use richer information about its environment. Experimental results showed that our proposed method localizes robots successfully in environments where the previous method could not localize robots accurately.
Scientific journal, English

ホビー用サーボRTコンポーネントの設計と実装
松田 啓明; 冨沢 哲雄; 工藤 俊亮; 末廣 尚士
計測自動制御学会論文集, 50, 1, 18-23, Jan. 2014, Peer-reviwed
Scientific journal, Japanese

Dual Arm Robot Fabric Wrapping Operation Using Target Lines
Naohiro Hayashi; Tetsuo Tomizawa; Takashi Suehiro; Shunsuke Kudoh
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014, IEEE, 2185-2190, 2014, Peer-reviwed, This paper proposes a fabric wrapping method for robots, provides a description method that uses such target lines to describe the wrapping state between a piece of fabric and an object, and describes an offhand path generation method based on that description. This target-line based description method can be used to generate wrapping instructions for curved and planar objects more easily than can be produced using conventional methods based on bend lines and hand paths. In our experiments, we show how a dual-arm robot can perform wrapping operations on cylinders using our target-line based methodology.
International conference proceedings, English

Development of a Handbell-Performance Robot
Yosuke Nihei; Hiroaki Matsuda; Yuuich Taduke; Shunsuke Kudoh; Takashi Suehiro
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014, IEEE, 1743-1748, 2014, Peer-reviwed, This paper describes the development of a handbell-playing robot system. The conditions under which the bells are rung are derived by an analysis of a physical model of a handbell. We designed the robot hardware based on these conditions. We also designed the mapping of the MIDI commands to the handbell-robot motions. Experiments performed verified that the robot system could play music according to MIDI scores.
International conference proceedings, English

Consideration of human movement prediction for human friendly mobile robot's path planning
Satoshi Muramatsu; Hiroakli Matsuda; Sinpei Nakamoto; Daisuke Chugo; Takashi Suehiro; Hiroshi Hashimoto
CogInfoCom 2013, -, Dec. 2013, Peer-reviwed
International conference proceedings, English

Stereo Calibration Method Using Mirrored Images Containing a Camera
Naohiro Hayashi; Tetsuo Tomizawa; Takashi Suehiro; Shunsuke Kudoh
ROBIO 2013, FE6-2, Dec. 2013, Peer-reviwed
International conference proceedings, English

Consideration of human movement prediction for human friendly mobile robot's path planning
Satoshi Muramatsu; Hiroakli Matsuda; Sinpei Nakamoto; Daisuke Chugo; Takashi Suehiro; Hiroshi Hashimoto
CogInfoCom 2013, -, Dec. 2013, Peer-reviwed
International conference proceedings, English

Improvement of the space observation model for robust mobile robot localization with unknown obstacles
Satoshi Muramatsu; Kazuhiro Takahashi; Tetsuo Tomizawa; Shunsuke Kudoh; Takashi Suehiro
IECON 2013, 8286-8291, Nov. 2013, Peer-reviwed
International conference proceedings, English

Development of the robust delivery robot system with the unknown object in indoor environment
Satoshi Muramatsu; Kazuhiro Takahashi; Tetsuo Tomizawa; Shunsuke Kudoh; Takashi Suehiro
IECON 2013, 8263-8268, Nov. 2013, Peer-reviwed
International conference proceedings, English

公共空間における移動サービスの実現に向けた知能化電動カートの開発
平井雅尊; 冨沢哲雄; 大谷洋介; 村松聡; 佐藤昌則; 工藤俊亮; 末廣尚士
計測自動制御学会論文集, 49, 1, 93101, Jan. 2013, Peer-reviwed
Scientific journal, Japanese

Development of danger avoidance assist system for electric cart
Masanori Sato; Tetsuo Tomizawa; Shunsuke Kudoh; Takashi Suehiro
Journal of Robotics and Mechatronics, Fuji Technology Press, 25, 6, 1011-1019, 2013, Peer-reviwed, Four-wheeled electric carts developed for the elderly have come to be widely used. Along with that, the number of accidents involving them is increasing due to carelessness and error of the drivers. Similar to ordinary cars, electric carts have mechanical features inner and outer track differences requiring that driver pay attention to their surroundings while driving. Aged drivers having a narrow field of vision may find it difficult to pay sufficient attention. In this study we developed an electric cart with a danger avoidance assist system that stops the cart safely before a collision even if the driver overlooks an obstacle. The assist system also helps prevent driver errors.
Scientific journal, English

Humanoid Self-correction of Posture Using a Mirror
Naohiro Hayashi; Tetsuo Tomizawa; Takashi Suehiro; Shunsuke Kudoh
IROS 2013, 1614-1619, 2013, Peer-reviwed
International conference proceedings, English

A Robust Localization for Unknown Obstacle Based on the Gridmap Matching
TOMIZAWA Tetsuo; MURAMATSU Satoshi; HIRAI Masataka; SATO Masanori; KUDOH Shunsuke; SUEHIRO Takashi
日本ロボット学会誌, 日本ロボット学会, 30, 3, 280-286, 15 Apr. 2012, Peer-reviwed
Scientific journal, Japanese

Mobile robot localization technique using Web-based aerial photos
Satoshi Muramatsu; Tetsuo Tomizawa; Hiroaki Matsuda; Shunsuke Kudoh; Takashi Suehiro
ICMA 2012, pp.438--443, 2012, Peer-reviwed
International conference proceedings, English

Development of an Intelligent Mobility Scooter
Masataka Hirai; Satoshi Muramatsu; Masanori Sato; Tetsuo Tomizawa; Shunsuke Kudoh; Takashi Suehiro
ICMA 2012, pp, 2012, Peer-reviwed
International conference proceedings, English

A robust white line detection technique for double circular operator
Naohiro Hayashi; Tetsuo Tomizawa; Takashi Suehiro; Shunsuke Kudoh
ICMA 2012, pp, 2012, Peer-reviwed
International conference proceedings, English

Human Friendly Path Tracking for Autonomous Robot Cart: Determine Look-ahead Target Points Under Shortcut Controlling
Masataka Hirai; Tetsuo Tomizawa; Shunsuke Kudoh; Takashi Suehiro
AIM 2012, 397-402, 2012, Peer-reviwed
International conference proceedings, English

A New Strategy for Making a Knot with a General-Purpose Arm
Trinh Van Vinh; Tetsuo Tomizawa; Shunsuke Kudoh; Takashi Suehiro
ICRA 2012, pp.2217--2222, 2012, Peer-reviwed
International conference proceedings, English

Development of a Collision-Avoidance Assist System for an Electric Cart
Masanori Sato; Tetsuo Tomizawa; Shunsuke Kudoh; Takashi Suehiro
ROBIO 2011, pp.337--342, 2011, Peer-reviwed
International conference proceedings, English

四脚ロボット「Rush」を用いたバウンド歩容生成
益田俊樹; 木村浩; 末廣尚士; 高瀬國克
日本機械学会論文集 C編, 76, 761, Jan. 2010, Peer-reviwed
Scientific journal, Japanese

Grasping Operation Based on Functional Cooperation of Finger
Kazuyuki Nagata; Fuminori Saito; Yujin Wakita; Takashi Suehiro
Journal of Robotics and Mechatronics, 19, 2, 134-140, Apr. 2007, Peer-reviwed
Scientific journal, English

バイラテラル遠隔操作を利用したタスクスキルトランスファー手法
尹 祐根; 末廣 尚士; 音田 弘; 北垣 高成
日本ロボット学会誌, 25, 1, 155-165, Jan. 2007, Peer-reviwed
Scientific journal, Japanese

Stiffness Analysis and Design of a Compact Modified Delta Parallel Mechanism
Woo-keun Yoon; Takashi Suehiro; Yuichi Tsumaki; Masaru Uchiyama
Robotica, 22, 4, 463-475, Aug. 2004, Peer-reviwed
Scientific journal, English

パラレル機構の構造剛性解析
尹 祐根; 末廣 尚士; 妻木 勇一; 内山 勝
日本機械学会論文集(Ｃ編), 70, 694, 1778-1786, Jun. 2004, Peer-reviwed
Scientific journal, Japanese

Using simplified geometric models in skill-based manipulation
A Nakamura; K Kitagaki; T Suehiro
ADVANCED ROBOTICS, TAYLOR & FRANCIS LTD, 18, 8, 835-858, 2004, Peer-reviwed, Dexterous manipulation plays an important role in working robots. Manipulator tasks such as assembly and disassembly can generally be divided into several motion primitives. We call these 'skills' and explain how most manipulator tasks can be composed of skill sequences. Skills are also used to compensate for errors both in the geometric model and in manipulator motions. There are dispensable data in the shapes, positions and orientations of objects when achieving skill motions in a task. Therefore, we can simplify geometric models by considering the dispensable data in a skill motion. We call such robust and simplified models 'false models'. This paper describes our definition of false models used in planning and visual sensing, and shows the effectiveness of our method using examples of tasks involving the manipulation of mechanical and electronic parts. Furthermore, we show the application of false models to objects of indefinite sizes and shapes using examples of the same tasks.
Scientific journal, English

構造剛性解析に基づく改良型デルタ機構の設計
尹,末廣; 妻木,内山
日本機械学会論文集(C編), 69, 681, 1358-1365, 2003, Peer-reviwed
Scientific journal, Japanese

人間の手作業分析のための把握情報入力装置の開発
永田; 斎藤,末廣
日本機械学会論文集(C編), 67, 664, 3938-3943, 2001, Peer-reviwed
Scientific journal, Japanese

Information sharing via projection function for coexistence of robot and human
Y Wakita; S Hirai; T Suehiro; T Hori; K Fujiwara
AUTONOMOUS ROBOTS, SPRINGER, 10, 3, 267-277, 2001, Peer-reviwed, Various kinds of service robots will be used in environment coexisting with humans. To realize the coexistence of a robot and a human, the robot must share task information with the person via an adequate interface. We propose a "projection function" as the interface for information sharing. We construct a projection system to prove the information sharing efficiency, and develop several modes of interaction between the robot and the human in the projection system.
Scientific journal, English

Sensor-Based Artificial Skills with Force and Vision Information
Kose Kitagaki; Takashi Suehiro; Motoki Fujiwara
Journal of Robotics and Mechatronics, 13, 3, 254-266, 2001, Peer-reviwed
Scientific journal, English

Estimation of Oxygen Desaturation by Analyzing Breathing Curves
Yoshifumi Nishida; Takashi Suehiro; Shigeoki Hirai
Journal of Robotics and Mechatronics, 11, 6, 483-489, 1999, Peer-reviwed
Scientific journal, English

Fine Motion Strategy in Three-Dimensional Space Using Skill-Based Back-projection
Akira Nakamura; Tsukasa Ogasawara; Takashi Suehiro; Hideo Tsukune
Artificial Life and Robotics, 2, 3, 134-137, Dec. 1998, Peer-reviwed
Scientific journal, English

Fine Motion Strategy for Skill-Based Manipulation
Akira Nakamura; Tsukasa Ogasawara; Takashi Suehiro; Hideo Tsukune
Artificial Life and Robotics, 1, 3, 147-150, Dec. 1997, Peer-reviwed
Scientific journal, English

コニックパターンを用いたハンドアイシステムのキャリブレーション
中垣,高橋; 末広; 小笠原
日本ロボット学会誌, 15, 5, 781-788, Jul. 1997, Peer-reviwed
Scientific journal, Japanese

並列処理型センサベーストマニピュレーションシステム：匠
北垣,末広; 小笠原,劉
日本ロボット学会誌, 15, 3, 363-372, 1997, Peer-reviwed
Scientific journal, Japanese

TOWARD AN ASSEMBLY PLAN FROM OBSERVATION .1. TASK RECOGNITION WITH POLYHEDRAL OBJECTS
K IKEUCHI; T SUEHIRO
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 10, 3, 368-385, Jun. 1994, Peer-reviwed, Currently, most robot programming is done either by manual programming or using a teach pendant as part of the ''teach-by-showing'' method. Both of these methods have been found to have several drawbacks. We are developing a novel method with which to program a robot: the assembly-plan-from-observation (APO) method. The APO method aims to build a system that has the capability of observing a human performing an assembly task, understanding the task based on the observation, and subsequently generating a robot program to achieve the same task.
This paper focuses on the task recognition module (TRM), the main component of a complete APO system. The TRM recognizes object configurations before and after an assembly task, detects a configuration transition, and infers the assembly task that causes such a configuration transition. We assume that each assembly task aims to achieve a face contact relation between an object that has just been manipulated and stationary environmental objects. We prepare abstract task models that associate transitions of face contact relations with assembly tasks that achieve such transitions. Next, we implement TRM in order to verify two issues: 1) that such a contact transition can be recovered from the output of the object recognizer, and 2) that given these relation transitions, it is possible to use the abstract task models to effect the generation of robot motion commands; the execution of these commands will culminate in a repetition on the original assembly task.
Scientific journal, English

面接触拘束に基づく組立作業の位置情報の修正
末広,池内
日本ロボット学会誌, 11, 4, 541-549, May 1993, Peer-reviwed
Scientific journal, Japanese

視覚による組立作業理解のための作業モデルとそれに基づく動作生成
池内,末広
日本ロボット学会誌, 11, 2, 281-290, Mar. 1993, Peer-reviwed
Scientific journal, Japanese

A Model-Based Manipulation System with Skill-Based Execution
T. Hasegawa; T. Suehiro; K. Takase
IEEE Transactions on Robotics and Automation, 8, 5, .535-944, 1992, Peer-reviwed
Scientific journal, English

環境モデルと作業スキルの統合によるロボット作業システム
長谷川; 末広,高瀬
日本ロボット学会誌, The Robotics Society of Japan, 9, 1, 66-74, Feb. 1991, Peer-reviwed, This paper describes a model-based robot system. This system was developed to replace and improve upon the conventional robot control scheme of teaching-by-showing and replay. The key concept of this system consists of the combination of manipulation skills with an environment model. The model provides the geometric structure and physical properties of the objects in the environment. An interactive geometric modeling system has been developed to generate accurate model through a good manmachine interface. The manipulation skills enable reliable task execution in the presence of unavoidable errors and uncertainties. Using the ETA-3 direct-drive manipulator, skills are implemented within the hybrid (position/velocity/torque) control scheme and are incorporated with sensing procedures to detect the state to be achieved, disassembly of a valve has been successfuly achieved by using this system.
Scientific journal, Japanese

スキルに基づくマニピュレーションシステム
末広尚士; 高瀬國克
日本ロボット学会誌, The Robotics Society of Japan, 8, 5, 551-562, Oct. 1990, Peer-reviwed, This paper proposes"skill"of manipulator to execute complex tasks. Skills are essential and elemental motions obtained by analysis of motions needed to execute target tasks. Since the skills are made to be adaptable to the task environment using force control, sensor feedback and so on, the elemental sub-tasks can be reliably accomplished with the corresponding skills. Highter level system can program or plan to execute a complex task by combining skills without knowing complex control of them. In this paper, considering assembly tasks as realization of target contact states, we analyze contact states appearing in polygonal assembly tasks and skills for the tasks are obtained by the analysis. Some of them have been realized using DD-manipulator: ETA3, and successfully applied to insertion of square pole.
Scientific journal, Japanese

接触運動の表現と制御およびその組立作業への応用
末広,高瀬
日本ロボット学会誌, The Robotics Society of Japan, 6, 6, 499-506, Dec. 1988, Peer-reviwed, In assembly tasks, motion of a robot hand or an object grasped by a robot is constrained by the contacting environmental objects. This paper proposes the use of the concept of the instantaneous center of motion to analyze such constrained motion in contact. By the analysis, the following methods which are indispensable in realizing assembly-like tasks are obtained: a contorol method of the motion in contact, a method for observing the state of contact, a method of getting into and detaching from the contact state. Applications of these methods to assembly tasks are also discussed.
Scientific journal, Japanese

直接計算方式による作業座標サーボに基づくマニピュレーションシステム
末広,高瀬
日本ロボット学会誌, 3, 2, 11-21, Apr. 1985, Peer-reviwed
Scientific journal, Japanese

Robot middleware and its standardization in OMG
2006, Proceedings of The 2nd International Conference on Ubiqutous Robots and Ambient Intelligence, 116-119

Stiffness analysis and design of a compact modified Delta parallel mechanism
WK Yoon; T Suehiro; Y Tsumaki; M Uchiyama
In our previous work, we developed a compact 6-DOF haptic interface as a master device which achieved an effective manual teleoperation. The haptic interface contains a modified Delta parallel-link positioning mechanism. Parallel mechanisms are usually characterized by a high stiffness, which, however, is reduced by elastic deformations of both parts and bearings. Therefore, to design such a parallel mechanism, we should analyze its structural stiffness, including elastic deformations of both parts and bearings. Then we propose a simple method to analyze structural stiffness in a parallel mechanism using bearings. Our method is based on standard concepts such as static elastic deformations. However, the important aspect of our method is the manner in which we combine these concepts and how we obtain the value of the elasticity coefficient of a rotation axis in a bearing. Finally, we design a modified Delta mechanism, with a well-balanced stiffness, based on our method of stiffness analysis., CAMBRIDGE UNIV PRESS, Jul. 2004, ROBOTICA, 22, 4, 463-475, English, 0263-5747, 1469-8668, WOS:000223322100012

パラレル機構の構造剛性解析
尹 祐根; 末廣 尚士; 妻木 勇一; 内山 勝
Jun. 2004, 日本機械学会論文集(Ｃ編), 70, 694, 1778-1786, Japanese, Peer-reviwed, 0387-5024

Using simplified geometric models in skill-based manipulation
A Nakamura; K Kitagaki; T Suehiro
Dexterous manipulation plays an important role in working robots. Manipulator tasks such as assembly and disassembly can generally be divided into several motion primitives. We call these 'skills' and explain how most manipulator tasks can be composed of skill sequences. Skills are also used to compensate for errors both in the geometric model and in manipulator motions. There are dispensable data in the shapes, positions and orientations of objects when achieving skill motions in a task. Therefore, we can simplify geometric models by considering the dispensable data in a skill motion. We call such robust and simplified models 'false models'. This paper describes our definition of false models used in planning and visual sensing, and shows the effectiveness of our method using examples of tasks involving the manipulation of mechanical and electronic parts. Furthermore, we show the application of false models to objects of indefinite sizes and shapes using examples of the same tasks., TAYLOR & FRANCIS LTD, 2004, ADVANCED ROBOTICS, 18, 8, 835-858, English, 0169-1864, 1568-5535, WOS:000224766600006

Design of a Modified DELTA Parallel Mechanism Based on Structural Stiffness Analysis
YOON Woo-Keun; SUEHIRO Takashi; TSUMAKI Yuichi; UCHIYAMA Masaru
In our previous work, we developed a compact 6-DOF haptic interface. The haptic interface contains a modified DELTA parallel-link positioning mechanism. A stiffness of the modified DELTA mechanism is affected by elastic deformations of both parts and bearings. Therefore, to design such a parallel mechanism, we should analyze structural stiffness of a parallel mechanism, including elastic deformation of both parts and bearings. Then, we have proposed an analysis method of structural stiffness for a parallel mechanism. ln this paper, we design a modified DELTA mechanism with a suitable stiffness, using our stiffness analysis method., The Japan Society of Mechanical Engineers, 2003, Transactions of the Japan Society of Mechanical Engineers. Series C., 69, 681, 1358-1365, Japanese, 0387-5024, 110002379002, AN00187463

Sensor-Based Artificial Skills with Force and Vision Information
2001, JOURNAL OF ROBOTICS AND MECHATRONICS, 13, 3, 254-266

人間の手作業分析のための把握情報入力装置の開発
2001, 日本機械学会論文集C編, 67, 664, 3938-3943

Information sharing via projection function for coexistence of robot and human
Y Wakita; S Hirai; T Suehiro; T Hori; K Fujiwara
Various kinds of service robots will be used in environment coexisting with humans. To realize the coexistence of a robot and a human, the robot must share task information with the person via an adequate interface. We propose a "projection function" as the interface for information sharing. We construct a projection system to prove the information sharing efficiency, and develop several modes of interaction between the robot and the human in the projection system., SPRINGER, 2001, AUTONOMOUS ROBOTS, 10, 3, 267-277, English, 0929-5593, 1573-7527, WOS:000168530300003

双腕ロボットによる食材の皮むき操作に関する研究
于 亮亮; 董 晨宇; 滝澤優; 末廣 尚士; 工藤 俊亮
Poster presentation, Japanese, SI2019, 計測自動制御学会, 高松市, 本論文では，料理作業の中で多く使われる皮むきに着目し，双腕ロボットを用いて球形の食材の皮むき作業を行う手法を提案した．本手法では皮むき動作を「一回皮むき動作」と「食材の回転操作」に分けて考え，それぞれの手法を提案しロボットに実装した．大きさの異なる3 種類のリンゴの皮むき実験を行うことによって，提案手法により食材の皮むき動作が実現することが分かった．, Domestic conference
14 Dec. 2019

ユニバーサルジャミンググリッパ付き３本指ハンドによるピッキングと握り込み
渡邉勇輝; 滝澤優; 末廣 尚士; 工藤 俊亮
Poster presentation, Japanese, SI2019, 計測自動制御学会, 高松市, 本研究ではUJGと3本指ハンドを組み合わせた新たなエンド エフェクタを製作しその有効性を調べた把持実験では持ち替え動作や複雑な制御を介さず棒状物体のピッキングから握りこみを行うことができた, Domestic conference
13 Dec. 2019

双腕ロボットによる箱を紐で十字に縛る作業の実現
宋 秋熹; 滝澤優; 末廣 尚士; 工藤 俊亮
Poster presentation, Japanese, SI2019, 計測自動制御学会, 高松市, 本研究では箱を紐で十字に縛る作業を着目し，ロボットに実行可能な作業手順を考案し，双腕ロボットに実装した．はじめに十字縛りの手順を人が行う場合と比較しながら検討し，三つの手順を抽出した．その手順を双腕ロボットに実装し，実験により十字縛りが可能であることを示した．, Domestic conference
13 Dec. 2019

GUIを用いた双腕ロボットによる卓上紐結びの教示手法
瀬尾篤; 滝澤優; 末廣 尚士; 工藤 俊亮
Poster presentation, Japanese, SI2019, 計測自動制御学会, 高松市, 本稿では、教示者に単位操作を組み合わせて紐結びを教示させ、その履歴から紐結びを再現する方法を提案した。また提案手法を用いて紐結びを教示することにより、操作を再生できることを実験により検証した。, Domestic conference
13 Dec. 2019

双腕ロボットによる食材の串刺し動作
李 昂; 董 晨宇; 滝澤優; 工藤 俊亮; 末廣 尚士
Oral presentation, Japanese, RSJ2019, 日本ロボット学会, 東京都, 本論文では，ロボットによる串刺し動作に関して，SPG モデルを提案した．そして，硬い食材の対応実験とSPG モデルの可能性検証実験を行った．, Domestic conference
06 Sep. 2019

目標線による布被覆操作の選択法
朝野 裕規; 末廣 尚士; 工藤 俊亮
Oral presentation, Japanese, SI2018, 計測自動制御学会, Domestic conference
Dec. 2018

ロボットによる液体の定量的な注ぎ作業の実現
董 晨宇; 工藤 俊亮; 末廣 尚士
Oral presentation, Japanese, RSJ2018, 日本ロボット学会, Domestic conference
05 Sep. 2018

エアホッケーロボットの平行打ちによる狙い打ち手法
落合 誠治; 滝澤 優; 工藤 俊亮; 末廣 尚士
Oral presentation, Japanese, SI2017, 計測自動制御学会, Domestic conference
Dec. 2017

料理ロボットの切断作業のための食材の把持・移動操作
何 成浩; 工藤 俊亮; 末廣 尚士
Oral presentation, Japanese, SI2017, 計測自動制御学会, Domestic conference
Dec. 2017

視覚情報を用いた折り紙の辺合わせ
中道 悠太; 工藤 俊亮; 末廣 尚士
Oral presentation, Japanese, SI2017, 計測自動制御学会, Domestic conference
Dec. 2017

目標線を用いた転がし操作
朝野 裕規; 末廣 尚士; 工藤 俊亮
Oral presentation, Japanese, 第35回日本ロボット学会学術講演会, 日本ロボット学会, 川越, Domestic conference
14 Sep. 2017

多指ハンドロボットによる左右同時持ち替えスキルを用いた紐結びの提案
宗田晃一; 滝澤優; 工藤俊亮; 末廣尚士
Oral presentation, Japanese, SI2016, 計測自動制御学会, Domestic conference
Dec. 2016

折り紙ロボットによる袋折り手法の提案
中道悠太; 工藤俊亮; 末廣尚士
Oral presentation, Japanese, SI2016, 計測自動制御学会, Domestic conference
Dec. 2016

単位操作の把持点推定に基づく紐結び作業の教示
姚 卓男; 滝澤 優; 工藤 俊亮; 末廣 尚士
Oral presentation, Japanese, SI2016, 計測自動制御学会, Domestic conference
Dec. 2016

双腕ロボットによる紙揃え作業
山下 貴裕; 工藤 俊亮; 末廣 尚士
Oral presentation, Japanese, SI2016, 計測自動制御学会, Domestic conference
Dec. 2016

料理ロボットのためのパンへのペースト塗付作業
長野 恵典; 福島 洋; 末廣 尚士; 工藤 俊亮
Oral presentation, Japanese, SI2016, 計測自動制御学会, Domestic conference
Dec. 2016

風呂敷包みにおける結び動作の手先姿勢記述
岩瀬 元; 工藤 俊亮; 末廣 尚士
Oral presentation, Japanese, SI2016, 計測自動制御学会, Domestic conference
Dec. 2016

視覚情報を用いた折り紙の頂点合わせ
鈴木 兼悟; 工藤 俊亮; 末廣 尚士
Oral presentation, Japanese, 第34回日本ロボット学会学術講演会, 日本ロボット学会, 山形, 本論文では視覚情報から作業中の折り紙の状態を認識，フィードバックするアルゴリズムについて提案し，その実験結果について述べる．, Domestic conference
07 Sep. 2016

布モデルに基づいた風呂敷包みにおける手先軌道の生成
岩瀬 元; 工藤 俊亮; 末廣 尚士
Oral presentation, Japanese, 第34回日本ロボット学会学術講演会, 日本ロボット学会, 山形, 本研究では，双腕ロボットに対し簡潔な命令で，風呂敷を操作する手先軌道の生成手法を提案する．, Domestic conference
07 Sep. 2016

複数の打ち方を適宜切り変え可能なエアホッケーロボットシステム
沓名祐介; 松田啓明; 島田英明; 工藤俊亮; 末廣尚士
Oral presentation, Japanese, SI2015, 計測自動制御学会, Domestic conference
Dec. 2015

エアホッケーロボットにおける発動可能な止め打ち動作の実装
島田英明; 松田啓明; 沓名祐介; 末廣尚士; 工藤俊亮
Oral presentation, Japanese, SI2015, 計測自動制御学会, Domestic conference
Dec. 2015

画像情報と折り紙公理を用いたロボットアームによる三角折りの実現
鈴木 兼悟; 藤岡 直幹; 工藤 俊亮; 末廣 尚士
Oral presentation, Japanese, SI2015, 計測自動制御学会, Domestic conference
Dec. 2015

ロボット用料理レシピに基づいた混ぜ操作の提案
松田啓明; 今井啓明; 工藤俊亮; 末廣尚士
Oral presentation, Japanese, SI2015, 計測自動制御学会, Domestic conference
Dec. 2015

ラッセル円環モデルとラバン理論を用いた飛行型ロボットの動作表現〜飛行型ペットロボット実現に向けた検討〜
日永田智絵; 工藤俊亮; 末廣尚士
Oral presentation, Japanese, HAI 2014, 岐阜大学，エンタテイメント・ロボット・フォーラム, 岐阜県, Domestic conference
Dec. 2015

折り動作における折り線認識手法の検討
藤岡直幹; 工藤俊亮; 末廣尚士
Oral presentation, Japanese, 日本ロボット学会学術講演会, Domestic conference
Sep. 2015

人の手の姿勢に着目したロボットによる手渡し動作の評価
佐藤 泰成; 工藤俊亮; 末廣尚士
Oral presentation, Japanese, 日本ロボット学会学術講演会, 日本ロボット学会, Domestic conference
Sep. 2015

コネクタを用いた配線作業のマニピュレータによる実現
町田英嗣; 工藤俊亮; 末廣尚士
Oral presentation, Japanese, SI2014, 計測自動制御学会, 東京都, Domestic conference
15 Dec. 2014

実用的なKobuki 利用のためのRTC 群の開発
Wu Chih-En; 松田啓明; 林直宏; 末廣尚士; 工藤俊亮
Oral presentation, Japanese, SI2014, 計測自動制御学会, 東京都, Domestic conference
15 Dec. 2014

楽器演奏のためのMIDI RT コンポーネントの開発
松田啓明; 二瓶陽介; 田附雄一; 工藤俊介; 末廣尚士
Oral presentation, Japanese, SI2014, 計測自動制御学会, 東京都, Domestic conference
15 Dec. 2014

ロボットのための料理作業モデルの提案
松田啓明; 今井啓明; 佐藤泰成; 工藤俊亮; 末廣尚士
Oral presentation, Japanese, SI2014, 計測自動制御学会, 東京都, Domestic conference
15 Dec. 2014

双腕ロボットによる料理作業の実現のための食材の切断方法の提案
今井啓明; 松田啓明; 末廣尚士; 工藤俊亮
Oral presentation, Japanese, SI2014, 計測自動制御学会, 東京都, Domestic conference
15 Dec. 2014

エアホッケーロボットシステムにおける錯視効果の検証
今田光; 松田啓明; 沓名祐介; 末廣尚士; 工藤俊亮
Oral presentation, Japanese, SI2014, 計測自動制御学会, 東京都, Domestic conference
15 Dec. 2014

エアホッケーロボットによるドリブル動作の実現
沓名祐介; 電通大松田啓明; 今田光; 工藤俊亮; 末廣尚士
Oral presentation, Japanese, SI2014, 計測自動制御学会, 東京都, Domestic conference
15 Dec. 2014

双腕ロボットによる折り紙作業の実現を目指したシステムの構築
二瓶陽介; 工藤俊介; 末廣尚士
Oral presentation, Japanese, SI2014, 計測自動制御学会, 東京都, Domestic conference
15 Dec. 2014

ラッピング作業のための適切な紙サイズと初期配置の提案
玉田貴寛; 工藤俊亮; 末廣尚士
Oral presentation, Japanese, SI2014, 計測自動制御学会, 東京都, Domestic conference
15 Dec. 2014

紐結びマニピュレーションにおけるすべり動作の検証
耿昊天; 冨沢哲雄; 末廣尚士; 工藤俊亮
Oral presentation, Japanese, SI2014, 計測自動制御学会, 東京都, Domestic conference
15 Dec. 2014

卓上紐結びにおける紐の形状を考慮した円形ループ作成動作に対する検討
滝澤優; 工藤俊亮; 末廣尚士
Oral presentation, Japanese, SI2014, 計測自動制御学会, 東京都, Domestic conference
15 Dec. 2014

飛行型ロボットにおけるラバン理論を考慮した身体動作表現
日永田智絵; 工藤俊亮; 末廣尚士
Oral presentation, Japanese, HAI 2014, 岐阜大学，エンタテイメント・ロボット・フォーラム, 岐阜県, Domestic conference
Dec. 2014

マイクロマウスにおける最短経路探索に関する提案
園部雄万; 冨沢哲雄; 工藤俊亮; 末廣尚士
Oral presentation, Japanese, 日本ロボット学会学術講演会(RSJ2014), 日本ロボット学会, 福岡県, マイクロウスに適した最短経路探索のアルゴリズムを提案する ．これは，全面探索を基準にその改良を行ったものである．本稿は， その提案内容と有効性 の検証，および問題点について示す．, Domestic conference
04 Sep. 2014

双腕ロボットによる五種類の卓上紐結びの実現
末廣尚士; 片野良太; 五味知之; 冨沢哲雄; 工藤俊亮
Oral presentation, Japanese, 日本ロボット学会学術講演会(RSJ2014), 日本ロボット学会学, 福岡県, 本稿では，視覚特徴量に注目した手順分解のアプローチに基づき，
紐結びの一連の手順を視覚情報を得るための比較的安定した状態と
それに続く紐の操作とをセットとした手順要素に分解することを提案する．この手順要素をロボット向けに工夫することにより，
双腕ロボットを用いて卓上で五種類の紐結びを実現した．, Domestic conference
04 Sep. 2014

双腕アームロボットによる物体への布巻付け操作
林直宏; 冨沢哲雄; 工藤俊亮; 末廣尚士
Oral presentation, Japanese, 日本ロボット学会学術講演会(RSJ2014), 日本ロボット学会学, 福岡県, 本研究では，目標線による記述と解釈方法を提案し，実世界のロボットによる布被覆操作を可能にすることを目的とする．, Domestic conference
04 Sep. 2014

交差間のセグメントを用いた紐結び作業の定量的な扱いと作業記述
音田弘; 産業技術総合研究所; 工藤俊亮; 末廣尚士
Oral presentation, Japanese, 日本ロボット学会学術講演会(RSJ2014), 日本ロボット学会学, 福岡県, 本稿は，結び目のトポロジーや交差のみを考慮
した操作だけでなく，紐の長さを調整したり，結び
目の位置や大きさ，形を調整可能としたりする紐結
び作業についてのアプローチを行うものである．, Domestic conference
04 Sep. 2014

ユビキタスネットワーク
The University of Electro-Communications

ユビキタスネットワーク
The University of Electro-Communications

ユビキタスネットワーク
電気通信大学

輪講A
The University of Electro-Communications

輪講A
電気通信大学

ロボットソフトウェア特論
The University of Electro-Communications

イノベイティブ総合コミュニケーションデザイン2
The University of Electro-Communications

イノベイティブ総合コミュニケーションデザイン2
電気通信大学

プログラミング基礎および演習
The University of Electro-Communications

プログラミング基礎および演習
The University of Electro-Communications

プログラミング基礎および演習
電気通信大学

大学院技術英語
The University of Electro-Communications

大学院技術英語
電気通信大学

総合情報学基礎
The University of Electro-Communications

総合情報学基礎
電気通信大学

基礎プログラミング
The University of Electro-Communications

基礎プログラミング
電気通信大学

ロボットソフトウェア特論
The University of Electro-Communications

ロボットソフトウェア特論
電気通信大学

知能システム論1
The University of Electro-Communications

知能システム論1
電気通信大学

知能システム論１
The University of Electro-Communications

知能システム論１
電気通信大学

IEEE

日本ロボット学会

計測自動制御学会

知的マニピュレーション