計測自動制御学会 フェロー

平松 知樹, 今井 将人, 山田 弘幸, 河村 晃宏, 倉爪 亮, 小型センサ端末によるパーソナルモビリティ・ビークルの誘導制御システムの開発, 日本機械学会ロボティクスメカトロニクス講演会2018, pp.1A1-L10, 2018.6.2-5

ロボットミドルウェアROS の普及への貢献

IEEE Senior Member

日本機械学会 フェロー

計測自動制御学会 システムインテグレーション部門 学術業績賞

日本ロボット学会 フェロー

新崎 誠, 岩下 友美, 小川原 光一, 倉爪 亮, 統計的モデルを用いた見えの変化 に頑強な歩容による個人識別, 第20回ロボティクスシンポジア, pp.342-347, 2015.3.15

小山 翔平, 岩下 友美, 倉爪 亮, "クワッドコプタ搭載LRFと単眼カメラによるBaySACを用いた地表面計測", 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 SI2014, 1M2-2, 2014.12.15

新崎 誠, 岩下 友美, 小川原 光一, 倉爪 亮, "統計的モデルを用いた見えの変化 に頑強な歩容認証", 第4回バイオメトリクスと認識・認証シンポジウム, O-1-1, 2014.11.26

Hojung Jung, Oscar Martinez Mozos, Yumi Iwashita, Ryo Kurazume, Indoor Place Categorization using Co-Occurrences of LBPs in Gray and Depth Images from RGB-D Sensors, Fifth International Conference on Emerging Security Technologies (EST-2014), pp.40-45, Alcala, Spain, Sep. 10-12, 2014

鄭 龍振, 倉爪 亮, 岩下 友美, 長谷川 勉, "大規模な3次元環境地図とRGB-Dカメラを用いた移動ロボットの広域位置同定", 日本ロボット学会誌, Vol.31, No.10, pp.896-906, 2013

園木秀治, 諸岡健一, 倉爪亮, 橋爪誠, 長谷川勉, オーダーメイド医療のための軟性肝臓モデルの物性パラメータ推定, 第31回計測自動制御学会九州支部学術講演会, 2012.12.9

受賞理由：複数移動ロボットの協調制御やロボットビジョン，医用画像処理，環境情報構造化など多くの研究分野で研究開発を行い，学術・技術両面で高く評価されている．また，研究成果の産業応用やロボット教育にも積極的に取り組み，ロボティクス・メカトロニクスの分野の発展に寄与した．

大石 修士, 倉爪 亮, 岩下 友美, 長谷川 勉, Trilareral filterとBelief Propagationを用いた距離画像の平滑化及び欠損修復, 第16回ロボティクスシンポジア講演予稿集, pp.1-7, 2011.3.14

Yukihiro Tobata, Ryo Kurazume, Yumi Iwashita and Tsutomu Hasegawa, Automatic laser-based geometrical modeling using multiple mobile robots, 2010 IEEE International Conference on Robotics and Biomimetics (ROBIO 2010), pp.363-369, Tianjin, Dec. 14-18, 2010 (T.J.Tarn Best Paper in Robotics)

Yumi Iwashita, Ryosuke Baba, Koichi Ogawara, Ryo Kurazume, "Person identification from spatio-temporal 3D gait", Int. Conf. on Emerging Security Technologies, pp.30-35 (2010.9)

山田 弘幸, 倉爪 亮, 村上 剛司, 長谷川 勉, SIR/MCMCパーティクルフィルタを用いたカメラとレーザレンジファインダによる複数移動体の同時追跡, 第13回ロボティクスシンポジア講演会予稿集, pp.252-258, (2008.3).

学会活動への貢献

岩下 友美, 倉爪 亮, 原 健二, 長谷川 勉, 局所境界の移動方向予測値に基づく実物体の高速な3次元形状復元, 第7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講演予稿集, pp.914-915, 2006.12

長谷川 勉, 浦本 征吾, 向井 大樹, 倉爪 亮, 村上 剛司, 直接操縦から自律制御へのオンライン移行型遠隔作業ロボットシステム 対象物体のポインティング指示と動作プリミティブによる自動作業, 第6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, 1A3-2, 2005 12

吉田 和哉，倉爪 亮，梅谷 陽二， 宇宙ロボットの多腕協調制御(スタビライジングアームの利用による 制御トルクの最適化)， 日本ロボット学会誌, Vol.9,No.6, pp.718-726, (1991).

Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/ICRA57147.2024.10611480

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DOI： 10.48550/arXiv.2405.04889

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Language：Japanese   Publisher：Kyushu Association for Bridge and Structural Engineering  

Collaborative AI robots for adaptation of diverse environments and innovation of infrastructure construction

DOI： 10.60345/kabse.39.0_11

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Gait recognition is a biometric identification method based on individual walking patterns. This modality is applied in a wide range of applications, such as criminal investigations and identification systems, since it can be performed at a long distance and requires no cooperation of interests. In general, cameras are used for gait recognition systems, and previous studies have utilized depth information captured by RGB-D cameras, such as Microsoft Kinect. In recent years, multi-layer LiDAR sensors, which can obtain range images of a target at a range of over 100 m in real time, have attracted significant attention in the field of autonomous mobile robots and self-driving vehicles. Compared with general cameras, LiDAR sensors have rarely been used for biometrics due to the low point cloud densities captured at long distances. In this study, we focus on improving the robustness of gait recognition using LiDAR sensors under confounding conditions, specifically addressing the challenges posed by viewing angles and measurement distances. First, our recognition model employs a two-scale spatial resolution to enhance immunity to varying point cloud densities. In addition, this method learns the gait features from two invariant viewpoints (i.e., left-side and back views) generated by estimating the walking direction. Furthermore, we propose a novel attention block that adaptively recalibrates channel-wise weights to fuse the features from the aforementioned resolutions and viewpoints. Comprehensive experiments conducted on our dataset demonstrate that our model outperforms existing methods, particularly in cross-view, cross-distance challenges, and practical scenarios.

DOI： 10.1109/ACCESS.2023.3333037

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It is difficult to automate the grasping of delicate fruits such as peaches, which require sensitive work. Envelope grasping is an effective approach for grasping such objects due to its large contact area with the object. A method to realize envelope grasping is the fingered gripper, which can perform grasping that follows the shape of the object through compliant interaction. However, this method has the problem that it is structurally difficult to fill the space between fingers. Another method of achieving enveloping grasp is to envelop the object by membrane. This method can touch the object without gap between fingers, but it is difficult to grasp unexpectedly large objects because it cannot deform as large as a fingered gripper. In this study, we propose a soft gripper that realizes envelope grasping while largely deforming several fingers. The proposed method opens and closes using the turning over of the hemispherical shell due to the 3D snap through buckling mechanism. By employing this mechanism, allowing all objects touching the edge of the hemispherical shell to be moved simultaneously and significantly, fingers arranged without gaps can be deformed largely. Another advantage is that it requires no energy to maintain the grasping state due to its bistable, snap through buckling characteristics. In this paper, we present a design methodology based on specific examples and an evaluation of performance.

DOI： 10.1109/IECON51785.2023.10312018

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Other Link： https://dblp.uni-trier.de/db/conf/iecon/iecon2023.html#HanamoriKK23

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Cardiac magnetic resonance (CMR) imaging is widely used to visualise cardiac motion and diagnose heart disease. However, standard CMR imaging requires patients to lie still in a confined space inside a loud machine for 40–60 min, which increases patient discomfort. In addition, shorter scan times decrease either or both the temporal and spatial resolutions of cardiac motion, and thus, the diagnostic accuracy of the procedure. Of these, we focus on reduced temporal resolution and propose a neural network called FusionNet to obtain four-dimensional (4D) cardiac motion with high temporal resolution from CMR images captured in a short period of time. The model estimates intermediate 3D heart shapes based on adjacent shapes. The results of an experimental evaluation of the proposed FusionNet model showed that it achieved a performance of over 0.897 in terms of the Dice coefficient, confirming that it can recover shapes more precisely than existing methods. This code is available at: https://github.com/smiyauchi199/FusionNet.git.

DOI： 10.1007/978-3-031-47425-5_4

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Other Link： https://dblp.uni-trier.de/db/conf/miccai/misail2023.html#ChangMMKM23

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DOI： 10.48550/arXiv.2309.09256

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Soil compaction is one of the most important basic elements in construction work because it directly affects the quality of structures. Compaction work using vibratory rollers is generally applied to strengthen ground stiffness, and the method that focuses on the number of compaction cycles is widely used to manage the ground stiffness by vibratory rollers. In contrast to this method, the continuous compaction control (CCC) using accelerometers installed on the vibratory rollers has been proposed as a quantitative evaluation method more suited to actual ground conditions. This method quantifies the distortion rate of the acceleration waveform of the vibratory roller. However, this method based on acceleration response has problems in measurement discrimination accuracy and sensor durability because the accelerometer is installed on the vibration roller, which is the source of vibration. In this paper, we propose a new ground stiffness evaluation method using multiple accelerometers installed on the ground surface. The proposed method measures the acceleration response during compaction work by vibratory rollers using multiple accelerometers on the ground surface. Experiments show the proposed method has a higher discrimination than the conventional methods.

DOI： 10.22260/ISARC2023/0037

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Language：English   Publishing type：Research paper (scientific journal)  

It is important for caregivers of people with dementia (PwD) to have good patient communication skills as it has been known to reduce the behavioral and psychological symptoms of dementia (BPSD) of PwD as well as caregiver burnout. However, acquiring such skills often requires one-on-one affective training, which can be costly. In this study, we propose affective training using augmented reality (AR) for supporting the acquisition of such skills. The system uses see-through AR glasses and a nursing training doll to train the user in both practical nursing skills and affective skills such as eye contact and patient communication. The experiment was conducted with 38 nursing students. The participants were assigned to either the Doll group, which only used a doll for training, or the AR group, which used both a doll and the AR system. The results showed that eye contact significantly increased and the face-to-face distance and angle decreased in the AR group, while the Doll group had no significant difference. In addition, the empathy score of the AR group significantly increased after the training. Upon analyzing the correlation between personality and changes of physical skills, we found a significant positive correlation between the improvement rate of eye contact and extraversion in the AR group. These results demonstrated that affective training using AR is effective for improving caregivers' physical skills and their empathy for their patients. We believe that this system will be beneficial not only for dementia caregivers but for anyone looking to improve their general communication skills.

DOI： 10.1371/journal.pone.0288175

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Federated learning (FL) has attracted attention as a technology that allows multiple medical institutions to collaborate on AI without disclosing each other's patient data. However, FL has the challenge of being unable to robustly learn when the data of participating clients is non-independently and non-identically distributed (Non-IID). Personalized Federated Learning (PFL), which constructs a personalized model for each client, has been proposed as a solution to this problem. However, conventional PFL methods do not ensure the interpretability of personalization, specifically, the identification of which data samples are contributed to each personalized learning, which is important for AI in medical applications. In this study, we propose a novel PFL framework, Federated Adjustment of Covariate (FedCov), which acquires a propensity score model representing the covariate shift among clients through prior FL, then learns a final model by weighting the contribution of each training sample to PFL based on the estimated propensity score. This approach enables both the learning of personalized models through covariate adjustment and the visualization of the contribution of each client to PFL. FedCov was evaluated in the prediction of in-hospital mortality across 50 hospitals in the eICU Collaborative Research Database, achieving an ROC-AUC of 0.750. This result outperformed the AUCs in the 0.720-0.735 range achieved by conventional FL methods and was closest to the AUC of 0.754 achieved by centralized learning.Clinical Relevance - This study demonstrates the feasibility of providing sophisticated and personalized AI-driven clinical decision support to any medical institution through personalized federated learning.

DOI： 10.1109/EMBC40787.2023.10339940

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Other Link： https://dblp.uni-trier.de/db/conf/embc/embc2023.html#TarumiSYMK23

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This study investigates operability and acceptability issues in the teleoperation of robots. Prior studies have proposed efficient approaches to increase human perceptual ability and robot autonomy but with reduced operability and acceptance. We propose a novel teleoperation method that overcomes the weaknesses of existing approaches while inheriting their strengths. The key feature of our method is switching the teleoperated robot world from real to virtual. The user study results showed that the proposed method offered an improved user experience compared to the conventional methods, while task efficiency was equivalent in all methods. The contributions of this paper include the proposal of the teleoperation method by seamless switching between real and virtual space, the proposal of an image transformation method and visual effect to achieve seamless switching, and verification of the practicality of the proposed system through experiments on actual mobile robots.

DOI： 10.1016/j.robot.2023.104405

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3D LiDAR sensors are indispensable for the robust vision of autonomous mobile robots. However, deploying LiDAR-based perception algorithms often fails due to a domain gap from the training environment, such as inconsistent angular resolution and missing properties. Existing studies have tackled the issue by learning inter-domain mapping, while the transferability is constrained by the training configuration and the training is susceptible to peculiar lossy noises called ray-drop. To address the issue, this paper proposes a generative model of LiDAR range images applicable to the data-level domain transfer. Motivated by the fact that LiDAR measurement is based on point-by-point range imaging, we train an implicit image representation-based generative adversarial networks along with a differentiable ray-drop effect. We demonstrate the fidelity and diversity of our model in comparison with the point-based and image-based state-of-the-art generative models. We also showcase upsampling and restoration applications. Furthermore, we introduce a Sim2Real application for LiDAR semantic segmentation. We demonstrate that our method is effective as a realistic ray-drop simulator and outperforms state-of-the-art methods.

DOI： 10.1109/WACV56688.2023.00131

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Language：Others   Publishing type：Research paper (other academic)   Publisher：IEEE  

This paper proposes a novel bolt type force sensor that measures forces applied to an object fixed by the sensor. This sensor consists of a iron bolt and four strain gauges and can be made inexpensively compared to a 6-axis force sensor. Due to the feature of the bolt type sensor, it can measure the force applied to the object without dedicated holds, extra jigs, gaps between holds and walls. Therefore, the sensor can be applied to existing climbing holds without changes of difficulty of climbing problems. In this paper, the structure of the sensor is introduced and its calibration method is discussed. Finally, a force measurement experiments are conducted, and it was confirmed that the sensor is able to achieve highly accurate force estimation in practical situations.

DOI： 10.1109/SII55687.2023.10039421

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Other Link： https://dblp.uni-trier.de/db/conf/sii/sii2023.html#KawamuraNDK23

Language：Others   Publishing type：Research paper (other academic)   Publisher：IEEE  

This paper proposes a method for non-line-of-sight (NLoS) position estimation utilizing wireless distance sensors. Recently, the accuracy of wireless distance sensors that use ultra-wideband (UWB) or ultrasonic technologies to measure the distance between two sensor devices has increased significantly. By placing these sensors in the environment, it is possible to precisely determine the position of mobile robots in indoor environments. Owing to reflections in the environment, these sensors have a large measurement error in NLoS conditions, limiting their applicability to environments that satisfy the line-of-sight (LoS) condition. This study aims to develop a stable method for estimating the position of mobile robots in indoor environments, including NLoS conditions, using wireless distance sensors. Experiments were conducted in two real environments: one with obstacles in front of the beacon and one with dynamic obstacles. In both cases, the combining 2D-LiDAR and wireless distance sensors using the proposed method considering NLOS was more accurate than the method considering LoS only.

DOI： 10.1109/SII55687.2023.10039195

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Other Link： https://dblp.uni-trier.de/db/conf/sii/sii2023.html#ItsukaK23

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People depend on medical equipment to support their movements when their motor function declines. Our previous study developed a method to estimate motor function from the force applied to a vertical handrail while standing. However, the effect of the handrail direction on movement remains unclear. Additionally, the force applied to the handrail and floor reaction forces on the buttocks and feet may also change with a decline in motor function. Here, this study constructed a system with force plates and handles in both the horizontal and vertical directions to measure the forces applied to the handrails, buttocks, and feet. Furthermore, the change in accuracy of the estimation of motor function, depending on the direction of the handrails and input information, was investigated. In the experiment, healthy participants stood up using a handrail with unrestricted movement and while wearing elderly experience kits that artificially impaired their motor function. The results showed that people exert more downward force on horizontal handrails than on vertical handrails. However, people rely on the vertical handrail for a longer period of time to stabilize anterior-posterior movement. These results indicate that different directions of handrails cause different strategies of the standing-up motion. Additionally, the accuracy of the estimation of motor function improved when the horizontal handrail was used rather than the vertical handrail. This suggests that the classification accuracy could be improved by using different handrail directions, depending on the subject's condition and standing-up motion.

DOI： 10.1109/SII55687.2023.10039452

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Other Link： https://dblp.uni-trier.de/db/conf/sii/sii2023.html#KiharaATINK23

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>We have been working on the realization of an autonomous mowing robot to automate weeding work, which is an essential part of agriculture. The robot developed so far can do mowing work in open environments by localization using high-precision GNSS and performing exhaustive sweeping of the work area. This paper reports on the third robot, which is newly equipped with a Visual SLAM camera, and a path following algorithm is implemented to assume use in environments that are difficult to benefit from GNSS.</p>

DOI： 10.1299/jsmermd.2023.2p1-b03

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>In facility construction of a building, illuminance measurement is required to verify that the illuminance condition satisfies JIS regulations before its completion. In order to perform illuminance measurement accurately, measurements are conducted at night, causing long working hours at night. In this paper, we propose an autonomous illuminance measurement robot system consisting of multiple robots. The experiments show that the measurement errors of illuminance compared to the human measurements is 1.36% and the measurement time is reduced about 12%.</p>

DOI： 10.1299/jsmermd.2023.1a1-b03

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>The civil engineering and construction industry has seen an increase in occupational accidents in recent years. Although several systems to improve the efficiency of earthwork operations have been developed, they have not directly involved in improving safety. The objective of this study is to explore the use of a cyber-physical system (CPS) to improve both the efficiency and safety of earthwork operations. The CPS platform should have a function to store and manage environmental information in a database. The ROS2-TMS, which is the CPS platform for service robots, satisfies this requirement. However, the ROS2-TMS cannot handle environmental information specific to earthwork sites, such as terrain and ground data. Therefore, in this research, we developed an improved version of ROS2-TMS named ROS2-TMS for Construction that can store and manage site-specific environmental information in a database. Additionally, we developed a VR interface to visualize the stored environmental information.</p>

DOI： 10.1299/jsmermd.2023.1p1-b03

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>In this study, we developed an outdoor surveillance robot system using public 5G. The robot patrolling outdoors is connected to a remote observer via 5G and ROS2, and the observer control the robot while monitoring camera images remotely. We tested three network configurations to realize remote communication. Experiments for remote autonomous surveillance were conducted.</p>

DOI： 10.1299/jsmermd.2023.1a1-i02

CiNii Research

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>Illusory control (IC) that is teleoperation method we proposed was based on the premise that the virtual environment is prepared in advance. Therefore, the mobile robot using IC can function only in known environment. This paper presents ”Instant illusory control” that no need to prepare the virtual environment in advance. The proposed robot system can instantly create a virtual environment from real images of the robot in motion using Instant NGP as one of methods in Neural Radiance Fields. Additionally, using 360-degree images, the environment around the robot can be comprehensively virtualized without demanding on the camera poses. Furthermore, using the depth estimation result of the images in advance for the optimization of the density of neural radiance fields, the reconstruction accuracy at unknown poses is ensured as well. Using this virtual environment instantly created, teleoperation by transition between real and virtual environments is expected to function in unknown environment. The experimental result shows that the proposed system can achieve a consistent back and forth between virtual and real spaces in mobile robot teleoperation.</p>

DOI： 10.1299/jsmermd.2023.2a2-i02

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>We propose a novel navigation method applying an offline reinforcement learning method based on Implicit Policy Constraint to mobile robot navigation in environments with pedestrians. The proposed method utilizes a flow-based generative model for the behavior policy, and the latent policy is trained using a method based on Advantage-Weighted Regression. The proposed method is evaluated in a simulation environment.</p>

DOI： 10.1299/jsmermd.2023.2a2-g01

CiNii Research

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>This paper presents a method to improve the accuracy of human pose estimation using RGBD images. 3D pose estimation based on mapping depth images to RGB images has a problem. It is the error in the depth direction caused by the low accuracy of the depth image and the fact that the estimated points are on the surface of the body. This paper proposes a method to improve the accuracy by using a correction algorithm based on ICP. The method consists of a measurement system that measures RGBD images and estimates human posture, and a correction algorithm using ICP.</p>

DOI： 10.1299/jsmermd.2023.2a2-h01

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Publishing type：Research paper (international conference proceedings)  

We proposed a teleoperation method, illusory control (IC), that provides a comfortable operation experience using a seamless transition between real and pre-prepared virtual environments. Therefore, the mobile robot with IC could function solely in familiar environments. To make IC applicable in unfamiliar environments, this study proposes a novel method, instant IC, that eliminates the requirement for a pre-prepared virtual environment. The proposed robot system can instantly generate a virtual environment using actual 360° images of the robot in motion, utilizing instant neural graphics primitives and neural radiance fields. The 360° images allow the entire surrounding environment to be virtualized without requiring specific camera orientations. In addition, by optimizing the density of neural radiance fields using depth estimation results beforehand, the reconstruction accuracy at unknown poses can be guaranteed. Furthermore, we propose a depth scaling method based on the actual measurements obtained by LiDAR to increase the consistency of virtual and real environments. With this instant virtual environment, the proposed system enables teleoperation in unknown environments via the seamless transition between real and virtual environments. The experimental results exhibit consistent and smooth back-and-forth transitions between virtual and real space in mobile robot teleoperation.

DOI： 10.1109/SMC53992.2023.10394235

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1002/alz.062055

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Abstract

Background

While communication with dementia patients is challenging, known educational methods to improve communication skill for medical professionals are lacking. Our study aimed to assess the efficacy of simulated communication skills training for nursing students using augmented reality (AR) with real‐time feedback.

Methods

This is a randomized control study. Twenty‐five nursing students enrolled and learned standardized multimodal comprehensive care communication skills through a self‐learning material, which includes pathophysiology and clinical manifestations of dementia. Subsequently, participants were randomly assigned to one of the two learning systems—AR training or conventional nursing mannequin training. Each group had the training intervention to change the clothes of mannequins for one hour. The mannequin of the AR group was a superimposed computer graphic of an elderly woman’s face which reacted to participants' communication. Further, the communication skills of gaze and voice were evaluated by artificial intelligence (AI) and feedbacked to the participants’ head‐mounted display in real‐time. The conventional training group had the self‐training with nursing mannequins. All participants performed basic nursing care, including changing clothes and bed bath, to simulated patients before and after the training intervention, which were video‐recorded by an eye‐tracking camera and a fixed camera, then the videos were analyzed the communication skills by AI. Additionally, participants' empathy to patients was evaluated by the Jefferson Scale of Empathy‐Health Professions Students Version (JSPE‐HSP). The primary outcome was the proportion of time spent in eye contact during the care to simulated patients. The secondary outcome was the empathy score of JSPE‐HSP.

Results

After the training intervention, the proportion of time spent in eye contact in the AR training group significantly increased than the conventional training group (eye contact 13.6% versus 4.4%, P<0.05). Moreover, the JSPE‐HSP score increased from pre‐training to post‐training in the AR training group, whereas it decreased in the conventional training group [Mean (SD): 9.1 (6.6) versus ‐1.3 (3.8), P<0.01].

Conclusions

The simulated communication skills training for nursing students using augmented reality with real‐time feedback was associated with increased interactive communication skills to simulated patients and the empathy to patients.

DOI： 10.1002/alz.062055

Language：English   Publishing type：Research paper (other academic)  

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Assisting patients with dementia is a significant social issue. Currently, to assist patients with dementia, a multimodal care technique called Humanitude is gaining popularity. In Humanitude, the patients are assisted through various techniques to stand up independently by utilizing their motor functions as much as possible. Humanitude care techniques encourage caregivers to increase the area of contact with patients during the sit-to-stand motion. However, Humanitude care techniques are not accurately performed by novice caregivers. Therefore, in this study, a smock-type wearable sensor was developed to measure the proximity between caregivers and care recipients during sit-to-stand motion assistance. A measurement experiment was conducted to evaluate the proximity differences between Humanitude care and simulated novice care. In addition, the effects of different care techniques on the center of mass (CoM) trajectory and muscle activity of the care recipients were investigated. The results showed that the caregivers tend to bring their top and middle trunk closer in Humanitude care compared with novice simulated care. Furthermore, it was observed that the CoM trajectory and muscle activity under Humanitude care were similar to those observed when the care recipient stands up independently. These results validate the effectiveness of Humanitude care and provide useful information for teaching techniques in Humanitude.

DOI： 10.1109/SMC53654.2022.9945156

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Language：Others   Publishing type：Research paper (scientific journal)   Publisher：Informa UK Limited  

DOI： 10.1080/01691864.2021.2017342

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Language：Others   Publishing type：Research paper (scientific journal)   Publisher：Springer Science and Business Media {LLC}  

This study proposes a new software platform, called ROS2-TMS, for an informationally structured environment. An informationally structured environment is vital for developing intelligent service robots by embedding various sensors in the environment to enhance the sensing capability and intelligence of robots. Thus far, we have been developing a software platform, named ROS-TMS, for an informationally structured environment, which connects various sensors and robots using ROS architecture. In recent years, ROS2, a next-generation version of ROS, has been released. ROS2 has many advantages, such as enhanced security, QoS control, and support for various platforms. ROS2-TMS, a new version of ROS-TMS, is developed not only by porting existing modules in ROS-TMS, such as the control system for a communication robot, but also by adding useful functions utilizing new features in ROS2. For instance, we added a voice user interface to control robots and various devices in the environment, such as lights or a bed. In addition, we implemented a new task scheduler that provides a cancelation function to stop running tasks and improve the security of the platform.

DOI： 10.1186/s40648-021-00216-2

Web of Science

Scopus

J-GLOBAL

researchmap

Language：Others   Publishing type：Research paper (other academic)  

DOI： 10.1109/SII52469.2022.9708775

Language：Others   Publishing type：Research paper (other academic)  

DOI： 10.1109/SII52469.2022.9708776

Language：Others   Publishing type：Research paper (other academic)  

DOI： 10.1109/SII52469.2022.9708891

Language：Others   Publishing type：Research paper (other academic)  

DOI： 10.1109/SII52469.2022.9708899

Language：Others   Publishing type：Research paper (scientific journal)  

DOI： 10.48550/arXiv.2210.11750

researchmap

Language：Japanese   Publisher：The Society of Instrument and Control Engineers  

Preface to Special Issue on the 21st SICE System Integration Division Annual Conference

DOI： 10.9746/sicetr.58.1

CiNii Research

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/SII52469.2022.9708775

Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/SII52469.2022.9708776

Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/SII52469.2022.9708899

Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/SII52469.2022.9708891

Language：English   Publishing type：Research paper (scientific journal)  

BACKGROUND: Early intravesical recurrence after transurethral resection of bladder tumors (TURBT) is often caused by overlooking of tumors during TURBT. Although narrow-band imaging and photodynamic diagnosis were developed to detect more tumors than conventional white-light imaging, the accuracy of these systems has been subjective, along with poor reproducibility due to their dependence on the physician's experience and skills. To create an objective and reproducible diagnosing system, we aimed to assess the utility of artificial intelligence (AI) with Dilated U-Net to reduce the risk of overlooked bladder tumors when compared with the conventional AI system, termed U-Net. MATERIAL AND METHODS: We retrospectively obtained cystoscopic images by converting videos obtained from 120 patients who underwent TURBT into 1,790 cystoscopic images. The Dilated U-Net, which is an extension of the conventional U-Net, analyzed these image datasets. The diagnostic accuracy of the Dilated U-Net and conventional U-Net were compared using the following four measurements: pixel-wise sensitivity (PWSe); pixel-wise specificity (PWSp); pixel-wise positive predictive value (PWPPV), representing the AI diagnostic accuracy per pixel; and dice similarity coefficient (DSC), representing the overlap area between the bladder tumors in the ground truth images and segmentation maps. RESULTS: The cystoscopic images were divided as follows, according to the pathological T-stage: 944, Ta; 412, T1; 329, T2; and 116, carcinoma in-situ. The PWSe, PWSp, PWPPV, and DSC of the Dilated U-Net were 84.9%, 88.5%, 86.7%, and 83.0%, respectively, which had improved when compared to that with the conventional U-Net by 1.7%, 1.3%, 2.1%, and 2.3%, respectively. The DSC values were high for elevated lesions and low for flat lesions for both Dilated and conventional U-Net. CONCLUSIONS: Dilated U-Net, with higher DSC values than conventional U-Net, might reduce the risk of overlooking bladder tumors during cystoscopy and TURBT.

DOI： 10.1089/end.2021.0483

Web of Science

Scopus

PubMed

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Language：English  

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>In this study, we develop a sensor terminal with multiple and various sensors named sensor pod, which collects various environmental information at a construction site. The sensor pod is equipped with a 3D-LiDAR and a vibration sensor, which can be used to predict the surrounding hazards and evaluate the ground stiffness. In this paper, we introduce a method of evaluating ground stiffness using the waveform distortion of multi-point synchronized vibration data obtained by the distributed sensor pods.</p>

DOI： 10.1299/jsmermd.2022.1a1-e04

CiNii Research

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>This paper presents a novel teleoperation method called “Illusory control” to address the problem of reduced acceptance due to the disagreement between human and robot intentions in shared control. We have reported the simulation results of the teleoperation behavior using Illusory control. This paper describes the improvements of the proposed system and shows the results of experiments using an actual robot and realistic virtual images by CycleGAN.</p>

DOI： 10.1299/jsmermd.2022.2p2-g06

CiNii Research

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>This paper presents a retrofit backhoe remote control system that is inexpensive, compact, and easy to install. The system consists of a remote control system using a teleoperation system embedded by a construction machinery manufacturer and a small robot arm, and a remote sensing system using a multi-core microcomputer.</p>

DOI： 10.1299/jsmermd.2022.1p1-c07

CiNii Research

Language：Others   Publishing type：Research paper (scientific journal)  

DOI： 10.1109/TNSRE.2021.3127504

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1109/TNSRE.2021.3127504

Language：Others   Publishing type：Research paper (scientific journal)  

Language：Others   Publishing type：Research paper (other academic)  

DOI： 10.1109/IROS51168.2021.9636747

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1371/journal.pone.0255927

Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/RO-MAN50785.2021.9515457

Language：Others   Publishing type：Research paper (scientific journal)  

DOI： 10.1080/01691864.2021.1943710

Language：Others   Publishing type：Research paper (scientific journal)  

DOI： 10.1186/s40648-021-00192-7

Language：Others   Publishing type：Research paper (other academic)  

DOI： 10.1109/ICPR48806.2021.9412924

Language：Others   Publishing type：Research paper (scientific journal)  

Automatic analysis of our daily lives and activities through a first-person lifelog camera provides us with opportunities to improve our life rhythms or to support our limited visual memories. Notably, to express the visual experiences, the task of generating captions from first-person lifelog images has been actively studied in recent years. First-person images involve scenes approximating what users actually see; therein, the visual cues are not enough to express the user’s context since the images are limited by his/her intention. Our challenge is to generate lifelog captions using a meta-perspective called “fourth-person vision”. The “fourth-person vision” is a novel concept which complementary exploits the visual information from the first-, second-, and third-person perspectives. First, we assume human–robot symbiotic scenarios that provide a second-person perspective from the camera mounted on the robot and a third-person perspective from the camera fixed in the symbiotic room. To validate our approach in this scenario, we collect perspective-aware lifelog videos and corresponding caption annotations. Subsequently, we propose a multi-perspective image captioning model composed of an image-wise salient region encoder, an attention module that adaptively fuses the salient regions, and a caption decoder that generates scene descriptions. We demonstrate that our proposed model based on the fourth-person concept can greatly improve the captioning performance against single- and double-perspective models.

DOI： 10.1186/s40648-020-00181-2

Language：Others   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/s0167-8140(21)01686-8

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1080/01691864.2020.1829041

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1109/LRA.2020.3013909

Language：Others   Publishing type：Research paper (other academic)  

DOI： 10.1109/IROS45743.2020.9341039

Language：Others   Publishing type：Research paper (other academic)  

DOI： 10.1109/ICIEVicIVPR48672.2020.9306610

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1080/01691864.2020.1793812

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1007/s10846-019-01052-8

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1007/s10846-020-01148-6

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/SII46433.2020.9026213

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/SII46433.2020.9025964

Language：Others   Publishing type：Research paper (scientific journal)  

DOI： 10.1186/s40648-019-0134-1

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1186/s40648-019-0148-8

Language：Others   Publishing type：Research paper (other academic)  

DOI： 10.1007/978-3-030-39770-8_8

Language：Others   Publishing type：Research paper (other academic)  

DOI： 10.1007/978-3-030-39770-8_6

Language：Others   Publishing type：Research paper (scientific journal)  

DOI： 10.1007/978-3-030-32486-5_16

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.compmedimag.2019.101644

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/CVPRW.2019.00134

Language：Others   Publishing type：Research paper (other academic)  

DOI： 10.1109/ICRA.2019.8794173

Language：English   Publishing type：Research paper (other academic)  

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DOI： 10.1109/SII.2019.8700431

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/SII.2019.8700446

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/SII.2019.8700329

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1177/0278364919835603

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1117/12.2519819

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/MIPR.2019.00057

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1007/s00138-018-0972-5

Language：English  

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/SMC.2018.00365

Language：Others   Publishing type：Research paper (scientific journal)  

DOI： 10.1186/s40648-018-0123-9

Language：Others  

Language：Japanese  

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.23919/WAC.2018.8430480

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.23919/WAC.2018.8430386

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1080/01691864.2018.1501279

Language：English  

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.cmpb.2018.01.028

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/SII.2017.8279288

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/SII.2017.8279243

Language：English   Publishing type：Research paper (international conference proceedings)  

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DOI： 10.1109/IROS.2017.8202181

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：Others   Publishing type：Research paper (other academic)  

DOI： 10.1109/ICRA.2017.7989420

Language：Others   Publishing type：Research paper (other academic)  

DOI： 10.1109/ICRA.2017.7989261

Language：English  

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1117/12.2265178

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.cviu.2016.05.008

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/SMC.2016.7844929

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.5220/0006248806760683

Language：Others   Publishing type：Research paper (other academic)  

Simulation of Deforming Human Tissue by Multiple Deep Neural Networks

Language：Others   Publishing type：Research paper (other academic)  

A Method for Estimating Tissue Deformation by Deep Neural Network

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：Others   Publishing type：Research paper (other academic)  

DOI： 10.1109/SII.2016.7844021

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/IECON.2016.7793355

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/IROS.2016.7759669

Language：Japanese  

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.cviu.2016.05.008

Language：English   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1117/12.2217367

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/EST.2015.14

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1080/01691864.2015.1120242

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/SII.2015.7405049

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/SII.2015.7405050

Language：English  

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/IROS.2015.7354007

Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/ICSENS.2015.7370461

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.robot.2015.07.010

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/IROS.2015.7353688

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/AIM.2015.7222532

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/AIM.2015.7222657

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/AIM.2015.7222802

Language：Japanese  

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.3390/s150409438

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/WACV.2015.95

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (scientific journal)  

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：English  

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1080/01691864.2014.968616

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/EST.2014.23

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/EST.2014.18

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/EST.2014.17

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/ICPR.2014.739

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1080/01691864.2014.968616

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/EMBC.2014.6944886

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/WAC.2014.6936154

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.patrec.2014.04.004

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/IROS.2014.6942895

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/WAC.2014.6936144

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.patrec.2014.04.004

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English  

Language：Others  

A Method for Reconstructing 3D Tissue Shapes from Stereo Endoscopic Images Using Wide-Range Edge

Language：English  

3D Model Generation of Brain Block Using Internal Structure Contours for 3D Japanese Brain Atlas Construction (Medical Imaging)
The digital human modeling is one of the challenging topics in the last few decades. We have been studying on the digital brain atlas of Japanese. Our system for generating the brain atlas uses the latest techniques in both human anatomy and computer science. This paper reports the detail of generating the brain model by the 3D contour models of the brain surface and internal neural structures. Especially, we propose a new method for registering two sub-block models of the brain by combining a nonrigid registration and dynamic programming.

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.3390/s140407524

Language：English  

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/SII.2014.7028081

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/ICIP.2014.7026158

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1080/01691864.2013.839091

Language：Japanese  

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：Japanese  

本論文では,CT画像を用いた,様々なサイズの原発性肝がん(以下,腫瘍)に対応可能な腫瘍検出法を報告する.従来,CT画像を用いた腫瘍検出では,1cm以上の腫瘍を自動検出する研究が盛んであり,これらの研究では2種類の異なる画像(動脈相,遅延相)が用いられてきた.このうち,遅延相は正確な腫瘍サイズ計測が可能であるが,コントラストが低いため1cm以下の小結節の検出が難しい.一方,動脈相では小結節検出が可能になるが,雑音と腫瘍の輝度値が類似しているため誤検出が生じやすい,という問題があった.そこで本論文では,様々なサイズの腫瘍が検出可能な動脈相を用いた腫瘍の自動検出法を提案する.提案手法では,複数腫瘍の自動検出を実現するため,腫瘍個数の事前知識が不要なLevel Set Methodを導入する.更に,低コントラストや雑音に対応した,新たな成長速度項を提案する.提案手法を臨床画像24症例に適用した結果,Sensitivity 90&#37;以上,誤検出が1症例当り3.1個となり,従来のLevel Set Methodを用いた検出手法と比較して,検出精度が大幅に向上することを確認した.

Language：English   Publishing type：Research paper (international conference proceedings)  

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DOI： 10.1080/01691864.2013.797141

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DOI： 10.3390/s130607884

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DOI： 10.1109/WACV.2013.6475018

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DOI： 10.1016/j.patrec.2012.07.022

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DOI： 10.20965/jrm.2012.p0992

Language：English   Publishing type：Research paper (international conference proceedings)  

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DOI： 10.1017/S0263574712000525

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DOI： 10.15017/21947

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.3390/s120506695

Language：English   Publishing type：Research paper (bulletin of university, research institution)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：Japanese  

This paper presents a high precision 3D measurement system by multiple mobile robots. This system is composed of three mobile robots consisting of a parent robot and two child robots. The parent robot is equipped with a 3D laser scanner, attitude sensor and a total station, and the child robots are equipped with corner cubes. The parent robot moves and stops repeatedly, and measures the 3D shape using the equipped laser scanner at several positions. Meanwhile, the child robots also move and stop repeatedly, and act as mobile landmarks for the positioning of the parent robot. To improve the positioning accuracy, several devices were replaced or newly installed. The experimental results show the system achieves quite high accuracy of the 0.03&#37; of target's size. As an example of applications, we applied the system to shape measurement of tunnels under construction, and verified that the accuracy of the developed system is as high as a high-precise 3D laser scanner.

DOI： 10.7210/jrsj.30.180

Language：English   Publishing type：Research paper (scientific journal)  

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DOI： 10.1007/s10514-011-9256-x

Language：English  

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DOI： 10.1109/TMECH.2009.2023647

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DOI： 10.1109/IROS.2009.5354452

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DOI： 10.1016/j.cviu.2008.08.012

Language：Japanese   Publishing type：Research paper (scientific journal)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (international conference proceedings)  

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DOI： 10.1002/scj.20634

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DOI： 10.1007/s11263-007-0039-y

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Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：Japanese   Publishing type：Research paper (scientific journal)  

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DOI： 10.1002/scj.20581

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DOI： 10.1163/156855307780429794

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Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：Japanese  

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Publishing type：Research paper (international conference proceedings)  

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Repository Public URL： http://hdl.handle.net/2324/5866

Language：English  

Language：English   Publishing type：Research paper (scientific journal)  

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1002/scj.10392

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Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：Japanese   Publishing type：Research paper (scientific journal)  

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DOI： 10.1109/IROS.2005.1545447

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DOI： 10.1109/3DIM.2005.39

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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The level set method (LSM) has been widely used for various applications such as motion tracking and 3D geometrical modeling. However, the calculation cost of reinitialization and updating of an implicit function is considerably expensive as compared with conventional active contour models such as "Snakes". To tackle this problem, we propose an efficient algorithm of the LSM named the Fast Level Set Method(FLSM). This paper introduces some experiments based on the FLSM, including 2D real-time tracking of moving objects in video images, and 3D simultaneous motion
capture system of multiple targets using stereo range images.

Language：English  

Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/ICPR.2004.1334606

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (international conference proceedings)  

We propose a new index for dynamic performance analysis of serial link manipulators named Impedance Matching Ellipsoid, or IME. Several indexes have been proposed for indicating static and dynamic performance of robot manipulators. For example, Dynamic Manipulability Ellipsoid (DME) characterizes distributions of hand acceleration produced by normalized joint torque. Manipulating-Force Ellipsoid (MFE) denotes static torque-force transmission effciency from actuators at joints to a hand. On the other hand, the proposed IME
characterizes dynamic torque-force transmission effciency from actuators at joints to a load held at the hand of the manipulator. The IME includes a wide range of concepts proposed so far as measures of manipulator's performance. The DME and the MFE are both derived from the IME as limiting forms about the load mass. In this paper, we demonstrate the IME with some numerical examples ncluding the selection of an optimal leg posture for jump robots, optimum active stiffness control, and an extension for manipulators mounted on satellites in outer space.

DOI： 10.1109/ROBOT.2004.1302478

Language：Japanese   Publishing type：Research paper (scientific journal)  

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Though a legged robot has high terrain adaptability as compared with a wheeled vehicle, its moving speed is considerably low in general. For attaining a high moving speed with a legged robot, a dynamically stable gait, such as running for a biped robot and a trot gait or a bound gait for a quadruped robot, is a promising solution. However, the energy efficiency of the dynamically stable gait
is generally lower than the efficiency of the stable gait such as a crawl gait. In this paper, we present an experimental study on the energy efficiency of a quaduped walking vehicle. Energy consumption of two walking patterns for a trot
gait is investigated through experiments using a quadruped walking vehicle named TITAN-VIII. The obtained results show that the 3D sway compensation trajectory proposed in our previous paper [10] has advantages in view of energy efficiency as compared with the original sway compensation trajectory.

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (international conference proceedings)  

From 1970's, legged robots have attracted much attention of many researchers. In spite of this, it has been regarded that dynamically stable walking is very difficult to be tackled for any types of legged robots. For a trot gait for quadruped walking robots, we have proposed "the sway compensation trajectory". This method utilizes a lateral, longitudinal, and vertical motion of a robot body to keep a zero moment point (ZMP) on a diagonal line between support legs. In this paper, we develop the sway compensation trajectory for a biped robot, and show that dynamically stable walking is realized. This method makes it quite easy to design stable ZMP and COG (center of gravity) trajectories, which have been regarded as a very complicated and delicate problem. The effectiveness of the proposed method is verified through computer simulations and walking experiments by a humanoid robot, HOAP-1.

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Texture mapping on scanned objects, that is, the method to map current color images on a 3D geometric model measured by a range sensor, is a key technique of photometric modeling for virtual reality. Usually range and color images are obtained from different viewing positions, through two independent range and color sensors. Thus, in order to map those color images on the geometric model, it is necessary to determine relative relations between these two viewpoints. In this paper, we propose a new calibration method for the texture mapping; the method utilizes reflectance images and iterative pose estimation based on a robust Mestimator. Moreover, since a 2D texture image taken from one viewing point is a partial view of an object, several images must be mapped onto the object in order to cover the entire 3D geometric model. In this paper, we propose the new simultaneous registration technique of several images and geometric model based on 2D-3D edge correspondence and the epipolar constraint between images.

Language：English   Publishing type：Research paper (scientific journal)  

Language：English  

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (international conference proceedings)  

To realize dynamically stable walking for a quadruped walking robot, the combination of the trajectory planning of the body and leg position (feedforward control) and the adaptive attitude control using sensory information (feedback control) is indispensable. In this paper, we initially propose a new trajectory planning for the stable trot gait named 3D sway compensation trajectory, and show that this trajectory has lower energy consumption than the conventional sway trajectory that the authors have proposed. Next, as the adaptive attitude control method used during the 2-leg supporting phase of the trot gait, we consider four methods: a) rotation of body along the diagonal line between supporting feet, b) translation of body along the perpendicular line between supporting feet, c) vertical swing motion of recovering legs, and d) horizontal swing motion of recovering legs. The stabilization efficiency of each method is verified through computer simulation and the damping experiment using a quadruped walking robot, TITAN-VIII. Furthermore, the dynamic trot gait control that combines the feedforward control based on the proposed 3D sway compensation trajectory and the adaptive feedback control using body translation and vertical motion of swing legs is developed, and the walking experiment on rough terrain using TITAN-VIII is carried out.

Language：English   Publishing type：Research paper (international conference proceedings)  

Texture mapping on scanned objects, that is, the method to map current color images on a 3D geometric model measured by a range sensor, is a key technique of photometric modeling for virtual reality. Usually range and color images are obtained from different viewing positions, through two independent range and color sensors. Thus, in order to map those color images on the geometric model, it is necessary to determine relative relations between these two viewpoints. In this paper, we propose a new calibration method for the texture mapping; the method utilizes reflectance images and iterative pose estimation based on a robust M-estimator.

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Walking robots have high adaptability for terrain variation, and thus, have been expected as effective moving platform on uneven terrain, stairs, forest, marshy surface, and on ice. On the other hand, mobile robots that perform several hazardous tasks such as mine detection or the inspection of an atomic power plant are typically controlled by operators from distant places. For a remote operation system, use of visual information from a camera mounted on a robot body is very useful. However, unlike wheeled vehicles, the camera mounted on the walking robot oscillates because of the impact of walking, and the obtained unstable images cause inferior operation performance. In this paper, we introduce an image stabilization system for remote operation of walking robots using a high speed CCD camera and gyrosensors. The image stabilization is executed in two phases, that is, the estimation of the amount of oscillation by the combination of the template matching method and gyrosensors, and change of the display region. Pentium MMX instruction is used for template matching calculation, and the estimated amount of oscillation is outputted in every 12 [msec.]. Furthermore, developed image stabilization mechanism can be used an external attitude sensor from the visual information, and the damping control of the robot body while walking is also possible. Experimental results showed stabilized images that eliminates the oscillation component are taken even when the robot moves dynamically or in long distance, and verified that the performance of attitude control using the developed image stabilization system is almost same as the case using an attitude sensor.

Language：English   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1023/A:1008988801987

Language：English   Publishing type：Research paper (scientific journal)  

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Several position identification methods are being used for mobile robots. Dead reckoning is a popular method but due to the accumulation error from wheel slippage, reliability is low for the measurement of long distances especially on uneven surfaces. Another popular method is the landmark method, which estimates current position relative to known landmarks, but the landmark method's limitation is that it cannot be used in an uncharted environment. Thus, this paper proposes a new method called "Cooperative Positioning System (CPS)" that is able to overcome these shortcomings. The main concept of CPS is to divide the robots into two groups, A and B respectively, group A remains stationary and acts as a landmark while group B moves and then group B stops and acts as a landmark for group A. This process is repeated until the target position is reached. Compared with dead reckoning, CPS has a far lower accumulation of positioning error, and can also work in three-dimensions. Furthermore, CPS employs inherent landmarks and therefore can be used in uncharted environments unlike the landmark method. In this paper, focus will be on the discussion of the relationship between moving configurations of CPS and its positioning accuracy for the latest prototype CPS model, CPS-III, using simulation and analytical techniques. Optimum moving strategies in order to minimize positioning error are then discussed and verified through experiments.

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Several position identification methods have been used for mobile robots. Dead reckoning is a popular method, but is not reliable for long distances or uneven surfaces because of variations in wheel diameter and slippage. The landmark method, which estimates current position relative to landmarks, cannot be used in an uncharted environment. We have proposed a new method called "Cooperative Positioning System (CPS)." For CPS, we divide the robots into two groups, A and B. One group, A, remains stationary and acts as a landmark while group B moves. Group B then stops and acts as a landmark for group A. This "dance" is repeated until the target position is reached. By using the concept of "portable landmarks", CPS has a far lower accumulation of positioning error than dead reckoning, and can work in three-dimensions which is not possible with dead reckoning. CPS, therefore, can work in uncharted environments. In this paper, we outline a second prototype CPS machine model (CPS-II) and report the results of position identification experiments. Experimental results using this model give a positioning accuracy of 0.4% for position and 1.0 degree for attitude.

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Several position identification methods are being used for mobile robots. Dead reckoning is a popular method but due to the accumulation error from wheel slippage, reliability is low for the measurement of long distances especially on uneven surfaces. Another popular method is the landmark method, which estimates current position relative to known landmarks, but the landmark method's limitation is that it cannot be used in an uncharted environment. Thus, this paper proposes a new method called "Cooperative Positioning System (CPS)" that is able to overcome these shortcomings. The main concept of CPS is to divide the robots into two groups, A and B respectively, group A remains stationary and acts as a landmark while group B moves and then group B stops and acts as a landmark for group A. This process is repeated until the target position is reached. Compared with dead reckoning, CPS has a far lower accumulation of positioning error, and can also work in three-dimensions. Furthermore, CPS has inherent landmarks and therefore can be used in uncharted environments unlike the landmark method. In this paper, focus will be on the discussion of the relationship between moving configurations of CPS and its positioning accuracy for the latest prototype CPS model, CPS-III, using simulation and analytical techniques. Optimum moving strategies in order to minimize positioning error are then discussed and verified through experiments.

Language：English   Publishing type：Research paper (international conference proceedings)  

,

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Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/ROBOT.1992.220182

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：Others  

Institute of Industrial Science,
This paper describes a method for parallel alignment of multiple range images. There are problems of computational time and memory space in aligning a large number of range images simultaneously. We developed a parallel method to address the problems. Searching for corresponding points between two range images is time-consuming and requires considerable memory space when performed independently. However, this process can be preformed in parallel, with each corresponding pair of range images assigned to a node. Because the computation time is approximately proportional to the number of vertices, by assigning the pairs so that the number of vertices computed is equal on each node, the load on each node is effectively distributed. In order to reduce the amount of memory required on each node, a hypergraph that represents the correspondences of range images is created, and heuristic graph partitioning algorithms are applied to determine the optimal assignment of the pairs. Moreover, by rejecting redundant dependencies, it becomes possible to accelerate computation time and reduce the amount of memory required on each node. The method was tested on a 16-processor PC cluster, where it demonstrated high extendibility and improved performance. 1.

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Simultaneous 2D images and 3D geometric model registration for texture mapping utilizing reflectance attribute
Texture mapping on scanned objects, that is, the method to map current color images on a 3D geometric model measured by a range sensor, is a key technique of photometric modeling for virtual reality. Usually range and color images are obtained from different viewing positions, through two independent range and color sensors. Thus, in order to map those color images on the geometric model, it is necessary to determine relative relations between these two viewpoints. In this paper, we propose a new calibration method for the texture mapping; the method utilizes reflectance images and iterative pose estimation based on a robust Mestimator. Moreover, since a 2D texture image taken from one viewing point is a partial view of an object, several images must be mapped onto the object in order to cover the entire 3D geometric model. In this paper, we propose the new simultaneous registration technique of several images and geometric model based on 2D-3D edge correspondence and the epipolar constraint between images. 1

Language：Japanese   Book type：General book, introductory book for general audience

Language：Japanese   Book type：General book, introductory book for general audience

Language：Japanese   Book type：General book, introductory book for general audience

Language：Japanese   Book type：General book, introductory book for general audience