NAIST Robotics Laboratory

業績リスト

2019年

発表論文

学術論文誌

  • Gustavo Alfonso Garcia Ricardez, Seigo Okada, Nishanth Koganti, Akiya Yasuda, Pedro Miguel Uriguen Eljuri, Tetsuya Sano, Pin-Chu Yang, Lotfi El Hafi, Masaki Yamamoto, Jun Takamatsu, and Tsukasa Ogasawara: “Restock and straightening system for retail automation using compliant and mobile manipulation”, Advanced Robotics, vol. 34, no. 3-4, pp. 235-249, 2020. [ bib | DOI ]

  • Gustavo Alfonso Garcia Ricardez, Nishanth Koganti, Pin-Chu Yang, Seigo Okada, Pedro Miguel Uriguen Eljuri, Akiya Yasuda, Lotfi El Hafi, Masaki Yamamoto, Jun Takamatsu, and Tsukasa Ogasawara: “Adaptive motion generation using imitation learning and highly compliant end effector for autonomous cleaning”, Advanced Robotics, vol. 34, no. 3-4, pp. 189-201, 2020. [ bib | DOI ]

  • Lotfi El Hafi, Shota Isobe, Yoshiki Tabuchi, Yuki Katsumata, Hitoshi Nakamura, Takaaki Fukui, Tadashi Matsuo, Gustavo Alfonso Garcia Ricardez, Masaki Yamamoto, Akira Taniguchi, Yoshinobu Hagiwara, and Tadahiro Taniguchi: “System for augmented human–robot interaction through mixed reality and robot training by non-experts in customer service environments”, Advanced Robotics, vol. 34, no. 3-4, pp. 157-172, 2020. [ bib | DOI ]

  • Masahiro Fujita, Yukiyasu Domae, Akio Noda, Gustavo Alfonso Garcia Ricardez, Tatsuya Nagatani, Andy Zeng, Shun Song, Alberto Rodriguez, Albert Causo, I-Ming Chen, and Tsukasa Ogasawara: “What are the important technologies for bin picking? Technology analysis of robots in competitions based on a set of performance metrics”, Advanced Robotics, pp. 1-15, 2019. [ bib | DOI ]

  • Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, and Tsukasa Ogasawara: “Key Technologies for Collaborative Robots in Front-end Retail Automation”, Journal of the Robotics Society of Japan, vol. 37, no. 10, pp. 934-937, 2019. [ bib ]

  • Hiroto Taniguchi, Naoya Suzuki, Gustavo Alfonso Garcia Ricardez, and Atsutoshi Ikeda: “Quantitative Evaluation of Anemometer Motion Compensation Method using Multiple IMU Sensors”, Journal of Japan Society of Civil Engineers, Ser. B2 (Coastal Engineering), vol. 75, no. 2, pp. I_1303-I_1308, 2019. [ bib | DOI ]

  • Kenichi Iida, Hikaru Kumamoto, Shigeto Nakamura, and Etsuko Ueda: “Mobile Robot for Environmental Measurement in Greenhouse”, Journal of the Institute of Industrial Applications Engineers, vol. 8, no. 1, pp. 33-38, 2020. [ bib | DOI ]

  • Yuto Tsuchiya, Takuya Kiyokawa, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, and Tsukasa Ogasawara: “Pouring from Deformable Containers Based on Tactile Information Using a Dual-Arm Robot”, International Journal of Robotic Computing, vol. 1, no. 2, 2019. [ bib | DOI |link ]

  • 由井 朋子, 内田 眞司, 小坂 洋明, 末瀬 一彦：“歯科衛生士の“口腔内の観察“および“プロービング動作” における視線動態計測の試み”, 日本歯科衛生教育学会雑誌, vol. 10, no. 2, pp. 77-83, 2019. [ bib ]

  • Sung-Gwi Cho, Masahiro Yoshikawa, Ming Ding, Jun Takamatsu, and Tsukasa Ogasawara: “Machine-learning-based hand motion recognition system by measuring forearm deformation with a distance sensor array”, International Journal of Intelligent Robotics and Applications, vol. 3, no. 4, pp. 418-429, 2019. [ bib | DOI ]

  • Takuya Kiyokawa, Keita Tomochika, Jun Takamatsu, and Tsukasa Ogasawara: “Efficient collection and automatic annotation of real-world object images by taking advantage of post-diminished multiple visual markers”, Advanced Robotics, vol. 33, no. 24, pp. 1264-1280, 2019. [ bib | DOI ]

  • 谷口 寛人, 鈴木 直弥, Gustavo Alfonso Garcia Ricardez, 池田 篤俊：“複数のIMUセンサを用いた風速計動揺補正の定量評価”,土木学会論文 集B2(海岸工学), vol.75, no.2, pp. I_1303-I_1308, 2019. [ bib | DOI ]

国際会議

  • Sukkpranhachai Gatesichapakorn, Jun Takamatsu and Miti Ruchanurucks: “ROS based Autonomous Mobile Robot Navigation using 2D LiDAR and RGB-D Camera”, 2019 First International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP), pp. 151-154, 2019. [ bib | DOI ]

  • Hiroto Taniguchi, Naoya Suzuki, Gustavo Alfonso Garcia Ricardez, and Atsutoshi Ikeda: “Rotational motion compensation towards precise wind speed measurement on the sea”, Ocean Sciences Meeting 2020, pp. IS14B-3205AGU, 2020. [ bib ]

  • Kento Tariki, Takuya Kiyokawa, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, and Tsukasa Ogasawara: “3D Model-Based Assembly Sequence Optimization using Insertionable Properties of Parts”, Proceedings of the 2020 IEEE/SICE International Symposium on System Integration(SII2020), pp. 1400-1405, 2020. [ bib ]

  • Masahiro Fujita, Yukiyasu Domae, Ryosuke Kawanishi, Gustavo Alfonso Garcia Ricardez, Kenta Kato, Koji Shiratsuchi, Rintaro Haraguchi, Ryosuke Araki, Hironobu Fujiyoshi, Shuichi Akizuki, Manabu Hashimoto, Albert Causo, Akio Noda, Haruhisa Okuda, and Tsukasa Ogasawara: “Bin-picking Robot using a Multi-gripper Switching Strategy based on Object Sparseness”, 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), pp. 1540-1547, 2019. [ bib | DOI ]

  • Sung-Gwi Cho, Tetsuya Kurasumi, Masahiro Yoshikawa, Ming Ding, Jun Takamatsu, and Tsukasa Ogasawara: “Estimation of Forearm Pose Based on Upper Arm Deformation Using a Deep Neural Network”, Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO2019), pp. 1245-1250, 2019. [ bib ]

  • Kento Tariki, Takuya Kiyokawa, Tomoki Nagatani, Jun Takamatsu, and Tsukasa Ogasawara: “3D Model-Based Non-interference Assembly Sequence Generation for Products with a Large Number of Parts”, Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems (CIS) and Robotics, Automation and Mechatronics (RAM), pp. 167-172, 2019. [ bib ]

  • Tatsuya Sakuma, Elaine Phillips, Gustavo Alfonso Garcia Ricardez, Ming Ding, Jun Takamatsu, and Tsukasa Ogasawara: “A Parallel Gripper with a Universal Fingertip Device Using Optical Sensing and Jamming Transition for Maintaining Stable Grasps”,
    Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 5814-5819, 2019. [ bib ]

  • Tetsuya Sano, Akishige Yuguchi, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, Atsushi Nakazawa, and Tsukasa Ogasawara: ““Evaluating Imitation of Human Eye Contact and Blinking Behavior Using an Android for Human-like Communication”, Proceedings of the 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2019), pp. 1-6, New Delhi, India, 2019. [ bib ]

  • Akishige Yuguchi, Tomoaki Inoue, Gustavo Alfonso Garcia Ricardez, Ming Ding, Jun Takamatsu, and Tsukasa Ogasawara: ““Real-Time Gazed Object Identification with a Variable Point of View Using a Mobile Service Robot”, Proceedings of the 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2019), pp. 1-6, New Delhi, India, 2019. [ bib ]

  • Tetsuya Kurasumi, Sung-Gwi Cho, Ming Ding, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, and Tsukasa Ogasawara: “Simultaneous Estimation of Elbow Joint Angle and Load Based on Upper Arm Deformation”, Proceedings of the 2019 IEEE International Conference on Cyborg and Bionic Systems (CBS 2019), pp. 136-141, 2019. [ bib ]

  • Mikihisa Nagashima, Sung-Gwi Cho, Ming Ding, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, and Tsukasa Ogasawara: “ Prediction of Plantar Forces During Gait Using Wearable Sensors and Deep Neural Networks”, Proceedings of 41th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2019), pp. 3629-3632, 2019. [ bib ]

  • Kiyu Nishida, Akishige Yuguchi, Kazuhiro Jo, Paul Modler and Markus Noisternig: “ Border: A Live Performance Based on Web AR and a Gesture-Controlled Virtual Instrument”, Proceedings of the 19th International Conference on New Interfaces for Musical Expression (NIME 2019), pp. 43-46, Porto Alegre, Brazil, 2019. [ bib ]

  • Takuya Kiyokawa, Keita Tomochika, Jun Takamatsu, and Tsukasa Ogasawara: “ Fully Automated Annotation with Noise-Masked Visual Markers for Deep-Learning-Based Object Detection”, Proceedings of the 2019 IEEE International Conference on Robotics and Automation (ICRA 2019), Montreal, Canada, 2019. [ bib ]

  • Feiran Li, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, and Tsukasa Ogasawara : “ Adaptive Bingham Distribution Based Filter for SE(3) Estimation”, Proceedings of the 2019 IEEE International Conference on Robotics and Automation (ICRA 2019), Montreal, Canada, 2019. [ bib ]

研究会/全国大会

  • 白倉 尚貴, 熊本 光, 清川 拓哉, 清水 拓海, 高松 淳, 小笠原 司：“水中ドローンによるティーチングプレイバックを用いた浮遊物の半自動回収システム”, 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）, 3C5-10, 2019. [ bib ]

  • 清川 拓哉, 友近 圭汰, 高松 淳, 小笠原 司：“ハンドアイカメラ搭載のマニピュレータと回転ステージを用いた陳列商品検出用の学習データセットの自動収集システム”, 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）, 1C5-03, 2019. [ bib ]

  • 片山 寛基, 清川 拓哉, 高松 淳, 小笠原司：“ 音波の周波数による反射特性の変化を用いた物体面の法線方向推定の可能性の検証”, 第37回日本ロボット学会学術講演会（RSJ2019）, 2I2-03, 2019. [ bib ]

  • 清川 拓哉, 高松 淳, 笹渕 一宏, 小笠原 司, 池内克史：“視覚マーカを貼付した物体の観察による回転関節のパラメータ推定”, 第37回日本ロボット学会学術講演会（RSJ2019）, 3E2-03, 2019. [ bib ]

  • 高松 淳, 豊島 健太, 佐野 哲也, 湯口 彰重, ガルシア リカルデス グスタボ アルフォンソ [GARCIA RICARDEZ Gustavo Alfonso], 丁 明, 小笠原 司：“ ロボットによる見る・触れる動作の模倣とそれを通じた評価”, 第37回日本ロボット学会学術講演会（RSJ2019）, 1N3-05, 2019. [ bib ]

  • 田力 健人, 清川 拓哉, 永谷 智貴, 高松 淳, 小笠原 司：“ 部品の3次元モデルのみを用いた部品数の多い製品に対する組立順序の最適化”, 第37回日本ロボット学会学術講演会（RSJ2019）, 3I1-04, 2019. [ bib ]

  • 趙崇 貴, 倉角 哲也, 吉川 雅博, 丁 明, 高松 淳, 小笠原司：“ 深層学習を用いた上腕形状変化に基づく肘と前腕の関節角度推定”, 第37回日本ロボット学会学術講演会（RSJ2019）, 1N2-02, 2019. [ bib ]

  • 倉角 哲也, 趙 崇貴, 丁 明, Gustavo Alfonso Garcia Ricardez, 高松 淳, 小笠原 司：“ 上肢動作推定のための上腕形状計測可能な距離センサアレイの開発”, ロボティクス・メカトロニクス講演会2019, 2P1-N06, 2019. [ bib ]

  • 高松 淳, 世良 京太, 山崎 亘, 小笠原 司, 吉村 和昭, 小林 謙一, 奥山 誠義：“ 測地線距離を用いた平面展開による古墳時代の甲冑の形状比較”, 日本文化財科学会第36回大会, pp. 84-85, 2019. [ bib ]

Technical Report

解説・総説

  • 高松 淳：“ヒトとロボットの協調,” 日本ロボット学会誌, vol. 37, no. 4, pp. 293-296, 2019. [ bib ]

受賞

  • 清川 拓哉, 高松 淳, 小笠原 司：“小型ロボットを用いた物体認識用のデータセットを素早く収集する技術,”IIFES2019大学・高専テクニカルアカデミー研究発表特別賞, 2019.
  • 清川 拓哉：“認識AIを迅速に賢くするフレームワーク,” 2018年度未踏ＩＴ人材発掘・育成事業の「スーパークリエータ」に認定, 2019.

学位論文

博士論文

  • Sung-Gwi.Cho: “Estimation of Upper Limb Motion Based on Skin Deformation Measured with a Distance Sensor Array”, PhD thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2020. [ bib ]
    Keywords: Skin deformation, distance sensor array, motion estimation/recognition, machine learning, human-machine interface

修士論文

  • Li.Feiran: “Towards Precise Point Cloud based 3D Reconstruction: from Multi-view Inpainting to Online Pose Estimation”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2020. [ bib ]
    Keywords: RGB-D images, multi-view impainting, pose estimation, bingham distribution

  • Hiroki.Katayama: “Estimating Azimuth Angle of Transparent and Mirror Plates Based on Reflected Sound Property in Frequency Domain”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2020. [ bib ]
    Keywords: Object shape recoginition, transparent object recognition, support vector regression, plane wave

  • Tetsuya.Kurasumi: “Estimation of Upper Lim Pose and Joint Torque Based on Upper Arm Deformation Measured with a Distance Sensor Array”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2020. [ bib ]
    Keywords: Upper arm deformation, distance sensor array, upper limb pose, joint torque, machine learning

  • Kento.Tariki: “3D Model-Based Assembly Sequence Optimization Considering Interference and Insertionable Properties of Parts”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2020. [ bib ]
    Keywords: Assembly sequence, assembly optimization, interference-free matrix, CAD model, insertion conditions

  • Mikihisa.Nagashima: “Lower-Limb Exoskeleton Control without Delay Based on Plantar Force Prediction”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2020. [ bib ]
    Keywords: Motion prediction, plantar force, machine learning, exoskeleton, IMU sensor

  • Tomoki.Nagatani: “Observation of Humans around the Robot Arm under Human Collaborative Work Environment Using Global Images”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2020. [ bib ]
    Keywords: Human robot interaction, robot vision, blind area, spherical image

  • Tomoko.Yui: “Quantification and Evaluation of Technical Skills of Dental Hygienists in Hand Scaling”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2020. [ bib ]
    Keywords: Motion measurement, inertial sensor, force sensor, dental hygienist, dental hand scaling

  • Pattaraporn.Tulathum: “Estimation of Fingertip Vibration when Touching Materials Considering Individuality”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2020. [ bib ]
    Keywords: Haptic information, deep learning network, signal processing, skin vibration, material vibration

  • Ziyu.Wang: “Quaternion Based Adaptive Kalman Filter for Online Extrinsic Parameter Estimation of Multiple RGB-D Cameras”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2020. [ bib ]
    Keywords: Pose estimation, kalman filter, adaptive filter, quaternion metric, RGB-D images