NAIST Robotics Laboratory

Publications

2023

Journals

Tomoki Ishikura, Yuki Kitamura, Wataru Sato, Jun Takamatsu, Akishige Yuguchi, Sung-Gwo Cho, Ming Ding, Sakiko Yoshikawa, and Tsukasa Ogasawara: “Pleasant Stroke Touch on Human Back by a Human and a Robot”, Sensors, vol. 23, issue. 3, no. 1136, pp. 1-11, 2023. [ bib | DOI ]

Conferences

Technical Report

Books

Awards

2022

Journals

Tomoko Yui, Sung-Gwi Cho, Yuki Sato, Yasuaki Orita, Ming Ding, Jun Takamatsu, Takahiro Wada, and Tsukasa Ogasawara: “Evaluation of Hand-Scaling Skills of Dental Hygienist Students: Identification of Contact Between Hand-Scaler Blade Tip and Tooth Surface”, IEEE Access, vol. 10, pp. 120640-120649, 2022. [ bib | DOI ]
Akishige Yuguchi, Takumi Nakamura, Mayuki Toyoda, Masayuki Yamada, Pattaraporn Tulathum, Mael Aubert, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu and Tsukasa Ogasawara: “Toward robot-agnostic home appliance operation: a task execution framework using motion primitives, ontology, and GUI”, Advanced Robotics, vol. 36, no. 11, pp. 548-565, 2022. [ bib | DOI ]
Taishi Sawabe, Suguru Honda, Wataru Sato, Tomoki Ishikura, Masayuki Kanbara, Sakiko Yoshikawa, Yuichiro Fujimoto and Kato, Hirokazu: “Robot touch with speech boosts positive emotions”, Scientific Reports, vol. 12, no. 1, 2022. [ bib | DOI ]

Conferences

Tatsuya Sakuma, Takuya Kiyokawa, Jun Takamatsu, Takahiro Wada, and Tsukasa Ogasawara: “ Soft-Jig: A Flexible Sensing Jig for Simultaneously Fixing and Estimating Orientation of Assembly Parts”, Proceedings of the 2022 IEEE International Conference on Robotics and Automation (ICRA 2022), pp. 10945-10950, 2022. [ bib | DOI ]

Technical Report

Books

Awards

2021

Journals

Takuya Kiyokawa, Hiroki Katayama, Yuya Tatsuta, Jun Takamatsu, and Tsukasa Ogasawara: “ Robotic Waste Sorter with Agile Manipulation and Quickly Trainable Detector”, IEEE Access, vol. 9, pp. 124616-124631, 2021. [ bib | DOI ]
Akishige Yuguchi, Tetsuya Sano, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, Atsushi Nakazawa and Tsukasa Ogasawara: “Evaluating imitation and rule-based behaviors of eye contact and blinking using an android for conversation”, Advanced Robotics, vol. 35, no. 15, pp. 907-918, 2021. [ bib | DOI ]
Pedro Miguel Uriguen Eljuri, Gustavo Alfonso Garcia Ricardez, Nishanth Koganti, Jun Takamatsu and Tsukasa Ogasawara: “Combining a Monte Carlo Tree Search and a Feasibility Database to Plan and Execute Rearranging Tasks”, IEEE Access, vol. 9, pp. 21721-21734, 2021. [ bib | DOI ]
Naoki Shirakura, Takuya Kiyokawa, Hikaru Kumamoto, Jun Takamatsu and Tsukasa Ogasawara: “Collection of Marine Debris by Jointly Using UAV-UUV with GUI for Simple Operation”, IEEE Access, vol. 9, pp. 67432-67443, 2021. [ bib | DOI ]

Conferences

Sung-Gwi Cho and Mayuki Toyoda and Ming Ding and Jun Takamatsu and Chiaki Yokota and Tsukasa Ogasawara: “ Analysis of Skin Deformation Differences on the Upper Arm Between Active and Passive Movements During Elbow Flexion and Extension”,
Proceedings of the 43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2021), pp. 6187-6191, 2021. [ bib ]
Takuya Kiyokawa, Jun Takamatsu and Tsukasa Ogasawara: “ Assembly Sequences Based on Multiple Criteria Against Products with Deformable Parts”, 2021 IEEE International Conference on Robotics and Automation (ICRA2021), pp. 975-981, 2021. [ bib | DOI ]
Takuya Kiyokawa, Tatsuya Sakuma, Jun Takamatsu and Tsukasa Ogasawara: “ Soft-Jig-Driven Assembly Operations”, 2021 IEEE International Conference on Robotics and Automation (ICRA2021), pp. 3466-3472, 2021. [ bib | DOI ]

Awards

Takuya Kiyokawa, Tatsuya Sakuma, Jun Takamatsu, and Tsukasa Ogasawara: “2021 IEEE Robotics and Automation Society Japan Joint Chapter Young Award” at the Proceedings of the IEEE International Conference on Robotics and Automation (ICRA2021), May 30 - June 6, 2021.

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 ]

2019

Journals

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 ]
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 ]

Conferences

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 ]

Dissertations

Doctor

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

Master

Feiran.Li: “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

2018

Journals

Takuya Kiyokawa, Keita Tomochika, Jun Takamatsu, and Tsukasa Ogasawara: “Fully Automated Annotation with Noise-Masked Visual Markers for Deep-Learning-Based Object Detection”, IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 1972-1977, 2019. [ bib | DOI ]
Satoki Tsuichihara, Yuya Hakamata, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, and Tsukasa Ogasawara: “Real-time whole-body motion generation using torso posture regression and center of mass”, ROBOMECH Journal, vol. 5, no. 8, pp.1-13, 2018. [ bib ]

Conferences

S.Gatesichapakorn, J.Takamatsu and M.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 ]
Gustavo Alfonso Garcia Ricardez, Solis Jorge, Jun Takamatsu, and Tsukasa Ogasawara: “Quantitative Comfort Evaluation of Eating Assistive Devices based on Human Effort Estimation using an Accelerometer”, 14th Annual ACM/IEEE International Conference on Human Robot Interaction, 2019. [ bib ]
Takumi Nakamura, Akishige Yuguchi, Aubert Maël, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, and Tsukasa Ogasawara: “Ontology Generation Using GUI and Simulation for Service Robots to Operate Home Appliances”, Proceedings of the 2019 IEEE International Conference on Robotic Computing (IRC 2019), pp. 315-320, Naples, Italy, 2019. [ bib ]
Yuto Tsuchiya, Takuya Kiyokawa, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, and Tsukasa Ogasawara: “Pouring from Deformable Containers using Dual-Arm Manipulation and Tactile Sensing”, Proceedings of the 2019 IEEE International Conference on Robotic Computing (IRC 2019), pp. 357-362, Naples, Italy, 2019. [ bib ]
Takuya Kiyokawa, Ming Ding, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, and Tsukasa Ogasawara: “Generation of a Tactile-Based Pouring Motion Using Fingertip Force Sensors,” Proceedings of the 2019 IEEE/SICE International Symposium on System Integrations (SII 2019), pp. 669-674, Paris, France, 2019. [ bib ]
Gustavo Alfonso Garcia Ricardez, Atsushi Ito, Ming Ding, Masahiro Yoshikawa, Jun Takamatsu, Yoshio Matsumoto and Tsukasa Ogasawara: “Wearable Device to Record Hand Motions based on EMG and Visual Information,” Proceedings of the 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA 2018), pp. 323-328, Oulu, Finland, 2018. [ bib ]
Sung-Gwi Cho, Masahiro Yoshikawa, Ming Ding, Jun Takamatsu, and Tsukasa Ogasawara: “Estimation of Hand Motion Based on Forearm Deformation,” 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 2291-2296, 2018. [ bib ]
Yang Wu, Jie Qiu, Jun Takamatsu, and Tsukasa Ogasawara: “Temporal-Enhanced Convolutional Network for Person Re-identification”, The Thirty-Second AAAI Conference on Artificial Intelligence (AAAI-18), pp. 7412-7419, 2018. [ bib ]
Daiki Yoshioka, Ming Ding, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, and Tsukasa Ogasawara: “Scoop the Semi-Liquid Objects Using a Spoon-Equipped Robot Arm for Meal Support”, ASME Dynamic Systems and Control Conference (DSCC), Atlanta, GE, USA, 2018. [ bib ]
Tatsuya Sakuma, Felix von Drigalski, Ming Ding, Jun Takamatsu, and Tsukasa Ogasawara: “A Universal Gripper Using Optical Sensing to Acquire Tactile Information and Membrane Deformation”, Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 6431-6436, 2018. [ bib ]
Feiran Li, Ming Ding, Jun Takamatsu, and Tsukasa Ogasawara: “Static 3D Map Reconstruction based on Image Semantic Segmentation”, Proceedings of the 15th International Conference on Ubiquitous RobotsIEEE, 2018. [ bib ]
Feiran Li, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, and Tsukasa Ogasawara: “Multi-View Inpainting for RGB-D Sequence”, Proceedings of the 2018 International Conference on 3D Vision (3DV)IEEE, 2018. [ bib ]
Gustavo Alfonso Garcia Ricardez, Jorge Solis Alfaro, Jun Takamatsu, and Tsukasa Ogasawara: “Quantitative Comfort Evaluation of Eating Assistive Devices based on Interaction Forces Estimation using an Accelerometer”, Proceedings of the 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2018), pp. 909-914, Nanjing, China, 2018. [ bib ]
Felix Von Drigalski, Ming Ding, Jun Takamatsu, and Tsukasa Ogasawara: “Textile identification using robotic fingers”, Proceedings of Textile Research Symposium, p 6, 2018. [ bib ]
Ming Ding, Ryuzo Baba, Kristada Masanthia, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, and Tsukasa Ogasawara: “Estimation of the Operating Force from the Human Motion”, the 40th International Engineering in Medicine and Biology Conference, pp. 1751-1754, Honolulu, Hawaii, USA, 2018. [ bib ]
Masahiro Iwamoto, Akishige Yuguchi, Masahiro Yoshikawa, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, and Tsukasa Ogasawara: “Human-like Subconscious Behaviors for an Android When Telling a Lie”, Proceedings of the 27th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2018), pp. 390-395, Nanjing, China, 2018. [ bib ]
Kenta Toyoshima, Ming Ding, Jun Takamatsu, and Tsukasa Ogasawara: “What is Required for a Robot to Gently Stroke a Human using its Hand”, Proceedings of ICRA2018 Workshop on Elderly Care Robotics Technology and Ethics, 2018. [ bib | http ]

Technical Report

Books

Awards

NAIST-RITS-Panasonic : “SICE Award for Future Convenience Store Challenge”, World Rodot Summit (WRS2018), Tokyo, Japan, 2018.
NAIST-RITS-Panasonic : “1st place of NEDO Chairman’s Award for Excellence in WRS”, World Rodot Summit (WRS2018), Tokyo, Japan, 2018.
Tatsuya Sakuma, Felix von Drigalski, Ming Ding, Jun Takamatsu, and Tsukasa Ogasawara: “2018 IEEE Robotics and Automation Society Japan Joint Chapter Young Award” at the Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS2018), Madrid, Spain, October, 1-5, 2018.

Dissertations

Doctor

Master

Akiya.Yasuda: “Robotic Container Loading Considering the Physical Characteristics and Relative Placement of Objects”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2019. [ bib ]
Keywords: Bin packing, manipulation, box loading
Keita.Sera: “Shape comparison of the Kofun Period armors by Plane-Expansion using geodesic distance”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2019. [ bib ]
Keywords: Kofun Period, armor comparison, 3-dimensional measurement, geodesic distance, multidimensional scaling, ICP algorithm
Makoto.Ikawa: “Generation of Appealing Pointing Behavior for an Android Robot and its Impression on Subjects from Different Age-Gender Groups”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2019. [ bib ]
Keywords: likeability, human-robot, interaction, pointing behavior, android robot, motion generation
Ryo.Sato: “Detection of Partially Occluded Flowers for Robotic Pollination”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2019. [ bib ]
Keywords: Automation, Agriculture, Robotic Pollination, Semantic Segmentation, Data Augmentation
Shori.Kinoshita: “Measurement and Quantitative Evaluation of Rowing Motion using IMU and Distance Sensor”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2019. [ bib ]
Keywords: Boat, Rowing, Quantification of proficiency, IMU sensor, Distance sensor
Takuya.Higuchi: “Estimation of Whole Body Walking Motion with IMU Sensors Based on Deep Neural Network”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2019. [ bib ]
Keywords: human motion, convolutional auto encoder, motion estimation, wearable sensor
Takumi.Nakamura: “Ontology Generation Using GUI and Simulation for Robots to Operate Home Appliances”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2019. [ bib ]
Keywords: Ontology, Home appliance operation, Service robot, Household robot, GUI
Tatsuya.Sakuma: “Universal Grasping Mechanism with Tactile Sensing Based on Jamming Transition and Optical Sensing”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2019. [ bib ]
Keywords: Soft Material Robotics, Sensors, Mechanism Design, Grippers, Sensor-based Control
Tetsuya.Sano: “Imitation of Human Gaze Behaviors in an Android and Effects of Gaze and Blinking in Eye Contact”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2019. [ bib ]
Keywords: android, gaze, eye contact, blinking, observation, imitation
Yuki.Kitamura: “Development of Flexible Hand with Temperature Controller and Passive Mechanism for Touch Care Robot”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2019. [ bib ]
Keywords: touch care robot, robot hand, temperature controller, anthropomorphic
Yuto.Tsuchiya: “Pouring Motion From Deformable Containers Based on Tactile Information Using a Dual-Arm Robot”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2019. [ bib ]
Keywords: Deformable object, pouring motion, dual-arm robot, deformable manipulation, grasping strategy
Jie. Qui: “Towards Robustness against Pose Variances:Pose Guided Image Generation for Person Re-identification”, Master’s thesis, Nara Institute of Science and Technology (NAIST), 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, 2018. [ bib ]
Keywords: Generative Adversirial Networks(GANs),Image Generation,Person Re-identification