Misc - NAKAMURA Takayuki

経路教示と経路計画のハイブリッド自律走行

八谷大岳、野村雅也、脇田翔平、射手矢和真、中村恭之

つくばチャレンジ2017参加レポート集 ( つくばチャレンジ2017 )    p.155   2017.11

優美さ定量化のための古典舞踊動作における腕軌道と手先動作解析

畠中亮太,上田悦子,飯田賢一,竹村憲太郎,小枝正直,中村恭之

ロボティクス・メカトロニクス講演会2017 ( 日本機械学会 )  2017   1P2-L01 - L01   2017.05

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<p>The purpose of this study is to propose the quantification method of grace from the classical dance motion. William Hogarth said that human motion trajectory which includes "the line of beauty" seems graceful. We are trying to establish a new method to extract "the line of beauty" features from the curved surface formed by arm movements and to quantify the grace features. This paper describes a motion feature extraction method using Gauss map from curved surfaces formed by arm movements. We also discuss the influence of the degree of freedom of the wrist on the impression of the audience.</p>

DOI

頭部生体信号に基づく２つのニューラルネットワークの組合せによる個人適応型表情認識

平林真和,中村恭之

第22回ロボティクスシンポジア ( 日本ロボット学会 )    2017.03  [Refereed]

古典舞踊動作の手先軌道に着目した優美さの定量化

中村匠,飯田賢一,竹村憲太郎,小枝 正直,中村 恭之,上田 悦子

第17回計測自動制御学会システムインテグレーション部門講演会 (SI2016) ( 計測自動制御学会 )  17th   2N2-2   2016.12

深度センサを用いた転倒転落防止システムの実態調査

中原千里,飯田めぐみ,米崎麻純,小杉真一,池田篤俊,上田悦子,中村恭之

医療の質・安全学会誌, 11 号     232   2016.11

観客視点を考慮した古典舞踊動作における手先軌道の解析

中村匠,飯田賢一,竹村憲太郎,小枝正直,中村恭之,上田悦子

ロボティクス・メカトロニクス講演会2016 ( 日本機械学会 )  2016 ( 0 ) 2P1-12a4 - 12a4   2016.06

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<p>As robots in the welfare and service industries must come into contact with humans, they are required to make favorable impressions on human sensibilities. Our research focuses on the concept of "graceful motion," as defined by William Hogarth, who was an English painter and an aesthetician. To quantify the gracefulness of human motion, we approximate hand trajectories of five classical dancers by the B-spline curve. Then, we extract the S-shaped curves from these approximated trajectories and analyze its curve shape on the plane considering the audience's viewpoint. Finally, the relationship between the result of analysis and the impression evaluation is discussed.</p>

DOI

EMG信号とロボットハンド操作のダイレクトマッピング

Schleiss Michael,中村 恭之

ロボティクス・メカトロニクス講演会2016 ( 日本機械学会 )    2P1-11b3   2016.05

Parametric t-SNEを利用した頭部生体信号に基づく個人適応型表情認識法の提案

平林 真和,中村 恭之

ロボティクス・メカトロニクス講演会2016 ( 日本機械学会 )    1A2-11b4   2016.05

スキャンデータの順序保存統合と統合処理判断機能を持つ CIFベーススキャンマッチング法

脇田翔平,中村恭之

第21回ロボティクスシンポジア ( 日本ロボット学会 )  21st   2016.03  [Refereed]

Identification of gracefulness feature parameters for hand-over motion

Etsuko Ueda, Kenichi Iida, Kentaro Takemura, Takayuki Nakamura, Masanao Koeda

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) ( Springer Verlag )  9732   115 - 124   2016  [Refereed]

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As robots in the welfare and service industries must come into contact with humans, they are required to make favorable impressions on human sensibilities. Our research focuses on the concept of “graceful motion,” as defined by Hogarth. In order to implement graceful motion in robots, we analyze the hand trajectories which highly skilled servers generate in the task of passing a wine glass to extract graceful and ungraceful curve features. We propose to model the hand trajectory by a polynomial of the fourth degree and to adjust the S-shaped curvature of the hand trajectory. An impression evaluation is then conducted, which indicates that a 20% − 60% S-shaped curvature correspond to gracefulness in a hand-over motion
this parameter corresponds to Hogarth’s definition.

DOI

アジア古典舞踊動作における表現の差異

上田 悦子,中村 恭之,飯田 賢一,小枝 正直,竹村 憲太郎

第16回計測自動制御学会システムインテグレーション部門講演会 (SI2015) ( 計測自動制御学会 )  16th   1120 - 1121   2015.12

アジア古典舞踊動作における表現の差異

上田 悦子,中村 恭之,飯田 賢一,小枝 正直,竹村 憲太郎

第16回計測自動制御学会システムインテグレーション部門講演会 (SI2015) ( 計測自動制御学会 )  16th   pp.1120-1121   2015.12

標本データの増加を抑制する重み付きk近傍法に基づく人の操作を規範としたテザー係留型飛行ロボットの制御

轟千明,高橋泰岳,中村恭之

第33回日本ロボット学会学術講演会 ( 日本ロボット学会 )    1B1-03   2015.09

テザー係留型飛行ロボットのための大型地上制御ユニットの開発

轟千明, 高橋泰岳, 岡本明, 加藤万寿夫, 山崎敏夫, 田中史朗, 濱上雄大, 中村恭之

ロボティクス・メカトロニクス講演会2015 ( 日本機械学会 )    2A1-F02   2015.05

スキャンデータの順序保存統合を用いたCIFベーススキャンマッチング法

脇田翔平,中村恭之

ロボティクス・メカトロニクス講演会2015 ( 日本機械学会 )  2015   2A2-M09 - _2A2-M09_3   2015.05

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This paper proposes an order-preserving merging method of 2D range scans for enhancing our CIF-based scan matching algorithm which is a global scan matching algorithm using the CIF descriptors and a geometric constraint between keypoints. Our enhanced version of the CIF-based scan matching algorithm can perform global scan matching more robustly in a large cluttered environments without using an initial alignment. Through experiment in real environment, we confirm the validity of our method.

DOI

低価格な患者見守りシステムの開発－第3報：距離画像に基づく患者状態識別法－

音田恭宏, 中村恭之,上田悦子,池田篤俊,小笠原 司

第20回ロボティクスシンポジア ( 日本ロボット学会 )    pp.235--242   2015.03  [Refereed]

2A2-U05 Development of Low-cost Patient "MIMAMORT" Device : Classification of patient's state based on a depth image using a deep neural network

MAEGAWA Hiroaki, Nakamura Takayuki, UEDA Etsuko, IKEDA Atsutoshi, OGASAWARA Tsukasa

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )  2015 ( 0 ) _2A2 - U05_1-_2A2-U05_3   2015

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Recently, we have proposed a low-cost and highly reliable monitoring device which is called the MIMAMORI device for a monitoring system at a medical institute. The MIMAMORI device can detect dangerous situations, such as when a patient is at risk of rolling out of bed. In this paper, we detail the patient state classification algorithm using a deep neural network of the MIMAMORI device, and verify its practical applicability with a preliminary experiment.

DOI

Acquisition of Human Operation Characteristics for Kite-based Tethered Flying Robot using Human Operation Data

Chiaki Todoroki, Yasutake Takahashi, Takayuki Nakamura

2015 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE 2015) ( IEEE )    15220 - 15526   2015  [Refereed]

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This paper shows human skill acquisition systems to control the kite-based tethered flying robot. The kite-based tethered flying robot has been proposed as a flying observation system with long-term activity capability[1]. It is a relatively new system and aimed to complement other information gathering systems using a balloon or an air vehicle.
This paper shows some approaches of human operation characteristics acquisition based on fuzzy learning controller, k-nearest neighbor algorithm, and artificial neural network for the kite-based tethered flying robot using human operation data and their validity through computational simulation which we developed[2].

見守りシステム「MIMAMORI」の臨床応用に向けた検証

池田篤俊,小杉真一,上田悦子,中村恭之,小笠原司

第58回自動制御連合講演会(CD-ROM)   2G1‐6   2015

Learning Control based on Intention Recognition by Inverted Two-Wheeled Mobile Robot through Interactive Operation

Shinnosuke Nomura, Takuya Inoue, Yasutake Takahashi, and Takayuki Nakamura

Joint 7th International Conference on Soft Computing and Intelligent Systems and 15th International Symposium on Advanced Intelligent Systems (SCIS & ISIS 2014) ( IEEE )  30   pp. 117-122 - 34   2014.12  [Refereed]

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Recently, cooperative operation of a human and the robot through the physical interaction has been studied and developed. As one of the human supporting robots, inverted pendulum two-wheeled mobile robots have been proposed to support human transportation with/without a heavy luggage. In our laboratory, we have studied a suitcase-type two-wheeled inverted pendulum mobile robot that changes the control parameters according to the user intention. The robot recognizes the user intention by the user's physical operation of the robot. It changes the control parameter according to the recognized user intention and supports the luggage transportation. It is necessary to learn the parameters of the control and user-intention recognition user by user because the user preference is different one by one. This paper proposes a method to learn the control parameters and their corresponding intention recognition parameters of the user for a suitcase-type inverted-pendulum mobile robot for appropriate assistive control. In order to show the validity of the proposed method, it shows some experimental results with a real robot.

DOI