NAIST Robotics Laboratory

Publications

2020

Journals

  • Kento Tariki, Takuya Kiyokawa, Tomoki Nagatani, Jun Takamatsu and Tsukasa Ogasawara: “Generating complex assembly sequences from 3D CAD models considering insertion relations”, Advanced Robotics, vol. 35, no. 6, pp. 337-348, 2021. [ bib | DOI ]

  • Yuya Hakamata, Satoki Tsuichihara, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, and Tsukasa Ogasawara: “Pushing and pulling motion generation for humanoid robots using whole-body momentum control based on analytical inverse kinematics”, Advanced Robotics, vol. 34, no. 21-22, pp. 1442-1454, 2020. [ bib | DOI ]

  • Tetsuya Kurasumi, Sung-Gwi Cho, Ming Ding, Gustavo Alfonso Garcia Ricardez, Masahiro Yoshikawa, Jun Takamatsu and Tsukasa Ogasawara: “Simultaneous Estimation of Upper Limb Pose and Joint Torque Based on Upper Arm Deformation”, IEEE Transactions on Medical Robotics and Bionics, vol. 2, no. 3, pp. 374-381, 2020. [ bib | DOI ]

  • Ming Ding, Mikihisa Nagashima, Sung-Gwi Cho, Jun Takamatsu and Tsukasa Ogasawara: “Control of Walking Assist Exoskeleton With Time-delay Based on the Prediction of Plantar Force”, IEEE Access, vol. 8, pp. 138642-138651, 2020. [ bib | DOI ]

Conferences

  • Hikaru Kumamoto, Naoki Shirakura, Jun Takamatsu and Tsukasa Ogasawara: “Underwater Suction Gripper for Object Manipulation with an Underwater Robot”, Proceedings of the 2021 IEEE International Conference on Mechatronics (ICM2021), Kashiwa, Japan, 2021. [ bib ]

  • Hiroki Katayama, Takuya Kiyokawa, Jun Takamatsu and Tsukasa Ogasawara: “Azimuth Angle Estimation Based on Sound Wave Reflection for Mirrors and Transparent Objects”, Proceedings of the 2021 IEEE/SICE International Symposium on System Integration (SII 2021), TuC2.2, 2021. [ bib ]

  • Naoki Wake, Riku Arakawa, Iori Yanokura, Takuya Kiyokawa, Kazuhiro Sasabuchi, Jun Takamatsu and Katsushi Ikeuchi: “A Learning-From-Observation Framework: One-Shot Robot Teaching for Grasp-Manipulation-Release Household Operations”, Proceedings of the 2021 IEEE/SICE International Symposium on System Integration (SII 2021), WeC3.1, 2021. [ bib ]

  • Akiya Yasuda, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu and Tsukasa Ogasawara: “Packing Planning and Execution Considering Arrangement Rules”, Proceedings of the 2020 IEEE International Conference on Robotic Computing (IRC 2020), pp. 100-106, 2020. [ bib | DOI ]

  • Naoki Shirakura, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu and Tsukasa Ogasawara: “Design of a Reusable Controller for Pushing Unliftable Objects Using a Multicopter”, Proceedings of the 2020 IEEE International Conference on Robotic Computing (IRC 2020), pp. 121-126, 2020. [ bib | DOI ]

  • Naoki Shirakura, Takuya Kiyokawa, Hikaru Kumamoto, Jun Takamatsu and Tsukasa Ogasawara: “Semi-automatic Collection of Marine Debris by Collaborating UAV and UUV”, Proceedings of the 2020 IEEE International Conference on Robotic Computing (IRC 2020), pp. 412-413, 2020. [ bib | DOI ]

  • Akishige Yuguchi, Pattaraporn Tulathum, Mayuki Toyoda, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu and Tsukasa Ogasawara: “Toward Robot-Agnostic Home Appliance Operation: Task Execution Using Motion Primitives and Ontology”, Proceedings of the 17th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (IEEE TOWERS 2020), p. 26, 2020. [ bib ]

  • Tomoko Yui, Tomoki Ishikura, Sung-Gwi Cho, Ming Ding, Jun Takamatsu and Tsukasa Ogasawara: “A Quantitative Measurement of Hand Scaling Motion for Dental Hygienist Training”, Proceedings of the 42nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2020), pp. 6040-6043, 2020. [ bib ]

  • Gustavo Alfonso Garcia Ricardez, Jorge Solis Alfaro, Jun Takamatsu, and Tsukasa Ogasawara: “Dynamics Estimation Using an IMU in Physical Human-Robot Interaction”, presented at the “Unconventional Sensors in Robotics: Perception for Online Learning, Adaptive Behavior and Cognition” Workshop at the IEEE International Conference on Robotics and Automation (ICRA 2020), Paris, France (Virtual Conference), 2020. [ bib ]

Technical Report

Books

  • Gustavo Alfonso Garcia Ricardez, Lotfi El Hafi and Felix von Drigalski: “Standing on giant’s shoulders: Newcomer’s experience from the Amazon Robotics Challenge 2017”, Advances on Robotic Item Picking, pp. 87-100, Springer, 2020. [ bib ]

Dissertations

Doctor

  • Yuya.Hakamata: “Fast Solution of Whole-body Inverse Kinematics and Generation of Target Movement Using Prior Knowledge for Humanoid Robots”, PhD thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2021. [ bib ]
    Keywords: Humanoid robot, whole body motion, pushing motion, pulling motion, ZMP

  • Akishige.Yuguchi: “Eye Behaviors Using an Android Robot for Naturalistic Human-Robot Interaction in Face-to-Face Communication”, PhD thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2021. [ bib ]
    Keywords: Human-robot interaction, nonverbal behaviors, gaze, eyeblink, android robots

  • Takuya.Kiyokawa: “Agile Reconfigurable Robotic Assembly System”, PhD thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2021. [ bib ]
    Keywords: Agile manufacturing, assembly robot, assembly planning, soft robotics, automatic annotation

  • Naoki.Shirakura: “Generating UAV/UUV Motion for Object Manipulation”, PhD thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2021. [ bib ]
    Keywords: Aerial manipulation, cooperative system, mobile robot, pushing motion, simplification

  • Pedro.Uriguen: “Rearranging Tasks by a Robot Using Motion Feasibility and a Monte Carlo Tree Search”, PhD thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2021. [ bib ]
    Keywords: Rearraging task, task planning, symbolic planning, motion planning, manipulation, service robot

Master

  • Tomoki.Ishikura: “Toward an Affective Touch Robot: Elemental Clarification of Gentle Caress”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2021. [ bib ]
    Keywords: Physical human-robot interaction, gentle stroke motion, gentle touch motion, subjective and physiological evaluation, human modeling, robotics

  • Hikaru.Kumamoto: “Underwater Suction Gripper for Object Manipulation with an Underwater Robot”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2021. [ bib ]
    Keywords: Suction gripper, underwater manipulation, underwater robot, pick-and-place, pressure sensing

  • Yuya.Tatsuta: “Manipulation before Grasping Using Spherical Jamming Gripper”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2021. [ bib ]
    Keywords: Soft robotics, jamming gripper, graspless manipulation

  • Kyosuke.Yokota: “Prediction of Walk Timing on Various Terrains and Gaits for Lower-Limb Exoskeleton Control”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2021. [ bib ] Keywords: Motion prediction, plantar force, machine learning, IMU sensor, gait analysis

  • Bunyapon.Usawalertkamol: “Programming Human-Robot Interaction in Retail Stores for Non-Expert Users Using Behavior Trees”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2021. [ bib ]