工藤 俊亮
| 情報学専攻 | 准教授 |
| Ⅰ類（情報系） | 准教授 |
| 機械知能システム学専攻 | 准教授 |
| Ⅱ類（融合系） | 准教授 |
研究者情報
研究活動情報
受賞
論文
- Robot locomotion by fluid–fluid interaction
Hiroto Kitamori; Shunsuke Kudoh; Jun Shintake
Scientific Reports, Springer Science and Business Media LLC, 13巻, 1号, 出版日 2023年12月11日, 査読付, Abstract
This paper describes a locomotion strategy for robots based on the interaction between two fluids, through the development of an untethered mobile robot. The fundamental principle of robot locomotion is to exploit the active deformations of ferrofluid caused by internal magnetic fields, which generate reaction forces to the surrounding fluid (in this study, water). The developed robot is equipped with two permanent magnets (PMs), two electromagnets (EMs), two clusters of ferrofluid, and a control unit with batteries. It has a length, width, and mass of 107 mm, 94 mm, and 127 g, respectively. In the robot, PMs are used to hold clusters of ferrofluid. The activation of EMs by the controller achieves forward and rotational movements of the robot. Experimental results show the forward speed and rotational speed in water to be 2.7 mm/s (at a driving frequency of 9 Hz) and 1.2°/s (at a driving frequency of 7 Hz), respectively. The measured thrust force of the robot is 2 mN, further supporting the concept of robot locomotion by fluid–fluid interaction.
研究論文（学術雑誌） - Design and implementation of a multi-dof hand and basic motions for rope-knotting tasks
Masaru Takizawa; Shunsuke Kudoh; Takashi Suehiro
Advanced Robotics, 36巻, 10号, 出版日 2022年05月, 査読付
研究論文（学術雑誌）, 英語 - Food peeling method for dual-arm cooking robot
Chenyu Dong; Liangliang Yu; Masaru Takizawa; Shunsuke Kudoh; Takashi Suehiro
In 2021 IEEE/SICE International Symposium on System Integration (SII), 掲載ページ 801-806, 出版日 2021年01月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Precision pouring into unknown containers by service robots
Chenyu Dong; Masaru Takizawa; Shunsuke Kudoh; Takashi Suehiro
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 掲載ページ 5875-5882, 出版日 2019年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - 飛行型ロボットによる情動表現動作に向けた動作要素の抽出
日永田 智絵; 工藤 俊亮; 末廣 尚士
日本ロボット学会誌, 一般社団法人 日本ロボット学会, 37巻, 9号, 掲載ページ 856-863, 出版日 2019年, 査読付,In Human-Robot Communication, emotional expressions of robots almost resembled people and animals. However, a robot should have an ideal form and action according to its purpose, and it is not necessarily a rational design policy to resemble human beings and animals. Therefore, a promotion of communication by methods other than resembling humans and animals should be considered, but little research has been done from such a viewpoint. In this research, we considered a method to express emotion with a robot that is far away physically from a person. We used a flying robot as a robot physically far from the person. Instead of linking actions and emotions directly, we adopted a method of indirectly linking actions and emotions by placing indexes for emotional expression, modeling the relationship between actions and indexes, emotions and indexes. Using the Russell annulus model as indexes, we created motion using the indexes and confirmed that the motion created makes the person feel emotion by a subject experiment.
日本語 - Learning From Observation of Tabletop Knotting Using a Simple Task Model
Masaru Takizaru; Zhuonan Yao; Hiromu Onda; Shunsuke Kudoh; Takashi Suehiro
2019 IEEE/SICE International Symposium on System Integration (SII), 掲載ページ 85-91, 出版日 2019年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Study on Tying of a Deformable Band-shaped Object by a Dual Arm Robot
Atsushi Seo; Masaru Takizaru; Shunsuke Kudoh; Takashi Suehiro
2019 IEEE/SICE International Symposium on System Integration (SII), 掲載ページ 79-84, 出版日 2019年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - A two-layer tactical system for an air-hockey-playing robot
Hideaki Shimada; Yusuke Kutsuna; Shunsuke Kudoh; Takashi Suehiro
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 掲載ページ 6985-6990, 出版日 2017年09月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Mobile robot navigation utilizing the WEB based aerial images without prior teaching run
Satoshi Muramatsu; Tetsuo Tomizawa; Shunsuke Kudoh; Takashi Suehiro
Journal of Robotics and Mechatronics, 29巻, 4号, 掲載ページ 697-705, 出版日 2017年08月, 査読付, © 2017, Fuji Technology Press. All rights reserved. In order to realize the work of goods conveyance etc. by robot, localization of robot position is fundamental technology component. Map matching methods is one of the localization technique. In map matching method, usually, to create the map data for localization, we have to operate the robot and measure the environment (teaching run). This operation requires a lot of time and work. In recent years, due to improved Internet services, aerial image data is easily obtained from Google Maps etc. Therefore, we utilize the aerial images as a map data to for mobile robots localization and navigation without teaching run. In this paper, we proposed the robot localization and navigation technique using aerial images. We verified the proposed technique by the localization and autonomous running experiment.
研究論文（学術雑誌）, 日本語 - Planning method for a wrapping-with-fabric task using regrasping
Naohiro Hayashi; Takashi Suehiro; Shunsuke Kudoh
Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA), 掲載ページ 1285-1290, 出版日 2017年05月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Knotting task execution based a hand-rope relation
Trinh Van Vinh; Tetsuo Tomizawa; Shunsuke Kudoh; Takashi Suehiro
ADVANCED ROBOTICS, TAYLOR & FRANCIS LTD, 31巻, 11号, 掲載ページ 570-579, 出版日 2017年, 査読付, 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.
研究論文（学術雑誌）, 英語 - 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, 一般社団法人 日本ロボット学会, 34巻, 5号, 掲載ページ 340-351, 出版日 2016年06月, 査読付, 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.
研究論文（学術雑誌）, 日本語 - Handling and Describing String-Tying Operations Based on Metrics Using Segments between Crossing Sections
H. Onda; S. Kudoh; T. Suehiro
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers Inc., 1巻, 1号, 掲載ページ 375-382, 出版日 2016年01月01日, 査読付, Many robotics researchers are currently addressing the challenge of string-tying operations. Actual knot-tying tasks require metrics, such as the positions, sizes, and shapes of the knots, as well as the segment lengths of the knots. In this letter, we propose unified expressions for string-tying operations based on metrics and a method of realizing knot-tying tasks considering these metrics. Unified expressions, which are needed for the actual knot-tying task, are described using crossing sections and the segments between them. The realization method is the movement perturbation method, which first realizes a topological knot-tying task as a special solution to the task while considering the metrics
it determines where perturbations can be applied by means of sensitivity analysis, and extends the special solution using the movement perturbations. These allow us to realize knot-tying tasks by considering the metrics and relying on the results of topologically realized previous studies. Through experiments, we show the efficacy and limitations of our method.
研究論文（学術雑誌）, 英語 - Action Elements of Emotional Body Expressions for Flying Robots
Chic Hieida; Hiroaki Matsuda; Shunsuke Kudoh; Takashi Suehiro
ELEVENTH ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN ROBOT INTERACTION (HRI'16), ASSOC COMPUTING MACHINERY, 掲載ページ 439-440, 出版日 2016年, 査読付, This paper describes emotional body expressions by flying robots for displaying emotions. Subjective evaluation experiments were performed to clarify the relation between movement parameters and subjective feeling of the expressions. Emotional body expressions were designed by eight people. The expressions were evaluated by another group of twelve people, who answered a questionnaire. The elements of emotional body expressions were investigated using the Lasso method. The results indicate movements that are most effective for displaying a particular emotion to a human. Such expressions are expected to enhance communication between the flight robots and humans.
研究論文（国際会議プロシーディングス）, 英語 - Implementation of Twisting Skill to Robot Hands for Manipulating Linear Deformable Objects
Masaru Takizawa; Shunsuke Kudoh; Takashi Suehiro
2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016), IEEE, 掲載ページ 945-950, 出版日 2016年, 査読付, 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. Then, we demonstrate rope manipulation including a knotting task and verify the effect by using a twisting skill. Our results show that the proposed method can be used to control the twisted angle of the rope with the required precision. Furthermore, using the proposed twisting skill, when placing a rope on a table top, the accuracy and reproducibility are improved compared with the case when the skill is not used. Finally, using the proposed method, clove hitches are successfully tied.
研究論文（国際会議プロシーディングス）, 英語 - 射的ロボコンによるロボットシステム開発教育--教育教材の開発とその評価--
松田啓明; 林直宏; 工藤俊亮; 末廣尚士
日本ロボット学会誌, The Robotics Society of Japan, 33巻, 8号, 掲載ページ 623-629, 出版日 2015年10月, 査読付, In this paper, we developed a teaching material, a shooting robot system, for students studying application development in robotics, and evaluated its effectivity. Since robots, in general, make some action on the outside world in robot applications, students need to learn to model the relationship between sensing and actuation. In this paper, we take a shooting robot as an example, and designed a teaching materials for studying development of robot systems with awareness of cooperation between external sensors and robots. We conducted a robot contest to evaluate the proposed material. Students were split into groups and developed robot systems implemented using RT-components. Through this activity, they practically learned elemental technology for developing robot applications. We analyzed the result of the contest and the questionnaire to confirm the effectiveness of the proposed material in understanding of elemental technology and improvement of motivation for learning.
研究論文（学術雑誌）, 日本語 - 双腕ロボットによる五種類の卓上紐結びの実現--視覚による特徴抽出と操作を融合した紐結び作業の手順分解--
片野良太; 五味知之; 冨沢哲雄; 工藤俊亮; 末廣尚士
日本ロボット学会誌, The Robotics Society of Japan, 33巻, 7号, 掲載ページ 505-513, 出版日 2015年09月, 査読付, 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 confirmed 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.
研究論文（学術雑誌）, 日本語 - タングルトポロジーを用いたロボットハンドによる人間の持ち替え動作の模倣
工藤俊亮; ビナヤウェキンポンタリン; 佐藤啓宏; 池内克史
日本ロボット学会誌, The Robotics Society of Japan, 33巻, 7号, 掲載ページ 514-523, 出版日 2015年09月, 査読付, This paper proposes a method for imitating human regrasping motion by a robot. The method is based on the learning from observation (LFO) paradigm, in which human motion is recognized by a task model and robot motion is reproduced from the recognized task sequence. For designing a task model for regrasping, we focused on a topological criterion, Gauss linking integral (GLI), which represents a tangle state of two strands. Fingers and an object are represented by strands in this study, and the relationship among them is described in a topological way based on GLI. In this paper, first, a task model for regrasping is proposed, and then, a method for recognizing human regrasping motion using the task model is described. Next, the proposed method is validated by reproducing a regrasping movement in a robotic hand. Human regrasping movements of a pen-like object are considered. The successful reproduction of the regrasping movement verifies the proposed methodology to be useful and proved that it is feasible to control a robotic hand by imitating human.
研究論文（学術雑誌）, 日本語 - In-air Knotting of Rope by a Dual-arm Multi-finger Robot
Shunsuke Kudoh; Tomoyuki Gomi; Ryota Katano; Tetsuo Tomizawa; Takashi Suehiro
2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), IEEE, 掲載ページ 6202-6207, 出版日 2015年, 査読付, 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.
研究論文（国際会議プロシーディングス）, 英語 - Motion generation of the humanoid robot for teleoperation by task model
Masaya Ogawa; Katsuya Honda; Yoshihiro Sato; Shunsuke Kudoh; Takeshi Oishi; Katsushi Ikeuchi
2015 24TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN), IEEE, 掲載ページ 71-76, 出版日 2015年, 査読付, In recent years, the research of humanoid robots that replace human tasks in emergency situations have been widely studied. Currently, many approaches are automate dedicated hardware for each mission. But, at the environment where situation changes, operation by humanoid robot is effective to operate equipments which designed for human. Ultimately, automation is ideal, but under the present circumstances, teleoperation of humanoid robot is effective for corresponding changes of situation.
An intuitive interface is required for effectively controlling the humanoid robot from a distant place. Recently, the interfaces that map the human motion to the humanoid robot have become popular because of the development of the motion recognition systems. However, the humanoid robot and human beings have different joint structure, physical ability and weight balance. It is not practical to map the motion directly. There is also the issue of time delay between the operator and the robot. Therefore, it is desirable that the operator performs global judgments and the robot runs semi-autonomously in the local environment.
In this paper we propose a method to remotely operate the humanoid robot by the task model. Our method describes human behavior abstractly by the task model and mapped this abstract expressions to humanoid robots, and overcome difference of structure of body. In this work, we operate lever of buggy-type vehicles as a example of mapping using the task model.
研究論文（国際会議プロシーディングス）, 英語 - 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, 掲載ページ 646-651, 出版日 2015年, 査読付, 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.
研究論文（国際会議プロシーディングス）, 英語 - Toward a Dancing Robot With Listening Capability: Keypose-Based Integration of Lower-, Middle-, and Upper-Body Motions for Varying Music Tempos
Takahiro Okamoto; Takaaki Shiratori; Shunsuke Kudoh; Shin'ichiro Nakaoka; Katsushi Ikeuchi
IEEE TRANSACTIONS ON ROBOTICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 30巻, 3号, 掲載ページ 771-778, 出版日 2014年06月, 査読付, This paper presents the development toward a dancing robot that can listen to and dance along with musical performances. One of the key components of this robot is the ability to modify its dance motions with varying tempos, without exceeding motor limitations, in the same way that human dancers modify their motions. In this paper, we first observe human performances with varying musical tempos of the same musical piece, and then analyze human modification strategies. The analysis is conducted in terms of three body components: lower, middle, and upper bodies. We assume that these body components have different purposes and different modification strategies, respectively, for the performance of a dance. For all of the motions of these three components, we have found that certain fixed postures, which we call keyposes, tend to be preserved. Thus, this paper presents a method to create motions for robots at a certain music tempo, from human motion at an original music tempo, by using these keyposes. We have implemented these algorithms as an automatic process and validated their effectiveness by using a physical humanoid robot HRP-2. This robot succeeded in performing the Aizu-bandaisan dance, one of the Japanese traditional folk dances, 1.2 and 1.5 times faster than the tempo originally learned, while maintaining its physical constraints. Although we are not achieving a dancing robot which autonomously interacts with varying music tempos, we think that our method has a vital role in the dancing-to-music capability.
研究論文（学術雑誌）, 英語 - 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巻, 1号, 掲載ページ 18-23, 出版日 2014年01月, 査読付
研究論文（学術雑誌）, 日本語 - Development of Intelligent Automatic Door System
Daiki Nishida; Kumiko Tsuzura; Shunsuke Kudoh; Kazuo Takai; Tatsuhiro Momodori; Norihiro Asada; Toshihiro Mori; Takashi Suehiro; Tetsuo Tomizawa
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 掲載ページ 6368-6374, 出版日 2014年, 査読付, Conventional automatic doors cannot distinguish between people wishing to pass through the door and people passing by the door, so they often open unnecessarily. This paper describes an intelligent door system that observes people near a door so that the door opens at the proper time and only for people who have the intention of passing through it. To achieve this, we developed a novel laser range scanner that scans the surrounding environment three dimensionally, and formulated lightweight algorithms for the sensor. The experimental results show that the sensor can control a door according to the speed of people within the required specifications and that it correctly identifies people passing by the door.
研究論文（国際会議プロシーディングス）, 英語 - Extraction of Person-specific Motion Style based on a Task Model and Imitation by Humanoid Robot
T. Okamoto; T. Shiratori; M. Glisson; K. Yamane; S. Kudoh; K. Ikeuchi
2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), IEEE, 掲載ページ 1347-1354, 出版日 2014年, 査読付, In this paper, we present a humanoid robot which extracts and imitates the person-specific differences in motions, which we will call style. Synthesizing human-like and stylistic motion variations according to specific scenarios is becoming important for entertainment robots, and imitation of styles is one variation which makes robots more amiable. Our approach extends a learning from observation (LFO) paradigm which enables robots to understand what a human is doing and to extract reusable essences to be learned. The focus is on styles in the domain of LFO and the representation of them using the reusable essences. In this paper, we design an abstract model of a target motion defined in LFO, observe human demonstrations through the model, and formulate the representation of styles in the context of LFO. Then we introduce a framework of generating robot motions that reflect styles which are automatically extracted from human demonstrations. To verify our proposed method we applied it to a ring toss game, and generated robot motions for a physical humanoid robot. Styles from each of three random players were extracted automatically from their demonstrations, and used for generating robot motions. The robot imitates the styles of each player without exceeding the limitation of its physical constraints, while tossing the rings to the goal.
研究論文（国際会議プロシーディングス）, 英語 - 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, 掲載ページ 2185-2190, 出版日 2014年, 査読付, 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.
研究論文（国際会議プロシーディングス）, 英語 - 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, 掲載ページ 1743-1748, 出版日 2014年, 査読付, 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.
研究論文（国際会議プロシーディングス）, 英語 - 実社会との関係形成で変化するロボット研究の現状
内藤理; 石見紫乃; 森純一郎; 梶川裕矢; 佐藤啓宏; 工藤俊亮; 池内 克史
日本ロボット学会誌, The Robotics Society of Japan, 31巻, 8号, 掲載ページ 804-815, 出版日 2013年10月, 査読付
研究論文（学術雑誌）, 日本語 - 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巻, 6号, 掲載ページ 1011-1019, 出版日 2013年, 査読付, 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.
研究論文（学術雑誌）, 英語 - The Study of Taiwanese Indigenous Dance with Labanotation and an Application
Huaichin Hu; Shunsuke Kudoh; Yoshihiro Sato; Katsushi Ikeuchi
2013 INTERNATIONAL CONFERENCE ON CULTURE AND COMPUTING (CULTURE AND COMPUTING 2013), IEEE, 掲載ページ 74-78, 出版日 2013年, 査読付, In this paper we use Labanotation for analyzing several categories of Taiwanese Indigenous Dance and apply four-step dance on a mini humanoid robot. First, we use Labanotation, which is the major notation system for dance choreography, to analyze several dance steps and develop an improved version. We use this system as a basis to create comprehensive motion segments, which help us to observe quantity, as well as quality criteria, such as time, space, weight and flow differences expressed in these dances. Next, we discuss the characteristics and representations of Taiwan Indigenous dances and find a core four-step dance. We investigate the four-step dance using robot software tools and implement a new gravity-shifting technique on a miniature robot. Finally, we provide an algorithm for the suitable for future robot development in cultural dance traditions. In the future, we plan to collect movement data from human dancers and identify advanced research results.
研究論文（国際会議プロシーディングス）, 英語 - 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; 佐藤晶則; 工藤俊亮; 末廣尚士
計測自動制御学会論文集, 公益社団法人 計測自動制御学会, 49巻, 1号, 掲載ページ 93-101, 出版日 2013年01月, This paper describes a development of a robot cart platform for intelligent personal mobility. Recently, a lot of personal mobility has been used by aged and handicapped people. Intelligent mobility provides safer and more convenient transfer service such as driving support and automatic transfer. It is necessary to develop a platform equipped with sensors and electronic devices intelligent navigation functions. In this paper, we describe the hardware components and the software configuration of the robot platform. The navigation system, including the functions of localization using grid map matching, path following, and obstacle avoidance, is implemented on the proposed robot platform. We also present the results of an open-field experiment in Tsukuba Challenge 2011 and evaluate the proposed systems.
研究論文（学術雑誌）, 日本語 - Representation and Mapping of Dexterous Manipulation through Task Primitives
Phongtharin Vinayavekhin; Shunsuke Kudoh; Jun Takamatsu; Yoshihiro Sato; Katsushi Ikeuchi
2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 掲載ページ 3722-3729, 出版日 2013年, 査読付, The goal of this work is to teach a robot to regrasp an object using knowledge obtained from human demonstration. This paper presents a task model that represents a human regrasping movement. The task model is based on the topological information and comprised of four task primitives. Human regrasping movement is recognised and represented as a sequence of these task primitives by the proposed recognition algorithm. The proposed method then maps each task primitive to the target robot hand using knowledge obtained from human demonstration. The experimental result verified the proposed task model by executing the regrasping movement on the real robot hand.
研究論文（国際会議プロシーディングス）, 英語 - Humanoid Self-correction of Posture Using a Mirror
Naohiro Hayashi; Tetsuo Tomizawa; Takashi Suehiro; Shunsuke Kudoh
2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), IEEE, 掲載ページ 1614-1619, 出版日 2013年, 査読付, Humanoid robots have discrepancies between the postures simulated on models and those of actual humanoid bodies. To correct this problem, this paper proposes a method in which a robot observes its own posture in a mirror. This method does not need an additional time-consuming setup, such as calibration of external cameras. We attach a reference point to a known position on the robot body. By observing markers and the reference point in the same view, we can estimate the position of the markers accurately based on the geometric relationship between the mirror, an object, and its mirror reflection. We evaluate the proposed method by experiments of measuring and correcting the posture of an actual robot body to attain the target posture.
研究論文（国際会議プロシーディングス）, 英語 - Development of the robust delivery robot system with the unknown object in indoor environment
Satoshi Muramatsu; Kazuhiro Takahashi; Tetsuo Tomizawa; Shunsuke Kudoh; Takashi Suehiro
39TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2013), IEEE, 掲載ページ 8271-8276, 出版日 2013年, 査読付, This paper describes a localization technique for a mobile robot with unknown obstacles, such as pedestrians. It is important that a robot can run in environment freely in order to perform goods conveyance efficiently. In order to run in environment and deliver goods to a target position, self-position presumption is important. However, In real environment, robot may be unable to run to a target position, because the robot cannot localize the self-position correctly with unknown objects, such as people and goods. In this paper, this problem is solved by utilizing the robust position localization technique based on the observed space information to a delivery robot's navigation. Furthermore, by building the system which can set a robot's run path easily, flexible path creation and autonomously running are realized. we verified the validity of the proposed method by the localization experiment and the goods delivery demonstration in real environment. The system which localizes self-position with 0.1m error even in the environment where an unknown object exists, and performs goods delivery to a target position was realized.
研究論文（国際会議プロシーディングス）, 英語 - Improvement of the space observation model for robust mobile robot loclaization with unknown obstacles
Satoshi Muramatsu; Kazuhiro Takahashi; Tetsuo Tomizawa; Shunsuke Kudoh; Takashi Suehiro
39TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2013), IEEE, 掲載ページ 8294-8299, 出版日 2013年, 査読付, This paper describes a localization technique for a mobile robot with unknown obstacles, such as pedestrians. Many robust localization technnique with unknown obstacles by using a particle filter and laser scanner have been propsed. In particular, Tomizawa's method(Space observation model) is effective. However, this method has problem that it does not consider the fixed object occlusion. Thus, in the environment where thin wall (this is example), the robot position cannot be localized well. In this research, we solve this problem by rebulding the space information which is observed intrinsically in predicted position by considerinmg the fixed object occulsion. From above, we realize robot position localization with more high accuracy than previous method, by solving the problem of previous method and improving the previous method. We evaluate the validity of the proposed method by a simulation and an experiment in a real environment.
研究論文（国際会議プロシーディングス）, 英語 - Stereo calibration method using mirrored images containing a camera
Naohiro Hayashi; Tetsuo Tomizawa; Takashi Suehiro; Shunsuke Kudoh
2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, IEEE Computer Society, 掲載ページ 1420-1425, 出版日 2013年, 査読付, This paper proposes a stereo calibration method using mirrored images that contain a camera and measurement objects. In stereo methods, the measurement accuracy can be seriously affected by rotational errors in the calibration between cameras. Our method performs the calibration by using the geometrical relationship between a reference point on the camera and the reference point in its mirrored image. Compared to conventional stereo methods, this method greatly improves the accuracy of stereo measurements. Additionally, our method does not require a time-consuming setup, and it works in an environment where only a few feature points can be obtained. By performing experiments, we evaluate the measurement accuracy of our method and compare it with a conventional method. © 2013 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - 日本におけるロボット工学の研究者ネットワークの分析
内藤理; 佐藤啓宏; 工藤俊亮; 池内克史
日本ロボット学会誌, 一般社団法人 日本ロボット学会, 30巻, 6号, 掲載ページ 629ー638-638, 出版日 2012年07月, 査読付, In recent years, the social network has attracted attention as the system which causes the innovation, and various studies for researchers' networks have been carried out. This paper conducts social network analysis for a researchers' social network based on co-authorship in papers in the journal of RSJ. We investigate the 1,912 papers published from 1983 to 2010, which include 2,736 authors (nodes of the network) and 6,531 co-authorship (edges of the network). The network turns out to have general features as a complex network, such as scale-free structure, small-world structure, and cluster structure. We extract 710 core members from the network and analyze various centrality among them to show that some researchers demonstrate more importance in the network than their degrees. We also apply cluster analysis to the network to find 27 clusters in which researchers have close relationship, and give a coarse-grained representation of the clusters to clarify the adjacency among them.
研究論文（学術雑誌）, 日本語 - グリッドマップのマッチングに基づく未知障害物にロバストな自己位置推定
冨沢哲雄; 村松聡; 平井雅尊; 佐藤晶則; 工藤俊亮; 末廣尚士
日本ロボット学会誌, 一般社団法人 日本ロボット学会, 30巻, 3号, 掲載ページ 280-286, 出版日 2012年04月, 査読付, In this paper, we describe a robust and fast self position estimation technique for mobile robot in an environment where many unknown obstacles exist. The free-space observation model is the basis of the proposed technique. Although the free-space observation achieves robust self-position estimation, it has a complicated likelihood evaluation, and particles continue to spread to a direction where are no landmarks. In this research, we solve these problems with two likelihood evaluations based on the area of free space and occupied space. We evaluated the robustness and verify the validity of the proposed method by a simulation and an experiment in a real environment.
研究論文（学術雑誌）, 日本語 - A New Strategy for Making a Knot with a General-Purpose Arm
Trinh Van Vinh; Tetsuo Tomizawa; Shunsuke Kudoh; Takashi Suehiro
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 掲載ページ 2217-2222, 出版日 2012年, 査読付, This paper proposes a new strategy for making a knot with a general-purpose arm. The strategy is divided into four stages: First, a human-performed knotting action is analyzed to acquire some motion primitives. Second, based on these databases, the robot is taught to tie a knot. Third, key points on the stored trajectories are extracted. These key points are considered in a general case, and then used to implement the manipulation skills. Finally, knotting task is generated by synthesis of the manipulation skills. An overhand knot was made by the actual robot for the validity of the proposed method. This paper also describes a system for manipulating deformable objects (e. g. knotting a rope).
研究論文（国際会議プロシーディングス）, 英語 - Human Friendly Path Tracking for Autonomous Robot Cart: Determine Look-ahead Target Points Under Shortcut Controlling
Masataka Hirai; Tetsuo Tomizawa; Shunsuke Kudoh; Takashi Suehiro
2012 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), IEEE, 掲載ページ 397-402, 出版日 2012年, 査読付, We have constructed a car type personal mobility (a robot cart) that moves around autonomously to help people transfer their luggage and to bring people to their target location. For an autonomous mobility, it is important to avoid making passengers uncomfortable or anxious, as well as to provide safety for the people around them. One reason of the anxious feeling is movements by autonomous navigation that is unexpected for passengers, and it can be reduced by taking a navigation algorithm that is similar to a human way of steering. Based on this concept, focusing on the human way of steering by changing gaze points depending on curvature of the path, we developed an algorithm of look-ahead path tracking for autonomous robot carts according to change the target point from the curvature of the path. First, we formulated the geometrical relationship among the curvature of a path, the position of target points, and the trajectory of a robot, and then, proposed the algorithm to control a robot using the relationship. We implemented the algorithm on the robot cart we constructed, and conducted experiments to evaluate it.
研究論文（国際会議プロシーディングス）, 英語 - A localization based on a space observation model in a crowded environment
Satoshi Muramatsu; Tetsuo Tomizawa; Shunsuke Kudoh; Takashi Suehiro
2012 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), IEEE, 掲載ページ 438-443, 出版日 2012年, 査読付, This paper describes a localization technique for a mobile robot in an environment with many unknown obstacles, such as pedestrians. To realize robust localization against unknown obstacles by using a particle filter, a free-space observation model and an area-observation model have previously been proposed. Although these localization methods are very effective, both methods evaluate the likelihood by using only the free-space model. Thus, in the environment where only the left or the right side is open, the likelihood of a particle separated from a fixed obstacle cannot be lowered. For this reason, the particle continues to spread and cannot converge when the fixed obstacle is observed on only one side. In the present research, we solve these problems by two likelihood evaluations based on the free space and the occupied space. We evaluate the robustness and verify the validity of the proposed method by a simulation and an experiment in a real environment.
研究論文（国際会議プロシーディングス）, 英語 - Development of an Intelligent Senior-Car in a Pedestrian Walkway
Tetsuo Tomizawa; Satoshi Muramatsu; Masanori Sato; Masataka Hirai; Shunsuke Kudoh; Takashi Suehiro
ADVANCED ROBOTICS, TAYLOR & FRANCIS LTD, 26巻, 14号, 掲載ページ 1577-1602, 出版日 2012年, 査読付, This research aims at development of a stable mobile robot (personal mobility robot) that can navigate automatically on sidewalks where ordinary citizens are coming and going. Many studies have investigated automated vehicles that move on public roads. In the case of a road environment, many infrastructures and traffic regulations exist. In contrast, in a sidewalk environment, human and robots cross the same area without clear rules. For these reasons, some paths or landmarks are often blocked by unknown obstacles such as bicycles and passing pedestrians. Therefore, the most important requirements for a mobile robot are robust localization and safe navigation without collisions. We proposed simple and novel algorithms for localization using a grid map and navigation for four-wheeled robots. We also developed an intelligent robotic cart (senior car) that moves autonomously along a given course to help people transfer luggage or themselves. The sensors used in this system are three small laser scanners and an optical fiber gyroscope. The robot estimates its global position by using the integrated sensor information and generates local paths for avoiding nearby obstacles. This article describes the structure of the developed senior car and details of the proposed algorithms. We also describe a field experiment of our system in the Tsukuba Challenge 2010. Our robot successfully and autonomously ran the 1.1 km course in a realistic environment. The experiment showed the robot could estimate its position and follow the specified path effectively. (C) 2012 Taylor & Francis and The Robotics Society of Japan
研究論文（学術雑誌）, 英語 - A robust white line detection technique for double circular operator
Naohiro Hayashi; Tetsuo Tomizawa; Takashi Suehiro; Shunsuke Kudoh
2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012, 掲載ページ 1949-1954, 出版日 2012年, 査読付, In this paper, we propose a method of white line detection on a road. Most conventional techniques of white line detection use methods of line detection by a Hough transform and extraction using the luminosity of the white line. These techniques have problems because the detection is affected by sunlight conditions and texture of the road. We focus on the luminosity distribution around a white line since the surrounding distribution is relatively darker than the white line. We designed a double circular operator that can extract the features of the white line. By using this operator, our method can extract the white line of a specified width at a low calculation cost, even when a shadow or occlusion exists on the white line and the texture of the road surface is not smooth. © 2012 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Towards air hockey robot with tactics - Statistical analysis from measurement of eye movement
Masaya Ogawa; Katsushi Ikeuchi; Yuya Sato; Shunsuke Kudoh; Testuo Tomizawa; Takashi Suehiro; Sota Shimizu
2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012, 掲載ページ 34-39, 出版日 2012年, This study aims at developing an entertainment air hockey robot with which the human player can enjoy his/her play using tactics. In order to provide such highly-offensive tactics with the robot, the authors pay attention to the human player's eye movement, which is deeply related to decision-making, recognize it and etc., as a kind of motion skills. That is, we start it from observation, i.e., analyzing the measured human player's eye movement and giving findings from the results to the robot. In this paper, we introduce a time-series of gaze point likelihood distribution for statistical analysis. Experimental results by this approach have shown tendencies of how the players use their eyes. From discussion of the results, it has indicated that we could generate tactics as attacking weak point of the human eye movement mechanism. © 2012 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Mobile robot localization technique using Web-based aerial photos
Satoshi Muramatsu; Tetsuo Tomizawa; Hiroaki Matsuda; Shunsuke Kudoh; Takashi Suehiro
2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012, 掲載ページ 1886-1891, 出版日 2012年, 査読付, This paper describes a localization technique that permits mobile robots to accurately determine their positions and even to respond to unforeseen obstacles such as pedestrians. The effectiveness of the method is confirmed in trials using a model robot. Generally, robots are taught the layout of operational environment in order to localize self-position. This is normally done through the generation of an environmental map that is created by running the robot through every accessible area of the environment beforehand. This also means that such robots are unable to localize their positions in unknown environments. In this research, we propose a method that allows robots to perform self-position localization in unknown environments through the use of low-resolution photographs available through online services such as Google Maps. This research involves the application of a space observation model to a framework of self-position presumptions that do not rely on the extraction of strict edge information from aerial photographs. The validity of the proposed technique was verified through a presumptive self-position experiment conducted in an unknown environment using a map created from an aerial photograph. © 2012 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Development of an intelligent mobility scooter
Masataka Hirai; Tetsuo Tomizawa; Satoshi Muramatsu; Masanori Sato; Shunsuke Kudoh; Takashi Suehiro
2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012, 掲載ページ 45-52, 出版日 2012年, 査読付, This paper describes a development of a robot scooter platform for intelligent personal mobility robot. Recently, a lot of personal mobility has been used by aged and handicapped people. Intelligent mobility robot provides safer and more convenient transfer service such as driving support and automatic transfer. It is necessary to develop a platform equipped with sensors, electronic devices and intelligent navigation functions. In this paper, we describe the hardware components and the configuration of the robot platform. The navigation system, including the functions of localization using grid map matching, path following, and obstacle avoidance, is implemented on the proposed robot platform. We also present the results of an open-field experiment in Tsukuba Challenge 2010 and evaluate the proposed systems. The newly developed robot scooter successfully and autonomously ran a 1.1 km course in a normal living environment. © 2012 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Development of a Collision-Avoidance Assist System for an Electric Cart
Masanori Sato; Tetsuo Tomizawa; Shunsuke Kudoh; Takashi Suehiro
Proc. of the 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), 掲載ページ 337-342, 出版日 2011年12月, 査読付
研究論文（国際会議プロシーディングス）, 日本語 - Towards an Automatic Robot Regrasping Movement based on Human Demonstration using Tangle Topology
Phongtharin Vinayavekhin; Shunsuke Kudoh; Katsushi Ikeuchi
2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 掲載ページ 3332-3339, 出版日 2011年, 査読付, This paper introduces a novel method to teach a robot to regrasp an object based on the Programming by Demonstration paradigm. In this paradigm, a robot observes a human performing a regrasping task via various sensors to recognise crucial information in order to reproduce the task using its own hand. The main contribution is in the proposal of a representation technique that can analyse a human regrasping movement and reproduce this movement in a robot hand. The technique is based on tangle topology where both hand and manipulated object are considered as strands. This allows a regrasping movement to be considered as an alteration of the tangle relationship between the strands ( hand and the object) over time. Human regrasping movements are analysed and reproduced in multi-fingered robot hands in a grasp simulation to demonstrate the efficiency of the proposed method.
研究論文（国際会議プロシーディングス）, 英語 - Development of Air Hockey Robot Improving with the Human Players-Arm Control for Effective Quick Draw Taking An Opponent's Eye Movement into Account
Masaya Ogawa; Sota Shimizu; Takumi Kadogawa; Takumi Hashizume; Shunsuke Kudoh; Takashi Suehiro; Yoshihiro Sato; Katsushi Ikeuchi
IECON 2011: 37TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY, IEEE, 掲載ページ 3364-3369, 出版日 2011年, 査読付, This paper presents a developed Air Hockey Robot system, comprising camera unit, processing unit, and arm unit. This system performs as (1) detecting position of an Air Hockey puck from images captured using a ceil camera, (2) generating a 2-axis robot arm trajectory and (3) controlling the arm in order to shoot the puck to an opponent human player. Thus, the processing unit needs to execute three processes, i.e., image processing, trajectory generation, and arm control process. In this paper, we pay the most attention to trajectory generation process for improving the robot offensive performance. We give the robot a skill as attacking a weak point of human vision mechanism with respect to trajectory generation of the robot arm when it shoots stationary puck. In other words, the human player needs to change gaze points between the robot hand and the moving puck because the human can observe any object finely only in their central field of view, corresponding to around a fovea in spite of their quite wide field of view. Thus, we intend to plan the arm trajectory generation and control the arm as more easily the human players has a mistake caused by a time delay occurring when the human players switch their gaze point. Verification experiments, of changing speed of the puck shot from the same arm trajectory as the human players' mistake is caused easily, have been conducted using the developed Air Hockey Robot system.
研究論文（国際会議プロシーディングス）, 英語 - Temporal Scaling of Leg Motion for Music Feedback System of a Dancing Humanoid Robot
Takahiro Okamoto; Takaaki Shiratori; Shunsuke Kudoh; Katsushi Ikeuchi
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), IEEE, 掲載ページ 2256-2263, 出版日 2010年, 査読付, In this paper, we propose a method to achieve temporal scaling of leg motions as a fundamental technique for a music feedback system of a dancing humanoid robot. We asked dancers to perform dance motion at normal musical tempo and faster musical tempos and observed how dancers modified performance for given musical tempos. The obtained insights from the observation are 1) a dancer needs to preserve leg postures that are important to emphasize dance expression, 2) there is a priority to determine what features of leg motion can be adjusted, and 3) stylistic leg motion resembles normal step motion if dancers cannot follow fast musical tempo completely. Based on these insights, we generate leg motion appropriately adjusted for changing musical tempo while maintaining balance. We validated our method via simulation experiments with a humanoid robot HRP-2.
研究論文（国際会議プロシーディングス）, 英語 - Detecting dance motion structure using body components and turning motions
Björn Rennhak; Takaaki Shiratori; Shunsuke Kudoh; Phongtharin Vinayavekhin; Katsushi Ikeuchi
IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, 掲載ページ 2264-2269, 出版日 2010年, 査読付, This paper presents a novel method for robust dance motion structure detection. In the japanese folk dance domain, teachers created illustrations of dance poses. These poses characterize the most important movements of a dance. So far there is no simple and reliable extraction method which can extract all poses as shown in these drawings. We use these poses for the Task Model (TM) in the context of Learning from Observation (LFO). LFO which is a well known technique for successful human to robot motion mapping, consists of tasks (what to do) and skills (how to do). We propose a novel approach, to extract special motions from a dance, called turning motions useful for skill mapping in the LFO paradigm. Furthermore, we use a modified version of this approach, to detect all poses as shown in the drawings, called turning poses. To achieve this we observe both forearms at the same time and analyze their movement in different 2-D coordinate planes. We evaluate the parameters with and without a weighting function where we minimize acceleration, velocity and power. We successfully demonstrate this novel method using two very different japanese folk dances and discuss further implications of this work in respect to the LFO paradigm and dances of other domains. ©2010 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Painting robot with multi-fingered hands and stereo vision
Shunsuke Kudoh; Koichi Ogawara; Miti Ruchanurucks; Katsushi Ikeuchi
ROBOTICS AND AUTONOMOUS SYSTEMS, ELSEVIER SCIENCE BV, 57巻, 3号, 掲載ページ 279-288, 出版日 2009年03月, 査読付, In this paper, we describe a painting robot with multi-fingered hands and stereo vision. The goal of this study is for the robot to reproduce the whole procedure involved in human painting. A painting action is divided into three phases: obtaining a 3D model, composing a picture model, and painting by a robot. In this system, various feedback techniques including computer vision and force sensors are used. As experiments, an apple and a human silhouette are painted on a canvas using this system. (C) 2008 Elsevier B.V. All rights reserved.
研究論文（学術雑誌）, 英語 - ロボットによる描画行為の再現
工藤 俊亮; 小川原 光一; ルチャヌラック ミティ; 高松 淳; 池内 克史
日本ロボット学会誌, 一般社団法人 日本ロボット学会, 26巻, 6号, 掲載ページ 612-619, 出版日 2008年08月29日, 査読付, This paper describes a painting robot with multi-fingered hands and stereo vision. The goal of this study is for the robot to reproduce the whole procedure involved in human painting. A painting action is divided into three phases: obtaining a 3D model, composing a picture model, and painting by a robot. In this system, various feedback techniques including computer vision and force sensors are used. As experiments, an apple and a human silhouette are painted on a canvas using this system.
日本語 - Task recognition and person identification in cyclic dance sequences with Multi Factor Tensor analysis
Manoj Perera; Takaaki Shiratori; Shunsuke Kudoh; Atsushi Nakazawa; Katsushi Ikeuchi
IEICE TRANSACTIONS ON INFORMATION AND SYSTEMS, IEICE-INST ELECTRONICS INFORMATION COMMUNICATIONS ENG, E91D巻, 5号, 掲載ページ 1531-1542, 出版日 2008年05月, 査読付, In this paper, we present a novel approach to recognize motion styles and identify people using the Multi Factor Tensor (MFT) model. We apply a musical information analysis method in segmenting the motion sequence relevant to the keyposes and the musical rhythm. We define a task model by considering the repeated motion segments, where the motion is decomposed into a person-invariant factor task and a person-dependent factor style. Given the motion data set, we formulate the MFT model, factorize it efficiently in different modes, and use it in recognizing the tasks and the identities of the persons performing the tasks. We capture the motion data of different people for a few cycles, segment it using the musical analysis approach, normalize the segments using a vectorization method, and realize our MFT model. In our experiments, Japanese traditional dance sequences performed by several people are used. Provided with an unknown motion segment which is to be probed and which was performed at a different time in the time space, we first normalize the motion segment and flatten our MFT model appropriately, then recognize the task and the identity of the person. We follow two approaches in conducting our experiments. In one experiment, we recognize the tasks and the styles by maximizing a function in the tensor subdomain, and in the next experiment, we use a function value in the tensorial subdomain with a threshold for recognition. Interestingly, unlike the first experiment, we are capable of recognizing tasks and human identities that were not known beforehand. We conducted various experiments to evaluate the potential of the recognition ability of our proposed approaches, and the results demonstrate the high accuracy of our model.
研究論文（学術雑誌）, 英語 - Robots that learn to dance from observation
Katsushi Ikeuchi; Takaaki Shiratori; Shunsuke Kudoh; Hirohisa Hirukawa; Shin'ichiro Nakaoka; Fumio Kanehiro
IEEE Intelligent Systems, 23巻, 2号, 掲載ページ 74-76, 出版日 2008年03月, 査読付, New generations of humanoid robots have started resembling humans and this progress has enabled the researchers to design dancing robots that can mimic the complexity and style of human choreographic dancing. Such complicated actions are programmed either manually or ad hoc, hence researchers at the University of Tokyo have developed the learning-from-observation (LFO) training method to overcome this difficulty. LFO enables the robots to acquire knowledge of what to do and how to do from observing human demonstrations. The LFO program recognizes a leg task sequence from marker trajectories obtained using a motion-capture system and also determines timing and positional skill parameters for each task models from recognized intervals. It obtains timing parameters from the beginning and end of the recognized level and calculates the positional parameter values by using positions of related motion capture markers.
研究論文（学術雑誌）, 英語 - Cheek to Chip: Dancing Robots and AI's Future.
Jean-Julien Aucouturier; Katsushi Ikeuchi; Hirohisa Hirukawa; Shinichiro Nakaoka; Takaaki Shiratori; Shunsuke Kudoh; Fumio Kanehiro,Array; Hideki Kozima; Array,Marek; P. Michalowski; Yuta Ogai; Takashi Ikegami; Kazuhiro Kosuge; Takahiro Takeda; Yasuhisa Hirata
IEEE Intelligent Systems, 23巻, 2号, 掲載ページ 74-84, 出版日 2008年, 査読付 - Humanoid robot painter: Visual perception and high-level manning
Miti Ruchanurucks; Shunsuke Kudoh; Koichi Ogawara; Takaaki Shiratori; Katsushi Ikeuchi
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, IEEE, 掲載ページ 3028-+, 出版日 2007年, 査読付, This paper presents visual perception discovered in high-level manipulator planning for a robot to reproduce the procedure involved in human painting. First, we apply a technique of 2D object segmentation that considers region similarity as an objective function and edge as a constraint with artificial intelligent used as a criterion function. The system can segment images more effectively than most of existing methods, even if the foreground is very similar to the background. Second, we propose a novel color perception model that shows similarity to human perception. The method outperforms many existing color reduction algorithms. Third, we propose a novel global orientation map perception using a radial basis function. Finally, we use the derived model along with the brush's position- and force-sensing to produce a visual feedback drawing. Experiments show that our system can generate good paintings including portraits.
研究論文（国際会議プロシーディングス）, 英語 - Temporal scaling of upper body motion for sound feedback system of a dancing humanoid robot
Takaaki Shiratori; Shunsuke Kudoh; Shin'ichiro Nakaoka; Katsushi Ikeuchi
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, IEEE, 掲載ページ 3257-+, 出版日 2007年, 査読付, This paper proposes a method to model the modification of upper body motion of dance performance based on the speed of played music. When we observed structured dance motion performed at a normal music playback speed and motion performed at a faster music playback speed, we found that the detail of each motion is slightly different while the whole of the dance motion is similar in both cases. This phenomenon is derived from the fact that dancers omit the details and perform the essential part of the dance in order to follow the faster speed of the music. To clarify this phenomenon, we analyzed the motion differences in the frequency domain, and obtained two insights on the omission of motion details: (1) High frequency components are gradually attenuated depending on the musical speed, and (2) important stop motions are preserved even when high frequency components are attenuated. Based on these insights, we modeled our motion modification considering musical speed and joint limitations that a humanoid robot has. We show the effectiveness of our method via some applications for humanoid robot motion generation.
研究論文（国際会議プロシーディングス）, 英語 - Multilinear analysis for task recognition and person identification
Manoj Perera; Takaaki Shiratori; Shunsuke Kudoh; Atsushi Nakazawa; Katsushi Ikeuchi
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, IEEE, 掲載ページ 1415-+, 出版日 2007年, 査読付, This paper introduces a Multi Factor Tensor(MFT) model to recognize motion styles and person identities in dance sequences. We apply a musical information analysis method in segmenting the motion sequence relevant to the key poses and the musical rhythm. We define a task model considering the repeated motion segments, where the motion is decomposed into person invariant factor task and person dependant factor style. We capture the motion data of different people for a few cycles, segment it using the musical analysis approach, normalize the segments using a vectorization method, and realize our MYT model. The experiments are conducted according to two approaches. Various experiments that we conduct to evaluate the potential of the recognition ability of our proposed approaches and the results demonstrate the high accuracy of our model. The recognition results and the motion decomposition with be used in further extending the motion generation process in various styles and for different tasks.
研究論文（国際会議プロシーディングス）, 英語 - Robot painter: From object to trajectory
Miti Ruchanurucks; Shunsuke Kudoh; Koichi Ogawara; Takaaki Shiratori; Katsushi Ikeuchi
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, IEEE, 掲載ページ 345-+, 出版日 2007年, 査読付, This paper presents visual perception discovered in high-level manipulator planning for a robot to reproduce the procedure involved in human painting. First, we propose a technique of 3D object segmentation that can work well even when the precision of the cameras is inadequate. Second, we apply a simple yet powerful fast color perception model that shows similarity to human perception. The method outperforms many existing interactive color perception algorithms. Third, we generate global orientation map perception using a radial basis function. Finally, we use the derived foreground, color segments, and orientation map to produce a visual feedback drawing. Our main contributions are 3D object segmentation and color perception schemes.
研究論文（国際会議プロシーディングス）, 英語 - Modeling and generating whole body motion of balance maintenance
Shunsuke Kudoh; Taku Komura; Katsushi Ikeuchi
Systems and Computers in Japan, 37巻, 13号, 掲載ページ 11-19, 出版日 2006年11月30日, 査読付, Recently there have been many attempts in various fields to construct exact human models from the dynamical viewpoint. One of the most essential and important topics in such efforts is maintenance of balance. This paper models the balance maintenance motion which the human performs against a sudden and strong external disturbance, and discusses the method of generating the motion to maintain the balance. This model has two modes of maintaining balance: keeping the feet on the ground, and stepping. The model is compared to human balancing motion data acquired by a motion-capturing system and the validity of the model is verified. The parameters for motion generation are also determined. Optimization computation by the quadratic programming method is used in the motion generation, and efficient balance maintenance motion is generated as the optimal solution. By using this approach, whole body motions such as hip bending and arm swinging, which are often observed in human behavior, can be generated. © 2006 Wiley Periodicals, Inc.
研究論文（学術雑誌）, 英語 - Task recognition and style analysis in dance sequences
Manoj Perera; Takaaki Shiratori; Shunsuke Kudoh; Atsushi Nakazawa; Katsushi Ikeuchi
IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, 掲載ページ 329-334, 出版日 2006年, 査読付, In this paper we present a novel approach to recognizing motion styles and identifying persons using the Multi Factor Tensor (MFT) model. We apply a musical information analysis method in segmenting the motion sequence relevant to the key poses and the musical rhythm. We define a task model considering the repetitive motion segment, in which motion is decomposed into task and style. Given the motion data set, we formulate the MFT model and factorize it efficiently in recognizing the tasks, the styles, and the identities of persons. In our experiments, traditional dance by several people is chosen as the motion sequence. We capture the motion data for a few cycles, segment it using the musical analysis approach, normalize the segments, and recognize a task model from them. Various experiments to evaluate the potential of the recognition ability of our proposed approach are performed, and the results demonstrate the high accuracy of our model. © 2006 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Painting robot with multi-fingered hands and stereo vision
Shunsuke Kudoh; Koichi Ogawara; Miti Ruchanurucks; Katsushi Ikeuchi
IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, 掲載ページ 127-132, 出版日 2006年, 査読付, In this paper, we describe a painting robot with multi-fingered hands and stereo vision. The goal of this study is for the robot to reproduce the whole procedure involved in human painting. A painting action is divided into three phases: obtaining a 3D model, composing a picture model, and painting by a robot. In this system, various feedback techniques including computer vision and force sensors are used. As experiments, an apple and a human silhouette are painted on a canvas using this system. © 2006 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Humanoid robot motion generation with sequential physical constraints
Miti Ruchanurucks; Shinichiro Nakaoka; Shunsuke Kudoh; Katsushi Ikeuchi
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, IEEE, 掲載ページ 2649-+, 出版日 2006年, 査読付, This paper presents a method to optimize and filter trajectories generated from recorded human motion for a humanoid robot with physical limits. The objective function is responsible for mimicking human trainers, enhancing the possibility for fast convergence, while constraints are used to transform motion within the limit of the capabilities of the humanoid robot. Those constraints for angle, velocity, and dynamic force are represented as B-spline coefficients. An iterative soft-constraint paradigm is proposed to enhance the quality of velocity and force constraints. Collision avoidance is also considered as a constraint. For precision refinement, in regions of high-frequency motion not adequately modeled by an initial splining, B-spline is extensible into a hierarchy so that optimization that meets global criteria can be performed locally. Furthermore, all of the constraints can be used solely as filtering. To use these filters, an effective method to directly decompose a trajectory to a B-spline is also presented.
研究論文（国際会議プロシーディングス）, 英語 - Stepping motion for a human-like character to maintain balance against large perturbations
Shunsuke Kudoh; Taku Komura; Katsushi Ikeuchi
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, IEEE, 掲載ページ 2661-2666, 出版日 2006年, 査読付, We propose a method of maintaining balance for a human-like character against large perturbations. The method enables a human-like model to maintain its balance with active whole-body motion, such as rotating its arms, bending down, and taking a step, if necessary. First, we capture the human motions of maintaining balance and abstract essential mechanisms from these motions. Next, we construct a model of maintaining balance that has a simple structure, such as an inverted pendulum. This model has two modes of maintaining balance: keeping the feet on the ground, and stepping. In this paper, the stepping mode is mainly described. Finally, we generate whole-body motion based on the model against several perturbations, and we discuss the validity of our method.
研究論文（国際会議プロシーディングス）, 英語 - Generation of humanoid robot motions with physical constraints using hierarchical B-spline
M Ruchanurucks; S Nakaoka; S Kudoh; K Ikeuchi
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4, IEEE, 掲載ページ 674-679, 出版日 2005年, 査読付, From recorded human motion, trajectory optimization of a humanoid robot with physical limits being the key constraint is presented. The optimization's objective function preserves the salient characteristics of the original motion, while constraints are used to transform the motion to the limit of the capabilities of the humanoid robot. It is shown that using constraints to limit generated trajectories to physically realizable motion ensures that limits are being met more precisely than by reducing them using a standard objective function. The use of wavelets vs. B-spline is compared, and it is shown that B-spline data representation has pronounced advantages. Furthermore, in regions of high-frequency motion not adequately modeled by an initial splining, B-spline is extensible into a hierarchy so that optimizations can be performed locally which still meet global criteria. It is shown how to use B-spline coefficients in angle-, velocity-, acceleration-, and dynamic force-constraints. To detect trajectory subsections with excessive error in need of control point adjustment and local re-optimization, not only is a traditional error detector used, but also a B-spline density detector is also presented. Generated motions were tested using our simulation program and the robot HRP-2.
研究論文（国際会議プロシーディングス）, 英語 - A feedback controller for biped humanoids that can counteract large perturbations during gait
T Komura; H Leung; S Kudoh; J Kuffner
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4, IEEE, 掲載ページ 1989-1995, 出版日 2005年, 査読付, In this paper, we propose a new method for biped humanoids to compensate for large amounts of angular momentum induced by strong external perturbations applied to the body during gait motion. Such angular momentum can easily cause the humanoid to fall down onto the ground. We use an Angular Momentum inducing inverted Pendulum Model (AMPM), which is an enhanced version of the 3D linear inverted pendulum model to model the robot dynamics. Because the AMPM allows us to explicitly calculate the angular momentum generated by the ground reaction force, it is possible to calculate a counteracting motion that compensates for the angular momentum generated by external perturbations in real-time.
研究論文（国際会議プロシーディングス）, 英語 - Balance maintenance by stepping for human-like characters against large perturbation
Shunsuke Kudoh; Taku Komura; Katsushi Ikeuchi
Proceedings of the Tenth International Conference on Virtual Systems and Multimedia (VSMM),, 掲載ページ 870-879, 出版日 2004年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - C-2 continuous gait-pattern generation for biped robots
S Kudoh; T Komura
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, IEEE, 掲載ページ 1135-1140, 出版日 2003年, 査読付, In this paper, we propose a new method to generate C-2 continuous gait motion for biped robots. The method is based on the enhanced inverted pendulum mode, which can easily handle angular momentum around the center of gravity. Using our method, it is possible to plan motion paths for biped robots without discontinuity in the acceleration even during switching from single support phase to double support phase, and vice versa.
研究論文（国際会議プロシーディングス）, 英語 - The dynamic postural adjustment with the quadratic programming method
S Kudoh; T Komura; K Ikeuchi
2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS, IEEE, 掲載ページ 2563-2568, 出版日 2002年, 査読付, The postural balance system is one of the most fundamental functions for humanoid robot control. In this paper, we propose a new feedback balance control system for the human body. This system can manipulate large perturbations. It finds the optimal motion for maintaining balance in the 3D space without recieving any feed-forward input beforehand. Two different strategies are adopted for the optimization: the quadratic programming method and the PD control. Simulation results are compared with real human motion; many common features such as rotating arms are observed.
研究論文（国際会議プロシーディングス）, 英語 - Digital archive of human dance motions
Atsushi Nakazawa; Shin'ichiro Nakaoka; Shunsuke Kudoh; Katsushi Ikeuchi
Proceedings of the Eighth International Conference on Virtual Systems and Multimedia (VSMM), 掲載ページ 180-188, 出版日 2002年, 査読付
研究論文（国際会議プロシーディングス）, 英語
MISC
- 電気接着を活用したロボットハンドによる折紙操作の実現
北森洸人; 董晨宇; 滝澤優; 渡邉修也; 新竹純; 木村航平; 工藤俊亮
出版日 2024年03月, 第29回ロボティクスシンポジア, 掲載ページ 3C4, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 踏板・蹴込板の清掃を行う階段登攀型小型ロボット
保母諒太朗; 工藤俊亮; 木村航平
出版日 2023年12月, 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（SI2023）, 掲載ページ 3854-3858, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 袋付きマニピュレータを活用した長尺物および複数物体の回収・運搬
川口幹太; 工藤俊亮; 木村航平
出版日 2023年12月, 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（SI2023）, 掲載ページ 3848-3853, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 水平面から鉛直なフェンス面への移行が可能な車輪付き登攀ロボット
濱田敬道; 工藤俊亮; 木村航平
出版日 2023年12月, 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（SI2023）, 掲載ページ 3608-3613, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 折り畳み傘を活用したロボットの転倒時の衝撃緩和および復帰動作
増渕泰樹; 工藤俊亮; 木村航平
出版日 2023年12月, 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（SI2023）, 掲載ページ 3943-3948, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 強化学習を用いたエアホッケーロボットの目標位置への 打ち返し手法の提案
宮下将季; 木村航平; 工藤俊亮
出版日 2023年09月, 第41回日本ロボット学会学術講演会, 掲載ページ 3K2-01, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 食材切断のための食材把持方法の提案
董晨宇; 滝澤優; 木村航平; 末廣尚士; 工藤俊亮
出版日 2023年09月, 第41回日本ロボット学会学術講演会, 掲載ページ 3E3-04, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 双腕ロボットによる湾曲した野菜の切断
上馬正寛; 滝澤優; 末廣尚士; 木村航平; 工藤俊亮
出版日 2023年06月, ロボティクス・メカトロニクス講演会2023（ROBOMECH2023）, 掲載ページ 2P1-D25, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 3肢ロボットによるフェンス及び壁面の移動
柿沼龍; 滝澤優; 末廣尚士; 工藤俊亮; 木村航平
出版日 2023年06月, ロボティクス・メカトロニクス講演会2023（ROBOMECH2023）, 掲載ページ 2P2-H13, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 双腕ロボットによる衣服の裾部折り返し
近藤和希; 滝澤優; 末廣尚士; 木村航平; 工藤俊亮
出版日 2023年06月, ロボティクス・メカトロニクス講演会2023（ROBOMECH2023）, 掲載ページ 2A2-E03, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 紐結びにおける対称性をもつ繰り返し動作の教示手法の提案
妹尾拓武; 滝澤優; 末廣尚士; 木村航平; 工藤俊亮
出版日 2023年06月, ロボティクス・メカトロニクス講演会2023（ROBOMECH2023）, 掲載ページ 2P2-D24, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 紐の滑り状態の検出に向けた指先触覚センサのデータの分析.
大蔵侑生; 佐藤隼也; 大胡拓矢; 滝澤優; 末廣尚士; 木村航平; 工藤俊亮
出版日 2022年12月, 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（SI2022）, 掲載ページ 1607-1612, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 見回りと体当たりを利用した開閉判断に基づく小型ロボットによる戸締りの確認と実行
生玉昂大; 滝澤優; 末廣尚士; 工藤俊亮; 木村航平
出版日 2022年12月, 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（SI2022）, 掲載ページ 2032-2035, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 後方の操縦者の位置に基づいた移動ロボットの操縦の実現
小林怜史; 滝澤優; 木村航平; 末廣尚士; 工藤俊亮
出版日 2022年09月, 第40回日本ロボット学会学術講演会, 掲載ページ 2D2-02, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 双腕ロボットによるハサミを用いた袋のスムーズな切断開梱作業
小栗一真; 滝澤優; 木村航平; 末廣尚士; 工藤俊亮
出版日 2022年09月, 第40回日本ロボット学会学術講演会, 掲載ページ 4F1-02, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - エアホッケーのバンクショットのためのコース提示システム
宮下将季; 滝澤優; 木村航平; 末廣尚士; 工藤俊亮
出版日 2022年09月, 第40回日本ロボット学会学術講演会, 掲載ページ 3C2-01, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - ロボットアームによる巻き寿司具材のグラスピング
劉雨晨; 董晨宇; 滝澤優; 末廣尚士; 工藤俊亮
出版日 2021年12月, 第22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（SI2021）, 掲載ページ 817-820, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 強化学習によるエアホッケーロボットの止め打ち動作の獲得
石井泰誠; 滝澤優; 末廣尚士; 工藤俊亮
出版日 2021年12月, 第22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（SI2021）, 掲載ページ 853-855, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - ロボットハンドによる風呂敷包みのほどき作業
平尾昇一; 滝澤優; 末廣尚士; 工藤俊亮
出版日 2021年12月, 第22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（SI2021）, 掲載ページ 492-497, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - マニピュレータによるワイヤーハーネスの穴通し作業
小林朝陽; 滝澤優; 末廣尚士; 工藤俊亮
出版日 2021年12月, 第22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（SI2021）, 掲載ページ 3279-3284, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - ３種類の把持形態が可能な、指先に第２の挟持機構を備えたロボットハンド
松井裕典; 董晨宇; 滝澤優; 末廣尚士; 工藤俊亮
出版日 2021年, 第39回日本ロボット学会学術講演会, 掲載ページ 2B2-01, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 指先センサを用いた透明な袋の開口作業
小栗一真; 滝澤優; 工藤俊亮; 末廣尚士
出版日 2021年, 第39回日本ロボット学会学術講演会, 掲載ページ 2F2-02, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 機械学習を用いた打音による容器内水量の推定
大蔵侑生; 董晨宇; 滝澤優; 工藤俊亮; 末廣尚士
出版日 2021年, 第39回日本ロボット学会学術講演会, 掲載ページ 2D3-04, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 深層学習を用いたロボットの紐操作の為の動作獲得
畝本涼; 滝澤優; 末廣尚士; 工藤俊亮
出版日 2020年12月, 第21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（SI2020）, 掲載ページ 2681-2686, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 深層学習によるバラ積みされたから揚げのピッキング
見ル野雄大; 董晨宇; 滝澤優; 末廣尚士; 工藤俊亮
出版日 2020年12月, 第21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（SI2020）, 掲載ページ 2647-2651, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 指先触覚センサを使ったすべり動作の実現
高橋光; 佐藤隼也; 大胡拓矢; 滝澤優; 工藤俊亮; 末廣尚士
出版日 2020年12月, 第21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（SI2020）, 掲載ページ 2546-2549, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 傾斜スライド板を用いた焼鮭移載装置
松井裕典; 末廣尚士; 工藤俊亮
出版日 2020年12月, 第21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（SI2020）, 掲載ページ 749-754, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 食材の特性に応じた食材集め動作の生成
上野正汰; 滝澤優; 董晨宇; 末廣尚士; 工藤俊亮
出版日 2020年10月, 第38回日本ロボット学会学術講演会, 掲載ページ 2K3-04, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - Rank TD: End-to-end robotic reinforcement learning without reward engineering and demonstrations
ShengKai Huang; Masaru Takizawa; Shunsuke Kudoh; Takashi Suehiro
出版日 2020年05月, ロボティクス・メカトロニクス講演会2020 (ROBOMECH2020), 掲載ページ 2A1-M01, 英語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - エアホッケーにおけるパックの予測軌道提示がプレイに与える影響の分析
石井泰誠; 滝澤優; 末廣尚士; 工藤俊亮
出版日 2020年05月, ロボティクス・メカトロニクス講演会2020 (ROBOMECH2020), 掲載ページ 2A1-D05, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 双腕ロボットによる風呂敷の巻きつけ操作—指の動作による操作の効率化—
小林朝陽; 滝澤優; 末廣尚士; 工藤俊亮
出版日 2020年05月, ロボティクス・メカトロニクス講演会2020 (ROBOMECH2020), 掲載ページ 2A2-K16, 日本語, 研究発表ペーパー・要旨（全国大会，その他学術会議） - 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; 工藤俊亮; 末廣尚士
出版日 2019年12月, 第20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（SI2019）, 日本語 - 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
出版日 2019年12月, 第20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（SI2019）, 日本語 - 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; 滝澤末廣; 尚; 工藤俊亮
出版日 2019年12月, 第20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（SI2019）, 日本語 - 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
出版日 2019年12月, 第20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（SI2019）, 日本語 - Manipulation of Foodstuffs by Cooking Robot
Shunsuke Kudoh
出版日 2019年10月15日, Workshop on Robotic Food Manipulation at the 2019 IEEE-RAS International Conference on Humanoid Robots (Humanoids), 英語, 招待 - 双腕ロボットによる食材の串刺し動作
Li Ang; Dong Chenyu; 滝澤優; 工藤俊亮; 末廣尚士
出版日 2019年09月, 第37回日本ロボット学会学術講演会, 日本語 - ロボットによる液体の定量的な注ぎ作業の実現
Dong ChenYu; 滝澤優; 工藤俊亮; 末廣尚士
出版日 2018年09月, 第36回日本ロボット学会学術講演会, 日本語 - 人間共存環境を柔軟に走行可能な搬送ロボットシステム
村松 聡; 高橋 和宏; 冨沢 哲雄; 工藤 俊亮; 末廣 尚士
東海大学情報理工学部, 出版日 2018年03月31日, 東海大学紀要. 情報理工学部, 17巻, 掲載ページ 23-29, 日本語, 1881-2996, 120006479534 - 人間共存環境を柔軟に走行可能な搬送ロボットシステム
村松聡; 高橋和宏; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2018年, 東海大学紀要 情報理工学部(Web), 17巻, 2435-2152, 201902256406905183 - 目標線による布被覆操作の選択法
朝野裕規; 工藤俊亮; 末廣尚士
出版日 2018年, 第19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（SI2018, 日本語 - 料理ロボットの切断作業ための食材の把持・移動操作
何成浩; 工藤俊亮; 末廣尚士
出版日 2017年12月, 第18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, 日本語 - エアホッケーロボットの平行打ちによる狙い撃ち手法
落合誠治; 滝澤優; 工藤俊亮; 末廣尚士
出版日 2017年12月, 第18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, 日本語 - 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
出版日 2017年12月, 第18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, 日本語 - Learning from Observation to Tech Skills to Robots
Shunsuke Kudoh
出版日 2017年09月, Simposio Iberoamericano Multidisciplinario de Ciencias e Ingenierias (SIMCI), 英語 - 目標線を用いた転がし操作
朝野裕規; 末廣尚士; 工藤俊亮
日本ロボット学会, 出版日 2017年09月, 第35回日本ロボット学会学術講演会, 日本語 - 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
出版日 2016年12月, 第17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（SI2016）, 日本語 - 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
出版日 2016年12月, 第17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（SI2016）, 日本語 - 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
宗田晃一; 滝澤優; 工藤俊亮; 末廣尚士
出版日 2016年12月, 第17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（SI2016）, 日本語 - 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
出版日 2016年12月, 第17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（SI2016）, 日本語 - 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
出版日 2016年12月, 第17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（SI2016）, 日本語 - 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
出版日 2016年12月, 第17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（SI2016）, 日本語 - 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
出版日 2016年09月, 第34回日本ロボット学会学術講演会, 日本語 - 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
出版日 2016年09月, 第34回日本ロボット学会学術講演会, 日本語 - タスクモデルを用いたヒューマノイドロボットの遠隔操作システムの開発
小川雅也; 本田克弥; 佐藤啓宏; 工藤俊亮; 大石岳史; 池内克史
出版日 2016年, 生産研究, 68巻, 2号, 0037-105X, 201602250435141599 - 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
日永田智絵; 工藤俊亮; 末廣尚士
出版日 2015年12月, HAIシンポジウム, 日本語 - 卓上紐結びにおける人が行う単位操作の把持点推定手法
姚卓男; 滝澤優; 工藤俊亮; 末廣尚士
出版日 2015年12月, 第16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, 日本語 - 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
出版日 2015年12月, 第16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, 日本語 - エアホッケーロボットのゲーム中に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
出版日 2015年12月, 第16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, 日本語 - 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
出版日 2015年12月, 第16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, 日本語 - 複数の打ち方を適宜切り替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
出版日 2015年12月, 第16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, 日本語 - 横棒に紐を巻きつけるスキルの構築
久宗 卓矢; 工藤俊亮; 末廣尚士
出版日 2015年12月, 第16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, 日本語 - 種々の食材を計量スプーンで量り取るロボットの実現
福島洋; 今井啓明; 松田啓明; 工藤俊亮; 末廣尚士
出版日 2015年12月, 第16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, 日本語 - 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(第2報)--動作摂動法による実現について--
音田弘; 工藤俊亮; 末廣尚士
出版日 2015年09月, 第33回日本ロボット学会学術講演会, 日本語 - 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
出版日 2015年09月, 第33回日本ロボット学会学術講演会, 日本語 - 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
出版日 2015年09月, 第33回日本ロボット学会学術講演会, 日本語 - 1P2-S05 インテリジェント自動ドアのための適切な開閉タイミングの検討
冨沢 哲雄; 廿樂 久美子; 工藤 俊亮; 嶋地 直広
The objectives of this research are to develop an intelligent automatic doors that open only for people who intend to use them and adjust the precise timing of the doors to open to match the speed of people moving towards the doors. This paper describes experiments conducted in order to know the proper opening and closing timings., 一般社団法人日本機械学会, 出版日 2015年05月17日, ロボティクス・メカトロニクス講演会講演概要集, 2015巻, 掲載ページ "1P2-S05(1)"-"1P2-S05(2)", 日本語, 110010055080, AA11902933 - 交差間のセグメントを用いた紐結びの定量的な扱いと作業記述
音田弘; 工藤俊亮; 末廣尚士
出版日 2014年09月, 第30回日本ロボット学会学術講演会, 日本語 - 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
出版日 2014年09月, 第30回日本ロボット学会学術講演会, 日本語 - 人の歩容特性を考慮したロボットの適切な回避動作
柴田優弥; 工藤俊亮; 冨沢哲雄
出版日 2014年09月, 第30回日本ロボット学会学術講演会, 日本語 - 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; 末廣尚士; 工藤俊亮
出版日 2014年09月, 第30回日本ロボット学会学術講演会, 日本語 - インテリジェント自動ドアにおける適切な開きタイミングの検討
廿楽久美子; 工藤俊亮; 冨沢哲雄
出版日 2014年09月, 第30回日本ロボット学会学術講演会, 日本語 - 人の生活空間を柔軟に走行可能な搬送ロボットシステムの開発
村松聡; 高橋和宏; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2014年03月13日, ロボティクスシンポジア予稿集, 19th巻, 掲載ページ 307-312, 日本語, 1881-7300, 201402291991566860 - 人間の生活空間で活動する荷物搬送ロボットシステム
村松聡; 高橋和宏; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2014年03月07日, 電気学会次世代産業システム研究会資料, IIS-14巻, 35-45号, 掲載ページ 49-54, 日本語, 201402223727221647 - 実用的なkobuki利用のためのRTC群の開発
ウーチュエン; 松田啓明; 林直宏; 末廣尚士; 工藤俊亮
出版日 2014年, 第15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, 日本語 - 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
出版日 2014年, 第15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, 日本語 - 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
出版日 2014年, 第15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, 日本語 - 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; 工藤俊亮; 末廣尚士
出版日 2014年, 第15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, 日本語 - 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; 工藤俊亮; 末廣尚士
出版日 2014年, 第15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, 日本語 - 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
出版日 2014年, 第15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, 日本語 - 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
出版日 2014年, 第15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, 日本語 - 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; 松田啓明; 今田光; 工藤俊亮; 末廣尚士
出版日 2014年, 第15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, 日本語 - 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
今井啓明; 松田啓明; 末廣尚士; 工藤俊亮
出版日 2014年, 第15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, 日本語 - 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
出版日 2014年, 第15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, 日本語 - 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
出版日 2014年, 第15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, 日本語 - 相対困難度が設定可能なエアホッケーロボットシステムの開発
駱奕昊; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2013年12月, 第14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（SI2013）, 日本語 - 把持方法に基づく把持情報の抽出と把持動作の実現
諏訪野正平; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2013年12月, 第14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（SI2013）, 日本語 - 双腕多指ロボットによる紐の縛り付け作業の実現
五味知之; 片野良太; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2013年12月, 第14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（SI2013）, 日本語 - 三次元レーザースキャナを用いたインテリジェント自動ドア
西田大樹; 高井和夫; 百鳥達裕; 淺田規裕; 森利宏; 工藤俊亮; 末廣尚士; 冨沢哲雄
出版日 2013年12月, 第14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（SI2013）, 日本語 - 射的をテーマとしたロボット教育教材の開発
松田啓明; 林直宏; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2013年12月, 第14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（SI2013）, 日本語, 招待 - 机上作業動作における手先と物体の関係性に着目した把持対象物の推定アルゴリズム
寺倉佑樹; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2013年12月, 第14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（SI2013）, 日本語 - 画像情報を用いた折り紙作業の実現
坂井昭文; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2013年12月, 第14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（SI2013）, 日本語 - 視覚特徴量を用いた双腕ロボットによる紐結び
片野亮太; 五味知之; 冨沢哲雄; 工藤俊亮; 末廣 尚士
出版日 2013年09月, 日本ロボット学会,第31回日本ロボット学会学術講演会, 日本語 - 双腕多指ロボットによる空中紐結びのためのスキル動作
五味知之; 片野亮太; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2013年09月, 日本ロボット学会,第31回日本ロボット学会学術講演会, 日本語 - 全身によるアクロバティックな武道動作に対する知識ベースの階層的記述と認識
宇野友季子; 佐藤啓宏; 工藤俊亮; 池内克史
出版日 2013年, 情報処理学会研究報告(CD-ROM), 2012巻, 5号, 2186-2583, 201302284599625316 - 人まねロボットのための人体動作の階層的記述
川口達也; 佐藤啓宏; 工藤俊亮; 池内克史
出版日 2013年, 日本ロボット学会学術講演会予稿集(CD-ROM), 31st巻, 201302293994242883 - 共著関係から見た国際的な研究者ネットワークにおいて日本出身研究者の採るべき連携戦略
内藤理; 佐藤啓宏; 工藤俊亮; 池内克史
出版日 2013年, 日本ロボット学会誌, 31巻, 6号, 0289-1824, 201402257982055280 - ヒューマノイドロボットの鏡を用いた自己姿勢補正
林直宏; 冨沢哲雄; 末廣尚士; 工藤俊亮
出版日 2012年12月, 計測自動制御学会,第13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（SI2012）, 日本語 - 相手の行動を観察・学習し真似をするエアホッケーロボットの開発
佐藤雄也; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2012年12月, 計測自動制御学会,第13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（SI2012）, 日本語 - LRSを用いた移動体の進路予測
大谷洋介; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2012年12月, 計測自動制御学会,第13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（SI2012）, 日本語 - エアホッケーロボットの止め打ち動作の実現
御堂丸圭介; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2012年12月, 計測自動制御学会,第13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（SI2012）, 日本語 - ワイヤ補助による小型ヒューマノイドの跳躍模倣
松田啓明; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2012年12月, 計測自動制御学会,第13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（SI2012）, 日本語 - 移動サービスアプリケーションのための経路マップを用いたナビゲーション
平井雅尊; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2012年12月, 計測自動制御学会,第13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（SI2012）, 日本語 - 全身によるアクロバティックな武道動作に対する知識ベースの階層的記述と認識
宇野友季子; 佐藤啓宏; 工藤俊亮; 池内克史
モーションキャプチャが容易になりつつある現在，様々な全身運動に対して網羅的な記述方法による意味付けが有用となる．本稿では，三次元的な攻防を特徴とする 「躰道」 という武道を対象として，動作の知識を元にしたトップダウンな記述・認識モデルを提案する．人体を階層的円筒モデルで表現し，全身の回転や移動など大まかな動作から，手先・足先の細かい所作へと注目していく．このような階層的表現によって，多様な動作を直感的に理解でき，かつ効率的な記述を行うことができる．また，実際にモーションキャプチャデータを用いて認識を試みた．, 出版日 2012年11月26日, 研究報告グラフィクスとCAD（CG）, 2012巻, 6号, 掲載ページ 1-7, 日本語, 110009487422, AN10100541 - 全身によるアクロバティックな武道動作に対する知識ベースの階層的記述と認識
宇野友季子; 佐藤啓宏; 工藤俊亮; 池内克史
モーションキャプチャが容易になりつつある現在，様々な全身運動に対して網羅的な記述方法による意味付けが有用となる．本稿では，三次元的な攻防を特徴とする 「躰道」 という武道を対象として，動作の知識を元にしたトップダウンな記述・認識モデルを提案する．人体を階層的円筒モデルで表現し，全身の回転や移動など大まかな動作から，手先・足先の細かい所作へと注目していく．このような階層的表現によって，多様な動作を直感的に理解でき，かつ効率的な記述を行うことができる．また，実際にモーションキャプチャデータを用いて認識を試みた．, 出版日 2012年11月26日, 研究報告コンピュータビジョンとイメージメディア（CVIM）, 2012巻, 6号, 掲載ページ 1-7, 日本語, 110009487442, AA11131797 - Web上の航空写真を用いた移動ロボットの自己位置推定
村松聡; 冨沢哲雄; 松田啓明; 工藤俊亮; 末廣尚士
出版日 2012年09月17日, 日本ロボット学会学術講演会予稿集(CD-ROM), 30th巻, 掲載ページ ROMBUNNO.4J3-2, 日本語, 201202224536910460 - オクルージョンを考慮した尤度評価用地図を用いた空間観測モデルによる自己位置推定
高橋和宏; 村松聡; 冨沢哲雄; 尹祐根; 工藤俊亮; 末廣尚士
出版日 2012年09月17日, 日本ロボット学会学術講演会予稿集(CD-ROM), 30th巻, 掲載ページ ROMBUNNO.4J2-1, 日本語, 201202241908157430 - エアホッケーロボット対戦時の人間の視線運動の解析-視線運動のモデル化に向けた個人差の比較-
小川雅也; 清水創太; 工藤俊亮; 池内克史
出版日 2012年09月, 日本ロボット学会,第30回日本ロボット学会学術講演会, 日本語 - Intrinsic dance structure extraction by unsupervised learning
Bjoern Rennhak; Shunsuke Kudoh; Takaaki Shiratori; Yoshiiro Sato; Katsushi Ikeuchi
出版日 2012年09月, 日本ロボット学会,第30回日本ロボット学会学術講演会, September 2012, 英語 - 2P1-J11 二重円型オペレータによるロバストな白線検出手法(移動ロボットのための視覚)
林 直宏; 冨沢 哲雄; 末廣 尚士; 工藤 俊亮
Conventionally, the move vehicle extracted details to perform white line detection, and had determined white line by the straight line approximating methods, such as Hough transformation. By this technique, It notes that the white line width of the road surface picture changed into the overhead view is constant and the luminosity of the white line circumference becomes dark relatively from a white line. White line detection is performed using a double circle type operator to the point., 一般社団法人日本機械学会, 出版日 2012年05月27日, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 掲載ページ "2P1-J11(1)"-"2P1-J11(4)", 日本語, 110009909385, AA11902933 - 実社会との関係を深めるロボットに関する研究の現状と今後-学術論文の引用関係からの考察-
内藤理; 岩見紫乃; 森純一郎; 梶川裕矢; 佐藤啓宏; 工藤俊亮; 池内克史
出版日 2012年, 日本ロボット学会学術講演会予稿集(CD-ROM), 30th巻, 201202241608088371 - 武道におけるアクロバティックな全身動作の階層的記述と認識
宇野友季子; 佐藤啓宏; 工藤俊亮; 池内克史
出版日 2012年, 日本ロボット学会学術講演会予稿集(CD-ROM), 30th巻, 201202286040961460 - 2A1-L07 三次元拡張された空間観測モデルに基づく移動ロボットの自己位置推定(移動ロボットの自己位置推定と地図構築(1))
村松 聡; 平井 雅尊; 佐藤 昌則; 大谷 洋介; 冨沢 哲雄; 工藤 俊亮; 末廣 尚士
This paper describes a localization technique for a mobile robot in an environment with many unknown obstacles, such as pedestrians. To realize robust localization against unknown obstacles by using a particle filter, a space observation model has conventionally been used. Although this conventional model is very effective, it only uses two-dimensional information, which is dependent on the scan plane of laser scanner. If a model is extended to three dimensions, the observed information increases, and the the accuracy of the position estimation improves in comparison with that of the two-dimensional model. In this research, the proposed model extends the conventional model to three dimensions. Therefore, the proposed model still has the advantages of the previous model; namely, the likelihood of a particle can be evaluated by a simple method using a particle filter, and the occupied space can be considered. In a real environment, it was shown that the proposed model is more effective than the two-dimensional conventional model., 一般社団法人 日本機械学会, 出版日 2012年, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 0号, 掲載ページ _2A1-L07_1-_2A1-L07_4, 日本語, 110009908641 - 公共空間を自律移動する電動カートの開発-自由空間領域モデルの3次元拡張と四輪車両特有の障害物回避-
大谷洋介; 村松聡; 平井雅尊; 佐藤晶則; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2011年12月, 計測自動制御学会,第12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（SI2011）, 日本語 - 測域センサとサポートベクターマシンを用いたエレベータ内の乗車数予測
梶田真也; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2011年12月, 計測自動制御学会,第12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（SI2011）, 日本語 - 自由空間領域モデルおよび画像情報に基づいた自己位置推定
松田啓明; 村松聡; 林直広; 高橋和宏; 小川雅也; 佐藤雄也; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2011年12月, 計測自動制御学会,第12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（SI2011）, 日本語 - 折り紙公理に基づいた作業記述-ロボットアームによる折り紙作業実現に向けて-
前田雄哉; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2011年12月, 計測自動制御学会,第12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（SI2011）, 日本語 - OpenRTMとOpenRAVEを連携させるためのコントローラに関する研究
ドゴ ワクボ ジャン; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2011年12月, 計測自動制御学会,第12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（SI2011）, 日本語 - Dance motion structure detection through a full body turning motions model for japanese and latin dances
Bjoern Rennhak; Takaaki Shiratori; Shunsuke Kudoh; Yoshihiro Sato; Katsushi Ikeuchi
出版日 2011年09月, 第29回日本ロボット学会学術講演会,第29回日本ロボット学会学術講演会, 英語 - 危険回避アシストシステムを有する電動カートの開発
佐藤晶則; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2011年09月, 第29回日本ロボット学会学術講演会,第29回日本ロボット学会学術講演会, 日本語 - Virtual link for manipulation planning of two rope knots
Shangbin Shu; Bjoern Rennhak; Yoshihiro Sato; Shunsuke Kudoh; Jun Takamatsu; Katsushi Ikeuchi
出版日 2011年09月, 第29回日本ロボット学会学術講演会,第29回日本ロボット学会学術講演会, 英語 - 2P1-Q08 LRFを利用したインテリジェント自動ドア(インテリジェント・ロボティックルーム)
冨沢 哲雄; 松原 正季; 工藤 俊亮; 末廣 尚士; 嶋地 直広
The purpose of this study is to develop an intelligent autonomous door which can provide appropriate operations. In order to estimate the path of pedestrian, we observe the position, orientation, and velocity of human, using laser scanners. In this paper, we predict the behavior of pedestrians from the extracted features, and give the appropriate door operation timing., 一般社団法人日本機械学会, 出版日 2011年05月26日, ロボティクス・メカトロニクス講演会講演概要集, 2011巻, 掲載ページ "2P1-Q08(1)"-"2P1-Q08(3)", 日本語, 110009711579, AA11902933 - 人間と共に上達するAir Hockey Robotの開発~対戦者の視線運動を考慮に入れたアームの制御アルゴリズム~
小川雅也; 清水創太; 門側拓巳; 橋詰匠; 工藤俊亮; 佐藤啓宏; 池内克史
出版日 2011年, 電気学会産業計測制御研究会資料, IIC-11巻, 119-133号, 201102228517873811 - 日本ロボット学会誌とIEEE/T-ROにおける研究者ネットワークの比較及び日本出身研究者の採るべき研究戦略
内藤理; 佐藤啓宏; 工藤俊亮; 池内克史
出版日 2011年, 日本ロボット学会学術講演会予稿集(CD-ROM), 29th巻, 201102258079375281 - 階層的キーポーズ分析に基づく距離画像を用いた武道動作の時間軸セグメンテーション
宇野友季子; VALIBEIK Salman; 工藤俊亮; 佐藤啓宏; 池内克史
出版日 2011年, 日本ロボット学会学術講演会予稿集(CD-ROM), 29th巻, 201102204267725866 - 四輪車両型自律移動ロボットの特性を考慮したリアルタイムな障害物回避
佐藤; 平井 雅尊; 冨沢 哲雄; 工藤 俊亮; 末廣 尚士
This paper describes a method of real-time obstacle avoidance for a car-type mobile robot. Car-type robots have an advantage in stability as the personal mobility, while specific features to car-type robots need to be considered in obstacle avoidance. They cannot avoid adjacent obstacles without the backward movement because they do not have a function to make a spin turn. In addition, there is fear that the accident will occur due to the difference between track followed by front and back inner wheels during turning. We developed a model method of obstacle avoidance that considered the unavoidable area and the track difference, and evaluated it using an actual car-type robot., 一般社団法人日本機械学会, 出版日 2011年, ロボティクス・メカトロニクス講演会'11, 掲載ページ "1P1-K13(1)"-"1P1-K13(4)", 日本語, 110009691972, AA11902933 - 2A1-M04 公共空間を自律移動する電動カートの開発 : 自由空間形状の画像マッチングによる未知障害物にロバストな自己位置推定(移動ロボットの自己位置推定と地図構築)
冨沢 哲雄; 村松 聡; 平井 雅尊; 岩井 純一; 佐藤 晶則; 御堂丸 圭介; 工藤 俊亮; 末廣 尚士
In this paper, we describe the easy and robustness self-position estimation technique against an unknown obstacle under the environment where many unknown obstacles exist. The free-space observation model is suggested as the technique of estimating a self-position in an environment with many unknown obstacles, such as a pedestrian. This has realized robust self-position estimation. However, the free-space observation model has a several problem that complicated likelihood evaluation, particle continues being spread and it cannot be converge when a immovable obstacle is able to observe either only right-and-left to a robot's direction of movement. In this research, we solve these problem with two likelihood evaluations that the based on the area of free space and based on the area of occupied space. We evaluate robustness and verify the validity of suggestion method by the simulation and the experiment under the real environment., 一般社団法人 日本機械学会, 出版日 2011年, ロボティクス・メカトロニクス講演会講演概要集, 2011巻, 0号, 掲載ページ _2A1-M04_1-_2A1-M04_4, 日本語, 110009692159 - 2A1-O03 物体の光反射特性を考慮した自由空間モデルに基づく環境地図生成(移動ロボットの自己位置推定と地図構築)
岩井 純一; 村松 聡; 冨沢 哲雄; 末廣 尚士; 工藤 俊亮
This paper describes a map generation method for mobile robot's self-localization with consideration of characteristics of laser scanners. Scanned data by laser scanners sometimes include wrong values because laser can be reflected in undesirable way depending on the reflectance of objects and on the angle of incidence. Therefore, we examined the reliability of scanned data for several objects, and developed the map generation method that uses only reliable data in the whole scanned data., 一般社団法人 日本機械学会, 出版日 2011年, ロボティクス・メカトロニクス講演会講演概要集, 2011巻, 0号, 掲載ページ _2A1-O03_1-_2A1-O03_4, 日本語, 110009692174 - 四輪車両型自律移動ロボットの開発
平井雅尊; 村松聡; 岩井純一; 佐藤晶則; 御堂丸圭介; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2010年12月, 第11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（SI2010）,第11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（SI2010）, 日本語 - ビューベーストアプローチに基づく物体操作.
稲葉亮; 村松聡; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2010年12月, 第11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（SI2010）,第11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（SI2010）, 日本語 - マニピュレータによる柔軟紐の片手結び
Trinh Van Vinh; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2010年12月, 第11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（SI2010）,第11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（SI2010）, 日本語 - インテリジェント自動ドアのためのlrfを用いた歩行者行動予測
松原正季; 冨沢哲雄; 嶋地直広; 工藤俊亮; 末廣尚士
出版日 2010年12月, 第11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（SI2010）,第11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（SI2010）, 日本語 - ベイズフィルタを用いた複数rfidタグ位置推定
安藤吉博; 末廣尚士; 冨沢哲雄; 工藤俊亮
出版日 2010年12月, 第11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（SI2010）,第11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（SI2010）, 日本語 - Towards a Dancing-to-music Humanoid Robot: Temporal Scaling Model of Whole Body Motion for a Dancing Humanoid Robot
Shunsuke Kudoh; Takahiro Okamoto; Takaaki Shiratori; Shinichiro Nakaoka; Katsushi Ikeuchi
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop ``Robots and Musical Expressions'', 出版日 2010年10月, 英語 - 紐結びのためのマニピュュレーションシステム
ティン・ヴァン・ヴィン; 冨沢哲雄; 工藤俊亮; 末廣尚士
出版日 2010年09月, 第28回日本ロボット学会学術講演会, 日本語 - Representation of Human's Paintbrush Regrasping Movement Using Tangle Topology
Phongtharin Vinayavekhin; Shunsuke Kudoh; Katsushi Ikeuchi
出版日 2010年09月, 第28回日本ロボット学会学術講演会, 日本語 - 音楽に合わせて踊る舞踊ロボットのためのSQUATを含む脚動作の時間伸縮
岡元崇紘; 白鳥貴亮; 工藤俊亮; 池内克史
出版日 2010年09月, 第28回日本ロボット学会学術講演会, 日本語 - Contact States Detection for Dexterous Manipulation in Low-Dimensional Joint Space
Phongtharin Vinayavekhin; Shunsuke Kudoh; Katsushi Ikeuchi
出版日 2009年09月, 第27回日本ロボット学会学術講演会, 日本語 - Robot Control Through a File System
Bjoern Rennhak; Shunsuke Kudoh; Katsushi Ikeuchi
出版日 2009年09月, 第27回日本ロボット学会学術講演会, 日本語 - Art and Robotics
Shunsuke Kudoh
IEEE Workshop on Computer Vision for Humanoid Robots in Real Environment (in Conjunction with ICCV 2009), 出版日 2009年09月, 英語 - 描画環境の形状と明るさの実測に基づく絵画の陰影表現の解析と再現
和田明菜; 川上玲; 工藤俊亮; 池内克史; 小町谷圭; 三浦高宏; 松井茂; 藤幡正樹
出版日 2009年07月, 画像の認識・理解シンポジウム(MIRU)論文集,画像の認識・理解シンポジウム(MIRU), 日本語 - Keypose and Style Analysis Based on Low-dimensional Representation (コンピュータビジョンとイメージメディア(CVIM) Vol.2009-CVIM-167)
Manoj Perera; Shunsuke Kudoh; Katsushi Ikeuchi
Human motion analysis is a complex but extremely interesting and important research area in computer graphics and computer vision. This paper addresses three vital topics in human motion analysis related to keyposes: how to extract keyposes from dance motions, how to utilize them, and how to recognize the person and task that constitute a keypose. As our first topic, we propose a new method to extract keyposes from a given dance using the energy flow of the motion. Our experimental results and comparison with a previous keypose extraction approach show the high accuracy of keypose extraction with our new method. As our second topic, we propose a new method to reconstruct low-dimensional motion based on keyposes, and we illustrate the effect of keyposes in a given motion space on human perception. We utilize the keyposes extracted with our new method, formulate a model, and derive a low-dimensional motion based on our model. We also construct low-dimensional motion using uniform sampling poses, and we compare the results with those obtained from our method. As our third topic, we propose a novel approach to decompose motion into common and individual factors using the Multi Factor Tensor (MFT) model. By this method, we recognize person and task from the motion sequence.Human motion analysis is a complex but extremely interesting and important research area in computer graphics and computer vision. This paper addresses three vital topics in human motion analysis related to keyposes: how to extract keyposes from dance motions, how to utilize them, and how to recognize the person and task that constitute a keypose. As our first topic, we propose a new method to extract keyposes from a given dance using the energy flow of the motion. Our experimental results and comparison with a previous keypose extraction approach show the high accuracy of keypose extraction with our new method. As our second topic, we propose a new method to reconstruct low-dimensional motion based on keyposes, and we illustrate the effect of keyposes in a given motion space on human perception. We utilize the keyposes extracted with our new method, formulate a model, and derive a low-dimensional motion based on our model. We also construct low-dimensional motion using uniform sampling poses, and we compare the results with those obtained from our method. As our third topic, we propose a novel approach to decompose motion into common and individual factors using the Multi Factor Tensor (MFT) model. By this method, we recognize person and task from the motion sequence., 情報処理学会, 出版日 2009年06月02日, 研究報告コンピュータビジョンとイメージメディア（CVIM）, 2009巻, 2号, 掲載ページ 1-16, 英語, 1884-0930, 110007991055, AA11131797 - 対象物と照明環境の実測値を用いた絵画における陰影表現の解析
和田明菜; 川上玲; 工藤俊亮; 池内克史; 小町谷圭; 三浦高宏; 松井茂; 藤幡正樹
出版日 2009年06月, 情報処理学会研究報告 コンピュータビジョンとイメージメディア（CVIM）, 日本語 - 民俗芸能のデジタルアーカイブとロボットによる動作提示
池内 克史; 中澤 篤志; 小川原 光一; 高松 淳; 工藤 俊亮; 中岡 慎一郎; 白鳥 貴亮
出版日 2004年06月25日, 日本バーチャルリアリティ学会誌 = Journal of the Virtual Reality Society of Japan, 9巻, 2号, 掲載ページ 78-84, 日本語, 1342-6680, 10013468065, AA11461758
書籍等出版物
- ロボットと生きる社会—法はAIとどう付き合う？
角田美穂子; 工藤俊亮
一般書・啓蒙書, 日本語, 共著, 弘文堂, 出版日 2018年01月 - Dance Notations and Robot Motion
Katsushi Ikeuchi; Yoshihiro Sato; Shin'ichiro Nakaoka; Shunsuke Kudoh; Takahiro Okamoto; Hauchin Hu
学術書, 英語, 分担執筆, Task modeling for reconstruction and analysis of folk dances, Springer, 出版日 2015年12月 - 脳とアート─感覚と表現の脳科学
池内克史; 工藤俊亮
学術書, 日本語, 分担執筆, 2-2 描く脳─絵を描くロボット, 医学書院, 出版日 2012年11月01日 - ロボット情報学ハンドブック
工藤俊亮
学術書, 日本語, 分担執筆, 8章10節 舞踊動作の模倣, ナノオプトニクス・エナジー, 出版日 2010年
担当経験のある科目_授業
- IT最前線
The University of Electro-Communications - IT最前線
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 - アカデミックリテラシー
電気通信大学 - アカデミックリテラシー
The University of Electro-Communications - アカデミックリテラシー
電気通信大学 - 情報学実験
電気通信大学 - ユビキタスネットワーク
電気通信大学 - 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 - 基礎プログラミングおよび演習
電気通信大学 - 知能ロボティクス特論
電気通信大学 - 知能機械工学実験
電気通信大学 - 知能機械工学実験
電気通信大学 - 情報学実験
The University of Electro-Communications - 情報学実験
電気通信大学 - 情報工学工房
The University of Electro-Communications - 情報工学工房
電気通信大学 - 情報工学工房
電気通信大学 - 基礎プログラミングおよび演習
The University of Electro-Communications - 基礎プログラミングおよび演習
電気通信大学 - 知能ロボティクス特論
The University of Electro-Communications - 知能ロボティクス特論
電気通信大学 - 基礎プログラミング
電気通信大学 - 基礎プログラミング
電気通信大学 - 知能システム論2
The University of Electro-Communications - 知能システム論2
電気通信大学 - 情報メディアシステム学基礎１
The University of Electro-Communications - 知能システム論２
電気通信大学 - 知能システム論２
電気通信大学 - 情報メディアシステム学基礎１
電気通信大学 - 情報メディアシステム学基礎１
電気通信大学
共同研究・競争的資金等の研究課題
- Automatic Description of Human Motion and Its Reproduction by Robot Based on Labanotation (continuation)
マイクロソフトリサーチ, 研究助成
研究期間 2017年07月 - 2018年03月 - Automatic Description of Human Motion and Its Reproduction by Robot Based on Labanotation
マイクロソフトリサーチ, 研究助成
研究期間 2016年04月 - 2017年03月 - アクティブセンシングに基づくロボットによる高度な紙操作に関する研究
工藤俊亮
研究代表者
研究期間 2015年 - 2017年 - 視聴覚を利用した見まね学習によるアクティブな動的動作生成に関する研究
研究期間 2011年 - 2015年 - プログラム可能な紐結びシステムに関する研究
研究期間 2012年 - 2014年
産業財産権
- ３次元計測装置及び方法並びにプログラム
特許権, 林直宏, 工藤俊亮, 末廣尚士, 冨沢哲雄, 特願2013-161278, 出願日: 2013年08月02日 - 人数予測方法、人数予測装置、移動ロボット及びプログラム
特許権, 梶田真也, 冨沢哲雄, 工藤俊亮, 末廣尚士, 特願2011-280959, 出願日: 2011年12月22日, 国立大学法人電気通信大学, 特開2013-131100, 公開日: 2013年07月04日 - 帯状構造検出装置及び方法並びにプログラム
特許権, 林直宏, 末廣尚士, 工藤俊亮, 冨沢哲雄, 特願2011-282187, 出願日: 2011年12月22日, 特開2013-131174, 公開日: 2013年07月04日