Faculty Profiles - OGAWARA Koichi

Misc - OGAWARA Koichi

Division display >> ／ All the affair displays1 - 57 of about 57

点滅周期が異なる複数の LED を用いた小型近接覚センサの開発

浅野智紀, 小川原光一（Part： Last author,　Corresponding author )

日本機械学会関西支部第100期定時総会講演会 1 - 3 2025.03

荷物台の姿勢が装着者の股関節と膝関節に連動するパワーアシストスーツの開発

松井駿弥, 小川原光一（Part： Last author )

日本機械学会関西支部第100期定時総会講演会 1 - 2 2025.03

自重補償機構を用いた冗長自由度ロボットアームの開発

石田陸登, 小川原光一（Part： Last author,　Corresponding author )

日本機械学会関西支部第98期定時総会講演会 1 - 4 2023.03

ロボット指に搭載可能な波長が異なる複数のLEDを利用した小型近接覚センサの開発

加藤颯, 小川原光一（Part： Last author )

日本機械学会関西支部第97期定時総会講演会 2022.03

RGB-Dカメラと2台のロボットアームによる計測視点数を考慮した持ち替えに基づく全周3次元形状計測法

曽我幸慧, 小川原光一（Part： Last author )

日本機械学会関西支部第97期定時総会講演会 2022.03

深層学習に基づく複数の長方形布の分離と形状推定

曽根川大輝, 小川原光一（Part： Last author )

第22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講演論文集 2B2-14 2021.12

Development of a Power Assist Suit for Transfer Assistance Composed of Passive Actuators

FUKUNAGA Kodai, OGAWARA Koichi （Part： Last author )

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2021 2P3-C13 2021.06

Today in Japan, as the population ages and the number of people using nursing homes increases, back pain and other symptoms caused by the increased burden on caregivers have become a problem. Therefore, several devices have been developed to reduce the burden of transfer care, which is particularly burdensome, but they are not practical and have not been adopted in nursing homes. Therefore, in this study, we developed a power assist suit with only passive actuators to reduce the burden of transfer care. We conducted lifting experiments using a developed power assist suit and confirmed the assisting effect from ElectroMyoGraphy (EMG) values with and without the power assist suit.

DOI

Multi-label Image Classification with Visual Explanations

Haoqi Gao, Liangzhi Li, Bowen Wang, Yuta Nakashima, Ryo Kawasaki, Koichi Ogawara, Hajime Nagahara

Responsible Computer Vision CVPR 2021 Workshop 2021.06 [Refereed]

Development of a gripper for power assist suits with linkage and ratchet mechanisms

HORIGUCHI Kouki, OGAWARA Koichi （Part： Last author )

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2021 2P3-C14 2021.06

The L-shaped gripper commonly used in power assist suits has the problem of not being able to stably hold arbitrarily shaped objects. To solve this problem, we developed a gripper with a wire-driven ratchet mechanism. However, we could not confirm its effectiveness in reducing the burden on the hands and arms for irregularly shaped objects such as rice bags. This is because the mechanism using a wire did not work as expected due to friction between the wire and the wire guide. Therefore, in this study, we solved these problems by developing a gripper with a link-driven ratchet mechanism, which does not use a wire. We conducted experiments to compare the proposed gripper with our previous gripper by measuring the surface EMG of the wearer's arms when lifting objects of various shapes.

DOI

Goal-Conditioned Reinforcement Learning with Latent Representations using Contrastive Learning

YAMADA Takaya, OGAWARA Koich （Part： Last author )

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2021 1P1-I15 2021.06

The goal-conditioned reinforcement learning approach is useful when an agent wants to adaptively achieve arbitrary goals in various environments. Furthermore, it is desirable to be able to learn the behavior of an agent from observations from on-board sensors such as RGB cameras. Since it is difficult for agents to learn directly from images, previous research has shown that the learning process can be accelerated by learning latent representations using VAEs and performing goal-conditioned reinforcement learning in the latent space. However, latent representations learned using VAEs with image reconstruction loss contain information irrelevant to the task to be accomplished. In goal-conditioned reinforcement learning, the reward function is defined as the distance to the goal state, so latent representations that capture the distance between states are appropriate. In this study, we propose a method for maintaining the similarity between states in the latent space using contrastive learning and performing goal-conditioned reinforcement learning in the latent space given image observations. We compared the proposed method with that using latent representations obtained from VAEs, and show that our method outperformed the other.

DOI

Development of a winch-type power assist suit that realizes luggage lifting movement and knee fixation-and-release movement with a single motor

HARA Yukimasa, OGAWARA Koichi （Part： Last author )

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2021 2P3-C11 2021.06

In this paper, we present a mechanical design of a winch-type power assist suit that realizes luggage lifting movement and knee fixation-and-release movement with a single motor. To solve the problems of our previous power assist suit, we realized the descent of a load of 20kg, reduced the weight, improved the safety, and strengthened the rigidity. We developed a prototype power assist suit and verified if it works as designed. We also conducted lifting experiments and confirmed that it could lift a load of 5kg. We measured the surface electromyogram (EMG) and confirmed that it reduced the burden on the wearer's arms and back when lifting a load.

DOI

Adaptive Data Generation and Bidirectional Mapping for Polyp Images

Haoqi Gao, Koichi Ogawara （Part： Last author )

49th Anual IEEE Applied Imagery Pattern Recognition (AIPR) workshop 2020.10

Development of a gripper for power assist suits with a ratchet mechanism consisting of linear motion and rotational motion parts

HORIGUCHI Koki, OGAWARA Koichi, SUZUKI Arata, KIKUCHI Kunitomo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 1A1-I10 1 - 4 2019.06

L-shaped grippers typically used for power assist suits have a problem in stably holding objects of arbitrary shape. To solve this problem, we developed a gripper with a ratchet mechanism consisting of linear motion and rotational motion parts. The gripper can be deformed according to the shape of the wearer's hand and the shape of the object to be held, and the shape of the gripper can be fixed due to the rachet mechanism, thus objects of arbitrary shape can be held stably by this gripper and the burden of the wearers is reduced. We carried out experiments where four types of objects were held by the developed gripper. We showed that the developed gripper has reduced the wearer's burden for two types of objects among four.

DOI

弾性要素を利用して把持物体の6自由度運動を実現する多指ロボットハンドの開発

和唐昂希, 南方隆秀, 小川原光一

日本機械学会関西学生会学生員卒業研究発表講演会講演前刷集 12P13 1 - 1 2019.03

Development of a power assist suit that supports and transports heavy objects by a link mechanism located inside the wearer's legs

TSUBOI Kazuhiro, HARA Yukimasa, OGAWARA Koichi, SUZUKI Arata, KIKUCHI Kunitomo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2019 ( 0 ) 1P1 - I03 2019

In this paper, we present a power assist suit that supports and transports heavy objects with a single motor. The leg mechanism of the power assist suit is made of upper and lower parallel links and springs. It is designed to be located inside the wearer's legs so that the power assist suit becomes small and light-weight, and the stability during transportation is improved. We measured the surface electromyogram (EMG) during luggage lifting experiments and confirmed that the burden of the wearer's back and legs is reduced when wearing the developed power assist suit.

DOI

Development of a wire drive mechanism for power assist suits that realizes linear luggage lifting movement and nonlinear knee fixation-and-release movement

HARA Yukimasa, TSUBOI Kazuhiro, OGAWARA Koichi, SUZUKI Arata, KIKUCHI Kunitomo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2019 ( 0 ) 1P1 - I09 2019

In this paper, we present a mechanical design of a wire drive mechanism for power assist suits that realizes linear luggage lifting movement and nonlinear knee fixation-and-release movement using a motor. The nonlinear fixation-and-release movement is realized by a mechanism using a piston and a crankshaft. We developed an algorithm to find the design parameters that minimize the error from the optimal wire movement. We developed a prototype wire drive mechanism and verified that it works as designed. In addition, we carried out lifting experiments and confirmed that luggage up to 20 kg can be lifted. We measured the surface electromyogram (EMG) and confirmed that the burden of the wearer's arms was reduced during luggage lifting.

DOI

遠隔操作のための複数3次元視覚情報統合・提示システムの開発～過去の映像の提示による作業対象の視認性の向上～

岩橋知久, 小川原光一

第19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講演論文集 2C1-05 1675 - 1679 2018.12

RGB-Dカメラと双腕ロボットによる把持の可否を考慮した持ち替えに基づく全周3次元形状計測法の開発

原田稜, 小川原光一

第19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講演論文集 3D2-08 2986 - 2990 2018.12

多視点から得られるRGB-D画像とカメラの姿勢を用いた深層学習に基づく物体の種類と姿勢の推定

井堰啓太, 小川原光一

第19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講演論文集 3D2-09 2991 - 2994 2018.12

隣接特徴点の位置制約を用いた深層学習に基づく任意に変形した長方形布の形状推定

今川涼介, 小川原光一

第19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講演論文集 3D2-05 2970 - 2975 2018.12

連続多様体からなる物体の把持姿勢候補を用いた RRT-connect に基づくロボットの把持計画法

齋藤拓史, 小川原光一

第18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講演論文集 3A4-10 2182 - 2186 2017.12

把持の安定性を考慮したRRT-connect に基づく多指ハンドとロボットアームの経路探索法

塔本健太, 小川原光一

第18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講演論文集 3A4-04 2155 - 2158 2017.12

探索自由度の適応的な変更に基くRRT-connectを拡張した経路探索法

塔本健太, 小川原光一

第35回日本ロボット学会学術講演会予稿集 3K2-04 1 - 4 2017.09

手形状と物体形状の相関を利用した深層学習に基づく画像からの把持形状推定

片山涼平, 小川原光一

ロボティクス・メカトロニクス講演会2017 講演論文集 1P2-J01 1 - 4 2017.05

RGB-Dカメラとロボットアームに設置したステレオ魚眼カメラを用いた遠隔操作用透過映像の生成

岩橋知久, 小川原光一

ロボティクス・メカトロニクス講演会2017 講演論文集 2A1-K07 1 - 3 2017.05

ロボットアームを搭載した飛行ロボットによる物体の安定した運搬を実現するための経路計画に関する研究

村瀬浩彰, 小川原光一

ロボティクス・メカトロニクス講演会2017 講演論文集 1P1-E03 1 - 3 2017.05

RGB-Dカメラと双腕ロボットによる持ち替えを利用したSfM法に基づく欠損のない全周3次元形状計測法の開発

原田稜, 小川原光一

ロボティクス・メカトロニクス講演会2017 講演論文集 2A2-O11 1 - 4 2017.05

狭隘空間で大型物体を運搬するための飛行ロボットの経路計画に関する研究

村瀬浩彰, 小川原光一

日本機械学会関西支部第92期定時総会講演会論文集 M612 1 - 1 2017.03

ナイロンアクチュエータ作製時の荷重による駆動特性への影響

石田龍一, 菊地邦友, 硴塚龍望, 鈴木新, 小川原光一

第34回日本ロボット学会学術講演会予稿集 1B3-03 1 - 3 2016.09

クレーン型アームを有し１台のモータで重量物の支持運搬を補助するパワーアシストスーツの開発 -第２報アームの揺動を抑制する機構の開発-

韓鵬, 武野友哉, 小川原光一, 鈴木新, 菊地邦友

第34回日本ロボット学会学術講演会予稿集 1E3-04 1 - 4 2016.09

Leg mechanism of power assist robot with single motor

柴原悠佑, 武野友哉, 鈴木新, 小川原光一, 菊地邦友

システム制御情報学会研究発表講演会講演論文集 ( システム制御情報学会 ) 60 3p 2016.05

上空からの映像を位置合わせに利用した移動ロボットによる広域空間の３次元レーザ計測

村瀬浩彰, 中村祐太, 小川原光一

第20回知能メカトロニクスワークショップ予稿集 13 - 18 2015.07

RGB-Dカメラを用い手と物体の相互隠蔽を考慮したHuモーメント不変量に基づく手形状推定

片山涼平, 小川原光一

ロボティクス・メカトロニクス講演会2015 講演論文集 2A1-S05 1 - 3 2015.05

クレーン型アームを有し１台のモータで重量物の支持運搬を補助するパワーアシストスーツの開発

韓鵬, 武野友哉, 村上綺乃, 小川原光一, 鈴木新, 菊地邦友

第59回システム制御情報学会研究発表講演会予稿集 341-2 1 - 4 2015.05

統計的モデルを用いた見えの変化に頑強な歩容による個人識別

新崎誠, 岩下友美, 小川原光一, 倉爪亮

第20回ロボティクスシンポジア予稿集 342 - 347 2015.03 [Refereed]

Quantitative analysis of ciliary alignment on multiciliated epithelium

Kazuhiro Tateishi, Koichi Ogawara, Sachiko Tsukita

Cellular Dynamics & Modelbs, Cold Spring Harbor Laboratory 2015 Meeting & Courses 1 - 1 2015 [Refereed]

2P1-M01 Development of Power Assist Suit for Supporting and Transporting Heavy Objects with Single Motor in that Hip and Leg Joint Axes are Aligned with Those of Wearer

TAKENO Tomoya, MURAKAMI Ayano, PENG Han, OGAWARA Koichi, SUZUKI Arata, KIKUCHI Kunitomo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2015 ( 0 ) _2P1 - M01_1-_2P1-M01_3 2015

In this paper, we present a mechanical design of an exoskeleton-type power assist suit that helps a wearer to lift up and transport heavy objects while walking. The assist suit supports heavy objects by itself thus the force exerting on the whole body of the wearer is reduced. In addition, the hip and leg joint axes are aligned with those of the wearer so that the wearer can walk smoothly. The experimental results show that the developed power assist suit is able to support and transport heavy objects while walking without exerting a load on the upper body of a wearer including the arms and legs.

DOI

Development of Power Assist Suit for Supporting and Transporting Heavy Objects with Single Motor

Tomoya Takeno, Ayano Murakami, Peng Han, Koichi Ogawara, Arata Suzuki, Kunitomo Kikuchi

The 34th Chinese Control Conference and SICE Annual Conference ThC04-4 1 - 4 2015 [Refereed]

Gait-Based Person Identification Method Using Shadow Biometrics for Robustness to Changes in the Walking Direction

Makoto Shinzaki, Yumi Iwashita, Ryo Kurazume, Koichi Ogawara

IEEE Winter Conference on Applications of Computer Vision 670 - 677 2015 [Refereed]

統計的モデルを用いた見えの変化に頑強な歩容認証

新崎誠, 岩下友美, 小川原光一, 倉爪亮

第4回バイオメトリクスと認識・認証シンポジウム O-1-1 1 - 6 2014.11

動的計画法を用いた多指ハンドによる物体操作運動の生成とフィードバック制御による運動補償

中川圭祐, 小川原光一

第32回ロボット学会学術講演会予稿集 1 - 4 2014.09

ロボットによるSFM法を用いた未知小物体の全周3次元形状推定

古川直人, 小川原光一

第19回知能メカトロニクスワークショップ予稿集 1 - 5 2014.07

動的計画法とフィードバック制御を用いた多指ハンドによる持ち替えを伴う物体操作の獲得

中川圭祐, 小川原光一

第19回知能メカトロニクスワークショップ予稿集 1 - 4 2014.07

画像処理に基づく細胞内構造体の配置の規則性に関する定量解析

小川原光一

バイオイメージ・インフォマティクスワークショップ 2014 1 - 1 2014.06

Non-rigid Registration with Reliable Distance Field for Dynamic Shape Completion

Kent Fujiwara, Hiroshi Kawasaki, Ryusuke Sagawa, Koichi Ogawara, Katsushi Ikeuchi

Workshop on Dynamic Shape Measurement and Analysis 2014 in conjunction with International Conference on 3DV 1 - 8 2014 [Refereed]

Gait identification robust to changes in walking direction by 4D gait database

BABA Ryosuke, IWASHITA Yumi, OGAWARA Koichi, KURAZUME Ryo

IEICE technical report. Speech ( The Institute of Electronics, Information and Communication Engineers ) 111 ( 431 ) 59 - 64 2012.02

In person identification using gait images, various inherent image features of individuals are extracted from a sequence of gait images. However, for instance, if a subject's observation angle changes compared with those in the database, the correct classification rate gets low. To deal with this problem, we constructed a 4D gait database consisting of multiple 3D shape models of walking subjects, and introduce a method robustly against walking direction changes. In this method, firstly we reconstruct 3D models of subjects from gait images taken by multiple cameras, and then synthesize virtual images of 3D models from multiple arbitrary virtual viewpoints and build a database from gait features extracted from virtual images. In the identification phase, the person is identified by matching the gait features of the subject and those from all virtual viewpoints in the database. However, the calculation cost is expensive due to full search, and the subject is wrongly estimated due to wrong estimation of walking direction. So in this paper, to achieve the reduction of calculation time and high correct classification rate, we introduce a method which estimates the walking direction using Frieze Patterns firstly and then identify the person using features from the estimated virtual viewpoint. Experiments using the 4D gait database show the effectiveness of the proposed method.

Gait identification robust to changes in observation angle

IWASHITA Yumi, BABA Ryosuke, OGAWARA Koichi, KURAZUME Ryo

電子情報通信学会技術研究報告. SP, 音声 111 ( 431 ) 65 - 70 2012.02

Sequential Pattern Recognition by Local Classifiers and Dynamic Time

福冨正弘, 小川原光一, フォンヤオカイ

情報処理学会研究報告 ( 情報処理学会 ) 2010 ( 3 ) 8p 2010.10

Sequential Pattern Recognition by Local Classifiers and Dynamic Time Warping

FUKUTOMI Masahiro, OGAWARA Koichi, FENG Yaokai, UCHIDA Seiichi

Technical report of IEICE. PRMU ( 一般社団法人電子情報通信学会 ) 110 ( 187 ) 157 - 164 2010.08

This paper describes a method for recognizing sequential patterns with nonlinear time warping. The proposed method uses a sequence of local classifiers, each of which is prepared to provide a recognition result (i.e., class label) at a certain sample point. In addition, in order to compensate nonlinear time warping, the local classifier of the point v has to be assigned to the point t_v of the prototype sequential pattern. Consequently, we must solve the optimal labeling problem and the optimal point-to-point correspondence problem (i.e., the optimal mapping from v to t_v) simultaneously. In the proposed method, this multiple optimization problem is tackled by graph cut. Specifically, the α-expansion algorithm, which is an approximation algorithm for graph cut problems, is employed. After the solving the problem, the input pattern is recognized based on majority voting of the class labels obtained at the local classifiers. Several penalties are introduced for forcing neighboring local classifiers to have the same class labels and continuous point-to-point correspondence. For observing the validity of the proposed method, it was applied to an online character recognition task.

Articulated structure from motion using subspace separation

松尾幸治, 小川原光一, 倉爪亮

IEICE technical report ( 電子情報通信学会 ) 109 ( 376 ) 273 - 278 2010.01

部分的に局所性を保持するハッシュ関数を用いた画像列からの高頻度パターン検出

小川原光一, 田邉康史, 倉爪亮, 長谷川勉

日本ロボット学会学術講演会予稿集(CD-ROM) 28th 2010

部分的に局所性の高いハッシュ関数を用いた頻出運動パターンの効率的な抽出法

小川原光一, 田邉康史, 倉爪亮, 長谷川勉

ロボティクスシンポジア予稿集 15th 2010

Detecting Frequent Motion Patterns using Motion Density

田邉康史, 小川原光一, 倉爪亮, 長谷川勉

日本ロボット学会学術講演会予稿集(CD-ROM) 27th 2009

Estimation Method of the pose of an Object Manipulated by a Multi-fingered Robot-hand using Visual and Force Information

亀崎康之, 小川原光一, 倉爪亮, 長谷川勉

日本ロボット学会学術講演会予稿集(CD-ROM) 27th 2009

Manipulation Recognition based on relative motions between two objects using Dynamic Programming

Yonemasu Yoshihiro, Uchida Seiichi, Ogawara Koichi

Record of Joint Conference of Electrical and Electronics Engineers in Kyushu ( 電気・情報関係学会九州支部連合大会委員会 ) 2009 ( 0 ) 435 - 435 2009

本論文では，物体操作作業を２物体間の時系列相対運動パターンとみなし，これをあらかじめ用意した参照相対運動パターン集合と比較することによって，動画像から物体操作を認識する手法を提案する．ある時刻の画像に対し，画像中の任意の２領域がある参照相対運動パターンに属する尤度を，(1)１つ目の領域が１番目の物体である尤度，(2)２つ目の領域が２番目の物体である尤度，(3)領域間の相対位置，の３つの指標により定義する．本手法では，この尤度に基づき動的計画法を用いて入力動画像全体と各参照相対運動パターンとの比較を行い，最も類似した参照相対運動パターンが表す物体操作を認識結果として出力する．

DOI

Fast Repetitious Motion Pattern Detection Method via Dynamic Programming using Motion Density

Koichi Ogawara, Yasufumi Tanabe, Ryo Kurazume, Tsutomu Hasegawa

IEEE International Conference on Robotics and Automation 2009

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Obtaining Manipulation Skills from Observation

Takamatsu Jun, Tominaga Hirohisa, Ogawara Koichi, Kimura Hiroshi, Ikeuchi Katsushi

Monthly journal of the Institute of Industrial Science, University of Tokyo ( The University of Tokyo ) 52 ( 5 ) 231 - 236 2000.05

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