Updated on 2025/09/30

写真a

 
MAE,Yasushi
 
Organization
Faculty of Engineering Science Professor
Title
Professor
External link

Degree

  • - ( Osaka University )

Research Interests

  • Robot vision

  • Intelligent robot

  • ロボットビジョン

  • 知能ロボット

Research Areas

  • Informatics / Mechanics and mechatronics

  • Informatics / Robotics and intelligent system

  • Informatics / Perceptual information processing

  • Informatics / Intelligent robotics

Education

  • Osaka University   Graduate School, Division of Engineering

    - 1998

      More details

  • Osaka University

    - 1998

      More details

    Country: Japan

    researchmap

  • Osaka University   Faculty of Engineering

    - 1993

      More details

  • Osaka University   School of Engineering

    - 1993

      More details

    Country: Japan

    researchmap

Professional Memberships

▼display all

Papers

  • Proposal for Navigation System Using Three-Dimensional Maps—Self-Localization Using a 3D Map and Slope Detection Using a 2D Laser Range Finder and 3D Map

    Neng Chen, Shinichiro Suga, Masato Suzuki, Tomokazu Takahashi, Yasushi Mae, Yasuhiko Arai, Seiji Aoyagi

    Journal of Robotics and Mechatronics   35 ( 6 )   1604 - 1614   2023.12

     More details

    Publishing type:Research paper (scientific journal)   Publisher:Fuji Technology Press Ltd.  

    Many teams participating in robotic competitions achieve localization using a 2D map plotted using adaptive Monte Carlo localization, a robot operating system (ROS) open-source software program. However, outdoor environments often include nonlevel terrain such as slopes. In the indoor environment of multilevel structures, the data representing different levels overlap on the map. These factors can lead to localization failures. To resolve this problem, we develop a software by combining HDL localization, which is an ROS open-source software, with our own program, and use it to achieve localization based on a 3D map. Furthermore, the authors observe the erroneous recognition of a slope as a forward obstacle during a competition event. To resolve this, we propose a method to correct erroneous recognition of obstacles using a 2D laser range finder and 3D map and confirm its validity in an experiment carried out on a slope on a university campus.

    DOI: 10.20965/jrm.2023.p1604

    researchmap

  • Automated Microhand System for Measuring Cell Stiffness By Using Two Plate End-Effectors

    Masahiro Kawakami, Masaru Kojima, Yuma Masuda, Yasushi Mae, Takato Horii, Takayuki Nagai, Masaki Nakahata, Shinji Sakai, Tatsuo Arai

    IEEE Robotics and Automation Letters   7 ( 2 )   2385 - 2390   2022.4

     More details

    Publishing type:Research paper (scientific journal)  

    DOI: 10.1109/LRA.2022.3143296

    Scopus

    researchmap

  • Development of a multimodal stimulus measurement system for evaluation of cellular response based on microhand

    KOJIMA Masaru, KOSHIDE Kazuma, MAE Yasushi, ARAI Tatsuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2022   2P2-Q10   2022

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    In recent years, with the development of the life science field, there has been an increasing demand for the measurement of the properties of cells and tissues. In particular, various techniques have been proposed to measure the response of specific cells to various external stimuli, in order to realize unprecedented analysis. In our laboratory, we are developing a small microhand system that can approach cells with dexterity and speed. Furthermore, we have been developing a new end-effector based on this microhand technology to extend the system to various stimuli such as chemical and temperature stimuli as well as force stimuli. In this paper, we report on the development and evaluation of a micro hand end-effector for multimodal stimulation such as local chemical stimulation as well as force stimulation.

    DOI: 10.1299/jsmermd.2022.2p2-q10

    researchmap

  • Evaluation of mechanical stimulus loading and response of a large number of cells using microfluidic channels

    KOJIMA Masaru, TOTANI Masahiro, HORADE Mitsuhiro, MAE Yasushi, OGURA Toshihiko, ARAI Tatsuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2022   2P2-Q09   2022

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    In this paper, we proposed and evaluated a simple and effective microfluidic device to load mechanical stimuli to a large number of cells to investigate the correlation between gene expression and cell morphological changes. Firstly, we fabricated a microfluidic device using MEMS technology to apply a mechanical stimulus (compressive force) to cells. In particular, we modified the device to be able to collect a large number of cells for gene expression analysis. In our experiments, we achieved the compression of cells and cell nuclei. Furthermore, the deformation of each cell and cell nucleus could be accurately observed and a large number of cells could be collected for gene expression assays. Gene expression analysis of the recovered cells revealed that the induction of several characteristic genes occurred.

    DOI: 10.1299/jsmermd.2022.2p2-q09

    researchmap

  • Object segmentation in cluttered environment based on gaze tracing and gaze blinking

    Photchara Ratsamee, Yasushi Mae, Kazuto Kamiyama, Mitsuhiro Horade, Masaru Kojima, Tatsuo Arai

    ROBOMECH Journal   8 ( 1 )   2021.12

     More details

    Publishing type:Research paper (scientific journal)  

    DOI: 10.1186/s40648-021-00214-4

    Scopus

    researchmap

  • 人間がロボット視点で移動ロボットを操作する際のアイトラッキングデータの収集 Reviewed

    福田優人, 高橋智一, 鈴木昌人, 前泰志, 新井泰彦, 青柳誠司

    39 ( 8 )   751 - 754   2021.10

     More details

  • Real-Time Prediction of Future 3D Pose of Person Using RGB-D Camera for Personalized Services

    Yasushi Mae, Akihisa Nagata, Kaori Tsunoda, Tomokazu Takahashi, Masato Suzuki, Yasuhiko Arai, Seiji Aoyagi

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   12836   853 - 861   2021

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:Springer Science and Business Media Deutschland GmbH  

    DOI: 10.1007/978-3-030-84522-3_69

    Scopus

    researchmap

  • Proposal of Robot Software Platform with High Sustainability Reviewed

    Masahito Fukuda, Tomokazu Takahashi, Masato Suzuki, Yasushi Mae, Yasuhiko Arai, Seiji Aoyagi

    32 ( 6 )   1219 - 1228   2020.12

     More details

  • Garbage Detection Using YOLOv3 in Nakanoshima Challenge Reviewed

    Jingwei Xue, Zehao Li, Masahito Fukuda, Tomokazu Takahashi, Masato Suzuki, Yasushi Mae, Yasuhiko Arai, Seiji Aoyagi

    32 ( 6 )   1219 - 1228   2020.12

     More details

  • High-Speed Manipulation of Microobjects Using an Automated Two-Fingered Microhand for 3D Microassembly Reviewed

    Eunhye Kim, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    micromachines   Vol.11   2020.1

     More details

  • Evaluation of Local Environment Chemical Stimulation System for Cellular Analysis

    Masaru Kojima, Keita Sera, Yasushi Mae, Tatsuo Arai

    2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018   93 - 96   2019.1

     More details

    Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/CBS.2018.8612245

    Scopus

    researchmap

  • Multifunctional Noncontact Micromanipulation Using Whirling Flow Generated by Vibrating a Single Piezo Actuator Reviewed

    Xiaoming Liu, Yuqing Lin, Masaru Kojima, Yasushi Mae, Toshio Fukuda, Qiang Huang, Tatsuo Arai

    small   Vol.15, issue 5   2019.1

     More details

  • Energy-efficient narrow wall climbing of six-legged robot Reviewed

    zuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    ROBOMECH Journal   5 ( 26 )   1 - 10   2018.9

     More details

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

    researchmap

  • Hydrodynamic tweezers: Trapping and transportation in microscale using vortex induced by oscillation of a single piezoelectric actuator Reviewed

    Xiaoming Liu, Qing Shi, Yuqing Lin, Masaru Kojima, Yasushi Mae, Qiang Huang, Toshio Fukuda, Tatsuo Arai

    Sensors (Switzerland)   18 ( 7 )   2018.7

     More details

    Language:English   Publishing type:Research paper (scientific journal)   Publisher:MDPI AG  

    DOI: 10.3390/s18072002

    Scopus

    PubMed

    researchmap

  • Transfer Motion on Planar Structure of Limb-mechanism Robot Equipped with Electromagnets Reviewed

    Genki Sato, Yasushi Mae, Masaru Kojima, Tatsuo Arai

    International Symposium on Flexible Automation   2018.7

     More details

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

    researchmap

  • Real-Time 3D Measurement System for Micro-manipulation Reviewed

    Kenichi Ohara, Shota Takagi, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    International Journal of Mechatronics and Automation   Vol.6, No.4, pp.183-189   2018.5

     More details

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

    researchmap

  • Vortex-Driven Rotation for Three-Dimensional Imaging under Microscopy Reviewed

    Xiaoming Liu, Qing Shi, Yuqing Lin, Masaru Kojima, Yasushi Mae, Qiang Huang, Toshio Fukuda, Tatsuo Arai

    IEEE Transactions on Nanotechnology   17 ( 4 )   688 - 691   2018.3

     More details

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

    DOI: 10.1109/TNANO.2018.2811958

    Scopus

    researchmap

  • High-Speed Active Release End-Effector Motions for Precise Positioning of Adhered Micro-Objects Reviewed

    Eunhye Kim, Masaru Kojima, Kazuto Kamiyama, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    World Journal of Engineering and Technology   2018.2

     More details

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

    DOI: 10.4236/wjet.2018.61005

    researchmap

  • Analysis of rotational flow generated by circular motion of an end effector for 3D micromanipulation Reviewed

    Eunhye Kim, Masaru Kojima, Liu Xiaoming, Takayuki Hattori, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    ROBOMECH Journal   4 ( 1 )   2017.12

     More details

    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Springer International Publishing  

    DOI: 10.1186/s40648-017-0074-6

    Scopus

    researchmap

  • Microfluidic Device for Applying a Mechanical Stimulus to a Large Number of Cellular Nuclei Reviewed

    Masahiro Totani, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Toshihiko Ogura, Makoto Kaneko, Tatsuo Arai

    211   2017.12

     More details

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

    DOI: 10.1109/MHS.2017.8305260

    researchmap

  • Direct teleoperation system of multi-limbed robot for moving on complicated environments. Reviewed

    Yasushi Mae, Toshihiko Inoue, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Tatsuo Arai

    2017 IEEE International Conference on Robotics and Biomimetics(ROBIO)   1171 - 1174   2017.12

     More details

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

    DOI: 10.1109/ROBIO.2017.8324576

    researchmap

    Other Link: https://dblp.uni-trier.de/db/conf/robio/robio2017.html#MaeIKKHA17

  • Improvement of 3D Reconstruction Image by Confocal Microscope with the Cell Rotated Reviewed

    Yuma Takeuchi, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    214   2017.12

     More details

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

    DOI: 10.1109/MHS.2017.8305263

    researchmap

  • パーソナライズドサービスのための環境知能化 Reviewed

    前泰志, Christian Penaloza, 小嶋勝, 新井 健生

    0000 - 0875   2017.10

     More details

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

    researchmap

  • Fluidic channel device for generating tubular structure in situ delivering nutrients Reviewed

    Tanoshi Kihara, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    Proceedings of the 2017 IEEE International Conference on Cyborg and Bionic Systems   60 - 63   2017.10

     More details

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

    DOI: 10.1109/CBS.2017.8266067

    researchmap

  • Development of micro heater array system for cell manipulation Reviewed

    Masaru Kojima, Mitsuhiro Horade, Suguru Takata, Sota Nakadai, Yasushi Mae, Tatsuo Arai

    Proceedings of the 2017 IEEE International Conference on Cyborg and Bionic Systems   68 - 72   2017.10

     More details

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

    DOI: 10.1109/CBS.2017.8266069

    researchmap

    Other Link: https://dblp.uni-trier.de/db/conf/cbs/cbs2017.html#KojimaHTNMA17

  • Development of the 3D measurement system in real-time for micro-manipulation Reviewed

    Kenichi Ohara, Masaru Kojima, Shota Takagi, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017   2022 - 2027   2017.8

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:Institute of Electrical and Electronics Engineers Inc.  

    Construction of an activated three-dimensional (3D) tissue at outside of the human body is desired, and expectations about the micro-manipulation to construct a 3D organization is growing. Although an object is usually observed using an optical microscope in the micro-manipulation, it is difficult to obtain the depth information of the object only from the visual information obtained via a microscope, so the micro-manipulation requires hard practice. In order to develop a measurement system for depth information aiming at micro-manipulation support, a system that can measure 3D information in real time is indispensable. This paper reports an improvement in the speed of 3D information measurement in a microhabitat, which would eventually lead to the easy micromanipulation and construction of 3D cellular organization.

    DOI: 10.1109/ICMA.2017.8016129

    Scopus

    researchmap

  • Non-contact transportation and rotation of micro objects by vibrating glass needle circularly under water Reviewed

    Xiaoming Liu, Masaru Kojima, Qing Shi, Huaping Wang, Tao Sun, Yasushi Mae, Qiang Huang, Tatsuo Arai, Toshio Fukuda

    Proceedings - IEEE International Conference on Robotics and Automation   5996 - 6001   2017.7

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:Institute of Electrical and Electronics Engineers Inc.  

    DOI: 10.1109/ICRA.2017.7989708

    Scopus

    researchmap

  • Releasing of Micro-Objects based on Local Stream Generation by High-Speed Motion of End Effector Reviewed

    Eunhye Kim, Masaru Kojima, Kazuto Kamiyama, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    International Journal of Mechatronics and Automation   5 ( 4 )   171 - 179   2017.5

     More details

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

    DOI: 10.1504/IJMA.2016.10005153

    researchmap

  • Automatic Single-Cell Transfer Module

    Huseyin Uvet, Akiyuki Hasegawa, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Biologically Inspired: Robotics   125 - 145   2017.1

     More details

    Publishing type:Part of collection (book)  

    DOI: 10.1201/b11365-7

    Scopus

    researchmap

  • Three-dimensional automated manipulation by using high-speed micro-hand

    Eunhye Kim, TANAKA Taisei, KOJIMA Masaru, MAE Yasushi, ARAI Tatsuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017   2A1 - F05   2017

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    <p>Recently, many experiments about a single cell and multicellular spheroid are carried out in medical and biological fields, and researches on manipulation techniques of single cell and spheroids are actively examined. In such experiments, it is frequently difficult to manually operate, and in order to improve the experimental efficiency, manipulation has been demanded to speed up and stabilize. From such circumstance, cell manipulation support systems using robotics have been actively carried out. We developed a two-fingered micro-hand, which realize support to operation of micro objects and enhance operation efficiency. The system has two problems. First, it is difficult to release an object from end-effecter due to adhering the object and end-effecter. Second, we cannot drive micro-hand at high-speed with keeping grasp an object. Therefore, we propose releasing method of adhered micro object, and realizing automated high-speed manipulation.</p>

    DOI: 10.1299/jsmermd.2017.2A1-F05

    researchmap

  • Intelligent Environments for Personalized Service

    Mae Yasushi, Penaloza Christian, Kojima Masaru, Arai Tatsuo

    Proceedings of the Japan Joint Automatic Control Conference   60   875 - 876   2017

     More details

    Language:Japanese   Publisher:The Japan Joint Automatic Control Conference  

    DOI: 10.11511/jacc.60.0_875

    researchmap

  • Acquisition of Object Appearances by Observation of Human-object Interaction and Application to Object Recognition

    MAE Yasushi, KAWASHIMA Hiroki, KOJIMA Masaru, ARAI Tatsuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017   2P2 - H08   2017

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    <p>The paper describes a method for automatic acquisition of object appearances and grasping regions of everyday objects by observing human-object interaction from first person point of view. Human grasps and manipulates objects in everyday life. Home service robots and robotic environmental systems may extract and obtain object appearances by observing such human activity. However, the resolution of the acquired appearances may be low for object recognition. Our proposed method obtain object appearances and grasping regions by observing human-object interaction using first person point of view with head mount camera. The acquired appearances are integrated by matching feature points and used for object recognition.</p>

    DOI: 10.1299/jsmermd.2017.2P2-H08

    researchmap

  • Construction and Evaluation of Local Environment Chemical Stimulation System

    KOJIMA Masaru, Sera Kyota, MAE Yasushi, ARAI Tatsuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017   2A1 - F04   2017

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    <p>Single cell analysis has attracted much attention for revealing detailed and localized biological information. A local environmental control technique is desired when analyzing the detailed and localized properties of cells. In here, we propose a system for local environmental chemical stimulation with micropipettes for stimulating the local chemical concentration automatically and dynamically. The problem of the local chemical environment control is diffusion. The chemical solution is diffused and affects other objects. To address this problem, we use spout pipette and suction pipette for restricting diffusion. Then we used fluorescent substance and evaluate controllability of local chemical concentration quantitatively. Furthermore, we improved our developed system depend on evaluation and achieved high responsiveness of local chemical concentration control.</p>

    DOI: 10.1299/jsmermd.2017.2A1-F04

    researchmap

  • A Hybrid Flying and Walking Robot For Steel Bridge Inspection Reviewed

    Photchara Ratsamee, Pakpoom Kriengkomol, Tatsuo Arai, Kazuto Kamiyama, Yasushi Mae, Kiyoshi Kiyokawa, Tomohiro Mashita, Yuki Uranishi, Haruo Takemura

    Proceedings of the 2016 IEEE International Symposium on Safety, Security and Rescue Robotics   2016.10

     More details

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

    DOI: 10.1109/SSRR.2016.7784278

    researchmap

  • Evaluation of Humanoid Gesture in Presentation Reviewed

    Yasushi Mae, Taiyo Kimoto, Kazuto Kamiyama, Mitsuhiro Horade, Masaru Kojima, Tatsuo Arai

    928 - 929   2016.8

     More details

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

    researchmap

  • Automated Construction System for Fine Vessel-like Shape Structures Based on Collagen Gel Fiber Reviewed

    Suguru Takata, Masaru Kojima, Mitsuhiro Horade, Kenichi Ohara, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    Proceedings of 2016 International Conference of IEEE Engineering in Medicine and Biology Society   2016.8

     More details

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

    researchmap

  • Hardness Measurement of Cell Nucleus by Using Two-Fingered Micro-Hand with Micro Force Sensor Reviewed

    Taisei Tanaka, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    Proceedings of 2016 International Conference of IEEE Engineering in Medicine and Biology Society   2016.8

     More details

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

    researchmap

  • Development of a Novel 2-Dimensional Micro-Heater Array Device with Regional Selective Heating

    Mitsuhiro Horade, Masaru Kojima, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    Mechanical Engineering Research   6(1) 66-74 ( 1 )   66 - 74   2016.4

     More details

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

    DOI: 10.5539/mer.v6n1p66

    researchmap

  • Development of high speed measurement system for cell-scaffold interaction Reviewed

    Yu Hirano, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015   2016.3

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:Institute of Electrical and Electronics Engineers Inc.  

    Cell-scaffold interaction is important for characterizing cell's mechanism such as differentiation or migration of cells. Therefore analyzing technique of the force exerted by a cell is required. In this research, we aim to realize high speed measurement of cellular traction force by applying the technique of existing vision-based tactile sensor. To achieve the measurement, we need to fabricate cellular scaffold which contain two layers of lattice patterned beads. In this paper, we report about fabrication process of the scaffold and experiment of cell culture on fabricated scaffold.

    DOI: 10.1109/MHS.2015.7438330

    Scopus

    researchmap

  • Development of multifunctional robot hand for visual inspection equipped with 3D force sensing Reviewed

    Ryo Akiyama, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015   2016.3

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:Institute of Electrical and Electronics Engineers Inc.  

    DOI: 10.1109/MHS.2015.7438342

    Scopus

    researchmap

  • Automatic stage construction for the support of micro object grasping Reviewed

    Kotaro Yamamoto, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015   2016.3

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:Institute of Electrical and Electronics Engineers Inc.  

    DOI: 10.1109/MHS.2015.7438324

    Scopus

    researchmap

  • Tracking mechanical and morphological dynamics of regenerating Hydra tissue fragments using a two fingered micro-robotic hand Reviewed

    M. Veschgini, F. Gebert, N. Khangai, H. Ito, R. Suzuki, T. W. Holstein, Y. Mae, T. Arai, M. Tanaka

    APPLIED PHYSICS LETTERS   108 ( 10 )   2016.3

     More details

    Language:English   Publishing type:Research paper (scientific journal)   Publisher:AMER INST PHYSICS  

    Regeneration of a tissue fragment of freshwater polyp Hydra is accompanied by significant morphological fluctuations, suggesting the generation of active forces. In this study, we utilized a two fingered micro-robotic hand to gain insights into the mechanics of regenerating tissues. Taking advantage of a high force sensitivity (similar to 1 nN) of our micro-hand, we non-invasively acquired the bulk elastic modulus of tissues by keeping the strain levels low (epsilon &lt; 0.15). Moreover, by keeping the strain at a constant level, we monitored the stress relaxation of the Hydra tissue and determined both viscous modulus and elastic modulus simultaneously, following a simple Maxwell model. We further investigated the correlation between the frequency of force fluctuation and that of morphological fluctuation by monitoring one "tweezed" tissue and the other "intact" tissue at the same time. The obtained results clearly indicated that the magnitude and periodicity of the changes in force and shape are directly correlated, confirming that our two fingered micro-hand can precisely quantify the mechanics of soft, dynamic tissue during the regeneration and development in a non-invasive manner. (C) 2016 AIP Publishing LLC.

    DOI: 10.1063/1.4943402

    Web of Science

    researchmap

  • Collision avoidance using contact information with multiple objects by multi-leg robot Reviewed

    Tomohito Takubo, Keishi Kominami, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Journal of Robotics and Mechatronics   28 ( 1 )   17 - 30   2016

     More details

    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Fuji Technology Press  

    In robotics, a walking through motion is complex because of the presence of multipoint contact objects in the working environment of a robot. To simplify the walking through motion of a robot, a virtual impedance field is implemented to the contact points of the robot and an object so that the robot avoids the object passively. The traveling direction of the robot is altered by a virtual repulsive force obtained from the position of the estimated obstacle and the virtual impedance field. The resulting action depends on the parameter of virtual impedance coefficients. Because a combination of parameters includes many things, reinforcement learning is employed to obtain an optimal motion. The optimization of the multipoint contact walking through motion of a robot is finally achieved by evaluating the walking motion while encountering complex obstacles in a dynamic simulator. The motion is implemented on a hexapod robot, and the results demonstrate the effectiveness of the proposed method.

    DOI: 10.20965/jrm.2016.p0017

    Scopus

    researchmap

  • Generation of rotational flow for formation of spheroids by using microfluidic and dielectrophoretic hybrid device Reviewed

    Masaru Kojima, Mitsuhiro Horade, Hirochika Takai, Kenichi Ohara, Tamio Tanikawa, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    International Journal of Mechatronics and Automation   5 ( 4 )   180 - 189   2016

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:Inderscience Enterprises Ltd.  

    DOI: 10.1504/IJMA.2016.084219

    Scopus

    researchmap

  • Direct Tele-teaching with Handy Homothetic Robot for Multi-limbed Working Robot Reviewed

    Toshihiko Inoue, Yasushi Mae, Masaru Kojima, Tatsuo Arai

    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)   1882 - 1887   2016

     More details

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

    DOI: 10.1109/ROBIO.2016.7866603

    Web of Science

    researchmap

  • Development of Multi-functional Robot Hand for Multi-Legged Robot Reviewed

    Ryo Akiyama, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)   220 - 225   2016

     More details

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

    DOI: 10.1109/ROBIO.2016.7866325

    Web of Science

    researchmap

  • New Tripod Walking Method for Legged Inspection Robot Reviewed

    Pakpoom Kriengkomol, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION   1078 - 1083   2016

     More details

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

    DOI: 10.1109/ICMA.2016.7558712

    Web of Science

    researchmap

  • Non-contact High-Speed Rotation of Micro Targets by Vibration of Single Piezoelectric Actuator Reviewed

    Xiaoming Liu, Qing Shi, Masaru Kojima, Huaping Wang, Tao Sun, Yasushi Mae, Qiang Huang, Tatsuo Arai, Toshio Fukuda

    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)   1564 - 1569   2016

     More details

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

    DOI: 10.1109/ROBIO.2016.7866550

    Web of Science

    researchmap

  • Automatic Manipulation of Microspheres with Two-fingered Microhand Reviewed

    Eunhye Kim, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    2016 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)   2016

     More details

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

    DOI: 10.1109/MHS.2016.7824189

    Web of Science

    researchmap

  • Generation of Swirl Flow for Non-Contact Rotation of Micro Objects by Vibrating Glass Needle Reviewed

    Xiaoming Liu, Masaru Kojima, Qing Shi, Yasushi Mae, Qiang Huang, Tatsuo Arai, Toshio Fukuda

    2016 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)   2016

     More details

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

    DOI: 10.1109/MHS.2016.7824197

    Web of Science

    researchmap

  • Automated Construction System for Cellular Tissue Based on Laminar Flow Fibers Reviewed

    Masaru Kojima, Akira Fukushima, Suguru Takata, Mitsuhiro Horade, Kenichi Ohara, Shinji Sakai, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION   920 - 925   2016

     More details

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

    DOI: 10.1109/ICMA.2016.7558685

    Web of Science

    researchmap

  • Micro-hand positioning in consideration of the obstacle avoidance and the grasping part by using the automatic stage Reviewed

    Kotaro Yamamoto, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   1893 - 1898   2016

     More details

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

    DOI: 10.1109/ICRA.2016.7487336

    Web of Science

    researchmap

  • A new close-loop control method for an inspection robot equipped with electropermanent-magnets Reviewed

    Pakpoom Kriengkomol, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    Journal of Robotics and Mechatronics   28 ( 2 )   185 - 193   2016

     More details

    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Fuji Technology Press  

    DOI: 10.20965/jrm.2016.p0185

    Scopus

    researchmap

  • A micro channel device for biomechanical analysis to apply a mechanical stimulus on large number of cells Reviewed

    Masahiro Totani, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Toshihiko Ogura, Makoto Kaneko, Tatsuo Arai

    2016 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)   2016

     More details

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

    DOI: 10.1109/MHS.2016.7824190

    Web of Science

    researchmap

  • Accurate Releasing of Biological Cells using Two Release Methods Generated by High Speed Motion of an End effector Reviewed

    Eunhye Kim, Masaru Kojima, Kazuto Kamiyama, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)   2572 - 2577   2016

     More details

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

    DOI: 10.1109/IROS.2016.7759400

    Web of Science

    researchmap

  • Fault-tolerant Adaptive Gait Generation for Multi-limbed Robot Reviewed

    Takeyuki Kawata, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)   3381 - 3386   2016

     More details

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

    DOI: 10.1109/IROS.2016.7759520

    Web of Science

    researchmap

  • Extraction of Grasping Region of Object for Automatic Modeling by Observing Human-object Interaction Reviewed

    Hiroki Kawashima, Yasushi Mae, Kazuto Kamiyama, Mitsuhiro Horade, Masaru Kojima, Tatsuo Arai

    Proceedings of the 6th International Conference on Advanced Mechatronics   2015.12

     More details

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

    researchmap

  • Object Search Framework based on Gaze Interaction Reviewed

    Photchara Ratsamee, Yasushi Mae, Kazuto Kamiyama, Mitsuhiro Horade, Masaru Kojima, Kiyoshi Kiyokawa, Tomohiro Mashita, Yoshihiro Kuroda, Haruo Takemura, Tatsuo Arai

    Proceedings of the 2015IEEE Conference on Robotics and Biomimetics   2015.12

     More details

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

    DOI: 10.1109/ROBIO.2015.7419066

    researchmap

  • Hammering Sound Analysis for Infrastructure Inspection by Leg Robot Reviewed

    2015.12

     More details

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

    DOI: 10.1109/ROBIO.2015.7418883

    researchmap

  • Social interactive robot navigation based on human intention analysis from face orientation and human path prediction Reviewed

    Photchara Ratsamee, Yasushi Mae, Kazuto Kamiyama, Mitsuhiro Horade, Masaru Kojima, Tatsuo Arai

    ROBOMECH Journal2015   2015.12

     More details

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

    researchmap

  • Development of an optimum end-effector with a nano-scale uneven surface for non-adhesion cell manipulation using a micro-manipulator Reviewed

    M. Horade, M. Kojima, K. Kamiyama, T. Kurata, Y. Mae, T. Arai

    JOURNAL OF MICROMECHANICS AND MICROENGINEERING   25 ( 11 )   2015.11

     More details

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

    DOI: 10.1088/0960-1317/25/11/115002

    Web of Science

    researchmap

  • Automated Construction System for Cellular Tissue Based on Laminar Flow Fibers Reviewed

    Masaru Kojima, Mitsuhiro Horade, Akira Fukushima, Kenichi Ohara, Sinji Sakai, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    Proceedings of 2015 International Symposium on Micro-NanoMechatronics and Human Science(MHS2015)   2015.11

     More details

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

    DOI: 10.1109/MHS.2015.7438335

    researchmap

  • Keyframe Selection Framework Based on Visual and Excitement Features for Lifelog Image Sequences Reviewed

    Photchara Ratsamee, Yasushi Mae, Amornched Jinda-apiraksa, Mitsuhiro Horade, Kazuto Kamiyama, Masaru Kojima, Tatsuo Arai

    INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS   7 ( 5 )   859 - 874   2015.11

     More details

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

    DOI: 10.1007/s12369-015-0306-y

    Web of Science

    researchmap

  • Piezo-actuated parallel mechanism for biological cell release at high speed Reviewed

    Ebubekir Avci, Takayuki Hattori, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    BIOMEDICAL MICRODEVICES   17 ( 5 )   2015.10

     More details

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

    DOI: 10.1007/s10544-015-0001-7

    Web of Science

    researchmap

  • DEVELOPMENT OF GRIPPER ON-BOARD MICRO-HEATER AND FORCE SENSOR FOR HIGH-ACCURACY MICRO-MANIPULATION Reviewed

    Mitsuhiro Horade, Tomoyuki Kurata, Masaru Kojima, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    Proceedings of 19th International Conference on Miniaturized Systems for Chemistry and Life Sciences   2015.10

     More details

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

    researchmap

  • 3D MCIRO-STRUCTURE ASSEMBLING METHOD BY MICRO-HEATER ARRAY DEVICE Reviewed

    Suguru Takata, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    Proceedings of 19th International Conference on Miniaturized Systems for Chemistry and Life Sciences   2015.10

     More details

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

    researchmap

  • DEVELOPMENT OF NOVEL MICRO FLUIDIC SYSTEM WITHOUT CHANNELS AND WELLS FOR TRAPPING-AND-RELEASING OF MICRO-OBJECTS Reviewed

    Mitsuhiro Horade, Masaru Kojima, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    Proceedings of 19th International Conference on Miniaturized Systems for Chemistry and Life Sciences   2015.10

     More details

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

    researchmap

  • STUDY ON CELL MANIPULATION METHOD WITH HIGH-ACCURACY THREE-DIMENTIONAL POSIIONING USING A MANIPULATOR Reviewed

    Mitsuhiro Horade, Tomoyuki Kurata, Masaru Kojima, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    Proceedings of 19th International Conference on Miniaturized Systems for Chemistry and Life Sciences   2015.10

     More details

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

    researchmap

  • Releasing and Accurate Placing of Adhered Micro-Objects using High Speed motion of End Effector Reviewed

    Eunhye Kim, Masaru Kojima, Kazuto Kamiyama, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    Proceedings of 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS)   2015.10

     More details

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

    DOI: 10.1109/IROS.2015.7353642

    researchmap

  • ハイドロゲルファイバを用いた組織様構造の構築 Reviewed

    小嶋勝, 阪大, 福島英, 阪大, 洞出光洋, 大原賢一, 神山和人, 前泰志, 阪大, 新井健生

    第33回日本ロボット学会学術講演会講演予稿集   2015.9

     More details

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

    researchmap

  • Infrastructure Inspection by Multi-legged Robot equipped with Electromagnet Reviewed

    Kazuto Kamiyama, Pakpoom KRIENGKOMOL, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    JSME annual meeting   2015.9

     More details

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

    researchmap

  • 微小物把持支援のための自動ステージの構築 Reviewed

    山本幸太朗, 小嶋勝, 洞出光洋, 神山和人, 前泰志, 新井健生

    第33回日本ロボット学会学術講演会講演予稿集   2015.9

     More details

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

    researchmap

  • 2本指マイクロハンド操作のための視触覚融合インタフェース Reviewed

    神山和人, 小嶋勝, 洞出光洋, 前, 泰志, 新井健生

    第33回日本ロボット学会学術講演会講演予稿集   2015.9

     More details

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

    researchmap

  • 表面凹凸処理により接触面積を低減した細胞付着防止マニピュレータ Reviewed

    洞出光洋, 小嶋勝, 神山和人, 蔵田智之, 前泰志, 新井健生

    第33回日本ロボット学会学術講演会講演予稿集   2015.9

     More details

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

    researchmap

  • Development of the Measurement System for Cell-scaffold Interaction Reviewed

    Yu HIRANO, Osaka University, Masaru KOJIMA, Mitsuhiro HORADE, Kazuto KAMIYAMA, Yasushi MAE, Tatsuo ARAI, Osaka University

    Proceedings of the 2015 JSME Conference on Robotics and Mechatronics   2015.5

     More details

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

    DOI: 10.1109/MHS.2015.7438330

    researchmap

  • Study on Effective Micro-manipulation Utilizing Manipulator with Nanostructured Surface Reviewed

    Mitsuhiro HORADE, Osaka University, Tomoyuki KURATA, Masaru KOJIMA, Kazuto KAMIYAMA, Yasushi MAE, Tatsuo ARAI, Osaka University

    Proceedings of the 2015 JSME Conference on Robotics and Mechatronics   2015.5

     More details

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

    researchmap

  • Automated Construction System for Cellular Tissue Based on Hydro Gel Fibers Reviewed

    Akira FUKUSHIMA, Osaka University, Masaru KOJIMA, Osaka UniversityMitsuhiro HORADE, Osaka University, Kazuto KAMIYAMA, Osaka UniversityKenichi OHARA, Meijo UniversityShinji SAKAI, Osaka UniversityYasushi MAE, Osaka UniversityTatsuo ARAI, Osaka University

    Proceedings of the 2015 JSME Conference on Robotics and Mechatronics   2015.5

     More details

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

    DOI: 10.1109/MHS.2015.7438335

    researchmap

  • Development of intelligent robot hand for limb mechanism robot for visual inspection, grasping and 3D force sensing Reviewed

    Ryo Akiyama, Osaka University, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai, Osaka University

    Proceedings of the 2015 JSME Conference on Robotics and Mechatronics   2015.5

     More details

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

    researchmap

  • Indication of Object in Scene by Gaze Reviewed

    Yasushi MAE, Osaka University, Photchara RATSAMEE, Osaka University, Kazuto KAMIYAMA, Osaka University, Mitsuhiro HORADE, Osaka University, Masaru KOJIMA, Osaka UniversityTatsuo ARAI, Osaka University

    Proceedings of the 2015 JSME Conference on Robotics and Mechatronics   2015.5

     More details

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

    researchmap

  • Development and Application of Real Time Local Chemical Stimulation System Reviewed

    Masaru KOJIMA, Osaka University, Takahiro MOTOYOSHI, Osaka University, Mitsuhiro HORADE, Osaka UniversityKazuto KAMIYAMA, Osaka UniversityKenichi Ohara, Meijo UniversityYasushi MAE, Osaka UniversityTatsuo ARAI, Osaka University

    Proceedings of the 2015 JSME Conference on Robotics and Mechatronics   2015.5

     More details

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

    researchmap

  • Development of the 2D Patterning Method for Micro Objects with Arbitrary ShapeUtilizing Micro-heater Array Device Reviewed

    Mitsuhiro HORADE, Osaka University, Masaru KOJIMA, Kazuto KAMIYAMA, Yasushi MAE, Tatsuo ARAI, aka University

    Proceedings of the 2015 JSME Conference on Robotics and Mechatronics   2015.5

     More details

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

    researchmap

  • Study on Assembling Method for 3D Cellular System Utilizing 2D Cell Sheet with Arbitary Shape Reviewed

    Suguru TAKATA, Osaka University, Masaru KOJIMA, Mitsuhiro HORADE, Kazuto KAMIYAMA, Yasushi MAE, Tatsuo ARAI

    Proceedings of the 2015 JSME Conference on Robotics and Mechatronics   2015.5

     More details

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

    researchmap

  • Analysis of Local Stream Induced by Vibration of End Effector Reviewed

    Takayuki HATTORI, Osaka University, Kazuto KAMIYAMA, Masaru KOJIMA, Mitsuhiro HORADE, Yasushi MAE, Tatsuo ARAI, Osaka University

    Proceedings of the 2015 JSME Conference on Robotics and Mechatronics   2015.5

     More details

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

    researchmap

  • Power Efficient 3D Locomotion of Legged Robot in Narrow Space Reviewed

    Takeshi TODA, Kenichi OHARA, Kazuto KAMIYAMA, Masaru KOJIMA, Mitsuhiro HORADE, Yasushi MAE, Tatsuo ARAI, Osaka University, Meijo University

    Proceedings of the 2015 JSME Conference on Robotics and Mechatronics   2015.5

     More details

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

    researchmap

  • Development of a Real-time Local Environment Stimulation System with Visual Feedback Control Reviewed

    Takahiro Motoyoshi, Masaru Kojima, Member,IEEE, Kenichi Ohara, Member,IEEE, Mitsuhiro Hotade, Member,IEEE, Kazuto Kamiyama, Member,IEEE, Yasushi MaeMember,IEEE, Tatsuo Arai, Member,IEEE

    Proceedings of 2015 IEEE International Conference on Robotics and Automation (ICRA)   2015.5

     More details

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

    DOI: 10.1109/ICRA.2015.7139763

    researchmap

  • High-Speed Automated Manipulation of Microobjects Using a Two-Fingered Microhand Reviewed

    Ebubekir Avci, Kenichi Ohara, Chanh-Nghiem Nguyen, Chayooth Theeravithayangkura, Masaru Kojima, Tamio Tanikawa, Yasushi Mae, Tatsuo Arai

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   62 ( 2 )   1070 - 1079   2015.2

     More details

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

    DOI: 10.1109/TIE.2014.2347004

    Web of Science

    researchmap

  • Cell manipulation and cellular parts assembly for constructing 3D cellular systems Reviewed

    Masaru Kojima, Yasushi Mae, Kenichi Ohara, Mitsuhiro Horade, Kazuto Kamiyama, Tatsuo Arai

    Hyper Bio Assembler for 3D Cellular Systems   93 - 128   2015.1

     More details

    Language:English   Publishing type:Part of collection (book)   Publisher:Springer Japan  

    DOI: 10.1007/978-4-431-55297-0_7

    Scopus

    researchmap

  • Tracking Handheld Object Using Three Layer RGB-D Image Space Reviewed

    Krishneel Chaudhary, Yasushi Mae, Masaru Kojima, Tatsuo Arai

    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   2436 - 2441   2015

     More details

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

    DOI: 10.1109/ICRA.2015.7139524

    Web of Science

    researchmap

  • Development of thermos responsive gel coated end effector for micro manipulation Reviewed

    Hideaki Saijo, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   189 - 194   2015

     More details

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

    DOI: 10.1109/IROS.2015.7353373

    Web of Science

    researchmap

  • Generation of Rotational Flow for Formation of Spheroid by Using Microfluidics Device Reviewed

    Masaru Kojima, Mitsuhiro Horade, Hirochika Takai, Kenichi Ohara, Tamio Tanikawa, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION   1042 - 1047   2015

     More details

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

    DOI: 10.1109/ICMA.2015.7237629

    Web of Science

    researchmap

  • Releasing of Adhered Micro-Objects using Local Stream Generated by High Speed Motion of End Effector Reviewed

    Eunhye Kim, Masaru Kojima, Kazuto Kamiyama, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION   1036 - 1041   2015

     More details

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

    DOI: 10.1109/ICMA.2015.7237628

    Web of Science

    researchmap

  • Brain signal-based safety measure activation for robotic systems Reviewed

    Christian I. Penaloza, Yasushi Mae, Masaru Kojima, Tatsuo Arai

    ADVANCED ROBOTICS   29 ( 19 )   1234 - 1242   2015

     More details

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

    DOI: 10.1080/01691864.2015.1057615

    Web of Science

    researchmap

  • Generation of Swirl Flow by Needle Vibration for Micro Manipulation Reviewed

    Takayuki Hattori, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   772 - 777   2015

     More details

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

    DOI: 10.1109/IROS.2015.7353459

    Web of Science

    researchmap

  • Cell Stiffnass Measurement Using Two-fingered Micro-hand Equipped with Plate-shaped End Effector Reviewed

    Nyamdorj Khangai, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Shinji Sakai, Yasushi Mae, Tatsuo Arai

    11th International Conference on Ubiquitous Robots and Ambient Intelligence(URAI2014)   2014.12

     More details

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

    DOI: 10.1109/URAI.2014.7057379

    researchmap

  • 細胞操作支援用自動ステージの構築

    山本 幸太朗, 小嶋 勝, 神山 和人, 洞出 光洋, 前 泰志, 新井 健生

    第15回システムインテグレーション部門講演会予稿集   2014.12

     More details

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

    researchmap

  • Generaton og Rotational Flow in Microfluidics Device for Formation of Apheroid Reviewed

    Masaru Kojima, Mitsuhiro Horade, Hirochika Takai, Kenichi Ohara, Tamio Tanikawa, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    Proceedings of 2014 International Symposium on Micro-NanoMechatronics and Human Science(MHS2014)   2014.11

     More details

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

    DOI: 10.1109/MHS.2014.7006134

    researchmap

  • DEVELOPMENT OF MICRO-HEATER ARRAY DEVICE WITH REGIONAL SELECTIVE HEATING FOR BIOCHEMICAL APPLICATIONS Reviewed

    M. Horade, M. Kojima, K. Kamiyama, Y. Mae, T. Arai

    Proceedings of MicroTAS2014   2014.10

     More details

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

    researchmap

  • DEVELOPMENT OF THE OPTIMUM END-EFFECTOR FOR TWO-FINGERED MICRO-HANDS SYSTEM TO SUPPORT CELL MANIPULATION Reviewed

    T.Kurata, M.Horade, M.Kojima, K.Kamiyama, Y.Mae, T.Arai

    Proceedings of The 18th International Conference on Miniaturized Systems for Chemistry and Life Sciences (µTAS 2014)   2014.10

     More details

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

    researchmap

  • Development of End-effectors for Micro-manipulation with High Speed and Accuracy

    2014.10

     More details

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

    researchmap

  • MOVEMENT OF ASYMMETRIC SHAPE MICRO STRUCTURE ON BACTERIAL SHEET Reviewed

    M. Kojima, M. Horade, K. Kamiyama, Y. Mae, T. Fukuda, T. Arai

    Proceedings of the 18th International Conference on Miniaturized Systems for Chemistry and Life Sciences (µTAS 2014)   2014.10

     More details

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

    researchmap

  • Brain Machine Interface System Automation Considering User Preferences and Error Perception Feedback Reviewed

    Christian I. Penaloza, Yasushi Mae, Francisco F. Cuellar, Masaru Kojima, Tatsuo Arai

    IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING   11 ( 4 )   1275 - 1281   2014.10

     More details

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

    DOI: 10.1109/TASE.2014.2339354

    Web of Science

    researchmap

  • バイオ応用を目的とした局所選択的加熱可能な マイクロヒータアレイデバイスの開発

    洞出光洋, 小嶋勝, 神山和人, 前泰志, 新井健生

    第32回日本ロボット学会学術講演会   2014.9

     More details

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

    researchmap

  • エンドエフェクタに付与された振動により発生する周辺水流の現象解析

    服部 貴享, 神山 和人, 小嶋 勝, 洞出 光洋, 前 泰志, 新井 健生

    第32回日本ロボット学会学術講演会   2014.9

     More details

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

    researchmap

  • 細胞培養可能なゲルファイバを用いた微細格子組織構築システム

    福島英, 小嶋 勝, 大原賢一, 洞出 光洋, 神山和人, 前 泰志, 新井 健生

    第32回日本ロボット学会学術講演会   2014.9

     More details

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

    researchmap

  • Flexible microscaffold facilitating the in vitro construction of different cellular constructs

    Puwanan Chumtong, Masaru Kojima, Mitsuhiro Horade, Kenichi Ohara, Kazuto Kamiyama, Yasushi Mae, Yoshikatsu Akiyama, Masayuki Yamato, Tatsuo Arai

    ROBOMECH Journal2014   2014.9

     More details

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

    researchmap

  • Development of Hydrogel Coated End Effector for Stable Cell Manipulation by Two-fingered Micro-hand Reviewed

    Masaru Kojima, Hiroyuki Yabugaki, Ebubekir Avci, Kenichi Ohara, Shinji Sakai, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    Proceedings of 2014 IEEE International Conference on Mechatronics and Automation   2014.8

     More details

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

    DOI: 10.1109/ICMA.2014.6885669

    researchmap

  • Design and fabrication of micro/bio chip for in vitro fabrication of toroidal cellular aggregates Reviewed

    Puwanan Chumtong, Masaru Kojima, Mitsuhiro Horade, Kenichi Ohara, Kazuto Kamiyama, Yasushi Mae, Yoshikatsu Akiyama, Masayuki Yamato, Tatsuo Arai

    Proceedings of 2014 IEEE International Conference on Mechatronics and Automation   2014.8

     More details

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

    DOI: 10.1109/ICMA.2014.6885668

    researchmap

  • 電力効率を考慮した脚移動ロボットによる閉空間3次元移動 Reviewed

    戸田 武, 大原 賢一, 神山 和人, 小嶋 勝, 洞出 光洋, 前 泰志, 新井 健生

    第14回建設ロボットシンポジウム   2014.8

     More details

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

    researchmap

  • Vibration Reduction of Microhand Used in Transporting Operations Reviewed

    Tomoyuki Kurata, Ebubekir Avci, Kazuto Kamiyama, Masaru Kojima, Kenichi Ohara, Mitsuhiro Horade, Toru Ejima, Tamio Tanikawa, Yasushi Mae, Tatsuo Arai

    Proceedings of 2014 International Symposium on Flexible Automation (ISFA2014)   2014.7

     More details

    Language:English  

    researchmap

  • Autonomous Modeling of Unknown Hand Grasp Object via Tracking in Cluttered Environments Proceedings Reviewed

    Krishneel Chaudhary, Yasushi Mae, Masaru Kojima, Tatsuo Arai

    Proceedings of 2014 International Symposium on Flexible Automation (ISFA2014)   2014.7

     More details

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

    researchmap

  • 次元リソグラフィ技術を応用した細胞システム構築用マイクロチャンバアレイの開発

    洞出光洋, 小嶋勝, プワナンチュムトン, 神山和人, 前泰志, 新井健生

    ロボティクス・メカトロニクス講演会2014講演論文集   2014.5

     More details

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

    researchmap

  • 細胞操作を支援する二本指マイクロハンド用高機能エンドエフェクタの開発

    蔵田智之, 洞出光洋, 小嶋勝, 神山和人, 前泰志, 新井健生

    ロボティクス・メカトロニクス講演会2014講演論文集   2014.5

     More details

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

    researchmap

  • Direct comparison of psychological evaluation between virtual and real humanoids: Personal space and subjective impressions Reviewed

    Hiroko Kamide, Yasushi Mae, Tomohito Takubo, Kenichi Ohara, Tatsuo Arai

    INTERNATIONAL JOURNAL OF HUMAN-COMPUTER STUDIES   72 ( 5 )   451 - 459   2014.5

     More details

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

    DOI: 10.1016/j.ijhcs.2014.01.004

    Web of Science

    researchmap

  • Face relighting using discriminative 2D spherical spaces for face recognition Reviewed

    Amr Almaddah, Sadi Vural, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    MACHINE VISION AND APPLICATIONS   25 ( 4 )   845 - 857   2014.5

     More details

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

    DOI: 10.1007/s00138-013-0584-z

    Web of Science

    researchmap

  • マイクロハンドによる操作支援を目的とした自動ステージの構築

    山本 幸太朗, 小嶋 勝, 神山 和人, 洞出 光洋, 前 泰志, 新井 健生

    ロボティクス・メカトロニクス講演会2014講演論文集   2014.5

     More details

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

    researchmap

  • 2本指マイクロハンドを用いた把持対象物の動的リリース手法の開発

    服部 貴享, 神山 和人, 小嶋 勝, 洞出 光洋, 前 泰志, 新井 健生

    ロボティクス・メカトロニクス講演会2014講演論文集   2014.5

     More details

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

    researchmap

  • Multi-Lighting for Unknown Objects Segmentation in Cluttered Environment

    Amr Almaddah, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    SICE Journal of Control, Measurement, and System Integration   7(2) 90-95 ( 2 )   90 - 95   2014.3

     More details

    Language:English   Publishing type:Research paper (scientific journal)   Publisher:The Society of Instrument and Control Engineers  

    For autonomous robots, the ability to manipulate unknown objects is pivotal to successfully operate in a complex environment. This paper presents a novel multi lighting two-step method for unknown objects segmentation using albedo characteristics of object shape. The authors address the task of detecting unknown multi colored objects of interest, specifically ones that are being seen for the first time and located in the proximity of unidentified obstacles. Illumination at different wavelengths and angles are projected by a robot, thus acquiring additional information about the scene and exploiting it for successful unknown objects segmentation. By analyzing shades and reflections of a scene's objects, we were able to form and identify true edges and visually separate items of interest. The proposed method does not require predefined models of target objects and assumes no previously assigned targets pose. The technique was validated by presenting promising experimental results using an autonomous robot manipulator successfully performing unknown objects segmentation from cluttered environments.

    DOI: 10.9746/jcmsi.7.90

    researchmap

  • 感情センサ情報と画像特徴に基づくライフログ画像列のクラスタリング

    ポチャラ ラサミー, 前泰志, 小嶋勝, 洞出光洋, 神山和人, 新井健生

    第19回ロボティクスシンポジア   2014.3

     More details

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

    researchmap

  • Impressions of Humanoids: The Development of a Measure for Evaluating a Humanoid Reviewed

    Hiroko Kamide, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS   6 ( 1 )   33 - 44   2014.1

     More details

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

    DOI: 10.1007/s12369-013-0187-x

    Web of Science

    researchmap

  • Object search using object co-occurrence relations derived from web content mining Reviewed

    Puwanan Chumtong, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    INTELLIGENT SERVICE ROBOTICS   7 ( 1 )   1 - 13   2014.1

     More details

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

    DOI: 10.1007/s11370-013-0139-1

    Web of Science

    researchmap

  • Analysis and Suppresion of Residual Vibration in Microhand for High-Speed Single-Cell Manipulation

    Ebubekir Avci, Chanh-Nghiem Nguyen, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    International Journal of Mechatronics and Automation   3(2) 110-117 ( 2 )   110-117   2014.1

     More details

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

    researchmap

  • Cell stiffness measurement using two-fingered micro-hand equipped with plate-shaped end effector Reviewed

    Nyamdorj Khangai, Masara Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Shinji Sakai, Yasushi Mae, Tatsuo Arai

    2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014   517 - 521   2014

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:Institute of Electrical and Electronics Engineers Inc.  

    In the field of life science which includes, for example tissue engineering and cloning, the manipulation and analysis of cells is important. However, manipulating micro objects by hand without the help of equipment is a difficult task. We developed a two-fingered micro-hand, which can help to operation of micro objects and increase operation efficiency. The cell's stiffness is an important mechanical property for the understanding of the cell's condition. Kawakami and others have developed a technique to measure cell stiffness using a two-fingered micro-hand with needle-shaped end effectors. This paper proposes a method to measure the stiffness of softer cells using plate-shaped end effectors. By using a plate-shaped end effector, in the process of cell deformation, the reaction force from the cell will increase more than when using needle-shaped end effectors. Thus, it is possible to measure the stiffness of softer cells. We calculate it by using the values from the micro force sensor and the displacement calculated from the images obtained during the process of deformation. In this paper, we propose a model of a plate-shaped end effector and a stiffness measurement method suitable for the new end effector, and compare the experimental results of our model and the needle-shaped model.

    DOI: 10.1109/URAI.2014.7057379

    Scopus

    researchmap

  • 3P147 Development of the real-long-time observation and local stimulation system for flagellar motor analysis(11. Molecular motor,Poster,The 52nd Annual Meeting of the Biophysical Society of Japan(BSJ2014))

    Kojima Masaru, Motoyoshi Takahiro, Horade Mitsuhiro, Kamiyama Kazuto, Mae Yasushi, Arai Tatsuo

    Seibutsu Butsuri   54 ( 1 )   S273   2014

     More details

    Language:English   Publisher:The Biophysical Society of Japan General Incorporated Association  

    DOI: 10.2142/biophys.54.S273_3

    researchmap

  • Development of Simplified Haptic Interface for Two-finger Micro-manipulator Reviewed

    Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2014 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)   2014

     More details

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

    DOI: 10.1109/MHS.2014.7006147

    Web of Science

    researchmap

  • Automated Cell Stiffness Measurement with Two-Fingered Microhand using Micro Force Sensor Reviewed

    Hiroyuki Yabugaki, Kenichi Ohara, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Shinji Sakai, Takanori Kihara, Yasushi Mae, Tamio Tanikawa, Tatsuo Arai

    2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   384 - 389   2014

     More details

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

    DOI: 10.1109/AIM.2014.6878109

    Web of Science

    researchmap

  • Analytical Design and Fabrication of Thermal Latch Valve Driven Flexible Microscaffold for Applications in Tissue Engineering Reviewed

    Puwanan Chumtong, Masaru Kojima, Mitsuhiro Horade, Kenichi Ohara, Kazuto Kamiyama, Yasushi Mae, Yoshikatsu Akiyama, Masayuki Yamato, Tatsuo Arai

    2014 9TH IEEE INTERNATIONAL CONFERENCE ON NANO/MICRO ENGINEERED AND MOLECULAR SYSTEMS (NEMS)   411 - 416   2014

     More details

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

    DOI: 10.1109/NEMS.2014.6908839

    Web of Science

    researchmap

  • Event Clustering of Lifelog Image Sequence using Emotional and Image Similarity Features Reviewed

    Photchara Ratsamee, Yasushi Mae, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Tatsuo Arai

    PROCEEDINGS OF THE 2014 9TH INTERNATIONAL CONFERENCE ON COMPUTER VISION THEORY AND APPLICATIONS (VISAPP), VOL 1   618 - 624   2014

     More details

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

    Web of Science

    researchmap

  • 3D Movement of Legged Robot in Narrow Space Reviewed

    Takeshi Toda, Kenichi Ohara, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2014 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)   2014

     More details

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

    DOI: 10.1109/MHS.2014.7006109

    Web of Science

    researchmap

  • Real-time Local Environmental Stimulation System with Visual Feedback Control Reviewed

    Takahiro Motoyoshi, Masaru Kojima, Kenichi Ohara, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2014 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)   2014

     More details

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

    DOI: 10.1109/MHS.2014.7006133

    Web of Science

    researchmap

  • Automated Construction System for Fine Lattice Shape Structures Based on Alginate Gel Fiber Reviewed

    Akira Fukushima, Masaru Kojima, Kenichi Ohara, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2014 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)   2014

     More details

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

    DOI: 10.1109/MHS.2014.7006098

    Web of Science

    researchmap

  • On-chip Flexible Scaffold for Construction of Multishaped Tissues Reviewed

    Puwanan Chumtong, Masaru Kojima, Mitsuhiro Horade, Kenichi Ohara, Kazuto Kamiyama, Yasushi Mae, Yoshikatsu Akiyama, Masayuki Yamato, Tatsuo Arai

    2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014)   4692 - 4697   2014

     More details

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

    DOI: 10.1109/IROS.2014.6943229

    Web of Science

    researchmap

  • Control of Flagellar Motor Using a Real-time Local Environment Chemical Stimulation System Reviewed

    Masaru Kojima, Takahiro Motoyoshi, Kenichi Ohara, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   4699 - 4704   2014

     More details

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

    Single cell analysis has attracted much attention to reveal the localized biological information in detail. Local environmental control technique is developed to analyze the localized detail properties of single cells. In this paper, we propose the local environmental chemical stimulation system with micro dual pipettes to stimuli the local reagent concentration dynamically and automatically. Local environmental chemical stimulation by dual pipettes is applied to the rotational speed control of bacterial flagellar motor, which is a rotary molecular machine. Here, we show quick response and rotational speed control of Na+-driven flagellar motor in both accelerating and relaxing directions was demonstrated by automatic switching the local spout between Na+-containing and Na+-free solutions with dual pipettes. It was shown that the rotational speed could be maintained by automatic controlling the spouting velocity of Na+-containing and Na+-free solution with multiplying the applied DC voltage. Furthermore, it was confirmed that by applying the P-control, rotational speed of flagellar motor could be controlled more stably.

    DOI: 10.1109/ICRA.2014.6907546

    Web of Science

    researchmap

  • Dynamic Releasing of Biological Cells at High Speed Using Parallel Mechanism to Control Adhesion Forces Reviewed

    Ebubekir Avci, Hiroyuki Yabugaki, Takayuki Hattori, Kazuto Kamiyama, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   3789 - 3794   2014

     More details

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

    DOI: 10.1109/ICRA.2014.6907408

    Web of Science

    researchmap

  • BMI-based Framework for Teaching and Evaluating Robot Skills Reviewed

    Christian I. Penaloza, Yasushi Mae, Masaru Kojima, Tatsuo Arai

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   6040 - 6046   2014

     More details

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

    DOI: 10.1109/ICRA.2014.6907749

    Web of Science

    researchmap

  • Autonomous Acquisition of Generic Handheld Objects in Unstructured Environments via Sequential Back-Tracking for Object Recognition Reviewed

    Krishneel Chaudhary, Yasushi Mae, Masaru Kojima, Tatsuo Arai

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   4953 - 4958   2014

     More details

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

    DOI: 10.1109/ICRA.2014.6907585

    Web of Science

    researchmap

  • Development of Chemical Stimulation System for Local Environment Control by Using Combination of Spout and Suction from Dual-pipettes Reviewed

    Takahiro Motoyoshi, Masaru Kojima, Kenichi Ohara, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014)   840 - 845   2014

     More details

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

    DOI: 10.1109/IROS.2014.6942657

    Web of Science

    researchmap

  • Development of the long-time observation system for bacterial motor Reviewed

    Masaru Kojima, Motoyoshi Takahiro, Hirochika Takai, Kenichi Ohara, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    Proceedings of 2013 International Conference on Micro-NanoMechatronics and Human Science   2013.11

     More details

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

    DOI: 10.1109/MHS.2013.6710432

    researchmap

  • An Active Microscaffold for Applications in Tissue Engineering Reviewed

    Puwanan Chumtong, Masaru Kojima, Kenichi Ohara, Mitsuhiro Horade, Yasushi Mae, Yoshikatsu Akiyama, Masayuki Yamato, Tatsuo Arai

    Proceedings of 2013 International Conference on Micro-NanoMechatronics and Human Science   2013.11

     More details

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

    DOI: 10.1109/MHS.2013.6710404

    researchmap

  • Microfluidic Device for Automated Feneration of Troidal-like Spheroids Reviewed

    Hirochika Takai, Masaru Kojima, Kenichi Ohara, Mitsuhiro Horade, Tamio Tanikawa, Yasushi Mae, Masayuki Yamato, Tatsuo Arai

    Proceedings of 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence(URAI)   2013.10

     More details

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

    DOI: 10.1109/URAI.2013.6677497

    researchmap

  • Automated Construction System for The Fine Lattice Shape Structure Using Alginate Gel Fiber Reviewed

    Akira Fukushima, Masaru Kojima, Kenichi Ohara, Shun Onozaki, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    Proceedings of 2013 IEEE International Conference on Mechatronics and Automation   2013.8

     More details

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

    DOI: 10.1109/ICMA.2013.6617929

    researchmap

  • HUMAN-ROBOT COLLISION AVOIDANCE USING A MODIFIED SOCIAL FORCE MODEL WITH BODY POSE AND FACE ORIENTATION Reviewed

    Photchara Ratsamee, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS   10 ( 1 )   2013.3

     More details

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

    DOI: 10.1142/S0219843613500084

    Web of Science

    researchmap

  • Development of Multi-Scalable Microhand System with Precise Motion Ability

    Ebubekir Avci, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Journal of Robotics and Mechatronics   25(1) 183-191 ( 1 )   183-191   2013.2

     More details

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

    researchmap

  • Web-enhanced object category learning for domestic robots Reviewed

    Christian I. Penaloza, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    INTELLIGENT SERVICE ROBOTICS   6 ( 1 )   53 - 67   2013.1

     More details

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

    DOI: 10.1007/s11370-012-0126-y

    Web of Science

    researchmap

  • Spherical spaces for illumination invariant face relighting Reviewed

    Amr Almaddah, Sadi Vural, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    Journal of Robotics and Mechatronics   25 ( 5 )   840 - 847   2013

     More details

    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Fuji Technology Press  

    DOI: 10.20965/jrm.2013.p0840

    Scopus

    researchmap

  • Automated Stable Grasping with Two-Fingered Microhand using Micro Force Sensor Reviewed

    Hiroyuki Yabugaki, Kenichi Ohara, Masaru Kojima, Yasushi Mae, Tamio Tanikawa, Tatsuo Arai

    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   2771 - 2776   2013

     More details

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

    Recently, with the development of life science field, micromanipulation technology has attracted attention. A two-fingered microhand system, that has been developed as a micro manipulator, can perform dexterous cell manipulation such as grasping, rotating, and transferring using two end effectors in a chopstick-like motion. The automated manipulation uses processing results based on all-in-focus (AIF) images and depth map obtained from the vision system; however, errors in the results still reduce the efficiency of the system. In this study, we introduce an automated grasping system that corrects the image processing error using the reaction force from the target object during grasping maneuvers. In our improved microhand system, micro force sensors that comprises strain gauge are attached to the two fingers of microhand. The two fingers with micro force sensor are set to be able to measure the horizontal and vertical forces to detect grasping state, precisely. Using the sensor information and the image processing results, we demonstrate that this system improves the accuracy and success rate of automated grasping.

    DOI: 10.1109/ICRA.2013.6630959

    Web of Science

    researchmap

  • Towards High-Speed Automated Micromanipulation Reviewed

    Ebubekir Avci, Chanh-Nghiem Nguyen, Kenichi Ohara, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   1718 - 1723   2013

     More details

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

    DOI: 10.1109/ICRA.2013.6630802

    Web of Science

    researchmap

  • Adaptive gait for dynamic rotational walking motion on unknown non-planar terrain by limb mechanism robot ASTERISK Reviewed

    Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Journal of Robotics and Mechatronics   25 ( 1 )   172 - 182   2013

     More details

    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Fuji Technology Press  

    DOI: 10.20965/jrm.2013.p0172

    Scopus

    researchmap

  • High-speed focusing and tracking of multisized microbiological objects Reviewed

    Chanh-Nghiem Nguyen, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Journal of Robotics and Mechatronics   25 ( 1 )   115 - 124   2013

     More details

    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Fuji Technology Press  

    DOI: 10.20965/jrm.2013.p0115

    Scopus

    researchmap

  • Obstacle avoidance for multi-legged robot using virtual impedance model Reviewed

    Tomohito Takubo, Kenji Tsukamoto, Keishi Kominami, Kemchi Ohara, Yasushi Mae, Tatsuo Arai

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   79 ( 797 )   1 - 16   2013

     More details

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

    DOI: 10.1299/kikaic.79.1

    Scopus

    researchmap

  • Automated Construction System for The Fine Lattice Shape Structure Using Alginate Gel Fiber Reviewed

    Akira Fukushima, Masaru Kojima, Kenichi Ohara, Shun Onozaki, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA)   267 - 272   2013

     More details

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

    Web of Science

    researchmap

  • Measuring particle positions in micro channel with multifiber array Reviewed

    Ichiro Okuda, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    Journal of Robotics and Mechatronics   25 ( 6 )   1105 - 1113   2013

     More details

    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Fuji Technology Press  

    DOI: 10.20965/jrm.2013.p1105

    Scopus

    researchmap

  • The Development of an All-In-Focus Algorithm for Endoscopy Reviewed

    Junya Koseki, Kenichi Ohara, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai, Tsuyoshi Kaneko, Hirofumi Matsui

    2013 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)   2013

     More details

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

    DOI: 10.1109/MHS.2013.6710456

    Web of Science

    researchmap

  • Automated construction system for 3D lattice structure based on alginate gel fiber containing living cells Reviewed

    Kenichi Ohara, Masaru Kojima, Akira Fukushima, Shun Onozaki, Mitsuhiro Horade, Masumi Yamada, Minoru Seki, Yasushi Mae, Tatsuo Arai

    Journal of Robotics and Mechatronics   25 ( 4 )   665 - 672   2013

     More details

    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Fuji Technology Press  

    DOI: 10.20965/jrm.2013.p0665

    Scopus

    researchmap

  • Design and fabrication of changeable cell culture mold Reviewed

    Puwanan Chumtong, Masaru Kojima, Kenichi Ohara, Yasushi Mae, Mitsuhiro Horade, Yoshikatsu Akiyama, Masayuki Yamato, Tatsuo Arai

    Journal of Robotics and Mechatronics   25 ( 4 )   657 - 664   2013

     More details

    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Fuji Technology Press  

    DOI: 10.20965/jrm.2013.p0657

    Scopus

    researchmap

  • Improving the speed of 3D information presentation in a microhabitat Reviewed

    Shota Takagi, Kenichi Ohara, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA)   249 - 254   2013

     More details

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

    DOI: 10.1109/ICMA.2013.6617926

    Web of Science

    researchmap

  • BMI-based Learning System for Appliance Control Automation Reviewed

    Christian Penaloza, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   3396 - 3402   2013

     More details

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

    DOI: 10.1109/ICRA.2013.6631051

    Web of Science

    researchmap

  • Lifelogging Keyframe Selection using Image Quality Measurements and Physiological Excitement Features Reviewed

    Photchara Ratsamee, Yasushi Mae, Amornched Jinda-apiraksa, Jana Machajdik, Kenichi Ohara, Masaru Kojima, Robert Sablatnig, Tatsuo Arai

    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   5215 - 5220   2013

     More details

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

    DOI: 10.1109/IROS.2013.6697110

    Web of Science

    researchmap

  • Development of Microhand Utilizing Singularity of Parallel Mechanism Reviewed

    Toru Ejima, Kenichi Ohara, Masaru Kojima, Mitsuhiro Horade, Tamio Tanikawa, Yasushi Mae, Tatsuo Arai

    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   1525 - 1530   2013

     More details

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

    DOI: 10.1109/IROS.2013.6696551

    Web of Science

    researchmap

  • Social navigation model based on human intention analysis using face orientation Reviewed

    Photchara Ratsamee, Yasushi Mae, Kenichi Ohara, Masaru Kojima, Tatsuo Arai

    IEEE International Conference on Intelligent Robots and Systems   1682 - 1687   2013

     More details

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

    DOI: 10.1109/IROS.2013.6696575

    Scopus

    researchmap

  • Real-time precise 3D measurement of micro transparent objects using All-In-Focus imaging system Reviewed

    Chanh-Nghiem Nguyen, Kenichi Ohara, Ebubekir Avci, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Journal of Micro-Nano Mechatronics   7 ( 1-3 )   21 - 31   2012.12

     More details

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

    DOI: 10.1007/s12213-012-0041-5

    Scopus

    researchmap

  • Dextrous cell diagnosis using two-fingered microhand with micro force sensor Reviewed

    Kenichi Ohara, Daiki Kawakami, Tomohito Takubo, Yasushi Mae, Tamio Tanikawa, Ayae Honda, Tatsuo Arai

    Journal of Micro-Nano Mechatronics   7 ( 1-3 )   13 - 20   2012.12

     More details

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

    DOI: 10.1007/s12213-012-0040-6

    Scopus

    researchmap

  • Automated 3D lattice structure construction using hydrogel microfiber Reviewed

    Kenichi Ohara, Masaru Kojima, Shun Onozaki, Yasushi Mae, Tatsuo Arai

    Proceedings of 2013 International Symposium on Micro-NanoMechatronics and Human Science   2012.11

     More details

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

    DOI: 10.1109/MHS.2012.6492487

    researchmap

  • Using Depth to Increase Robot Visual Attention Accuracy during Tutoring Reviewed

    Christian Penaloza, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    Proceedings of IEEE International Conference on Humanoid Robots - Workshop of Developmental Robotics   2012.11

     More details

    Language:English  

    researchmap

  • Control Strategy of Distributed Actuators with Compensation for Communication Delay Reviewed

    Yurina Maeda, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of The 9th International Conference on Ubiquitous Robots and Ambient Intelligence   2012.11

     More details

    Language:English  

    DOI: 10.1109/URAI.2012.6463038

    researchmap

  • Development of End Effector for Cell Manipulation with Two-fingered Micro-hand Reviewed

    Masaru Kojima, Ebubekir Avci, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of 2012 International Symposium on Micro-NanoMechatronics and Human Science   2012.11

     More details

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

    DOI: 10.1109/MHS.2012.6492477

    researchmap

  • 2D Spherical Spaces for Face Relighting under Harsh Illumination Reviewed

    Amr Almaddah, Sadi Vural, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    Proceedings of International Conference on Signal and Image Processing 2012   2012.9

     More details

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

    researchmap

  • 床下環境における画像情報付加地図の生成 Reviewed

    河上真也, 田窪朋仁, 大原賢一, 前泰志, 新井健生

    第13回建設ロボットシンポジウム論文集   2012.9

     More details

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

    researchmap

  • 強化学習を用いた腕脚統合型ロボットによる狭隘部における障害物回避 Reviewed

    小南景士, 田窪朋仁, 大原賢一, 前泰志, 新井健生

    第13回建設ロボットシンポジウム論文集   2012.9

     More details

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

    researchmap

  • 無線通信遅延を考慮したアクティブキャスタシステムの制御手順 Reviewed

    前田 有里奈, 大原 賢一, 前 泰志, 新井 健生

    第13回建設ロボットシンポジウム論文集   2012.9

     More details

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

    researchmap

  • マルチファイバアレイセンサによる微小流路を移動する粒子計測

    奥田一郎, 田窪朋仁, 前泰志, 大原賢一, 新井史人, 新井健生

    Journal of Robotics and Mechatronics   132(7) 203-211 ( 7 )   203-211   2012.7

     More details

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

    researchmap

  • A Psychological Scale for General Impressions of Humanoids Reviewed

    Hiroko Kamide, Yasushi Mae, Koji Kawabe, Satoshi Shigemi, Masato Hirose, Tatsuo Arai

    Proceedings of The 2012 IEEE International Conference on Robotics and Automation   2012.5

     More details

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

    DOI: 10.1109/ICRA.2012.6224790

    researchmap

  • Effect of Human Attributes and Type of Robots on Psychological Evaluation of Humanoids Reviewed

    Hiroko Kamide, Yasushi Mae, Koji Kawabe, Satoshi Shigemi, Tatsuo Arai

    Proceedings of The 2012 IEEE Workshop on Advanced Robotics and its Social Impacts   2012.5

     More details

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

    DOI: 10.1109/ARSO.2012.6213396

    researchmap

  • Equilibrium Theory of Intimacy in Human-Humanoid Interaction

    Hiroko Kamide, Mika Yasumoto, Yasushi Mae, Koji Kawabe, Satoshi Shigemi, Masato Hirose, Tatsuo Arai

    2012.1

     More details

    Language:English  

    researchmap

  • Multi-view fast object detection by using extended haar filters in uncontrolled environments Reviewed

    Sadi Vural, Yasushi Mae, Huseyin Uvet, Tatsuo Arai

    PATTERN RECOGNITION LETTERS   33 ( 2 )   126 - 133   2012.1

     More details

    Language:English   Publishing type:Research paper (scientific journal)   Publisher:ELSEVIER SCIENCE BV  

    In this paper, we propose multi-view object detection methodology by using specific extended class of haar-like filters, which apparently detects the object with high accuracy in the unconstraint environments. There are several object detection techniques, which work well in restricted environments, where illumination is constant and the view angle of the object is restricted. The proposed object detection methodology successfully detects faces, cars, logo objects at any size and pose with high accuracy in real world conditions. To cope with angle variation, we propose a multiple trained cascades by using the proposed filters, which performs even better detection by spanning a different range of orientation in each cascade. We tested the proposed approach by still images by using image databases and conducted some evaluations by using video images from an IP camera placed in outdoor. We tested the method for detecting face, logo, and vehicle in different environments. The experimental results show that the proposed method yields higher classification performance than Viola and Jones's detector, which uses a single feature for each weak classifier. Given the less number of features, our detector detects any face, object, or vehicle in 15 fps when using 4 megapixel images with 95% accuracy on an Intel i7 2.8 GHz machine. (C) 2011 Elsevier B.V. All rights reserved.

    DOI: 10.1016/j.patrec.2011.10.004

    Web of Science

    researchmap

  • Multi-view fast object detection by using extended haar filters in uncontrolled environments Reviewed

    Sadi Vural, Yasushi Mae, Huseyin Uvet, Tatsuo Arai

    PATTERN RECOGNITION LETTERS   33 ( 2 )   126 - 133   2012.1

     More details

    Language:English   Publishing type:Research paper (scientific journal)   Publisher:ELSEVIER SCIENCE BV  

    In this paper, we propose multi-view object detection methodology by using specific extended class of haar-like filters, which apparently detects the object with high accuracy in the unconstraint environments. There are several object detection techniques, which work well in restricted environments, where illumination is constant and the view angle of the object is restricted. The proposed object detection methodology successfully detects faces, cars, logo objects at any size and pose with high accuracy in real world conditions. To cope with angle variation, we propose a multiple trained cascades by using the proposed filters, which performs even better detection by spanning a different range of orientation in each cascade. We tested the proposed approach by still images by using image databases and conducted some evaluations by using video images from an IP camera placed in outdoor. We tested the method for detecting face, logo, and vehicle in different environments. The experimental results show that the proposed method yields higher classification performance than Viola and Jones's detector, which uses a single feature for each weak classifier. Given the less number of features, our detector detects any face, object, or vehicle in 15 fps when using 4 megapixel images with 95% accuracy on an Intel i7 2.8 GHz machine. (C) 2011 Elsevier B.V. All rights reserved.

    DOI: 10.1016/j.patrec.2011.10.004

    Web of Science

    researchmap

  • Omni-directional gait of multi-legged robot on rough terrain by following the virtual plane Reviewed

    Kenji Kamikawa, Tomohito Takubo, Yasushi Mae, Kenji Inoue, Tatsuo Arai

    Journal of Robotics and Mechatronics   24 ( 1 )   71 - 85   2012

     More details

    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Fuji Technology Press  

    DOI: 10.20965/jrm.2012.p0071

    Scopus

    researchmap

  • Design of a compact 3-DOF microhand system with large workspace Reviewed

    Toru Ejima, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tamio Tanikawa, Tatsuo Arai

    2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation"   63 - 68   2012

     More details

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

    DOI: 10.1109/MHS.2011.6102160

    Scopus

    researchmap

  • Development of End Effector for Cell Manipulation with Two-fingered Micro-hand Reviewed

    Masaru Kojima, Ebubekir Avci, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2012 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)   399 - 401   2012

     More details

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

    Web of Science

    researchmap

  • Software Interface for Controlling Diverse Robotic Platforms using BMI Reviewed

    Christian Isaac Penaloza, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    2012 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)   764 - 769   2012

     More details

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

    DOI: 10.1109/SII.2012.6426949

    Web of Science

    researchmap

  • Optimization of Obstacle Avoidance Using Reinforcement Learning Reviewed

    Keishi Kominami, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2012 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)   67 - 72   2012

     More details

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

    DOI: 10.1109/SII.2012.6426933

    Web of Science

    researchmap

  • Social human behavior modeling for robot imitation learning Reviewed

    Christian I. Penaloza, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012   457 - 462   2012

     More details

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

    DOI: 10.1109/ICMA.2012.6282886

    Scopus

    researchmap

  • Measurement of particle position in micro channel using two-layer POF array Reviewed

    Ichiro Okuda, Yasushi Mae, Kenichi Ohara, Tatsuo Arai, Tomohito Takubo

    2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012   1462 - 1467   2012

     More details

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

    DOI: 10.1109/ICMA.2012.6284352

    Scopus

    researchmap

  • High resolution grid map with normal distribution transform algorithm Reviewed

    Tomohito Takubo, Takuya Kaminade, Yasushi Mae, Tatsuo Arai, Kenichi Ohara

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   78 ( 793 )   3186 - 3201   2012

     More details

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

    DOI: 10.1299/kikaic.78.3186

    Scopus

    researchmap

  • 2D spherical spaces for objects recognition under harsh lighting conditions Reviewed

    Amr Almaddah, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    Proceedings - IEEE International Workshop on Robot and Human Interactive Communication   88 - 93   2012

     More details

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

    DOI: 10.1109/ROMAN.2012.6343736

    Scopus

    researchmap

  • Feasibility check of an assist system through the simulation of bipedal walking using a CPG Reviewed

    Tomohito Takubo, Yohei Fukano, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Journal of Robotics and Mechatronics   24 ( 4 )   657 - 665   2012

     More details

    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Fuji Technology Press  

    DOI: 10.20965/jrm.2012.p0657

    Scopus

    researchmap

  • High-speed autofocusing of multisized microobjects Reviewed

    Chanh-Nghiem Nguyen, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    IEEE International Conference on Automation Science and Engineering   34 - 39   2012

     More details

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

    DOI: 10.1109/CoASE.2012.6386495

    Scopus

    researchmap

  • Detection for particles moving in micro channel with multifiber array sensor Reviewed

    Ichiro Okuda, Tomohito Takubo, Yasushi Mae, Kenichi Ohara, Fumihito Arai, Tatsuo Arai

    IEEJ Transactions on Sensors and Micromachines   132 ( 7 )   203 - 211   2012

     More details

    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical Engineers of Japan  

    DOI: 10.1541/ieejsmas.132.203

    Scopus

    researchmap

  • Vibration analysis of microhand for high speed single cell manipulation Reviewed

    Ebubekir Avci, Chanh-Nghiem Nguyen, Kenichi Ohara, Yasushi Mae, Tatsuo Arai, Christoph Gobel

    2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012   75 - 80   2012

     More details

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

    DOI: 10.1109/ICMA.2012.6282810

    Scopus

    researchmap

  • Image information added map making interface for compensating image resolution Reviewed

    Shinya Kawakami, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Journal of Robotics and Mechatronics   24 ( 3 )   507 - 516   2012

     More details

    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Fuji Technology Press  

    DOI: 10.20965/jrm.2012.p0507

    Scopus

    researchmap

  • Modified Social Force Model with Face Pose for Human Collision Avoidance Reviewed

    Photchara Ratsamee, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    HRI'12: PROCEEDINGS OF THE SEVENTH ANNUAL ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTION   215 - 216   2012

     More details

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

    DOI: 10.1145/2157689.2157762

    Web of Science

    researchmap

  • New Measurement of Psychological Safety for Humanoid Reviewed

    Hiroko Kamide, Yasushi Mae, Koji Kawabe, Satoshi Shigemi, Masato Hirose, Tatsuo Arai

    HRI'12: PROCEEDINGS OF THE SEVENTH ANNUAL ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTION   49 - 56   2012

     More details

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

    DOI: 10.1145/2157689.2157698

    Web of Science

    researchmap

  • People tracking with body pose estimation for human path prediction Reviewed

    Photchara Ratsamee, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012   1915 - 1920   2012

     More details

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

    DOI: 10.1109/ICMA.2012.6285114

    Scopus

    researchmap

  • Interoperable vision component for object detection and 3D pose estimation for modularized robot control Reviewed

    Yasushi Mae, Jaeil Choi, Hideyasu Takahashi, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    MECHATRONICS   21 ( 6 )   983 - 992   2011.9

     More details

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

    DOI: 10.1016/j.mechatronics.2011.03.008

    Web of Science

    researchmap

  • ヒューマノイドの一般的心理評価尺度の開発

    上出寛子, 前泰志, 川辺浩司, 重見聡史, 広瀬真人, 新井健生

    第29回日本ロボット学会学術講演会   2011.9

     More details

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

    researchmap

  • Automated Pose Estimation of Objects Using Multiple ID Devices for Handling and Maintenance Task in Nuclear Fusion Reactor

    2011.9

     More details

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

    researchmap

  • 対ロボットインタラクションにおける親密性平衡モデルの適用

    安本実加, 上出寛子, 前泰志, 川辺浩司, 重見聡史, 広瀬真人, 新井健生

    第29回日本ロボット学会学術講演会   2011.9

     More details

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

    researchmap

  • Vision-Based Hierarchical Recognition for Dismantling Robot Applied to Interior Renewal of Buildings Reviewed

    S. Rolando Cruz-Ramirez, Yasushi Mae, Tatsuo Arai, Tomohito Takubo, Kenichi Ohara

    COMPUTER-AIDED CIVIL AND INFRASTRUCTURE ENGINEERING   26 ( 5 )   336 - 355   2011.7

     More details

    Language:English   Publishing type:Research paper (scientific journal)   Publisher:WILEY-BLACKWELL  

    New robotic systems are going to play an essential role in the future dismantling service for renewing office interiors in buildings. In dismantling tasks, robots are expected to be able to find and remove very small parts such as screws and bolts. Such recognition of small parts is difficult for robots. The article describes a vision-based hierarchical recognition applied to dismantling tasks where large structures are detected at first, thus small parts attached to these structures are detected easier. Regarding the items in the ceiling side, after the dismantling task of the ceiling panels, it is necessary to remove carefully the screws that once held these panels to the light gauge steel (LGS), with the purpose of reusing it. With the pose detection of the large structure (LGS) and considering a robot arm with a stereo camera on its tip, a trajectory near that structure can be computed to detect the small parts, in this case the screws. The large structure is detected by using a process of line detection in 2D and its 3D pose is measured with the stereo camera. During the motion along the structure, the screws are detected by applying a multi-template matching process to every captured image. Followed by, the Support Vector Machine (SVM), which recognizes those screw candidates with high true positive rate and low false positive one. These rates are improved with a temporal multi-image integration for tracking the screw candidates. In the experiment, 10 actual screws distributed in 1.1 m along a linear segment on the LGS are successfully recognized with a few false positives and with a final computed 3D position of 2 mm in average. Feasibility of methodology is evaluated by experimentation under different lighting conditions in a realistic environment. Experimental results show that the method works well to be applied in an actual dismantling site.

    DOI: 10.1111/j.1467-8667.2010.00689.x

    Web of Science

    researchmap

  • Comparative Evaluation of Virtual and Real Humanoid with Robot-Oriented Psychology Reviewed

    Hiroko Kamide, Mika Yasumoto, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    Proceedings of IEEE International Conference on Robotics and Automation   2011.5

     More details

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

    DOI: 10.1109/ICRA.2011.5979893

    researchmap

  • 差分方程式拘束を伴う離散時間非ホロノミック系を用いた2足歩行計画の最適化 Reviewed

    八百伸弥, 田窪朋仁, 大原賢一, 前泰志, 新井健生

    第16回ロボティクス・シンポジア予稿集   2011.3

     More details

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

    researchmap

  • Optimization of Bipedal Gait Planning with Difference Equation Nonholonomic System by Quadratic Programming with Constraints Reviewed

    Nobuya Yao, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Robotics Symposia   2011.3

     More details

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

    researchmap

  • Illumination Normalization for Outdoor Face Recognition by Using Ayofa-filters

    adi Vural, Yasushi Mae, Huseyin Uvet, Tatsuo Arai

    Journal of Pattern Recognition Research   2011.1

     More details

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

    researchmap

  • Dynamic Rolling-Walk Motion by the Limb Mechanism Robot ASTERISK Reviewed

    Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    ADVANCED ROBOTICS   25 ( 1-2 )   75 - 91   2011

     More details

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

    DOI: 10.1163/016918610X538499

    Web of Science

    researchmap

  • Automated Micromanipulation for a Microhand with All-In-Focus Imaging System Reviewed

    Chanh-Nghiem Nguyen, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS   427 - 432   2011

     More details

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

    Web of Science

    researchmap

  • Personal space of humans in relation with humanoid robots depending on the presentation method Reviewed

    Mika Yasumoto, Hiroko Kamide, Yasushi Mae, Koji Kawabe, Satoshi Sigemi, Masato Hirose, Tatsuo Arai

    2011 IEEE/SICE International Symposium on System Integration, SII 2011   797 - 801   2011

     More details

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

    DOI: 10.1109/SII.2011.6147550

    Scopus

    researchmap

  • Multiple cell suction and supply system for automated cell manipulation on microfluidic channel Reviewed

    Naoaki Koyama, Kenichi Ohara, Akiyuki Hasegawa, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    IEEE International Conference on Automation Science and Engineering   678 - 683   2011

     More details

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

    DOI: 10.1109/CASE.2011.6042486

    Scopus

    researchmap

  • Dynamic rotational walking motion on inclined-plane with posture optimization by genetic algorithms Reviewed

    Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011   148 - 153   2011

     More details

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

    DOI: 10.1109/ICMA.2011.5985647

    Scopus

    researchmap

  • Visual and Physical Segmentation of Novel Objects Reviewed

    Amr Almaddah, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS   807 - 812   2011

     More details

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

    Web of Science

    researchmap

  • Generic Object Classifiers based on Real Image Selection from the Web Reviewed

    Christian Penaloza, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    2011 FIRST ASIAN CONFERENCE ON PATTERN RECOGNITION (ACPR)   239 - 243   2011

     More details

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

    Web of Science

    researchmap

  • Web-based Object Category Learning using Human-Robot Interaction Cues Reviewed

    Christian I. Penaloza, Yasushi Mae, Tatsuo Arai, Kenichi Ohara, Tomohito Takubo

    PROCEEDINGS OF THE 6TH ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTIONS (HRI 2011)   223 - 224   2011

     More details

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

    DOI: 10.1145/1957656.1957742

    Web of Science

    researchmap

  • Object Co-occurrence Graph for Object Search in 3D Environment Reviewed

    Puwanan Chumtong, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    PROCEEDINGS OF THE SIXTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 16TH '11)   999 - 1002   2011

     More details

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

    Web of Science

    researchmap

  • Component-based robot system design for grasping tasks Reviewed

    Yasushi Mae, Hideyasu Takahashi, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    Intelligent Service Robotics   4 ( 1 )   91 - 98   2011

     More details

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

    DOI: 10.1007/s11370-010-0072-5

    Scopus

    researchmap

  • Automated pose estimation of objects using multiple ID devices for handling and maintenance task in nuclear fusion reactor Reviewed

    Tomohiro Umetani, Jun-Ichi Morioka, Kenji Inoue, Tatsuo Arai, Yasusi Mae, Yuichi Tamura

    Plasma and Fusion Research   6 ( 1 )   2011

     More details

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

    DOI: 10.1585/pfr.6.2402079

    Scopus

    researchmap

  • Vision-based object search in unknown human environment using object co-occurrence graph Reviewed

    Puwanan Chumtong, Yasushi Mae, Tomohito Takubo, Kenichi Ohara, Tatsuo Arai

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011   2043 - 2048   2011

     More details

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

    DOI: 10.1109/ROBIO.2011.6181592

    Scopus

    researchmap

  • Adaptive gait for dynamic rotational walking motion by ASTERISK Reviewed

    Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011   68 - 73   2011

     More details

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

    DOI: 10.1109/ROBIO.2011.6181264

    Scopus

    researchmap

  • High speed micromanipulation system with multi-scalability Reviewed

    Ebubekir Avci, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011   1212 - 1217   2011

     More details

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

    DOI: 10.1109/ROBIO.2011.6181453

    Scopus

    researchmap

  • Adding image information corresponding to the shape of the objects' surfaces on environmental maps Reviewed

    Shinya Kawakami, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence   142 - 147   2011

     More details

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

    DOI: 10.1109/URAI.2011.6145949

    Scopus

    researchmap

  • Component-based robot software design for pick-and-place task described by SysML Reviewed

    Kenichi Ohara, Kyohei Iwane, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence   124 - 127   2011

     More details

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

    DOI: 10.1109/URAI.2011.6145945

    Scopus

    researchmap

  • Real-time trajectory planning for mobile manipulator using model predictive control with constraints Reviewed

    Satoshi Ide, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence   244 - 249   2011

     More details

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

    DOI: 10.1109/URAI.2011.6145970

    Scopus

    researchmap

  • Range estimation technique using Received Signal Strength Indication on Low Frequency waves

    Kenichi Ohara, Yuji Abe, Tomohito Takubo, Yasushi Mae, Tamio Tanikawa, Tatsuo Arai

    Journal of Robotics and Mechatronics   23 ( 4 )   466 - 474   2011

     More details

    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Fuji Technology Press  

    DOI: 10.20965/jrm.2011.p0466

    Scopus

    researchmap

  • Cell Stiffness Measurement Using Two-Fingered Microhand Reviewed

    Daiki Kawakami, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Akihiko Ichikawa, Tamio Tanikawa, Tatsuo Arai

    Proceedings of the 2010 IEEE International Conference on Robotics and Biomimetics(ROBIO2010)   2010.12

     More details

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

    DOI: 10.1109/ROBIO.2010.5723466

    researchmap

  • Illumination-Invariant Face Texture Analysis by Gaussian-Histogram Equalization and Hierarchical Nonlinear Principal Component Analysis

    Sadi Vural, Yasushi Mae, Tatsuo Arai

    Journal of Signal Processing   2010.11

     More details

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

    researchmap

  • Workspace optimization for multi-scale micromanipulation system Reviewed

    Evbekir Avci, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of the 21th IEEE International Symposium on Micro-NanoMechatronics and Human Science 2010(MHS2010)   2010.11

     More details

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

    researchmap

  • Automatic Object Modeling by Observing Human-Object Interaction Reviewed

    Christian Penaloza, Yasushi Mae, Tatsuo Arai, Kenichi Ohara, Tomohito Takubo

    Proceedings of the 7th International Conference on Ubiquitous Robots and Ambient Intelligence   2010.11

     More details

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

    researchmap

  • Development of a Scale of Perception to Humanoid Robots:PERNOD Reviewed

    Hiroko Kamide, Yasushi Mae, Tomohito Takubo, Kenichi Ohara, Tatsuo Arai

    Proceedings of the IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems   2010.10

     More details

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

    DOI: 10.1109/IROS.2010.5648955

    researchmap

  • NEW TURNING MOTIONS FOR ASTERISK'S DYNAMIC ROTATIONAL WALKING MOTION Reviewed

    Chayooth Theeravithyangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedins of The First IFToMM Asian Conference on Mechanism and Machine Science   2010.10

     More details

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

    researchmap

  • Simulation of bipedal walking based on CPG for Clogs-type Sole Shape Reviewed

    Yohei Fukano, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of The 5th International Conference on Advanced Mechatronics(ICAM2010)   2010.10

     More details

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

    researchmap

  • The Wire-Swing Motion of ASTERISK and ER-Winch Locomotion Methods Reviewed

    Hiroyuki Sakamoto, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of The 5th International Conference on Advanced Mechatronics(ICAM2010)   2010.10

     More details

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

    researchmap

  • Development of RSSI Measurement Sensor Modules for Robust Position Estimation of Wireless Sensor Network Node Reviewed

    Yuji Abe, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tamio Tanikawa, Tatsuo Arai

    Proceedings of The 5th International Conference on Advanced Mechatronics(ICAM2010)   2010.10

     More details

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

    researchmap

  • SysML-Based Robot System Design for Manipulation Tasks Reviewed

    Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of The 5th International Conference on Advanced Mechatronics(ICAM2010)   2010.10

     More details

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

    researchmap

  • Development of a Microfludic Cell Coupling and Fusion System Reviewed

    Huseyin Uvet, Fumihito Arai, Akiyuki Hasegawa, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai, Osamu Satoh, Mitsuhiro Goto

    Proceedings of The 5th International Conference on Advanced Mechatronics(ICAM2010)   2010.10

     More details

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

    researchmap

  • Automated Three-Dimensional Pose Estimation of Objects using Multiple ID Devices by Autonomous Robot Reviewed

    Tomohiro Umetani, Jun-ichi Morioka, Kenji Inoue, Yasushi Mae, Tatsuo Arai

    Proceedings of the 5th International Conference on Advanced Mechatronics(ICAM2010)   2010.10

     More details

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

    researchmap

  • Gait Planning for a Biped Robot by a Nonholonomic System with Difference Equation Constraints Reviewed

    Nobuya Yao, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of the IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems   2010.10

     More details

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

    DOI: 10.1109/IROS.2010.5651683

    researchmap

  • Wireless Home NetWork System with RT Middleware Reviewed

    2010.9

     More details

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

    researchmap

  • Face Perception Based on Spatial Gaussian Bessel Mixture and Nonlinear Features Analysis

    Sadi Vural, Yasushi Mae, Tatsuo Arai

    信号処理   2010.9

     More details

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

    researchmap

  • 実機・VR ロボットに対する心理の定量的評価

    上出寛子, 安本実加, 田窪朋仁, 大原賢一, 前泰志, 新井健生

    第28回日本ロボット学会学術講演会   2010.9

     More details

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

    researchmap

  • Individual Automated Cell Transportation For Microfluidic Applications Reviewed

    Huseyin Uvet, Naoaki Koyama, Akiyuki Hasegawa, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of 2010 International Symposium on Flexible Automation   2010.7

     More details

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

    researchmap

  • 移動・作業知能のための視覚に基づくロバストな知能モジュール群の開発 Reviewed

    末永 剛, 高松 淳, 小笠原 司, 大原 賢一, 前 泰志, 新井 健生, 竹村 裕, 溝口 博

    ロボット   ( 195 )   36 - 39   2010.7

     More details

    Language:Japanese  

    researchmap

  • On-Chip Somatic Cell Coupling and Fusion Reviewed

    Huseyin Uvet, Akiyuki Hasegawa, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of 2010 International Symposium on Flexible Automation   2010.7

     More details

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

    researchmap

  • Virtual Impedance Model for Obstacle Avoidance in a Limb Mechanism Robot Reviewed

    Kenji Tsukamoto, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of The 2010 IEEE International Conference on Information and Automation   2010.6

     More details

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

    DOI: 10.1109/ICINFA.2010.5512471

    researchmap

  • Manipulation Method Using Wheeled-Hand Mechanism for Humanoid Robot Invited Reviewed

    Takuya Fukuda, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of Service Robotics and Mechatronics -Selected Papers of the International Conference on Machine Automation ICMA2008-   2010.6

     More details

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

    researchmap

  • Developmentofa scale forperceptionto humanoid robots-lnvestigationofbasic perceptionaldimensionstohumanoidrobots

    Hiroko KAMDE, Osaka University,YasushiMAE, Osaka University, TomohitoTAKUBO, Osaka University,ichiOHARA, Osaka University, Tatsuo ARAI, Osaka University

    The Japan Society of Mechanical Engineers   2010.6

     More details

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

    researchmap

  • RT MODULE DESIGN FOR HOME AND BUILDING AUTOMATION Reviewed

    Kenichi Ohara, Shinji Yonesaka, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of The 27th International Symposium on Automation and Robotics in Construction (ISARC2010)   2010.6

     More details

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

    researchmap

  • Personal space for the humanoid robot and a presentation method

    Mika YASUMOTO, Hiroko KAMIDE, Yasushi MAE, KenichiOHARA, Tomohito TAKUBO, Tatsuo ARAI, saka

    The Japan Society of Mechanical Engineers   2A2-D18   "2A2 - D18(1)"-"2A2-D18(4)"   2010.6

     More details

    Language:Japanese   Publishing type:Research paper (other academic)   Publisher:The Japan Society of Mechanical Engineers  

    Personal space between two human beings is very important. If humans and humanoid robots are to coexist in the same environment, the personal space between them has to be taken into consideration, too. We have evaluated the personal space between a person and a humanoid robot through an experiment using a real robot and a VR robot. If the results about a VR robot and a real robot are not different, the personal space can be evaluated in the future by VR only. As a result of our experiment, we have found that the personal space between a person and a humanoid robot matches to personal distance which is seen between two persons who are in a relationship of friendship/acquaintanceship. Also, no differences were seen in the shapes of personal space for a real robot and a VR robot, respectively.

    CiNii Books

    researchmap

  • 国際ロボット展2009 移動・作業知能のための視覚に基づくロバストな知能モジュール群の開発 Reviewed

    末永 剛, 高松 淳, 小笠原 司, 大原 賢一, 前 泰志, 新井 健生, 竹村 裕, 溝口 博

    日本ロボット学会学会誌   28 ( 5 )   37 - 38   2010.6

     More details

    Language:Japanese  

    researchmap

  • Expansion of Movable Area of Multi Legged Robot by Rotational Gait.

    Kenji Kamikawa, Tatsuo Arai, Yasushi Mae, Tomohito Takubo, Kenji Inoue

    Journal of the Robotics Society of Japan   28(2) 231-240 ( 2 )   231 - 240   2010.3

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Robotics Society of Japan  

    This paper proposes a new locomotion algorithm of narrow scaffold. We have developed a limb-mechanism robot. The limb can move on a large working area, it can be used as an arm and a leg. ASTERISK Robot system has six limbs that radiate out in six directions. This robot system has the rotational symmetry, therefore, the posture is equivalent even if the robot body rotates. By using this feature, we propose a new movement algorithm "rotational gait" that the robot rotates like a wheel. The rotational gait can be applied to the robot that hanging on a cable, moving on narrow shelf of a cliff, and walking in a narrow space by the same algorithm. The operation and effectiveness of these algorithms were verified by the experiment. The movement algorithm is easy pattern operation that keeps stable state at all periods. And the robot can move without doing a high-speed real-time processing.

    DOI: 10.7210/jrsj.28.231

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00349360056?from=CiNii

  • Recognition and Removing Interior Facilities by Vision-based Robot System

    S. Rolando Cruz-Ramirez, Tatsuo Arai, Yasushi Mae, Tomohito Takubo, Kenichi Ohara

    Journal of Robotics and Mechatronics   2010.2

     More details

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

    researchmap

  • Cell stiffness measurement using two-fingered microhand Reviewed

    Daiki Kawakami, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Akihiko Ichikawa, Tamio Tanikawa, Tatsuo Arai

    2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010   1019 - 1024   2010

     More details

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

    In the field of life science, such as regeneration medicine or cloning, the manipulation and analysis of cells is performed by researchers. However, in micro environments, manipulating objects by hand is often not feasible or practical. We have developed a two-fingered microhand, which will help to improve operation efficiency. Using the microhand, we can manipulate cells i.e., grab, rotate, carry, and so on - like when using chop sticks. The stiffness measurement of a cell is a key approach in single cell analysis techniques. It is important in indicating cell condition, because the stiffness of a cancer cell is lower than that of a normal cell as an example. In this paper, the pressure force caused in the process of cell deformation is measured via a micro force sensor attached to the root of micro glass needle. Our results point out that this can be one efficient measurement method for acquiring cell stiffness. The micro force sensor uses strain gauges to measure the strain of the glass needle so that we can find out the force generated on the micro force sensor indirectly. In this paper, two topics are discussed. One is for converting strain data to force data based on the force sensor model. The other refers to the experimental results about the stiffness measurement of the oocyte. © 2010 IEEE.

    DOI: 10.1109/ROBIO.2010.5723466

    Scopus

    researchmap

  • Ladder Climbing Method for the Limb Mechanism Robot ASTERISK Reviewed

    Kenji Inoue, Shota Fujii, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    ADVANCED ROBOTICS   24 ( 11 )   1557 - 1576   2010

     More details

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

    DOI: 10.1163/016918610X512596

    Web of Science

    researchmap

  • 2P1-A29 Development of automatic cell supply system with solenoid valve

    KOYAMA Naoaki, Huseyin Uvet, HASEGAWA Akiyuki, OHARA Kenichi, TAKUBO Tomohito, MAE Yasushi, ARAI Tatsuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2010   _2P1 - A29_1-_2P1-A29_2   2010

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    Micro tasks dealing with live cells and tissues in bio science and technology require dexterous and skillful manipulation under microscope, and are mostly executed manually. Microfluidic cell manipulation techniques are being developed to achieve their automation to improve the manipulation productivity. We are developing a cell supply system, where devising efficient valve is the key issue. We propose a solenoid valve system to improve its breaking capability. The new valve has higher responsibility than our previous air actuated valve. We have integrated an automatic cell supply system with this valve and the experiments confirm successful cell supply.

    DOI: 10.1299/jsmermd.2010._2P1-A29_1

    researchmap

  • Unknown objects segmentation and material classification for separation Reviewed

    Amr Almaddah, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010   1457 - 1462   2010

     More details

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

    DOI: 10.1109/ROBIO.2010.5723544

    Scopus

    researchmap

  • Rotation control of polygonal prism by multi-legged robot Reviewed

    Gaku Takeo, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    International Workshop on Advanced Motion Control, AMC   601 - 606   2010

     More details

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

    DOI: 10.1109/AMC.2010.5464064

    Scopus

    researchmap

  • Effect of chaos-driving motion of patient robot in nursing practice Reviewed

    Yasushi Mae, Mamoru Minami, Akiko Sakai, Takeo Ohnishi, Kanji Tanaka

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   76 ( 770 )   2628 - 2637   2010

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:Japan Society of Mechanical Engineers  

    DOI: 10.1299/kikaic.76.2628

    Scopus

    researchmap

  • Automatic Single Cell Transfer Module Reviewed

    Akiyuki Hasegawa, Huseyin Uvet, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics   2009.12

     More details

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

    DOI: 10.1109/ROBIO.2009.5420614

    researchmap

  • Internal Force Control for Rolling Operation of Polygonal Prism Reviewed

    Gaku Takeo, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics   2009.12

     More details

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

    DOI: 10.1109/ROBIO.2009.5420608

    researchmap

  • Cell Coupling System for Somatic Cell Cloning Using Microfluidic Chip Reviewed

    Akiyuki Hasegawa, Huseyin Uvet, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai, Osamu Satoh, Akihiro Nakayama

    Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics   2009.12

     More details

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

    DOI: 10.1109/ROBIO.2009.5420617

    researchmap

  • Dynamic Rolling-walk Motion with Sensory Compensation Reviewed

    Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics   2009.12

     More details

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

    DOI: 10.1109/ROBIO.2009.5420605

    researchmap

  • Vision-Based Automated Single-Cell Loading and Supply System Reviewed

    Huseyin Uvet, Akiyuki Hasegawa, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    IEEE TRANSACTIONS ON NANOBIOSCIENCE   8 ( 4 )   332 - 340   2009.12

     More details

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

    DOI: 10.1109/TNB.2009.2035280

    Web of Science

    researchmap

  • Obstacle Avoidance Using Virtual Impedance Wall for Limb Mechanism Robot Reviewed

    Kenji Tsukamoto, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics   2009.12

     More details

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

    DOI: 10.1109/ROBIO.2009.5420603

    researchmap

  • On-Chip Disposable Compact Vision System Reviewed

    Huseyin Uvet, Akiyuki Hasegawa, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of the 20th IEEE International Symposium on Micro-NanoMehatronics and Human Science in 2009 (MHS 2009)   2009.11

     More details

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

    researchmap

  • SELF-CONTROLLED CELL SUPPLY SYSTEM FOR SOMATIC CELL CLONING WORK IN MICROFLUIDIC CHIP Reviewed

    Akiyuki Hasegawa, Huseyin Uvet, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of the 13th International Conference on Miniaturized Systems for Chemistry and Life Sciences (&micro;TAS 2009)   2009.11

     More details

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

    We developed the self-controlled cell supply system for somatic cell cloning work. This system can be used with complex microfluidic applications requiring single cell loading such as the current nuclear transplantation method. Our aim is the efficient and stable supply egg cells and fibroblasts, from cell container to PDMS micro-channel in microchip and then transport them to other microchip modules. In this report, we made two types of microfluidic chips for valve system and compared these. These data indicated that this proposed system can be applied for cell supply into microfluidic chip.

    researchmap

  • 20th IEEE International Symposium on Micro-NanoMehatronics and Human Science in 2009 (MHS 2009) Reviewed

    Ebubekir AVCI, Kenichi OHARA, Tomohito TAKUBO, Yasushi MAE, Tatsuo ARAI

    Proceedings of the 20th IEEE International Symposium on Micro-NanoMehatronics and Human Science in 2009 (MHS 2009)   2009.11

     More details

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

    researchmap

  • User Friendly Two-Fingered Cell Manipulation System Reviewed

    Daiki KAWAKAMI, Kenichi OHARA, Yasushi MAE, Tomohito TAKUBO, Tamio TANIKAWA, Tatsuo ARAI

    Proceedings of the 20th IEEE International Symposium on Micro-NanoMehatronics and Human Science in 2009 (MHS 2009)   2009.11

     More details

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

    researchmap

  • Micro Valve System for Individual Cell Transportation in Microfluidic Chip Reviewed

    Akiyuki Hasegawa, Huseyin Uvet, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of the 20th IEEE International Symposium on Micro-NanoMehatronics and Human Science in 2009 (MHS 2009)   2009.11

     More details

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

    researchmap

  • Layered Structure on Module-Based Robot Control System for Service Robots Reviewed

    Hideyasu Takahashi, Yasushi Mae, Jaeil Choi, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    Proceedings of The 6th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2009)   2009.10

     More details

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

    researchmap

  • Implementation and Evaluation of the Scale-Invariant Feature Transform on GPU Reviewed

    Jaeil Choi, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    Proceedings of The 6th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2009)   2009.10

     More details

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

    researchmap

  • Smart RT Device with Easy Replaceability in Ubiquitous Robot Environment Reviewed

    Kenichi Ohara, Shinji Yonesaka, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of The 6th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2009)   2009.10

     More details

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

    researchmap

  • Position Estimation Method Using RSSI Measurement Sensors Reviewed

    Yuji ABE, Kenichi OHARA, Tomohito TAKUBO, Yasushi MAE, Tamio TANIKAWA, Tatsuo ARAI

    Proceedings of The 6th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2009)   2009.10

     More details

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

    Recently, sensor network is one of the key technologies<br />
    on robotic field. Especially, position estimation of<br />
    devices is important technology on sensor network. Position estimation method by using Received Signal Strength Indication (RSSI) is approached in indoor environment because of facility of installation. However, in indoor environment, estimation accuracy on this method is affected by multipath fading. In this paper, to solve this problem and take the advantage of RFcommunication, we propose RSSI measurement sensor using radio signal which is based on 125kHz, which is less affected by multipath fading. In this paper, we do RSSI measurement experiment with this sensor, and comparison experiment with Zigbee. And we show results of position estimation experiment by using RSSI measurement sensor.

    researchmap

  • Evaluation of virtual and real robot based on human impression Reviewed

    Kenichi Ohara, Shunsuke Negi, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of 18th IEEE International Symposiumon Robot and Human Interactive Communication   2009.10

     More details

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

    DOI: 10.1109/ROMAN.2009.5326336

    researchmap

  • Action Indication System in Emergency using Audio and Visual Presentation Reviewed

    Kotaro Morikawa, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    Proceedings of The 6th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2009)   2009.10

     More details

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

    researchmap

  • Object Pose Estimation by Multi-Surfaces SIFT Matching for Manipulation Reviewed

    Amr Almaddah, Yasushi Mae, Tatsuo Arai, Kenichi Ohara, Tomohito Takubo

    Proceedings of The 6th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2009)   2009.10

     More details

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

    researchmap

  • Rotational Operation of Polygonal Prism by Multi-Legged Robot Reviewed

    Gaku Takeo, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    The 2009 IEEE International Conference on Mechatronics and Automation   2009.8

     More details

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

    DOI: 10.1109/ICMA.2009.5244948

    researchmap

  • Optimization of Grid Wall Walking by Genetic Algorithm Reviewed

    Yuya Yanagihara, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of The 2009 IEEE International Conference on Mechatronics and Automation   2009.8

     More details

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

    DOI: 10.1109/ICMA.2009.5244953

    researchmap

  • Dynamic Rolling-walk Motion by Limb Mechanism Robot ASTERISK Reviewed

    Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    The 2009 IEEE International Conference on Mechatronics and Automation   2009.8

     More details

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

    DOI: 10.1109/ICMA.2009.5244960

    researchmap

  • On special issue "Robot Vision for Human-Robot Coexistent Society"

    WATANABE Mutsumi, MAE Yasushi

    JRSJ   27 ( 6 )   591 - 591   2009.7

     More details

    Language:Japanese   Publisher:The Robotics Society of Japan  

    DOI: 10.7210/jrsj.27.591

    CiNii Books

    researchmap

  • Rough Terrain Walking for Bipedal Robot by Using ZMP Criteria Map Reviewed

    Tomohito Takubo, Yoshinori Imada, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of IEEE International Conference on Robotics and Automation(ICRA 2009)   2009.5

     More details

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

    DOI: 10.1109/ROBOT.2009.5152768

    researchmap

  • Developmental Process of a Chopstick-Like Hybrid-Structure Two-Fingered Micromanipulator Hand for 3-D Manipulation of Microscopic Objects Reviewed

    Ahmed A. Ramadan, Tomohito Takubo, Yasushi Mae, Kenichi Oohara, Tatsuo Arai

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   56 ( 4 )   1121 - 1135   2009.4

     More details

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

    DOI: 10.1109/TIE.2008.2008753

    Web of Science

    researchmap

  • Stair Recognition with Laser Range Scanning by Limb Mechanism Robot "ASTERISK" Reviewed

    Chayooth Theeravithayangkura, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics (ROBIO 2008)   2009.2

     More details

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

    DOI: 10.1109/ROBIO.2009.4913121

    researchmap

  • Simple Method for Generating Dynamic Object Map Reviewed

    Yuusuke Ishizuka, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics (ROBIO 2008)   2009.2

     More details

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

    In the present paper, we propose a simple generation<br />
    method of a dynamic object map by the person who does<br />
    not have professional knowledge about sensors. In the method,a user attaches ultrasonic sensors with RF-ID tags to corners of objects. More than 2 sets of receivers can measure their 3D positons.<br />
    Dynamic object map is generated by the measurements<br />
    in real time. The method is evaluated by the inexperience users act to build the map according to the simple procedure.

    researchmap

  • Self-Controlled Cell Selection and Loading System for & Microfluidic Systems Reviewed

    Huseyin Uvet, Akiyuki Hasegawa, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS   4712 - +   2009

     More details

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

    DOI: 10.1109/IROS.2009.5354585

    Web of Science

    researchmap

  • 2A1-J06 Automated Cell Supply Module : The Design of Valve System and Branch Shape for Cell Transport in a Microfluidic Chip

    HASEGAWA Akiyuki, UVET Huseyin, MAE Yasushi, TAKUBO Tomohito, OHARA Kenichi, ARAI Tatsuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2009   _2A1 - J06_1-_2A1-J06_3   2009

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    We studied the cell supply system for automation of the cell cloning work. Our aim of this system is the efficient and stable supply some type of cells, egg cells or fibroblasts, to microfluidic chips.In this report, we present the design of air valve system and branch shape for cell transport. For valve system, we made two types of microfluidic chips, one is two layer chip and another is three layer chip. The pneumatic pressure valves were applied in or onto chips, blocked up the flow channel with each method, and changed flow passes.

    DOI: 10.1299/jsmermd.2009._2A1-J06_1

    researchmap

  • A new multi-scale micromanipulation system with dexterous motion Reviewed

    Ebubekir Avci, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    20th Anniversary MHS 2009 and Micro-Nano Global COE - 2009 International Symposium on Micro-NanoMechatronics and Human Science   444 - 449   2009

     More details

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

    DOI: 10.1109/MHS.2009.5351959

    Scopus

    researchmap

  • Detection Sensor for Flowing Particles in Micro Channel Reviewed

    I. Okuda, T. Arai, T. Takubo, A. Hasegawa, Y. Mae, K. Ohara

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS   3679 - 3684   2009

     More details

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

    DOI: 10.1109/IROS.2009.5354099

    Web of Science

    researchmap

  • NDT Scan Matching Method for High Resolution Grid Map Reviewed

    Tomohito Takubo, Takuya Kaminade, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS   1517 - 1522   2009

     More details

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

    DOI: 10.1109/IROS.2009.5353908

    Web of Science

    researchmap

  • Automated Initial Setup Method for Two-Fingered Micro Hand System Reviewed

    Izumi Hatta, Kenichi Ohara, Tatsuo Arai, Yasushi Mae, Tomohito Takubo

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS   3271 - 3276   2009

     More details

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

    DOI: 10.1109/IROS.2009.5354559

    Web of Science

    researchmap

  • Leg-wheel hybrid locomotion for multi-legged robot Reviewed

    Tomohito Takubo, Takenobu Yoshioka, Tatsuo Arai, M. A.E. Yasushi, Kenichi Ohara

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   75 ( 759 )   2996 - 3004   2009

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:Japan Society of Mechanical Engineers  

    DOI: 10.1299/kikaic.75.2996

    Scopus

    researchmap

  • Interoperable RT Component for Object Detection and 3D Pose Estimation for Service Robots Reviewed

    Jaeil Choi, Hideyasu Takahashi, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS   2710 - 2715   2009

     More details

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

    DOI: 10.1109/IROS.2009.5353997

    Web of Science

    researchmap

  • Human-like patient robot with chaotic emotion for injection training

    Yoshiro Kitagawa, Tomohito Ishikura, Wei Song, Yasushi Mae, Mamoru Minami, Kanji Tanaka

    ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings   4635 - 4640   2009

     More details

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

    Scopus

    researchmap

  • Rough Terrain Walking by Using ZMP Criteria Map Reviewed

    Yoshinori Imada, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of the 5th International Conference on Ubiquitous Robots and Ambient Intelligence   2008.11

     More details

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

    researchmap

  • Building Monitoring System Using RFID and Mobile Robot Reviewed

    Kenji Tsukamoto, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of The 5th International Conference on Ubiquitous Robots and Ambient Intelligence   2008.11

     More details

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

    researchmap

  • Detection of Screws on Metal-Ceiling Structures for Dismantling Tasks in Buildings Reviewed

    S. Rolando Cruz-Ramirez, Yasushi Mae, Tomohito Takubo, Tatsuo Arai

    The 2008 IEEE International Conference on Intelligent Robots and Systems   2008.9

     More details

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

    DOI: 10.1109/IROS.2008.4650975

    researchmap

  • Multipoint Support Motion Using Wheeled Hand for Humanoid Robot Reviewed

    Takuya Fukuda, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    7th International Conference on Machine Automation   2008.9

     More details

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

    researchmap

  • Building Monitoring System Using UFAM and Mobile Robot Reviewed

    Kenji Tsukamoto, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of the 5th International Conference on Ubiquitous Robots and Ambient Intelligence   2008.8

     More details

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

    The collaborative monitoring system with RFID<br />
    sensor tag and the mobile robot is proposed. The system<br />
    provides both wide area monitoring and detailed monitoring.<br />
    The wide area monitoring is achieved by RFID sensor tag.<br />
    We employ UFAM(Ubiquitous Functions Activation Module)<br />
    developed by AIST Japan for RFID sensor tag and it can<br />
    make sensor network by multiple tags and access points.<br />
    The detailed monitoring is executed by high-speck sensors<br />
    on a mobile robot. We implement the system to Water Leak<br />
    Detection on back of ceiling in a building. The proposed<br />
    detection system consists of three systems: RFID sensor<br />
    network system, Remote robot control system and Integration<br />
    control system. The sensor network monitors continuously<br />
    the surrounding of sensor tags, and the mobile robot goes<br />
    the round for periodic inspection. When certain sensor tag<br />
    measures abnormal transition, the integrated control system<br />
    commands the mobile robot to check around it in particular.<br />
    In this paper, we equips a thermography to the mobile robot<br />
    so that the detailed temperature distribution leads to find heat<br />
    of evaporation. This technique is evaluated in demonstration<br />
    experiment.

    researchmap

  • Implementation of Cell Detection Mechanism on Microfluidic Chip Reviewed

    Kaori Fujimoto, Sadaaki, Kunimatsu, Yasushi Mae, Tomohito Takubo, Tatsuo Arai, Kenji Inoue, Masat Yamada

    JRSJ   26 ( 5 )   462 - 467   2008.7

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Robotics Society of Japan  

    The paper describes development of a compact and economical sensing system to detect a cell in a micro channel which can be integrated easily on a micro PDMS (polydimethylsiloxane) chip. The light-intersecting method is adopted for detecting a cell moving in the channel, since the mechanism can be basically composed of only a light source element and a detector. The paper proposes an integrating procedure and shows the experiment in order to bear out feasibility of the system. Furthermore, a method of implementation of the mechamism on a micro PDMS chip is described.

    DOI: 10.7210/jrsj.26.462

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00316635293?from=CiNii

  • Usability of Interface Devices for Human Robot Collaboration Reviewed

    Yuusuke Ishizuka, S. Rolando Cruz-Ram&iacute, rez, Yasushi Mae, Tomohito Takubo, Tatsuo Arai

    International Symposium on Flexible Automation   2008.6

     More details

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

    researchmap

  • Ladder Climbing Control for Limb Mechanism Robot "ASTERISK Reviewed

    Shota Fujii, Kenji Inoue, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of the 2008 IEEE International Conference on Robotics and Automation   2008.5

     More details

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

    DOI: 10.1109/ROBOT.2008.4543674

    researchmap

  • The Generation of Environmental Map Based on a NDT Grid Mapping Reviewed

    Takuya Kaminade, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2008 IEEE International Conference on Robotics and Automation   2008.5

     More details

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

    researchmap

  • Ladder climbing control for limb mechanism robot "ASTERISK" Reviewed

    Shota Fujii, Kenji Inoue, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9   3052 - 3057   2008

     More details

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

    A ladder climbing motion for limb mechanism robot "ASTERISK" is proposed. This robot has six legs. The upper three legs hold on the upper rung from its both sides alternately, just like pinching it. The lower three legs hold on the lower rung in the same way. Hence the robot can climb the ladder stably. Depending on the posture of the robot, when it lifts up its body, the robot automatically selects the legs supporting the robot's weight and distributes the weight to these legs based on their force margins. The legs which cannot support forces are controlled to always contact with the rungs so that the robot holds the ladder firmly. The advantages of proposed gait and control method are verified by the analysis of the supporting range and the torque, and by experiment on force distribution.

    DOI: 10.1109/ROBOT.2008.4543674

    Web of Science

    researchmap

  • Detection of screws on metal ceiling structures for dismantling systems Reviewed

    S. Rolando Cruz-Ramirez, Yasushi Mae, Yuusuke Ishizuka, Tomohito Takubo, Tatsuo Arai

    25TH INTERNATIONAL SYMPOSIUM ON AUTOMATION AND ROBOTICS IN CONSTRUCTION - ISARC-2008   155 - 162   2008

     More details

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

    Web of Science

    researchmap

  • Detection of Screws on Metal-Ceiling Structures for Dismantling Tasks in Buildings Reviewed

    S. Rolando Cruz-Ramirez, Yasushi Mae, Tomohito Takubo, Tatsuo Arai

    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS   4123 - 4129   2008

     More details

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

    Web of Science

    researchmap

  • Human-like Patient Robot for Injection Training by Chaotic Behavior Reviewed

    Yoshiro Kitagawa, Wei Song, Mamoru Minami, Yasushi Mae

    PROCEEDINGS OF THE SECOND INTERNATIONAL SYMPOSIUM ON TEST AUTOMATION & INSTRUMENTATION, VOLS 1-2   136 - 139   2008

     More details

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

    Web of Science

    researchmap

  • Cell analysis system using two-fingered micro hand: Fine adjustment mechanism for end-effector Reviewed

    Izumi Hatta, Kenichi Ohara, Tatsuo Arai, Yasushi Mae, Tomohito Takubo

    2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008   108 - 113   2008

     More details

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

    DOI: 10.1109/MHS.2008.4752432

    Scopus

    researchmap

  • Development of a compact vision system for "Automated Nuclear Transplantation Project" Reviewed

    Huseyin Uvet, Tatsuo Arai, Yasushi Mae, Tomohito Takubo

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9   3106 - 3111   2008

     More details

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

    DOI: 10.1109/ROBOT.2008.4543683

    Web of Science

    researchmap

  • Dismantling interior facilities in buildings by human robot collaboration Reviewed

    S. Rolando Cruz-Ramirez, Yuusuke Ishizuka, Yasushi Mae, Tomohito Takubo, Tatsuo Arai

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9   2583 - 2590   2008

     More details

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

    DOI: 10.1109/ROBOT.2008.4543602

    Web of Science

    researchmap

  • Miniaturized Vision System for Microfluidic Devices Reviewed

    Huseyin Uvet, Tatsuo Arai, Yasushi Mae, Tomohito Takubo, Masato Yamada

    ADVANCED ROBOTICS   22 ( 11 )   1207 - 1222   2008

     More details

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

    DOI: 10.1163/156855308X338438

    Web of Science

    researchmap

  • Collaborative Monitoring Using UFAM and Mobile Robot -2ndreport:Development of integrated management system- Reviewed

    Takahiro Miyauchi, Tomohito Takubo, Yasushi Mae, Tatsuo Arai, Kenichi Ohara

    The 4th International Conference on Ubiquitous Robots and Ambient Intelligence(URAI 2007)   2007.11

     More details

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

    researchmap

  • Position/Force Control of Griding Robot by Using Real-time Presumption of Constrained Condition Reviewed

    Weiwei Xu, Mamoru Minami, Yasushi Mae

    SICE Annual Conference 2007   2007.9

     More details

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

    DOI: 10.1109/SICE.2007.4421289

    researchmap

  • On-line Stable Evolutionary Recognition based on Unit Quaternion Representation by Motion-Feedforward Compensation Reviewed

    Wei Song, Mamoru Minami, Yasushi Mae, Seiji Aoyagi

    SICE Annual Conference 2007   2007.9

     More details

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

    DOI: 10.1109/SICE.2007.4421134

    researchmap

  • Multiple Preview Control System for Redundant Manipulator Based on Partial Future Reachability Reviewed

    Tong-xiao Zhang, Mamoru Minami, Yasushi Mae

    SICE Annual Conference 2007   2007.9

     More details

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

    DOI: 10.1109/SICE.2007.4421132

    researchmap

  • Emergence of Robotic Intelligence by Chaos for Catching Fish Reviewed

    Jun Hirao, Mamoru Minami, Yasushi Mae, Jingyu Gao

    SICE Annual Conference 2007   2007.9

     More details

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

    DOI: 10.1109/SICE.2007.4421125

    researchmap

  • Fish Catching by Visual Servoing using Neural Network Prediction Reviewed

    Toshiaki Yoshida, Mamoru Minami, Yasushi Mae

    SICE Annual Conference 2007   2007.9

     More details

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

    DOI: 10.1109/SICE.2007.4421385

    researchmap

  • Localization of Mobile Robots by Multiple Landmark Recognition Reviewed

    Ryohei Ozawa, Yasushi Mae, Mamoru Minami

    SICE Annual Conference 2007   2007.9

     More details

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

    DOI: 10.1109/SICE.2007.4421225

    researchmap

  • Automated identification of partially exposed metal object Reviewed

    Tomohiro Umetani, Yasushi Mae, Tatsuo Arai, Hironori Kumeno, Kenji Inoue, Tomohito Takubo, Hiroshi Niho

    AUTOMATION IN CONSTRUCTION   16 ( 6 )   842 - 851   2007.9

     More details

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

    DOI: 10.1016/j.autcon.2007.02.012

    Web of Science

    researchmap

  • Finding and quantitative evaluation of minute flaws on metal surface using hairline Reviewed

    Jianing Zhu, Yasushi Mae, Mamoru Minami

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   54 ( 3 )   1420 - 1429   2007.6

     More details

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

    DOI: 10.1109/TIE.2007.893050

    Web of Science

    researchmap

  • Avoidance Ability of Redundant Mobile Manipulators during Hand Trajectory Tracking Reviewed

    Mamoru Minami, Hiroshi Tanaka, Yasushi Mae

    Journal of Advanced Computational Intelligence and Intelligent Informatics   2007.4

     More details

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

    researchmap

  • Link Length Control Using Dynamics for Paralle Mechanism with Adjustable Link Parameter Reviewed

    Wataru Tanaka, Tatsuo Arai, Kenji Inoue, Tomohito Takubo, Yasushi Mae, Yoshihiko Koseki

    Mechatronics for Safety, Security and dependabiity in a New Era, Elsevier   2007.4

     More details

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

    DOI: 10.1016/B978-008044963-0/50087-4

    researchmap

  • Chaos-driving robotic intelligence for catching fish Reviewed

    Mamoru Minami, Gao Jingyu, Yasushi Mae

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10   85 - 91   2007

     More details

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

    DOI: 10.1109/ROBOT.2007.363769

    Web of Science

    researchmap

  • On-line evolutionary head pose measurement by feedforward stereo model matching Reviewed

    Wei Song, Mamoru Minami, Yasushi Mae, Seiji Aoyagi

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10   4394 - +   2007

     More details

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

    DOI: 10.1109/ROBOT.2007.364156

    Web of Science

    researchmap

  • Construction automation based on parts and packets unification Reviewed

    Tomohiro Umetani, Tatsuo Arai, Yasushi Mae, Kenji Inoue, Jun-ichiro Maeda

    AUTOMATION IN CONSTRUCTION   15 ( 6 )   777 - 784   2006.11

     More details

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

    DOI: 10.1016/j.autcon.2005.10.013

    Web of Science

    researchmap

  • Evolutionary Recognition of Corridor and Turning using Adaptive Model with 3D Structure Reviewed

    Hui Liu, Zongyi Zhang, Wei Song, Yasushi Mae, Mamoru Minam, Seiji Aoyagi

    Proceedings of SICE-ICCAS International Joint Conference 2006   2006.10

     More details

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

    DOI: 10.1109/SICE.2006.314815

    researchmap

  • Real-Time Trajectory Tracking/Quase-Optimal Obstacle Avoidance Control of Redundant Manipulators Reviewed

    Keiji Ikeda, Mamoru Minami, Yasushi Mae

    Proceedings of SICE-ICCAS International Joint Conference 2006   2006.10

     More details

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

    DOI: 10.1109/SICE.2006.314813

    researchmap

  • Person Recognition by Stereo Model-based Matching Reviewed

    Daisuke Itou, Yasushi Mae, Mamoru Minami

    Proceedings of SICE-ICCAS International Joint Conference 2006   2006.10

     More details

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

    DOI: 10.1109/SICE.2006.314812

    researchmap

  • On-line Optimization of Avoidance Ability for Redundant Manipulator Reviewed

    Keiji Ikeda, Hiroshi Tanaka, Tong-xiao Zhang, Mamoru Minam, Yasushi Mae

    Proceedings of 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006)   2006.10

     More details

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

    DOI: 10.1109/IROS.2006.282537

    researchmap

  • Fish Catching by Adopting Neural Network and Chaos to Robotic Intelligence Reviewed

    Gao Jingyu, Mamoru Minami, Yasushi Mae

    Proceedings of SICE-ICCAS International Joint Conference 2006   2006.10

     More details

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

    DOI: 10.1109/SICE.2006.315381

    researchmap

  • On-line Prediction of Escaping Fish from Catching Net by Neural Network and Circular Approximation Reviewed

    Toshiaki Yoshida, Mamoru Minami, Yasushi Mae, Hidekazu Suzuki

    Proceedings of SICE-ICCAS International Joint Conference 2006   2006.10

     More details

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

    DOI: 10.1109/SICE.2006.315377

    researchmap

  • Evolutionary Head Pose Measurement by Improved Stereo Model Matching Reviewed

    Wei Song, Mamoru Minami, Yasushi Mae, Seiji Aoyagi

    Proceedings of SICE-ICCAS International Joint Conference 2006   2006.10

     More details

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

    DOI: 10.1109/SICE.2006.314828

    researchmap

  • Cooperative Monitoring by Fixed Cameras and Moving Cameras Reviewed

    Sadaaki Kunimatsu, Hironori Kumeno, Naoko Tsukuda, Tomohito Takubo, Kenji Inoue, Tatsuo Arai, Yasushi Mae, Tomohiro Umetani

    23rd International Symposium on Automation and Robotics in Construction   2006.10

     More details

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

    researchmap

  • Fastest Guidance Control with Acceleration Restriction of PWS Mobile Robot Reviewed

    Yasuhiro Yazaki, Takeshi Ikeda, Mamoru Minam, Yasushi Mae

    Proceedings of 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006)   2006.10

     More details

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

    DOI: 10.1109/IROS.2006.282310

    researchmap

  • Machine Intelligence by Chaos Motion Generator against Escaping Fish Reviewed

    Gao Jingyu, Mamoru Minami, Yasushi Mae

    Joint 3rd International Conference on Soft Computing and Intelligent Systems and 7th International Symposium on advanced Intelligent Systems(SCIS&ISIS 2006)   2006.9

     More details

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

    researchmap

  • Frontal Face Recognition from Patient Robot Point of View for Evaluating Nursing Skill Reviewed

    Yasushi Mae, Wei Song, Mamoru Minami

    Joint 3rd International Conference on Soft Computing and Intelligent Systems and 7th International Symposium on advanced Intelligent Systems(SCIS&ISIS 2006)   2006.9

     More details

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

    researchmap

  • Intelligent Environment Using RF-ID Tag Reviewed

    Yasushi Mae, Yoshiteru Takezawa, Mamoru Minami

    The 7th Asia-Pacific Conference on Control & Measurement (APCCM 2006)   2006.8

     More details

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

    researchmap

  • 3D Pose Visual Servoing to Face for Patient Robot Reviewed

    Wei Song, Mamoru Minami, Yasushi Mae

    The 7th Asia-Pacific Conference on Control & Measurement (APCCM 2006)   2006.8

     More details

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

    researchmap

  • Fish Catching by Adopting Neural Network and Chaos to Robotic Intelligence Reviewed

    Gao Jingyu, Mamoru Minami, Yasushi Mae

    The 7th Asia-Pacific Conference on Control & Measurement (APCCM 2006)   2006.8

     More details

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

    researchmap

  • Finding and Quantitative Evaluation of Minute Bruise on Metal Surface Using Hairline Reviewed

    Mamoru Minami, Jianing Zhu, Masato Miura, Yasushi Mae

    Transactions of the Japan Society of Mechanical Engineers   2006.7

     More details

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

    DOI: 10.1299/kikaic.72.2240

    researchmap

  • Sensor-Based Walking on Rough Terrain for Legged Robots Reviewed

    Yasushi Mae, Tatsuhi Mure, Kenji Inoue, Tatsuo Arai, Noriho Koyachi

    Field and Service Robotics, Springer   2006.4

     More details

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

    DOI: 10.1007/10991459_25

    researchmap

  • Design of multi sensor units for searching inside of rubble Reviewed

    Kenji Inoue, Masato Yamamoto, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Mechatronics for Safety, Security and Dependability in a New Era   415 - 420   2006

     More details

    Language:English   Publishing type:Part of collection (book)   Publisher:Elsevier Ltd  

    DOI: 10.1016/B978-008044963-0/50084-9

    Scopus

    researchmap

  • Generating Whole Body Motion of Humanoid Robots for Manipulation Tasks Reviewed

    INOUE Kenji, NISHIHAMA Yusuke, SAKATA Kotaro, ARAI Tatsuo, MAE Yasushi

    Journal of the Robotics Society of Japan, vol.18, no.1, pp.102-109   23 ( 8 )   967 - 976   2005.11

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Robotics Society of Japan  

    A control method for humanoid robots of mobile manipulation is proposed. A robot autonomously generates its whole body motion and steps so as to increase arm manipulability and robot stability, while performing various manipulation tasks with its hands; that enables dexterous and stable manipulation. An objective manipulation task is given as the desired trajectories of both hands, and external forces may be applied to the hands. For carrying out this task, the hands are always controlled along their desired trajectories by impedance control. Coordinating with this motion of the hands, the robot controls its body and legs so that the hands may be easy to perform the task. It determines the next foothold by evaluating manipulabilities of both arms, direction of stable region and moving direction. An evaluation function consisting of manipulabilities of both arms and static stability of the robot is defined, and the robot steps if the new double support state is better than the current one. Both in double and single support states, the robot controls its body pose using the support leg/legs so that this evaluation function may be optimal. The swing leg is moved to the next foothold in single support state. Various motions of humanoid robot"HRP-1"by the proposed method are simulated using dynamic simulator"OpenHRP".

    DOI: 10.7210/jrsj.23.967

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00271676799?from=CiNii

  • Evaluation of Obstacle Avoidance Ability for Redundant Mobile Manipulators Reviewed

    H. Tanaka, M. Minami, Y. Mae

    The 31st Annual Conference 2005 of the IEEE Industrial Electronics Society(IECON 2005)   2005.11

     More details

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

    DOI: 10.1109/IECON.2005.1569173

    researchmap

  • Guidance Control of Mobile Robot Preventing Slipping of Carrying Objects Reviewed

    Y. Yazaki, T. Ikeda, M. Minami, Y. Mae

    The 31st Annual Conference 2005 of the IEEE Industrial Electronics Society(IECON 2005)   2005.11

     More details

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

    DOI: 10.1109/IECON.2005.1569175

    researchmap

  • Avoidance Ability of Redundant Mobile Manipulator during Hand Trajectory Tracking Reviewed

    M. Minami, H. Tanaka, Y. Mae

    The 5th Asian Symposium on Applied Electromagnetics and Mechanics(ASAEM 2005)   2005.10

     More details

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

    researchmap

  • Evolutionary Recognition of Corridor and Branch using Adaptive Model with Layered Structure Reviewed

    H. Liu, J.C. Yuan, F. Gao, Y. Mae, M. Minami

    The 3rd International Symposium on Autonomous Minirobots for Research and Edutainment(AMiRE 2005)   2005.9

     More details

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

    researchmap

  • Prediction of Fish Motion by Neural Network Reviewed

    Y. Li, Y. Takezawa, H. Suzuki, M. Minami, Y. Mae

    The 3rd International Symposium on Autonomous Minirobots for Research and Edutainment(AMiRE 2005)   2005.9

     More details

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

    researchmap

  • Learning of Fish Movement Pattern by Neural Network Reviewed

    Yoshiteru Takezawa, Hidekazu Suzuki, Mamoru Minami, Yasushi Mae

    SICE Annual Conference 2005 in Okayama PROCEEDINGS   2005.8

     More details

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

    researchmap

  • Evolutionary Head Pose Measurement by Stereo Model Matching Reviewed

    Wei Song, Mamoru Minami, Yasushi Mae

    SICE Annual Conference 2005 in Okayama PROCEEDINGS   2005.8

     More details

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

    researchmap

  • Direct Force and Position Control Using Kinematics and Dynamics of Manipulators in Constrained Motion Reviewed

    Takeshi Ikeda, Mamoru Minam, Yasushi Mae

    Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2005)   2005.8

     More details

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

    DOI: 10.1109/IROS.2005.1545359

    researchmap

  • Trajectory Tracking of Redundant Manipulators Based on Avoidance Manipulability Shape Index Reviewed

    Hiroshi Tanaka, Mamoru Minam, Yasushi Mae

    Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2005)   2005.8

     More details

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

    DOI: 10.1109/IROS.2005.1545253

    researchmap

  • Motion Intelligence to Adapt for Changing of Its Body Condition of Mobile Manipulator to Utilize Dynamical Interferences Reviewed

    Jingyu Gao, Mamoru Minami, Yasushi Mae

    SICE Annual Conference 2005 in Okayama PROCEEDINGS   2005.8

     More details

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

    researchmap

  • Workspace Analysis of Parallel Mechanism with Adjustable Link Parameters Reviewed

    Wataru TANAKA, Tatsuo ARAI, Kenji INOUE, Tomohito TAKUBO, Yasushi MAE, Yoshihiko KOSEKI

    Proceedings of the 12th International Conference on Advanced Robotics   2005.7

     More details

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

    DOI: 10.1109/ICAR.2005.1507413

    researchmap

  • Development of Integrated Visual Haptic Display Using Translucent Flexible Sheet Reviewed

    Journal of Robotics and Mechatronics   2005.6

     More details

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

    DOI: 10.20965/jrm.2005.p0302

    researchmap

  • Obstacle Avoidance of Redundant Manipulator Using Potential and AMSI Reviewed

    K.Ikeda M.Minami, Y.Mae, H.Tanaka

    International Conference on Control, Automation, and Systems(ICCAS 2005)   2005.6

     More details

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

    researchmap

  • Generation of Adaptive Motion Using Quasi-simultaneous Recognition of Plural Targets Reviewed

    T.Mizushima, M.Minami, Y.Mae, Y.Sakamoto, W.Song

    International Conference on Control, Automation, and Systems(ICCAS 2005)   2005.6

     More details

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

    researchmap

  • Design of Search Balls with Wide Field of View for Searching Inside of Rubble Reviewed

    Kenji Inoue, Masato Yamamoto, Yasushi Mae, Tomohito Takubo, Tatsuo Arai

    Proceedings of the 2005 IEEE International Workshop on Safety, Security and Rescue Robotics   2005.6

     More details

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

    DOI: 10.1109/SSRR.2005.1501242

    researchmap

  • Identification and Localization of Buried Metal Object - High-Speed Matching using Genetic Algorithm- Reviewed

    Tomohiro Umetani, Yasushi Mae, Tatsuo Arai, Hironori Kumeno, Kenji Inoue, Tomohito Takubo, Hiroshi Niho

    Proceedings of the 2nd International Symposium on Systems and Human Science (SSR2005)   2005.3

     More details

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

    researchmap

  • Identification and Localization of Buried Metal Object - High-Speed Matching using Genetic Algorithm- Reviewed

    Tomohiro Umetani, Yasushi Mae, Tatsuo Arai, Hironori Kumeno, Kenji Inoue, Tomohito Takubo, Hiroshi Niho

    Proceedings of the 2nd International Symposium on Systems and Human Science (SSR2005)   2005.3

     More details

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

    researchmap

  • Evolutionary Pose Measurement by Stereo Model Matching Reviewed

    Wei Song, Yasushi Mae, Mamoru Minami

    Journal of Advanced Computational Intelligence and Intelligent Informatics(JACIII)   2005.3

     More details

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

    researchmap

  • Person Identification by Color Pattern Acquired in Visual Tracking Reviewed

    Yasushi MAE, Naoki SASAO, Yukinobu SAKAGUCHI, Tomohito TAKUBO, Kenji INOUE, Tatsuo ARAI

    Proceedings of the 2nd International Symposium on Systems and Human Science (SSR2005)   2005.3

     More details

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

    researchmap

  • Person Identification by Color Pattern Acquired in Visual Tracking Reviewed

    Yasushi MAE, Naoki SASAO, Yukinobu SAKAGUCHI, Tomohito TAKUBO, Kenji INOUE, Tatsuo ARAI

    Proceedings of the 2nd International Symposium on Systems and Human Science (SSR2005)   2005.3

     More details

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

    researchmap

  • Proposal of Wheelchair User Support System Using Humanoid Robots for Creating SSR Society Reviewed

    Kotaro Sakata, Kenji Inoue, Tomohito Takubo, Tatsuo Arai, Yasushi Mae

    Systems and Human Science - for Safety, Security and Dependability -   2005.2

     More details

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

    DOI: 10.1016/B978-044451813-2/50029-4

    researchmap

  • Calibration Method with Simplified Measurement for Parallel Mechanism

    Transactions of the Japan Society of Mechanical Engineers   2005.1

     More details

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

    DOI: 10.1299/kikaic.71.206

    researchmap

  • Pose Estimation of Objects using Multiple ID Devices

    UMETANI Tomohiro, MAE Yasushi, INOUE Kenji, ARAI Tatsuo, YAGI Jun-ichi

    Journal of the Robotics Society of Japan, vol.18, no.1, pp.102-109   23(1) 84-94 ( 1 )   84 - 94   2005.1

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Robotics Society of Japan  

    This paper proposes a method of pose (position and orientation) estimation of objects using multiple ID devices attached to each object for autonomous robots. The object pose is estimated from geometrical relation between poses of the devices attached to the object and the reading poses of the reader. It is required the poses of at least two ID devices in different orientations. We propose a method of precise localization of the ID device even when the ID reader has the volume of communication area. We show the feasibility of our proposed method through the pose estimation experiment.

    DOI: 10.7210/jrsj.23.84

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00246633956?from=CiNii

  • Head detection and tracking for monitoring human behaviors Reviewed

    Y Mae, N Sasao, Y Sakaguchi, K Inoue, T Arai

    SYSTEMS AND HUMAN SCIENCE - FOR SAFETY, SECURITY AND DEPENDABILITY   477 - +   2005

     More details

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

    DOI: 10.1016/B978-044451813-2/50037-3

    Web of Science

    researchmap

  • Limb-mechanism robot with winch mechanism Reviewed

    N Fujiki, Y Mae, T Umetani, T Arai, T Takubo, K Inoue

    CLIMBING AND WALKING ROBOTS   305 - 312   2005

     More details

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

    Web of Science

    researchmap

  • 'Search balls': sensor units for searching inside rubble Reviewed

    K Inoue, M Yamamoto, Y Mae, T Takubo, T Arai

    ADVANCED ROBOTICS   19 ( 8 )   861 - 878   2005

     More details

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

    Web of Science

    researchmap

  • Acquisition of color pattern by moving camera for person identification

    T. Umetani, H. Kumeno, Y. Mae, T. Takubo, K. Inoue, T. Arai

    Proceedings of the SICE Annual Conference   3203 - 3208   2005

     More details

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

    Scopus

    researchmap

  • Link Length Control using Dynamics for Parallel Mechanism with Adjustable Link Parameters Reviewed

    Wataru TANAKA, Tatsuo ARAI, Kenji INOUE, Tomohito TAKUBO, Yasushi MAE, Yoshihiko KOSEKI

    Proceedings of the 5th International Conderence on Machine Automation (ICMA2004)   2004.11

     More details

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

    researchmap

  • Detection of Dynamic Obstacles for Building 3D Map using Human Action Recognition Reviewed

    Yukinobu SAKAGUCHI, Yasushi MAE, Tomohiro UMETANI, Naoki SASAO, Tomohito TAKUBO, Kenji INOUE, Tatsuo ARAI

    Proceedings of the Fourth International Symposium on Human and Artificial Intelligence Systems (HART2004)   2004.11

     More details

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

    researchmap

  • Design of Multi Sensor Units for Searching Inside of Rubble Reviewed

    Kenji INOUE, Masato YAMAMOTO, Tomohito TAKUBO, Yasushi MAE, Tatsuo ARAI

    Proceedings of the 5th International Conderence on Machine Automation (ICMA2004)   2004.11

     More details

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

    researchmap

  • Pose Measurement of 3-D Object Using Model-based Matching in Stereo Image Reviewed

    Wei SONG, Yasushi MAE, Mamoru MINAMI

    The 5th International Conference on Machine Automation(ICMA 2004)   2004.11

     More details

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

    researchmap

  • Finding and Quantitative Evaluation of Minute Flaws on Metal Surface Using Hairline Reviewed

    Jianing Zhu, Yasuhi Mae, Mamoru Minami

    The 30th Annual Conference of the IEEE Industrial Electronics Society (IECON 2004)   2004.11

     More details

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

    researchmap

  • Integrated Visual and Haptic Display Using Translucent and Flexible Sheet Reviewed

    Kenji Inoue, Reiko Uesugi, Ryouhei Sasama, Tatsuo Arai, Yasushi Mae

    Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems   2004.9

     More details

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

    researchmap

  • Mobile Manipulation of Humanoid Robots-Control Method for CoM Position with External Force- Reviewed

    Tomohito Takubo, Kenji Inoue, Kotaro Sakata, Yasushi Mae, Tatsuo Arai

    Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems   2004.9

     More details

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

    researchmap

  • Marionette System for Operating and Displaying Robot Whole-Body Motion-Development of Similar Humanoid-Type Reviewed

    Tomohito Takubo, Kazutoshi Nishii, Kenji Inoue, Yasushi Mae, Tatsuo Arai

    Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems   2004.9

     More details

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

    researchmap

  • Identification of Partially-Exposed Metal Object Reviewed

    Tomohiro Umetani, Yasushi Mae, Tatsuo Arai, Hironori Kumeno, Kenji Inoue, Tomohito Takubo, Hiroshi Niho

    Proceedings of the 21st International Symposium on Automation and Robotics in Construction   2004.9

     More details

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

    researchmap

  • Building 3D Map for Localization using Human Actio Reviewed

    Yukinobu SAKAGUCHI, Yasushi MAE, Naoki SASAO, Tomohito TAKUBO, Kenji INOUE, Tatsuo ARAI

    Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems   2004.9

     More details

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

    researchmap

  • 3D Map Building using Human Action by Moving Three-camera Unit Reviewed

    Yukinobu Sakaguchi, Yasushi Mae, Naoki Sasao, Tomohito Takubo, Kenji Inoue, Tatsuo Arai

    SICE Annual Conference 2004   2004.8

     More details

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

    researchmap

  • Wheelchair User Support System Using Humanoid Robots -System Concept and Experiments on Pushing Wheelchair Reviewed

    Kotarou Sakata, Kenji Inoue, Tomohito Takubo, Tatsuo Arai, Yasushi Mae

    SICE Annual Conference 2004   2004.8

     More details

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

    researchmap

  • Real-time Visual Person Tracking by Evolutionary Recognition Reviewed

    Yasushi Mae, Zianing Zhu, Mamoru Minami

    Journal of Machine Intelligence and Robotic Control   2004.6

     More details

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

    researchmap

  • Omni-Directional Locomotion of Robots with Limb Mechanism

    Yasushi Mae, Yuuya Takahashi, Tatsuo Arai, Kenji Inoue, Noriho Koyachi

    Journal of the Robotics Society of Japan, vol.22, no.3, pp.329-335   22(3) 329-335 ( 3 )   329 - 335   2004.4

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Robotics Society of Japan  

    A new working robot has been designed and built on the basis of the concept"Limb Mechanism"that integrates functions of legged locomotion and arm manipulation. As one of feasible structures of the limb mechanism a six-limbed mechanism will be analyzed and evaluated in the aspects of omni-directional mobility. To evaluate the omni-directional mobility, a stroke and a stability margin are examined in all walking directions during six-legged and four-legged locomotion. The paper introduces two types of structures: radial and parallel arrangement of legs, and compares their stroke and stability in all directions during six-legged locomotion. The radial arrangement model will be proved to have the omni-directional mobility even in four-legged locomotion. Based on this evaluation the proto-type robot is designed and built. The developed robot has radially arranged six limbs that can be used for both locomotion and manipulation.

    DOI: 10.7210/jrsj.22.329

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00238236400?from=CiNii

  • Omni-Directional Gait of Multi-Legged Rescue Robot Reviewed

    Kenji KAMIKAWA, Tatauo ARAI, Kenji INOUE, Yasushi MAE

    Proceedings of the 2004 IEEE International Conference on Robotics and Automation ICRA2004   2004.4

     More details

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

    researchmap

  • Evaluation of Human Sense of Security for Coexisting Robots using Virtual Reality -1st report Reviewed

    Seri NONAKA, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    Proceedings of the 2004 IEEE International Conference on Robotics and Automation ICRA2004   2004.4

     More details

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

    researchmap

  • Self-Assisted Care System for Human Mobility Reviewed

    Teruhisa ONISHI, Tatsuo ARAI, Kenji INOUE, Yasushi MAE

    Journal of Robotics and Mechatronics   2004.1

     More details

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

    DOI: 10.20965/jrm.2004.p0464

    researchmap

  • Parallel Mechanism with Adjustable Link Parameters Reviewed

    Tatsuo Arai, Yoshihiko Koseki, Kazunari Takayama, Kenji Inoue, Yasushi Mae

    Journal of the Robotics Society of Japan, vol.22, no.1, pp.140-147   22 ( 1 )   140 - 147   2004.1

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Robotics Society of Japan  

    This paper proposed an adjustable parallel mechanism, which can change its workspace by change of link parameters. Firstly, adjustable parameters and adjusting methods are classified and discussed. Secondly, the workspace of HEXA type with adjustable middle links is numerically analyzed. The mechanism is changed translationally and rotationally and the volumes and centroids of its translational and rotational workspace are compared. The analyses conclude that adjusted mechanism is superior to non-adjusted mechanism in terms of workspace. Finally, a prototype of an adjustable 5-bar-link mechanism is introduced for an instance of simple adjustable parallel mechanism.

    DOI: 10.7210/jrsj.22.140

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00235657123?from=CiNii

  • Building 3D map for localization using human action

    Yukinobu Sakaguchi, Yasushi Mae, Naoki Sasao, Tomohito Takubo, Kenji Inoue, Tatsuo Arai

    2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)   3   3098 - 3103   2004

     More details

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

    Scopus

    researchmap

  • Psychological evaluation on shape and motions of real humanoid robot Reviewed

    K Sakata, T Takubo, K Inoue, S Nonaka, Y Mae, T Arai

    RO-MAN 2004: 13TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS   29 - 34   2004

     More details

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

    Web of Science

    researchmap

  • See-through Sheet Visual Display for Haptic Device Using Flexible Sheet Reviewed

    Reiko UESUGI, Kenji INOUE, Ryouhei SASAMA, Tatsuo ARAI, Yasushi MAE

    13th International Conference on Artificial Reality and Telexistence ICAT2003   2003.12

     More details

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

    researchmap

  • Head Detection and Tracking for Monitoring Human Behsviors Reviewed

    Yasushi MAE, Naoki SASAO, Yukinobu SAKAGUCHI, Kenji INOUE, Tatsuo ARAI

    Proceedings of the First International Symposium on Systems & Human Science, pp.239-244   2003.11

     More details

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

    researchmap

  • Proposal of Wheelchair Support System Using Humanoid Robots for Creating SSR Society Reviewed

    Kotaro SAKATA, Kenji INOUE, Tomohito TAKUBO, Tatsuo ARAI, Yasushi MAE

    Proceedings of the First International Symposium on Systems & Human Science, pp.53-58   2003.11

     More details

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

    researchmap

  • Search for Survivors by Locomotive Working Robots in Rescue Operations Reviewed

    Yasushi Mae, Tatsuo Arai, Kenji Inoue, Atsushi Yoshida, Kunio Miyawaki, Hironori Adachi

    International Journal of Robotics and Automation   2003.10

     More details

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

    researchmap

  • Display of Variable Compliance by Haptic Devices Using Flexible Sheet Reviewed

    Kenji Inoue, Reiko Uesugi, Ryohei Sasama, Tatsuo Arai, Yasushi Mae

    Transactions of the Virtual Reality Society of Japan, vol.8, no.3, pp.295-302, 2003.   8 ( 3 )   295 - 302   2003.9

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:THE VIRTUAL REALITY SOCIETY OF JAPAN  

    A new haptic device using flexible sheet such as rubber is proposed. Controlling the bias tension of the sheet, the device varies compliance of the sheet in the normal direction; users can feel compliance of various virtual objects if they touch the sheet. The device is suitable for displaying soft objects. An elastic plane model offlexible sheet is analyzed by FEM. A prototype device using a square rubber sheet is developed. This device controls the bias tension of the sheet by pulling its four corners with four motors. The normal force applied to the center of the sheet and the normal displacement at this point are measured, and the obtained force-displacement curves of three kinds of sheet-urethane, chloroprene rubber and low elastic rubber-are compared. The results show that the developed device can generate different compliance by changing the bias tension. The compliance of human palm is measured and simulated by the device.

    DOI: 10.18974/tvrsj.8.3_295

    CiNii Books

    researchmap

  • Automated Handling of Construction Components Based on Parts and Packets Unification Reviewed

    Tomohiro UMETANI, Yasushi MAE, Kenji INOUE, Tatsuo ARAI, Jun-ichi YAGI

    Proceedings of the 20th International Symposium on Automation and Robotics in Construction, pp.339-344   2003.9

     More details

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

    researchmap

  • Person Detection by Mobile-Manipulator for Monitoring Reviewed

    Yasushi Mae, Naoki Sasao, Kenji Inoue, Tatsuo Arai

    SICE Annual Conference 2003   2003.8

     More details

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

    researchmap

  • Development of the Basic Structure for an Exoskeleton Cyborg System Reviewed

    Teruhisa ONISHI, Tatsuo ARAI, Kenji INOUE, Yasushi MAE

    Journal of Aritificial Life and Robotics, vol.7, pp.95-101   2003.7

     More details

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

    DOI: 10.1007/BF02481155

    researchmap

  • Shape Adaptation of Planar Hyper-redundant Manipulators to Narrow and Unknown Environment using Proximity Sensors Reviewed

    Hiroyuki TANI, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    Proceedings of the 11th International Conference on Advanced Robotics (ICAR 2003), pp.482-487   2003.7

     More details

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

    researchmap

  • Sensor-based walking on rough terrain for legged robots Reviewed

    Yasushi Mae, Tatsuhi Mure, Kenji Inoue, Tatsuo Arai, Noriho Koyachi

    Preprints of the 4th International Conference on Field and Service Robotics, pp.127-132   2003.7

     More details

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

    researchmap

  • Tension Control and Force Estimation for Hybrid Drive Parallel Arm Reviewed

    Yasushi Mae, Tatsuo Arai, Kenji Inoue

    Proceedings of the 11th Mediterranean Conference on Control and Automation, IV11-04   2003.6

     More details

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

    researchmap

  • Tension Control and Force Estimation of Hybrid Drive Parallel Arm Reviewed

    Yasushi Mae, Tatsuo Arai, Hirofumi Kamishima, Kenji Inoue, Kunio Miyawaki, Noriho Koyachi

    Journal of the Robotics Society of Japan, vol.21, no.4, pp.436-443   21 ( 4 )   436 - 443   2003.5

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Robotics Society of Japan  

    A hybrid drive parallel arm with 3 cylinders and 4 wires has been developed for manipulating heavy materials. This paper discusses the estimation of various data of handling object and external force at handling object using only 4 tension sensor output. The developed hybrid arm is a kind of actuation-redundant mechanism and its internal force can be freely controlled. The proposed algorithm will compensate the internal force and estimate various data by exploiting 4 tension sensor output obtained at several arm positions. The paper introduces the hybrid parallel arm and the tension sensor. Then, a control method of the arm using tension information is described. Finally, an estimation method of gravity center and mass of an unknown handling object, and external force estimation are explained. The basic experiments using the prototype arm are presented with effective reasonable results.

    DOI: 10.7210/jrsj.21.436

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00208624329?from=CiNii

  • Locomotive Working Robots in Rescue Operations Reviewed

    Yasushi Mae, Tatsuo Arai, Kenji Inoue, Atsushi Yoshida, Kunio Miyawaki, Hironori Adachi

    International Journal of ROBOTICS & AUTOMATION, ACTA Press   2003.4

     More details

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

    researchmap

  • Development of Haptic Device Using Flexible Sheet Reviewed

    Kenji Inoue, Reiko Uesugi, Tatsuo Arai, Yasushi Mae

    Journal of Robotics and Mechatronics, vol.15, no.2, pp.121-127, 2003.   15 ( 2 )   121 - 127   2003.4

     More details

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

    researchmap

  • Automated micro handling Reviewed

    A Suzuki, T Arai, Y Mae, K Inoue, T Tanikawa

    2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS   348 - 353   2003

     More details

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

    DOI: 10.1109/CIRA.2003.1222114

    Web of Science

    researchmap

  • Translucent view for robot tele-operation Reviewed

    H Tatsumi, Y Mae, T Arai, K Inoue

    RO-MAN 2003: 12TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS   7 - 12   2003

     More details

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

    DOI: 10.1109/ROMAN.2003.1251768

    Web of Science

    researchmap

  • Mobile manipulation of humanoid robots - Control method for accurate manipulation Reviewed

    Y Nishihama, K Inoue, T Arai, Y Mae

    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4   1914 - 1919   2003

     More details

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

    Web of Science

    researchmap

  • Shape adaptation of planar hyper-redundant manipulators to narrow and unknown environment using proximity sensors Reviewed

    H Tani, K Inoue, T Arai, Y Mae

    PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3   482 - 487   2003

     More details

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

    Web of Science

    researchmap

  • Calibration met-hod by simplified measurement for parallel mechanism Reviewed

    W Tanaka, T Arai, K Inoue, Y Mae, CS Park, Y Koseki

    PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3   1781 - 1786   2003

     More details

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

    Web of Science

    researchmap

  • Development of a Welfare Work Support System Using a Chair-desk Reviewed

    Teruhisa Onishi, Tatsuo Arai, Kenji Inoue, Yasushi Mae

    Proceedings of the 6th International Conference on Mechatronics Technology (ICMT2002), pp.379-384   2002.11

     More details

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

    researchmap

  • Development of Basic Structure for Exoskeleton Cyborg System Reviewed

    Teruhisa Onishi, Tatsuo Arai, Kenji Inoue, Yasushi Mae

    Proceedings of the 7th International Symposium on Artifical Life and Robotics (AROB 7th), pp.209-214   2002.11

     More details

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

    researchmap

  • Sensor -based walking of limb mechanism on rough terrain Reviewed

    Tatsuhi Mure, Kenji Inoue, Yasushi Mae, Tatsuo Arai, Noriho Koyachi

    Proceedings of 5th International Conference on Climbing and Walking Robots, pp.479-486   2002.9

     More details

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

    researchmap

  • Parts and Packets Unification for Construction Automation and Robots Reviewed

    Tomohiro UMETANI, Tatsuo ARAI, Yasushi MAE, Kenji INOUE, Jun-ichiro MAEDA

    Proceedings of 19th International Symposium on Automation and Robotics in Construction, pp.311-316   2002.9

     More details

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

    researchmap

  • Evaluation of omni-directional mobility of multi-legged robots based on error analysis of dead reckoning Reviewed

    Yasushi MAE, Kenji INOUE, Tatsuo ARAI, Tatsuhiko NISHIDA

    Proceedings of 5th International Conference on Climbing and Walking Robots, pp.271-278   2002.9

     More details

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

    researchmap

  • Automated Calibration for Micro Hand Using Visual Information

    Tatsuo ARAI, Akihiro SUZUKI, Yosuke KATO, Yasushi MAE, Kenji INOUE, Tamio TANIKAWA

    Proceedings of the 2002 IEEE International Conference on Intelligent Robots and Systems, pp.293-298   2002.9

     More details

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

    researchmap

  • Evaluation of omni-directional mobility of multi-legged robots based on error analysis of dead reckoning

    Yasushi MAE, Kenji INOUE, Tatsuo ARAI, Tatsuhiko NISHIDA

    Proceedings of 5th International Conference on Climbing and Walking Robots, pp.271-278   2002.9

     More details

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

    researchmap

  • Parts and Packets Unification for Construction Automation and Robots

    Tomohiro UMETANI, Tatsuo ARAI, Yasushi MAE, Kenji INOUE, Jun-ichiro MAEDA

    Proceedings of 19th International Symposium on Automation and Robotics in Construction, pp.311-316   2002.9

     More details

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

    researchmap

  • Adaptive Relocation of Environment-Attached Storage Devices for Knowledge-Sharing among Autonomous Robots

    Tomohiro Umetani, Yasushi Mae, Kenji Inoue, Tatsuo Arai

    Journal of the Robotics Society of Japan, vol.20, no.6, pp.631-639   20 ( 6 )   631 - 639   2002.9

     More details

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

    researchmap

  • Automated Calibration for Micro Hand Using Visual Information Reviewed

    Tatsuo ARAI, Akihiro SUZUKI, Yosuke KATO, Yasushi MAE, Kenji INOUE, Tamio TANIKAWA

    Proceedings of the 2002 IEEE International Conference on Intelligent Robots and Systems, pp.293-298   2002.9

     More details

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

    researchmap

  • Adaptive Relocation of Environment-Attached Storage Devices for Knowledge-Sharing among Autonomous Robots Reviewed

    Tomohiro Umetani, Yasushi Mae, Kenji Inoue, Tatsuo Arai

    Journal of the Robotics Society of Japan, vol.20, no.6, pp.631-639   20 ( 6 )   631 - 639   2002.9

     More details

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

    researchmap

  • Sensor -based walking of limb mechanism on rough terrain

    Tatsuhi Mure, Kenji Inoue, Yasushi Mae, Tatsuo Arai, Noriho Koyachi

    Proceedings of 5th International Conference on Climbing and Walking Robots, pp.479-486   2002.9

     More details

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

    researchmap

  • Search task by limb mechanism robot with infrared sensors and cameras

    Kazuo Kita, Yasushi Mae, Tatsuo Arai, Kenji Inoue, Kunio Miyawaki

    Proceedings of 5th International Conference on Climbing and Walking Robots, pp.241-246   2002.9

     More details

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

    researchmap

  • Search task by limb mechanism robot with infrared sensors and cameras Reviewed

    Kazuo Kita, Yasushi Mae, Tatsuo Arai, Kenji Inoue, Kunio Miyawaki

    Proceedings of 5th International Conference on Climbing and Walking Robots, pp.241-246   2002.9

     More details

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

    researchmap

  • Fundamental Study on Human Support System Using Humanoid Robots for Creating SSR Society Reviewed

    Kenji Inoue, Tatsuo Arai, Yasushi Mae, Yusuke Nishihama

    Proceedings of SICE Annual Conference 2002   2002.8

     More details

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

    researchmap

  • Design of Limb Mechanism Robot for Dual Arm Manipulation

    Kenji INOUE, Tatsuo ARAI, Kazuo KITA, Yasushi MAE

    Proceedings of 2002 Japan-USA Symposium on Flexible Automation, pp.1121-1126   2002.7

     More details

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

    researchmap

  • Design of Limb Mechanism Robot for Dual Arm Manipulation Reviewed

    Kenji INOUE, Tatsuo ARAI, Kazuo KITA, Yasushi MAE

    Proceedings of 2002 Japan-USA Symposium on Flexible Automation, pp.1121-1126   2002.7

     More details

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

    researchmap

  • Simplified Kinematic Calibration for a Class of Parallel Mechanism

    Wataru TANAKA, Tatsuo ARAI, Kenji INOUE, Yasushi MAE, Choong Sik PARK

    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002 IEEE ICRA), pp.483-488   2002.5

     More details

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

    researchmap

  • Simplified Kinematic Calibration for a Class of Parallel Mechanism Reviewed

    Wataru TANAKA, Tatsuo ARAI, Kenji INOUE, Yasushi MAE, Choong Sik PARK

    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002 IEEE ICRA), pp.483-488   2002.5

     More details

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

    researchmap

  • Mobile Manipulation of Humanoid Robots -Body and Leg Control for Dual Arm Manipulation-

    Kenji INOUE, Yusuke NISHIHAMA, Tatsuo ARAI, Yasushi MAE

    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002 IEEE ICRA), pp.2259-2264   2002.5

     More details

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

    researchmap

  • Mobile Manipulation of Humanoid Robots -Optimal Posture for Generating Large Force Based on Statics- Reviewed

    Haruyuki YOSHIDA, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002 IEEE ICRA), pp.2271-2276   2002.5

     More details

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

    researchmap

  • Mobile Manipulation of Humanoid Robots -Body and Leg Control for Dual Arm Manipulation- Reviewed

    Kenji INOUE, Yusuke NISHIHAMA, Tatsuo ARAI, Yasushi MAE

    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002 IEEE ICRA), pp.2259-2264   2002.5

     More details

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

    researchmap

  • Mobile Manipulation of Humanoid Robots -Optimal Posture for Generating Large Force Based on Statics-

    Haruyuki YOSHIDA, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002 IEEE ICRA), pp.2271-2276   2002.5

     More details

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

    researchmap

  • Error Analysis of Multilegged Robots for Dead Reckoning Reviewed

    Yasushi Mae, Tatsuo Arai, Kenji Inoue

    Journal of Robotics and Mechatronics, vol.14, no.2, pp.170-176   2002.4

     More details

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

    researchmap

  • Vision System for Micromanipulation Reviewed

    Yousuke Katoh, Tatsuo Arai, Kenji Inoue, Yasushi Mae, Tamio Tanikawa

    Journal of Robotics and Mechatronics, vol.14, no.2, pp.203-209   2002.4

     More details

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

    researchmap

  • Error Analysis of Multilegged Robots for Dead Reckoning

    Yasushi Mae, Tatsuo Arai, Kenji Inoue

    Journal of Robotics and Mechatronics, vol.14, no.2, pp.170-176   2002.4

     More details

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

    researchmap

  • Vision System for Micromanipulation

    Yousuke Katoh, Tatsuo Arai, Kenji Inoue, Yasushi Mae, Tamio Tanikawa

    Journal of Robotics and Mechatronics, vol.14, no.2, pp.203-209   2002.4

     More details

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

    researchmap

  • A Hybrid Drive Parallel Arm for Heavy Material Handling

    Tatsuo Arai, Kei Yuasa, Yasushi Mae, Kenji Inoue, Kunio Miyawaki, Noriho Koyachi

    IEEE Robotics Automation Magazine, vol.9, no.1, pp.45-54   2002.3

     More details

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

    DOI: 10.1109/100.993154

    researchmap

  • A Hybrid Drive Parallel Arm for Heavy Material Handling Reviewed

    Tatsuo Arai, Kei Yuasa, Yasushi Mae, Kenji Inoue, Kunio Miyawaki, Noriho Koyachi

    IEEE Robotics Automation Magazine, vol.9, no.1, pp.45-54   2002.3

     More details

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

    DOI: 10.1109/100.993154

    researchmap

  • Acquisition and Accumulation of Object Appearances using Successive Eigenspace Construction Reviewed

    Yasushi MAE, Tomohiro UMETANI, Tatsuo ARAI, Kenji INOUE

    Proceedings of the fifth Asian Conference on Computer Vision, pp.545-551   2002.1

     More details

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

    researchmap

  • Acquisition and Accumulation of Object Appearances using Successive Eigenspace Construction

    Yasushi MAE, Tomohiro UMETANI, Tatsuo ARAI, Kenji INOUE

    Proceedings of the fifth Asian Conference on Computer Vision, pp.545-551   2002.1

     More details

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

    researchmap

  • Application of a 'limb mechanism' robot to rescue tasks

    Y Mae, T Arai, K Inoue, K Miyawaki

    ADVANCED ROBOTICS   16 ( 6 )   529 - 532   2002

     More details

    Language:English   Publishing type:Research paper (scientific journal)   Publisher:TAYLOR & FRANCIS LTD  

    DOI: 10.1163/156855302320535890

    Web of Science

    researchmap

  • Application of a 'limb mechanism' robot to rescue tasks Reviewed

    Y Mae, T Arai, K Inoue, K Miyawaki

    ADVANCED ROBOTICS   16 ( 6 )   529 - 532   2002

     More details

    Language:English   Publishing type:Research paper (scientific journal)   Publisher:TAYLOR & FRANCIS LTD  

    DOI: 10.1163/156855302320535890

    Web of Science

    researchmap

  • Cooperative Control and Force Limitation for Multiple Robots in Single Object Transportation

    Kentaro KATO, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    Proceedings of The 27th Annual Conference of the IEEE Industrial Electronics Society (IECON'01), pp.422-427   2001.12

     More details

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

    researchmap

  • Cooperative Control and Force Limitation for Multiple Robots in Single Object Transportation Reviewed

    Kentaro KATO, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    Proceedings of The 27th Annual Conference of the IEEE Industrial Electronics Society (IECON'01), pp.422-427   2001.12

     More details

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

    researchmap

  • Tension Control and Its Application for Hybrid Drive Parallel Arm

    Hirofumi KAMISHIMA, Tatsuo ARAI, Kenji INOUE, Yasushi MAE, Kunio MIYAWAKI, Noriho KOYACHI

    Proceedings of 5th France-Japanese Congress & 3rd European-Asian Congress on Mechatronics (Mechatronics '01), pp.127-132   2001.10

     More details

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

    researchmap

  • Error Analysis of Dead Reckoning of Multi-Legged Robots Reviewed

    Yasushi MAE, Toru MASUDA, Tatsuo ARAI, Kenji INOUE

    Proceedings of the 2001 IEEE International Conference on Intelligent Robots and Systems, pp.1558-1563   2001.10

     More details

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

    researchmap

  • Auto Focusing and Tracking for Micro Manipulation Reviewed

    Yousuke KATOH, Tatuo ARAI, Kenji INOUE, Yasushi MAE, Tamio TANIKAWA

    Proceedings of 5th France-Japanese Congress & 3rd European-Asian Congress on Mechatronics (Mechatronics '01), pp.349-354   2001.10

     More details

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

    researchmap

  • Error Analysis of Dead Reckoning of Multi-Legged Robots

    Yasushi MAE, Toru MASUDA, Tatsuo ARAI, Kenji INOUE

    Proceedings of the 2001 IEEE International Conference on Intelligent Robots and Systems, pp.1558-1563   2001.10

     More details

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

    researchmap

  • Auto Focusing and Tracking for Micro Manipulation

    Yousuke KATOH, Tatuo ARAI, Kenji INOUE, Yasushi MAE, Tamio TANIKAWA

    Proceedings of 5th France-Japanese Congress & 3rd European-Asian Congress on Mechatronics (Mechatronics '01), pp.349-354   2001.10

     More details

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

    researchmap

  • Tension Control and Its Application for Hybrid Drive Parallel Arm Reviewed

    Hirofumi KAMISHIMA, Tatsuo ARAI, Kenji INOUE, Yasushi MAE, Kunio MIYAWAKI, Noriho KOYACHI

    Proceedings of 5th France-Japanese Congress & 3rd European-Asian Congress on Mechatronics (Mechatronics '01), pp.127-132   2001.10

     More details

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

    researchmap

  • Omni-Directional Mobility of Limb Mechanism Robot Reviewed

    Tatsuo Arai, Yuuya Takahashi, Heditoshi Maeda, Kenji Inoue, Yasushi Mae

    Proceedings of 4th International Conference on Climbing and Walking Robots (CLAWAR), pp.635-642   2001.9

     More details

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

    researchmap

  • Omni-Directional Mobility of Limb Mechanism Robot

    Tatsuo Arai, Yuuya Takahashi, Heditoshi Maeda, Kenji Inoue, Yasushi Mae

    Proceedings of 4th International Conference on Climbing and Walking Robots (CLAWAR), pp.635-642   2001.9

     More details

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

    researchmap

  • View Controls in Environment Presentation for Robot Tele-operation

    Yasushi Mae, Tatsuo Arai, Kenji Inoue, Ikunosuke Kurosaki

    Proceedings of 10th IEEE International Workshop on Robot and Human Interactive Communication(ROMAN), pp.333-337   2001.9

     More details

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

    researchmap

  • View Controls in Environment Presentation for Robot Tele-operation Reviewed

    Yasushi Mae, Tatsuo Arai, Kenji Inoue, Ikunosuke Kurosaki

    Proceedings of 10th IEEE International Workshop on Robot and Human Interactive Communication(ROMAN), pp.333-337   2001.9

     More details

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

    researchmap

  • Adaptive Relocation of Environment-Attached Storage Devices for Effective Knowledge-Sharing among Multiple Robots

    Tomohiro UMETANI, Yasushi MAE, Kenji INOUE, Tatsuo ARAI

    Proceedings of 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp.171-176   2001.7

     More details

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

    researchmap

  • Mobile Manipulation of Humanoid Robots -Analysis of the Required Function of Legs in Mobile Manipulation-

    Haruyuki Yoshida, Kenji Inoue, Tatsuo Arai, Yasushi Mae

    Journal of the Robotics Society of Japan, vol.19, no.5, pp.660-666   19 ( 5 )   660 - 666   2001.7

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Robotics Society of Japan  

    DOI: 10.7210/jrsj.19.660

    researchmap

  • Adaptive Relocation of Environment-Attached Storage Devices for Effective Knowledge-Sharing among Multiple Robots Reviewed

    Tomohiro UMETANI, Yasushi MAE, Kenji INOUE, Tatsuo ARAI

    Proceedings of 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp.171-176   2001.7

     More details

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

    researchmap

  • Mobile Manipulation of Humanoid Robots -Analysis of the Required Function of Legs in Mobile Manipulation- Reviewed

    Haruyuki Yoshida, Kenji Inoue, Tatsuo Arai, Yasushi Mae

    Journal of the Robotics Society of Japan, vol.19, no.5, pp.660-666   19 ( 5 )   660 - 666   2001.7

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Robotics Society of Japan  

    DOI: 10.7210/jrsj.19.660

    researchmap

  • Mobile Manipulation of Limbed Robots -Proposal on Mechanism and Control-

    Keniji Inoue, Tatsuo Arai, Yasushi Mae, Yuuya Takahashi, Haruyuki Yoshida, Noriho Koyachi

    Preprints of IFAC Workshop on Mobile Robot Technology, pp.104-109   2001.5

     More details

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

    researchmap

  • Mobile Manipulation of Limbed Robots -Proposal on Mechanism and Control- Reviewed

    Keniji Inoue, Tatsuo Arai, Yasushi Mae, Yuuya Takahashi, Haruyuki Yoshida, Noriho Koyachi

    Preprints of IFAC Workshop on Mobile Robot Technology, pp.104-109   2001.5

     More details

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

    researchmap

  • Adaptive Relocation of Environment-Attached Storage Devices by Multiple Robots Reviewed

    Tomohiro UMETANI, Yasushi MAE, Kenji INOUE, Tatsuo ARAI

    Proceedings of the 2001 IEEE International Conference on Robotics and Automation, pp.2998-3003   2001.5

     More details

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

    researchmap

  • Adaptive Relocation of Environment-Attached Storage Devices by Multiple Robots

    Tomohiro UMETANI, Yasushi MAE, Kenji INOUE, Tatsuo ARAI

    Proceedings of the 2001 IEEE International Conference on Robotics and Automation, pp.2998-3003   2001.5

     More details

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

    researchmap

  • Distributed Control of Hyper-redundant Manipulator with Expantion and Contraction Motion (Position Control and Application to Planar Manipulator)

    Kenji Inoue, Akinobu Okuda, Tatsuo Arai, Yasushi Mae

    Journal of the Robotics Society of Japan, vol.19, no.2, pp.197-206   19 ( 2 )   49 - 58   2001.3

     More details

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

    DOI: 10.7210/jrsj.19.197

    researchmap

  • Distributed Control of Hyper-redundant Manipulator with Expantion and Contraction Motion (Position Control and Application to Planar Manipulator) Reviewed

    Kenji Inoue, Akinobu Okuda, Tatsuo Arai, Yasushi Mae

    Journal of the Robotics Society of Japan, vol.19, no.2, pp.197-206   19 ( 2 )   49 - 58   2001.3

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Robotics Society of Japan  

    A distributed control method for hyper-redundant manipulators is proposed, aiming at applying to complicated and unknown or dynamic environment. A manipulator consists of serially connected joint units, and each unit has the same degrees of freedom as dimension of task space. The proposed method is highly distributed: each unit is controlled by one controller, only neighboring units communicate with each other, and each unit does not have to obtain information from far units. The method is multiple point control: not only the end-effector but also several units can converge to their own desired positions stably. Thus the manipulator can avoid obstacles only if the units which detect the obstacles with their own proximity sensors set their desired positions far from the obstacles. The manipulator makes expansion and contraction motion; it can move into/out of long and narrow space like pipes. All units are controlled so that their displacements may be equal. Hence they have the same and maximum displacement margin. The dynamics of the end-effector is not influenced by the motion of units; that is important for doing tasks with the end-effector. The proposed method is applied to a planar hyper-redundant manipulator with rotational joints, and the effectiveness and usefulness of the method are ascertained by computer simulations and experiments.

    DOI: 10.7210/jrsj.19.197

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00072857113?from=CiNii

  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion for Obstacle Avoidance

    Kenji Inoue, Akinobu Okuda, Hiroyuki Tani, Tatsuo Arai, Yasushi Mae

    Human Friendly Mechatronics, Selected Papers of the International Conference on Machine Automation ICMA2000, pp.315-320   2001.1

     More details

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

    researchmap

  • Dead Reckoning of Multi-legged Robot -Error Analysis- Reviewed

    Toru Masuda, Yasushi Mae, Tatsuo Arai, Kenji Inoue

    Human Friendly Mechatronics, Selected Papers of the International Conference on Machine Automation ICMA2000, pp.351-356   2001.1

     More details

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

    researchmap

  • Dead Reckoning of Multi-legged Robot -Error Analysis-

    Toru Masuda, Yasushi Mae, Tatsuo Arai, Kenji Inoue

    Human Friendly Mechatronics, Selected Papers of the International Conference on Machine Automation ICMA2000, pp.351-356   2001.1

     More details

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

    researchmap

  • Mobile manipulation of humanoid robots - A method of adjusting leg motion for improvement of arm's manipulability

    H Yoshida, K Inoue, T Arai, Y Mae

    2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II   266 - 271   2001

     More details

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

    A control method of mobile manipulation for a humanoid robot, mobile manipulation means the integrated motion centered arm's manipulation, is proposed. This method makes the arms carry out the manipulation, and the legs assist manipulation by adjusting its motion in order to keep arm's manipulability high. Firstly, the arm tips always follow their desired position under the condition with external force by impedance control. Secondly, the shoulder is controlled so that manipulability and stability can be improved. Moreover, we define three functions; they are an average of manipulability measure, and an average and a minimum of stability margin in a locomotion cycle. We utilize their values in a locomotion cycle rather than the values of them at every moment, because manipulability and stability vary with robot motion. Then, we define total evaluation function expressed by the sum of them. Step length and timing of step motion are determined so that the function can be optimized. The effectiveness of the proposed method is ascertained through the computer simulations.

    Web of Science

    researchmap

  • F-1219 Cooperation of Visual and Microhand for Micro-Nano Tasks

    KATOH Yousuke, ARAI Tatsuo, MAE Yasushi, INOUE Kenji, Tanikawa Tamio

    The proceedings of the JSME annual meeting   1   189 - 190   2001

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    A dexterous micromanipulation system was developed for applications such as assembling micro machines, manipulating cells and microbes, microsurgery. By old research, it turns out that there are various problems. The major problem is its weak visual feedback due to the limited focusing range in a microscope. High magnification, like 500 to 1000 times, is required to observe micrometer order scale objects where the focusing range is limited to only a few micrometer. Thus, it is very difficult to keep the hand tip and/or objects in its focusing scope, and consequently an operator feels difficulty even in simple tasks. There might be some ways to cope with this problem including an auto focusing or wide focusing techniques. The paper will discus an auto focusing technique based on microscope vision data.

    DOI: 10.1299/jsmemecjo.IV.01.1.0_189

    CiNii Books

    researchmap

  • Mobile manipulation of humanoid robots - A method of adjusting leg motion for improvement of arm's manipulability Reviewed

    H Yoshida, K Inoue, T Arai, Y Mae

    2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II   266 - 271   2001

     More details

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

    A control method of mobile manipulation for a humanoid robot, mobile manipulation means the integrated motion centered arm's manipulation, is proposed. This method makes the arms carry out the manipulation, and the legs assist manipulation by adjusting its motion in order to keep arm's manipulability high. Firstly, the arm tips always follow their desired position under the condition with external force by impedance control. Secondly, the shoulder is controlled so that manipulability and stability can be improved. Moreover, we define three functions; they are an average of manipulability measure, and an average and a minimum of stability margin in a locomotion cycle. We utilize their values in a locomotion cycle rather than the values of them at every moment, because manipulability and stability vary with robot motion. Then, we define total evaluation function expressed by the sum of them. Step length and timing of step motion are determined so that the function can be optimized. The effectiveness of the proposed method is ascertained through the computer simulations.

    Web of Science

    researchmap

  • Development of Multi-Limb Robot with Omnidirectional Manipulability and Mobility Reviewed

    Yuuya TAKAHASHI, Tatsuo ARAI, Yasushi MAE, Kenji INOUE, Noriho KOYACHI

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.2012-2017   2000.10

     More details

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

    researchmap

  • Parallel Mechanisms with Adjustable Link Parameters Reviewed

    Tatsuo ARAI, Kazunari TAKAYAMA, Kenji INOUE, Yasushi MAE, Yoshihiko KOSEKI

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.671-676   2000.10

     More details

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

    researchmap

  • Presentation of Push Button Switches with Manipulators for Virtual Operating Environment Reviewed

    Kenji INOUE, Yusuke TAKAO, Tatsuo ARAI, Yasushi MAE

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.1137-1142   2000.10

     More details

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

    researchmap

  • Application of Locomotive Robot to Rescue Tasks Reviewed

    Yasushi MAE, Atsushi YOSHIDA, Tatsuo ARAI, Kenji INOUE, Kunio MIYAWAKI, Hironori ADACHI

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.2083-2088   2000.10

     More details

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

    researchmap

  • Application of Locomotive Robot to Rescue Tasks

    Yasushi MAE, Atsushi YOSHIDA, Tatsuo ARAI, Kenji INOUE, Kunio MIYAWAKI, Hironori ADACHI

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.2083-2088   2000.10

     More details

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

    researchmap

  • Development of Multi-Limb Robot with Omnidirectional Manipulability and Mobility

    Yuuya TAKAHASHI, Tatsuo ARAI, Yasushi MAE, Kenji INOUE, Noriho KOYACHI

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.2012-2017   2000.10

     More details

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

    researchmap

  • Mobile Manipulation of Humanoid Robots: Analysis of Manipulability and Stability in Mobile Manipulation

    Haruyuki YOSHIDA, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.1924-1929   2000.10

     More details

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

    researchmap

  • Mobile Manipulation of Humanoid Robots: Analysis of Manipulability and Stability in Mobile Manipulation Reviewed

    Haruyuki YOSHIDA, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.1924-1929   2000.10

     More details

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

    researchmap

  • Parallel Mechanisms with Adjustable Link Parameters

    Tatsuo ARAI, Kazunari TAKAYAMA, Kenji INOUE, Yasushi MAE, Yoshihiko KOSEKI

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.671-676   2000.10

     More details

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

    researchmap

  • Presentation of Push Button Switches with Manipulators for Virtual Operating Environment

    Kenji INOUE, Yusuke TAKAO, Tatsuo ARAI, Yasushi MAE

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.1137-1142   2000.10

     More details

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

    researchmap

  • Dead Reckoning of Multi-legged Robot

    Toru Masuda, Yasushi Mae, Tatsuo Arai, Kenji Inoue

    Proceedings of the International Conference on Machine Automation ICMA2000, pp.427-432   2000.9

     More details

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

    researchmap

  • Object Recognition using Appearance Models Accumulated into Environment Reviewed

    Yasushi MAE, Tomohiro UMETANI, Tatsuo ARAI, Kenji INOUE

    Proceedings of 15th International Conference on Pattern Recognition (ICPR-2000), pp.845-858   2000.9

     More details

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

    researchmap

  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion for Obstacle Avoidance Reviewed

    Kenji INOUE, Akinobu OKUDA, Hiroyuki TANI, Tatsuo ARAI, Yasushi MAE

    Proceedings of the International Conference on Machine Automation ICMA2000, pp.315-520   2000.9

     More details

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

    researchmap

  • Object Recognition using Appearance Models Accumulated into Environment

    Yasushi MAE, Tomohiro UMETANI, Tatsuo ARAI, Kenji INOUE

    Proceedings of 15th International Conference on Pattern Recognition (ICPR-2000), pp.845-858   2000.9

     More details

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

    researchmap

  • Dead Reckoning of Multi-legged Robot Reviewed

    Toru Masuda, Yasushi Mae, Tatsuo Arai, Kenji Inoue

    Proceedings of the International Conference on Machine Automation ICMA2000, pp.427-432   2000.9

     More details

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

    researchmap

  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion for Obstacle Avoidance

    Kenji INOUE, Akinobu OKUDA, Hiroyuki TANI, Tatsuo ARAI, Yasushi MAE

    Proceedings of the International Conference on Machine Automation ICMA2000, pp.315-520   2000.9

     More details

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

    researchmap

  • Relocation of Storage Devices Attached to Environment for Effective Knowledge Sharing among Multiple Robots

    Yasushi MAE, Tomohiro UMETANI, Tatsuo ARAI, Kenji INOUE

    Intelligent Autonomous Systems 6 (IAS-6), pp.479-486   2000.7

     More details

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

    researchmap

  • Relocation of Storage Devices Attached to Environment for Effective Knowledge Sharing among Multiple Robots Reviewed

    Yasushi MAE, Tomohiro UMETANI, Tatsuo ARAI, Kenji INOUE

    Intelligent Autonomous Systems 6 (IAS-6), pp.479-486   2000.7

     More details

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

    researchmap

  • Real-time Obstacle Avoidance with Collision Jacobian for Robot Arm Reviewed

    Hajime Kaneko, Tatsuo Arai, Kenji Inoue, Yasushi Mae

    Journal of the Robotics Society of Japan, vol.18, no.4, pp.555-560   18 ( 4 )   555 - 560   2000.5

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Robotics Society of Japan  

    This paper proposes a realtime trajectory planning and control method of a robot arm for obstacle avoidance. If the distance between a link and a object are small, suggesting that a collision is about to occur, then an alternative trajectory is calculated to prevent the collision while minimizing the error in the desired (commanded) trajectory. The trajectory control algolithm that results in the form of a constrained minimization problem. Key to the trajectory modification algorithm is derivation of the Jacobian matrix relating changes in endeffector velocity to interference verocity. Simulation results demonstrate the performance of this algoritm and experimental results veryfy it's effectiveness.

    DOI: 10.7210/jrsj.18.555

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00066338437?from=CiNii

  • Real-time Obstacle Avoidance with Collision Jacobian for Robot Arm

    Hajime Kaneko, Tatsuo Arai, Kenji Inoue, Yasushi Mae

    Journal of the Robotics Society of Japan, vol.18, no.4, pp.555-560   18 ( 4 )   555 - 560   2000.5

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Robotics Society of Japan  

    This paper proposes a realtime trajectory planning and control method of a robot arm for obstacle avoidance. If the distance between a link and a object are small, suggesting that a collision is about to occur, then an alternative trajectory is calculated to prevent the collision while minimizing the error in the desired (commanded) trajectory. The trajectory control algolithm that results in the form of a constrained minimization problem. Key to the trajectory modification algorithm is derivation of the Jacobian matrix relating changes in endeffector velocity to interference verocity. Simulation results demonstrate the performance of this algoritm and experimental results veryfy it's effectiveness.

    DOI: 10.7210/jrsj.18.555

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00066338437?from=CiNii

  • Mobile Manipulation of Humanoids: Real-Time Control Based on Manipulability and Stability

    Kenji INOUE, Haruyuki YOSHIDA, Tatsuo ARAI, Yasushi MAE

    Proceedings of ICRA2000, IEEE International Conference on Robotics and Automation, pp.2217-2222   2000.4

     More details

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

    researchmap

  • Mobile Manipulation of Humanoids: Real-Time Control Based on Manipulability and Stability Reviewed

    Kenji INOUE, Haruyuki YOSHIDA, Tatsuo ARAI, Yasushi MAE

    Proceedings of ICRA2000, IEEE International Conference on Robotics and Automation, pp.2217-2222   2000.4

     More details

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

    researchmap

  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion (Position Control)

    Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    Proceedings on TITech COE/Super Mechano-Systems Symposium 2000, pp.314-323   2000.3

     More details

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

    researchmap

  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion (Position Control) Reviewed

    Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    Proceedings on TITech COE/Super Mechano-Systems Symposium 2000, pp.314-323   2000.3

     More details

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

    researchmap

  • Hybrid Drive Parallel Arm for Heavy Material Handling

    Kei Yuasa, Tatsuo Arai, Yasushi Mae, Kenji Inoue, Kunio Miyawaki, Noriho Koyachi

    Journal of the Robotics Society of Japan, vol.18, no.1, pp.102-109   18 ( 1 )   102 - 109   2000.1

     More details

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

    DOI: 10.7210/jrsj.18.102

    researchmap

  • Hybrid Drive Parallel Arm for Heavy Material Handling Reviewed

    Kei Yuasa, Tatsuo Arai, Yasushi Mae, Kenji Inoue, Kunio Miyawaki, Noriho Koyachi

    Journal of the Robotics Society of Japan, vol.18, no.1, pp.102-109   18 ( 1 )   102 - 109   2000.1

     More details

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

    DOI: 10.7210/jrsj.18.102

    researchmap

  • Hybrid drive parallel arm and its motion control

    H Kamishima, T Arai, K Yuasa, Y Mae, K Inoue, K Miyawaki, N Koyachi

    2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS   516 - 521   2000

     More details

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

    A hybrid cylinder/cable drive parallel arm and its motion control are discussed in this paper The basic idea of the hybrid parallel arm is to make Use Best we of mixture of the high power cable drive and the cylinder actuation to obtain a heavy-duty manipulator in construction and ship building applications. A prototype arm has been designed and built based on Use analysis and the comparative study of several types of hybrid drive mechanisms, Use Stewart platform, and a wire drive mechanism. The tension of wire has to be maintained properly in the hybrid mechanism during its motion. The proposed hybrid arm is a kind Of actuation-redundant mechanism and its internal force can be freely controlled. The proposed control algorithm is to give wires proper tension during its motion by exploiting the internal force. The required tension and cylinder force can be obtained by compensating each link position command based on its compliance. The repeatability tests show Use effectiveness of Use proposed algorithm in maintaining the overall stiffness of the arm.

    Web of Science

    researchmap

  • Hybrid drive parallel arm and its motion control Reviewed

    H Kamishima, T Arai, K Yuasa, Y Mae, K Inoue, K Miyawaki, N Koyachi

    2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS   516 - 521   2000

     More details

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

    A hybrid cylinder/cable drive parallel arm and its motion control are discussed in this paper The basic idea of the hybrid parallel arm is to make Use Best we of mixture of the high power cable drive and the cylinder actuation to obtain a heavy-duty manipulator in construction and ship building applications. A prototype arm has been designed and built based on Use analysis and the comparative study of several types of hybrid drive mechanisms, Use Stewart platform, and a wire drive mechanism. The tension of wire has to be maintained properly in the hybrid mechanism during its motion. The proposed hybrid arm is a kind Of actuation-redundant mechanism and its internal force can be freely controlled. The proposed control algorithm is to give wires proper tension during its motion by exploiting the internal force. The required tension and cylinder force can be obtained by compensating each link position command based on its compliance. The repeatability tests show Use effectiveness of Use proposed algorithm in maintaining the overall stiffness of the arm.

    Web of Science

    researchmap

  • Workspace Analysis of Fixed Linear Actuation Parallel Mechanism

    Yoshikazu MURATA, Tatsuo ARAI, Kenji INOUE, Yasushi MAE, Choong Sik PARK, Yoshihiko KOSEKI

    Proceedings of 30th International Symposium on Robotics, pp.645-650   1999.10

     More details

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

    researchmap

  • Real-time Obstacle Avoidance for Robot Arm Using Collision Jacobian Reviewed

    Hajime KANEKO, Tatsuo ARAI, Kenji INOUE, Yasushi MAE

    Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, 617-622   1999.10

     More details

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

    researchmap

  • Hybrid Drive Parallel Arm For Heavy Material Handling Reviewed

    Kei YUASA, Tatsuo ARAI, Yasushi MAE, Kenji INOUE, Kunio MAYAWAKI, Noriho KOYACHI

    Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1234-1240   1999.10

     More details

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

    researchmap

  • Development of 3-DOF Finger Module for Micro Manipulation Reviewed

    Yoshiki OHYA, Tatsuo ARAI, Yasushi MAE, Kenji INOUE, Tamio TANIKAWA

    Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.894-899   1999.10

     More details

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

    researchmap

  • Extraction and Tracking of Moving Objects in 3-D Space by Multiple Plane Approximation Based on Optical Flow and Edges Reviewed

    Yasushi Mae, Yoshiaki Shirai, Jun Miura, Yoshinori Kuno

    Vol.17, No.7, pp.959-965   1999.10

     More details

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

    DOI: 10.7210/jrsj.17.959

    researchmap

  • Workspace Analysis of Fixed Linear Actuation Parallel Mechanism Reviewed

    Yoshikazu MURATA, Tatsuo ARAI, Kenji INOUE, Yasushi MAE, Choong Sik PARK, Yoshihiko KOSEKI

    Proceedings of 30th International Symposium on Robotics, pp.645-650   1999.10

     More details

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

    researchmap

  • Real-time Obstacle Avoidance for Robot Arm Using Collision Jacobian

    Hajime KANEKO, Tatsuo ARAI, Kenji INOUE, Yasushi MAE

    Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, 617-622   1999.10

     More details

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

    researchmap

  • Development of 3-DOF Finger Module for Micro Manipulation

    Yoshiki OHYA, Tatsuo ARAI, Yasushi MAE, Kenji INOUE, Tamio TANIKAWA

    Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.894-899   1999.10

     More details

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

    researchmap

  • Hybrid Drive Parallel Arm For Heavy Material Handling

    Kei YUASA, Tatsuo ARAI, Yasushi MAE, Kenji INOUE, Kunio MAYAWAKI, Noriho KOYACHI

    Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1234-1240   1999.10

     More details

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

    researchmap

  • Development of Hybrid Drive Parallel Arm for Heavy Material Handling

    Tatsuo ARAI, Kei YUASA, Yasushi MAE, Kenji INOUE, Kunio MIYAWAKI, Noriho KOYACHI, Yoshio ABE, Isamu ISHII, Kazuya KIKAWADA

    Proceedings of the 16th IAARC/IFAC/IEEE International Symposium on Automation and Robotics in Construction (ISARC'99), pp.263-268   1999.9

     More details

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

    researchmap

  • Development of Hybrid Drive Parallel Arm for Heavy Material Handling Reviewed

    Tatsuo ARAI, Kei YUASA, Yasushi MAE, Kenji INOUE, Kunio MIYAWAKI, Noriho KOYACHI, Yoshio ABE, Isamu ISHII, Kazuya KIKAWADA

    Proceedings of the 16th IAARC/IFAC/IEEE International Symposium on Automation and Robotics in Construction (ISARC'99), pp.263-268   1999.9

     More details

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

    researchmap

  • Extraction and Tracking of Moving Objects in 3-D Space by Multiple Plane Approximation Based on Optical Flow and Edges Reviewed

    MAE Yasushi, SHIRAI Yoshiaki, MIURA Jun, KUNO Yoshinori

    JRSJ   17 ( 7 )   959 - 965   1999.4

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Robotics Society of Japan  

    This paper describes a method of tracking a moving object in a 3-D space in a cluttered background by integrating optical flow and edges. The flow field is segmented into regions so that the motion of each region may be approximated by a plane motion. An object region is determined as a set of the plane motion regions with similar 3-D motions (translation and rotation) . The object is tracked by merging and separating the plane motion regions at each frame. In order to estimate the plane motion correctly, the contour of the plane motion region must be obtained precisely. Because the motion boundary of the region is not precise, edges near the motion boundary are used to represent the part of the contour. In order to represent the whole contour even in a cluttered background, the edges are accumulated over frames. If the motion boundary at the overlapping part of the predicted regions can not be extracted, the contour is determined by the edges on the predicted contour. Moving objects are tracked even if the appearances of the objects change drastically. Experimental results for synthetic and real images show the effectiveness of the method.

    DOI: 10.7210/jrsj.17.959

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00064194332?from=CiNii

  • Tracking Moving Object in 3-D Space Based on Optical Flow and Edges Reviewed

    Yasushi Mae, Yoshiaki Shirai

    Proceedings of 14th International Conference on Pattern Recognition   1998.8

     More details

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

    researchmap

  • Tracking Moving Object in 3-D Space Based on Optical Flow and Edges

    Yasushi Mae, Yoshiaki Shirai

    1998.8

     More details

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

    researchmap

  • Tracking Moving Object in 3-D Space Based on Optical Flow and Edges Reviewed

    Yasushi Mae, Yoshiaki Shirai

    1998.7

     More details

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

    researchmap

  • オプティカルフローとエッジを用いた複雑背景下での移動物体の追跡 Reviewed

    前 泰志, 白井良明, 三浦純, 久野義徳

    日本ロボット学会誌   15 ( 1 )   103 - 108   1997.4

     More details

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

    DOI: 10.7210/jrsj.15.103

    researchmap

  • Object Tracking in Cluttered Background Based on Optical Flow and Edges

    Yasushi Mae, Yoshiaki Shirai, Jun Miura, Yoshinori Kuno

    15 ( 1 )   103 - 108   1997.1

     More details

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

    DOI: 10.7210/jrsj.15.103

    researchmap

  • Object Tracking in Cluttered Background Based on Optical Flow and Edges

    Yasushi Mae, Yoshiaki Shirai, Jun Miura, Yoshinori Kuno

    1996.8

     More details

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

    DOI: 10.1109/ICPR.1996.546018

    researchmap

  • Object tracking in cluttered background based on optical flow and edges Reviewed

    Yasushi Mae, Yoshiaki Shirai, Jun Miura, Yoshinori Kuno

    Proceedings - International Conference on Pattern Recognition   1   196 - 200   1996

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:Institute of Electrical and Electronics Engineers Inc.  

    This paper describes a method of determining contours of moving objects in a cluttered scene by integrating optical flow and edges. If the motion of an object is similar to that of the background, the contour is not determined only by optical flow. If the background of a scene is cluttered, the contour is not determined only from edges because many edges may be extracted in the background and no edges may be extracted on some parts of the contour. In the proposed method, the contour is determined by using optical flow and edges in a long sequence. The whole contour of a moving object is eventually obtained by accumulating edges near motion boundaries over an image sequence. The method can also determine the occlusion relation of two overlapping objects by checking if edges exist on the predicted contours of objects. Experimental results for synthetic and real images show the usefulness of the method. © 1996 IEEE.

    DOI: 10.1109/ICPR.1996.546018

    Scopus

    researchmap

  • Object Tracking by using Optical Flows and Edges

    Yoshiaki Shirai, Yasushi Mae, Shinya Yamamoto

    1995.10

     More details

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

    researchmap

  • Realtime Multiple Object Tracking based on Optical Flows

    Shinya Yamamoto, Yasushi Mae, Yoshiaki Shirai, Jun Miura

    1995.5

     More details

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

    researchmap

  • Optical Flow Based Realtime Object Tracking by Active Vision System

    Yasushi Mae, Shinya Yamamoto, Yoshiaki Shirai, Jun Miura

    1994.11

     More details

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

    researchmap

  • Optical Flow Based Realtime Object Tracking by Active Vision System Reviewed

    Yasushi Mae, Shinya Yamamoto, Yoshiaki Shirai, Jun Miura

    Proceedings of the 2nd JAPAN-FRANCE CONGRESS on MECHATRONICS   1994.4

     More details

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

    researchmap

  • Moving Object Perception and Tracking by Use of DSP

    Yoshiaki Shirai, Jun Miura, Yasushi Mae, Morito Shiohara, Hiroichi Egawa, Shigeru Sasaki

    1993.12

     More details

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

    researchmap

  • Moving Object Perception and Tracking by Use of DSP

    Yoshiaki Shirai, Jun Miura, Yasushi Mae, Morito Shiohara, Hiroichi Egawa, Shigeru Sasaki

    Proceedings of Workshop on Computer Architectures for Machine Perception   1993.4

     More details

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

    researchmap

▼display all

Books

  • Real-Time Prediction of Future 3D Pose of Person Using RGB-D Camera for Personalized Services

    Yasushi Mae, Akihisa Nagata, Kaori Tsunoda, Tomokazu Takahashi, Masato Suzuki, Yasuhiko Arai, Seiji Aoyagi( Role: Joint author)

    Intelligent Computing Theories and Application. ICIC2021. Lecture Notes in Computer Science, vol 12836, Springer  2021.8  ( ISBN:9783030845216

     More details

  • 組織工学ライブラリ-マイクロロボティクスとバイオの融合- 2 3次元細胞システム設計論

    新井健生, 前 泰志, 小嶋 勝( Role: Joint author)

    コロナ社  2016.8  ( ISBN:9784339072624

     More details

    Book type:Scholarly book

    researchmap

  • Hyper Bio Assembler for 3D Cellular Systems; Chapter 7 Cell Manipulation and Cellular Parts Assembly for Constructing 3D Cellular Systems

    Masaru Kojima, Yasushi Mae, Kenichi Ohara, Mitsuhiro Horade, Kazuto Kamiyama, Tatsuo Arai( Role: Joint author)

    Springer  2015.7  ( ISBN:9784431552963

     More details

    Book type:Scholarly book

    researchmap

  • マイクロロボティクスのバイオ応用

    前 泰志, 新井健生( Role: Joint author)

    システム制御情報学会  2009.2 

     More details

  • Link Length Control Using Dynamics for Paralle Mechanism with Adjustable Link Parameter

    Wataru Tanaka, Tatsuo Arai, Kenji Inoue, Tomohito Takubo, Yasushi Mae, Yoshihiko Koseki

    Mechatronics for Safety, Security and dependabiity in a New Era, Elsevier  2007.4 

     More details

  • Sensor-Based Walking on Rough Terrain for Legged Robots

    Yasushi MAE, Tatsuhi Mure, Kenji INOUE, Tatsuo ARAI, Noriho Koyachi

    Field and Service Robotics, Springer  2006.4 

     More details

  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion for Obstacle Avoidance(jointly worked)

    Human Friendly Mechatronics, ELSEVIER  2000 

     More details

  • Relocation of Storage Devices Attached to Environment for Effective Knowledge Sharing among Multiple Robots

    Intelligent Autonomous Systems 6, IOS Press, Ohmsha  2000 

     More details

  • Dead Reckoning of Multi-legged Robot(jointly worked)

    Human Friendly Mechatronics, ELSEVIER  2000 

     More details

▼display all

MISC

  • Improvement in Robustness of Small Object Stiffness Measurement Using Microhand

    河上昌弘, 小嶋勝, 増田侑馬, 前泰志, 堀井隆斗, 長井隆行, 中畑雅樹, 新井健生, 新井健生, 境慎司

    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(CD-ROM)   22nd   2021

  • Real-time 3D Pose Estimation by RGB-D Camera and Its Evaluation

    十代淳貴, 前泰志, 小嶋勝, 堀井隆斗, 長井隆行

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2020   2020

  • Gaze Estimation by Hierarchical Object Detection

    吉留理訓, 前泰志, 小嶋勝, 堀井隆斗, 長井隆行

    ロボティクスシンポジア予稿集   25th   2020

  • 微生物の運動に基づくスクリーニングのための解析システムの構築

    小嶋勝, MUBAROK Wildan, 河上昌弘, 井口幹也, 前泰志, 新井健生, 新井健生, 境慎司

    日本ロボット学会学術講演会予稿集(CD-ROM)   38th   2020

  • Gaze Estimation from Low Resolution Eye Region by Hierarchical Object Detection

    吉留理訓, 前泰志, 小嶋勝, 堀井隆斗, 長井隆行

    自動制御連合講演会(CD-ROM)   63rd (Web)   2020

  • Improvement of the microhand system for characterization of intracellular structures of single cell

    増田侑馬, 小嶋勝, 前泰志, 堀井隆斗, 長井隆行, 新井健生, 新井健生

    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(CD-ROM)   21st   2020

  • Automatic stiffness measurement of micro objects with micro hand system by using multiple sensor information

    小嶋勝, 吉川遼, 前泰志, 堀井隆斗, 長井隆行, 境慎司, 新井健生, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2020   2020

  • Successive 3D Modeling by Observations of Human-Object Interaction

    東敦斗, 前泰志, 小嶋勝, 長井隆行

    自動制御連合講演会(CD-ROM)   62nd   2019

  • デュアルピペットを用いた局所化学環境制御システムの定量的評価

    越出和磨, 小嶋勝, 前泰志, 堀井隆斗, 長井隆行, 新井健生, 新井健生

    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(CD-ROM)   20th   2019

  • マイクロハンドシステムを用いた細胞レオロジー計測

    増田侑馬, 小嶋勝, 前泰志, 長井隆行, 新井健生, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2019   2019

  • マルチスケール同時観察系による細胞計測の高効率化

    吉川遼, 小嶋勝, 前泰志, 長井隆行, 新井健生, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2019   2019

  • 動作予測のためのRGB-Dカメラを用いた実時間3次元姿勢推定

    十代淳貴, 前泰志, 小嶋勝, 長井隆行

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2019   2019

  • Friendly Motion Learning towards Sustainable Human Robot Interaction Reviewed

    Shuhei Sato, Hiroko Kamide, Yasushi Mae, Masaru Kojima, Tatsuo Arai

    IEEE International Conference on Intelligent Robots and Systems   848 - 853   2018.12

  • Implementation of local environmental control system on the microhand

    Kazuma Koshide, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    MHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science   2018.12

  • Cell stiffness measurement by two-fingered micro-hand system with plate shaped end effector

    Masaru Kojima, Taisei Tanaka, Yasushi Mae, Toshihiko Ogura, Tatsuo Arai

    MHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science   2018.12

  • Extraction of Mental Stress Scene in Driving Car by Wearable Heart Rate Sensor

    Yasushi Mae, Ryu Yuki, Masaru Kojima, Tatsuo Arai

    2018 International Conference on Intelligence and Safety for Robotics, ISR 2018   480 - 485   2018.11

  • マイクロ流体デバイスを用いた細胞核への機械刺激と応答の評価 Reviewed

    戸谷匡宏, 小嶋勝, 洞出光洋, 前泰志, 小椋利彦, 金子真, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2018   ROMBUNNO.1A1‐M16   2018.6

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • 脈流生成システムを応用した複雑管状構造の構築

    木原楽士, 小嶋勝, 前泰志, 新井健生, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2018   2018

  • 脈拍計測に基づく生理的特徴シーンの抽出

    前泰志, 武内基彦, 結城龍, 小嶋勝, 新井健生, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2018   2018

  • 腕脚統合型ロボットの平面間移乗動作

    佐藤玄基, 前泰志, 小嶋勝, 新井健生, 新井健生

    建設ロボットシンポジウム論文集(CD-ROM)   18th   2018

  • マルチスケール同時観測を用いた微小物体の自動剛性計測

    吉川遼, 小嶋勝, 前泰志, 新井健生, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   36th   2018

  • マイクロハンドシステムを用いた細胞の力学特性計測

    小嶋勝, 田中泰誠, 前泰志, 新井健生, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   36th   2018

  • 回転操作を応用した細胞の高詳細3次元像の構築

    竹内悠真, 小嶋勝, 前泰志, 新井健生, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2018   2018

  • 複数視点からの観察像を用いた細胞の3次元像構築

    竹内悠真, 小嶋勝, 前泰志, 新井健生, 新井健生

    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(CD-ROM)   19th   2018

  • 心拍計測に基づく自動車搭乗者のストレス分析

    結城龍, 前泰志, 武内基彦, 小嶋勝, 新井健生, 新井健生

    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(CD-ROM)   19th   2018

  • 多数の細胞核への機械刺激負荷を実現するマイクロ流体デバイスの作製および改良 Reviewed

    戸谷匡宏, 小嶋勝, 洞出光洋, 前泰志, 小椋利彦, 金子真, 新井健生

    日本生化学会大会(Web)   90th   ROMBUNNO.2P‐1414 (WEB ONLY) - 1414]   2017.12

     More details

    Language:Japanese   Publisher:生命科学系学会合同年次大会運営事務局  

    J-GLOBAL

    researchmap

  • 細胞核への機械刺激・応答評価を実現するマイクロ流路デバイス Reviewed

    戸谷匡宏, 小嶋勝, 洞出光洋, 前泰志, 小椋利彦, 金子真, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2017   ROMBUNNO.2A1‐F03   2017.5

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • マイクロピペットシステムを用いた細胞解析のための局所化学環境制御

    小嶋勝, 世良京太, 前泰志, 新井健生, 新井健生

    日本生化学会大会(Web)   90th   2017

  • 対話時における親密性動作の生成

    佐藤修平, 上出寛子, 小嶋勝, 前泰志, 新井健生, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   35th   2017

  • 抗重力下における腕脚統合型ロボットの平面間移乗

    佐藤玄基, 前泰志, 小嶋勝, 新井健生, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   35th   2017

  • 遠隔直接教示による多脚ロボットの段差移動

    前泰志, 井上利彦, 小嶋勝, 新井健生, 新井健生

    建設ロボットシンポジウム論文集(CD-ROM)   17th   2017

  • 多チャンネル局所化学環境制御システムの構築

    小嶋勝, 古澤達也, 前泰志, 新井健生, 新井健生

    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(CD-ROM)   18th   2017

  • 非言語動作の分析および実ロボットへの実装

    一井翔, 上出寛子, 小嶋勝, 前泰志, 新井健生, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   35th   2017

  • マイクロハンドによる多重構造物の力学特性計測の検討

    田中泰誠, 小嶋勝, 前泰志, 新井健生, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   35th   2017

  • マイクロ流路による多数細胞核への機械刺激

    戸谷匡宏, 小嶋勝, 洞出光洋, 神山和人, 前泰志, 小椋利彦, 金子真, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   34th   ROMBUNNO.3B1‐05   2016.9

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • 組織様構造の構築のためのゲルプロッタシステムの開発

    高田賢, 小嶋勝, 金光将志, 洞出光洋, 大原賢一, 神山和人, 前泰志, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   34th   ROMBUNNO.3B1‐04   2016.9

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • 多数細胞への機械刺激負荷を実現するマイクロ流路の開発

    戸谷匡宏, 小嶋勝, 洞出光洋, 神山和人, 前泰志, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2016   ROMBUNNO.2A2‐19b6   2016.6

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • その場灌流培養が可能な多層管状構造の構築用デバイスの開発

    木原楽士, 小嶋勝, 洞出光洋, 神山和人, 境慎司, 前泰志, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2016   ROMBUNNO.2A2‐19b5   2016.6

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • 小型マイクロハンドシステムを用いた微小力計測

    田中泰誠, 小嶋勝, 神山和人, 洞出光洋, 福岡創, 前泰志, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2016   ROMBUNNO.2A2‐19b7   2016.6

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • 微細作業支援自動ステージを用いた微小物体操作

    小嶋勝, 山本幸太朗, 神山和人, 洞出光洋, 前泰志, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2016   ROMBUNNO.2A2‐19b4   2016.6

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • 耐故障性向上のための脚ロボットの適応歩容生成

    河田武之, 小嶋勝, 前泰志, 新井健生

    建設ロボットシンポジウム論文集(CD-ROM)   16th   2016

  • 非言語動作の実ロボットへの実装

    一井翔, 上出寛子, 小嶋勝, 前泰志, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   34th   2016

  • 小型二本指マイクロハンドシステムを用いた微小物体の高速操作

    小嶋勝, KIM Eunhye, 田中泰誠, 前泰志, 境慎司, 新井健生

    化学とマイクロ・ナノシステム学会研究会講演要旨集   34th   2016

  • 物体移動観察による物体の見えと把持部の自動獲得

    川島広暉, 前泰志, 小嶋勝, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   34th   2016

  • 相似形小型ロボットを用いた多脚ロボットの直接遠隔教示

    井上利彦, 前泰志, 小嶋勝, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   34th   2016

  • 脚間の位相協調を用いた脚故障時における自律歩容生成

    河田武之, 小嶋勝, 前泰志, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   34th   2016

  • マイクロハンドシステムを用いた微小物体の高速アセンブリ

    KIM Eunhye, 小嶋勝, 前泰志, 新井健生

    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(CD-ROM)   17th   2016

  • エンドエフェクタの高速駆動を用いた微小物体のリリース

    KIM Eunhye, 小嶋勝, 神山和人, 洞出光洋, 前泰志, 新井健生

    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(CD-ROM)   16th   ROMBUNNO.1I2‐2   2015.12

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • 細胞剛性計測可能な小型マイクロハンドシステムの構築

    KHANGAI Nyamdorj, 小嶋勝, 洞出光洋, 神山和人, 前泰志, 新井健生

    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(CD-ROM)   16th   ROMBUNNO.1I2‐3   2015.12

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • 局所選択的加熱可能なマイクロヒータアレイデバイスの制御

    中台草太, 小嶋勝, 洞出光洋, 神山和人, 前泰志, 新井健生

    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(CD-ROM)   16th   ROMBUNNO.1I2‐1   2015.12

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • 不整地踏破能力および耐故障性の向上を目的とした脚ロボットの歩容生成

    河田武之, 神山和人, 小嶋勝, 洞出光洋, 前泰志, 新井健生

    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(CD-ROM)   16th   ROMBUNNO.1G1‐5   2015.12

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • Development of local heat irritation system utilizing micro-heater devices

    洞出光洋, 小嶋勝, 神山和人, 高田賢, 中台草太, 蔵田智之, 前泰志, 新井健生

    電気学会マイクロマシン・センサシステム研究会資料   MSS-15 ( 35-43 )   27 - 28   2015.9

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • 未知環境での移動・作業を目的とした相似形小型ロボットによる脚ロボットの動作教示

    井上利彦, 神山和人, 小嶋勝, 洞出光洋, 前泰志, 新井健生

    建設ロボットシンポジウム論文集(CD-ROM)   15th   ROMBUNNO.P2‐13   2015.9

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • 不整地踏破能力向上を目的としたCPGによる脚ロボットの歩容生成

    河田武之, 神山和人, 小嶋勝, 洞出光洋, 前泰志, 新井健生

    建設ロボットシンポジウム論文集(CD-ROM)   15th   ROMBUNNO.P2‐12   2015.9

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • 目視点検・軽作業を目的とした脚ロボット用多機能ハンドの開発

    秋山亮, 神山和人, 小嶋勝, 洞出光洋, 前泰志, 新井健生

    建設ロボットシンポジウム論文集(CD-ROM)   15th   ROMBUNNO.O‐63   2015.9

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • Inspection robot in complicated 3D environments

    Tatsuo Arai, Kazuto Kamiyama, Pakpoom Kriengkomol, Yasushi Mae, Masaru Kojima, Mitsuhiro Horade

    32nd International Symposium on Automation and Robotics in Construction and Mining: Connected to the Future, Proceedings   2015.1

     More details

  • Releasing and Accurate Placing of Adhered Micro-Objects using High Speed motion of End Effector Reviewed

    Eunhye Kim, Masaru Kojima, Kazuto Kamiyama, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   2006 - 2011   2015

     More details

  • Development of a Real-time Local Environment Stimulation System with Visual Feedback Control Reviewed

    Takahiro Motoyoshi, Masaru Kojima, Kenichi Ohara, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   4036 - 4041   2015

     More details

  • 2本指マイクロハンド操作のための簡易型操作インタフェース

    神山和人, 小嶋勝, 洞出光洋, 前泰志, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   32nd   ROMBUNNO.1D2-08   2014.9

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • 細胞凝集体生成のためのマイクロ流体デバイス

    小嶋勝, 洞出光洋, 鷹井洋力, 大原賢一, 谷川民生, 神山和人, 前泰志, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   32nd   ROMBUNNO.1D2-02   2014.9

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • 目視点検・力センシング可能な腕脚統合型ロボットのハンド機構開発

    秋山亮, 神山和人, 小嶋勝, 大原賢一, 洞出光洋, 前泰志, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   32nd   ROMBUNNO.2B2-04   2014.9

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • ロボティクスを基盤とした細胞計測・操作・構築

    小嶋勝, 洞出光洋, 大原賢一, 神山和人, 前泰志, 新井健生

    日本生物工学会大会講演要旨集   66th   104   2014.8

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • べん毛モーター解析のための長時間リアルタイム観察・刺激システムの構築(Development of the real-long-time observation and local stimulation system for flagellar motor analysis)

    Kojima Masaru, Motoyoshi Takahiro, Horade Mitsuhiro, Kamiyama Kazuto, Mae Yasushi, Arai Tatsuo

    生物物理   54 ( Suppl.1-2 )   S273 - S273   2014.8

     More details

    Language:English   Publisher:(一社)日本生物物理学会  

    researchmap

  • 2本指マイクロハンドの直観的操作を目的としたパラレルリンク・ハプティックインタフェースの開発

    神山和人, 小嶋勝, 洞出光洋, 前泰志, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2014   ROMBUNNO.3A1‐B07   2014.5

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • ユーザのエラー関連陰性電位による異常検出

    PENALOZA Christian, 前泰志, 小嶋勝, 洞出光洋, 神山和人, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2014   ROMBUNNO.3P1‐U03   2014.5

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • トロイダル細胞凝集体生成のためのマイクロ流体デバイス

    鷹井洋力, 小嶋勝, 洞出光洋, 神山和人, 大原賢一, 前泰志, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2014   ROMBUNNO.3P1‐B08   2014.5

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • 生体分子モータ解析のための長時間観察システムの構築

    小嶋勝, 元吉隆広, 神山和人, 洞出光洋, 大原賢一, 前泰志, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2014   ROMBUNNO.3A1‐H04   2014.5

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • 細胞操作のための高速3次元視覚システム

    高木翔太, 大原賢一, 小嶋勝, 洞出光洋, 神山和人, 前泰志, 新井健生

    計測自動制御学会制御部門マルチシンポジウム(CD-ROM)   1st   ROMBUNNO.7F5-3   2014.3

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • Mobile Manipulation of Legged Mobile Manipulators-A Method of Adjusting Step Motion for Improvement of Manipulability and Stability-

    吉田晴行, 井上健司, 新井健生, 前泰志

    実験力学   14 ( 1 )   2014

  • 3次元リソグラフィ技術を応用した細胞システム構築用マイクロチャンバアレイの開発

    洞出光洋, 小嶋勝, CHUMTONG Puwanan, 神山和人, 前泰志, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2014   2014

  • Optimal Configuration and Joint Torque Distribution of Legged Mobile Manipulators for Tasks with Unknown Force Change

    吉田晴行, 井上健司, 新井健生, 前泰志

    実験力学   14 ( 1 )   2014

  • 誘電泳動を用いた二本指マイクロハンド用エンドエフェクタによる細胞操作

    小嶋勝, 西城英秋, 洞出光洋, 大原賢一, 神山和人, 前泰志, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   31st   ROMBUNNO.3L3-05   2013.9

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • 新機構パラレルメカニズムを用いたマイクロハンドの振動解析

    蔵田智之, AVCI E, 神山和人, 大原賢一, 洞出光洋, 小嶋勝, 江島亨, 谷川民生, 前泰志, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   31st   ROMBUNNO.3L3-06   2013.9

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • 腕脚統合型ロボットによる抗重力・閉空間移動技術の開発と解析

    戸田武, 大原賢一, 神山和人, 小嶋勝, 洞出光洋, 前泰志, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   31st   ROMBUNNO.2N2-04   2013.9

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • 1P1-D08 Improvement in the speed of the 3D information presentation in a microhabitat(Bio Assembler for 3D Cellular System Innovation)

    TAKAGI Shota, OHARA Kenichi, KOJIMA Masaru, MAE Yasushi, ARAI Tatsuo

    2013   "1P1 - D08(1)"-"1P1-D08(2)"   2013.5

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    Construction of the activated three-dimensional organization in the outside of the living body is desired, and the expectation for detailed operation is growing. This announcement reports improvement in the speed of three-imensional information presentation of the microhabitat aiming at three-dimensional organization construction.

    CiNii Books

    researchmap

  • リアルタイム計測に基づく局所環境刺激システムの構築

    元吉隆広, 小嶋勝, 大原賢一, 洞出光洋, 前泰志, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2013   ROMBUNNO.1P1‐C08   2013.5

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • 内視鏡検査支援のための全焦点画像生成アルゴリズムの開発

    小関洵矢, 大原賢一, 小嶋勝, 洞出光洋, 前泰志, 新井健生, 松井裕史, 金子剛

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2013   ROMBUNNO.2A1‐K08   2013.5

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • トロイダル形状スフェロイド生成自動化のためのマイクロ流体デバイスの作製と評価

    鷹井洋力, 小嶋勝, 大原賢一, 洞出光洋, 前泰志, 大和雅之, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2013   ROMBUNNO.1P1‐C13   2013.5

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • アルギン酸ゲルファイバを用いた微細格子形状構築の自動化

    福島英, 小野崎峻, 小嶋勝, 大原賢一, 洞出光洋, 前泰志, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2013   ROMBUNNO.1P1‐C10   2013.5

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • 微小力センサ搭載型マイクロハンドによる細胞剛性計測の自動化

    藪垣博之, 大原賢一, 小嶋勝, 境慎司, 洞出光洋, 前泰志, 谷川民生, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2013   ROMBUNNO.1P1‐C11   2013.5

     More details

    Language:Japanese  

    J-GLOBAL

    researchmap

  • BMIを用いた機器操作と環境・脳状態の学習による環境知能化

    PENALOZA Christian, 前泰志, CUELLAR Francisco, 小嶋勝, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   31st   2013

  • 3P305 Development of the real-time local chemical stimulation system for cell analysis(28.Bioengineering,Poster,The 51st Annual Meeting of the Biophysical Society of Japan)

    Kojima Masaru, Motoyoshi Takahiro, Ohara Kenichi, Horade Mitsuhiro, Mae Yasushi, Arai Tatsuo

    Seibutsu Butsuri   53 ( 1 )   S262   2013

     More details

    Language:English   Publisher:The Biophysical Society of Japan General Incorporated Association  

    DOI: 10.2142/biophys.53.S262_4

    researchmap

  • 2A1-S06 Construction of mesh shape 3-dimensional cell structure by using alginate gel fiber(Bio Assembler for 3D Cellular System Innovation)

    KOYAMA Naoaki, OHARA Kenichi, MAE Yasushi, ARAI Tatsuo

    2012   "2A1 - S06(1)"-"2A1-S06(2)"   2012.5

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    The establishment of methods for fabricating a 3-dimensional tissue structure in vitro is an important challenge in the field of regenerative medicine. Present tissue engineering is not sufficiently advanced to fabricate large tissue structures or organ structures which have a lot of cell constituents such as a liver. Therefore, various approaches to building 3-dimensional cell structures are currently being researched. In this paper, we propose a mesh-shape 3-dimensional structure, obtained by using alginate gel fiber which contains cells. We also try to make a mesh shape structure by using our developed system. By using the proposed system, we demonstrate that it is possible to fabricate mesh with various interval sizes and 2-layered mesh.

    CiNii Books

    researchmap

  • 1A2-U01 Development of finger-sack typed user interface for Two-fingered Microhand(Nano/Micro Manipulation System)

    Mukai Yukiko, Ohara Kenichi, Mae Yasushi, Arai Tatsuo

    2012   "1A2 - U01(1)"-"1A2-U01(2)"   2012.5

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    To realize the dexterous manipulation for micro objects such as cells and tissues, two-fingered microhand has been developed. In previous works, most of studies about two-fingered microhand had been focused on automated manipulation. However, tele-operation to realize the dexterous manipulation for the target cell is still an important technology. In this paper, the user interface, which is suitable for two-fingered microhand, is proposed and evaluated through experiments.

    CiNii Books

    researchmap

  • 1P1-P01 Proposal of RT Component evaluation guideline (RTC Metrics)(RT Middleware and Open System)

    Ohara Kenichi, Iwane Kyohei, Mae Yasusi, Arai Tatsuo

    2012   "1P1 - P01(1)"-"1P1-P01(3)"   2012.5

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    Robot system developers are able to construct robot systems by combining RT Components (RTC) on RT-middleware. However, many researchers should consider how to design the RTC, and develop tools to make components easily, in order to make reusable components,. However there is no method to evaluate the reusability of RTC. In this paper, we propose the software metrics for RT-Component, called RTC Metric. This metrics is considered to evaluate the reusability of RTC. This metrics consists of four items, Customizability, Interface Complexity, Portability, and Documentation Quality. We introduce the result of applying to some RTC system.

    CiNii Books

    researchmap

  • 2A2-R02 Automated Cell Grasping System for Microhand with Micro Force Sensor(Bio-Manipulation)

    YABUGAKI Hiroyuki, OHARA Kenichi, MAE Yasushi, TANIKAWA Tamio, ARAI Tatsuo

    2012   "2A2 - R02(1)"-"2A2-R02(2)"   2012.5

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    In the field of life science, micromanipulation technology has been contributing to the research such as cloning. However, it is difficult to manipulate cells manually. Therefore, automated cell manipulation has been required. All-in-Focus imaging system was applied to realize automated cell manipulation. However, the success rate depended on the error of All-in-Focus image. In this paper, automated cell grasping system which uses reaction force data from cell and cell's position data from All-in-Focus image is described. By measuring reaction force from the micro force sensor, this system corrects the error of All-in-Focus image, thus, stable automated cell grasping is realized.

    CiNii Books

    researchmap

  • 1P1-Q04 Dual-arm Servise Robot System Reusing Open Source RTC(RT Middleware and Open System)

    IKEDA Atsutoshi, SAKAGUCHI Takeshi, MATSUMOTO Yoshio, TAKAMATSU Jun, OGASAWARA Tsukasa, Ohara Kenichi, MAE Yasushi, ARAI Tatsuo, TAKEMURA Hiroshi, MIZOGUCHI Hiroshi, AIYAMA Yasumichi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2012 ( 0 )   _1P1 - Q04_1-_1P1-Q04_2   2012

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    In this paper, we present a dual-arm service robot system reusing open source RT components. The service robot system has four functions which are user detection, user interface, ordered object recognition and ordered object manipulation. Each function is developed by several groups as an open source RT module. We demonstrate over-the-counter sales of Japanese-style confection in IREX2011.

    CiNii Books

    researchmap

  • 人の物体移動行動の観測による物体の見えモデルの獲得

    前泰志, ペナロザ クリスチャン, 大原賢一, 小嶋勝, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   30th   2012

  • ハイドロゲルを用いた二本指マイクロハンド用エンドエフェクタの開発

    小嶋勝, 大原賢一, 前泰志, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   30th   2012

  • 旋回流を用いたトロイダル形状スフェロイド生成のためのマイクロ流体デバイスの設計

    鷹井洋力, 小嶋勝, 大原賢一, 前泰志, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   30th   2012

  • 内視鏡検査支援のための全焦点画像生成手法の開発

    小関洵矢, 大原賢一, 小嶋勝, 前泰志, 新井健生, 松井裕史

    生活生命支援医療福祉工学系学会連合大会講演論文集(CD-ROM)   2012   2012

  • GPUを用いた全焦点画像生成処理の高速化

    高木翔太, 大原賢一, 小嶋勝, 前泰志, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   30th   2012

  • 2B2-3 Simulation of bipedal walking based on CPG for the feasibility check of assist system

    TAKUBO Tomohito, Fukano Yohei, OHARA Kenichi, MAE Yasushi, ARAI Tatsuo

    FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies   2011 ( 21 )   269 - 272   2011.9

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    Wearable mobile base walking assist system is simulated by the developed bipedal simulator. The simulator employs Central Pattern Generator (CPG) for bipedal walking pattern generation. The CPG based walking pattern is one of the candidates for simulating human walking. The average Japanese body dimensions data are applied to the bipedal model so that human walking efficiency is evaluated on the simulator. The effectiveness of the proposed simulator is confirmed by comparing between the real human walking and the simulated walking in the term of the shape of swing leg trajectory, the data from the pressure sensor and the feasibility of the prototype mobile assist system. The trial production is developed and the experimental result shows effectiveness of the bipedal simulator.

    CiNii Books

    researchmap

  • 1A1-H14 Robot System Design of Reusable Software Components(Developing Intelligent Technology for Next-Generation Robots)

    Iwane Kyohei, Ohara Kenichi, Takubo Tomohito, Mae Yasusi, Arai Tatsuo

    2011   "1A1 - H14(1)"-"1A1-H14(4)"   2011.5

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    Recently, in order to develop reusable software, robot system developer build module based software on middleware platform. However each module build for each system, it is difficult to apply modules of other system to another system. Therefore we should consider the module design, when module based system are developed. In this paper, we introduce module design to build module based system. This design is based on Task-Skill-Servo model. The component of system classified into eight, these are Scenario, Task, Skill, Hardware Controller, RIMS (Robot Information Management Server), Data Analyzer and Sensor Controller. RIMS manage object position, robot status and global map. In order to plan to act, RIMS provide information of other part. And then, we actually implement one example system in RT middleware, which mobile robot do manipulation task using vision.

    CiNii Books

    researchmap

  • 2A2-C07 Obstacle Position Estimation Using Support Vector Machine for Limb Mechanism Robot(Walking Robot)

    KOMINAMI Keishi, TAKUBO Tomohito, OHARA Kenichi, MAE Yasushi, ARAI Tatsuo

    2011   "2A2 - C07(1)"-"2A2-C07(4)"   2011.5

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    An obstacle position estimation method using Support Vector Machine (SVM) is proposed for multi-legged robot. SVM is one of machine learning method. The proposed method evaluates a servo error on each support leg, when an obstacle contacts with the robot body. For effective data learning, efficient data acquisition method should be implemented. Since the mobility of the tip of leg depends on the manipulability ellipsoid, virtual learning data sets are spread in the ellipsoid for the effective learning. The proposed method is implemented to a real multi-leg robot, and the experimental results show the effectiveness of the proposed method.

    CiNii Books

    researchmap

  • 1P1-M06 Autonomous Object Search in 3D Environment Using Object Co-occurrence Graph(Vision System for Mobile Robot)

    Chumtong Puwanan, Mae Yasushi, Ohara Kenichi, Takubo Tomohito, Arai Tatsuo

    2011   "1P1 - M06(1)"-"1P1-M06(4)"   2011.5

     More details

    Language:English   Publisher:The Japan Society of Mechanical Engineers  

    We demonstrate the effective object search in unknown 3D environment by using Object Co-occurrence Graph (OCG). The proposed OCG is automatically constructed from many word-tagging images provided by millions of Internet users. It describes the co-occurrence relations between objects. Since the small target object is difficult to be recognized due to insufficient image's resolution or occlusion problem, the finding of large objects which relate to particular target object will be more appropriate. This large object is so called cue object since it provides hints about target object's location. In our approach, robot solely depends on visual information; visual grid map and proposed object detectors, for its task. Moreover we also show that the employment of OCG can actually make the searching task become easier, reduce operating time, and minimize the robot's movement trajectory.

    CiNii Books

    researchmap

  • 2A1-E09 Wearable Mobile Base Walking Assist System Based on Human Intention(Wearable Robotics)

    Takubo Tomohito, Fukano Yohei, Ohara Kenichi, Mae Yasushi, Arai Tatsuo

    2011   "2A1 - E09(1)"-"2A1-E09(4)"   2011.5

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    Wearable mobile base walking assist system is proposed. The assist system estimates human intention: whether he/she will walk faster or slower. The estimation algorithm checks the swing leg motion, the center of pressure on the sole and the value of pressure to detect the change of the walking. These terms can be measured by the acceleration/gyro sensor and the pressure sensor on the wearable mobile base under the foot. The algorithm is simulated on the dynamic simulator employing the human walking model with CPG. The trial production is developed and the experimental result shows effectiveness of the walking assist system.

    CiNii Books

    researchmap

  • 1P1-O03 3 Dimensional Trajectory Planning for Mobile Manipulator Using Model Predictive Control with Constraints(Mobile Manipulation Robot)

    IDE Satoshi, TAKUBO Tomohito, MAE Yasushi, ARAI Tatsuo

    2011   "1P1 - O03(1)"-"1P1-O03(4)"   2011.5

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    3-dimensional trajectory planning using model predictive control with constraints is proposed for mobile manipulators. The proposed method employs Quadratic Programming (QP) with constraints for optimizing control inputs. The control inputs and outputs are limited corresponding to the hard ware spec of the mobile manipulator. The torque, the angle velocity, the mobile base velocity, the tip of hand velocity and acceleration are included in the constraints. The control optimization is performed in real-time. Real-time trajectory modification is demonstrated on a real mobile robot.

    CiNii Books

    researchmap

  • 2A1-O08 Image information tacked map based on object's surface shape(Localization and Mapping)

    KAWAKAMI Shinya, TAKUBO Tomohito, OHARA Kenichi, MAE Yasushi, ARAI Tatsuo

    2011   "2A1 - O08(1)"-"2A1-O08(4)"   2011.5

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    Image information tacked map is proposed to check unknown environmental map by pictures as an intuitive interface. The proposed map tacks a good picture on each mapping object. Shooting angle and position for the picture is defined by the required resolution of the image, the camera speck and the object shape. An appearance from a desired direction can be confirmed by referring the Shooting Vector from the object intuitively. To make the proposed map, the high quality image information should be acquired on the definition. A tool for making the map is developed and its effectiveness is confirmed by experiments.

    CiNii Books

    researchmap

  • 2P1-Q04 Multi-Appearance Object Modeling using Camera Network in Household Environment(Intelligent and Robotic Room)

    PENALOZA Christian, MAE Yasushi, ARAI Tatsuo, OHARA Kenichi, TAKUBO Tomohito

    2011   "2P1 - Q04(1)"-"2P1-Q04(4)"   2011.5

     More details

    Language:English   Publisher:The Japan Society of Mechanical Engineers  

    We propose an automatic object modeling framework composed of a network of cameras distributed in different places of the house. Our system can automatically construct multi-appearance object models by simply observing when humans move objects from one place to another as part of their daily activities. Our approach consists in placing vision nodes in places where objects are commonly located, i.e. table, desk, kitchen, etc. When an object is moved from one place to another and vice versa, the system automatically discovers the object and gradually acquires different appearances as more visual information of the object is presented. We propose an aspect selection algorithm that avoids collecting unnecessary appearances by selecting only the ones that contain relevant visual information.

    CiNii Books

    researchmap

  • 1A2-B06 Development of a compact 3-DOF microhand which has large workspace(Nano/Micro Manipulation System)

    EJIMA Toru, OHARA Kenichi, TAKUBO Tomohito, MAE Yasushi, TANIKAWA Tamio, ARAI Tatsuo

    2011   "1A2 - B06(1)"-"1A2-B06(4)"   2011.5

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    Micromanipulation techniques contribute to the progress of medical and biological field. We have developed two-fingered microhand which is using the parallel mechanism to realize precise and stable micromanipulation. As previous microhand has small workspace and large size, we aim for development of a two-fingered microhand which has large workspace and compact size. In this paper, we propose a microhand contains a new parallel mechanism. Firstly, we analyze a current parallel mechanism which is similar with designed mechanism. Secondly, we consider the singularity of parallel mechanism. Lastly, we change the order of joints to have compact. We establish an analytic theory for proposed model and then we analyze the workspace. Furthermore, we draw CAD data to realize the system in 3D. Workspace of proposed microhand is larger than previous microhand with respect to simulation results.

    CiNii Books

    researchmap

  • 差分方程式拘束を伴う離散時間非ホロノミック系を用いた2足歩行計画の最適化

    八百伸弥, 田窪朋仁, 大原賢一, 前泰志, 新井健生

    Proceedings of 6th ACM/IEEE International Conference on Human-Robot Interaction   pp. 249-254   2011.3

     More details

  • Dynamic Rolling-Walk Motion by the Limb Mechanism Robot ASTERISK

    Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    ADVANCED ROBOTICS   25 ( 1-2 )   75 - 91   2011

     More details

    Language:English   Publisher:TAYLOR & FRANCIS LTD  

    New dynamic rolling-walk motion for a multi-legged robot with error compensation is proposed. The motion is realized by using the isotropic leg arrangement and the dynamic center of mass control inspired by bipedal robots. By using the preview control of the zero moment point (ZMP) with a cart-table model based on the bipedal robot's technique, the robot's center of mass trajectory is planned for the dynamic motion. The resolved momentum control for manipulating the multi-links robot as a single mass model is also implemented in the system to maintain the stability of the robot. In the new dynamic rolling-walk motion, the robot switches between the two-leg supporting phase and three-leg supporting phase to achieve dynamic motion with the preview control of the ZMP and resolved momentum control as dynamic motion controllers. The authors analyzed the motion and confirmed the feasibility in the Open Dynamics Engine before testing the motion with an actual robot. Due to the difficulties of controlling the ZMP during the two-leg supporting phase, the authors implemented error compensation by using a gyro sensor and compared the results. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2011

    DOI: 10.1163/016918610X538499

    Web of Science

    researchmap

  • Dynamic Rolling-Walk Motion by the Limb Mechanism Robot ASTERISK

    Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    ADVANCED ROBOTICS   25 ( 1-2 )   75 - 91   2011

     More details

    Language:English   Publisher:TAYLOR & FRANCIS LTD  

    New dynamic rolling-walk motion for a multi-legged robot with error compensation is proposed. The motion is realized by using the isotropic leg arrangement and the dynamic center of mass control inspired by bipedal robots. By using the preview control of the zero moment point (ZMP) with a cart-table model based on the bipedal robot's technique, the robot's center of mass trajectory is planned for the dynamic motion. The resolved momentum control for manipulating the multi-links robot as a single mass model is also implemented in the system to maintain the stability of the robot. In the new dynamic rolling-walk motion, the robot switches between the two-leg supporting phase and three-leg supporting phase to achieve dynamic motion with the preview control of the ZMP and resolved momentum control as dynamic motion controllers. The authors analyzed the motion and confirmed the feasibility in the Open Dynamics Engine before testing the motion with an actual robot. Due to the difficulties of controlling the ZMP during the two-leg supporting phase, the authors implemented error compensation by using a gyro sensor and compared the results. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2011

    DOI: 10.1163/016918610X538499

    Web of Science

    researchmap

  • Optimization of Bipedal Gait Planning with Difference Equation Nonholonomic System by Quadratic Programming with Constraints

    Robotics Symposia   pp. 249-254   2011

     More details

  • Expansion of Movable Area of Multi Legged Robot by Rotational Gait

    KAMIKAWA Kenji, ARAI Tatsuo, MAE Yasushi, TAKUBO Tomohito, INOUE Kenji

    JRSJ   28(2) 231-240 ( 2 )   231 - 240   2010.3

     More details

    Language:Japanese   Publisher:The Robotics Society of Japan  

    This paper proposes a new locomotion algorithm of narrow scaffold. We have developed a limb-mechanism robot. The limb can move on a large working area, it can be used as an arm and a leg. ASTERISK Robot system has six limbs that radiate out in six directions. This robot system has the rotational symmetry, therefore, the posture is equivalent even if the robot body rotates. By using this feature, we propose a new movement algorithm "rotational gait" that the robot rotates like a wheel. The rotational gait can be applied to the robot that hanging on a cable, moving on narrow shelf of a cliff, and walking in a narrow space by the same algorithm. The operation and effectiveness of these algorithms were verified by the experiment. The movement algorithm is easy pattern operation that keeps stable state at all periods. And the robot can move without doing a high-speed real-time processing.

    DOI: 10.7210/jrsj.28.231

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00349360056?from=CiNii

  • Virtual impedance model for obstacle avoidance in a limb mechanism robot

    Kenji Tsukamoto, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2010 IEEE International Conference on Information and Automation, ICIA 2010   729 - 734   2010

     More details

    Language:English  

    An obstacle avoidance method using a virtual impedance wall is proposed for a multi-legged robot. The swing legs use compliance control to make soft contact and avoid colliding with objects, so that the robot maintains the moving direction as far as possible while the swing legs maintain a preferred operating region. The preferred operating region is surrounded with a virtual impedance wall. When the leg passes over the threshold of the preferred operating region, the moving direction is modified by the virtual repulsive force from the virtual impedance wall to avoid the workspace limitation. More-over, the pattern recognition technique using the support vector machine is implemented for estimating the contact point between the object and the body by using the data set of the error of each leg. The virtual impedance field is set at the estimated contact position to direct the aspect of avoidance. The robot is pushed and rotated by the virtual repulsive force from the impedance field. These passive motions from the virtual impedance model can provide a good solution for object avoidance control. The feasibility of the proposed obstacle avoidance method is shown by simulations and experiments using actual robots. ©2010 IEEE.

    DOI: 10.1109/ICINFA.2010.5512471

    Scopus

    researchmap

  • Ladder Climbing Method for the Limb Mechanism Robot ASTERISK

    Kenji Inoue, Shota Fujii, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    ADVANCED ROBOTICS   24 ( 11 )   1557 - 1576   2010

     More details

    Language:English   Publisher:TAYLOR & FRANCIS LTD  

    A ladder climbing method for the limb mechanism robot ASTERISK is proposed. This robot has six legs. The upper three legs hold on to the upper rung from both sides alternately, just like pinching it. The lower three legs hold on to the lower rung in the same way. Hence, the robot can take hold of the ladder stably. First, the robot releases the left upper and lower legs from the current rungs, and hangs them on the next rungs while supporting itself with the other four legs. Then, the mid two legs and the right two legs are moved to the next rungs in sequence. Finally, the robot lifts up its body using the six legs. Depending on the relative pose of the robot to the ladder, the robot automatically selects the legs that can support vertical and/or horizontal forces applied by the rungs. The robot then distributes its weight to the legs supporting the vertical force based on their force margins. The legs that cannot support forces are controlled to always touch the rungs slightly in order to pinch the rungs with the other legs. The advantages of the proposed gait and control method are verified by analysis of the leg workspace for generating the ladder climb gait, analysis of the range of force direction that the legs can support, analysis of the joint torques required for ladder climbing and an experiment on force distribution. Finally, the range of ladder pitch variation that ASTERISK can climb is clarified. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010

    DOI: 10.1163/016918610X512596

    Web of Science

    researchmap

  • Ladder Climbing Method for the Limb Mechanism Robot ASTERISK

    Kenji Inoue, Shota Fujii, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    ADVANCED ROBOTICS   24 ( 11 )   1557 - 1576   2010

     More details

    Language:English   Publisher:TAYLOR & FRANCIS LTD  

    A ladder climbing method for the limb mechanism robot ASTERISK is proposed. This robot has six legs. The upper three legs hold on to the upper rung from both sides alternately, just like pinching it. The lower three legs hold on to the lower rung in the same way. Hence, the robot can take hold of the ladder stably. First, the robot releases the left upper and lower legs from the current rungs, and hangs them on the next rungs while supporting itself with the other four legs. Then, the mid two legs and the right two legs are moved to the next rungs in sequence. Finally, the robot lifts up its body using the six legs. Depending on the relative pose of the robot to the ladder, the robot automatically selects the legs that can support vertical and/or horizontal forces applied by the rungs. The robot then distributes its weight to the legs supporting the vertical force based on their force margins. The legs that cannot support forces are controlled to always touch the rungs slightly in order to pinch the rungs with the other legs. The advantages of the proposed gait and control method are verified by analysis of the leg workspace for generating the ladder climb gait, analysis of the range of force direction that the legs can support, analysis of the joint torques required for ladder climbing and an experiment on force distribution. Finally, the range of ladder pitch variation that ASTERISK can climb is clarified. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010

    DOI: 10.1163/016918610X512596

    Web of Science

    researchmap

  • Virtual impedance model for obstacle avoidance in a limb mechanism robot

    Kenji Tsukamoto, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2010 IEEE International Conference on Information and Automation, ICIA 2010   729 - 734   2010

     More details

    Language:English  

    An obstacle avoidance method using a virtual impedance wall is proposed for a multi-legged robot. The swing legs use compliance control to make soft contact and avoid colliding with objects, so that the robot maintains the moving direction as far as possible while the swing legs maintain a preferred operating region. The preferred operating region is surrounded with a virtual impedance wall. When the leg passes over the threshold of the preferred operating region, the moving direction is modified by the virtual repulsive force from the virtual impedance wall to avoid the workspace limitation. More-over, the pattern recognition technique using the support vector machine is implemented for estimating the contact point between the object and the body by using the data set of the error of each leg. The virtual impedance field is set at the estimated contact position to direct the aspect of avoidance. The robot is pushed and rotated by the virtual repulsive force from the impedance field. These passive motions from the virtual impedance model can provide a good solution for object avoidance control. The feasibility of the proposed obstacle avoidance method is shown by simulations and experiments using actual robots. ©2010 IEEE.

    DOI: 10.1109/ICINFA.2010.5512471

    Scopus

    researchmap

  • ソレノイドバルブを用いた細胞の自動投入システムの開発

    小山直晃, UVET Huseyin, 長谷川明之, 大原賢一, 田窪朋仁, 前泰志, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2010   2010

  • Manipulation Method Using Wheeled-Hand Mechanism for Humanoid Robot

    Service Robotics and Mechatronics -Selected Papers of the International Conference on Machine Automation ICMA2008-   2010

     More details

  • 1A2-G03 Acquisition of Object Data for Robot based on Integration of Identification Data using ID Devices and Range Image

    MORIOKA Jun-ichi, UMETANI Tomohiro, INOUE Kenji, MAE Yasushi, ARAI Tatsuo

    2010   "1A2 - G03(1)"-"1A2-G03(4)"   2010

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    This paper describes a method for acquisition of object data by autonomous robots using ID devices attached to the object and range data of environments. To obtain the IDs from the ID devices using the ID reader, a motion generation for acquisition of IDs is required; the range of the ID reader for communication with the ID devices is smaller than that of the vision system. The paper focuses on the integration ID devices of the identification data and measurement data from the vision system. The robots generate the motion for acquisition of the IDs of the devices based on the measurement data which is acquired using the stereo vision system. We show feasibility of the proposed method through the experiment for estimation of object pose.

    CiNii Books

    researchmap

  • Manipulation Method Using Wheeled-Hand Mechanism for Humanoid Robot

    Service Robotics and Mechatronics -Selected Papers of the International Conference on Machine Automation ICMA2008-   2010

     More details

  • Expansion of Movable Area of Multi Legged Robot by Rotational Gait.

    Vol.28, No.2   2010

     More details

  • NEW TURNING MOTIONS FOR ASTERISK'S DYNAMIC ROTATIONAL WALKING MOTION

    The First IFToMM Asian Conference on Mechanism and Machine Science   2010

     More details

  • NEW TURNING MOTIONS FOR ASTERISK'S DYNAMIC ROTATIONAL WALKING MOTION

    The First IFToMM Asian Conference on Mechanism and Machine Science   2010

     More details

  • Simulation of bipedal walking based on CPG for Clogs-type Sole Shape

    The 5th International Conference on Advanced Mechatronics(ICAM2010)   pp.681-686   2010

     More details

  • 1A2-G07 Evaluation of Indications for Action Indication System in Emergency Situation

    Morikawa Kotaro, Mae Yasushi, Ohara Kenichi, Kamide Hiroko, Takubo Tomohito, Arai Tatsuo

    2010   "1A2 - G07(1)"-"1A2-G07(4)"   2010

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    The paper describes an evaluation of evacuation guidance using audio and visual presentation for action indication systems in emergency situations. Easy-to-understand presentation is required for a person in emergency situations. Presentation methods using both audio speakers and visual projectors have been proposed for a real-time action indication system. Understandability of evacuation guidance and time to complete evacuation in several presentation methods using audio and/or visual guidance are evaluated by experiments and questionnaire.

    CiNii Books

    researchmap

  • Simulation of bipedal walking based on CPG for Clogs-type Sole Shape

    The 5th International Conference on Advanced Mechatronics(ICAM2010)   pp.681-686   2010

     More details

  • The Wire-Swing Motion of ASTERISK and ER-Winch Locomotion Methods

    The 5th International Conference on Advanced Mechatronics(ICAM2010)   pp.231-236   2010

     More details

  • Development of a Scale of Perception to Humanoid Robots: PERNOD

    Hiroko Kamide, Yasushi Mae, Tomohito Takubo, Kenichi Ohara, Tatsuo Arai

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)   pp.5830-5835   2010

     More details

    Language:English   Publisher:IEEE  

    In this study we explored basic dimensions used to perceive humanoid robots and developed a scale to evaluate perception of humanoid robots, PERNOD. Previous studies of perception of humanoid robots used psychological scales created for interpersonal perception between humans. This study clarified the basic dimensions of perception of humanoid robots and developed PERNOD by means of psychological methodology. The results revealed six basic dimensions of perception of humanoid robots: Utility, Clumsiness of motion, Possibility of communication, Controllability, Vulnerability, and Objective hardness. The 6 dimensions of PERNOD were originally developed for humanoid robots. Thus, these dimensions represent the organization of knowledge used in the recognition of humanoid robots. Usability of PERNOD was discussed.

    Web of Science

    researchmap

  • The Wire-Swing Motion of ASTERISK and ER-Winch Locomotion Methods

    The 5th International Conference on Advanced Mechatronics(ICAM2010)   pp.231-236   2010

     More details

  • ロボットと安全

    新井健生, 田窪朋仁, 上出寛子, 前泰志, 大原賢一

    日本ロボット学会学術講演会予稿集(CD-ROM)   28th   2010

  • 2P1-G14 Analysis of internal Force for Rolling Operation of Polygonal Prism by multi-legged robot

    Takeo Gaku, Takubo Tomohito, Ohara Kenichi, Mae Yasushi, Arai Tatsuo

    2009   "2P1 - G14(1)"-"2P1-G14(4)"   2009.5

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    A heavy object can be efficiently rotated by using the body weight and the internal force of the robot. The weight shift control is implemented considering the Imaginary Zero Moment Point (IZMP) of the object to control the balance. When the IZMP is beside the support polygon of the object, the object has rotational force. The rotational force is controlled by the force from the robot, and it can be manipulated more powerful by using the internal force. We analyze available internal force with friction by kinematical solution, and it is implemented to the small multi-legged robot by using torque control. The effectiveness is confirmed through experiments.

    CiNii Books

    researchmap

  • 2A2-M04 Development of Auto Adjusting of Finger Tips for Two-fingered Micro Hand

    Ohara Kenichi, Hatta Izumi, Arai Tasuo, Mae Yasushi, Takubo Tomohito

    2009   "2A2 - M04(1)"-"2A2-M04(2)"   2009.5

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    We are developing a two-fingered micro hand which allows dexterous manipulation of a single cell: grabbing, positioning, rotation and releasing. The end-effector of this micro hand consists of two glass needles. Before grabbing an object, this micro hand requires an initial setup to be adjust the end-effectors position. In this paper, we proposed an automatic fine adjustment method using Fine Adjustment Module.

    CiNii Books

    researchmap

  • 2P1-B21 Swing motion using rowing operation with wire holding leg for ASTERISK

    Sakamoto Hiroyuki, Takubo Tomohito, Ohara Kenichi, Mae Yasushi, Arai Tatsuo

    2009   "2P1 - B21(1)"-"2P1-B21(3)"   2009.5

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    A new locomotion method by using swing motion with wire holding leg is proposed. The motion planning employs simple 2-links model and the 2-nd joint is controlled by using cycloid trajectory. The single mass model is realized by using resolved momentum control for multi-link robot. The proposed methods are implemented to "ASTERISK" model in dynamic simulator and a real robot and the feasibility is confirmed.

    CiNii Books

    researchmap

  • 2A1-C21 Evaluation of Indications for Action Indication System in Emergency Situation

    Morikawa Kotaro, Mae Yasushi, Ohara Kenichi, Takubo Tomohito, Arai Tatsuo

    2009   "2A1 - C21(1)"-"2A1-C21(3)"   2009.5

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    The paper describes presentation methods for action indication systems. Easy-to-understand presentation is required for a person in panic in emergency situations. Presentation methods using audio speakers and projectors have been proposed for a real-time action indication system. Audio and/or visual indications are considered and an experimental system is constructed. Basic presentation methods using audio and/or visual indications are evaluated by experiments.

    CiNii Books

    researchmap

  • 2A1-H11 Position Estimation Method Using RSSI Measuring Sensors

    ABE Yuji, OHARA Kenichi, TAKUBO Tomohito, MAE Yasushi, TANIKAWA Tamio, ARAI Tatsuo

    2009   "2A1 - H11(1)"-"2A1-H11(4)"   2009.5

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    Recently, sensor network is one of the key technologies on robotic field. Especially, position estimation of sensor node is important technology on sensor network. However, in indoor environment, pisition estimation using radio signal strength indication (RSSI) is difficult, because of multipath fading. In this paper, to solve this problem and take advantage the RF communication, we propose distance measurement sensor using RSSI based on 125kHz, which is less subject to multipath fading. And, the stability of this sensor is shown through several expriments.

    CiNii Books

    researchmap

  • 2A1-D05 Development of Robust Object Pose Estimation Component

    TAKAHASHI Hideyasu, CHOI Jaeil, Mae Yasushi, Ohara Kenichi, Takubo Tomohito, Arai Tatsuo

    2009   "2A1 - D05(1)"-"2A1-D05(4)"   2009.5

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    The paper reports a RT Component for estimation 3D pose of a target object and design for usability by considering robot function. The RT Component extracts SIFT features from input images, and detect a target object by matching the SIFT features of the reference image to the SIFT features of the image. Then object pose is estimated based on correspondences of the features. Experimental results show the performance of the RT Component for several target objects. The RT component can detect a target object robustly in complex backgrounds of human daily life space.

    CiNii Books

    researchmap

  • Developmental Process of a Chopstick-Like Hybrid-Structure Two-Fingered Micromanipulator Hand for 3-D Manipulation of Microscopic Objects

    Ahmed A. Ramadan, Tomohito Takubo, Yasushi Mae, Kenichi Oohara, Tatsuo Arai

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   56 ( 4 )   1121 - 1135   2009.4

     More details

    Language:English   Publisher:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

    The development of a chopstick-like two-fingered micromanipulator based on a hybrid mechanism is presented. The microhand consists of two 3-prismatic-revolute-spherical (PRS) parallel modules connected serially in a mirror image style. Each module has a long glass pipette as an end effector. The development process consists of three phases. In the first phase, analysis and mathematical modeling, a novel solution of the inverse kinematics problem (IKP) of a 3-revolute-prismatic-spherical (RPS) parallel module, is derived and applied with proper modification to the case of 3-PRS of the proposed mechanism. The solution is extended to the two-fingered hybrid mechanism of the microhand. In the optimization and design phase, the optimization of the chosen design parameters of a theoretical 3-PRS parallel module is carried out using two approaches: discretization method and genetic algorithms. Based on the optimal design parameters, a CAD model of the 3-PRS finger module is built, and a complementary optimization step using the ANSYS Workbench program is carried out to determine suitable characteristics of the pin flexure hinge. Finally, the total CAD model of the two-fingered hand is built. In the realization and implementation phase, the description of the hardware system of the two-fingered microhand prototype is presented. The program description, calibration method, practical Jacobian matrices, practical workspace, and error analysis of the prototype are discussed.

    DOI: 10.1109/TIE.2008.2008753

    Web of Science

    researchmap

  • Developmental Process of a Chopstick-Like Hybrid-Structure Two-Fingered Micromanipulator Hand for 3-D Manipulation of Microscopic Objects

    Ahmed A. Ramadan, Tomohito Takubo, Yasushi Mae, Kenichi Oohara, Tatsuo Arai

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   56 ( 4 )   1121 - 1135   2009.4

     More details

    Language:English   Publisher:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

    The development of a chopstick-like two-fingered micromanipulator based on a hybrid mechanism is presented. The microhand consists of two 3-prismatic-revolute-spherical (PRS) parallel modules connected serially in a mirror image style. Each module has a long glass pipette as an end effector. The development process consists of three phases. In the first phase, analysis and mathematical modeling, a novel solution of the inverse kinematics problem (IKP) of a 3-revolute-prismatic-spherical (RPS) parallel module, is derived and applied with proper modification to the case of 3-PRS of the proposed mechanism. The solution is extended to the two-fingered hybrid mechanism of the microhand. In the optimization and design phase, the optimization of the chosen design parameters of a theoretical 3-PRS parallel module is carried out using two approaches: discretization method and genetic algorithms. Based on the optimal design parameters, a CAD model of the 3-PRS finger module is built, and a complementary optimization step using the ANSYS Workbench program is carried out to determine suitable characteristics of the pin flexure hinge. Finally, the total CAD model of the two-fingered hand is built. In the realization and implementation phase, the description of the hardware system of the two-fingered microhand prototype is presented. The program description, calibration method, practical Jacobian matrices, practical workspace, and error analysis of the prototype are discussed.

    DOI: 10.1109/TIE.2008.2008753

    Web of Science

    researchmap

  • Micro Robotics for Biological Application

    MAE Yasushi, ARAI Tatsuo

    Systems, control and information   53 ( 2 )   64 - 69   2009.2

     More details

    Language:Japanese   Publisher:Institute of Systems, Control and Information Engineers  

    CiNii Books

    researchmap

  • 脚車輪ハイブリッド動作を用いた多脚ロボットの不整地移動

    日本機械学会論文集 C編,   75巻, 759号, 144-152項   2009

  • Rotational Operation of Polygonal Prism by Multi-Legged Robot

    The 2009 IEEE International Conference on Mechatronics and Automation   2677-2682   2009

  • Optimization of Grid Wall Walking by Genetic Algorithm

    The 2009 IEEE International Conference on Mechatronics and Automation   2665-2670   2009

  • Rotational Operation of Polygonal Prism by Multi-Legged Robot

    The 2009 IEEE International Conference on Mechatronics and Automation   2677-2682   2009

  • Optimization of Grid Wall Walking by Genetic Algorithm

    The 2009 IEEE International Conference on Mechatronics and Automation   2665-2670   2009

  • Dynamic Rolling-walk Motion by Limb Mechanism Robot ASTERISK

    The 2009 IEEE International Conference on Mechatronics and Automation   2659-2664   2009

  • Dynamic Rolling-walk Motion by Limb Mechanism Robot ASTERISK

    The 2009 IEEE International Conference on Mechatronics and Automation   2659-2664   2009

  • Automated Cell Supply Module-The Design of Valve System and Branch Shape for Cell Transport in a Microfluidic Chip-

    長谷川明之, UVET Huseyin, 前泰志, 田窪朋仁, 大原賢一, 新井健生

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2009   2009

  • Automatic Cell Supply Module to a Microfluidic Chip

    長谷川明之, UVET Huseyin, 前泰志, 田窪朋仁, 大原賢一, 新井健生

    日本動物学会大会予稿集   80th (Web)   2009

  • Evaluation of microchannelbranchshapesuitable formicro particletransportation

    長谷川明之, UVET Huseyin, 前泰志, 田窪朋仁, 大原賢一, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   27th   2009

  • 微小流路を移動する細胞の検出機構実装法

    藤本香織, 國松禎明, 前泰志, 田窪朋仁, 新井健生, 山田真人

    日本ロボット学会誌   26(5) 462-467   2008.7

  • 1A1-E11 Walking on Grid Wall for Limb Mechanism Robot "ASTERISK"

    Yanagihara Yuya, Takubo Tomohito, Mae Yasusi, Arai Tatsuo

    2008   "1A1 - E11(1)"-"1A1-E11(4)"   2008.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    A method for walking on a grid wall for limb mechanism robot "ASTERISK" is proposed. In this method, grid structure is implemented to wall for the locomotion field of robot. The robot hangs on the grid structure by hooks attached on each tip of leg. The condition hanging on the grid structure changes according to the inclination of the grid wall. To achieve climbing motion on the grid wall, we implement the distributed force control with the supporting legs. The proposed method is confirmed by experimental results.

    CiNii Books

    researchmap

  • 1A1-D21 Rotational Operation of Polygonal Prism for Limb Mechanism Robot "ASTERISK"

    Takeo Gaku, Takubo Tomohito, Mae Yasushi, Arai Tatsuo

    2008   "1A1 - D21(1)"-"1A1-D21(4)"   2008.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    A method for transporting a large-scale polygonal prism by a small robot is proposed. To achieve the operation by a small robot, a new motion control considering the limitation of manipulation area and the sensing devices is required. Tumbling operation is one of good transporting method for controlling a large-scale or heavy object. We implement a balance control technique with the weight of the robot to the object rotation. The proposed method is implemented to a small robot "ASTERISK" and the effectiveness is confirmed.

    CiNii Books

    researchmap

  • 1A1-E03 Analysis of Hybrid Locomotion for Leg-Wheel Type ASTERISK H

    Yoshioka Takenobu, Takubo Tomohito, Mae Yasushi, Arai Tatsuo

    2008   "1A1 - E03(1)"-"1A1-E03(4)"   2008.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    New leg-wheel hybrid locomotion on the rough terrain is proposed for a hexapod robot. The proposed leg-wheel hybrid locomotion is realized by the continuous transition movement between the wheeled and legged locomotion. In the basic posture, the robot is supported by the three legs and moves by using their wheels on the flat plane. When the robot senses an obstacle, the support and the swing legs change each other like a tripod gait with oval orbit to overleap the obstacle. The experimental results of all combinations of four fundamental steps show the effectiveness of our method.

    CiNii Books

    researchmap

  • 1P1-H12 Study on Encountered-type Visual Haptic Display Using Flexible Sheet

    FURUKAWA Tsuyoshi, INOUE Kenji, MAE Yasushi, TAKUBO Tomohito, ARAI Tatsuo

    2008   "1P1 - H12(1)"-"1P1-H12(4)"   2008.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    An encountered-type visual haptic display using flexible sheet is proposed ; it allows users to feel like seeing and touching virtual soft objects directly. Both edges of transparent flexible sheet is attached to two manipulators. They apply bias tension to the sheet by pulling it from both sides, thus varying the sheet compliance. A user can feel the compliance of a virtual soft object by pushing the sheet with his finger directly. The manipulators also control the pose of the sheet along the object's surface together with the finger tip motion. Hence the shape of the object can be presented by active touch. A control method of presenting arbitrary shape of virtual objects generated by FEM is proposed. A virtual soft object which has smooth uneven surface is modeled by FEM, and the developed display presents the compliance and shape of this object. Then the display is evaluated by subjective experiments.

    CiNii Books

    researchmap

  • 2P2-C14 The generation of Environmental Map based on a High Resolutional NDT Grid Mapping

    Kaminade Takuya, Takubo Tomohito, Mae Yasushi, Arai Tatsuo

    2008   "2P2 - C14(1)"-"2P2-C14(4)"   2008.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    The paper presents a new convergence calculation method for the Normal Distributions Transform (NDT) scan matching using high resolution grid map. The proposed method enables to find corresponding point, even if it is out of the reference scan area. The scanning area is enlarged by modifying the eigenvalue of normal distribution. In the high resolution grid map, the point data often become sparse and the normal distribution of the reference scan cannot be built. To solve this problem, the reference scan is enlarged by combining with neighboring reference scan. These methods improve the accuracy of the matching calculation in the high resolution grid map.

    CiNii Books

    researchmap

  • 2A1-F15 Real-time Action Indication System to Human in Emergency and Panic Situations

    Mae Yasushi, Morikawa Kotaro, Takubo Tomohito, Arai Tatsuo

    2008   "2A1 - F15(1)"-"2A1-F15(4)"   2008.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    In this paper we propose a real-time action indication system to human in emergency situations. Immediately after emergency situation occurs, people may be in panic and they cannot do appropriate actions to avoid danger. The proposed system gives instructions of appropriate actions to human based on recognition of human actions and situations by multiple sensors. The paper shows an experimental prototype system and experiments which simulates a situation immediately after the Earthquake Early Warning. In the experiments, a person is instructed to hide under a table based on recognition of human actions by a vision sensor.

    CiNii Books

    researchmap

  • 2P2-F13 Development of Patient Robot for Nursing Training

    KITAGAWA Yoshiro, TSUCHIYA Satoko, SONG Wei, MINAMI Mamoru, MAE Yasushi

    2008   "2P2 - F13(1)"-"2P2-F13(4)"   2008.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    In this paper, we propose a patient robot whose feeling changes as varying time by making use of chaos orbit to create human's psychology and we develop a system for the effective injection training. For confirming the effectiveness of this patient robot, according to experiment with patient robot using by student nurses, we measure heartbeat of student nurses at four different experiment conditions and we get questionnaire concerning with injection training and patient robot. In addition, we propose visual servoing by making the patient robot do some motions like human. Visual servoing to 3D head pose has been performed by the motions of eyes, neck and waist of the patient robot to keep the human's front face in the center of input images in left and right eyes.

    CiNii Books

    researchmap

  • Ladder climbing control for limb mechanism robot "ASTERISK"

    Shota Fujii, Kenji Inoue, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9   3052-3057   3052 - 3057   2008

     More details

    Language:English   Publisher:IEEE  

    A ladder climbing motion for limb mechanism robot "ASTERISK" is proposed. This robot has six legs. The upper three legs hold on the upper rung from its both sides alternately, just like pinching it. The lower three legs hold on the lower rung in the same way. Hence the robot can climb the ladder stably. Depending on the posture of the robot, when it lifts up its body, the robot automatically selects the legs supporting the robot's weight and distributes the weight to these legs based on their force margins. The legs which cannot support forces are controlled to always contact with the rungs so that the robot holds the ladder firmly. The advantages of proposed gait and control method are verified by the analysis of the supporting range and the torque, and by experiment on force distribution.

    DOI: 10.1109/ROBOT.2008.4543674

    Web of Science

    researchmap

  • Implementation of Cell Detection Mechanism on Microfluidic Chip

    FUJIMOTO Kaori, KUNIMATSU Sadaaki, MAE Yasushi, TAKUBO Tomohito, ARAI Tatsuo, INOUE Kenji, YAMADA Masato

    Journal of the Robotics Society of Japan   vol.26, no.5, pp.462-467 ( 5 )   462 - 467   2008

     More details

    Language:Japanese   Publisher:The Robotics Society of Japan  

    The paper describes development of a compact and economical sensing system to detect a cell in a micro channel which can be integrated easily on a micro PDMS (polydimethylsiloxane) chip. The light-intersecting method is adopted for detecting a cell moving in the channel, since the mechanism can be basically composed of only a light source element and a detector. The paper proposes an integrating procedure and shows the experiment in order to bear out feasibility of the system. Furthermore, a method of implementation of the mechamism on a micro PDMS chip is described.

    DOI: 10.7210/jrsj.26.462

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00316635293?from=CiNii

  • Implementation of Cell Detection Mechanism on Microfluidic Chip

    JRSJ   Vol.26, No.5, pp.462-467   2008

  • Dismantling interior facilities in buildings by human robot collaboration

    S. Rolando Cruz-Ramirez, Yuusuke Ishizuka, Yasushi Mae, Tomohito Takubo, Tatsuo Arai

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9   pp.2583-2590   2583 - 2590   2008

     More details

    Language:English   Publisher:IEEE  

    New robotic systems will be playing an essential role in the future dismantling service for renewing office interiors facilities in buildings. In our study, the dismantling task would be achieved by proper collaboration between human workers and robots utilizing mobile arms, interface devices and software. This paper describes an overview of the proposed dismantling system as well as its requirements. The real experiments presented are focused on the disassembling task of a ceiling lamp panel (LP). In the disassembling task, a robot arm collaborates with the human worker holding the LP, accomplishing an assisting function. At first, in order to approach the robot to the holding position, the worker controls the robot using interface devices which are also evaluated in their usability aspect. Then, a laser pointer fixed at the robot's tip is used both as a guidance in the teleoperation process and as a first indicator of the holding position. As a second step toward the target, the control program applies model-based 3D object recognition techniques to calculate the final position. At this stage the information of an stereo camera, configured as an eye-in-hand system, is necessary. On the last part of the task, the robot reaches the estimated position automatically by using the results of its kinematic analysis. The experimental results show the effectiveness of the proposed methodology.

    DOI: 10.1109/ROBOT.2008.4543602

    Web of Science

    researchmap

  • Dismantling interior facilities in buildings by human robot collaboration

    S. Rolando Cruz-Ramirez, Yuusuke Ishizuka, Yasushi Mae, Tomohito Takubo, Tatsuo Arai

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9   pp.2583-2590   2583 - 2590   2008

     More details

    Language:English   Publisher:IEEE  

    New robotic systems will be playing an essential role in the future dismantling service for renewing office interiors facilities in buildings. In our study, the dismantling task would be achieved by proper collaboration between human workers and robots utilizing mobile arms, interface devices and software. This paper describes an overview of the proposed dismantling system as well as its requirements. The real experiments presented are focused on the disassembling task of a ceiling lamp panel (LP). In the disassembling task, a robot arm collaborates with the human worker holding the LP, accomplishing an assisting function. At first, in order to approach the robot to the holding position, the worker controls the robot using interface devices which are also evaluated in their usability aspect. Then, a laser pointer fixed at the robot's tip is used both as a guidance in the teleoperation process and as a first indicator of the holding position. As a second step toward the target, the control program applies model-based 3D object recognition techniques to calculate the final position. At this stage the information of an stereo camera, configured as an eye-in-hand system, is necessary. On the last part of the task, the robot reaches the estimated position automatically by using the results of its kinematic analysis. The experimental results show the effectiveness of the proposed methodology.

    DOI: 10.1109/ROBOT.2008.4543602

    Web of Science

    researchmap

  • Cell analysis system using two-fingered micro hand: Fine adjustment mechanism for end-effector

    Izumi Hatta, Kenichi Ohara, Tatsuo Arai, Yasushi Mae, Tomohito Takubo

    2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008   108 - 113   2008

     More details

    Language:English  

    A two-fingered micro hand has been developed for years and it allows dexterous manipulation of a single cell: grabbing, positioning, rotation and releasing. The end-effector of this micro hand consists of two glass needles. Before grabbing an object, the glass needles need to be approached to each other manually (initial setup). However, this operation requires high skill manual control, so that it is very difficult and a time-consuming. This paper discusses improvement of the original micro hand mechanism to achieve its fine adjustment of two glass needles. For the easy initial setup, movement of the glass tips should be divided into three directions (horizontal, translational, vertical) and have the resolution of several micro meter order. Three piezoelectric devices are used to realize the fine movement for three directions. Moreover the workspace of the end-effector can be widened by applying the principle of leverage to glass and piezoelectric device. Based on these ideas, we prototyped a new shape of end-effector which enables fine movement along three axes. Using this end-effector design, the initial setup of micro hand is easier than the previous model. As a result, the micro hand can achieve more efficient manipulation. © 2008 IEEE.

    DOI: 10.1109/MHS.2008.4752432

    Scopus

    researchmap

  • Cell analysis system using two-fingered micro hand: Fine adjustment mechanism for end-effector

    Izumi Hatta, Kenichi Ohara, Tatsuo Arai, Yasushi Mae, Tomohito Takubo

    2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008   108 - 113   2008

     More details

    Language:English  

    A two-fingered micro hand has been developed for years and it allows dexterous manipulation of a single cell: grabbing, positioning, rotation and releasing. The end-effector of this micro hand consists of two glass needles. Before grabbing an object, the glass needles need to be approached to each other manually (initial setup). However, this operation requires high skill manual control, so that it is very difficult and a time-consuming. This paper discusses improvement of the original micro hand mechanism to achieve its fine adjustment of two glass needles. For the easy initial setup, movement of the glass tips should be divided into three directions (horizontal, translational, vertical) and have the resolution of several micro meter order. Three piezoelectric devices are used to realize the fine movement for three directions. Moreover the workspace of the end-effector can be widened by applying the principle of leverage to glass and piezoelectric device. Based on these ideas, we prototyped a new shape of end-effector which enables fine movement along three axes. Using this end-effector design, the initial setup of micro hand is easier than the previous model. As a result, the micro hand can achieve more efficient manipulation. © 2008 IEEE.

    DOI: 10.1109/MHS.2008.4752432

    Scopus

    researchmap

  • Micro Actuator with PDMS Fabrication

    川上大貴, 長谷川明之, 前泰志, 田窪朋仁, 大原賢一, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   26th   2008

  • Multipoint Support Motion Using Wheeled Hand for Humanoid Robot

    7th International Conference on Machine Automation   pp.93-98   2008

     More details

  • Building Monitoring System Using RFID and Mobile Robot

    The 5th International Conference on Ubiquitous Robots and Ambient Intelligence   454-459   2008

     More details

  • Development of the Automatic Cell Supply System to the Microchip

    長谷川明之, 前泰志, 田窪朋仁, 大原賢一, 新井健生

    日本ロボット学会学術講演会予稿集(CD-ROM)   26th   2008

  • The Generation of Environmental Map Based on a NDT Grid Mapping

    2008 IEEE International Conference on Robotics and Automation   1874‐1879   2008

     More details

  • Multipoint Support Motion Using Wheeled Hand for Humanoid Robot

    7th International Conference on Machine Automation   pp.93-98   2008

     More details

  • Building Monitoring System Using RFID and Mobile Robot

    The 5th International Conference on Ubiquitous Robots and Ambient Intelligence   454-459   2008

     More details

  • The Generation of Environmental Map Based on a NDT Grid Mapping

    2008 IEEE International Conference on Robotics and Automation   1874‐1879   2008

     More details

  • MF312 Study of Assistance Method for Bedridden Person

    Onishi Teruhisa, Arai Tatsuo, Mae Yasushi, Takubo Tomohito

    The JSME Symposium on Welfare Engineering   2007   218 - 221   2007.9

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    The bedridden person often suffers from disused syndrome and is apt to lose hope to live. So, we must raise bedridden persons from bed to avoid this, but we have difficult work to let raising up from bed, sitting on chair for eating, assisting excretion, taking bath and training to walk. Therefore, we developed the assistance method for bedridden persons who can perform it by mechanical operation without assistance of lifting by human power. For this system, we explain a body holding device, a chair-desk for the meals and so on, a crotch supporter for excreting, a sling suit for bathing and a system to constitute with leg and foot holders for training to walk.

    CiNii Books

    researchmap

  • Automated identification of partially exposed metal object

    Tomohiro Umetani, Yasushi Mae, Tatsuo Arai, Hironori Kumeno, Kenji Inoue, Tomohito Takubo, Hiroshi Niho

    AUTOMATION IN CONSTRUCTION   16 ( 6 )   842 - 851   2007.9

     More details

    Language:English   Publisher:ELSEVIER SCIENCE BV  

    This paper describes a method for automated shape and pose (position and orientation) identification of partially exposed metal objects that enables safe and efficient excavation of hazardous materials. The method estimates the object pose by matching a model of the object with the area that is extracted from the range image using the characteristics of metal objects. The paper introduces a method for an initial search area for object matching in order to obtain the accurate shape and pose of the partially exposed objects with reasonable calculation time. The experimental results show feasibility of the shape and pose identification of partially exposed objects. (c) 2007 Elsevier B.V. All rights reserved.

    DOI: 10.1016/j.autcon.2007.02.012

    Web of Science

    researchmap

  • Automated identification of partially exposed metal object

    Tomohiro Umetani, Yasushi Mae, Tatsuo Arai, Hironori Kumeno, Kenji Inoue, Tomohito Takubo, Hiroshi Niho

    AUTOMATION IN CONSTRUCTION   16 ( 6 )   842 - 851   2007.9

     More details

    Language:English   Publisher:ELSEVIER SCIENCE BV  

    This paper describes a method for automated shape and pose (position and orientation) identification of partially exposed metal objects that enables safe and efficient excavation of hazardous materials. The method estimates the object pose by matching a model of the object with the area that is extracted from the range image using the characteristics of metal objects. The paper introduces a method for an initial search area for object matching in order to obtain the accurate shape and pose of the partially exposed objects with reasonable calculation time. The experimental results show feasibility of the shape and pose identification of partially exposed objects. (c) 2007 Elsevier B.V. All rights reserved.

    DOI: 10.1016/j.autcon.2007.02.012

    Web of Science

    researchmap

  • Finding and quantitative evaluation of minute flaws on metal surface using hairline

    Jianing Zhu, Yasushi Mae, Mamoru Minami

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   54 ( 3 )   1420 - 1429   2007.6

     More details

    Language:English   Publisher:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

    A method to detect minute flaws on metal parts is proposed to remove defective parts before assembling in a factory. The input grayscale images of metal parts are directly used to recognize flaws without any image conversion to shorten recognition time. The recognition problem to find flaws and detect their position on the metal parts is converted to another problem that searches for the maximum peak and the variables producing the peak. Then, the recognition problem can be treated as an optimization problem, and this conversion allows us to utilize high genetic algorithm performances in optimization. The effectiveness and problems of the proposed method are studied on the standing points of recognition speed and quantitative recognition ability. Based on the analysis, we furthermore improved our system to increase the flaw detection rate; the lighting direction was changed to find the best lighting condition that can emphasize the contrast between the metal surface and the flaw by using the reflection character of the hairline on the metal, which is resulted by a polishing process.

    DOI: 10.1109/TIE.2007.893050

    Web of Science

    researchmap

  • Finding and quantitative evaluation of minute flaws on metal surface using hairline

    Jianing Zhu, Yasushi Mae, Mamoru Minami

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   54 ( 3 )   1420 - 1429   2007.6

     More details

    Language:English   Publisher:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

    A method to detect minute flaws on metal parts is proposed to remove defective parts before assembling in a factory. The input grayscale images of metal parts are directly used to recognize flaws without any image conversion to shorten recognition time. The recognition problem to find flaws and detect their position on the metal parts is converted to another problem that searches for the maximum peak and the variables producing the peak. Then, the recognition problem can be treated as an optimization problem, and this conversion allows us to utilize high genetic algorithm performances in optimization. The effectiveness and problems of the proposed method are studied on the standing points of recognition speed and quantitative recognition ability. Based on the analysis, we furthermore improved our system to increase the flaw detection rate; the lighting direction was changed to find the best lighting condition that can emphasize the contrast between the metal surface and the flaw by using the reflection character of the hairline on the metal, which is resulted by a polishing process.

    DOI: 10.1109/TIE.2007.893050

    Web of Science

    researchmap

  • 2P1-N02 Construction of Intelligent Environment by Robot-Human Interaction

    TAKEZAWA Yoshiteru, MAE Yasushi, MINAMI Mamoru

    2007   "2P1 - N02(1)"-"2P1-N02(4)"   2007.5

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    The paper proposes a method for acquisition of knowledge by interaction between human and robot for constructing intelligent environment. At first, a robot acts according to instruction from human, and acquires knowledge of environment for action from the instruction. If the instruction is too defectiveness for the robot to act, the robot requires more detailed instructions from human. Then the robot stores the acquired knowledge into the RF-ID tags attached to the objects in the environment. As the robot receives various instructions, various properties of the objects are gradually accumulated into the RF-ID tags. Finally, the robot will be able to act without detailed instruction from human, since the robot can obtain the knowledge for the action from the RF-ID tags on the spot where the robot should act.

    CiNii Books

    researchmap

  • 2P1-N03 Person Identifycation and Tracking by Stereo Model-based Matching

    ITO Daisuke, MAE Yasushi, MINAMI Mamoru

    2007   "2P1 - N03(1)"-"2P1-N03(4)"   2007.5

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    This paper describes a method for tracking and identification of persons based on their height. The method measures the height of persons while tracking them by stereo camera. A person on an image is detected by Model-based Matching with 2-D simple human shape model. The image is searched for persons by Genetic Algorithm. The 3-D position of the head is measured by corresponding head positions on the images of stereo camera. The height of the person is estimated by the head height and the size of the human shape model. After registering the height of the persons in a space, our method identifies persons while tracking them. Experimental results ascertain the effectiveness of our proposed system.

    CiNii Books

    researchmap

  • 2A1-D09 Quantitative Evaluation of Guidance Control Method of PWS Mobile Manipulator

    IKEDA Takeshi, YAMAMOTO Motoji, MINAMI Mamoru, MAE Yasushi

    2007   "2A1 - D09(1)"-"2A1-D09(4)"   2007.5

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    Force and torque induced by the traveling motion and moving operations of a mobile manipulator effect dynamically to the objects being carried on it. If the induced force and torque are bigger than the static friction force and torque, the carrying objects may slip on the mobile manipulator. Since this slipping motion may cause a collapse of carrying objects, it is dangerous. And it interferes with accurate moving operations. A purpose of this research is to make a model of mobile manipulator which is carrying objects, to analyze the influences of the slipping to the traveling motion and to discuss a constraint conditions for the controller of guidance and moving operations to avoid slipping. In this paper, we evaluate the proposed guidance control method of mobile manipulator by simulations.

    CiNii Books

    researchmap

  • 2A1-A01 Improvement of orbit follow control that uses restraint movement with elbow

    Yamamoto Masaru, MAE Yasushi, MINAMI Mamoru

    2007   "2A1 - A01(1)"-"2A1-A01(3)"   2007.5

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    It is possible to say that the multi joint manipulator can work even if increasing of redundant quality,the numbers of links,and the complex structure. However, it becomes to fall down easily, because of the increasing of manipulator's weight,which is caused by the increasing of the numbers of links. Therefore, accuracy of end-effecter will reduce. And then in order to control, the bigger power will be needed. Here,I think a manipulator just like a human-being who can do some high accuracy work by a little power with attaching elbow. So in this paper it is compared the two movements, without attaching elbow and with attaching elbow. Then we can get the conclusion in the movement without attaching elbow,it can work better, under the condition of smaller power.

    CiNii Books

    researchmap

  • Avoidance Ability of Redundant Mobile Manipulators during Hand Trajectory Tracking

    Mamoru Minami, Hiroshi Tanaka, Yasushi Mae

    Journal of Advanced Computational Intelligence and Intelligent Informatics   Vol11 No2 P135-141   2007.4

     More details

  • Design of Multi Sensor Units for Searching Inside of Rubble

    Kenji Inoue, Masato Yamamoto, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Mechatronics for Safety, Security and dependabiity in a New Era, Elsevier   415-420   2007.4

     More details

  • Fish Catching by Visual Servoing using Neural Network Prediction

    SICE Annual Conference 2007   2372-2378   2007

     More details

  • Emergence of Robotic Intelligence by Chaos for Catching Fish

    SICE Annual Conference 2007   969-975   2007

     More details

  • Multiple Preview Control System for Redundant Manipulator Based on Partial Future Reachability

    SICE Annual Conference 2007   1011-1018   2007

     More details

  • On-line Stable Evolutionary Recognition based on Unit Quaternion Representation by Motion-Feedforward Compensation

    SICE Annual Conference 2007   1023-1030   2007

     More details

  • Position/Force Control of Griding Robot by Using Real-time Presumption of Constrained Condition

    SICE Annual Conference 2007   1861-1868   2007

     More details

  • Link Length Control Using Dynamics for Paralle Mechanism with Adjustable Link Parameter

    Mechatronics for Safety, Security and dependabiity in a New Era, Elsevier   431-434   2007

     More details

  • Link Length Control Using Dynamics for Paralle Mechanism with Adjustable Link Parameter

    Mechatronics for Safety, Security and dependabiity in a New Era, Elsevier   431-434   2007

     More details

  • Localization of Mobile Robots by Multiple Landmark Recognition

    SICE Annual Conference 2007   1529-1535   2007

     More details

  • Fish Catching by Visual Servoing using Neural Network Prediction

    SICE Annual Conference 2007   2372-2378   2007

     More details

  • Emergence of Robotic Intelligence by Chaos for Catching Fish

    SICE Annual Conference 2007   969-975   2007

     More details

  • Collaborative Monitoring Using UFAM and Mobile Robot -2ndreport:Development of integrated management system-

    The 4th International Conference on Ubiquitous Robots and Ambient Intelligence(URAI 2007)   351-356   2007

     More details

  • Position/Force Control of Griding Robot by Using Real-time Presumption of Constrained Condition

    SICE Annual Conference 2007   1861-1868   2007

     More details

  • Multiple Preview Control System for Redundant Manipulator Based on Partial Future Reachability

    SICE Annual Conference 2007   1011-1018   2007

     More details

  • On-line Stable Evolutionary Recognition based on Unit Quaternion Representation by Motion-Feedforward Compensation

    SICE Annual Conference 2007   1023-1030   2007

     More details

  • Localization of Mobile Robots by Multiple Landmark Recognition

    SICE Annual Conference 2007   1529-1535   2007

     More details

  • Collaborative Monitoring Using UFAM and Mobile Robot -2ndreport:Development of integrated management system-

    The 4th International Conference on Ubiquitous Robots and Ambient Intelligence(URAI 2007)   351-356   2007

     More details

  • Design of Multi Sensor Units for Searching Inside of Rubble

    Mechatronics for Safety, Security and dependabiity in a New Era, Elsevier   415-420   2007

     More details

  • Chaos-driving robotic intelligence for catching fish

    Mamoru Minami, Gao Jingyu, Yasushi Mae

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10   85-91   85 - 91   2007

     More details

    Language:English   Publisher:IEEE  

    We tackle a Fish-Catching task under a visual feedback hand-eye system with catching net. The fishes change escaping trajectory or speed up when being threatened as the net attached at hand approaches to them. Furthermore, as the time of tracking and catching process flows, the fish can somewhat get accustomed to the hand motion pattern and gradually find out new strategies on how to escape from the bothering net. For example, the fish can swim slowly along the pool edge where the net is forbidden to enter or keep a reasonable distance from the net as if it konws the visual servoing system bears steady state error by constant speed escaping. For the sake of such innate ability being widely existed in animal's behavior, the catching operation becomes tough and some effective intelligent method needs to be conceived to go beyond the fish's intelligence. The purpose of this research is to construct intelligent system to be able to exceed the fish's intelligence to survive. Then we embed chaotic motion into the hand motion of robot, and we have shown the chaotic net motion can overcome the fish escaping strategies.

    DOI: 10.1109/ROBOT.2007.363769

    Web of Science

    researchmap

  • Chaos-driving Robotic Intelligence for Catching Fish

    Proceedings of 2007 IEEE International Conference on Robotics and Automation (ICRA 2007)   85-91   2007

  • On-line evolutionary head pose measurement by feedforward stereo model matching

    Wei Song, Mamoru Minami, Yasushi Mae, Seiji Aoyagi

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10   4394-4400   4394 - +   2007

     More details

    Language:English   Publisher:IEEE  

    This paper presents a method to estimate the 3D pose of a human's head using two images input from stereo cameras. The proposed method utilizes an evolutionary search technique of genetic algorithm (GA) and a fitness evaluation based on a stereo model matching. To improve the dynamics of recognition, a motion-feedforward method is proposed for the hand-eye system. The effectiveness of the method is confirmed by the experiments where the motion of the hand-eye camera compensated for the relative motion of the object in camera frame, resulting robust recognition against the hand-eye motion.

    DOI: 10.1109/ROBOT.2007.364156

    Web of Science

    researchmap

  • On-line evolutionary head pose measurement by feedforward stereo model matching

    Wei Song, Mamoru Minami, Yasushi Mae, Seiji Aoyagi

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10   4394-4400   4394 - +   2007

     More details

    Language:English   Publisher:IEEE  

    This paper presents a method to estimate the 3D pose of a human's head using two images input from stereo cameras. The proposed method utilizes an evolutionary search technique of genetic algorithm (GA) and a fitness evaluation based on a stereo model matching. To improve the dynamics of recognition, a motion-feedforward method is proposed for the hand-eye system. The effectiveness of the method is confirmed by the experiments where the motion of the hand-eye camera compensated for the relative motion of the object in camera frame, resulting robust recognition against the hand-eye motion.

    DOI: 10.1109/ROBOT.2007.364156

    Web of Science

    researchmap

  • 遺伝的アルゴリズムを用いた実時間人間認識 (特集1 ロボットビジョン)

    前 泰志, 見浪 護, 宋 薇

    映像情報industrial   38 ( 12 )   25 - 29   2006.11

     More details

    Language:Japanese   Publisher:産業開発機構  

    CiNii Books

    researchmap

  • Construction automation based on parts and packets unification

    Tomohiro Umetani, Tatsuo Arai, Yasushi Mae, Kenji Inoue, Jun-ichiro Maeda

    AUTOMATION IN CONSTRUCTION   15 ( 6 )   777 - 784   2006.11

     More details

    Language:English   Publisher:ELSEVIER SCIENCE BV  

    This paper describes a data management system for parts-oriented construction based on the concept of "parts and packets unification." Data of each component should be updated according to a change in the status of the component or composed module. An ID device is attached to each component to establish a strong relation between the components and their information. An operation server uses a reference table to relate the data to the composed module using the ID of any device attached to each composed module. The server manages the component data according to the task result such that other robots can obtain the information required in the next phase. A robot can acquire both the present data of the composed module and the data of each component history. Experimental results demonstrate the feasibility of the proposed method. (C) 2005 Elsevier B.V. All rights reserved.

    DOI: 10.1016/j.autcon.2005.10.013

    Web of Science

    researchmap

  • Construction automation based on parts and packets unification

    Tomohiro Umetani, Tatsuo Arai, Yasushi Mae, Kenji Inoue, Jun-ichiro Maeda

    AUTOMATION IN CONSTRUCTION   15 ( 6 )   777 - 784   2006.11

     More details

    Language:English   Publisher:ELSEVIER SCIENCE BV  

    This paper describes a data management system for parts-oriented construction based on the concept of "parts and packets unification." Data of each component should be updated according to a change in the status of the component or composed module. An ID device is attached to each component to establish a strong relation between the components and their information. An operation server uses a reference table to relate the data to the composed module using the ID of any device attached to each composed module. The server manages the component data according to the task result such that other robots can obtain the information required in the next phase. A robot can acquire both the present data of the composed module and the data of each component history. Experimental results demonstrate the feasibility of the proposed method. (C) 2005 Elsevier B.V. All rights reserved.

    DOI: 10.1016/j.autcon.2005.10.013

    Web of Science

    researchmap

  • On-line Configuration-optimizing Control for Redundant Manipulator Using AMSIP

    IKEDA Keiji, MINAMI Mamoru, MAE Yasushi

    FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies   16   129 - 134   2006.9

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • Intelligent Machine Behavior Using Chaos to Catch Escaping Fish

    GAO Jingyu, YOSHIDA Toshiaki, MINAMI Mamoru, MAE Yasushi, SUZUKI Hidekazu

    FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies   16   353 - 358   2006.9

     More details

    Language:English   Publisher:The Japan Society of Mechanical Engineers  

    In this paper we have dealt with prediction of fish motion under the vision system provided by CCD camera and embedded chaos motion into the system for more effective catching action. Fearing the tracking net attached at robot hand, the fish can suddenly change its escaping trajectory or speed up. Furthermore, as the time of tracking process flows, the fish can somewhat get accustomed to the environment and begin to learn new strategies about how to escape from the bothering net. For example, the fish tends to stay within a corner where it is forbidden for the net to reach for safety or stays away from the net by keeping a constant distance, which can be thought that the fishes know how to produce a steady-state error in a control loop of visual feedback. For the sake of such innate ability being widely existed in animal behavior, the effective intelligent method will need to be conceived to go beyond the fish intelligence. The purpose of this paper is to construct an intelligent system that is able to exceed the fish intelligence in order to track and catch the fish successfully like fish-eating animals in nature to survive.

    CiNii Books

    researchmap

  • ヘアラインを利用した金属表面上の微細なキズの発見と定量的評価

    見浪護, 朱佳寧, 三浦正人, 前泰志

    日本機械学会論文集(C編)   Vol72 No719 P2240-2247   2006.7

  • 205 Real-Time Image Tracking by Stereo Camera

    Itou Daisuke, Minami Mamoru, Mae Yasushi

    2006 ( 55 )   63 - 64   2006.3

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • 206 Configuration Control of Redundant Manipulators Using AMSIP

    IKEDA Keiji, TANAKA Hiroshi, MAE Yasushi, MINAMI Mamoru

    2006 ( 55 )   65 - 66   2006.3

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • Machine Intelligence by Chaos Motion Generator against Escaping Fish

    Joint 3rd International Conference on Soft Computing and Intelligent Systems and 7th International Symposium on advanced Intelligent Systems(SCIS&ISIS 2006)   TH-B3-5   2006

     More details

  • Fish Catching by Adopting Neural Network and Chaos to Robotic Intelligence

    The 7th Asia-Pacific Conference on Control & Measurement (APCCM 2006)   170-176   2006

     More details

  • Intelligent Environment Using RF-ID Tag

    The 7th Asia-Pacific Conference on Control & Measurement (APCCM 2006)   177-181   2006

     More details

  • 3D Pose Visual Servoing to Face for Patient Robot

    The 7th Asia-Pacific Conference on Control & Measurement (APCCM 2006)   164-169   2006

     More details

  • Person Recognition by Stereo Model-based Matching

    Proceedings of SICE-ICCAS International Joint Conference 2006   FA19-3, A0658   2006

     More details

  • On-line Prediction of Escaping Fish from Catching Net by Neural Network and Circular Approximation

    Proceedings of SICE-ICCAS International Joint Conference 2006   SP04-1, A1528   2006

     More details

  • Real-Time Trajectory Tracking/Quase-Optimal Obstacle Avoidance Control of Redundant Manipulators

    Proceedings of SICE-ICCAS International Joint Conference 2006   FA19-4, A0349   2006

     More details

  • Frontal Face Recognition from Patient Robot Point of View for Evaluating Nursing Skill

    Joint 3rd International Conference on Soft Computing and Intelligent Systems and 7th International Symposium on advanced Intelligent Systems(SCIS&ISIS 2006)   TH-B3-3   2006

     More details

  • Cooperative Monitoring by Fixed Cameras and Moving Cameras

    23rd International Symposium on Automation and Robotics in Construction   pp.182 - 187   2006

     More details

  • On-line Prediction of Escaping Fish from Catching Net by Neural Network and Circular Approximation

    Proceedings of SICE-ICCAS International Joint Conference 2006   SP04-1, A1528   2006

     More details

  • Evolutionary Recognition of Corridor and Turning using Adaptive Model with 3D Structure

    Proceedings of SICE-ICCAS International Joint Conference 2006   FA19-6, A0280   2006

     More details

  • Fish Catching by Adopting Neural Network and Chaos to Robotic Intelligence

    Proceedings of SICE-ICCAS International Joint Conference 2006   SP04-1, A1528   2006

     More details

  • Evolutionary Head Pose Measurement by Improved Stereo Model Matching

    Proceedings of SICE-ICCAS International Joint Conference 2006   FE12-5, A0467   2006

     More details

  • 3D Pose Visual Servoing to Face for Patient Robot

    The 7th Asia-Pacific Conference on Control & Measurement (APCCM 2006)   164-169   2006

     More details

  • Fish Catching by Adopting Neural Network and Chaos to Robotic Intelligence

    The 7th Asia-Pacific Conference on Control & Measurement (APCCM 2006)   170-176   2006

     More details

  • Intelligent Environment Using RF-ID Tag

    The 7th Asia-Pacific Conference on Control & Measurement (APCCM 2006)   177-181   2006

     More details

  • Cooperative Monitoring by Fixed Cameras and Moving Cameras

    23rd International Symposium on Automation and Robotics in Construction   pp.182 - 187   2006

     More details

  • Person Recognition by Stereo Model-based Matching

    Proceedings of SICE-ICCAS International Joint Conference 2006   FA19-3, A0658   2006

     More details

  • Fish Catching by Adopting Neural Network and Chaos to Robotic Intelligence

    Proceedings of SICE-ICCAS International Joint Conference 2006   SP04-1, A1528   2006

     More details

  • Frontal Face Recognition from Patient Robot Point of View for Evaluating Nursing Skill

    Joint 3rd International Conference on Soft Computing and Intelligent Systems and 7th International Symposium on advanced Intelligent Systems(SCIS&ISIS 2006)   TH-B3-3   2006

     More details

  • Machine Intelligence by Chaos Motion Generator against Escaping Fish

    Joint 3rd International Conference on Soft Computing and Intelligent Systems and 7th International Symposium on advanced Intelligent Systems(SCIS&ISIS 2006)   TH-B3-5   2006

     More details

  • 1A1-D01 Visual Servoing to Face by Stereo Model Matching

    Song Wei, Minami Mamoru, Mae Yasushi

    2006   "1A1 - D01(1)"-"1A1-D01(4)"   2006

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    This paper presents a method of visual servoing to a face whose position/orientation is estimated by model-based matching. The proposed method utilizes a model-based matching method and an evolutionary search technique of 1-Step Genetic Algorithm (1-Step GA) for real-time recogniton of dynamic images. We demonstrate the capability of the proposed method by applying it to the visual servoing to 3-D position/orientation (6DOF) of moving human face.

    CiNii Books

    researchmap

  • 1A1-D02 Person Tracking by Stereo Model-based Matching

    ITOU Daisuke, MAE Yasushi, MINAMI Mamoru

    2006   "1A1 - D02(1)"-"1A1-D02(4)"   2006

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    The paper, describes a method for detecting persons and measuring distance in real time by stereo camera. A person on the image is detected by Model-based Matching and Genetic Algorithm. The distance from the camera to the person is calculated by the disparity of defeated person on the stereo images. The method obtains the person's position and height.

    CiNii Books

    researchmap

  • 1A1-D04 Monitoring system by cooperation of fixed cameras and moving cameras

    KUMENO Hironori, KUNIMATSU Sadaaki, TSUKUDA Naoko, MAE Yasushi, UMETANI Tomohiro, TAKUBO Tomohito, INOUE Kenji, ARAI Tatsuo

    2006   "1A1 - D04(1)"-"1A1-D04(4)"   2006

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    In this paper we state a human tracking system in dynamic environment based on cooperation between fixed cameras and moving cameras for creating safe and secure spaces. It is difficult for only the fixed cameras to monitor the whole of the clouded dynamic environment because of the occlusion by the large objects such as the partitions, shelves and foliage plants in the environment. We introduce the moving cameras such as the mobile robots for monitoring the unobservable areas of the fixed cameras. The moving cameras monitor the unobservable spaces of the fixed cameras that are caused by occlusion by the objects. The system monitors the target position in cooperation between the fixed cameras and moving ones. Experimental results illustrate the effectiveness and feasibility of our proposed cooperative system.

    CiNii Books

    researchmap

  • Evolutionary Recognition of Corridor and Turning using Adaptive Model with 3D Structure

    Proceedings of SICE-ICCAS International Joint Conference 2006   FA19-6, A0280   2006

     More details

  • On-line Optimization of Avoidance Ability for Redundant Manipulator

    Proceedings of 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006)   592-597   2006

  • Real-Time Trajectory Tracking/Quase-Optimal Obstacle Avoidance Control of Redundant Manipulators

    Proceedings of SICE-ICCAS International Joint Conference 2006   FA19-4, A0349   2006

     More details

  • Evolutionary Head Pose Measurement by Improved Stereo Model Matching

    Proceedings of SICE-ICCAS International Joint Conference 2006   FE12-5, A0467   2006

     More details

  • Fastest Guidance Control with Acceleration Restriction of PWS Mobile Robot

    Proceedings of 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006)   1873-1878   2006

  • Finding and Quantitative Evaluation of Minute Bruise on Metal Surface Using Hairline

    Transactions of the Japan Society of Mechanical Engineers   Vol72 No719 P2240-2247   2006

  • Sensor-Based Walking on Rough Terrain for Legged Robots

    Field and Service Robotics, Springer   255-264   2006

  • On-line Optimization of Avoidance Ability for Redundant Manipulator

    Proceedings of 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006)   592-597   2006

  • Fastest Guidance Control with Acceleration Restriction of PWS Mobile Robot

    Proceedings of 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006)   1873-1878   2006

  • Initiative of Systems and Human Science for Safe, Secure, and Reliable Society

    ARAI Tatsuo, TAMURA Hiroyuki, YAMAMOTO Shigeru, MIURA Toshiaki, FUJII Takao, IWAI Yoshio, HIURA Shinsaku, INOUE Kenji, NISHIDA Shogo, MAKINO Kazuhisa, MAE Yasushi, INOKUCHI Seiji

    IPSJ SIG Notes. CVIM   151 ( 112 )   25 - 32   2005.11

     More details

    Language:Japanese   Publisher:Information Processing Society of Japan (IPSJ)  

    The project is aiming to establish innovative science and technology by integrating two sciences in order to achieve safety, security, and reliability in our society. Human behaviors and psychologies as well as societal ones will be analyzed quantitatively and systematically by the systems science. Then, the analyzed results will be applied in designing optimal systems and infrastructures and will be used and verified in their operations to secure citizens and society, to support human lives. Finally, the systems and human science for the SSR society could be clearly established through these activities. The paper addresses an overview of the project.

    CiNii Books

    researchmap

  • Generating Whole Body Motion of Humanoid Robots for Manipulation Tasks

    INOUE Kenji, NISHIHAMA Yusuke, SAKATA Kotaro, ARAI Tatsuo, MAE Yasushi

    JRSJ   23(8) 967-976 ( 8 )   967 - 976   2005.11

     More details

    Language:Japanese   Publisher:The Robotics Society of Japan  

    A control method for humanoid robots of mobile manipulation is proposed. A robot autonomously generates its whole body motion and steps so as to increase arm manipulability and robot stability, while performing various manipulation tasks with its hands; that enables dexterous and stable manipulation. An objective manipulation task is given as the desired trajectories of both hands, and external forces may be applied to the hands. For carrying out this task, the hands are always controlled along their desired trajectories by impedance control. Coordinating with this motion of the hands, the robot controls its body and legs so that the hands may be easy to perform the task. It determines the next foothold by evaluating manipulabilities of both arms, direction of stable region and moving direction. An evaluation function consisting of manipulabilities of both arms and static stability of the robot is defined, and the robot steps if the new double support state is better than the current one. Both in double and single support states, the robot controls its body pose using the support leg/legs so that this evaluation function may be optimal. The swing leg is moved to the next foothold in single support state. Various motions of humanoid robot"HRP-1"by the proposed method are simulated using dynamic simulator"OpenHRP".

    DOI: 10.7210/jrsj.23.967

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00271676799?from=CiNii

  • 1P2-N-044 Real-time Pedestrian Detection for Safe Driving(Dynamic Sensing Technology to realize Safety and Security,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Suzuki Hidekazu, Minami Mamoru, Mae Yasushi

    2005   100 - 100   2005.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • 1P2-N-046 Acquisition of Color Pattern for Person Identification by Moving Camera(Dynamic Sensing Technology to realize Safety and Security,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    KUMENO Hironori, MAE Yasushi, UMETANI Tomohiro, SASAO Naoki, SAKAGUTI Yukinobu, TAKUBO Tomohito, INOUE Kenji, ARAI Tatsuo

    2005   101 - 101   2005.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • Development of Integrated Visual Haptic Display Using Translucent Flexible Sheet

    Kenji INOUE, Reiko Uesugi, Ryouhei Sasama, Tatsuo ARAI, Yasushi MAE

    Journal of Robotics and Mechatronics   2005.6

  • Development of Integrated Visual Haptic Display Using Translucent Flexible Sheet

    Kenji INOUE, Reiko Uesugi, Ryouhei Sasama, Tatsuo ARAI, Yasushi MAE

    Journal of Robotics and Mechatronics   2005.6

  • Evolutionary Pose Measurement by Stereo Model Matching

    Wei Song, Yasushi Mae, Mamoru Minami

    Journal of Advanced Computational Intelligence and Intelligent Informatics(JACIII)   Vol9 No2 P150-158   2005.3

     More details

  • パラレルメカニズムの姿勢測定数を軽減したキャリブレーションに関する考察

    田中航, 新井健生, 井上健司, 前泰志, 小関義彦

    日本機械学会論文集(C編)   2005.1

  • Pose Estimation of Objects using Multiple ID Devices

    UMETANI Tomohiro, MAE Yasushi, INOUE Kenji, ARAI Tatsuo, YAGI Jun-ichi

    JRSJ   23(1) 84-94 ( 1 )   84 - 94   2005.1

     More details

    Language:Japanese   Publisher:The Robotics Society of Japan  

    This paper proposes a method of pose (position and orientation) estimation of objects using multiple ID devices attached to each object for autonomous robots. The object pose is estimated from geometrical relation between poses of the devices attached to the object and the reading poses of the reader. It is required the poses of at least two ID devices in different orientations. We propose a method of precise localization of the ID device even when the ID reader has the volume of communication area. We show the feasibility of our proposed method through the pose estimation experiment.

    DOI: 10.7210/jrsj.23.84

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00246633956?from=CiNii

  • Direct Force and Position Control Using Kinematics and Dynamics of Manipulators in Constrained Motion

    Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2005)   p1892-1897   2005

     More details

  • Avoidance Ability of Redundant Mobile Manipulator during Hand Trajectory Tracking

    The 5th Asian Symposium on Applied Electromagnetics and Mechanics(ASAEM 2005)   2005

     More details

  • Evolutionary Recognition of Corridor and Branch using Adaptive Model with Layered Structure

    The 3rd International Symposium on Autonomous Minirobots for Research and Edutainment(AMiRE 2005)   p195-200   2005

     More details

  • Prediction of Fish Motion by Neural Network

    The 3rd International Symposium on Autonomous Minirobots for Research and Edutainment(AMiRE 2005)   p217-222   2005

     More details

  • Learning of Fish Movement Pattern by Neural Network

    SICE Annual Conference 2005 in Okayama PROCEEDINGS   TP1-03-2, p2400-2405   2005

     More details

  • Person Identification by Color Pattern Acquired in Visual Tracking

    2005

     More details

  • Identification and Localization of Buried Metal Object - High-Speed Matching using Genetic Algorithm-

    2005

     More details

  • Generation of Adaptive Motion Using Quasi-simultaneous Recognition of Plural Targets

    International Conference on Control, Automation, and Systems(ICCAS 2005)   p882-887   2005

     More details

  • Obstacle Avoidance of Redundant Manipulator Using Potential and AMSI

    International Conference on Control, Automation, and Systems(ICCAS 2005)   p740-745   2005

     More details

  • Person Identification by Color Pattern Acquired in Visual Tracking

    Proceedings of the 2nd International Symposium on Systems and Human Science (SSR2005)   2005

     More details

  • Identification and Localization of Buried Metal Object - High-Speed Matching using Genetic Algorithm-

    Proceedings of the 2nd International Symposium on Systems and Human Science (SSR2005)   2005

     More details

  • Generation of Adaptive Motion Using Quasi-simultaneous Recognition of Plural Targets

    International Conference on Control, Automation, and Systems(ICCAS 2005)   p882-887   2005

     More details

  • Obstacle Avoidance of Redundant Manipulator Using Potential and AMSI

    International Conference on Control, Automation, and Systems(ICCAS 2005)   p740-745   2005

     More details

  • Identification and Localization of Buried Metal Object - High-Speed Matching using Genetic Algorithm-

    2005

     More details

  • Person Identification by Color Pattern Acquired in Visual Tracking

    2005

     More details

  • Motion Intelligence to Adapt for Changing of Its Body Condition of Mobile Manipulator to Utilize Dynamical Interferences

    SICE Annual Conference 2005 in Okayama PROCEEDINGS   WP1-03-4, p3317-3322   2005

     More details

  • Evolutionary Head Pose Measurement by Stereo Model Matching

    SICE Annual Conference 2005 in Okayama PROCEEDINGS   WA2-03-2, p2871-2876   2005

     More details

  • Avoidance Ability of Redundant Mobile Manipulator during Hand Trajectory Tracking

    The 5th Asian Symposium on Applied Electromagnetics and Mechanics(ASAEM 2005)   2005

     More details

  • Proposal of Wheelchair User Support System Using Humanoid Robots for Creating SSR Society

    Systems and Human Science - for Safety, Security and Dependability -   2005

  • Workspace Analysis of Parallel Mechanism with Adjustable Link Parameters

    Proceedings of the 12th International Conference on Advanced Robotics   202-207   2005

  • Direct force and position control using kinematics and dynamics of manipulators in constrained motion

    Takeshi Ikeda, Mamoru Minami, Yasushi Mae

    2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS   p1892-1897   2544 - 2549   2005

     More details

  • Design of Search Balls with Wide Field of View for Searching Inside of Rubble

    Proceedings of the 2005 IEEE International Workshop on Safety, Security and Rescue Robotics   170-175   2005

  • Design of Search Balls with Wide Field of View for Searching Inside of Rubble

    Proceedings of the 2005 IEEE International Workshop on Safety, Security and Rescue Robotics   170-175   2005

  • Pose Estimation of Objects using Multiple ID Devices

    Journal of the Robotics Society of Japan, vol.18, no.1, pp.102-109   23,1,84-94   2005

     More details

  • Head detection and tracking for monitoring human behaviors

    Y Mae, N Sasao, Y Sakaguchi, K Inoue, T Arai

    SYSTEMS AND HUMAN SCIENCE - FOR SAFETY, SECURITY AND DEPENDABILITY   477 - +   2005

     More details

  • Calibration Method with Simplified Measurement for Parallel Mechanism

    Transactions of the Japan Society of Mechanical Engineers   2005

  • Evolutionary Head Pose Measurement by Stereo Model Matching

    SICE Annual Conference 2005 in Okayama PROCEEDINGS   WA2-03-2, p2871-2876   2005

     More details

  • Evolutionary Recognition of Corridor and Branch using Adaptive Model with Layered Structure

    The 3rd International Symposium on Autonomous Minirobots for Research and Edutainment(AMiRE 2005)   p195-200   2005

     More details

  • Prediction of Fish Motion by Neural Network

    The 3rd International Symposium on Autonomous Minirobots for Research and Edutainment(AMiRE 2005)   p217-222   2005

     More details

  • Motion Intelligence to Adapt for Changing of Its Body Condition of Mobile Manipulator to Utilize Dynamical Interferences

    SICE Annual Conference 2005 in Okayama PROCEEDINGS   WP1-03-4, p3317-3322   2005

     More details

  • Learning of Fish Movement Pattern by Neural Network

    SICE Annual Conference 2005 in Okayama PROCEEDINGS   TP1-03-2, p2400-2405   2005

     More details

  • Trajectory Tracking of Redundant Manipulators Based on Avoidance Manipulability Shape Index

    Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2005)   p1892-1897   2005

  • Guidance Control of Mobile Robot Preventing Slipping of Carrying Objects

    The 31st Annual Conference 2005 of the IEEE Industrial Electronics Society(IECON 2005)   p1779-1784   2005

  • Evaluation of Obstacle Avoidance Ability for Redundant Mobile Manipulators

    The 31st Annual Conference 2005 of the IEEE Industrial Electronics Society(IECON 2005)   p1768-1773   2005

  • Evaluation of obstacle avoidance ability for redundant mobile manipulators

    Hiroshi Tanaka, Mamoru Minami, Yasushi Mae

    IECON Proceedings (Industrial Electronics Conference)   2005   1768 - 1773   2005

     More details

    Language:English  

    In this paper, we presents a criteria of obstacle avoidance of mobile manipulator, which is composed of redundant manipulator and mobile robot. Concerning con guration control study of redundant manipulators, avoidance manipulability ellipsoid and avoidance manipulability shape index have been sugge sted so far as an index to symbolize avoidance ability of manipulator's shape when the hand is tracking to a desired trajectory. While following the proposed criteria of obstacle avoidance ability, in this paper the concept is extended for mobile manipulator in order to discuss the avoidance ability of intermediate links for mobile operations. First, the avoidance manipulability ellipsoid and the avoidance manipulability shape index of a mobile manipulator are formulated to check their abilities. Then, the avoidance manipulability shape index is evaluated by the simulation. © 2005 IEEE.

    DOI: 10.1109/IECON.2005.1569173

    Scopus

    researchmap

  • Guidance Control of Mobile Robot Preventing Slipping of Carrying Objects

    The 31st Annual Conference 2005 of the IEEE Industrial Electronics Society(IECON 2005)   p1779-1784   2005

  • Generating Whole Body Motion of Humanoid Robots for Manipulation Tasks

    INOUE Kenji, NISHIHAMA Yusuke, SAKATA Kotaro, ARAI Tatsuo, MAE Yasushi

    Journal of the Robotics Society of Japan, vol.18, no.1, pp.102-109   23,8,967-976 ( 8 )   967 - 976   2005

     More details

    Language:Japanese   Publisher:The Robotics Society of Japan  

    A control method for humanoid robots of mobile manipulation is proposed. A robot autonomously generates its whole body motion and steps so as to increase arm manipulability and robot stability, while performing various manipulation tasks with its hands; that enables dexterous and stable manipulation. An objective manipulation task is given as the desired trajectories of both hands, and external forces may be applied to the hands. For carrying out this task, the hands are always controlled along their desired trajectories by impedance control. Coordinating with this motion of the hands, the robot controls its body and legs so that the hands may be easy to perform the task. It determines the next foothold by evaluating manipulabilities of both arms, direction of stable region and moving direction. An evaluation function consisting of manipulabilities of both arms and static stability of the robot is defined, and the robot steps if the new double support state is better than the current one. Both in double and single support states, the robot controls its body pose using the support leg/legs so that this evaluation function may be optimal. The swing leg is moved to the next foothold in single support state. Various motions of humanoid robot"HRP-1"by the proposed method are simulated using dynamic simulator"OpenHRP".

    DOI: 10.7210/jrsj.23.967

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00271676799?from=CiNii

  • Trajectory Tracking of Redundant Manipulators Based on Avoidance Manipulability Shape Index

    Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2005)   p1892-1897   2005

  • Operationality of two-fingered micro hand

    Nishi D, Arai T, Inoue K, Mae Y, Tanikawa T

    2004   50 - 50   2004.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • Marionette System for Control and Display Device of Whole-body Motion : 1st Report: Development of Humanoid Device

    Nishii K, Takubo T, Inoue K, Mae Y, Arai T

    2004   185 - 185   2004.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • Identification and localization of Buried Metal Object : Detection of Metal Object Partially Buried

    Mae Y, Kumeno H, Arai T, Inoue K, Takubo T, Niho H

    2004   166 - 166   2004.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • 3D Map Building by Moving Three-camera Unit in Indoor Environment

    Sakaguchi Y, Mae Y, Sasao N, Takubo T, Inoue K, Arai T

    2004   211 - 211   2004.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • Development of "Search Balls" : Sensor Units for Searching Inside of Rubbles : The design of impact-resistant ball structure

    Yamamoto M, Inoue K, Mae Y, Arai T

    2004   5 - 5   2004.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • Development of Visual and Haptic Display using Flexible Sheet : Rear Projection Sheet Display

    Inoue K, Uesugi R, Sasama R, Arai T, Mae Y

    2004   84 - 85   2004.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • Hand Position Control of Humanoid Robots Using Acceleratoin and Gyro Sensors

    Kitayama K, Inoue K, Takubo T, Mae Y, Arai T

    2004   101 - 101   2004.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • Real-time Visual Person Tracking by Evolutionary Recognition

    Yasushi MAE, Zianing Zhu, Mamoru Minami

    Journal of Machine Intelligence and Robotic Control   Vol6 No3 P69-76   2004.6

     More details

  • Omni-directional Locomotion of Robots with Limb Mechanism

    MAE Yasushi, TAKAHASHI Yuuya, ARAI Tatsuo, INOUE Kenji, KOYACHI Noriho

    JRSJ   22(3) 329-335 ( 3 )   329 - 335   2004.4

     More details

    Language:Japanese   Publisher:The Robotics Society of Japan  

    A new working robot has been designed and built on the basis of the concept"Limb Mechanism"that integrates functions of legged locomotion and arm manipulation. As one of feasible structures of the limb mechanism a six-limbed mechanism will be analyzed and evaluated in the aspects of omni-directional mobility. To evaluate the omni-directional mobility, a stroke and a stability margin are examined in all walking directions during six-legged and four-legged locomotion. The paper introduces two types of structures: radial and parallel arrangement of legs, and compares their stroke and stability in all directions during six-legged locomotion. The radial arrangement model will be proved to have the omni-directional mobility even in four-legged locomotion. Based on this evaluation the proto-type robot is designed and built. The developed robot has radially arranged six limbs that can be used for both locomotion and manipulation.

    DOI: 10.7210/jrsj.22.329

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00238236400?from=CiNii

  • Parallel Mechanism with Adjustable Link Parameters

    ARAI Tatsuo, KOSEKI Yoshihiko, TAKAYAMA Kazunari, INOUE Kenji, MAE Yasushi

    JRSJ   vol.22, no.1, pp.140-147 ( 1 )   140 - 147   2004.1

     More details

    Language:Japanese   Publisher:The Robotics Society of Japan  

    This paper proposed an adjustable parallel mechanism, which can change its workspace by change of link parameters. Firstly, adjustable parameters and adjusting methods are classified and discussed. Secondly, the workspace of HEXA type with adjustable middle links is numerically analyzed. The mechanism is changed translationally and rotationally and the volumes and centroids of its translational and rotational workspace are compared. The analyses conclude that adjusted mechanism is superior to non-adjusted mechanism in terms of workspace. Finally, a prototype of an adjustable 5-bar-link mechanism is introduced for an instance of simple adjustable parallel mechanism.

    DOI: 10.7210/jrsj.22.140

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00235657123?from=CiNii

  • Self-Assisted Care System for Human Mobility

    Teruhisa ONISHI, Tatsuo ARAI, Kenji INOUE, Yasushi MAE

    Journal of Robotics and Mechatronics   2004.1

  • Omni-Directional Locomotion of Robots with Limb Mechanism

    MAE Yasushi, TAKAHASHI Yuuya, ARAI Tatsuo, INOUE Kenji, KOYACHI Noriho

    Journal of the Robotics Society of Japan, vol.22, no.3, pp.329-335   vol.22, no.3, pp.329-335 ( 3 )   329 - 335   2004

     More details

    Language:Japanese   Publisher:The Robotics Society of Japan  

    A new working robot has been designed and built on the basis of the concept"Limb Mechanism"that integrates functions of legged locomotion and arm manipulation. As one of feasible structures of the limb mechanism a six-limbed mechanism will be analyzed and evaluated in the aspects of omni-directional mobility. To evaluate the omni-directional mobility, a stroke and a stability margin are examined in all walking directions during six-legged and four-legged locomotion. The paper introduces two types of structures: radial and parallel arrangement of legs, and compares their stroke and stability in all directions during six-legged locomotion. The radial arrangement model will be proved to have the omni-directional mobility even in four-legged locomotion. Based on this evaluation the proto-type robot is designed and built. The developed robot has radially arranged six limbs that can be used for both locomotion and manipulation.

    DOI: 10.7210/jrsj.22.329

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00238236400?from=CiNii

  • Parallel Mechanism with Adjustable Link Parameters

    ARAI Tatsuo, KOSEKI Yoshihiko, TAKAYAMA Kazunari, INOUE Kenji, MAE Yasushi

    Journal of the Robotics Society of Japan, vol.22, no.1, pp.140-147   vol.22, no.1, pp.140-147 ( 1 )   140 - 147   2004

     More details

    Language:Japanese   Publisher:The Robotics Society of Japan  

    This paper proposed an adjustable parallel mechanism, which can change its workspace by change of link parameters. Firstly, adjustable parameters and adjusting methods are classified and discussed. Secondly, the workspace of HEXA type with adjustable middle links is numerically analyzed. The mechanism is changed translationally and rotationally and the volumes and centroids of its translational and rotational workspace are compared. The analyses conclude that adjusted mechanism is superior to non-adjusted mechanism in terms of workspace. Finally, a prototype of an adjustable 5-bar-link mechanism is introduced for an instance of simple adjustable parallel mechanism.

    DOI: 10.7210/jrsj.22.140

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00235657123?from=CiNii

  • Human Suppert System Using Humanoid Robots for Safe, Secure and Reliable Society : Comprehensive Support of Wheelchair Users

    Sakata K, Inoue K, Takubo T, Arai T, Mae Y

    165 - 165   2004

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • Link Length Control using Dynamics for Parallel Mechanism with Adjustable Link Parameters

    Proceedings of the 5th International Conderence on Machine Automation (ICMA2004)   2004

     More details

  • Psychological evaluation on shape and motions of real humanoid robot

    K Sakata, T Takubo, K Inoue, S Nonaka, Y Mae, T Arai

    RO-MAN 2004: 13TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS   29 - 34   2004

     More details

    Language:English  

    Web of Science

    researchmap

  • Mobile Manipulation of Humanoid Robots-Control Method for CoM Position with External Force-

    Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems   2004

     More details

  • Marionette System for Operating and Displaying Robot Whole-Body Motion-Development of Similar Humanoid-Type Device-

    Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems   2004

     More details

  • Finding and Quantitative Evaluation of Minute Flaws on Metal Surface Using Hairline

    The 30th Annual Conference of the IEEE Industrial Electronics Society (IECON 2004)   CD-ROM TC4-3   2004

     More details

  • Detection of Dynamic Obstacles for Building 3D Map using Human Action Recognition

    Proceedings of the Fourth International Symposium on Human and Artificial Intelligence Systems (HART2004)   2004

     More details

  • Pose Measurement of 3-D Object Using Model-based Matching in Stereo Image

    The 5th International Conference on Machine Automation(ICMA 2004)   P369-374   2004

     More details

  • Wheelchair User Support System Using Humanoid Robots -System Concept and Experiments on Pushing Wheelchair

    SICE Annual Conference 2004   1650-1655   2004

     More details

  • Omni-Directional Gait of Multi-Legged Rescue Robot

    Proceedings of the 2004 IEEE International Conference on Robotics and Automation ICRA2004   2004

     More details

  • Evaluation of Human Sense of Security for Coexisting Robots using Virtual Reality -1st report

    Proceedings of the 2004 IEEE International Conference on Robotics and Automation ICRA2004   2004

     More details

  • Design of Multi Sensor Units for Searching Inside of Rubble

    Proceedings of the 5th International Conderence on Machine Automation (ICMA2004)   2004

     More details

  • Integrated Visual and Haptic Display Using Translucent and Flexible Sheet

    Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems   2004

     More details

  • Building 3D Map for Localization using Human Actio

    Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems   2004

     More details

  • Identification of Partially-Exposed Metal Object

    Proceedings of the 21st International Symposium on Automation and Robotics in Construction   2004

     More details

  • Wheelchair User Support System Using Humanoid Robots -System Concept and Experiments on Pushing Wheelchair

    SICE Annual Conference 2004   1650-1655   2004

     More details

  • Pushing Object by Humanoid Robot Using Single Leg Support Dynamics

    Takubo T, Inoue K, Sakata K, Mae Y, Arai T

    101 - 101   2004

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • 3D Map Building using Human Action by Moving Three-camera Unit

    SICE Annual Conference 2004   1978-1983   2004

     More details

  • Evaluation of Human Sense of Security for Coexisting Robots using Virtual Reality -1st report

    Proceedings of the 2004 IEEE International Conference on Robotics and Automation ICRA2004   2004

     More details

  • Omni-Directional Gait of Multi-Legged Rescue Robot

    Proceedings of the 2004 IEEE International Conference on Robotics and Automation ICRA2004   2004

     More details

  • Pose Measurement of 3-D Object Using Model-based Matching in Stereo Image

    The 5th International Conference on Machine Automation(ICMA 2004)   P369-374   2004

     More details

  • Finding and Quantitative Evaluation of Minute Flaws on Metal Surface Using Hairline

    The 30th Annual Conference of the IEEE Industrial Electronics Society (IECON 2004)   CD-ROM TC4-3   2004

     More details

  • Mobile Manipulation of Humanoid Robots-Control Method for CoM Position with External Force-

    Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems   2004

     More details

  • Marionette System for Operating and Displaying Robot Whole-Body Motion-Development of Similar Humanoid-Type

    Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems   2004

     More details

  • 3D Map Building using Human Action by Moving Three-camera Unit

    SICE Annual Conference 2004   1978-1983   2004

     More details

  • Search for Survivors by Locomotive Working Robots in Rescue Operations

    Yasushi MAE, Tatsuo ARAI, Kenji INOUE, Atsushi Yoshida, Kunio MIYAWAKI, Hironori Adachi

    International Journal of Robotics and Automation   2003.10

     More details

  • Development of Visual and Haptic Display using Flexible Sheet : Proposal of See-through Sheet Display

    UESUGI Reiko, INOUE Kenji, SASAMA Ryouhei, ARAI Tatsuo, MAE Yasushi

    8   445 - 446   2003.9

     More details

    Language:Japanese  

    CiNii Books

    researchmap

  • Display of Variable Compliance by Haptic Devices Using Flexible Sheet

    Inoue Kenji, Uesugi Reiko, Sasama Ryohei, Arai Tatsuo, Mae Yasushi

    Transactions of the Virtual Reality Society of Japan   vol.8, no.3, pp.295-302, 2003. ( 3 )   295 - 302   2003.9

     More details

    Language:Japanese   Publisher:THE VIRTUAL REALITY SOCIETY OF JAPAN  

    A new haptic device using flexible sheet such as rubber is proposed. Controlling the bias tension of the sheet, the device varies compliance of the sheet in the normal direction; users can feel compliance of various virtual objects if they touch the sheet. The device is suitable for displaying soft objects. An elastic plane model offlexible sheet is analyzed by FEM. A prototype device using a square rubber sheet is developed. This device controls the bias tension of the sheet by pulling its four corners with four motors. The normal force applied to the center of the sheet and the normal displacement at this point are measured, and the obtained force-displacement curves of three kinds of sheet-urethane, chloroprene rubber and low elastic rubber-are compared. The results show that the developed device can generate different compliance by changing the bias tension. The compliance of human palm is measured and simulated by the device.

    DOI: 10.18974/tvrsj.8.3_295

    CiNii Books

    researchmap

  • Development of the Basic Structure for an Exoskeleton Cyborg System

    Teruhisa ONISHI, Tatsuo ARAI, Kenji INOUE, Yasushi MAE

    Journal of Aritificial Life and Robotics   vol.7, pp.95-101   2003.7

     More details

  • Development of the Basic Structure for an Exoskeleton Cyborg System

    Teruhisa ONISHI, Tatsuo ARAI, Kenji INOUE, Yasushi MAE

    Journal of Aritificial Life and Robotics   vol.7, pp.95-101   2003.7

     More details

  • Locomotive Working Robots in Rescue Operations

    Yasushi MAE, Tatsuo ARAI, Kenji INOUE, Atsushi Yoshida, Kunio MIYAWAKI, Hironori Adachi

    International Journal of ROBOTICS & AUTOMATION, ACTA Press   2003.4

     More details

  • Development of Haptic Device Using Flexible Sheet

    Kenji INOUE, Reiko Uesugi, Tatsuo ARAI, Yasushi MAE

    Journal of Robotics and Mechatronics,   vol.15, no.2, pp.121-127, 2003. 15(2) 121-127   2003.4

     More details

  • Tension Control and Force Estimation of Hybrid Drive Parallel Arm

    MAE Yasushi, ARAI Tatsuo, KAMISHIMA Hirofumi, INOUE Kenji, MIYAWAKI Kunio, KOYACHI Noriho

    Journal of the Robotics Society of Japan, vol.21, no.4, pp.436-443   vol.21, no.4, pp.436-443 ( 4 )   436 - 443   2003

     More details

    Language:Japanese   Publisher:The Robotics Society of Japan  

    A hybrid drive parallel arm with 3 cylinders and 4 wires has been developed for manipulating heavy materials. This paper discusses the estimation of various data of handling object and external force at handling object using only 4 tension sensor output. The developed hybrid arm is a kind of actuation-redundant mechanism and its internal force can be freely controlled. The proposed algorithm will compensate the internal force and estimate various data by exploiting 4 tension sensor output obtained at several arm positions. The paper introduces the hybrid parallel arm and the tension sensor. Then, a control method of the arm using tension information is described. Finally, an estimation method of gravity center and mass of an unknown handling object, and external force estimation are explained. The basic experiments using the prototype arm are presented with effective reasonable results.

    DOI: 10.7210/jrsj.21.436

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00208624329?from=CiNii

  • Display of Variable Compliance by Haptic Devices Using Flexible Sheet

    Inoue Kenji, Uesugi Reiko, Sasama Ryohei, Arai Tatsuo, Mae Yasushi

    Transactions of the Virtual Reality Society of Japan   vol.8, no.3, pp.295-302, ( 3 )   295 - 302   2003

     More details

    Language:Japanese   Publisher:THE VIRTUAL REALITY SOCIETY OF JAPAN  

    A new haptic device using flexible sheet such as rubber is proposed. Controlling the bias tension of the sheet, the device varies compliance of the sheet in the normal direction; users can feel compliance of various virtual objects if they touch the sheet. The device is suitable for displaying soft objects. An elastic plane model offlexible sheet is analyzed by FEM. A prototype device using a square rubber sheet is developed. This device controls the bias tension of the sheet by pulling its four corners with four motors. The normal force applied to the center of the sheet and the normal displacement at this point are measured, and the obtained force-displacement curves of three kinds of sheet-urethane, chloroprene rubber and low elastic rubber-are compared. The results show that the developed device can generate different compliance by changing the bias tension. The compliance of human palm is measured and simulated by the device.

    DOI: 10.18974/tvrsj.8.3_295

    CiNii Books

    researchmap

  • Display of Variable Compliance by Haptic Devices Using Flexible Sheet

    Inoue Kenji, Uesugi Reiko, Sasama Ryohei, Arai Tatsuo, Mae Yasushi

    Transactions of the Virtual Reality Society of Japan, vol.8, no.3, pp.295-302, 2003.   vol.8, no.3, pp.295-302, ( 3 )   295 - 302   2003

     More details

    Language:Japanese   Publisher:THE VIRTUAL REALITY SOCIETY OF JAPAN  

    A new haptic device using flexible sheet such as rubber is proposed. Controlling the bias tension of the sheet, the device varies compliance of the sheet in the normal direction; users can feel compliance of various virtual objects if they touch the sheet. The device is suitable for displaying soft objects. An elastic plane model offlexible sheet is analyzed by FEM. A prototype device using a square rubber sheet is developed. This device controls the bias tension of the sheet by pulling its four corners with four motors. The normal force applied to the center of the sheet and the normal displacement at this point are measured, and the obtained force-displacement curves of three kinds of sheet-urethane, chloroprene rubber and low elastic rubber-are compared. The results show that the developed device can generate different compliance by changing the bias tension. The compliance of human palm is measured and simulated by the device.

    DOI: 10.18974/tvrsj.8.3_295

    CiNii Books

    researchmap

  • Automated micro handling

    A Suzuki, T Arai, Y Mae, K Inoue, T Tanikawa

    2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS   348 - 353   2003

     More details

    Language:English   Publisher:IEEE  

    Biotechnologies demand high quality micro robotics including micromanipulation, micro machining, micro assembling, and other required micro operations. Most of them are done manually under microscope, and it might be an obstacle to increasing the efficiency of the operation. The automated micromanipulation (or auto-micromanipulation) system will be useful for reducing human tasks and improving the efficiency. We develop an auto-micromanipulation system including auto-calibration and auto-handling. Auto-calibration requires recognition of fingertip position in three-dimensional space. The fingertip position is detected by the combination of the one-dimensional search in depth using auto-focusing and the two-dimensional search in the focused plane using the correlation matching. The color information processing is adopted for the auto-focusing. Using the calibrated micromanipulator, we achieved some micro tasks, picking up, rotating and so on. We developed an auto-micromanipulation system that can recognize and pick up a micro object automatically. The experimental results show the efficiency of our system.

    DOI: 10.1109/CIRA.2003.1222114

    Web of Science

    researchmap

  • Automated micro handling

    A. Suzuki, Y. Mae, T. Tanikawa, T. Arai, K. Inoue

    Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA   1   348 - 353   2003

     More details

    Language:English   Publisher:Institute of Electrical and Electronics Engineers Inc.  

    Biotechnologies demand high quality micro robotics including micromanipulation, micro machining, micro assembling, and other required micro operations. Most of them are done manually under microscope, and it might be an obstacle to increasing the efficiency of the operation. The automated micromanipulation (or automicromanipulation) system will be useful for reducing human tasks and improving the efficiency. We develop an auto-micromanipulation system including auto-calibration and auto-handling. Auto-calibration requires recognition of fingertip position in three-dimensional space. The fingertip position is detected by the combination of the one-dimensional search in depth using auto-focusing and the two-dimensional search in depth using auto-focusing and the two-dimensional search in the focused plane using the correlation matching. The color information processing is adopted for the auto-focusing. Using the calibrated micromanipulator, we achieved some micro tasks, picking up, rotating and so on. We developed an auto-micromanipulation system that can recognize and pick up a micro object automatically. The experimental results show the efficiency of our system.

    DOI: 10.1109/CIRA.2003.1222114

    Scopus

    researchmap

  • ハイブリッド駆動パラレルアームの張力補正と外力推定

    日本ロボット学会誌, vol.21, no.4, pp.436-443   vol.21, no.4, pp.436-443   2003

  • Tension Control and Force Estimation of Hybrid Drive Parallel Arm

    MAE Yasushi, ARAI Tatsuo, KAMISHIMA Hirofumi, INOUE Kenji, MIYAWAKI Kunio, KOYACHI Noriho

    JRSJ   21(4) 436-443 ( 4 )   436 - 443   2003

     More details

    Language:Japanese   Publisher:The Robotics Society of Japan  

    A hybrid drive parallel arm with 3 cylinders and 4 wires has been developed for manipulating heavy materials. This paper discusses the estimation of various data of handling object and external force at handling object using only 4 tension sensor output. The developed hybrid arm is a kind of actuation-redundant mechanism and its internal force can be freely controlled. The proposed algorithm will compensate the internal force and estimate various data by exploiting 4 tension sensor output obtained at several arm positions. The paper introduces the hybrid parallel arm and the tension sensor. Then, a control method of the arm using tension information is described. Finally, an estimation method of gravity center and mass of an unknown handling object, and external force estimation are explained. The basic experiments using the prototype arm are presented with effective reasonable results.

    DOI: 10.7210/jrsj.21.436

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00208624329?from=CiNii

  • Calibration met-hod by simplified measurement for parallel mechanism

    W Tanaka, T Arai, K Inoue, Y Mae, CS Park, Y Koseki

    PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3   pp.1781-1786   1781 - 1786   2003

     More details

    Language:English   Publisher:UNIV COIMBRA, FAC CIENCIAS & TECHNOL  

    This paper discusses a simplified calibration method for parallel mechanism. Since it is difficult to measure full 6 degree of freedom of the end plate accurately, especially orientation, the simplified measurement for calibration is discussed. First, the condition of orientation measurements on the calibration is investigated. The simplified calibration method which uses as less orientation measurement as possible is proposed. The simulation results show the feasibility of the proposed method.

    Web of Science

    researchmap

  • Shape Adaptation of Planar Hyper-redundant Manipulators to Narrow and Unknown Environment using Proximity Sensors

    Proceedings of the 11th International Conference on Advanced Robotics (ICAR 2003), pp.482-487   pp.482-487   2003

     More details

  • Tension Control and Force Estimation for Hybrid Drive Parallel Arm

    Proceedings of the 11th Mediterranean Conference on Control and Automation, IV11-04   IV11-04   2003

     More details

  • Shape adaptation of planar hyper-redundant manipulators to narrow and unknown environment using proximity sensors

    H Tani, K Inoue, T Arai, Y Mae

    PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3   482-487   482 - 487   2003

     More details

    Language:English  

    Web of Science

    researchmap

  • Automated Handling of Construction Components Integrated with Their Information

    Umetani T., Mae Y., Inoue K., Yagi J., Arai T.

    14 - 14   2003

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • Person Detection by Mobile-Manipulator for Monitoring

    SICE Annual Conference 2003   2845-2850   2003

     More details

  • Calibration met-hod by simplified measurement for parallel mechanism

    W Tanaka, T Arai, K Inoue, Y Mae, CS Park, Y Koseki

    PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3   pp.1781-1786   1781 - 1786   2003

     More details

    Language:English   Publisher:UNIV COIMBRA, FAC CIENCIAS & TECHNOL  

    This paper discusses a simplified calibration method for parallel mechanism. Since it is difficult to measure full 6 degree of freedom of the end plate accurately, especially orientation, the simplified measurement for calibration is discussed. First, the condition of orientation measurements on the calibration is investigated. The simplified calibration method which uses as less orientation measurement as possible is proposed. The simulation results show the feasibility of the proposed method.

    Web of Science

    researchmap

  • Sensor-based walking on rough terrain for legged robots

    Preprints of the 4th International Conference on Field and Service Robotics, pp.127-132   pp.127-132   2003

     More details

  • Head Detection and Tracking for Monitoring Human Behsviors

    Proceedings of the First International Symposium on Systems & Human Science, pp.239-244   pp.239-244   2003

     More details

  • Translucent view for robot tele-operation

    H Tatsumi, Y Mae, T Arai, K Inoue

    RO-MAN 2003: 12TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS   7 - 12   2003

     More details

    Language:English   Publisher:IEEE  

    This paper proposes a presentation method of translucent view of occluding objects in working environment for robot tele-operation. Though vision is important and useful for tele-operators to obtain working environmental information, target objects in performing tasks, especially in manipulation tasks, may be occluded by the body or the robot arm. If the operators can see the target objects through the occluding objects, tele-operation using vision becomes easier. The translucent view is generated from the cameras on the robot and/or around the robot's working environment. The translucent view is applicable in a presentation method, Object-centered View (OV), where a target object in performing tasks is always centered at the view. Tele-operators can perform tasks efficiently using translucent view in the object-centered view.

    Web of Science

    researchmap

  • Mobile manipulation of humanoid robots - Control method for accurate manipulation

    Y Nishihama, K Inoue, T Arai, Y Mae

    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4   pp.1914-1919   1914 - 1919   2003

     More details

    Language:English  

    Web of Science

    researchmap

  • Automated Handling of Construction Components Based on Parts and Packets Unification

    Proceedings of the 20th International Symposium on Automation and Robotics in Construction, pp.339-344   pp.339-344   2003

     More details

  • Development of "Search Balls" : Sensor Units for Searching Inside of Rubbles : 1st Report : Fundamental experiments on ball shape

    Inoue K., Yamamoto M., Mae Y., Arai T.

    126 - 126   2003

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • Head Detection and Tracking for Monitoring Human Behsviors

    Proceedings of the First International Symposium on Systems & Human Science, pp.239-244   pp.239-244   2003

     More details

  • Translucent view for robot tele-operation

    H Tatsumi, Y Mae, T Arai, K Inoue

    RO-MAN 2003: 12TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS   7 - 12   2003

     More details

    Language:English   Publisher:IEEE  

    This paper proposes a presentation method of translucent view of occluding objects in working environment for robot tele-operation. Though vision is important and useful for tele-operators to obtain working environmental information, target objects in performing tasks, especially in manipulation tasks, may be occluded by the body or the robot arm. If the operators can see the target objects through the occluding objects, tele-operation using vision becomes easier. The translucent view is generated from the cameras on the robot and/or around the robot's working environment. The translucent view is applicable in a presentation method, Object-centered View (OV), where a target object in performing tasks is always centered at the view. Tele-operators can perform tasks efficiently using translucent view in the object-centered view.

    Web of Science

    researchmap

  • Proposal of Wheelchair Support System Using Humanoid Robots for Creating SSR Society

    Proceedings of the First International Symposium on Systems & Human Science, pp.53-58   pp.53-58   2003

     More details

  • Sensor-based walking on rough terrain for legged robots

    Preprints of the 4th International Conference on Field and Service Robotics   127-132   2003

     More details

  • Automated Micro Handling

    Proceedings of the 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, Cira 2002,Japan   TP-3-I-2   2003

     More details

  • Automated Handling of Construction Components Based on Parts and Packets Unification

    Proceedings of the 20th International Symposium on Automation and Robotics in Construction   339-344   2003

     More details

  • See-through Sheet Visual Display for Haptic Device Using Flexible Sheet

    13th International Conference on Artificial Reality and Telexistence ICAT2003   2003

     More details

  • Calibration met-hod by simplified measurement for parallel mechanism

    W Tanaka, T Arai, K Inoue, Y Mae, CS Park, Y Koseki

    PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3   3,1781-1786   1781 - 1786   2003

     More details

    Language:English   Publisher:UNIV COIMBRA, FAC CIENCIAS & TECHNOL  

    This paper discusses a simplified calibration method for parallel mechanism. Since it is difficult to measure full 6 degree of freedom of the end plate accurately, especially orientation, the simplified measurement for calibration is discussed. First, the condition of orientation measurements on the calibration is investigated. The simplified calibration method which uses as less orientation measurement as possible is proposed. The simulation results show the feasibility of the proposed method.

    Web of Science

    researchmap

  • Shape Adaptation of Planar Hyper-redundant Manipulators to Narrow and Unknown Environment using Proximity Sensors

    Proceedings of the 11th International Conference on Advanced Robotics   1,482-487   2003

     More details

  • Tension Control and Force Estimation for Hybrid Drive Parallel Arm

    Proceedings of the 11th Mediterranean Conference on Control and Automation   IV11-04   2003

     More details

  • Development of Haptic Device Using Flexible Sheet

    Journal of Robotics and Mechatronics, vol.15, no.2, pp.121-127, 2003.   vol.15, no.2, pp.121-127,   2003

     More details

  • See-through Sheet Visual Display for Haptic Device Using Flexible Sheet

    13th International Conference on Artificial Reality and Telexistence ICAT2003   2003

     More details

  • Proposal of Wheelchair Support System Using Humanoid Robots for Creating SSR Society

    Proceedings of the First International Symposium on Systems & Human Science, pp.53-58   pp.53-58   2003

     More details

  • Sensor-based walking on rough terrain for legged robots

    Preprints of the 4th International Conference on Field and Service Robotics, pp.127-132   pp.127-132   2003

     More details

  • Shape Adaptation of Planar Hyper-redundant Manipulators to Narrow and Unknown Environment using Proximity Sensors

    Proceedings of the 11th International Conference on Advanced Robotics (ICAR 2003), pp.482-487   pp.482-487   2003

     More details

  • Shape Adaptation of Planar Hyper-redundant Manipulators to Narrow and Unknown Environment using Proximity Sensors

    Proceedings of the 11th International Conference on Advanced Robotics   482-487   2003

     More details

  • Tension Control and Force Estimation for Hybrid Drive Parallel Arm

    Proceedings of the 11th Mediterranean Conference on Control and Automation, IV11-04   IV11-04   2003

     More details

  • Mobile Manipulation of Humanoid Robots: Control Method for Accurate Manipulation

    Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), pp.1914-1919   pp.1914-1919   2003

     More details

  • Automated Handling of Construction Components Based on Parts and Packets Unification

    Proceedings of the 20th International Symposium on Automation and Robotics in Construction, pp.339-344   pp.339-344   2003

     More details

  • Person Detection by Mobile-Manipulator for Monitoring

    SICE Annual Conference 2003   2845-2850   2003

     More details

  • Application of Limb Mechanism Robot to Rescue Tasks

    Yasushi MAE, Tatsuo ARAI, Kenji INOUE, Kunio MIYAWAKI

    Advanced Robotics, The International Journal of the Robotics Society of Japan   vol.16, no.6, pp.529-532   2002.11

  • Study about Characteristics of Body Holding Device

    Onishi Teruhisa, Arai Tatsuo, Inoue Kenji, Mae Yasushi

    2002   187 - 188   2002.10

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • 自律作業ロボット間における知識共有を目指した環境添付型記憶媒体の動的配置

    梅谷智弘, 前泰志, 井上健司, 新井健生

    日本ロボット学会誌   vol.20, no.6, pp.631-639 20(6) 631-639 ( 6 )   631 - 639   2002.9

     More details

  • Vision System for Micromanipulation

    Yousuke Katoh, Tatsuo ARAI, Kenji INOUE, Yasushi MAE, Tamio TANIKAWA

    Journal of Robotics and Mechatronics   vol.14, no.2, pp.203-209   2002.4

     More details

  • Error Analysis of Multilegged Robots for Dead Reckoning

    Yasushi MAE, Tatsuo ARAI, Kenji INOUE

    Journal of Robotics and Mechatronics   vol.14, no.2, pp.170-176   2002.4

     More details

  • Application of a 'limb mechanism' robot to rescue tasks

    Y Mae, T Arai, K Inoue, K Miyawaki

    ADVANCED ROBOTICS   16 ( 6 )   529 - 532   2002

     More details

    Language:English   Publisher:TAYLOR & FRANCIS LTD  

    DOI: 10.1163/156855302320535890

    Web of Science

    researchmap

  • A Hybrid Drive Parallel Arm for Heavy Material Handling

    IEEE Robotics Automation Magazine, vol.9, no.1, pp.45-54   vol.9, no.1, pp.45-54   2002

     More details

  • A Hybrid Drive Parallel Arm for Heavy Material Handling

    IEEE Robotics Automation Magazine, vol.9, no.1, pp.45-54   vol.9, no.1, pp.45-54   2002

     More details

  • Development of Basic Structure for Exoskeleton Cyborg System

    Proceedings of the 7th International Symposium on Artifical Life and Robotics (AROB 7th), pp.209-214   pp.209-214   2002

     More details

  • PARTS AND PACKETS UNIFICATION FOR CONSTRUCTION AUTOMATION AND ROBOTS

    Proceedings of 19th International Symposium on Automation and Robotics in Construction   311-316   2002

     More details

  • Design of Limb Mechanism Robot for Dual Arm Manipulation

    Proceedings of 2002 Japan-USA Symposium on Flexible Automation   1121-1126   2002

     More details

  • Evaluation of omni-directional mobility of multi-legged robots based on error analysis of dead reckoning

    Proceedings of 5th International Conference on Climbing and Walking Robots   271-278   2002

     More details

  • Automated Calibration for Micro Hand Using Visual Information

    Proceedings of the 2002 IEEE International Conference on Intelligent Robots and Systems   293-298   2002

     More details

  • Simplified Kinematic Calibration for a Class of Parallel Mechanism

    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002 IEEE ICRA)   483-488   2002

     More details

  • Mobile Manipulation of Humanoid Robots -Body and Leg Control for Dual Arm Manipulation-

    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002 IEEE ICRA)   2259-2264   2002

     More details

  • Mobile Manipulation of Humanoid Robots -Optimal Posture for Generating Large Force Based on Statics-

    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002 IEEE ICRA)   2271-2276   2002

     More details

  • Acquisition and Accumulation of Object Appearances using Successive Eigenspace Construction

    Proceedings of the fifth Asian Conference on Computer Vision   2,545-551   2002

     More details

  • Development of a Welfare Work Support System Using a Chair-desk

    Proceedings of the 6th International Conference on Mechatronics Technology (ICMT2002)   379-384   2002

     More details

  • Development of Basic Structure for Exoskeleton Cyborg System

    Proceedings of the 7th International Symposium on Artifical Life and Robotics (AROB 7th)   1,209-214   2002

     More details

  • Simplified Kinematic Calibration for a Class of Parallel Mechanism

    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002 IEEE ICRA), pp.483-488   pp.483-488   2002

     More details

  • Mobile Manipulation of Humanoid Robots -Optimal Posture for Generating Large Force Based on Statics-

    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002 IEEE ICRA), pp.2271-2276   pp.2271-2276   2002

     More details

  • Development of a Welfare Work Support System Using a Chair-desk

    Proceedings of the 6th International Conference on Mechatronics Technology (ICMT2002), pp.379-384   pp.379-384   2002

     More details

  • Error Analysis of Multilegged Robots for Dead Reckoning

    Journal of Robotics and Mechatronics, vol.14, no.2, pp.170-176   vol.14, no.2, pp.170-176   2002

     More details

  • Acquisition and Accumulation of Object Appearances using Successive Eigenspace Construction

    Proceedings of the fifth Asian Conference on Computer Vision, pp.545-551   pp.545-551   2002

     More details

  • Walking of Limb Mechanism on rough terrain

    Mure T., Arai T., Inoue K., Mae Y., Koyachi N.

    2002   71 - 71   2002

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • Design of Limb Mechanism Robot for Dual Arm Manipulation

    Proceedings of 2002 Japan-USA Symposium on Flexible Automation, pp.1121-1126   pp.1121-1126   2002

     More details

  • Mobile Manipulation of Humanoid Robots -Body and Leg Control for Dual Arm Manipulation-

    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002 IEEE ICRA), pp.2259-2264   pp.2259-2264   2002

     More details

  • Simplified Kinematic Calibration for a Class of Parallel Mechanism

    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002 IEEE ICRA), pp.483-488   pp.483-488   2002

     More details

  • Mobile Manipulation of Humanoid Robots -Optimal Posture for Generating Large Force Based on Statics-

    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002 IEEE ICRA), pp.2271-2276   pp.2271-2276   2002

     More details

  • Sensor -based walking of limb mechanism on rough terrain

    Proceedings of 5th International Conference on Climbing and Walking Robots, pp.479-486   pp.479-486   2002

     More details

  • 自律作業ロボット間における知識共有を目指した環境添付型記憶媒体の動的配置

    日本ロボット学会誌, vol.20, no.6, pp.631-639   vol.20, no.6, pp.631-639   2002

     More details

  • Fundamental Study on Human Support System Using Humanoid Robots for Creating SSR Society

    Proceedings of SICE Annual Conference 2002   2259-2260   2002

     More details

  • Search Task with Limb Mechanism Robot

    KITA Kazuo, MAE Yasushi, ARAI Tatsuo, INOUE Kenji, MIYAMAKI Kunio

    2002   83 - 83   2002

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • Development of Body Holding Device with Excretion Processing Device

    Onishi T., Arai T., Inoue K., Mae Y.

    2002   85 - 85   2002

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • Auto-Calibration for Micro-Hand

    Suzuki A., Arai T., Mae Y., Inoue K., Kato Y., Tanikawa T.

    2002   52 - 52   2002

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • Mobile Manipulation of Humanoid Robots : Step Motion on Rough Terrain

    Nishihama Y., Inoue K., Arai T., Mae Y.

    2002   102 - 102   2002

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • Mechanism Design for a Linear-Actuated Parallel Mechanism based on Work Specifications

    Masuda T., Arai T., Inoue K., Mae Y.

    2002   69 - 69   2002

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • Integration of Components and Information for Construction

    Umetani T., Mae Y., Arai T., Inoue K., Kamishima H.

    2002   15 - 15   2002

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • A Calibration Method of Parallel Mechanisms of Using Position Measurements

    Tanaka W., Arai T., Inoue K., Mae Y., Paku C. S.

    2002   90 - 90   2002

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • External Force Estimation for Hybrid Arm

    MAE Y., ARAI T., INOUE K., KAMISHIMA H., MIYAWAKI K.

    2002   91 - 91   2002

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • Mobile Manipulation of Humanoid Robots -Body and Leg Control for Dual Arm Manipulation-

    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002 IEEE ICRA), pp.2259-2264   pp.2259-2264   2002

     More details

  • Evaluation of omni-directional mobility of multi-legged robots based on error analysis of dead reckoning

    Proceedings of 5th International Conference on Climbing and Walking Robots, pp.271-278   pp.271-278   2002

     More details

  • Automated Calibration for Micro Hand Using Visual Information

    Proceedings of the 2002 IEEE International Conference on Intelligent Robots and Systems, pp.293-298   pp.293-298   2002

     More details

  • Fundamental Study on Human Support System Using Humanoid Robots for Creating SSR Society

    Proceedings of SICE Annual Conference 2002   2259-2260   2002

     More details

  • Design of Limb Mechanism Robot for Dual Arm Manipulation

    Proceedings of 2002 Japan-USA Symposium on Flexible Automation, pp.1121-1126   pp.1121-1126   2002

     More details

  • Search task by limb mechanism robot with infrared sensors and cameras

    Proceedings of 5th International Conference on Climbing and Walking Robots, pp.241-246   pp.241-246   2002

     More details

  • Adaptive Relocation of Environment-Attached Storage Devices for Knowledge-Sharing among Autonomous Robots

    Journal of the Robotics Society of Japan, vol.20, no.6, pp.631-639   vol.20, no.6, pp.631-639   2002

     More details

  • Sensor -based walking of limb mechanism on rough terrain

    Proceedings of 5th International Conference on Climbing and Walking Robots, pp.479-486   pp.479-486   2002

     More details

  • Parts and Packets Unification for Construction Automation and Robots

    Proceedings of 19th International Symposium on Automation and Robotics in Construction, pp.311-316   pp.311-316   2002

     More details

  • Development of a Welfare Work Support System Using a Chair-desk

    Proceedings of the 6th International Conference on Mechatronics Technology (ICMT2002), pp.379-384   pp.379-384   2002

     More details

  • Automated Calibration for Micro Hand Using Visual Information

    Proceedings of the 2002 IEEE International Conference on Intelligent Robots and Systems, pp.293-298   pp.293-298   2002

     More details

  • Evaluation of omni-directional mobility of multi-legged robots based on error analysis of dead reckoning

    Proceedings of 5th International Conference on Climbing and Walking Robots, pp.271-278   pp.271-278   2002

     More details

  • Parts and Packets Unification for Construction Automation and Robots

    Proceedings of 19th International Symposium on Automation and Robotics in Construction, pp.311-316   pp.311-316   2002

     More details

  • Search task by limb mechanism robot with infrared sensors and cameras

    Proceedings of 5th International Conference on Climbing and Walking Robots, pp.241-246   pp.241-246   2002

     More details

  • Vision System for Micromanipulation

    Journal of Robotics and Mechatronics, vol.14, no.2, pp.203-209   vol.14, no.2, pp.203-209   2002

     More details

  • Acquisition and Accumulation of Object Appearances using Successive Eigenspace Construction

    Proceedings of the fifth Asian Conference on Computer Vision, pp.545-551   pp.545-551   2002

     More details

  • Development of Basic Structure for Exoskeleton Cyborg System

    Proceedings of the 7th International Symposium on Artifical Life and Robotics (AROB 7th), pp.209-214   pp.209-214   2002

     More details

  • Evaluation of Presentation Methods for Robot Working Environment using VR

    MAE Yasushi, ARAI Tatsuo, INOUE Kenji, KUROSAKI Ikunosuke

    2001 ( 20 )   13 - 18   2001.10

     More details

    Language:Japanese  

    CiNii Books

    researchmap

  • 2A1-L8 Distributed Control for Planar Hyper-redundant Manipulator of Shape Adaptation to Environment : Analysis of Shape Adaptability

    Tani H., Inoue K., Arai T., Mae Y.

    2001   50 - 50   2001.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • 2P2-L6 Cooperative Object Transportation by Multiple Robots with Different Tasks : Force Limitation Method

    Kato K., Inoue K., Arai T., Mae Y.

    2001   78 - 78   2001.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • 1A1-K2 Development of power assist system for having a bath

    Onishi T., Arai T., Inoue K., Mae Y.

    2001   14 - 14   2001.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • 2P2-D1 Comparison of the Fixed Linear Parallel Mechanisms on the Motion Characteristics

    Murata Y., Masuda T., Arai T., Inoue K., Mae Y., Park C. S.

    2001   71 - 71   2001.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • 2P2-C5 Vision System for Micromanipulation : follow-up control function for autofocus

    Kato Y., Arai T., Mae Y., Inoue K., Tanikawa T.

    2001   70 - 70   2001.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • 1P1-E2 Application of Working Robots to East Probing

    Yoshida A., Arai T., Mae Y., Inoue K., Miyawaki K.

    2001   24 - 24   2001.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • 2P1-E6 Knowledge-Sharing using Enmironment-Attached Storage Device : Attachment of Storage Devices with Consideration of Complexity of Environment

    Umetani T., Mae Y., Arai T., Iniue K.

    2001   58 - 58   2001.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • 2P2-D5 Steel Frame Module Assembling with Hybrid Arm

    Kamishima H., Arai T., Inoue K., Mae Y., Miyawaki K., Koyachi N.

    2001   71 - 71   2001.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • 2P2-D4 Postural Transfiguration of Prallel Mechanism with Adjustable Link Prameters

    Takayama K., Arai T., Inoue K., Mae Y., Koseki Y.

    2001   71 - 71   2001.6

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    CiNii Books

    researchmap

  • 247 Distributed Control for Planar Hyper-redundant Manipulator of Shape Adaptation to Environment

    INOUE Kenji, TANI Hiroyuki, ARAI Tatsuo, MAE Yasushi

    Dynamics and Design Conference   2001 ( 7 )   334 - 335   2001.4

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    A distributed control method for hyper-redundant manipulators of shape adaptation to complicated and unknown environment is proposed. A manipulator consists of serially connected joint units. Each unit is modeled as a translational vector, and it controls the length and direction of this vector. The tip of each unit detects an obstacle using its proximity sensors and autonomously moves along the obstacle with a certain distance away from it; thus the manipulator bends, expands and contracts along the shape of environment. The manipulator can move into/out of long and narrow space only by guiding its end-effector. The adaptability of a planar manipulator with directional sensors to round shape is evaluated.

    CiNii Books

    researchmap

  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion : Position Control and Application to Planar Manipulator Reviewed

    INOUE Kenji, OKUDA Akinobu, ARAI Tatsuo, MAE Yasushi

    JRSJ   vol.19, no.2, pp.197-206 ( 2 )   197 - 206   2001.3

     More details

    Language:Japanese   Publisher:The Robotics Society of Japan  

    A distributed control method for hyper-redundant manipulators is proposed, aiming at applying to complicated and unknown or dynamic environment. A manipulator consists of serially connected joint units, and each unit has the same degrees of freedom as dimension of task space. The proposed method is highly distributed: each unit is controlled by one controller, only neighboring units communicate with each other, and each unit does not have to obtain information from far units. The method is multiple point control: not only the end-effector but also several units can converge to their own desired positions stably. Thus the manipulator can avoid obstacles only if the units which detect the obstacles with their own proximity sensors set their desired positions far from the obstacles. The manipulator makes expansion and contraction motion; it can move into/out of long and narrow space like pipes. All units are controlled so that their displacements may be equal. Hence they have the same and maximum displacement margin. The dynamics of the end-effector is not influenced by the motion of units; that is important for doing tasks with the end-effector. The proposed method is applied to a planar hyper-redundant manipulator with rotational joints, and the effectiveness and usefulness of the method are ascertained by computer simulations and experiments.

    DOI: 10.7210/jrsj.19.197

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00072857113?from=CiNii

  • Distributed Control of Hyper-redundant Manipulator with Expantion and Contraction Motion (Position Control and Application to Planar Manipulator)

    Journal of the Robotics Society of Japan, vol.19, no.2, pp.197-206   vol.19, no.2, pp.197-206   2001

  • 超冗長マニピュレータの伸縮動作式分散制御法(位置決め制御則と平面マニピュレータへの適用)

    日本ロボット学会誌, vol.19, no.2, pp.197-206   vol.19, no.2, pp.197-206   2001

  • Mobile Manipulation of Humanoid Robots -Analysis of the Required Function of Legs in Mobile Manipulation-

    Journal of the Robotics Society of Japan, vol.19, no.5, pp.660-666   vol.19, no.5, pp.660-666   2001

  • MOBILE MANIPULATION OF LIMBED ROBOTS -PROPOSAL ON MECHANISM AND CONTROL-

    Preprints of IFAC Workshop on Mobile Robot Technology   104-109   2001

     More details

  • Mobile Manipulation of Limbed Robots -Proposal on Mechanism and Control-

    Preprints of IFAC Workshop on Mobile Robot Technology, pp.104-109   pp.104-109   2001

     More details

  • Adaptive Relocation of Environment-Attached Storage Devices by Multiple Robots

    Proceedings of the 2001 IEEE International Conference on Robotics and Automation, pp.2998-3003   pp.2998-3003   2001

     More details

  • Dead Reckoning of Multi-legged Robot -Error Analysis-

    Human Friendly Mechatronics, Selected Papers of the International Conference on Machine Automation ICMA2000, pp.351-356   pp.351-356   2001

     More details

  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion for Obstacle Avoidance

    Human Friendly Mechatronics, Selected Papers of the International Conference on Machine Automation ICMA2000, pp.315-320   pp.315-320   2001

     More details

  • Adaptive Relocation of Environment-Attached Storage Devices for Effective Knowledge-Sharing among Multiple Robots

    Proceedings of 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp.171-176   pp.171-176   2001

     More details

  • Omni-Directional Mobility of Limb Mechanism Robot

    Proceedings of 4th International Conference on Climbing and Walking Robots (CLAWAR), pp.635-642   pp.635-642   2001

     More details

  • Mobile manipulation of humanoid robots - A method of adjusting leg motion for improvement of arm's manipulability

    H Yoshida, K Inoue, T Arai, Y Mae

    2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II   pp.266-271   266 - 271   2001

     More details

    Language:English   Publisher:IEEE  

    A control method of mobile manipulation for a humanoid robot, mobile manipulation means the integrated motion centered arm's manipulation, is proposed. This method makes the arms carry out the manipulation, and the legs assist manipulation by adjusting its motion in order to keep arm's manipulability high. Firstly, the arm tips always follow their desired position under the condition with external force by impedance control. Secondly, the shoulder is controlled so that manipulability and stability can be improved. Moreover, we define three functions; they are an average of manipulability measure, and an average and a minimum of stability margin in a locomotion cycle. We utilize their values in a locomotion cycle rather than the values of them at every moment, because manipulability and stability vary with robot motion. Then, we define total evaluation function expressed by the sum of them. Step length and timing of step motion are determined so that the function can be optimized. The effectiveness of the proposed method is ascertained through the computer simulations.

    Web of Science

    researchmap

  • Tension Control and Its Application for Hybrid Drive Parallel Arm

    Proceedings of 5th France-Japanese Congress & 3rd European-Asian Congress on Mechatronics (Mechatronics '01), pp.127-132   pp.127-132   2001

     More details

  • View Controls in Environment Presentation for Robot Tele-operation

    Proceedings of 10th IEEE International Workshop on Robot and Human Interactive Communication(ROMAN)   333-337   2001

  • View controls in environment presentation for robot tele-operation

    Yasushi Mae, Tatsuo Arm, Kenji Inoue, Ikunosuke Kurosaki

    Proceedings - IEEE International Workshop on Robot and Human Interactive Communication   pp.333-337   333 - 337   2001

     More details

    Language:English  

    Operators expect to obtain sufficient information on working environment in robot tele-operation. The information may be typically provided through vision sensors and equipment due to their large amount of data. The operator requires right view angle during manipulation and/or locomotion, since objects and even robot itself may obstacle his or her view when the view point is fixed. The paper discusses two types of view controls. One is called normal or subject-centered view which provides the same field of vision centered in the operator as obtained by our natural vision system. The other is called object-centered view where the vision field is centered at and rotated around the viewed object. The view motion is controlled by the operator 's head motion in every view control. The two controls are applied to tele-operated manipulation and navigation tasks by the working robot which has six limbs (usable for both arm and leg) on the simulator, and they are compared and evaluated in the aspects on how the robot efficiently walks and manipulates objects. © 2001 IEEE.

    DOI: 10.1109/ROMAN.2001.981925

    Scopus

    researchmap

  • View Controls in Environment Presentation for Robot Tele-operation

    Proceedings of 10th IEEE International Workshop on Robot and Human Interactive Communication(ROMAN), pp.333-337   pp.333-337   2001

  • Mobile Manipulation of Humanoid Robots. Step Motion Control for 2 Dimensional Locomotion.

    井上健司, 中村明彦, 西浜祐介, 新井健生, 前泰志, 吉田晴行

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集   2001 ( Pt.3 )   2001

  • 人間型ロボットの作業移動 マニピュレーションに応じた脚動作調整法

    吉田晴行, 井上健司, 新井健生, 前泰志

    ロボティクスシンポジア予稿集   6th   2001

  • 人間型ロボットの作業移動 力作業における最適姿勢

    吉田晴行, 井上健司, 新井健生, 前泰志

    日本ロボット学会学術講演会予稿集   19th   2001

  • Mobile Manipulation of Humanoid Robots. Analysis of the Required Function of Legs in Mobile Manipulation.

    Haruyuki Yoshida, Kenji Inoue, Tatsuo Arai, Yasushi Mae

    Journal of the Robotics Society of Japan   vol.19, no.5, pp.660-666 ( 5 )   660 - 666   2001

     More details

    Publisher:The Robotics Society of Japan  

    DOI: 10.7210/jrsj.19.660

    researchmap

  • 人間型ロボットの作業移動-作業移動に要求される脚機能の分析- Reviewed

    吉田 晴行, 井上 健司, 新井 健生, 前 泰志

    日本ロボット学会誌   19(5) 660-666 ( 5 )   660 - 666   2001

  • Mobile Manipulation of Humanoid Robots -A Method of Adjusting Leg Motion for Improvement of Arm's Manipulability-

    Proceedings of 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp.266-271   pp.266-271   2001

     More details

  • Cooperative Control and Force Limitation for Multiple Robots in Single Object Transportation

    Proceedings of The 27th Annual Conference of the IEEE Industrial Electronics Society (IECON'01), pp.422-427   pp.422-427   2001

     More details

  • Auto Focusing and Tracking for Micro Manipulation

    Proceedings of 5th France-Japanese Congress & 3rd European-Asian Congress on Mechatronics (Mechatronics '01), pp.349-354   pp.349-354   2001

     More details

  • Tension Control and Its Application for Hybrid Drive Parallel Arm

    Proceedings of 5th France-Japanese Congress & 3rd European-Asian Congress on Mechatronics (Mechatronics '01), pp.127-132   pp.127-132   2001

     More details

  • Tension Control and Its Application for Hybrid Drive Parallel Arm

    Mecatoronics'01 5th France-Japanese Congress   127-132   2001

     More details

  • Auto Focusing and Tracking for Micro Manipulation

    Mecatoronics'01 5th France-Japanese Congress   349-354   2001

     More details

  • Error Analysis of Dead Reckoning of Multi-Legged Robots

    Proceedings of the 2001 IEEE International Conference on Intelligent Robots and Systems   1558-1563   2001

     More details

  • Cooperative Control and Force Limitation for Multiple Robots in Single Object Transportation

    Proceedings of The 27th Annual Conference of the IEEE Industrial Electronics Society (IECON'01)   422-427   2001

     More details

  • Adaptive relocation of environment-attached storage devices by multiple robots

    Tomohiro Umetani, Yasushi Mae, Kenji Inoue, Tatsuo Arai

    Proceedings - IEEE International Conference on Robotics and Automation   3   2998 - 3003   2001

     More details

  • Adaptive relocation of environment-attached storage devices for effective knowledge-sharing among multiple robots

    T Umetani, Y Mae, K Inoue, T Arai

    2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II   171-176   171 - 176   2001

     More details

    Language:English  

    Web of Science

    researchmap

  • Mobile manipulation of humanoid robots - A method of adjusting leg motion for improvement of arm's manipulability

    H Yoshida, K Inoue, T Arai, Y Mae

    2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II   266-271   266 - 271   2001

     More details

    Language:English   Publisher:IEEE  

    A control method of mobile manipulation for a humanoid robot, mobile manipulation means the integrated motion centered arm's manipulation, is proposed. This method makes the arms carry out the manipulation, and the legs assist manipulation by adjusting its motion in order to keep arm's manipulability high. Firstly, the arm tips always follow their desired position under the condition with external force by impedance control. Secondly, the shoulder is controlled so that manipulability and stability can be improved. Moreover, we define three functions; they are an average of manipulability measure, and an average and a minimum of stability margin in a locomotion cycle. We utilize their values in a locomotion cycle rather than the values of them at every moment, because manipulability and stability vary with robot motion. Then, we define total evaluation function expressed by the sum of them. Step length and timing of step motion are determined so that the function can be optimized. The effectiveness of the proposed method is ascertained through the computer simulations.

    Web of Science

    researchmap

  • Omni-Directional Mobility of Limb Mechanism Robot

    Proceedings of 4th International Conference on Climbing and Walking Robots(CLAWAR)   635-642   2001

     More details

  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion for Obstacle Avoidance

    Human Friendly Mechatronics, Selected Papers of the International Conference on Machine Automation ICMA2000, pp.315-320   pp.315-320   2001

     More details

  • Cooperative Control and Force Limitation for Multiple Robots in Single Object Transportation

    Proceedings of The 27th Annual Conference of the IEEE Industrial Electronics Society (IECON'01), pp.422-427   pp.422-427   2001

     More details

  • Auto Focusing and Tracking for Micro Manipulation

    Proceedings of 5th France-Japanese Congress & 3rd European-Asian Congress on Mechatronics (Mechatronics '01), pp.349-354   pp.349-354   2001

     More details

  • Error Analysis of Dead Reckoning of Multi-Legged Robots

    Proceedings of the 2001 IEEE International Conference on Intelligent Robots and Systems, pp.1558-1563   pp.1558-1563   2001

     More details

  • Adaptive Relocation of Environment-Attached Storage Devices by Multiple Robots

    Proceedings of the 2001 IEEE International Conference on Robotics and Automation, pp.2998-3003   pp.2998-3003   2001

     More details

  • Mobile Manipulation of Limbed Robots -Proposal on Mechanism and Control-

    Preprints of IFAC Workshop on Mobile Robot Technology, pp.104-109   pp.104-109   2001

     More details

  • Dead Reckoning of Multi-legged Robot -Error Analysis-

    Human Friendly Mechatronics, Selected Papers of the International Conference on Machine Automation ICMA2000, pp.351-356   pp.351-356   2001

     More details

  • Error Analysis of Dead Reckoning of Multi-Legged Robots

    Proceedings of the 2001 IEEE International Conference on Intelligent Robots and Systems, pp.1558-1563   pp.1558-1563   2001

     More details

  • Omni-Directional Mobility of Limb Mechanism Robot

    Proceedings of 4th International Conference on Climbing and Walking Robots (CLAWAR), pp.635-642   pp.635-642   2001

     More details

  • Adaptive Relocation of Environment-Attached Storage Devices for Effective Knowledge-Sharing among Multiple Robots

    Proceedings of 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp.171-176   pp.171-176   2001

     More details

  • Real - time Obstacle Avoidance with Collision Jacobian for Robot Arm Reviewed

    KANEKO Hajime, ARAI Tatsuo, INOUE Kenji, MAE Yasushi

    JRSJ   vol.18, no.4, pp.555-560 ( 4 )   555 - 560   2000.5

     More details

    Language:Japanese   Publisher:The Robotics Society of Japan  

    This paper proposes a realtime trajectory planning and control method of a robot arm for obstacle avoidance. If the distance between a link and a object are small, suggesting that a collision is about to occur, then an alternative trajectory is calculated to prevent the collision while minimizing the error in the desired (commanded) trajectory. The trajectory control algolithm that results in the form of a constrained minimization problem. Key to the trajectory modification algorithm is derivation of the Jacobian matrix relating changes in endeffector velocity to interference verocity. Simulation results demonstrate the performance of this algoritm and experimental results veryfy it's effectiveness.

    DOI: 10.7210/jrsj.18.555

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00066338437?from=CiNii

  • 重量物ハンドリング用ハイブリッド駆動パラレルアーム Reviewed

    湯浅恵, 新井健生, 前泰志, 井上健司, 宮脇国男, 小谷内範穂

    日本ロボット学会誌   18 ( 1 )   102 - 109   2000.1

  • Parallel mechanisms with adjustable link parameters

    T Arai, K Takayama, K Inoue, Y Mae, Y Koseki

    2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS   671 - 676   2000

     More details

    Language:English  

    Web of Science

    researchmap

  • Hybrid drive parallel arm and its motion control

    H Kamishima, T Arai, K Yuasa, Y Mae, K Inoue, K Miyawaki, N Koyachi

    2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS   516 - 521   2000

     More details

    Language:English   Publisher:IEEE  

    A hybrid cylinder/cable drive parallel arm and its motion control are discussed in this paper The basic idea of the hybrid parallel arm is to make Use Best we of mixture of the high power cable drive and the cylinder actuation to obtain a heavy-duty manipulator in construction and ship building applications. A prototype arm has been designed and built based on Use analysis and the comparative study of several types of hybrid drive mechanisms, Use Stewart platform, and a wire drive mechanism. The tension of wire has to be maintained properly in the hybrid mechanism during its motion. The proposed hybrid arm is a kind Of actuation-redundant mechanism and its internal force can be freely controlled. The proposed control algorithm is to give wires proper tension during its motion by exploiting the internal force. The required tension and cylinder force can be obtained by compensating each link position command based on its compliance. The repeatability tests show Use effectiveness of Use proposed algorithm in maintaining the overall stiffness of the arm.

    Web of Science

    researchmap

  • Mobile Manipulation of Humanoids : Real-Time Control Based on Manipulability and Stability(jointly worked)

    Proceedings of ICRA2000, IEEE International Conference on Robotics and Automation   2217 - 2222   2000

     More details

  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion for Obstacle Avoidance

    Proceedings of the International Conference on Machine Automation ICMA2000, pp.315-520   pp.315-520   2000

     More details

  • Relocation of Storage Devices Attached to Environment for Effective Knowledge Sharing among Multiple Robots

    Intelligent Autonomous Systems 6 (IAS-6), pp.479-486   6 (IAS-6), pp.479-486   2000

     More details

  • Mobile Manipulation of Humanoids: Real-Time Control Based on Manipulability and Stability

    Proceedings of ICRA2000, IEEE International Conference on Robotics and Automation, pp.2217-2222   pp.2217-2222   2000

     More details

  • Development of Multi-Limb Robot with Omnidirectional Manipulability and Mobility

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.2012-2017   pp.2012-2017   2000

     More details

  • Application of Locomotive Robot to Rescue Tasks

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.2083-2088   pp.2083-2088   2000

     More details

  • Presentation of Push Button Switches with Manipulators for Virtual Operating Environment

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.1137-1142   pp.1137-1142   2000

     More details

  • Dead Reckoning of Multi-legged Robot

    Proceedings of the International Conference on Machine Automation ICMA2000, pp.427-432   pp.427-432   2000

     More details

  • 1A1-36-049 仮想操作環境システムの開発 : 第 1 報システムの概要

    井上 健司, 高尾 祐介, 新井 健生, 前 泰志

    ロボティクス・メカトロニクス講演会講演概要集   2000   36 - 36   2000

     More details

    Language:Japanese   Publisher:一般社団法人日本機械学会  

    危険な環境での非日常的な作業には, 安全自律ロボットよりも遠隔操作ロボットが有用である。ロボットは多機能・多自由度なため, 遠隔操作の入力・モニター機器も多種・多様なものが求められる。本研究では, コンピュータ内に仮想的な入出力機器を配置した環境を構築し, 仮想入力機器を実空間のマニピュレータで模擬することで, 一つのロボットの多自由度の操作や複数ロボットの同時操作を可能にするシステムの開発を目指す。

    CiNii Books

    researchmap

  • 1P1-36-055 仮想操作環境システムの開発 : 第 2 報押ボタンスイッチのインピーダンス特性の推定

    高尾 祐介, 井上 健司, 新井 健生, 前 泰志

    ロボティクス・メカトロニクス講演会講演概要集   2000   52 - 52   2000

     More details

    Language:Japanese   Publisher:一般社団法人日本機械学会  

    我々は, コンピュータ内に仮想的な入力・モニター機器を配置した操作環境を構築し, 仮想入力ツールを実空間のマニピュレータで模擬することで, 一つのロボットの多自由度の操作や複数ロボットの同時操作を可能にするシステムを開発している。本研究では, 入力機器の一つである押ボタンスイッチのインピーダンス特性を実験により推定し, マニピュレータによる押ボタンスイッチの模擬実験を行った。

    CiNii Books

    researchmap

  • 腕脚統合型ロボットの開発 第二報 歩行動作

    高橋, 新井 健生, 前 泰志, 井上 健司, 坂下 勝利, 小谷内 範穂

    ロボティクス メカトロニクス講演会講演論文集, 2000   67 - 68   2000

     More details

    Language:Japanese   Publisher:一般社団法人日本機械学会  

    屋外で非定型作業を行う作業移動型ロボットでは, 作業機構と移動機構の両者を組み合わせることによって, それぞれの動作範囲を拡大することができる。本研究では, 腕と脚を統合した「リムメカニズム」を有し, 全方向に対して広い作業範囲と安定な移動性を持つ腕脚統合型ロボットを設計, 試作し, その歩行の全方向性, 安定性について報告する。

    CiNii Books

    researchmap

  • 2P1-33-036 環境への知識埋め込み手法による物体認識

    前 泰志, 梅谷 智弘, 新井 健生, 井上 健司

    ロボティクス・メカトロニクス講演会講演概要集   2000   81 - 81   2000

     More details

    Language:Japanese   Publisher:一般社団法人日本機械学会  

    ロボットが物体を観測して得た知識を, 物体に添付した記憶媒体に蓄えておけば, 環境を介して複数のロボットで知識を共有できる。認識対象のモデルとして物体のある視点からの「見え」をロボットに与えたときに, 知識として記憶媒体に物体の様々な視点から見たモデルを蓄えておけば, ロボットは観測せずに物体を認識できる。記憶媒体に対応するモデルがない場合には, ロボットは観測で得たモデルを記憶媒体に蓄える。異なる視点から得たモデルを蓄えることで, 効率よく物体認識できることを示す。

    CiNii Books

    researchmap

  • 2P1-33-038 環境への知識埋め込み手法における知識の有用さの評価

    梅谷 智弘, 前 泰志, Hugo B. Arreola S., 新井 健生, 井上 健司

    ロボティクス・メカトロニクス講演会講演概要集   2000   81 - 81   2000

     More details

    Language:Japanese   Publisher:一般社団法人日本機械学会  

    ロボットは, 獲得した知識を環境に添付した記憶媒体に蓄えることで, 環境を解して知識を共有できる。記憶媒体の容量は有限なので, 知識の有用さを評価することでより有用な知識を環境内に蓄えることができる。物体認識におけるモデル獲得を例にした実験で, 物体モデルを獲得するためのコストを見積もり, 獲得コストを評価基準として, 環境内に蓄えられている知識の有用さを評価した。

    CiNii Books

    researchmap

  • 1P1-59-092 超冗長マニピュレータの伸縮動作式分散制御法 : 局所伸縮による移動障害物回避

    井上 健司, 橋本 直哉, 新井 健生, 前 泰志

    ロボティクス・メカトロニクス講演会講演概要集   2000   56 - 56   2000

     More details

    Language:Japanese   Publisher:一般社団法人日本機械学会  

    我々は, 隣接する関節ユニットが局所的な情報を通信しあうだけで, 手先の位置決めや障害物回避が可能な超冗長マニピュレータの分散制御法を提案している。この方法では, 障害物に近いユニットを局所的に縮ませておくことで, 障害物が急に変化してもそのユニットが伸びて対応できる。本論文では, 局所伸縮のゲインと移動障害物を回避する能力の関係をシミュレーションにより求め, 局所伸縮の有効性を検証した。

    CiNii Books

    researchmap

  • 手先の遠隔操作によるピューマノイドの作業移動

    井上健司, 吉田晴行, 新井健生, 前泰志

    ロボティクスシンポジア予稿集   5th   2000

  • 2A1-53-064 中間リンク可変パラレルメカニズムの動作解析

    高山 和也, 新井 健生, 村田 嘉一, 井上 健司, 前 泰志, 小関 義彦

    ロボティクス・メカトロニクス講演会講演概要集   2000   68 - 68   2000

     More details

    Language:Japanese   Publisher:一般社団法人日本機械学会  

    パラレルメカニズムは従来のシリアルメカニズムと比較すると, 動作領域が小さいことが欠点である。ひとつの解決法として, リンクパラメータを可変にすることで, 動作領域の形状や位置を変化させる方法が考えられる。本研究では, 直動固定型パラレルメカニズムを対象として中間リンク可変パラレルメカニズムの中間リンク長と動作領域との関係を解析評価する。

    CiNii Books

    researchmap

  • 2A1-62-084 3 自由度フィンガーによる微細力制御

    新井 健生, 大谷 芳樹, 前 泰志, 井上 健司, 加藤 陽介, 谷川 民生

    ロボティクス・メカトロニクス講演会講演概要集   2000   71 - 71   2000

     More details

    Language:Japanese   Publisher:一般社団法人日本機械学会  

    マイクロマニピュレータを用いて微細ハンドリングや微細組立を行う際に, マクロでの作業と同等な作業性を得るため, 微細力制御は不可欠であると考えられる。また, 常に対象物の観察ができるように, 焦点面を追従させるオートフォーカスシステムも必要である。本研究では開発したマイクロフィンガーと微小力センサを用いた微細操作システム, 並びに対象物と指先の双方へ焦点面を追従させるオートフォーカスアルゴリズムを提案する。

    CiNii Books

    researchmap

  • 2A1-73-105 脚移動型ロボットのデッドレコニング

    増田 徹, 前 泰志, 新井 健生, 井上 健司

    ロボティクス・メカトロニクス講演会講演概要集   2000   74 - 74   2000

     More details

    Language:Japanese   Publisher:一般社団法人日本機械学会  

    近年, 建設土木や災害救助などの屋外未知環境における作業にロボットの活躍が求められている。このような不整地が想定される未知環境においては, 車輪型移動ロボットの位置推定は困難である。脚移動型ロボットでは, 不整地における位置, 姿勢推定が行えると同時に, 脚接地点情報から環境の3次元モデルを生成できる。本研究では, 脚移動型ロボットの内界センサから得られる脚接地点情報によって位置推定を行ないその過程で発生する誤差の検証を行なう。

    CiNii Books

    researchmap

  • Object recognition using appearance models accumulated into environment

    M. A.E. Yasushi, Tomohiro Umetani, Tatsuo Arai, Kenji Inoue

    Proceedings-International Conference on Pattern Recognition   15 ( 4 )   845 - 848   2000

     More details

  • Application of locomotive robot to rescue tasks

    Y Mae, A Yoshida, T Arai, K Inoue, K Miyawaki, H Adachi

    2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS   2083 - 2088   2000

     More details

    Language:English  

    Web of Science

    researchmap

  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion(Position Control)(jointly worked)

    Proceedings on TITech COE/Super Mechano-Systems Symposium 2000   314 - 323   2000

     More details

  • Object Recognition using Appearance Models Accumulated into Environment

    Proceedings of 15th International Conference on Pattern Recognition (ICPR-2000), pp.845-858   (ICPR-2000), pp.845-858   2000

     More details

  • Dead Reckoning of Multi-legged Robot(jointly worked)

    Proceedings of the International Conference on Machine Automation   427 - 432   2000

     More details

  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion for Obstacle Avoidance(jointly worked)

    Proceedings of the International Conference on Machine Automation   315 - 320   2000

     More details

  • Presentation of Push Button Switches with Manipulators for Virtual Operating Environment

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.1137-1142   pp.1137-1142   2000

     More details

  • Presentation of Push Button Switches with Manipulators for Virtual Operating Environment(jointly worked)

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems   1137 - 1142   2000

     More details

  • Mobile Manipulation of Humanoid Robots : Analysis of Manipulability and Stability in Mobile Manipulation(jointly worked)

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems   1924 - 1929   2000

     More details

  • Parallel Mechanisms with Adjustable Link Parameters

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.671-676   pp.671-676   2000

     More details

  • Mobile Manipulation of Humanoid Robots: Analysis of Manipulability and Stability in Mobile Manipulation

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.1924-1929   pp.1924-1929   2000

     More details

  • Dead Reckoning of Multi-legged Robot

    Proceedings of the International Conference on Machine Automation ICMA2000, pp.427-432   pp.427-432   2000

     More details

  • Relocation of Storage Devices Attached to Environment for Effective Knowledge Sharing among Multiple Robots

    Intelligent Autonomous Systems 6 (IAS-6), pp.479-486   6 (IAS-6), pp.479-486   2000

     More details

  • Mobile Manipulation of Humanoids: Real-Time Control Based on Manipulability and Stability

    Proceedings of ICRA2000, IEEE International Conference on Robotics and Automation, pp.2217-2222   pp.2217-2222   2000

     More details

  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion (Position Control)

    Proceedings on TITech COE/Super Mechano-Systems Symposium 2000, pp.314-323   pp.314-323   2000

     More details

  • Application of Locomotive Robot to Rescue Tasks

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.2083-2088   pp.2083-2088   2000

     More details

  • Object Recognition using Appearance Models Accumulated into Environment

    Proceedings of 15th International Conference on Pattern Recognition (ICPR-2000), pp.845-858   (ICPR-2000), pp.845-858   2000

     More details

  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion for Obstacle Avoidance

    Proceedings of the International Conference on Machine Automation ICMA2000, pp.315-520   pp.315-520   2000

     More details

  • Evaluation Method of Manipulability and Mobility for Robots with Integrated Locomotion and Manipulation. Application to Anthropomorphic Robot.

    吉田晴行, 井上健司, 新井健生, 前泰志

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集   2000 ( Pt.3 )   2000

  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion (Position Control)

    Proceedings on TITech COE/Super Mechano-Systems Symposium 2000, pp.314-323   pp.314-323   2000

     More details

  • Mobile Manipulation of Humanoid Robots. Algorithm for Adjusting Standing Points.

    中村明彦, 井上健司, 新井健生, 前泰志, 吉田晴行

    日本ロボット学会学術講演会予稿集   18th   2000

  • Development of multi-limb robot with omnidirectional manipulability and mobility

    Y Takahashi, T Arai, Y Mae, K Inoue, N Koyachi

    2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS   2012 - 2017   2000

     More details

    Language:English  

    Web of Science

    researchmap

  • 重量物ハンドリング用ハイブリッド駆動パラレルアーム

    日本ロボット学会誌, vol.18, no.1, pp.102-109   vol.18, no.1, pp.102-109   2000

  • Hybrid Drive Parallel Arm for Heavy Material Handling

    Journal of the Robotics Society of Japan, vol.18, no.1, pp.102-109   vol.18, no.1, pp.102-109   2000

  • Hybrid Drive Parallel Arm for Heavy Material Handling

    Kei Yuasa, Tatsuo Arai, Yasushi Mae, Kenji Inoue, Kunio Miyawaki, Noriho Koyachi

    Journal of the Robotics Society of Japan   18 ( 1 )   102 - 109   2000

  • Mobile Manipulation of Humanoid Robots: Analysis of Manipulability and Stability in Mobile Manipulation

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.1924-1929   pp.1924-1929   2000

     More details

  • Hybrid drive parallel arm and its motion control

    H Kamishima, T Arai, K Yuasa, Y Mae, K Inoue, K Miyawaki, N Koyachi

    2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS   pp.516-521   516 - 521   2000

     More details

    Language:English   Publisher:IEEE  

    A hybrid cylinder/cable drive parallel arm and its motion control are discussed in this paper The basic idea of the hybrid parallel arm is to make Use Best we of mixture of the high power cable drive and the cylinder actuation to obtain a heavy-duty manipulator in construction and ship building applications. A prototype arm has been designed and built based on Use analysis and the comparative study of several types of hybrid drive mechanisms, Use Stewart platform, and a wire drive mechanism. The tension of wire has to be maintained properly in the hybrid mechanism during its motion. The proposed hybrid arm is a kind Of actuation-redundant mechanism and its internal force can be freely controlled. The proposed control algorithm is to give wires proper tension during its motion by exploiting the internal force. The required tension and cylinder force can be obtained by compensating each link position command based on its compliance. The repeatability tests show Use effectiveness of Use proposed algorithm in maintaining the overall stiffness of the arm.

    Web of Science

    researchmap

  • Development of Multi-Limb Robot with Omnidirectional Manipulability and Mobility

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.2012-2017   pp.2012-2017   2000

     More details

  • Parallel Mechanisms with Adjustable Link Parameters

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.671-676   pp.671-676   2000

     More details

  • Real-time Obstacle Avoidance with Collision Jacobian for Robot Arm

    Hajime Kaneko, Tatsuo Arai, Kenji Inoue, Yasushi Mae

    Journal of the Robotics Society of Japan   18 ( 4 )   555 - 560   2000

  • 干渉ヤコビ行列を用いたロボットアームの実時間障害物回避

    日本ロボット学会誌, vol.18, no.4, pp.555-560   vol.18, no.4, pp.555-560   2000

  • Real-time Obstacle Avoidance with Collision Jacobian for Robot Arm

    Journal of the Robotics Society of Japan, vol.18, no.4, pp.555-560   vol.18, no.4, pp.555-560   2000

  • Hybrid Drive Parallel Arm For Heavy Material Handling

    Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1234-1240   pp.1234-1240   1999

     More details

  • Manipulability and Mobility for Anthropomorphic Robot. Analysis of Manipulability and Mobility in Mobile Manipulation.

    吉田晴行, 井上健司, 新井健生, 前泰志

    計測自動制御学会関西支部シンポジウム講演論文集   1999   1999

  • Real-time Obstacle Avoidance for Robot Arm Using Collision Jacobian

    Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, 617-622   617-622   1999

     More details

  • Development of 3-DOF Finger Module for Micro Manipulation

    Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.894-899   pp.894-899   1999

     More details

  • Manipulability and Mobility for Anthropomorphic Robot. Analysis of Manipulability and Mobility in Mobile Manipulation.

    吉田晴行, 井上健司, 新井健生, 前泰志

    日本ロボット学会学術講演会予稿集   17th   1999

  • Workspace Analysis of Fixed Linear Actuation Parallel Mechanism

    Proceedings of 30th International Symposium on Robotics, pp.645-650   pp.645-650   1999

     More details

  • Development of Hybrid Drive Parallel Arm for Heavy Material Handling

    Proceedings of the 16th IAARC/IFAC/IEEE International Symposium on Automation and Robotics in Construction (ISARC'99), pp.263-268   pp.263-268   1999

     More details

  • Extraction and Tracking of Moving Objects in 3-D Space by Multiple Plane Approximation Based on Optical Flow and Edges

    Journal of the Robotics Society of Japan   17 ( 7 )   959 - 965   1999

  • Hybrid Drive Parallel Arm For Heavy Material Handling

    Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1234-1240   pp.1234-1240   1999

     More details

  • Workspace Analysis of Fixed Linear Actuation Parallel Mechanism (jointly worked)

    Proceedings of 30th International Symposium on Robotics   645 - 650   1999

     More details

  • Hybrid Drive Parallel Arm For Heavy Material Handling (jointly worked)

    Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems   2   1234 - 1240   1999

     More details

  • オプティカルフローとエッジを用いた三次元運動物体の複数平面近似による抽出と追跡

    日本ロボット学会誌   17,7959-965   1999

  • Extraction and Tracking of Moving Objects in 3-D Space by Multiple Plane Approximation Based on Optical Flow and Edges

    MAE Yasushi, SHIRAI Yoshiaki, MIURA Jun, KUNO Yoshinori

    JRSJ   17 ( 7 )   959 - 965   1999

     More details

    Language:Japanese   Publisher:The Robotics Society of Japan  

    This paper describes a method of tracking a moving object in a 3-D space in a cluttered background by integrating optical flow and edges. The flow field is segmented into regions so that the motion of each region may be approximated by a plane motion. An object region is determined as a set of the plane motion regions with similar 3-D motions (translation and rotation) . The object is tracked by merging and separating the plane motion regions at each frame. In order to estimate the plane motion correctly, the contour of the plane motion region must be obtained precisely. Because the motion boundary of the region is not precise, edges near the motion boundary are used to represent the part of the contour. In order to represent the whole contour even in a cluttered background, the edges are accumulated over frames. If the motion boundary at the overlapping part of the predicted regions can not be extracted, the contour is determined by the edges on the predicted contour. Moving objects are tracked even if the appearances of the objects change drastically. Experimental results for synthetic and real images show the effectiveness of the method.

    DOI: 10.7210/jrsj.17.959

    CiNii Books

    researchmap

    Other Link: https://jlc.jst.go.jp/DN/JALC/00064194332?from=CiNii

  • Real-time Obstacle Avoidance for Robot Arm Using Collision Jacobian (jointly worked)

    Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems   2   617 - 622   1999

     More details

  • Workspace Analysis of Fixed Linear Actuation Parallel Mechanism

    Proceedings of 30th International Symposium on Robotics, pp.645-650   pp.645-650   1999

     More details

  • Real-time Obstacle Avoidance for Robot Arm Using Collision Jacobian

    Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, 617-622   617-622   1999

     More details

  • Development of 3-DOF Finger Module for Micro Manipulation

    Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.894-899   pp.894-899   1999

     More details

  • Development of Hybrid Drive Parallel Arm for Heavy Material Handling

    Proceedings of the 16th IAARC/IFAC/IEEE International Symposium on Automation and Robotics in Construction (ISARC'99), pp.263-268   pp.263-268   1999

     More details

  • Development of 3-DOF Finger Module for Micro Manipulation (jointly worked)

    Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems   2   894 - 899   1999

     More details

  • Tracking Moving Object in 3-D Space Based on Optical Flow and Edges

    Proceedings of 14th International Conference on Pattern Recognition   1439-1441   1998

     More details

  • オプティカルフローとエッジを用いた3次元運動する物体追跡

    画像の認識・理解シンポジウム(MIRU'98) 論文集G0001   389 - 394   1998

     More details

  • Tracking Moving Object in 3-D Space Based on Optical Flow and Edges

    Proceedings of 14th International Conference on Pattern Recognition   1439-1441   1998

     More details

  • Tracking Maving Object in 3-D Space Based on Optical Flow and Edges

    Proceeding of 14th International Conference on Pattern Recognition   2   1439 - 1441   1998

     More details

  • Tracking Moving Object in 3-D Space Based on Optical Flow and Edges

    Meeting on Image Recognition and Understanding   389 - 394   1998

     More details

  • オプティカルフローとエッジを用いた複雑背景下での移動物体の追跡

    前 泰志, 白井良明, 三浦 純, 久野義徳

    日本ロボット学会誌   Vol.15, No.1, pp.103-108 15(1) 103-108 ( 1 )   103 - 108   1997.1

  • オプティカルフローとエッジを用いた複雑背景下での移動物体の追跡

    前 泰志, 白井良明, 三浦 純, 久野義徳

    日本ロボット学会誌   Vol.15, No.1, pp.103-108 15(1) 103-108   1997.1

  • Object Tracking in Cluttered Background Based on Optical Flow and Edges

    Yasushi Mae, Yoshiaki Shirai, Jun Miura, Yoshinori Kuno

    Journal of the Robotics Society of Japan   15 ( 1 )   103 - 108   1997

  • Object tracking in cluttered background based on optical flow and edges

    Yasushi Mae, Yoshiaki Shirai, Jun Miura, Yoshinori Kuno

    Proceedings - International Conference on Pattern Recognition   1   196 - 200   1996

     More details

    Language:English   Publisher:Institute of Electrical and Electronics Engineers Inc.  

    This paper describes a method of determining contours of moving objects in a cluttered scene by integrating optical flow and edges. If the motion of an object is similar to that of the background, the contour is not determined only by optical flow. If the background of a scene is cluttered, the contour is not determined only from edges because many edges may be extracted in the background and no edges may be extracted on some parts of the contour. In the proposed method, the contour is determined by using optical flow and edges in a long sequence. The whole contour of a moving object is eventually obtained by accumulating edges near motion boundaries over an image sequence. The method can also determine the occlusion relation of two overlapping objects by checking if edges exist on the predicted contours of objects. Experimental results for synthetic and real images show the usefulness of the method. © 1996 IEEE.

    DOI: 10.1109/ICPR.1996.546018

    Scopus

    researchmap

  • Object Tracking in Cluttered Background Based on Optical Flow and Edges

    Proceedings of 13th International Conference on Pattern Recognition   1, 196-200   1996

  • Object Tracking by Using Optical Flows and Edges (jointly worked)

    The 7th International Symposium on Robotics Research , Springer   440 - 447   1996

     More details

  • Realtime Multiple Object Tracking Based on Optical Flows(jointly worked)

    Proceedings of IEEE International Conference on Robotics and Automation   3   2328 - 2333   1996

     More details

  • Optical Flow Based Realtime Object Tracking by Active Vision System

    Proceeding of 2nd Japan-France Congress on Mechatronics   545 - 548   1994

     More details

  • Optical Flow Based Realtime Object Tracking by Active Vision System

    Proceedings of the 2nd JAPAN-FRANCE CONGRESS on MECHATRONICS   2, 545-548   1994

     More details

  • Optical Flow Based Realtime Object Tracking by Active Vision System

    Proceedings of the 2nd JAPAN-FRANCE CONGRESS on MECHATRONICS   2, 545-548   1994

     More details

  • Moving Object Perception and Tracking by Use of DSP

    Proceedings of Workshop on Computer Architectures for Machine Perception   251-256   1993

     More details

  • Moving Object Perception and Tracking by Use of DSP (jointly worked)

    Proceedings of Workshop on Computer Architectures for Machine Perception   251 - 256   1993

     More details

  • Moving Object Perception and Tracking by Use of DSP

    Proceedings of Workshop on Computer Architectures for Machine Perception   251-256   1993

     More details

▼display all

Presentations

  • Transfer Motion on Planar Structure of Limb-mechanism Robot Equipped with Electromagnets

    Genki Sato, Yasushi Mae, Masaru Kojima, Tatsuo Arai

    2018.7 

     More details

    Event date: 2018.7

    researchmap

  • Direct Teleoperation System of Multi-limbed Robot for Moving on Complicated Environments

    Yasushi Mae, Toshihiko Inoue, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Tatsuo Arai

    2017.12 

     More details

    Event date: 2017.12

    researchmap

  • Improvement of 3D Reconstruction Image by Confocal Microscope with the Cell Rotated

    Yuma Takeuchi, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    2017.12 

     More details

    Event date: 2017.12

    researchmap

  • Microfluidic Device for Applying a Mechanical Stimulus to a Large Number of Cellular Nuclei

    Masahiro Totani, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Toshihiko Ogura, Toshihiko Ogura, Makoto Kaneko, Tatsuo Arai

    2017.12 

     More details

    Event date: 2017.12

    researchmap

  • Development of micro heater array system for cell manipulation

    Masaru Kojima, Mitsuhiro Horade, Suguru Takata, Sota Nakadai, Yasushi Mae, Tatsuo Arai

    2017.10 

     More details

    Event date: 2017.10

    researchmap

  • Fluidic channel device for generating tubular structure in situ delivering nutrients

    2017.10 

     More details

    Event date: 2017.10

    researchmap

  • パーソナライズドサービスのための環境知能化

    前泰志, Christian Penaloza, 小嶋勝, 新井 健生

    2017.10 

     More details

    Event date: 2017.10

    researchmap

  • Development of the 3D measurement system in real-time for micro-manipulation

    Kenichi Ohara, Masaru Kojima, Shota Takagi, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2017.10 

     More details

    Event date: 2017.10

    researchmap

  • Non-contact high-speed rotation of micro targets by vibration of single piezoelectric actuator

    Xiaoming Liu, Qing Shi, Masaru Kojima, Huaping Wang, Tao Sun, Yasushi Mae, Qiang Huang, Tatsuo Arai, Toshio Fukuda

    2016.12 

     More details

    Event date: 2016.12

    researchmap

  • Development of multi-functional robot hand for multi-legged robot

    Ryo Akiyama, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2016.12 

     More details

    Event date: 2016.12

    researchmap

  • A micro channel device for biomechanical analysis to apply a mechanical stimulus on large number of cells

    Masahiro Totani, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Toshihiko Ogura, Makoto Kaneko, Tatsuo Arai

    2016.11 

     More details

    Event date: 2016.11

    researchmap

  • Automatic manipulation of microspheres with two-fingered microhand

    Eunhye Kim, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    2016.11 

     More details

    Event date: 2016.11

    researchmap

  • Generation of swirl flow for non-contact rotation of micro objects by vibrating glass needle

    Xiaoming Liu, Masaru Kojima, Qing Shi, Yasushi Mae, Qiang Huang, Tatsuo Arai, Toshio Fukuda

    2016.11 

     More details

    Event date: 2016.11

    researchmap

  • Fault-Tolerant Adaptive Gait Generation for Multi-Limbed Robot

    Takeyuki Kawata, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2016.10 

     More details

    Event date: 2016.10

    researchmap

  • Accurate Releasing of Biological Cells Using Two Release Methods Generated by High Speed Motion of an End Effector

    Eunhye Kim, Masaru Kojima, Kazuto Kamiyama, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2016.10 

     More details

    Event date: 2016.10

    researchmap

  • A Hybrid Flying and Walking Robot For Steel Bridge Inspection

    Kazuto Kamiyama, Yasushi Mae, Kiyoshi Kiyokawa, Tomohiro Mashita, Yuki Uranishi, Haruo Takemura

    2016.10 

     More details

    Event date: 2016.10

    researchmap

  • Evaluation of Humanoid Gesture in Presentation

    Yasushi Mae, Taiyo Kimoto, Kazuto Kamiyama, Mitsuhiro Horade, Masaru Kojima, Tatsuo Arai

    2016.8 

     More details

    Event date: 2016.8

    researchmap

  • Hardness Measurement of Cell Nucleus by Using Two-Fingered Micro-Hand with Micro Force Sensor

    Taisei Tanaka, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    2016.8 

     More details

    Event date: 2016.8

    researchmap

  • New Tripod Walking Method for Legged Inspection Robot

    Pakpoom Kriengkomol, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2016.8 

     More details

    Event date: 2016.8

    researchmap

  • Automated Construction Systemfor Cellular Tissue Based on Laminar Flow Fibers

    Masaru Kojima, Akira Fukushima, Suguru Takata, Mitsuhiro Horade, Kenichi Ohara, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2016.8 

     More details

    Event date: 2016.8

    researchmap

  • Automated Construction System for Fine Vessel-like Shape Structures Based on Collagen Gel Fiber

    Suguru Takata, Masaru Kojima, Mitsuhiro Horade, Kenichi Ohara, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2016.8 

     More details

    Event date: 2016.8

    researchmap

  • Micro-hand positioning in consideration of the obstacle avoidance and the grasping part by using the automatic stage

    Kotaro Yamamoto, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2016.5 

     More details

    Event date: 2016.5

    researchmap

  • Object Search Framework based on Gaze Interaction

    Photchara Ratsamee, Yasushi Mae, Kazuto Kamiyama, Mitsuhiro Horade, Masaru Kojima, Kiyoshi Kiyokawa, Tomohiro Mashita, Yoshihiro Kuroda, Haruo Takemura, Tatsuo Arai

    2015.12 

     More details

    Event date: 2015.12

    researchmap

  • Extraction of Grasping Region of Object for Automatic Modeling by Observing Human-object Interaction

    Hiroki Kawashima, Yasushi Mae, Kazuto Kamiyama, Mitsuhiro Horade, Masaru Kojima, Tatsuo Arai

    2015.12 

     More details

    Event date: 2015.12

    researchmap

  • Hammering Sound Analysis for Infrastructure Inspection by Leg Robot

    Pakpoom Kriengkomol, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2015.12 

     More details

    Event date: 2015.12

    researchmap

  • Automatic stage construction for the support of micro object grasping

    Kotaro YAMAMOTO, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2015.11 

     More details

    Event date: 2015.11

    researchmap

  • Development of Multifunctional Robot Hand for Visual Inspection Equipped with 3D Force Sensing

    Ryo Akiyama, Kazuto Kamiyama, Masaru Kojima, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    2015.11 

     More details

    Event date: 2015.11

    researchmap

  • Development of High Speed Measurement System for Cell-Scaffold Interaction

    Yu HIRANO, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2015.11 

     More details

    Event date: 2015.11

    researchmap

  • Automated Construction System for Cellular Tissue Based on Laminar Flow Fibers

    Masaru Kojima, Mitsuhiro Horade, Akira Fukushima, Kenichi Ohara, Sinji Sakai, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2015.11 

     More details

    Event date: 2015.11

    researchmap

  • Generation of Swirl Flow by Needle Vibration for Micro Manipulation

    Takayuki Hattori, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2015.10 

     More details

    Event date: 2015.10

    researchmap

  • STUDY ON CELL MANIPULATION METHOD WITH HIGH-ACCURACY THREE-DIMENTIONAL POSIIONING USING A MANIPULATOR

    Mitsuhiro Horade, Tomoyuki Kurata, Masaru Kojima, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2015.10 

     More details

    Event date: 2015.10

    researchmap

  • DEVELOPMENT OF GRIPPER ON-BOARD MICRO-HEATER AND FORCE SENSOR FOR HIGH-ACCURACY MICRO-MANIPULATION

    Mitsuhiro Horade, Tomoyuki Kurata, Masaru Kojima, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2015.10 

     More details

    Event date: 2015.10

    researchmap

  • 3D MCIRO-STRUCTURE ASSEMBLING METHOD BY MICRO-HEATER ARRAY DEVICE

    Suguru Takata, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2015.10 

     More details

    Event date: 2015.10

    researchmap

  • DEVELOPMENT OF NOVEL MICRO FLUIDIC SYSTEM WITHOUT CHANNELS AND WELLS FOR TRAPPING-AND-RELEASING OF MICRO-OBJECTS

    Mitsuhiro Horade, Masaru Kojima, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2015.10 

     More details

    Event date: 2015.10

    researchmap

  • Development of thermos responsive gel coated end effector for micro manipulation

    Hideaki Saijo, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2015.10 

     More details

    Event date: 2015.10

    researchmap

  • Releasing and Accurate Placing of Adhered Micro-Objects using High Speed motion of End Effector

    Eunhye Kim, Masaru Kojima, Kazuto Kamiyama, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2015.10 

     More details

    Event date: 2015.10

    researchmap

  • 表面凹凸処理により接触面積を低減した細胞付着防止マニピュレータ

    洞出 光洋, 小嶋 勝, 神山 和人, 蔵田 智之, 前 泰志, 新井 健生

    2015.9 

     More details

    Event date: 2015.9

    researchmap

  • ハイドロゲルファイバを用いた組織様構造の構築

    小嶋 勝, 福島英, 洞出 光洋, 大原賢一, 神山 和人, 前 泰志, 新井 健生

    2015.9 

     More details

    Event date: 2015.9

    researchmap

  • 電磁石脚先を搭載した脚ロボットによる橋梁裏点検

    神山 和人, Pakpoom KRIENGKOMOL, 小嶋 勝, 洞出 光洋, 前 泰志, 新井 健生

    2015.9 

     More details

    Event date: 2015.9

    researchmap

  • 微小物把持支援のための自動ステージの構築

    山本幸太朗, 小嶋 勝, 洞出 光洋, 神山 和人, 前 泰志, 新井 健生

    2015.9 

     More details

    Event date: 2015.9

    researchmap

  • 2本指マイクロハンド操作のための視触覚融合インタフェース

    神山 和人, 小嶋 勝, 洞出 光洋, 前 泰志, 新井 健生

    2015.9 

     More details

    Event date: 2015.9

    researchmap

  • 腕脚統合型ロボットによる電力効率を考慮した閉空間3次元移動

    戸田武, 大原賢一, 神山 和人, 小嶋 勝, 洞出 光洋, 前 泰志, 新井 健生

    2015.5 

     More details

    Event date: 2015.5

    researchmap

  • Tracking Handheld Object Using Three Layer RGB-D Image Space

    Krishneel Chaudhary, Yasushi Mae, Masaru Kojima, Tatsuo Arai

    2015.5 

     More details

    Event date: 2015.5

    researchmap

  • Development of a Real-time Local Environment Stimulation System with Visual Feedback Control

    akahiro Motoyoshi, Masaru Kojima, Kenichi Ohara, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2015.5 

     More details

    Event date: 2015.5

    researchmap

  • 点検・把持・力センシングが可能な腕脚統合型ロボットの開発

    秋山 亮, 神山 和人, 小嶋 勝, 洞出 光洋, 前 泰志, 新井 健生

    2015.5 

     More details

    Event date: 2015.5

    researchmap

  • 注視によるシーン中の物体指示法

    前 泰志, ポッチャラ ラサミー, 神山 和人, 洞出 光洋, 小嶋 勝, 新井 健生

    2015.5 

     More details

    Event date: 2015.5

    researchmap

  • リアルタイム局所化学刺激システムの開発と応用

    小嶋 勝, 洞出 光洋, 神山 和人, 大原賢一, 前 泰志, 新井 健生

    2015.5 

     More details

    Event date: 2015.5

    researchmap

  • ヒータアレイデバイスを利用した微小対象物の任意パターニング手法の開発

    洞出 光洋, 小嶋 勝, 神山 和人, 前 泰志, 新井 健生

    2015.5 

     More details

    Event date: 2015.5

    researchmap

  • 表面ナノ凹凸加工付エンドエフェクタを利用した把持対象物のリリース性能の評価

    洞出 光洋, 蔵田 智之, 小嶋 勝, 神山 和人, 前 泰志, 新井 健生

    2015.5 

     More details

    Event date: 2015.5

    researchmap

  • 板状エンドエフェクタを用いた細胞剛性計測手法の提案

    ニャムドルジハンガイ, 小嶋 勝, 洞出 光洋, 神山 和人, 境 慎司, 前 泰志, 新井 健生

    2015.5 

     More details

    Event date: 2015.5

    researchmap

  • 二次元任意形状の積層による三次元細胞構造の提案

    高田 賢, 小嶋 勝, 洞出 光洋, 神山 和人, 前 泰志, 新井 健生

    2015.5 

     More details

    Event date: 2015.5

    researchmap

  • ハイドロゲルファイバを用いた細胞組織構築システム

    福島英, 小嶋 勝, 大原賢一, 洞出 光洋, 神山 和人, 境 慎司, 前 泰志, 新井 健生

    2015.5 

     More details

    Event date: 2015.5

    researchmap

  • エンドエフェクタの振動により誘起される局所流速場の現象解析

    服部 貴享, 神山 和人, 小嶋 勝, 洞出 光洋, 前 泰志, 新井 健生

    2015.5 

     More details

    Event date: 2015.5

    researchmap

  • 細胞操作支援用自動ステージの構築

    山本 幸太朗, 小嶋 勝, 神山 和人, 洞出 光洋, 前 泰志, 新井 健生

    2014.12 

     More details

    Event date: 2014.12

    researchmap

  • Cell Stiffnass Measurement Using Two-fingered Micro-hand Equipped with Plate-shaped End Effector

    Nyamdorj Khangai, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Shinji Sakai, Yasushi Mae, Tatsuo Arai

    2014.12 

     More details

    Event date: 2014.12

    researchmap

  • Development of Simplified Haptic Interface for Two-finger Micro-manipulator

    Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2014.11 

     More details

    Event date: 2014.11

    researchmap

  • 3D Movement of Legged Robot in Narrow Space

    Takeshi Toda, Kenichi Ohara, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2014.11 

     More details

    Event date: 2014.11

    researchmap

  • Real-time Local Environment Stimulation System with Visual Feedback Control

    Takahiro Motoyoshi, Masaru Kojima, Kenichi Ohara, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2014.11 

     More details

    Event date: 2014.11

    researchmap

  • Automated Construction System for Fine Lattice Shape Structures Based on Alginate Gel Fiber

    Akira Fukushima, Masaru Kojima, Kenichi Ohara, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2014.11 

     More details

    Event date: 2014.11

    researchmap

  • Generaton og Rotational Flow in Microfluidics Device for Formation of Apheroid

    Masaru Kojima, Mitsuhiro Horade, Hirochika Takai, Kenichi Ohara, Tamio Tanikawa, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2014.11 

     More details

    Event date: 2014.11

    researchmap

  • MOVEMENT OF ASYMMETRIC SHAPE MICRO STRUCTURE ON BACTERIAL SHEET

    M. Kojima, M. Horade, K. Kamiyama, Y. Mae, T. Fukuda, T. Arai

    2014.10 

     More details

    Event date: 2014.10

    researchmap

  • DEVELOPMENT OF THE OPTIMUM END-EFFECTOR FOR TWO-FINGERED MICRO-HANDS SYSTEM TO SUPPORT CELL MANIPULATION

    T.Kurata, M. Horade, M. Kojima, K. Kamiyama, Y. Mae, T. Arai

    2014.10 

     More details

    Event date: 2014.10

    researchmap

  • DEVELOPMENT OF MICRO-HEATER ARRAY DEVICE WITH REGIONAL SELECTIVE HEATING FOR BIOCHEMICAL APPLICATIONS

    M. Horade, M. Kojima, K. Kamiyama, Y. Mae, T. Arai

    2014.10 

     More details

    Event date: 2014.10

    researchmap

  • Development of Chemical Stimulation System for Local Environment Control by Using Combination of Spout and Suction from Dual Pipettes

    Takahiro Motoyoshi, Masaru Kojima, Kenichi Ohara, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2014.9 

     More details

    Event date: 2014.9

    researchmap

  • On-chip flexible scaffold for construction of multishaped tissues

    P. Chumtong, M. Kojima, M. Horade, K. Ohara, K. Kamiyama, Y. Mae, Y. Akiyama, M. Yamato, T. Arai

    2014.9 

     More details

    Event date: 2014.9

    researchmap

  • 細胞培養可能なゲルファイバを用いた微細格子組織構築システム

    福島英, 小嶋 勝, 大原 賢一, 洞出 光洋, 神山 和人, 前 泰志, 新井 健生

    2014.9 

     More details

    Event date: 2014.9

    researchmap

  • エンドエフェクタに付与された振動により発生する周辺水流の現象解析

    服部 貴享, 神山 和人, 小嶋 勝, 洞出 光洋, 前 泰志, 新井 健生

    2014.9 

     More details

    Event date: 2014.9

    researchmap

  • バイオ応用を目的とした局所選択的加熱可能な マイクロヒータアレイデバイスの開発

    洞出 光洋, 小嶋 勝, 神山 和人, 前 泰志, 新井 健生

    2014.9 

     More details

    Event date: 2014.9

    researchmap

  • Development of Hydrogel Coated End Effector for Stable Cell Manipulation by Two-fingered Micro-hand

    2014.8 

     More details

    Event date: 2014.8

    researchmap

  • 電力効率を考慮した脚移動ロボットによる閉空間3次元移動

    戸田 武, 大原 賢一, 神山 和人, 小嶋 勝, 洞出 光洋, 前 泰志, 新井 健生

    2014.8 

     More details

    Event date: 2014.8

    researchmap

  • Design and fabrication of micro/bio chip for in vitro fabrication of toroidal cellular aggregates

    Puwanan Chumtong, Masaru Kojima, Mitsuhiro Horade, Kenichi Ohara, Kazuto Kamiyama, Yasushi Mae, Yoshikatsu Akiyama, Masayuki Yamato, Tatsuo Arai

    2014.8 

     More details

    Event date: 2014.8

    researchmap

  • Automated Cell Stiffness Measurement with Two-Fingered Microhand using Micro Force Sensor

    Hiroyuki Yabugaki, Kenichi Ohara, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Shinji Sakai, Takanori Kihara, Yasushi Mae, Tamio Tanikawa, Tatsuo Arai

    2014.7 

     More details

    Event date: 2014.7

    researchmap

  • Autonomous Modeling of Unknown Hand Grasp Object via Tracking in Cluttered Environments Proceedings

    Krishneel Chaudhary, Yasushi Mae, Masaru Kojima, Tatsuo Arai

    2014.7 

     More details

    Event date: 2014.7

    researchmap

  • Vibration Reduction of Microhand Used in Transporting Operations

    Kenichi Ohara, Mitsuhiro Horade, Toru Ejima, Tamio Tanikawa, Yasushi Mae, Tatsuo Arai

    2014.7 

     More details

    Event date: 2014.7

    researchmap

  • マイクロハンドによる操作支援を目的とした自動ステージの構築

    山本 幸太朗, 小嶋勝, 神山 和人, 洞出光洋, 前泰志, 新井健生

    2014.5 

     More details

    Event date: 2014.5

    researchmap

  • Control of Flagellar Motor Using a Real-time Local EnvironmentChemical Stimulation System

    Masaru Kojima, Takahiro Motoyosh, Kenichi Ohara, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2014.5 

     More details

    Event date: 2014.5

    researchmap

  • Autonomous Acquisition of Generic Handheld Objects in Unstructured Environments via Sequential Back-Tracking for Object Recognition

    Krishneel Chaudhary, Yasushi Mae, Masaru Kojima, Tatsuo Arai

    2014.5 

     More details

    Event date: 2014.5

    researchmap

  • BMI-based Framework for Teaching and Evaluating Robot Skills

    Christian I. Penaloza, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    2014.5 

     More details

    Event date: 2014.5

    researchmap

  • Control of Flagellar Motor Using a Real-time Local Environment Chemical Stimulation System

    M. Kojima, T. Motoyoshi, K. Ohara, H. Mitsuhiro, K. Kamiyama, Y. Mae, T. Arai

    2014.5 

     More details

    Event date: 2014.5

    researchmap

  • Dynamic releasing of biological cells at high speed using parallel mechanism to control adhesion forces

    E. Avci, H. Yabugaki, T. Hattori, K. Kamiyama, M. Kojima, Y. Mae, T. Arai

    2014.5 

     More details

    Event date: 2014.5

    researchmap

  • 次元リソグラフィ技術を応用した細胞システム構築用マイクロチャンバアレイの開発

    洞出光洋, 小嶋勝, プワナンチュムトン, 神山和人, 前泰志, 新井健生

    2014.5 

     More details

    Event date: 2014.5

    researchmap

  • 細胞操作を支援する二本指マイクロハンド用高機能エンドエフェクタの開発

    蔵田智之, 洞出光洋, 小嶋勝, 神山和人, 前泰志, 新井健生

    2014.5 

     More details

    Event date: 2014.5

    researchmap

  • 2本指マイクロハンドを用いた把持対象物の動的リリース手法の開発

    服部 貴享, 神山 和人, 小嶋勝, 神山和人, 前泰志, 新井健生

    2014.5 

     More details

    Event date: 2014.5

    researchmap

  • Analytical design and fabrication of thermal latch valve driven flexible microscaffold for applications in tissue engineering

    Chumtong.P, Kojima.M, Horade.M, Ohara.K

    2014.4 

     More details

    Event date: 2014.4

    researchmap

  • 感情センサ情報と画像特徴に基づくライフログ画像列のクラスタリング

    ポチャラ ラサミー, 前泰志, 小嶋勝, 洞出光洋, 神山和人, 新井健生

    2014.3 

     More details

    Event date: 2014.3

    researchmap

  • Event Clustering of Lifelog Image Sequence using Emotional and Image Similarity Features

    Photchara Ratsamee, Yasushi Mae, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama

    2014.1 

     More details

    Event date: 2014.1

    researchmap

  • Social Navigation Model based on Human Intention Analysis using Face Orientation

    Photchara Ratsamee, Yasushi Mae, Kenichi Ohara, Masaru Kojima, Tatsuo Arai

    2013.11 

     More details

    Event date: 2013.11

    researchmap

  • Development of Microhand Utilizing Singularity of Parallel Mechanism

    Toru Ejima, Kenichi Ohara, Masaru Kojima, Mitsuhiro Horade, Tamio Tanikawa, Yasushi Mae, Tatsuo Arai

    2013.11 

     More details

    Event date: 2013.11

    researchmap

  • The Development of an All-In-Focus Algorithm for Endoscopy

    Junya Koseki, Kenichi Ohara, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai, Tsuyoshi Kaneko, Hirofumi Matsui

    2013.11 

     More details

    Event date: 2013.11

    researchmap

  • Development of the long-time observation system for bacterial motor

    Masaru Kojima, Motoyoshi Takahiro, Hirochika Takai, Kenichi Ohara, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2013.11 

     More details

    Event date: 2013.11

    researchmap

  • An Active Microscaffold for Applications in Tissue Engineering

    Puwanan Chumtong, Masaru Kojima, Kenichi Ohara, Mitsuhiro Horade, Yasushi Mae, Yoshikatsu Akiyama, Masayuki Yamato, Tatsuo Arai

    2013.11 

     More details

    Event date: 2013.11

    researchmap

  • Lifelogging Keyframe Selection using Image Quality

    Photchara Ratsamee, Yasushi Mae, Amornched Jinda-apiraksa, Jana Machajdik, Kenichi Ohara, Masaru Kojima, Robert Sablatnig, Tatsuo Arai

    2013.11 

     More details

    Event date: 2013.11

    researchmap

  • Microfluidic Device for Automated Feneration of Troidal-like Spheroids

    Hirochika Takai, Masaru Kojima, Kenichi Ohara, Mitsuhiro Horade, Tamio Tanikawa, Yasushi Mae, Masayuki Yamato, Tatsuo Arai

    2013.10 

     More details

    Event date: 2013.10

    researchmap

  • Automated Construction System for The Fine Lattice Shape Structure Using Alginate Gel Fiber

    Akira Fukushima, Masaru Kojima, Kenichi Ohara, Shun Onozaki, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2013.8 

     More details

    Event date: 2013.8

    researchmap

  • Improving the speed of 3D information presentation in a microhabitat

    Shota Takagi, Kenichi Ohara, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    2013.8 

     More details

    Event date: 2013.8

    researchmap

  • Towards High-Speed Automated Micromanipulation

    Ebubekir Avci, Chanh-Nghiem Nguyen, Kenichi Ohara, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    2013.5 

     More details

    Event date: 2013.5

    researchmap

  • BMI-based Learning System for Appliance Control Automation

    Christian Penaloza, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    2013.5 

     More details

    Event date: 2013.5

    researchmap

  • Automated Stable Grasping with Two-Fingered Microhand Using Micro Force Sensor

    Hiroyuki Yabugaki, Kenichi Ohara, Masaru Kojima, Yasushi Mae, Tamio Tanikawa, Tatsuo Arai

    2013.5 

     More details

    Event date: 2013.5

    researchmap

  • Optimization of Obstacle Avoidance Using Reinforcement Learning

    Keishi Kominami, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2012.12 

     More details

    Event date: 2012.12

    researchmap

  • Software Interface for Controlling Diverse Robotic Platforms Using BMI

    Christian Penaloza, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    2012.12 

     More details

    Event date: 2012.12

    researchmap

  • Using Depth to Increase Robot Visual Attention Accuracy during Tutoring

    Christian Penaloza, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    2012.11 

     More details

    Event date: 2012.11

    researchmap

  • Development of End Effector for Cell Manipulation with Two-fingered Micro-hand

    Masaru Kojima, Ebubekir Avci, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2012.11 

     More details

    Event date: 2012.11

    researchmap

  • Automated 3D lattice structure construction using hydrogel microfiber

    Kenichi Ohara, Masaru Kojima, Shun Onozaki, Yasushi Mae, Tatsuo Arai

    2012.11 

     More details

    Event date: 2012.11

    researchmap

  • Control Strategy of Distributed Actuators with Compensation for Communication Delay

    Yurina Maeda, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2012.11 

     More details

    Event date: 2012.11

    researchmap

  • 床下環境における画像情報付加地図の生成

    河上真也, 田窪朋仁, 大原賢一, 前泰志, 新井健生

    2012.9 

     More details

    Event date: 2012.9

    researchmap

  • 2D Spherical Spaces for Objects Recognition under Harsh Lighting Conditions

    Amr Almaddah, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    2012.9 

     More details

    Event date: 2012.9

    researchmap

  • 2D Spherical Spaces for Face Relighting under Harsh Illumination

    Amr Almaddah, Sadi Vural, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    2012.9 

     More details

    Event date: 2012.9

    researchmap

  • 無線通信遅延を考慮したアクティブキャスタシステムの制御手順

    前田 有里奈, 大原賢一, 前泰志, 新井健生

    2012.9 

     More details

    Event date: 2012.9

    researchmap

  • 強化学習を用いた腕脚統合型ロボットによる狭隘部における障害物回避

    小南景士, 田窪朋仁, 大原賢一, 前泰志, 新井健生

    2012.9 

     More details

    Event date: 2012.9

    researchmap

  • Social Human Behavior Modeling for Robot Imitation Learning

    Christian I. Penaloza, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    2012.8 

     More details

    Event date: 2012.8

    researchmap

  • People Tracking with Body Pose Estimation for Human Path Prediction

    Photchara Ratsamee, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    2012.8 

     More details

    Event date: 2012.8

    researchmap

  • Measurement of Particle Position in Micro Channel using Two-Layer POF Array

    Ichiro Okuda, Yasushi Mae, Kenichi Ohara, Tatsuo Arai, Tomohito Takubo

    2012.8 

     More details

    Event date: 2012.8

    researchmap

  • Vibration Analysis of Microhand for High Speed Single Cell Manipulation

    Ebubekir Avci, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2012.8 

     More details

    Event date: 2012.8

    researchmap

  • High-Speed Autofocusing of Multisized Microobjects

    Chanh-Nghiem Nguyen, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2012.8 

     More details

    Event date: 2012.8

    researchmap

  • Personal Space of Humans in Relation with Humanoid Robots Depending on the Presentation Method

    Mika Yasumoto, Hiroko Kamide, Yasushi Mae, Koji Kawabe, Satoshi Sigemi, Masato Hirose, Tatsuo Arai

    2011.12 

     More details

    Event date: 2011.12

    researchmap

  • ヒューマノイドの一般的心理評価尺度の開発

    上出寛子, 前泰志, 川辺浩司, 重見聡史, 広瀬真人, 新井健生

    2011.9 

     More details

    Event date: 2011.9

    researchmap

  • 対ロボットインタラクションにおける親密性平衡モデルの適用

    安本実加, 上出寛子, 前泰志, 川辺浩司, 重見聡史, 広瀬真人, 新井健生

    2011.9 

     More details

    Event date: 2011.9

    researchmap

  • Visual and Physical Segmentation of Novel Objects

    Amr Almaddah, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    2011.9 

     More details

    Event date: 2011.9

    researchmap

  • ヒューマノイドの印象評価における個人差の影響

    上出寛子, 前泰志, 川辺浩司, 重見聡史, 広瀬真人, 新井健生

    2011.9 

     More details

    Event date: 2011.9

    researchmap

  • Comparative Evaluation of Virtual and Real Humanoid with Robot-Oriented Psychology

    Hiroko Kamide, Mika Yasumoto, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    2011.5 

     More details

    Event date: 2011.5

    researchmap

  • 差分方程式拘束を伴う離散時間非ホロノミック系を用いた2足歩行計画の最適化

    八百伸弥, 田窪朋仁, 大原賢一, 前泰志, 新井健生

    2011.3 

     More details

    Event date: 2011.3

    researchmap

  • Web-based Object Category Learning using Human-Robot Interaction Cues

    Christian I. Penaloza, Yasushi Mae, Tatsuo Arai, Kenichi Ohara, Tomohito Takubo

    2011.3 

     More details

    Event date: 2011.3

    researchmap

  • Object Co-occurrence Graph for Object Search in 3D Environment

    Puwanan Chumtong, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    2011.1 

     More details

    Event date: 2011.1

    researchmap

  • Cell Stiffness Measurement Using Two-Fingered Microhand

    Daiki Kawakami, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Akihiko Ichikawa, Tamio Tanikawa, Tatsuo Arai

    2010.12 

     More details

    Event date: 2010.12

    researchmap

  • Unknown Objects Segmentation and Material Classification for Separation

    Amr Almadda, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    2010.12 

     More details

    Event date: 2010.12

    researchmap

  • Automatic Object Modeling by Observing Human-Object Interaction

    Christian Penaloza, Yasushi Mae, Tatsuo Arai, Kenichi Ohara, Tomohito Takubo

    2010.11 

     More details

    Event date: 2010.11

    researchmap

  • Workspace optimization for multi-scale micromanipulation system

    Evbekir Avci, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2010.11 

     More details

    Event date: 2010.11

    researchmap

  • Gait Planning for a Biped Robot by a Nonholonomic System with Difference Equation Constraints

    Nobuya Yao, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2010.10 

     More details

    Event date: 2010.10

    researchmap

  • SysML-Based Robot System Design for Manipulation Tasks

    nichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2010.10 

     More details

    Event date: 2010.10

    researchmap

  • Development of RSSI Measurement Sensor Modules for Robust Position Estimation of Wireless Sensor Network Node

    Yuji Abe, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tamio Tanikawa, Tatsuo Arai

    2010.10 

     More details

    Event date: 2010.10

    researchmap

  • The Wire-Swing Motion of ASTERISK and ER-Winch Locomotion Methods

    Hiroyuki Sakamoto, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2010.10 

     More details

    Event date: 2010.10

    researchmap

  • Simulation of bipedal walking based on CPG for Clogs-type Sole Shape

    Yohei Fukano, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2010.10 

     More details

    Event date: 2010.10

    researchmap

  • Development of a Microfludic Cell Coupling and Fusion System

    Tomohito Takubo, Yasushi Mae, Tatsuo Arai, Osamu Satoh, Mitsuhiro Goto

    2010.10 

     More details

    Event date: 2010.10

    researchmap

  • Automated Three-Dimensional Pose Estimation of Objects using Multiple ID Devices by Autonomous Robot

    Tomohiro Umetani, Jun-ichi Morioka, Kenji Inoue, Yasushi Mae, Tatsuo Arai

    2010.10 

     More details

    Event date: 2010.10

    researchmap

  • NEW TURNING MOTIONS FOR ASTERISK'S DYNAMIC ROTATIONAL WALKING MOTION

    Chayooth Theeravithyangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2010.10 

     More details

    Event date: 2010.10

    researchmap

  • Development of a Scale of Perception to Humanoid Robots:PERNOD

    Hiroko Kamide, Yasushi Mae, Tomohito Takubo, Kenichi Ohara, Tatsuo Arai

    2010.10 

     More details

    Event date: 2010.10

    researchmap

  • RTミドルウェアを用いた無線ホームネットワークシステム

    大原賢, 米坂真司, 阿部遊士, 田窪朋仁, 前泰志, 新井建生(大阪大学), 谷川民生(産総研)

    2010.9 

     More details

    Event date: 2010.9

    researchmap

  • 実機・VR ロボットに対する心理の定量的評価

    上出寛子, 安本実加, 田窪朋仁, 大原賢一, 前泰志, 新井健生

    2010.9 

     More details

    Event date: 2010.9

    researchmap

  • On-Chip Somatic Cell Coupling and Fusion

    Huseyin Uvet, Akiyuki Hasegawa, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2010.7 

     More details

    Event date: 2010.7

    researchmap

  • Individual Automated Cell Transportation For Microfluidic Applications

    Huseyin Uvet, Naoaki Koyama, Akiyuki Hasegawa, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2010.7 

     More details

    Event date: 2010.7

    researchmap

  • RT MODULE DESIGN FOR HOME AND BUILDING AUTOMATION

    Kenichi Ohara, Shinji Yonesaka, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2010.6 

     More details

    Event date: 2010.6

    researchmap

  • Virtual Impedance Model for Obstacle Avoidance in a Limb Mechanism Robot

    Kenji Tsukamoto, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2010.6 

     More details

    Event date: 2010.6

    researchmap

  • 対ヒューマノイド認知尺度の作成―ヒューマノイドに対する基本的認知次元の特定―

    上出寛子, 前泰志, 田窪朋仁, 大原賢一, 新井健生

    2010.6 

     More details

    Event date: 2010.6

    researchmap

  • ヒューマノイドロボットに対するパーソナルスペースと提示方法

    安本実加, 上出寛子, 前泰志, 大原賢一, 田窪朋仁, 新井健生

    2010.6 

     More details

    Event date: 2010.6

    researchmap

  • Manipulation Method Using Wheeled-Hand Mechanism for Humanoid Robot

    Takuya Fukuda, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2010.6 

     More details

    Event date: 2010.6

    researchmap

  • Rotation Control of Polygonal Prism by Multi-Legged Robot

    Gaku Takeo, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2010.3 

     More details

    Event date: 2010.3

    researchmap

  • Automatic Single Cell Transfer Module

    Akiyuki Hasegawa, Huseyin Uvet, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2009.12 

     More details

    Event date: 2009.12

    researchmap

  • Cell Coupling System for Somatic Cell Cloning Using Microfluidic Chip

    Akiyuki Hasegawa, Huseyin Uvet, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai, Osamu Satoh, Akihiro Nakayama

    2009.12 

     More details

    Event date: 2009.12

    researchmap

  • Internal Force Control for Rolling Operation of Polygonal Prism

    Gaku Takeo, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2009.12 

     More details

    Event date: 2009.12

    researchmap

  • Dynamic Rolling-walk Motion with Sensory Compensation

    Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2009.12 

     More details

    Event date: 2009.12

    researchmap

  • Obstacle Avoidance Using Virtual Impedance Wall for Limb Mechanism Robot

    Kenji Tsukamoto, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2009.12 

     More details

    Event date: 2009.12

    researchmap

  • Micro Valve System for Individual Cell Transportation in Microfluidic Chip

    Akiyuki Hasegawa, Huseyin Uvet, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2009.11 

     More details

    Event date: 2009.11

    researchmap

  • User Friendly Two-Fingered Cell Manipulation System

    Daiki KAWAKAMI, Kenichi OHARA, Kenichi Ohara, Yasushi Mae, Tomohito Takubo, Tamio TANIKAWA, Tatsuo Arai

    2009.11 

     More details

    Event date: 2009.11

    researchmap

  • A new multi-scale micromanipulation system with dexterous motion

    Ebubekir AVCI, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2009.11 

     More details

    Event date: 2009.11

    researchmap

  • SELF-CONTROLLED CELL SUPPLY SYSTEM FOR SOMATIC CELL CLONING WORK IN MICROFLUIDIC CHIP

    Akiyuki Hasegawa, Huseyin Uvet, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2009.11 

     More details

    Event date: 2009.11

    researchmap

  • On-Chip Disposable Compact Vision System

    Huseyin Uvet, Akiyuki Hasegawa, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2009.11 

     More details

    Event date: 2009.11

    researchmap

  • Object Pose Estimation by Multi-Surfaces SIFT Matching for Manipulation

    Amr Almaddah, Yasushi Mae, Tatsuo Arai, Kenichi Ohara, Tomohito Takubo

    2009.10 

     More details

    Event date: 2009.10

    researchmap

  • Action Indication System in Emergency using Audio and Visual Presentation

    Kotaro Morikawa, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    2009.10 

     More details

    Event date: 2009.10

    researchmap

  • Interoperable RT Component for Object Detection and 3D Pose Estimation for Service Robots

    Jaeil Choi, Hideyasu Takahashi, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    2009.10 

     More details

    Event date: 2009.10

    researchmap

  • Implementation and Evaluation of the Scale-Invariant Feature Transform on GPU

    Jaeil Choi, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    2009.10 

     More details

    Event date: 2009.10

    researchmap

  • Layered Structure on Module-Based Robot Control System for Service Robots

    Hideyasu Takahashi, Yasushi Mae, Jaeil Choi, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    2009.10 

     More details

    Event date: 2009.10

    researchmap

  • Smart RT Device with Easy Replaceability in Ubiquitous Robot Environment

    Kenichi Ohara, Shinji Yonesaka, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2009.10 

     More details

    Event date: 2009.10

    researchmap

  • Automated Initial Setup Method for Two-Fingered Micro Hand System

    Izumi Hatta, Kenichi Ohara, Tatsuo Arai, Yasushi Mae, Tomohito Takubo

    2009.10 

     More details

    Event date: 2009.10

    researchmap

  • NDT Scan Matching Method for High Resolution Grid Map

    Tomohito Takubo, Takuya Kaminade, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    2009.10 

     More details

    Event date: 2009.10

    researchmap

  • Detection Sensor for Flowing Particles in Micro Channel

    I. Okuda, T. Arai, T. Takubo, A. Hasegawa, Y. Mae, K. Ohara

    2009.10 

     More details

    Event date: 2009.10

    researchmap

  • Self-Controlled Cell Selection and Loading System for Microfluidic Systems

    Huseyin Uvet, Akiyuki Hasegawa, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2009.10 

     More details

    Event date: 2009.10

    researchmap

  • Evaluation of virtual and real robot based on human impression

    Kenichi Ohara, Shunsuke Negi, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2009.10 

     More details

    Event date: 2009.10

    researchmap

  • Position Estimation Method Using RSSI Measurement Sensors

    Yuji ABE, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tamio TANIKAWA, Tatsuo Arai

    2009.10 

     More details

    Event date: 2009.10

    researchmap

  • Rotational Operation of Polygonal Prism by Multi-Legged Robot

    Gaku Takeo, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2009.8 

     More details

    Event date: 2009.8

    researchmap

  • Dynamic Rolling-walk Motion by Limb Mechanism Robot ASTERISK

    Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2009.8 

     More details

    Event date: 2009.8

    researchmap

  • Optimization of Grid Wall Walking by Genetic Algorithm

    Yuya Yanagihara, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2009.8 

     More details

    Event date: 2009.8

    researchmap

  • Rough Terrain Walking for Bipedal Robot by Using ZMP Criteria Map

    Tomohito Takubo, Yoshinori Imada, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2009.5 

     More details

    Event date: 2009.5

    researchmap

  • Development Process of a Chopstick-Like Hybrid Structure Two-Fingered Micromanipulator Hand for 3D Manipulation of Microscopic Objects

    A.A.Ramadan, T.Takubo, Y.Mae, K.Oohara, T.Arai

    2009.4 

     More details

    Event date: 2009.4

    researchmap

  • Simple Method for Generating Dynamic Object Map

    Yuusuke Ishizuka, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    2009.2 

     More details

    Event date: 2009.2

    researchmap

  • Stair Recognition with Laser Range Scanning by Limb Mechanism Robot "ASTERISK"

    Chayooth Theeravithayangkura, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2009.2 

     More details

    Event date: 2009.2

    researchmap

  • Rough Terrain Walking by Using ZMP Criteria Map

    Yoshinori Imada, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2008.11 

     More details

    Event date: 2008.11

    researchmap

  • Building Monitoring System Using RFID and Mobile Robot

    Kenji Tsukamoto, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2008.11 

     More details

    Event date: 2008.11

    researchmap

  • Cell Analysis System Using Two-fingered Micro Hand -Fine Adjustment Mechanism for End-effector-

    Izumi Hatta, Kenichi Ohara, Tatsuo Arai, Yasushi Mae, Tomohito Takubo, Kenji Inoue

    2008.11 

     More details

    Event date: 2008.11

    researchmap

  • Multipoint Support Motion Using Wheeled Hand for Humanoid Robot

    Takuya Fukuda, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2008.9 

     More details

    Event date: 2008.9

    researchmap

  • Detection of Screws on Metal-Ceiling Structures for Dismantling Tasks in Buildings

    S. Rolando Cruz-Ramirez, Yasushi Mae, Tomohito Takubo, Tatsuo Arai

    2008.9 

     More details

    Event date: 2008.9

    researchmap

  • Building Monitoring System Using UFAM and Mobile Robot

    Kenji Tsukamoto, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2008.8 

     More details

    Event date: 2008.8

    researchmap

  • Detection of Screws on Metal Ceiling Structures for Dismantling Systems

    S. Rolando Cruz-Ramirez, Yuusuke Ishizuka, Yasushi Mae, Tomohito Takubo, Tatsuo Arai

    2008.6 

     More details

    Event date: 2008.6

    researchmap

  • Usability of Interface Devices for Human Robot Collaboration

    Yuusuke Ishizuka, S. Rolando Cruz-Ram&iacute, rez, Yasushi Mae, Tomohito Takubo, Tatsuo Arai

    2008.6 

     More details

    Event date: 2008.6

    researchmap

  • Development of a Compact Vision System for "Automated Nuclear Transplantation Project

    Huseyin Uvet, Tatsuo Arai, Yasushi Mae, Tomohito Takubo

    2008.5 

     More details

    Event date: 2008.5

    researchmap

  • The Generation of Environmental Map Based on a NDT Grid Mapping

    Takuya Kaminade, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2008.5 

     More details

    Event date: 2008.5

    researchmap

  • Ladder Climbing Control for Limb Mechanism Robot "ASTERISK

    Shota Fujii, Kenji Inoue, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2008.5 

     More details

    Event date: 2008.5

    researchmap

  • Dismantling Interior Facilities in Buildings by Human Robot Collaboration

    S. Rolando Cruz-Ramirez, Yuusuke Ishizuka, Yasushi Mae, Tomohito Takubo, Tatsuo Arai

    2008.5 

     More details

    Event date: 2008.5

    researchmap

  • Collaborative Monitoring Using UFAM and Mobile Robot -2ndreport:Development of integrated management system-

    Takahiro Miyauchi, Tomohito Takubo, Yasushi Mae, Tatsuo Arai, Kenichi Ohara

    2007.11 

     More details

    Event date: 2007.11

    researchmap

  • Emergence of Robotic Intelligence by Chaos for Catching Fish

    Jun Hirao, Mamoru Minami, Yasushi Mae, Gao Jingyu

    2007.9 

     More details

    Event date: 2007.9

    researchmap

  • Localization of Mobile Robots by Multiple Landmark Recognition

    Ryohei Ozawa, Yasushi Mae, Mamoru Minami

    2007.9 

     More details

    Event date: 2007.9

    researchmap

  • Position/Force Control of Griding Robot by Using Real-time Presumption of Constrained Condition

    Weiwei Xu, Mamoru Minami, Yasushi Mae

    2007.9 

     More details

    Event date: 2007.9

    researchmap

  • On-line Stable Evolutionary Recognition based on Unit Quaternion Representation by Motion-Feedforward Compensation

    Wei Song, Mamoru Minami, Yasushi Mae, Seiji Aoyagi

    2007.9 

     More details

    Event date: 2007.9

    researchmap

  • Multiple Preview Control System for Redundant Manipulator Based on Partial Future Reachability

    Tong-xiao Zhang, Mamoru Minami, Yasushi Mae

    2007.9 

     More details

    Event date: 2007.9

    researchmap

  • Fish Catching by Visual Servoing using Neural Network Prediction

    Toshiaki Yoshida, Mamoru Minami, Yasushi Mae

    2007.9 

     More details

    Event date: 2007.9

    researchmap

  • Chaos-driving Robotic Intelligence for Catching Fish

    Mamoru Minami, Gao Jingyu, Yasushi Mae

    2007.4 

     More details

    Event date: 2007.4

    researchmap

  • On-line Evolutionary Head Pose Measurement by Feedforward Stereo Model Matching

    Wei Song, Mamoru Minami, Yasushi Mae, Seiji Aoyagi

    2007.4 

     More details

    Event date: 2007.4

    researchmap

  • Person Recognition by Stereo Model-based Matching

    Daisuke Itou, Yasushi Mae, Mamoru Minami

    2006.10 

     More details

    Event date: 2006.10

    researchmap

  • On-line Prediction of Escaping Fish from Catching Net by Neural Network and Circular Approximation

    Toshiaki Yoshida, Mamoru Minami, Yasushi Mae, Hidekazu Suzuki

    2006.10 

     More details

    Event date: 2006.10

    researchmap

  • Fish Catching by Adopting Neural Network and Chaos to Robotic Intelligence

    Gao Jingyu, Mamoru Minami, Yasushi Mae

    2006.10 

     More details

    Event date: 2006.10

    researchmap

  • Real-Time Trajectory Tracking/Quase-Optimal Obstacle Avoidance Control of Redundant Manipulators

    Keiji Ikeda, Mamoru Minami, Yasushi Mae

    2006.10 

     More details

    Event date: 2006.10

    researchmap

  • Evolutionary Recognition of Corridor and Turning using Adaptive Model with 3D Structure

    Hui Liu, Zongyi Zhang, Wei Song, Yasushi MAE, Mamoru Minami, Seiji Aoyagi

    2006.10 

     More details

    Event date: 2006.10

    researchmap

  • Evolutionary Head Pose Measurement by Improved Stereo Model Matching

    Wei Song, Mamoru Minami, Yasushi Mae, Seiji Aoyagi

    2006.10 

     More details

    Event date: 2006.10

    researchmap

  • Cooperative Monitoring by Fixed Cameras and Moving Cameras

    Sadaaki Kunimatsu, Hironori Kumeno, Naoko Tsukuda, Tomohito TAKUBO, Kenji INOUE, Tatsuo Arai, Yasushi MAE, Tomohiro UMETANI

    2006.10 

     More details

    Event date: 2006.10

    researchmap

  • Fastest Guidance Control with Acceleration Restriction of PWS Mobile Robot

    Yasuhiro Yazaki, Takeshi Ikeda, Mamoru Minami, Yasushi Mae

    2006.10 

     More details

    Event date: 2006.10

    researchmap

  • On-line Optimization of Avoidance Ability for Redundant Manipulator

    Kenji INOUE, Hiroshi Tanaka, Tong-xiao Zhang, Mamoru Minami, Yasushi Mae

    2006.10 

     More details

    Event date: 2006.10

    researchmap

  • Frontal Face Recognition from Patient Robot Point of View for Evaluating Nursing Skill

    Yasushi Mae, Wei Song, Mamoru Minami

    2006.9 

     More details

    Event date: 2006.9

    researchmap

  • Machine Intelligence by Chaos Motion Generator against Escaping Fish

    Gao Jingyu, Mamoru Minami, Yasushi Mae

    2006.9 

     More details

    Event date: 2006.9

    researchmap

  • Intelligent Environment Using RF-ID Tag

    Yasushi MAE, Yoshiteru Takezawa, Mamoru Minami

    2006.8 

     More details

    Event date: 2006.8

    researchmap

  • Fish Catching by Adopting Neural Network and Chaos to Robotic Intelligence

    Gao Jingyu, Mamoru Minami, Yasushi Mae

    2006.8 

     More details

    Event date: 2006.8

    researchmap

  • 3D Pose Visual Servoing to Face for Patient Robot

    Wei Song, Mamoru Minami

    2006.8 

     More details

    Event date: 2006.8

    researchmap

  • Guidance Control of Mobile Robot Preventing Slipping of Carrying Objects

    Y. Yazaki, T. Ikeda, M. Minami, Y. Mae

    2005.11 

     More details

    Event date: 2005.11

    researchmap

  • Evaluation of Obstacle Avoidance Ability for Redundant Mobile Manipulators

    H. Tanaka, M. Minami, Y. Mae

    2005.11 

     More details

    Event date: 2005.11

    researchmap

  • Avoidance Ability of Redundant Mobile Manipulator during Hand Trajectory Tracking

    M. Minami, H. Tanaka, Y. Mae

    2005.10 

     More details

    Event date: 2005.10

    researchmap

  • Prediction of Fish Motion by Neural Network

    Y. Li, Y. Takezawa, H. Suzuki, M. Minami, Y. Mae

    2005.9 

     More details

    Event date: 2005.9

    researchmap

  • Evolutionary Recognition of Corridor and Branch using Adaptive Model with Layered Structure

    H. Liu, J.C. Yuan, F. Gao, Yasushi Mae, Mamoru Minami

    2005.9 

     More details

    Event date: 2005.9

    researchmap

  • Motion Intelligence to Adapt for Changing of Its Body

    Jingyu Gao, Mamoru Minami, Yasushi Mae

    2005.8 

     More details

    Event date: 2005.8

    researchmap

  • Trajectory Tracking of Redundant Manipulators Based on Avoidance Manipulability Shape Index

    Hiroshi Tanaka, Mamoru Minami, Yasushi Mae

    2005.8 

     More details

    Event date: 2005.8

    researchmap

  • Direct Force and Position Control Using Kinematics and Dynamics of Manipulators in Constrained Motion

    Takeshi Ikeda, Mamoru Minam, Yasushi MAE

    2005.8 

     More details

    Event date: 2005.8

    researchmap

  • Evolutionary Head Pose Measurement by Stereo Model Matching

    Wei Song, Mamoru Minami, Yasushi Mae

    2005.8 

     More details

    Event date: 2005.8

    researchmap

  • Learning of Fish Movement Pattern by Neural Network

    Yoshiteru Takezawa, Hidekazu Suzuki, Mamoru Minami, Yasushi Mae

    2005.8 

     More details

    Event date: 2005.8

    researchmap

  • Workspace Analysis of Parallel Mechanism with Adjustable Link Parameters

    Wataru TANAKA, Tatsuo ARAI, Kenji INOUE, Tomohito TAKUBO, Yasushi MAE, Yoshihiko KOSEKI

    2005.7 

     More details

    Event date: 2005.7

    researchmap

  • Design of Search Balls with Wide Field of View for Searching Inside of Rubble

    Kenji INOUE, Masato Yamamoto, Yasushi MAE, Tomohito TAKUBO, Tatsuo ARAI

    2005.6 

     More details

    Event date: 2005.6

    researchmap

  • Generation of Adaptive Motion Using Quasi-simultaneous Recognition of Plural Targets

    T.Mizushima, M.Minami, Y.Mae, Y.Sakamoto, W.Song

    2005.6 

     More details

    Event date: 2005.6

    researchmap

  • Obstacle Avoidance of Redundant Manipulator Using Potential and AMSI

    K.Ikeda, M.Minami, Y.Mae, H.Tanaka

    2005.6 

     More details

    Event date: 2005.6

    researchmap

  • Person Identification by Color Pattern Acquired in Visual Tracking

    Yasushi MAE, Naoki SASAO, Yukinobu SAKAGUCHI, Tomohito TAKUBO, Kenji INOUE, Tatsuo ARAI

    2005.3 

     More details

    Event date: 2005.3

    researchmap

  • Identification and Localization of Buried Metal Object - High-Speed Matching using Genetic Algorithm-

    Tomohiro UMETANI, Yasushi MAE, Tatsuo ARAI, Hironori Kumeno, Kenji INOUE, Tomohito TAKUBO, Hiroshi Niho

    2005.3 

     More details

    Event date: 2005.3

    researchmap

  • Proposal of Wheelchair User Support System Using Humanoid Robots for Creating SSR Society

    Kotaro Sakata, Kenji INOUE, Tomohito TAKUBO, Tatsuo ARAI, Yasushi MAE

    2005.2 

     More details

    Event date: 2005.2

    researchmap

  • Head Detection and Tracking for Monitoring Human Behaviors

    Yasushi MAE, Naoki Sasao, Yukinobu Sakaguchi, Kenji INOUE, Tatsuo ARAI

    2005.2 

     More details

    Event date: 2005.2

    researchmap

  • Link Length Control using Dynamics for Parallel Mechanism with Adjustable Link Parameters

    Wataru TANAKA, Tatsuo ARAI, Kenji INOUE, Tomohito TAKUBO, Yasushi MAE, Yoshihiko KOSEKI

    2004.11 

     More details

    Event date: 2004.11

    researchmap

  • Finding and Quantitative Evaluation of Minute Flaws on Metal Surface Using Hairline

    Jianing Zhu, Yasushi MAE, Mamoru Minami

    2004.11 

     More details

    Event date: 2004.11

    researchmap

  • Pose Measurement of 3-D Object Using Model-based Matching in Stereo Image

    Wei SONG, Yasushi MAE, Mamoru Minami

    2004.11 

     More details

    Event date: 2004.11

    researchmap

  • Design of Multi Sensor Units for Searching Inside of Rubble

    Kenji INOUE, Masato YAMAMOTO, Tomohito TAKUBO, Yasushi MAE, Tatsuo ARAI

    2004.11 

     More details

    Event date: 2004.11

    researchmap

  • Detection of Dynamic Obstacles for Building 3D Map using Human Action Recognition

    Yukinobu SAKAGUCHI, Yasushi MAE, Tomohiro UMETANI, Naoki SASAO, Tomohito TAKUBO, Kenji INOUE, Tatsuo ARAI

    2004.11 

     More details

    Event date: 2004.11

    researchmap

  • Psychological Evaluation on Shape and Motions of Real Humanoid Robot

    K. Sakata, T.Takubo, K.Inoue, S.Nonaka, Y. Mae, T. Arai

    2004.10 

     More details

    Event date: 2004.10

    researchmap

  • Identification of Partially-Exposed Metal Object

    Tomohiro Umetani, Yasushi MAE, Tatsuo ARAI, Hironori Kumeno, Kenji INOUE, Tomohito Takubo, Hiroshi Niho

    2004.9 

     More details

    Event date: 2004.9

    researchmap

  • Integrated Visual and Haptic Display Using Translucent and Flexible Sheet

    Kenji INOUE, Reiko Uesugi, Ryouhei Sasama, Tatsuo ARAI, Yasushi MAE

    2004.9 

     More details

    Event date: 2004.9

    researchmap

  • Marionette System for Operating and Displaying Robot Whole-Body Motion-Development of Similar Humanoid-Type Device-

    Tomohito Takubo, Kazutoshi Nishii, Kenji INOUE, Yasushi MAE, Tatsuo ARAI

    2004.9 

     More details

    Event date: 2004.9

    researchmap

  • Mobile Manipulation of Humanoid Robots-Control Method for CoM Position with External Force-

    Tomohito Takubo, Kenji INOUE, Kotarou Sakata, Yasushi MAE, Tatsuo ARAI

    2004.9 

     More details

    Event date: 2004.9

    researchmap

  • Building 3D Map for Localization using Human Actio

    Yukinobu Sakaguchi, Yasushi MAE, Naoki Sasao, Tomohito Takubo, Kenji INOUE, Tatsuo ARAI

    2004.9 

     More details

    Event date: 2004.9

    researchmap

  • 3D Map Building using Human Action by Moving Three-camera Unit

    Yukinobu Sakaguchi, Yasushi MAE, Naoki Sasao, Tomohito Takubo, Kenji INOUE, Tatsuo ARAI

    2004.8 

     More details

    Event date: 2004.8

    researchmap

  • Wheelchair User Support System Using Humanoid Robots -System Concept and Experiments on Pushing Wheelchair

    Kotarou Sakata, Kenji INOUE, Tomohito Takubo, Tatsuo ARAI, Yasushi MAE

    2004.8 

     More details

    Event date: 2004.8

    researchmap

  • Omni-Directional Gait of Multi-Legged Rescue Robot

    Tatsuo ARAI, Yasushi MAE, Yasushi MAE

    2004.4 

     More details

    Event date: 2004.4

    researchmap

  • Evaluation of Human Sense of Security for Coexisting Robots using Virtual Reality -1st report

    Seri NONAKA, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    2004.4 

     More details

    Event date: 2004.4

    researchmap

  • See-through Sheet Visual Display for Haptic Device Using Flexible Sheet

    Reiko UESUGI, Kenji INOUE, Ryouhei SASAMA, Tatsuo ARAI, Yasushi MAE

    2003.12 

     More details

    Event date: 2003.12

    researchmap

  • Proposal of Wheelchair Support System Using Humanoid Robots for Creating SSR Society

    Kotaro SAKATA, Kenji INOUE, Tomohito TAKUBO, Tatsuo ARAI, Yasushi MAE

    2003.11 

     More details

    Event date: 2003.11

    researchmap

  • Head Detection and Tracking for Monitoring Human Behsviors

    Yasushi MAE, Naoki SASAO, Yukinobu SAKAGUCHI, Kenji INOUE, Tatsuo ARAI

    2003.11 

     More details

    Event date: 2003.11

    researchmap

  • Translucent View for Robot Tele-operation

    Haruhiko TATSUMI, Yasushi MAE, Tatsuo ARAI, Kenji INOUE

    2003.10 

     More details

    Event date: 2003.10

    researchmap

  • Mobile Manipulation of Humanoid Robots: Control Method for Accurate Manipulation

    Yusuke NISHIHAMA, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    2003.10 

     More details

    Event date: 2003.10

    researchmap

  • Automated Handling of Construction Components Based on Parts and Packets Unification

    Tomohiro UMETANI, Yasushi MAE, Kenji INOUE, Tatsuo ARAI, Jun-ichi YAGI

    2003.9 

     More details

    Event date: 2003.9

    researchmap

  • Person Detection by Mobile-Manipulator for Monitoring

    Yasushi MAE, Naoki Sasao, Kenji INOUE, Tatsuo ARAI

    2003.8 

     More details

    Event date: 2003.8

    researchmap

  • Calibration Method by Simplified Measurement for Parallel Mechanism

    Wataru TANAKA, Tatsuo ARAI, Kenji INOUE, Yasushi MAE, Choong Sik PARK, Yoshihiko KOSEKI

    2003.7 

     More details

    Event date: 2003.7

    researchmap

  • Sensor-based walking on rough terrain for legged robots

    Yasushi MAE, Tatsuhi Mure, Kenji INOUE, Tatsuo ARAI, Noriho Koyachi

    2003.7 

     More details

    Event date: 2003.7

    researchmap

  • Automated Micro Handling

    Akihiro SUZUKI, Tatsuo ARAI, Yasushi MAE, Kenji INOUE, Tamio TANIKAWA

    2003.7 

     More details

    Event date: 2003.7

    researchmap

  • Shape Adaptation of Planar Hyper-redundant Manipulators to Narrow and Unknown Environment using Proximity Sensors

    Hiroyuki TANI, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    2003.6 

     More details

    Event date: 2003.6

    researchmap

  • Tension Control and Force Estimation for Hybrid Drive Parallel Arm

    Yasushi MAE, Tatsuo ARAI, Kenji INOUE

    2003.6 

     More details

    Event date: 2003.6

    researchmap

  • Development of Basic Structure for Exoskeleton Cyborg System

    Teruhisa Onishi, Tatsuo ARAI, Kenji INOUE, Yasushi MAE

    2002.11 

     More details

    Event date: 2002.11

    researchmap

  • Development of a Welfare Work Support System Using a Chair-desk

    Teruhisa Onishi, Tatsuo ARAI, Kenji INOUE, Yasushi MAE

    2002.11 

     More details

    Event date: 2002.11

    researchmap

  • Evaluation of omni-directional mobility of multi-legged robots based on error analysis of dead reckoning

    Yasushi MAE, Kenji INOUE, Tatsuo ARAI, Tatsuhiko NISHIDA

    2002.9 

     More details

    Event date: 2002.9

    researchmap

  • Search task by limb mechanism robot with infrared sensors and cameras

    Kazuo Kita, Yasushi MAE, Tatsuo ARAI, Kenji INOUE, Kunio MIYAWAKI

    2002.9 

     More details

    Event date: 2002.9

    researchmap

  • Sensor -based walking of limb mechanism on rough terrain

    Tatsuhi Mure, Kenji INOUE, Yasushi MAE, Tatsuo ARAI, Noriho Koyachi

    2002.9 

     More details

    Event date: 2002.9

    researchmap

  • Automated Calibration for Micro Hand Using Visual Information

    Tatsuo ARAI, Akihiro SUZUKI, Yosuke KATO, Yasushi MAE, Kenji INOUE, Tamio TANIKAWA

    2002.9 

     More details

    Event date: 2002.9

    researchmap

  • Parts and Packets Unification for Construction Automation and Robots

    Tomohiro UMETANI, Tatsuo ARAI, Yasushi MAE, Kenji INOUE, Jun-ichiro MAEDA

    2002.9 

     More details

    Event date: 2002.9

    researchmap

  • Fundamental Study on Human Support System Using Humanoid Robots for Creating SSR Society

    Kenji INOUE, Tatsuo ARAI, Yasushi MAE, Yusuke NISHIHAMA

    2002.8 

     More details

    Event date: 2002.8

    researchmap

  • Design of Limb Mechanism Robot for Dual Arm Manipulation

    Kenji INOUE, Tatsuo ARAI, Kazuo KITA, Yasushi MAE

    2002.7 

     More details

    Event date: 2002.7

    researchmap

  • Mobile Manipulation of Humanoid Robots -Optimal Posture for Generating Large Force Based on Statics-

    Haruyuki YOSHIDA, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    2002.5 

     More details

    Event date: 2002.5

    researchmap

  • Simplified Kinematic Calibration for a Class of Parallel Mechanism

    Wataru TANAKA, Tatsuo ARAI, Kenji INOUE, Yasushi MAE, Choong Sik PARK

    2002.5 

     More details

    Event date: 2002.5

    researchmap

  • Mobile Manipulation of Humanoid Robots -Body and Leg Control for Dual Arm Manipulation-

    Kenji INOUE, Yusuke NISHIHAMA, Tatsuo ARAI, Yasushi MAE

    2002.5 

     More details

    Event date: 2002.5

    researchmap

  • Acquisition and Accumulation of Object Appearances using Successive Eigenspace Construction

    Yasushi MAE, Tomohiro UMETANI, Tatsuo ARAI, Kenji INOUE

    2002.1 

     More details

    Event date: 2002.1

    researchmap

  • Cooperative Control and Force Limitation for Multiple Robots in Single Object Transportation

    Kentaro KATO, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    2001.12 

     More details

    Event date: 2001.12

    researchmap

  • Auto Focusing and Tracking for Micro Manipulation

    Yousuke KATOH, Tatsuo ARAI, Kenji INOUE, Yasushi MAE, Tamio TANIKAWA

    2001.10 

     More details

    Event date: 2001.10

    researchmap

  • Error Analysis of Dead Reckoning of Multi-Legged Robots

    Yasushi MAE, Toru MASUDA, Tatsuo ARAI, Kenji INOUE

    2001.10 

     More details

    Event date: 2001.10

    researchmap

  • Tension Control and Its Application for Hybrid Drive Parallel Arm

    Hirofumi KAMISHIMA, Tatsuo ARAI, Kenji INOUE, Yasushi MAE, Kunio MIYAWAKI, Noriho Koyachi

    2001.10 

     More details

    Event date: 2001.10

    researchmap

  • Omni-Directional Mobility of Limb Mechanism Robot

    Tatsuo ARAI, Yuuya TAKAHASHI, Heditoshi Maeda, Kenji INOUE, Yasushi MAE

    2001.9 

     More details

    Event date: 2001.9

    researchmap

  • View Controls in Environment Presentation for Robot Tele-operation

    Yasushi MAE, Tatsuo ARAI, Kenji INOUE, Ikunosuke Kurosaki

    2001.9 

     More details

    Event date: 2001.9

    researchmap

  • Adaptive Relocation of Environment-Attached Storage Devices for Effective Knowledge-Sharing among Multiple Robots

    Tomohiro UMETANI, Yasushi MAE, Kenji INOUE, Tatsuo ARAI

    2001.7 

     More details

    Event date: 2001.7

    researchmap

  • Mobile Manipulation of Humanoid Robots -A Method of Adjusting Leg Motion for Improvement of Arm's Manipulability-

    Haruyuki YOSHIDA, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    2001.7 

     More details

    Event date: 2001.7

    researchmap

  • Adaptive Relocation of Environment-Attached Storage Devices by Multiple Robots

    Tomohiro UMETANI, Yasushi MAE, Kenji INOUE, Tatsuo ARAI

    2001.5 

     More details

    Event date: 2001.5

    researchmap

  • Mobile Manipulation of Limbed Robots -Proposal on Mechanism and Control-

    Kenji INOUE, Tatsuo ARAI, Yasushi MAE, Yuuya TAKAHASHI, Haruyuki YOSHIDA, Noriho Koyachi

    2001.5 

     More details

    Event date: 2001.5

    researchmap

  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion for Obstacle Avoidance

    Kenji INOUE, Akinobu Okuda, Hiroyuki Tani, Tatsuo ARAI, Yasushi MAE

    2001.1 

     More details

    Event date: 2001.1

    researchmap

  • Dead Reckoning of Multi-legged Robot -Error Analysis-

    Toru Masuda, Yasushi MAE, Tatsuo ARAI, Kenji INOUE

    2001.1 

     More details

    Event date: 2001.1

    researchmap

  • Presentation of Push Button Switches with Manipulators for Virtual Operating Environment

    Kenji INOUE, Yusuke TAKAO, Tatsuo ARAI, Yasushi MAE

    2000.10 

     More details

    Event date: 2000.10

    researchmap

  • Mobile Manipulation of Humanoid Robots: Analysis of Manipulability and Stability in Mobile Manipulation

    Haruyuki YOSHIDA, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    2000.10 

     More details

    Event date: 2000.10

    researchmap

  • Development of Multi-Limb Robot with Omnidirectional Manipulability and Mobility

    Yuuya TAKAHASHI, Tatsuo ARAI, Yasushi MAE, Kenji INOUE, Noriho KOYACHI

    2000.10 

     More details

    Event date: 2000.10

    researchmap

  • Application of Locomotive Robot to Rescue Tasks

    Yasushi MAE, Haruyuki YOSHIDA, Tatsuo ARAI, Kenji INOUE, Kunio MIYAWAKI, Hironori ADACHI

    2000.10 

     More details

    Event date: 2000.10

    researchmap

  • Hybrid Drive Parallel Arm and Its Motion Control

    Hirofumi KAMISHIMA, Tatsuo ARAI, Yasushi MAE, Kenji INOUE, Kunio MIYAWAKI, Noriho KOYACHI

    2000.10 

     More details

    Event date: 2000.10

    researchmap

  • Parallel Mechanisms with Adjustable Link Parameters

    Tatsuo ARAI, Kazunari TAKAYAMA, Kenji INOUE, Yasushi MAE, Yoshihiko KOSEKI

    2000.10 

     More details

    Event date: 2000.10

    researchmap

  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion for Obstacle Avoidance

    Kenji INOUE, Akinobu OKUDA, Hiroyuki TANI, Tatsuo ARAI, Yasushi MAE

    2000.9 

     More details

    Event date: 2000.9

    researchmap

  • Dead Reckoning of Multi-legged Robot

    Toru Masuda, Yasushi Mae, Tatsuo Arai, Kenji Inoue

    2000.9 

     More details

    Event date: 2000.9

    researchmap

  • Object Recognition using Appearance Models Accumulated into Environment

    Yasushi MAE, Tomohiro UMETANI, Tatsuo ARAI, Kenji INOUE

    2000.9 

     More details

    Event date: 2000.9

    researchmap

  • Relocation of Storage Devices Attached to Environment for Effective Knowledge Sharing among Multiple Robots

    Yasushi MAE, Tomohiro UMETANI, Tatsuo ARAI, Kenji INOUE

    2000.7 

     More details

    Event date: 2000.7

    researchmap

  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion for Obstacle Avoidance

    Kenji INOUE, Akinobu OKUDA, Hiroyuki TANI, Tatsuo ARAI, Yasushi MAE

    2000.6 

     More details

    Event date: 2000.6

    researchmap

  • Mobile Manipulation of Humanoids: Real-Time Control Based on Manipulability and Stability

    Kenji INOUE, Haruyuki YOSHIDA, Tatsuo ARAI, Yasushi MAE

    2000.4 

     More details

    Event date: 2000.4

    researchmap

  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion (Position Control)

    Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    2000.3 

     More details

    Event date: 2000.3

    researchmap

  • Real-time Obstacle Avoidance for Robot Arm Using Collision Jacobian

    1999.10 

     More details

    Event date: 1999.10

    researchmap

  • Workspace Analysis of Fixed Linear Actuation Parallel Mechanism

    Yoshikazu MURATA, Tatsuo ARAI, Kenji INOUE, Yasushi MAE, Choong Sik PARK, Yoshihiko KOSEKI

    1999.10 

     More details

    Event date: 1999.10

    researchmap

  • Hybrid Drive Parallel Arm For Heavy Material Handling

    Kei YUASA, Tatsuo ARAI, Yasushi MAE, Kenji INOUE, Kunio MAYAWAKI, Noriho KOYACHI

    1999.10 

     More details

    Event date: 1999.10

    researchmap

  • Development of 3-DOF Finger Module for Micro Manipulation

    Yoshiki OHYA, Tatsuo ARAI, Yasushi MAE, Kenji INOUE, Tamio TANIKAWA

    1999.10 

     More details

    Event date: 1999.10

    researchmap

  • Workspace Analysis of Fixed Linear Actuation Parallel Mechanism

    1999.10 

     More details

    Event date: 1999.10

    researchmap

  • Real-time Obstacle Avoidance for Robot Arm Using Collision Jacobian

    Hajime KANEKO, Tatsuo ARAI, Kenji INOUE, Yasushi MAE

    1999.10 

     More details

    Event date: 1999.10

    researchmap

  • Development of 3-DOF Finger Module for Micro Manipulation

    1999.10 

     More details

    Event date: 1999.10

    researchmap

  • Hybrid Drive Parallel Arm For Heavy Material Handling

    1999.10 

     More details

    Event date: 1999.10

    researchmap

  • Development of Hybrid Drive Parallel Arm for Heavy Material Handling

    Tatsuo ARAI, Kei YUASA, Yasushi MAE, Kenji INOUE, Kunio MIYAWAKI, Noriho KOYACHI, Yoshio ABE, Isamu ISHII, Kazuya KIKAWADA

    1999.9 

     More details

    Event date: 1999.9

    researchmap

  • Object Tracking by using Optical Flows and Edges

    Yoshiaki Shirai, Yasushi Mae, Shinya Yamamoto

    1998.10 

     More details

    Event date: 1998.10

    researchmap

  • Tracking Moving Object in 3-D Space Based on Optical Flow and Edges

    Yasushi Mae, Yoshiaki Shirai

    1998.8 

     More details

    Event date: 1998.8

    researchmap

  • オプティカルフローとエッジを用いた3次元運動する物体追跡

    前 泰志, 白井良明

    1998.7 

     More details

    Event date: 1998.7

    researchmap

  • Object Tracking in Cluttered Background Based on Optical Flow and Edges

    Yasushi Mae, Yoshiaki Shirai, Jun Miura, Yoshinori Kuno

    1996.8 

     More details

    Event date: 1996.8

    researchmap

  • Realtime Multiple Object Tracking based on Optical Flows

    Shinya Yamamoto, Yasushi Mae, Yoshiaki Shirai, Jun Miura

    1995.5 

     More details

    Event date: 1995.5

    researchmap

  • Optical Flow Based Realtime Object Tracking by Active Vision System

    Yasushi Mae, Shinya Yamamoto, Yoshiaki Shirai, Jun Miura

    1994.11 

     More details

    Event date: 1994.11

    researchmap

  • Optical Flow Based Realtime Object Tracking by Active Vision System

    Yasushi Mae, Shinya Yamamoto, Yoshiaki Shirai, Jun Miura

    1994.4 

     More details

    Event date: 1994.4

    researchmap

  • Moving Object Perception and Tracking by Use of DSP

    Yoshiaki Shirai, Jun Miura, Yasushi Mae, Morito Shiohara, Hiroichi Egawa, Shigeru Sasaki

    1993.12 

     More details

    Event date: 1993.12

    researchmap

  • Moving Object Perception and Tracking by Use of DSP

    Yoshiaki Shirai, Jun Miura, Yasushi Mae, Morito Shiohara, Hiroichi Egawa, Shigeru Sasaki

    1993.4 

     More details

    Event date: 1993.4

    researchmap

  • Dead Reckoning of Multi-legged Robot -Error Analysis-

    Toru Masuda, Yasushi MAE, Tatsuo ARAI, Kenji INOUE

     More details

  • Presentation of Push Button Switches with Manipulators for Virtual Operating Environment

    Kenji INOUE, Yusuke TAKAO, Tatsuo ARAI, Yasushi MAE

     More details

  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion for Obstacle Avoidance

    Kenji INOUE, Akinobu Okuda, Hiroyuki Tani, Tatsuo ARAI, Yasushi MAE

     More details

▼display all

Awards

  • 日本ロボット学会功労賞

    2021.9   日本ロボット学会  

     More details

  • 計測自動制御学会システムインテグレーション部門 部門貢献表彰

    2020.12   計測自動制御学会システムインテグレーション部門  

     More details

    Country:Japan

    researchmap

  • 2015 ISR Best Paper Award

    2015.12   Korea Robotics Society  

     More details

  • SI2014優秀講演賞

    2014.12   第15回SICEシステムインテグレーション部門講演会  

     More details

    Country:Japan

    researchmap

  • 第七回JRM Best Paper Award 2014

    2014.12   富士技術出版株式会社  

     More details

    Country:Japan

    researchmap

  • Advanced Robotics Best Paper Award

    2013.9   The Robotics Society of Japan  

     More details

    Country:Japan

    researchmap

  • 第13回建設ロボットシンポジウム優秀論文賞

    2012.9   建設ロボット研究連絡協議会  

     More details

    Country:Japan

    researchmap

  • Best Paper Award

    2010.10   First IFToMM Asian Conference on Mechanism and Machine Science  

     More details

  • Best Conference Paper Award

    2009.12   IEEE International Conference on Robotics and Biomimetics  

     More details

  • 2004年度日本バーチャルリアリティ学会論文賞

    2004.9   日本バーチャルリアリティ学会  

     More details

    Country:Japan

    researchmap

  • 第10回建設ロボットシンポジウム優秀論文賞

    2004.9   建設ロボット研究連絡協議会  

     More details

    Country:Japan

    researchmap

▼display all

Research Projects

  • 光学的測定技術を用いた座屈発生メカニズムの初期変形過程解明における新たな挑戦

    Grant number:24K21638  2024.6 - 2027.3

    日本学術振興会  科学研究費助成事業  挑戦的研究(萌芽)

    新井 泰彦, 石川 敏之, 前 泰志

      More details

    Grant amount:\6240000 ( Direct Cost: \4800000 、 Indirect Cost:\1440000 )

    researchmap

  • Spherical Magnetic Joint based Antigravitational Locomotion of Multi-Legged Robot

    Grant number:22H01449  2022.4 - 2025.3

    日本学術振興会  科学研究費助成事業  基盤研究(B)

    ラサミー ポチャラ, 東田 学, 前 泰志, 新井 健生

      More details

    Grant amount:\18330000 ( Direct Cost: \14100000 、 Indirect Cost:\4230000 )

    researchmap

  • Spherical Magnetic Joint based Antigravitational Locomotion of Multi-Legged Robot

    Grant number:23K22720  2022.4 - 2025.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (B)

      More details

    Grant amount:\18330000 ( Direct Cost: \14100000 、 Indirect Cost:\4230000 )

    researchmap

  • Development of compact super-resolution microscope using three-dimensional measurement technology based on speckle interferometry

    Grant number:20H02165  2020.4 - 2023.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (B)

      More details

    Grant amount:\11960000 ( Direct Cost: \9200000 、 Indirect Cost:\2760000 )

    researchmap

  • 個人適応学習を実現するセンサベースドエジュケーション

    Grant number:19K22874  2019.6 - 2023.3

    日本学術振興会  科学研究費助成事業  挑戦的研究(萌芽)

    前 泰志

      More details

    Grant amount:\6370000 ( Direct Cost: \4900000 、 Indirect Cost:\1470000 )

    学習者の生理・行動・環境からなる学習場を計測し,学習の質向上のために学習者個人に適応して学習場をオンラインで最適化する教育・学習法であるセンサベースドエジュケーションを提案し,その学習システムの構成法を明らかにすることを目的とする.学習場のマルチモーダルな多次元時系列データの分析に基づき,統合的な「学習の質」を指標化する.これにより学習場の計測に基づきオンラインで「学習の質」を予測・評価し,時々刻々変化する学習場の状態に合わせて学習者個人に適応した行動の提案や環境制御で学習場を最適化する学習システムの構成法を明らかにする.
    2021年度は,2020年度に構築,整備した,パソコンの画面を見てオンライン学習をしているシーンを想定した実験学習環境において,パソコン画面の上部に設置したWebカメラで人の顔や目の領域を検出し,画面上の注視領域を推定する手法の開発に着手した.オンライン学習時において,人は様々な頭部姿勢をとりうることから,頭部姿勢変化にロバストな手法の開発を試みている.画面を複数の領域に分けて定義しておき,Webカメラで検出した人の顔や目の状態から画面上のどの領域を見ているかを推定する実験を行い,評価した.また,これまでに開発したWebカメラを用いた非接触による画像からの心拍計測法を利用し,オンライン会議ツールの画面上で,遠隔の人の心拍数の計測を試みた.接触式の心拍センサによる計測結果と比較し,良好な結果を得た.

    researchmap

  • Always-on Human Sensing for Intension Estimation and Best-timing Support

    Grant number:17H01801  2017.4 - 2020.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (B)

    Mae Yasushi

      More details

    Grant amount:\17030000 ( Direct Cost: \13100000 、 Indirect Cost:\3930000 )

    In this research, we have been studying and developing always-on human sensing methods for estimating human motion and biological states in order for service robots to support human at the best timing depending on the human states. We studied and developed methods: estimating 3D pose of a person using an RGB-D camera, predicting 3D pose in the near future, recognition of eye direction from low resolution image, estimating heart rate by a normal RGB camera, estimating a surface temperature of a person detected on a thermal image, supporting attention of the user operating the electrical wheelchair by detecting pedestrians around the wheelchair.

    researchmap

  • Bio-platform to achieve mechanical stimulus to & resopose measurement of cell nucleus

    Grant number:16H02321  2016.4 - 2019.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (A)

    Tatsuo Arai, Ogura Toshihiko

      More details

    Grant amount:\46280000 ( Direct Cost: \35600000 、 Indirect Cost:\10680000 )

    The project developed portable micro hand system for local stimulation measurement, non-contact manipulation with whirl flow, microchannel for continuous mechanical stimulation, observation system capable of tracking for a long time, and microscope capable of acquiring fluorescence and bright field image simultaneously. The new biological findings are the followings. The measurement of mechanical stimulus responses to cells and cell nuclei suggests that the nucleus is stiffer and the existence of multiple intracellular skeletons is assumed. The expression pattern of genes changes with the strength of nucleus stimulation. We could identify the curvature of each part during nematode movement and clarified the difference in movement pattern quantitatively. Continuous mechanical stimulation was given to normal cells and cancer cells, and differences in cell deformability were clarified quantitatively.

    researchmap

  • Research on mobile workable multi-legged robot in anti-gravity / closed narrow space

    Grant number:25280094  2013.4 - 2017.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (B)

    Arai Tatsuo

      More details

    Grant amount:\16380000 ( Direct Cost: \12600000 、 Indirect Cost:\3780000 )

    The purpose of this research is development of the multi legged robot, which could achieve the inspection and maintenance work in specific place such as wall and ceiling (anti-gravitational space) and in the interior of pipes and other (closed narrow space). Specifically, we aim to achieve general anti-gravity / closed space movement with tasks, we designed the legs and motion that can support their own weight under anti-gravity environment and developed end effector and leg mechanism for work. Furthermore, we established a control method that achieves flexible and robust movement. Finally, we evaluate developed system and toward to apply inspection and maintenance work.

    researchmap

  • Construction of 3D cellular system using high-speed micro manipulation

    Grant number:23106005  2011.4 - 2016.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research on Innovative Areas (Research in a proposed research area)

    Arai Tatsuo, Mae Yasushi, Kojima Masaru, Tanikawa Tamio, Ohara Kenichi, Yoshikawa Hiroshi, Matsui Hirofumi

      More details

    Grant amount:\124020000 ( Direct Cost: \95400000 、 Indirect Cost:\28620000 )

    In this study, we aim to establish a protocol for construction of 3-dimensional cellular systems activated in vitro, following research topic was promoted. 1) Fabrication of tubular cellular parts by the rolling method. 2) Fabrication of tubular cellular parts using a microfluidic chip. 3) Generation of arbitrary shape 3D cellular parts using a robot arm and variable mold. 4) Development of the high-speed construction technology for 3D cellular systems by manipulator. By promoting above, we established a new construction process of arbitrary shape cellular system parts, for example "tubular part" and "lattice shape structure parts". Furthermore, the world's fastest micro-object manipulation for construction of 3D cellular systems was realized by two fingered micro hand system.

    researchmap

  • Research Management

    Grant number:23106001  2011.4 - 2016.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research on Innovative Areas (Research in a proposed research area)

    Arai Tatsuo, ARAI Fumihito, Yamato Masayuki, KANEKO Makoto, NAKAUCHI Hiromitsu, FUKUDA Toshio, SEKI Minoru, TAKEUCHI Syouji, SUZUKI Osamu, MAE Yasushi, KANEKO Makoto, NAKAUCHI Hiromitsu, FUKUDA Toshio, SEKI Minoru, MAE Yasushi

      More details

    Grant amount:\90090000 ( Direct Cost: \69300000 、 Indirect Cost:\20790000 )

    We coordinated research groups closely in the area and proceeded fusional research, and presented our research activities in wide area of the domestic and international societies. We exchanged the newest research results and shared knowledge regularly among the research groups in the area through the management meetings and the whole research meetings to make our studies more active. In four main research groups, each leader coordinated research groups and proceeded research by exchanging new results and sharing knowledge through regular group meetings.

    researchmap

  • Object Segmentation and Successive Modeling Based on Human Action Observation

    Grant number:23500242  2011 - 2013

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (C)

    MAE Yasushi

      More details

    Grant amount:\5330000 ( Direct Cost: \4100000 、 Indirect Cost:\1230000 )

    I developed a method to acquire automatically the appearance model of objects moved by human in everyday environments. It solves the problem that automatic visual segmentation of everyday objects in life environment without specific knowledge about objects. The experimental results show the method can automatically acquire the object images as the appearance models of the objects by using human action which moves objects by hands in everyday life.

    researchmap

  • Establishment of Humans' Emotion Model for Nursing Training Patient Robot and Generation of Personality by Chaos Controlling

    Grant number:19560254  2007 - 2010

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (C)

    MIONAMI Mamoru, MAE Yasusi

      More details

    Grant amount:\4550000 ( Direct Cost: \3500000 、 Indirect Cost:\1050000 )

    This research proposes a patient robot system for nursing students to practice injection training and describes verifications of the training effects. A prototype of a patient robot has been designed and developed with the functions of letting the students inject to its vein and expressing countenances and emotional behaviors to make the robot system be seen similar to actual human. Challenging how to achieve the objective of providing the student trainees with the feeling as if they are nursing actual human, we propose to utilize chaotic transitions generated by non-linear dynamics to avoid repeating actions. The effects to the injection trainings of the patient robot have been evaluated by vital sign such as students' heart beating rate and questionnaire after practical injection trainings.

    researchmap

  • Real-time Action Instruction to People in Emergency by Multimodal Human Action Sensing

    Grant number:19700191  2007 - 2009

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Young Scientists (B)

    MAE Yasushi

      More details

    Grant amount:\3810000 ( Direct Cost: \3300000 、 Indirect Cost:\510000 )

    In this study, a real-time action instruction system is proposed, which gives instruction of appropriate actions to people in emergency situation like just after an emergency earthquake alert. Instruction methods using not only audio instruction but also visual instruction with projectors mounted on the environment are proposed. The experiments revealed projection of safety areas and evacuation paths by arrows and brief audio instruction are easier to understand for the people to evacuate.

    researchmap

  • Innovation and evaluation for an educational tool for nursing technique

    Grant number:18592348  2006 - 2008

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (C)

    SAKAI Akiko, IWATA Hiroko, ISOMI Chie, TUKIDA Kazumi, ASOU Kawai, YOSHIKAWA Hiwako, MANABE Tomoko, MINAMI Mamoru, MAE Yasushi

      More details

    Grant amount:\3760000 ( Direct Cost: \3400000 、 Indirect Cost:\360000 )

    researchmap

  • Study of 3-D Mobile Manipulation for Integrated Limb Mechanism

    Grant number:18360123  2006 - 2008

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (B)

    ARAI Tatsuo, TAKUBO Tomohito, MAE Yasushi, OHARA Kenichi, INOUE Kenji

      More details

    Grant amount:\16790000 ( Direct Cost: \14000000 、 Indirect Cost:\2790000 )

    researchmap

  • Analysis of Manipulation Skill for Biological Objects and Its Application to Micro-Manipulation System

    Grant number:17076010  2005 - 2009

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research on Priority Areas

    INOUE Kenji, ARAI Tatsuo, MAE Yasushi, TAKUBO Tomohito, OHARA Kenichi, TANIKAWA Tamio, OHBA Kohtaro, ICHIKAWA Akihiko

      More details

    Grant amount:\86900000 ( Direct Cost: \86900000 )

    Development of two-fingered micro-hand for multi-scale micro-manipulation, measurement of cell stiffness using two-fingered micro-hand, system design for micro-hand with user-friendly interface, development of micro-actuation mechanisms using thin plate hinges, and development of micro-hand with two rotational fingers.

    researchmap

  • 看護・医療技量の向上とその評価のための実習用患者ロボットの開発研究

    2004

      More details

    Grant type:Competitive

    researchmap

  • Patient robot for improving and evaluating medical and nursing skill

    2004

      More details

    Grant type:Competitive

    researchmap

  • ロボットのための環境への知識埋め込みによる知識共有手法

    Grant number:11750207  1999 - 2000

    日本学術振興会  科学研究費助成事業  奨励研究(A)

    前 泰志

      More details

    Grant amount:\1900000 ( Direct Cost: \1900000 )

    オフィスにおける複数ロボットのナビゲーションを例に,提案する環境への知識埋め込み手法の有効性を示した.ロボットに要求される様々な作業の発生割合が変化する場合にも,環境内で行動するロボットが自律的に環境に添付した記憶媒体を蓄えられた知識の有用性に従って再配置する手法を提案した.提案手法が,動的に記憶媒体を適切に再配置することを示した.また,ロボットが行動する環境の構造の違いが,提案手法に与える影響を調べた.ナビゲーションの例では,ある目的地に到達するための複数の方法に要するコストが等しい場合には,記憶媒体を適切に再配置することが困難となることがわかった.
    ロボットが獲得し,環境に蓄える知識として,ロボットが複雑な環境で仕分け作業を行うために有用となる物体の「見え」を用いた.物体がおかれる様々な状況で物体の見えが役立つためには,限られた記憶容量にできるだけ様々な視点からの物体の見えを蓄えることが望ましい.異なる時刻,場所で獲得した物体の見えを主成分分析を利用して効率良く蓄えていく物体の見えの得手法を提案した.物体を含んだ濃淡画像を例に,ロボットが繰り返し様々な視点からの見えを獲得していくことによって,様々な視点からの物体の見えが効率良く蓄えられていくことを確認した.さらに,獲得した見えから3次元の形状を復元するために,類似した見え同士の距離を求め,距離の和が最小になるように見えの隣接関係を求める手法を提案した.隣接する見え同士の特徴点の対応を求めることによって,3次元形状が復元できる可能性を示した.
    以上の通り,本年度は,ロボットに与えられる作業割合が変化する場合における環境への知識埋め込み手法の有効な適用方法を示した.また,知識として物体の見えを考えた場合において,物体の見えの逐次的な獲得手法を提案し,その有効性を示した.

    researchmap

  • Human Interface for Working Robot with Integrated Manipulation and Locomotion

    Grant number:10450098  1998 - 2000

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (B).

    ARAI Tatsuo, MAE Yasushi, INOUE Kenji

      More details

    Grant amount:\12300000 ( Direct Cost: \12300000 )

    The mobile working robot has integrated manipulation and locomotion functions where each function complements and augments the other, and is hyper redundant with many degrees of freedom in motion. The robot should be analyzed, designed, and controlled to perform tasks in the actual application fields taking this notion into account. Since the teleoperation of the robot is rather important when applied in the real world, a more effective human interface is required. This project focused on designing hardwares as well as human interface in the aspect of dexterity and maneuverability for the working robot. The followings are the major outputs. (1) The six limb mechanism robot was proposed which has a mechanical limb capable of both arm and leg functions. The robot is capable of omni directional walk with constant stability margin. (2) The dead-reckoning method for walking vehicle was proposed which can estimate the vehicle's location and orientation with only inner sensors. The method was applied to the limb mechanism robot to evaluate its estimation error. (3) The obstacle avoidance was obtained by using the notion of the interference Jacobean which relates the approaching speed between two objects with actuator velocity. It was applied to the real time obstacle avoidance for a parallel arm and its applicability was confirmed. (4) One of the main functions of humanoid is to obtain versatile and efficient manipulation by its arms. Its legs are required to assist the arms for obtaining their high manipulability by changing step length and timing of step motion. From this point of view, we discussed and analyzed the required motion of legs in mobile manipulation of humanoid. The simulation results showed that the leg motion can vary the manipulability of the arm by changing the step length and the timing of the step motion. (5) There are two view points to show a robot working environment to an operator, one of which is originally proposed in this work called "center view". It was confirmed that the center view is more efficient and operable in manipulation task and robot navigation. (6) The conceat of "virtual operating environment" was proposed to provide universal interface for machine control. The mechanical impedance model of a push button switch was modeled. Based on this model a simulating device, consistins of a manipulator with an impedance controller and a CG veiwer, was implemented. The experiment results, including the evaluations provided by subjects who touched and felt the virtual switch, show the confirmation of its feasibility and applicability (7) The probing method using infra-red range sensor was considered to apply the working robot to a rescue task, i.e. human body searching in a chaotic environment after an attack of natural disaster. The experiments showed fine location capability, and its feasibility was confirmed.

    researchmap

  • Intelligent environment using environment-attached storage devices

    1998

      More details

    Grant type:Competitive

    researchmap

  • 環境添付型記憶媒体を用いた環境知能化に関する研究

    1998

      More details

    Grant type:Competitive

    researchmap

▼display all