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Last Updated :2024/07/25

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Master

Affiliation (Master)

  • Faculty of Information Science and Technology　Systems Science and Informatics　System Synthesis

Affiliation (Master)

  • Faculty of Information Science and Technology　Systems Science and Informatics　System Synthesis

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Profile and Settings

Affiliation

  • Hokkaido University, Faculty of Information Science and Technology, Associate Professor

Degree

  • Ph. D.（The University of Tokyo）

Profile and Settings

  • Name (Japanese)

    Senoo

  • Name (Kana)

    Taku

  • Name

    202201016560031321

Alternate Names

Affiliation

  • Hokkaido University, Faculty of Information Science and Technology, Associate Professor

Achievement

Research Interests

  • Intelligent Robotics   Sensory behavior system   High-speed Manipulation   Robot Hand   Bipedal Robot   High-speed vision   Visual Feedback   Active Sensing   Force Control   In-vehicle Image Processing   

Research Areas

  • Informatics / Robotics and intelligent systems
  • Informatics / Mechanics and mechatronics
  • Informatics / Perceptual information processing

Research Experience

  • 2022/04 - Today Hokkaido University
  • 2020/04 - 2022/03 Hiroshima University
  • 2018/04 - 2020/03 The University of Tokyo The Graduate School of Information Science and Technology
  • 2015/04 - 2018/03 The University of Tokyo The Graduate School of Information Science and Technology
  • 2011/04 - 2015/03 The University of Tokyo The Graduate School of Information Science and Technology
  • 2008/04 - 2011/03 The University of Tokyo The Graduate School of Information Science and Technology
  • 2005/04 - 2008/03 日本学術振興会 特別研究員（DC1）

Education

  • 2005/04 - 2008/03  The University of Tokyo
  • 2003/04 - 2005/03  The University of Tokyo
  • 1999/04 - 2003/03  Waseda University

Awards

  • 2023/11 北海道大学 大学院情報科学研究院 若手産学共同研究促進事業 研究院長賞
     
    受賞者: 妹尾拓
  • 2023/03 IEEE International Conference On Mechatronics Best Paper Candidates
     
    受賞者: Hiromichi Kawahara, Taku Senoo, and Idaku Ishii
  • 2022/12 計測自動制御学会システムインテグレーション部門 SI2022 優秀講演賞
     
    受賞者: 妹尾拓;川原大宙;石井抱;籔内健人;平野正浩;岸則政;石川正俊
  • 2021/03 日本鉄鋼協会 計測・制御・システム工学部会 計測・制御・システム技術賞
     
    受賞者: 島﨑航平;Zulhaj Aliansyah;妹尾拓;石井抱
  • 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 SI2020 優秀講演賞
     
    受賞者: 川原大宙;妹尾拓;石井抱;平野正浩;岸則政;石川正俊
  • 2020/10 日本ロボット学会 優秀研究・技術賞
     
    受賞者: 小山佳祐;下条誠;妹尾拓;石川正俊
  • 2020/05 日本機会学会ロボティクスメカトロニクス部門 ROBOMECH表彰（学術研究分野）
     
    受賞者: 小山佳祐;下条誠;妹尾拓;石川正俊
  • 2019/12 計測自動制御学会システムインテグレーション部門 SI2019 優秀講演賞
     
    受賞者: 田中敬;小山佳祐;妹尾拓;石川正俊
  • 2019/12 計測自動制御学会システムインテグレーション部門 SI2019 優秀講演賞
     
    受賞者: 妹尾拓;王允卓;平野正浩;岸則政;石川正俊
  • 2019/06 日本機会学会ロボティクスメカトロニクス部門 ROBOMECH表彰（学術研究分野）
     
    受賞者: 小山佳祐;下条誠;妹尾拓;石川正俊
  • 2018/06 日本機会学会ロボティクスメカトロニクス部門 ROBOMECH表彰
     
    受賞者: 妹尾拓;村上健一;石川正俊
  • 2017/12 計測自動制御学会システムインテグレーション部門 SI2017 優秀講演賞
     
    受賞者: 佐藤宏;山川雄司;妹尾拓;石川正俊
  • 2017/12 計測自動制御学会システムインテグレーション部門 SI2017 優秀講演賞
     
    受賞者: 平野正浩;妹尾拓;岸則政;石川正俊
  • 2017/04 Mechatronics, Elsevier Outstanding Reviewer
     
    受賞者: Taku Senoo
  • 2016/12 計測自動制御学会システムインテグレーション部門 研究奨励賞
     
    受賞者: 妹尾拓;小池正憲;村上健一;石川正俊
  • 2016/12 計測自動制御学会システムインテグレーション部門 若手奨励賞
     
    受賞者: 妹尾拓
  • 2016/12 IEEE International Conference on Robotics and Biomimetics T. J. Tarn Best Paper in Robotics Award
     
    受賞者: Taku Senoo;Yuuki Horiuchi;Yoshinobu Nakanishi;Kenichi Murakami;Masatoshi Ishikawa
  • 2016/03 第21回ロボティクスシンポジア 優秀論文賞
     
    受賞者: 妹尾拓;小池正憲;村上健一;石川正俊
  • 2015/12 計測自動制御学会システムインテグレーション部門 SI2015 優秀講演賞
     
    受賞者: 黄守仁;Bergstrom Niklas;山川雄司;妹尾拓;石川正俊
  • 2015/12 計測自動制御学会システムインテグレーション部門 SI2015 優秀講演賞
     
    受賞者: 妹尾拓;小池正憲;村上健一;石川正俊
  • 2015/12 IEEE International Conference on Robotics and Biomimetics Finalist of Best Student Paper Award
     
    受賞者: Kenichi Murakami;Yuji Yamakawa;Taku Senoo;Masatoshi Ishikawa
  • 2012/10 IEEE/RSJ International Conference on Intelligent Robots and Systems Best Jubilee Video Award
     
    受賞者: Masatoshi Ishikawa;Akio Namiki;Taku Senoo;Yuji Yamakawa
  • 2007/05 日本機会学会ロボティクスメカトロニクス部門 ROBOMEC表彰
     
    受賞者: 古川徳厚;妹尾拓;並木明夫;石川正俊
  • 2006/12 計測自動制御学会システムインテグレーション部門 SI2006 優秀講演賞
     
    受賞者: 古川徳厚;妹尾拓;並木明夫;石川正俊
  • 2006/05 IEEE International Conference on Robotics and Automation Best Manipulation Paper Award
     
    受賞者: Noriatsu Furukawa;Akio Namiki;Taku Senoo;Masatoshi Ishikawa
  • 2006/02 計測自動制御学会 学術奨励賞・研究奨励賞
     
    受賞者: 妹尾拓

Published Papers

  • Taku Senoo, Atsushi Konno, Hayato Otsubo, Idaku Ishii
    2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023 1 - 6 2023/12/07 [Refereed]
     
    In this paper, robotic regrasping is considered with the goal of achieving dexterous manipulation. The strategy using quick wrist snap is based on human regrasping, and involves rotating the grasped object due to the inertial force while maintaining the contact state. The posture of the grasped object is measured by high-speed vision in real time and is used for posture control. Experimental results are shown where regrasping of a stick-type object in the direction contrary to gravity can be achieved by a high-speed robot hand.
  • Stem detection using depth camera in red perilla farm
    Seito Takeuchi, Shunsuke Komizunai, Taku Senoo, Atsushi Konno
    16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science 63 - 64 2023/11/07 [Refereed]
  • Unfolded Paper Manipulation by a Robot Hand Using High-speed Image Processing
    Hideto Okura, Shunsuke Komizunai, Taku Senoo, Atsushi Konno
    16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science 77 - 78 2023/11/06 [Refereed]
  • Development of the Classification System for Surgical Skills in Endoscopic Sinus Surgery
    Kaito Yamada, Masanobu Suzuki, Kou Miyaji, Koki Ebina, Kazuya Sase, Teppei Tsujita, Xiaoshuai Chen, Takashige Abe, Shunsuke Komizunai, Yuji Nakamaru, Taku Senoo, Akihiro Homma, Atsushi Konno
    16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science 3 - 4 2023/11/06 [Refereed]
  • Taku Senoo, Atsushi Konno, Norimasa Kishi
    IECON Proceedings (Industrial Electronics Conference) 1 - 6 2162-4704 2023/10/17 [Refereed]
     
    This paper proposes a method of presenting intuitively easy-to-grasp images by merging the images of an around view monitor and a back-view monitor into a single image. In the proposed method, the viewpoint automatically changes as the vehicle moves, enabling the display of an overhead 3D image that always shows the vehicle. This video generation is composed of simple image deformation by projective transformation, which serves as a distortion correction as well as a viewpoint change. Experiments conducted in a parking situation showed that the system automatically switches the 3D viewpoint depending on the distance to the parking position to present an easy-to-understand image including the surrounding environment.
  • Taku Senoo, Atsushi Konno
    RO-MAN 1872 - 1877 2023/08/30 [Refereed]
  • Sayaka Shibuya, Noriyuki Shido, Ryosuke Shirai, Kazuya Sase, Koki Ebina, XiaoShuai Chen, Teppei Tsujita, Shunsuke Komizunai, Taku Senoo, Atsushi Konno
    International Journal of Automation Technology 17 (3) 262 - 276 2023/05 [Refereed]
  • Hiromichi Kawahara, Taku Senoo, Idaku Ishii
    IEEE International Conference on Mechatronics(ICM) 1 - 6 2023/03/16 [Refereed]
  • Taku Senoo, Atsushi Konno, Yunzhuo Wang, Masahiro Hirano, Norimasa Kishi, Masatoshi Ishikawa
    Journal of Robotics and Mechatronics 34 (5) 1033 - 1042 0915-3942 2022/10/20 [Refereed]
     
    In this study, we propose a method for measuring the distance and velocity of overlapping vehicles using high-speed stereo vision. The method is based on the correlation filter called MOSSE and is improved by balancing the computation cost and accuracy using the features of high-frame-rate images. To achieve stable tracking, the tracking window was adjusted for each vehicle according to the vehicle distance and the overlapping state. Experiments on the images acquired by the cameras mounted on an actual vehicle were performed to validate the proposed method.
  • Taku Senoo, Atsushi Konno, Yunzhuo Wang, Masahiro Hirano, Norimasa Kishi, Masatoshi Ishikawa
    2022 26th International Conference on System Theory, Control and Computing (ICSTCC) 613 - 618 2022/10/19 [Refereed]
  • Maozheng Xu, Taku Senoo, Takeshi Takaki
    ROBOMECH JOURNAL 9 (1) 2197-4225 2022/02 [Refereed]
     
    The need for a perching robot is increasing in the field of rescue and transportation. Accordingly studies on perching an object by attaching a robot arm to a perching robot have been conducted. However, almost all the studies related to perching have been conducted using an actuated or electric device. However, perching by using an electric device has several disadvantages, such as additional power consumption and an increase in the mass of the multicopter used to load the electric source. Instead of using an electric device, perching by using an underactuated gripper can effectively avoid these disadvantages. Accordingly, we developed an underactuated passive gripper that has the advantage of nonconsumption of electric power for perching. A method to confirm the available range for stable perching is one of the problems of using an underactuated passive gripper. Therefore, in this study, we analyze a multicopter carrying an underactuated parallel-link passive gripper for available plane perching. To enable perching on planes with different thicknesses and being embedded at different depths, we summarize the available perching range and limitations based on the friction cone theory. Our conclusion is supported by both theoretical and experimental results.
  • Hiromichi Kawahara, Taku Senoo, Idaku Ishii, Masahiro Hirano, Norimasa Kishi, Masatoshi Ishikawa
    SII 730 - 735 2022 [Refereed]
  • Hiromichi KAWAHARA, Taku SENOO, Idaku ISHII, Masahiro HIRANO, Norimasa KISHI, Masatoshi ISHIKAWA
    Transactions of the Society of Instrument and Control Engineers 58 (1) 21 - 30 0453-4654 2022 [Refereed]
  • Shaopeng Hu, Wei Lu, Kohei Shimasaki, Mingjun Jiang, Taku Senoo, Idaku Ishii
    IEEE Trans. Instrum. Meas. 71 1 - 13 2022 [Refereed]
  • Shaopeng Hu, Hongyu Dong, Kohei Shimasaki, Mingjun Jiang, Taku Senoo, Idaku Ishii
    IEEE Robotics and Automation Letters 7 (2) 4086 - 4093 2022 [Refereed]
  • Masahiro Hirano, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
    Measurement: Sensors 18 2021/12 [Refereed]
     
    We propose an acceleration method for correlation-based object tracking. Correlation-based tracking methods involve an inverse Fourier transform, which is a bottleneck in acceleration. We exploit a trait of high-speed vision to accelerate this computation: namely, we assume that displacements between consecutive frames do not change dramatically within a short frame acquisition interval. By limiting a small region where the displacement is assumed to be, we propose to reduce computational cost in the inverse Fourier transform. We implemented the proposed method in phase-only correlation and conducted experiments using both simulated and real data. We achieved a computation speed around five-times faster than the conventional method without sacrificing accuracy. The proposed method provides as a useful building block in accelerating correlation-based object tracking.
  • Maozheng Xu, Taku Senoo, Takeshi Takaki
    ROBOMECH JOURNAL 8 (1) 2197-4225 2021/11 [Refereed]
     
    This paper describes the condition analysis of a multicopter carried with a proposed device for rough terrain landing. Based on a multicopter carried with an electrical robot arm for grasping, we proposed a method to determine whether the skid-carried multicopter can land on an arbitrary slope or not. We established the static model of the entire device, and analyzed the conditions under which the arm and skid can contact the arbitrary plane and the COG (Center of Gravity), which includes the mass of passive skid, multicopter body and each link of the robot arm. Further, we proposed a method to analyze whether the entire device can land stably. By analyzing that the projection of the entire device's COG is inside or outside the triangle, that comprises the contact point between the device and the uneven ground, we can determine whether the device can land successfully and the condition for capable landing is concluded. After the numerical analysis, the verification experiment is conducted, and by comparing the result of analysis with the experiment, the accuracy of the analysis can be demonstrated.
  • Shimasaki Kohei, Aliansyah Zulhaj Muhammad, Senoo Taku, Ishii Idaku, Ito Tomohiko
    ISIJ International 61 (10) 2587 - 2596 0915-1559 2021/10/15 [Refereed]
     
    In this study, we propose a novel non-contact vision sensing method for wide-area monitoring of the operation of conveyors in ironworks by using a panoramic vibration camera in real time. This method can capture magnified images, including vibrations from a single camera with mirror-driven viewpoint switching. The rotation of multiple rollers with conveyor belts was detected using a function of full-pixel vibration spectrum imaging, which can calculate peak frequencies from time frequency responses. Through experiments in different situations, such as loading and unloading, we evaluated the efficiency of this method, which can monitor the operation of multiple rollers and conveyors, when the camera is located 15 m away, or more, from the conveyors to be monitored.
  • Dynamic Robot Manipulation using High-speed Cognitive Behavior System
    Taku Senoo
    Robotics and Computer Science World Forum 2021 2021/10 [Refereed][Invited]
  • Atul Sharma, Sushil Raut, Kohei Shimasaki, Taku Senoo, Idaku Ishii
    ELECTRONICS 10 (14) 2021/07 [Refereed]
     
    This paper proposes a novel method for synchronizing a high frame-rate (HFR) camera with an HFR projector, using a visual feedback-based synchronization algorithm for streaming video sequences in real time on a visible-light communication (VLC)-based system. The frame rates of the camera and projector are equal, and their phases are synchronized. A visual feedback-based synchronization algorithm is used to mitigate the complexities and stabilization issues of wire-based triggering for long-distance systems. The HFR projector projects a binary pattern modulated at 3000 fps. The HFR camera system operates at 3000 fps, which can capture and generate a delay signal to be given to the next camera clock cycle so that it matches the phase of the HFR projector. To test the synchronization performance, we used an HFR projector-camera-based VLC system in which the proposed synchronization algorithm provides maximum bandwidth utilization for the high-throughput transmission ability of the system and reduces data redundancy efficiently. The transmitter of the VLC system encodes the input video sequence into gray code, which is projected via high-definition multimedia interface streaming in the form of binary images 590 x 1060. At the receiver, a monochrome HFR camera can simultaneously capture and decode 12-bit 512 x 512 images in real time and reconstruct a color video sequence at 60 fps. The efficiency of the visual feedback-based synchronization algorithm is evaluated by streaming offline and live video sequences, using a VLC system with single and dual projectors, providing a multiple-projector-based system. The results show that the 3000 fps camera was successfully synchronized with a 3000 fps single-projector and a 1500 fps dual-projector system. It was confirmed that the synchronization algorithm can also be applied to VLC systems, autonomous vehicles, and surveillance applications.
  • Shaopeng Hu, Kohei Shimasaki, Mingjun Jiang, Taku Senoo, Idaku Ishii
    IEEE SENSORS JOURNAL 21 (7) 9436 - 9448 1530-437X 2021/04 [Refereed]
     
    This paper presents a novel dual-camera system that can simultaneously capture zoomed-in images using an ultrafast pan-tilt camera and a fixed wide-view camera using deep learning methods. An ultrafast pan-tilt camera can function as multiple virtual pan-tilt cameras by synchronizing a high-frame-rate zooming-view camera and an ultrafast pan-tilt mirror device that can switch over 500 different views in a second. A wide-view camera can obtain images in a fixed view in which multiple targets to be tracked are captured in low resolution and then recognized by processing the images using deep learning methods at a rate of dozens of frames per second. Based on the positions of all targets, recognized by the wide-view camera, the pan and tilt angles of multiple pan-tilt cameras are virtually controlled using an ultrafast pan-tilt camera through multithread viewpoint control to simultaneously capture the zoomed-in images of all targets. Our developed system can operate 10 virtual pan-tilt cameras (25 fps) with multithread viewpoint control and 4 ms time granularity in synchronization with convolutional neural-network-based recognition model operating at 25 fps, which is accelerated by a general-purpose computing on graphics processing units. The effectiveness of our system was demonstrated by the results of several experiments conducted on simultaneous zoom shooting of multiple running objects (persons and cars) in the range of approximately 80 m or higher in a natural outdoor scene, which was formerly too wide for a single fixed camera to capture clearly and simultaneously.
  • Vibration-feature-based Multicopter Detection with CNN-based Appearance Validation
    Raut Sushil, Kohei Shimasaki, Taku Senoo, Idaku Ishii, Kazuhiko Yamamoto
    7th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization 2021/03 [Refereed]
  • An Omnidirectional Multicopter Tracking System with HFR-Video-Based Vibration Source Localization
    Mingjun Jiang, Ryo Sogabe, Kohei Shimasaki, Taku Senoo, Idaku Ishii, Kazuhiko Yamamoto
    7th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization 2021/03 [Refereed]
  • Deepak Kumar, Sushil Raut, Kohei Shimasaki, Taku Senoo, Idaku Ishii
    ROBOMECH JOURNAL 8 (1) 2197-4225 2021/03 [Refereed]
     
    The novel approach to physical security based on visible light communication (VLC) using an informative object-pointing and simultaneous recognition by high-framerate (HFR) vision systems is presented in this study. In the proposed approach, a convolutional neural network (CNN) based object detection method is used to detect the environmental objects that assist a spatiotemporal-modulated-pattern (SMP) based imperceptible projection mapping for pointing the desired objects. The distantly located HFR vision systems that operate at hundreds of frames per second (fps) can recognize and localize the pointed objects in real-time. The prototype of an artificial intelligence-enabled camera-projector (AiCP) system is used as a transmitter that detects the multiple objects in real-time at 30 fps and simultaneously projects the detection results by means of the encoded-480-Hz-SMP masks on to the objects. The multiple 480-fps HFR vision systems as receivers can recognize the pointed objects by decoding pixel-brightness variations in HFR sequences without any camera calibration or complex recognition methods. Several experiments were conducted to demonstrate our proposed method's usefulness using miniature and real-world objects under various conditions.
  • Taku Senoo, Idaku Ishii
    2021 21ST INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2021) 1772 - 1777 2093-7121 2021 [Refereed][Invited]
     
    In this paper, we provide an overview of the baseball robots we have developed. The system is composed of a high-speed hand-arm, a high-speed bipedal mechanism, and high-speed vision. By integrating these components, the system can perform feedback-based reactive motion in real time, unlike commonly used systems based on prediction and learning, to achieve high-speed movement. Using the characteristics, the system is able to perform baseball-relevant actions that require dynamic and high-speed body movements, including running, hitting, and fielding.
  • Hironori Yoshida, Kohei Shimasaki, Taku Senoo, Idaku Ishii, Kazuhiko Yamamoto
    IEEE/SICE International Symposium on System Integration(SII) 404 - 408 2021 [Refereed]
  • Masahiro Hirano, Yuji Yamakawa, Taku Senoo, Norimasa Kishi, Masatoshi Ishikawa
    IEEE Intelligent Vehicles Symposium(IV) 1436 - 1443 2021 [Refereed]
  • 松永望, 吉田大哲, 島崎航平, 妹尾拓, 高木健
    日本機械学会論文集(Web) 87 (901) 2187-9761 2021 [Refereed]
  • Mingjun Jiang, Ryo Sogabe, Kohei Shimasaki, Shaopeng Hu, Taku Senoo, Idaku Ishii
    IEEE Transactions on Instrumentation and Measurement 70 1 - 11 2021 [Refereed]
  • Zulhaj Aliansyah, Kohei Shimasaki, Taku Senoo, Idaku Ishii, Shuji Umemoto
    Sensors 21 (13) 4517 - 4517 2021 [Refereed]
  • Mingjun Jiang, Kohei Shimasaki, Shaopeng Hu, Taku Senoo, Idaku Ishii
    IEEE Robotics and Automation Letters 6 (2) 691 - 698 2021 [Refereed]
  • Kohei Shimasaki, Nagahiro Fujiwara, Shaopeng Hu, Taku Senoo, Idaku Ishii
    Journal of Intelligent and Robotic Systems 103 (2) 36 - 36 2021 [Refereed]
  • Senoo Taku
    Journal of the Robotics Society of Japan 一般社団法人 日本ロボット学会 38 (4) 313 - 317 0289-1824 2020 [Refereed]
  • Ryosuke Higo, Taku Senoo, Masatoshi Ishikawa
    IFAC PAPERSONLINE 53 (2) 9796 - 9801 2405-8963 2020 [Refereed]
     
    This paper presents a robust and high-speed in-hand regrasping strategy on a two-dimensional plane. The proposed strategy features dynamic motion using a non-contact state with fingers. We used a pair of two-degrees-of-freedom fingers of a high-speed multi-fingered hand and a high-speed vision system. The proposed regrasping strategy consists of three phases: rotating, releasing, and catching. In all phases, visual information captured using a high-speed camera was used. The target state is the state in which the object is rotated 90 degrees from the initial state. Experiments were conducted with different initial grasp positions for three cubes with different diameters and masses. In the experiments, 60 regraspings were performed. We achieved a 100% success rate (60/60). Each regrasping was completed in less than 0.2 s, and the results confirmed that the proposed approach represents a robust and high-speed regrasping strategy. Copyright (C) 2020 The Authors.
  • Liheng Shen, Shaopeng Hu, Kohei Shimasaki, Taku Senoo, Idaku Ishii
    16th International Conference on Mobility, Sensing and Networking(MSN) 410 - 417 2020 [Refereed]
  • Satoshi Tanaka, Keisuke Koyama, Taku Senoo, Makoto Shimojo, Masatoshi Ishikawa
    IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS) 9137 - 9143 2020 [Refereed]
  • Satoshi Tanaka, Keisuke Koyama, Taku Senoo, Masatoshi Ishikawa
    2020 IEEE International Conference on Robotics and Automation(ICRA) 6163 - 6168 2020 [Refereed]
  • Fumiya Shimada, Kenichi Murakami, Taku Senoo, Masatoshi Ishikawa
    IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM) 1860 - 1866 2020 [Refereed]
  • Kenichi Murakami, Koki Ishimoto, Taku Senoo, Masatoshi Ishikawa
    IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM) 1748 - 1753 2020 [Refereed]
  • Atul Sharma, Sushil Raut, Kohei Shimasaki, Taku Senoo, Idaku Ishii
    Sensors 20 (18) 5368 - 5368 2020 [Refereed]
  • Kento Yabuuchi, Masahiro Hirano, Taku Senoo, Norimasa Kishi, Masatoshi Ishikawa
    Sensors 20 (14) 4035 - 4035 2020 [Refereed]
  • Kenichi Murakami, Koki Ishimoto, Taku Senoo, Masatoshi Ishikawa
    Robotics 9 (3) 73 - 73 2020 [Refereed]
  • High-speed Sensory Feedback Control for Dexterous Robotic Limbs
    Taku Senoo
    Asia Pacific Society for Computing and Information Technology 2019 No. 101 (Abstract ID: 10) 2019/07 [Refereed][Invited]
  • High-speed Robotic Handling and Running Based on Sensory-Motor Integration
    Taku Senoo, Masatoshi Ishikawa
    2019 International Conference on Soft Computing and Machine Learning 17  2019/04 [Refereed][Invited]
  • Satoshi Tanaka, Taku Senoo, Masatoshi Ishikawa
    2019 IEEE Intelligent Transportation Systems Conference(ITSC) 4449 - 4455 2019 [Refereed]
  • Yukihisa Karako, Shinji Kawakami, Keisuke Koyama, Makoto Shimojo, Taku Senoo, Masatoshi Ishikawa
    International Conference on Robotics and Automation(ICRA) 2744 - 2750 2019 [Refereed]
  • Satoshi Tanaka, Taku Senoo, Masatoshi Ishikawa
    19th International Conference on Advanced Robotics(ICAR) 408 - 413 2019 [Refereed]
  • Taku Senoo, Yuji Yamakawa, Shouren Huang, Keisuke Koyama, Makoto Shimojo, Yoshihiro Watanabe, Leo Miyashita, Masahiro Hirano, Tomohiro Sueishi, Masatoshi Ishikawa
    Journal of Robotics and Mechatronics 31 (1) 45 - 56 2019 [Refereed]
  • Keisuke Koyama, Kenichi Murakami, Taku Senoo, Makoto Shimojo, Masatoshi Ishikawa
    IEEE Robotics and Automation Letters 4 (2) 578 - 585 2019 [Refereed]
  • Taku Senoo, Kenichi Murakami, Masatoshi Ishikawa
    Journal of Robotics and Mechatronics 31 (2) 263 - 273 2019 [Refereed]
  • Ryosuke Rigo, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
    2018 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS) 6609 - 6614 2018 [Refereed]
  • Taku Senoo, Kenichi Murakami, Masatoshi Ishikawa
    IEEE International Conference on Cyborg and Bionic Systems(CBS) 445 - 448 2018 [Refereed]
  • 塚本勇介, 山川雄司, 妹尾拓, 石川正俊
    計測自動制御学会論文集 54 (5) 0453-4654 2018 [Refereed]
  • Keisuke Koyama, Makoto Shimojo, Taku Senoo, Masatoshi Ishikawa
    IEEE Robotics and Automation Letters 3 (4) 3224 - 3231 2018 [Refereed]
  • Tomohiko Hayakawa, Takanoshin Watanabe, Taku Senoo, Masatoshi Ishikawa
    JOVE-JOURNAL OF VISUALIZED EXPERIMENTS (122) 1940-087X 2017/04 [Refereed]
     
    Galvanometer mirrors are used for optical applications such as target tracking, drawing, and scanning control because of their high speed and accuracy. However, the responsiveness of a galvanometer mirror is limited by its inertia; hence, the gain of a galvanometer mirror is reduced when the control path is steep. In this research, we propose a method to extend the corresponding frequency using a pre-emphasis technique to compensate for the gain reduction of galvanometer mirrors in sine-wave path tracking using proportional-integral-differential (PID) control. The pre-emphasis technique obtains an input value for a desired output value in advance. Applying this method to control the galvanometer mirror, the raw gain of a galvanometer mirror in each frequency and amplitude for sine-wave path tracking using a PID controller was calculated. Where PID control is not effective, maintaining a gain of 0 dB to improve the trajectory tracking accuracy, it is possible to expand the speed range in which a gain of 0 dB can be obtained without tuning the PID control parameters. However, if there is only one frequency, amplification is possible with a single pre-emphasis coefficient. Therefore, a sine wave is suitable for this technique, unlike triangular and sawtooth waves. Hence, we can adopt a pre-emphasis technique to configure the parameters in advance, and we need not prepare additional active control models and hardware. The parameters are updated immediately within the next cycle because of the open loop after the pre-emphasis coefficients are set. In other words, to regard the controller as a black box, we need to know only the input-to-output ratio, and detailed modeling is not required. This simplicity allows our system to be easily embedded in applications. Our method using the pre-emphasis technique for a motion-blur compensation system and the experiment conducted to evaluate the method are explained.
  • SENOO Taku, MURAKAMI Kenichi, ISHIKAWA Masatoshi
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 一般社団法人 日本機械学会 2017 1P2 - B12 2017 

    In this study, passive dynamic control of a manipulator is designed and realized. The control strategy is based on the idea that the shift in position and posture of an end effector attributable to an external force is regarded as deformation of the robot. The standard linear solid (SLS) model is used to generate the deformable behavior, which describes the combination of plastic and elastic deformation. In addition, the relation between the SLS model and Maxwell/Voigt models are analyzed. Physical simulations with a robotic arm are executed to validate and analyze the proposed control law.

  • Kenichi Murakami, Lihui Wang, Tomohiko Hayakawa, Taku Senoo, Masatoshi Ishikawa
    Optics InfoBase Conference Papers 2017 2017 [Refereed][Not invited]
     
    We proposed a catching robot hand system that extended the focal length of the original optics unit by adding and rotating adjustment transparent plates. Because the refractive index of transparent plates is different from air, the thickness of the plates varies the optical focal point. Moreover, the rotating plates enable the focal length to be extended therefore, this method is valid for dynamically capturing a scene for real-time visual feedback applications such as catching tasks in robotics. In our experiment, we confirmed the shift of focal points with our system, and then successfully conducted a catching task by using the robot hand system.
  • S. Huang, N. Bergström, Y. Yamakawa, T. Senoo, M. Ishikawa
    Proceedings of SPIE - The International Society for Optical Engineering 10328 1996-756X 2017 [Refereed][Not invited]
     
    High-speed vision sensing becomes a driving factor in developing new methods for robotic manipulation. In this paper we present two such methods in order to realize high-performance manipulation. First, we present a dynamic compensation approach which aims to achieve simultaneously fast and accurate positioning under various (from system to external environment) uncertainties. Second, a high-speed motion strategy for manipulating flexible objects is introduced to address the issue of deformation uncertainties. Both methods rely on high-speed visual feedback and are model independent, which we believe is essential to ensure good flexibility in a wide range of applications. The high-speed visual feedback tracks the relative error between the working tool and the target in image coordinates, which implies that there is no need for accurate calibrations of the vision system. Tasks for validating these methods were implemented and experimental results were provided to illustrate the effectiveness of the proposed methods.
  • Huang Shouren, Yamakawa Yuji, Senoo Taku, Bergström Niklas
    Journal of the Robotics Society of Japan 一般社団法人 日本ロボット学会 35 (8) 591 - 595 0289-1824 2017 [Refereed]
  • Shouren Huang, Bergstroem Niklas, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
    IFAC PAPERSONLINE 50 (1) 4616 - 4622 2405-8963 2017 [Refereed]
     
    This research aims to realize robotic planar-contour tracing of unknown object with high-speed and high accuracy. The challenge lies in the existence of uncertainties, which can be attributed to a robot itself (such as modeling errors, mechanical defects like backlash) or due to environmental issues (like calibration errors, pose fluctuation of a workpiece). We propose to realize the tracing task by a non-model-based dynamic compensation approach based on the coarse-to-fine philosophy, which enables the manipulation with high speed and good accuracy simultaneously. This is achieved by adopting a methodology where a main robot is performing fast but coarse motion, while an add-on module is conducting accurate compensation of the overall uncertainties using high-speed visual feedback as well as force-torque feedback. Experiments for verifying the proposed method are conducted. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
  • Taku Senoo, Kenichi Murakami, Masatoshi Ishikawa
    IEEE Conference on Control Technology and Applications(CCTA) 746 - 751 2017 [Refereed]
  • Taku Senoo, Masatoshi Ishikawa
    Robotica 35 (3) 636 - 653 2017 [Refereed]
  • Taku Senoo, Masanori Koike, Kenichi Murakami, Masatoshi Ishikawa
    IEEE Robotics and Automation Letters 2 (1) 209 - 216 2017 [Refereed]
  • Tomohiko Hayakawa, Takanoshin Watanabe, Taku Senoo, Masatoshi Ishikawa
    APPLIED OPTICS 55 (21) 5640 - 5646 1559-128X 2016/07 [Refereed]
     
    We propose a method to achieve precise sine-wave path tracking for real-time motion-blur compensation to extend the corresponding frequency spectrum in proportional-integral-differential (PID) control by using a pre-emphasis technique. We calculate pre-emphasis coefficients in advance to follow a sine wave with a gain of 0 dB and multiply the input signal by these pre-emphasis coefficients. In experiments, we were thus able to extend the greatest frequency from 100 to 500 Hz and achieve gain improvement of approximately 3 dB at 400 and 500 Hz. For the application of inspection, we confirmed that motion blur is significantly reduced when the system operates at high frequency, and we achieved a responsiveness 3.3 times higher than that of our previous system. (C) 2016 Optical Society of America
  • Hyuno Kim, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
    OPTICS EXPRESS 24 (12) 13375 - 13386 1094-4087 2016/06 [Refereed]
     
    In this paper, a new measurement method of the rotation angle of a rotor, which is named as the 'visual encoder' method, was proposed. This method is based on the principles of the vision-based method and the optical encoder, and realized by using high-speed vision system. Visual encoder shows advantageous features such as non-contact, high-resolution and robustness against the free motion and the fluctuation of the rotation axis. A high resolution method to increase the measurement resolution was also suggested. The accuracy and the robustness of the visual encoder were confirmed through the experimental verifications, and the operation was possible at 6,000 rpm even under the fluctuation of rotation axis. (C) 2016 Optical Society of America
  • Hiroshi Sato, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
    2016 IEEE International Conference on Robotics and Biomimetics(ROBIO) 1535 - 1541 2016 [Refereed]
  • Taku Senoo, Yuuki Horiuchi, Yoshinobu Nakanishi, Kenichi Murakami, Masatoshi Ishikawa
    2016 IEEE International Conference on Robotics and Biomimetics(ROBIO) 325 - 330 2016 [Refereed]
  • Masanori Koike, Taku Senoo, Kenichi Murakami, Masatoshi Ishikawa
    2016 IEEE International Conference on Robotics and Biomimetics(ROBIO) 106 - 111 2016 [Refereed]
  • Taku Senoo, Gaku Jinnai, Kenichi Murakami, Masatoshi Ishikawa
    2016 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS) 2711 - 2716 2016 [Refereed]
  • Kenichi Murakami, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
    IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society(IECON) 791 - 796 2016 [Refereed]
  • Shouren Huang, Niklas Bergström, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
    2016 IEEE International Conference on Robotics and Automation(ICRA) 3886 - 3893 2016 [Refereed]
  • Niklas Bergström, Shouren Huang, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
    16th IEEE-RAS International Conference on Humanoid Robots(Humanoids) 1188 - 1195 2016 [Refereed]
  • Shouren Huang, Niklas Bergström, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
    Sensors 16 (8) 1195 - 1195 2016 [Refereed]
  • Masanori Koike, Kenichi Murakami, Taku Senoo, Masatoshi Ishikawa
    2015 IEEE International Conference on Robotics and Biomimetics(ROBIO) 656 - 661 2015 [Refereed]
  • Kenichi Murakami, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
    2015 IEEE International Conference on Robotics and Biomimetics(ROBIO) 339 - 344 2015 [Refereed]
  • Hyuno Kim, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
    2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems(MFI) 265 - 270 2015 [Refereed]
  • Shouren Huang, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
    2015 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS) 4041 - 4046 2015 [Refereed]
  • Taku Senoo, Masanori Koike, Kenichi Murakami, Masatoshi Ishikawa
    2015 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS) 1640 - 1645 2015 [Refereed]
  • Shouren Huang, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
    IEEE International Conference on Advanced Intelligent Mechatronics(AIM) 1629 - 1634 2015 [Refereed]
  • Shouren Huang, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 12 1729-8806 2015/01 [Refereed]
     
    This paper deals with the issue of non-model-based position regulation for the dynamic compensation robotic system (DCRS), which has been proposed for cooperating with the existing main robotic systems, such as the common serial robotic arms, to accomplish high-speed and accurate manipulations. The dynamic compensation concept is realized by fusing a high-speed & light-weight compensation actuator as well as endpoint closed loop (ECL) configured high-speed cameras. Within the context of the DCRS, the coarse motion, which is realized by the main robotic system, usually gives rise to negative dynamic impact on the compensation actuator that is configured to accomplish the fine motion. Through the analysis of a simplified model for the coupled two-plant system, relative velocity information between the two plants is found to play a role in the first order derivative of the displacement error. With the use of the relative position information from high-speed visual feedback, this paper proposes a new pre-compensation fuzzy logic control (PFLC) approach for control of the compensation actuator. The PFLC method is model-independent and is realized with a cascade fuzzy inference structure that conveniently integrates the relative velocity term between the two plants into the error regulation, and therefore realizes the partial counteraction of the disturbance from the main robot easily without knowing the explicit mathematical models of the system. Comparison works between the proposed PFLC and approaches that take no consideration of the relative velocity information, such as proportional-derivative (PD) control and conventional fuzzy logic control, are conducted. Simulations and experiments show the consistent effectiveness of the proposed approach.
  • 玉田智樹, 玉田智樹, 五十嵐渉, 米山大揮, 米山大揮, 田中和仁, 田中和仁, 山川雄司, 妹尾拓, 石川正俊
    日本ロボット学会誌 33 (7) 0289-1824 2015 [Refereed]
  • Senoo Taku, Yamakawa Yuji, Ishikawa Masatoshi
    Journal of the Robotics Society of Japan 一般社団法人 日本ロボット学会 32 (9) 769 - 773 0289-1824 2014 [Refereed]
  • Taku Senoo, Masatoshi Ishikawa
    2014 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS) 4050 - 4056 2014 [Refereed]
  • Tomoki Tamada, Wataru Ikarashi, Daiki Yoneyama, Kazuhito Tanaka, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
    14th IEEE-RAS International Conference on Humanoid Robots(Humanoids) 140 - 145 2014 [Refereed]
  • Hyuno Kim, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
    IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM) 924 - 930 2014 [Refereed]
  • Taku Senoo, Yuji Yamakawa, Yoshihiro Watanabe, Hiromasa Oku, Masatoshi Ishikawa
    Journal of Robotics and Mechatronics 26 (3) 287 - 301 2014 [Refereed]
  • Shouren Huang, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
    Advanced Robotics 28 (9) 613 - 624 2014 [Refereed]
  • 3D shape reconstruction of an object based on its silhouette using a high-speed vision
    Yuji Yamakawa, Yoshiyuki Tabata, Taku Senoo, Masatoshi Ishikawa
    Proceedings of the SICE Annual Conference 1966 - 1971 2013 
    3D sensing has attracted a great deal of attention in several disciplines including measurement, inspection, humanoid robots and bin picking robots. In this paper, we propose an entirely new method for the simultaneous estimations of an object's rotation axis, rotation angle and 3D shape. In this method, an object is rotated and a high-speed vision captures its motion. Then, we estimate the object's rotation axis and rotation angle by using its silhouette, and simultaneously we reconstruct the object's 3D shape using space carving method. Finally, we show simulation results and experimental results of estimations of the object's rotation axis, rotation angle and 3D shape using the proposed method.
  • Yuji Yamakawa, Shisei Nakano, Taku Senoo, Masatoshi Ishikawa
    IEEE International Conference on Robotics and Biomimetics(ROBIO) 1851 - 1857 2013 [Refereed]
  • Tomoki Tamada, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
    IEEE International Conference on Robotics and Biomimetics(ROBIO) 1598 - 1604 2013 [Refereed]
  • Shouren Huang, Kenichi Murakami, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
    2013 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS) 286 - 292 2013 [Refereed]
  • Shouren Huang, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
    2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM) 1127 - 1132 2013 [Refereed]
  • Taku Senoo, Masatoshi Ishikawa
    2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM) 512 - 517 2013 [Refereed]
  • 妹尾拓, 高野光浩, 石川正俊
    日本ロボット学会誌 31 (3) 0289-1824 2013 [Refereed]
  • Shouren Huang, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
    2012 IEEE International Conference on Robotics and Biomimetics(ROBIO) 1950 - 1955 2012 [Refereed]
  • Masatoshi Ishikawa, Akio Namiki, Taku Senoo, Yuji Yamakawa
    2012 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS) 5460 - 5461 2012 [Refereed]
  • Taku Senoo, Mitsuhiro Takano, Masatoshi Ishikawa
    2012 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS) 1834 - 1839 2012 [Refereed]
  • Niklas Bergström, Carl Henrik Ek, Danica Kragic, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
    12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)(Humanoids) 712 - 718 2012 [Refereed]
  • Taku Senoo, Daiki Yoneyama, Akio Namiki, Masatoshi Ishikawa
    2011 IEEE International Conference on Robotics and Biomimetics(ROBIO) 1936 - 1941 2011 [Refereed]
  • Kenichi Murakami, Taku Senoo, Masatoshi Ishikawa
    2011 IEEE International Conference on Robotics and Biomimetics(ROBIO) 1308 - 1313 2011 [Refereed]
  • 渡辺 義浩, 妹尾 拓, 石川 正俊
    ロボット (192) 47 - 53 0387-1940 2010/01 [Refereed]
  • Taku Senoo, Yuichi Tanno, Masatoshi Ishikawa
    11th International Conference on Control, Automation, Robotics and Vision(ICARCV) 603 - 608 2010 [Refereed]
  • Taku Senoo, Yuji Yamakawa, Satoru Mizusawa, Akio Namiki, Masatoshi Ishikawa, Makoto Shimojo
    2009 IEEE International Conference on Robotics and Automation(ICRA) 1611 - 1612 2009 [Refereed]
  • Taku Senoo, Akio Namiki, Masatoshi Ishikawa
    2008 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS) 3206 - 3211 2008 [Refereed]
  • Sho Morikawa, Taku Senoo, Akio Namiki, Masatoshi Ishikawa
    2007 IEEE International Conference on Robotics and Automation(ICRA) 794 - 799 2007 [Refereed]
  • Akio Namiki, Taku Senoo, Noriatsu Furukawa, Masatoshi Ishikawa
    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13 1062 - + 2006 [Refereed]
     
    In this paper, visuomotor integration in high-speed manipulation system is discussed, and several dynamic manipulation strategies are proposed as the examples. These applications are based on not only the improvement of the vision and manipulator but also new control strategies. The balanced development of the hardware and the control method can produce new capability of manipulation.
  • Taku Senoo, Akio Namiki, Masatoshi Ishikawa
    Proceedings of the 2006 IEEE International Conference on Robotics and Automation(ICRA) 1762 - 1767 2006 [Refereed]
  • Noriatsu Furukawa, Akio Namiki, Taku Senoo, Masatoshi Ishikawa
    Proceedings of the 2006 IEEE International Conference on Robotics and Automation(ICRA) 181 - 187 2006 [Refereed]
  • 妹尾拓, 並木明夫, 石川正俊
    日本ロボット学会誌 24 (4) 0289-1824 2006 [Refereed]
  • NAMIKI Akio, SENOO Taku, ISHIKAWA Masatoshi
    自動車技術 = Journal of Society of Automotive Engineers of Japan 58 (9) 79 - 80 0385-7298 2004/09/01 [Refereed]
  • Dynamic Manipulation Using High-speed Multifingered Hand-Arm System - Grasping, Catching, and Batting -
    Akio Namiki, Yoshiro Imai, Taku Senoo, Masatoshi Ishikawa
    Video Proceedings of the 2004 IEEE International Conference on Robotics and Automation(ICRA) No. L 2004 [Refereed]
  • Taku Senoo, Akio Namiki, Masatoshi Ishikawa
    Proceedings of the 2004 IEEE International Conference on Robotics and Automation(ICRA) 1191 - 1196 2004 [Refereed]

MISC

  • 平林勇人, 小水内俊介, 佐藤大祐, 辻田哲平, 妹尾拓, 近野敦  計測自動制御学会北海道支部学術講演会論文集  55th-  2023
  • 山名悠希, 妹尾拓, 石井抱  日本ロボット学会学術講演会予稿集(CD-ROM)  40th-  2022
  • 大坪隼人, 妹尾拓, 石井抱  日本ロボット学会学術講演会予稿集(CD-ROM)  40th-  2022
  • 島崎航平, SHARMA Atul Kumar, 妹尾拓, 石井抱  電子情報通信学会大会講演論文集(CD-ROM)  2021-  2021
  • 島崎航平, ALIANSYAH Zulhaj Muhammad, 妹尾拓, 石井抱, 伊藤友彦  鉄と鋼  107-  (8)  2021
  • 島崎航平, 高橋裕之, 妹尾拓, 石井抱  日本機械学会中国四国支部総会・講演会講演論文集(CD-ROM)  59th-  2021
  • 島崎航平, 胡少鵬, 妹尾拓, 石井抱, 伊藤友彦, 松本愛  材料とプロセス(CD-ROM)  34-  (2)  2021
  • 石井抱, 島崎航平, 胡少鵬, 妹尾拓, 奥松俊博, 松田浩  材料とプロセス(CD-ROM)  34-  (2)  2021
  • 立石侑也, 島崎航平, 妹尾拓, 石井抱  日本ロボット学会学術講演会予稿集(CD-ROM)  39th-  2021
  • 島崎航平, 妹尾拓, 石井抱, 荻原麻理, 芳山三喜雄  センシングフォーラム資料(CD-ROM)  38th-  2021
  • 島崎航平, ALIANSYAH Zulhaj Muhammad, 妹尾拓, 石井抱  材料とプロセス(CD-ROM)  33-  (2)  2020
  • 早川智彦, 加茂佳吾, 久保田祐貴, 望戸雄史, 妹尾拓, 石川正俊  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
  • 小山佳祐, 下条誠, 妹尾拓, 石川正俊  日本ロボット学会学術講演会予稿集(CD-ROM)  37th-  2019
  • 田中敬, 小山佳祐, 妹尾拓, 石川正俊  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
  • 小山佳祐, 下条誠, 妹尾拓, 石川正俊  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
  • 小山佳祐, 下条誠, 妹尾拓, 石川正俊  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
  • 小山佳祐, 村上健一, 妹尾拓, 下条誠, 石川正俊  日本ロボット学会学術講演会予稿集(CD-ROM)  36th-  2018
  • 小山佳祐, 下条誠, 妹尾拓, 石川正俊  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
  • MURAKAMI Kenichi, YAMAKAWA Yuji, SENOO Taku, ISHIKAWA Masatoshi  ロボティクス・メカトロニクス講演会講演概要集  2015-  "1P1  -H08(1)"-"1P1-H08(3)"  2015/05/17  
    High-speed manipulation has great potential to produce new robotic skills utilizing the feature of high-speed motion. Based on the concept, we had achieved high-speed throwing motion using a high-speed multi-fingered hand-arm system as an example. The purpose of this study is to achieve catching a high-speed ball with a high-speed hand-arm system and high-speed visual feedback. One of the main problems in catching a high-speed moving light-weight ball is a ball bouncing off after hitting the hand. Because of this problem, the operation time by the hand is limited to a very short time. Therefore in this paper, we consider arm motion to extend the operation time.
  • SENOO Taku, KOIKE Masanori, MURAKAMI Kenichi, ISHIKAWA Masatoshi  ロボティクス・メカトロニクス講演会講演概要集  2015-  "1P2  -I07(1)"-"1P2-I07(4)"  2015/05/17  
    In this paper, visual shock absorber is proposed with the goal of achieving anti-rebound of collision object for high-speed catching. The architecture consists of series connection between passive elastic structure and software damper based on Maxwell model which represents plastic deformation. Experimental results are shown in which a 2-DOF manipulator with high-speed vision receives the impact of rolling object without rebound.
  • UMEMURA Hajime, TAMADA Tomoki, IKARASHI Wataru, YONEYAMA Daiki, TANAKA Kazuhito, SENOO Taku, YAMAKAWA Yuji, ISHIKAWA Masatoshi  ロボティクス・メカトロニクス講演会講演概要集  2015-  "1P2  -B02(1)"-"1P2-B02(3)"  2015/05/17  
    This paper presents methods to ameliorate the hardware mechanism of the bipedal robot for the running experiment system based on high-speed visual feedback, called ACHIRES. In a new robot (Test Unit 2), we succeeded in enlarging the movable range of waist joints, enhancing the power of the actuators in each joint, and reducing the risk of cable interference around knees, which are keys to achieve more dynamic movements of the robot. As a first step of assessing the effect of above stated changes, we conducted the running experiment, in which we accomplished 4.2 km/h running and longer duration of air-staying time, leading to less risk of tumbling over. On the other hand, increased weight of the upper body brought new issue; larger pitch moment while jumping. In order to achieve further stable running, improvement of control method is needed which is capable of subduing the crucial moment while in the air and of calculating the optimum body angle at the moment of jumping.
  • 米山大揮, 水澤悟, 妹尾拓, 並木明夫, 石川正俊  ロボティクスシンポジア予稿集  16th-  2011
  • 西島良雅, 妹尾拓, 石川正俊, 並木明夫  ロボティクスシンポジア予稿集  16th-  2011
  • 黒島麻衣, 黒島麻衣, 米山大揮, 山川雄司, 妹尾拓, 並木明夫, 石川正俊  日本ロボット学会学術講演会予稿集(CD-ROM)  29th-  2011
  • YONEYAMA Daiki, SENOO Taku, NAMIKI Akio, ISHIKAWA Masatoshi  ロボティクス・メカトロニクス講演会講演概要集  2010-  "2A2  -D04(1)"-"2A2-D04(2)"  2010  
    Multifingerd hand is capable of using tool and can increase its ability. With high-speed actuator and vision robot can do more advanced tool manipulation than human. The task multifingered hand catches a small ball in parabolic and free fall motion using tweezers is taken up for its demonstartion. Experimental results are also shown.
  • NISHIJIMA Yoshimasa, SENOO Taku, NAMIKI Akio  ロボティクス・メカトロニクス講演会講演概要集  2010-  "1A1  -G10(1)"-"1A1-G10(3)"  2010  
    The purpose of the study is to achieve high-speed throwing motion using the hand-arm. In order to achieve high-speed motion, an appropriate motion using the dynamic characteristic of the arm is needed. Most of human sports players can use kinetic energy efficiently based on dynamics of body. As a result, they achieve high-level performance. In this paper, sine waves are used to imitate human throwing motion. The advantages of the proposed algorithm is simple to set an objective throwing motion. The parameters are optimized based on the dynamics of the hand-arm. In addition, a follow-through algorithm is added using polynomial interpolation. Experimental results are shown.
  • SENOO Taku, TANNO Yuichi, ISHIKAWA Masatoshi  ロボティクス・メカトロニクス講演会講演概要集  2010-  "2A1  -F30(1)"-"2A1-F30(4)"  2010  
    In this paper we report on experiments on jumping motion using a 1-DOF legged robot. First the dynamics and basic characteristics of the 1-DOF legged robot are derived. Three jumping patterns based on the sliding contact between the leg and the ground are represented. In particular two-step jumping method is newly proposed, which is effective for high-speed and powerful actuator. Next the influence of structural parameters of the legged robot on jumping motion is analyzed. It has proven that the optimal parameters for high jump exist.
  • TANAKA Kazuhito, SENOO Taku, FURUKAWA Noriatsu, NAMIKI Akio, ISHIKAWA Masatoshi  ロボティクス・メカトロニクス講演会講演概要集  2009-  "2A2  -B05(1)"-"2A2-B05(4)"  2009/05/25  
    One of the most important functions for robot hand is to regrasp a target object. In recent years, the strategy which is called "Dynamic Regrasping" has been introduced to achieve high-speed regrasping. In this strategy, the regrasping task is achieved by throwing a target up and by catching it. In this paper, in order to improve the success rate of dynamic regrasping and achieve dynamic regrasping for any target, we introduce the new throwing strategy for dynamic regrasping by creating a throwing model.
  • NISHIJIMA Yoshimasa, SENOO Taku, NAMIKI Akio  ロボティクス・メカトロニクス講演会講演概要集  2009-  "2A2  -B19(1)"-"2A2-B19(3)"  2009/05/25  
    The purpose of the study is to achieve high-speed throwing motion using the hand-arm. In order to achieve high-speed motion, a human motion is referred to. Most of human sports players can use kinetic energy efficiently based on dynamics of body. As a result, they achieve high-level performance. By simplifying the human swing motion, a two-link three-degree-of-freedom swing model is proposed. This model is easy to extract key points of dynamic swing motion: two-dimensional kinetic chain, and three-dimensional inertia force. Experimental results by high-speed robot arm are shown.
  • SENOO Taku, NAMIKI Akio, ISHIKAWA Masatoshi  ロボティクス・メカトロニクス講演会講演概要集  2009-  "1A1  -B09(1)"-"1A1-B09(2)"  2009/05/25  
    In this paper high-speed manipulation system is developed, which consists of two manipulators and active visions. The design concept and the features of the system are described. In addition a task using non-contact state is taken up in order to achieve high-speed dynamic manipulation. Experimental results are also shown in which a manipulator throws a ball and the other manipulator hits the ball.
  • 妹尾拓, 並木明夫, 石川正俊  ロボティクスシンポジア予稿集  14th-  2009
  • SENOO Taku, NAMIKI Akio, ISHIKAWA Masatoshi  ロボティクス・メカトロニクス講演会講演概要集  2008-  "1A1  -I14(1)"-"1A1-I14(4)"  2008/06/06  
    In this paper the robotic throwing task is taken up in order to achieve high-speed dynamic manipulation. We propose a kinetic chain approach for swing motion focused on the torque transmission. In addition the release method using robotic hand is analyzed for ball control. Experimental results are also shown in which a high-speed manipulator throws a ball toward the target.
  • SENOO Taku, NAMIKI Akio, ISHIKAWA Masatoshi  ロボティクス・メカトロニクス講演会講演概要集  2007-  "1A2  -F10(1)"-"1A2-F10(4)"  2007/05/11  
    The speed of recent robotic manipulation is very slow although a mechanical system excels in the speed of motion fundamentally. On the other hand various inventions which contribute to fast movement are reported in human motion. For instance, in human throwing motion we can observe the movement called "kinetic chain" which enables to propagate kinetic energy. Based on this motion, a throwing strategy focused on the superposition of wave patterns is proposed in order to achieve high-speed robot motion. The evaluation on contact modeling for control of a target is also analyzed.
  • 古川徳厚, 並木明夫, 妹尾拓, 石川正俊  ロボティクスシンポジア予稿集  12th-  2007
  • Furukawa Noriatsu, Senoo Taku, Namiki Akio, Ishikawa Masatoshi  ロボティクス・メカトロニクス講演会講演概要集  2006-  "1A1  -B34(1)"-"1A1-B34(4)"  2006  
    In most previous studies, it has been difficult for a robot hand to regrasp a target quickly because its motion was static or quasi-static, in a constant cantact state. In order to achieve high-speed regrasping, we propose a new strategy which we call dynamic regrasping. In this strategy, the regrasping task is achieved by throwing a target up and by catching it. In this paper, the regrasping strategy based on visual feedback is presented and experimental results using a high-speed multifingered robot hand and a high-speed vision system are shown. A cylinder is chosen as a specific example of target for dynamic regrasping, with successful dynamic regrasping tasks are experimentally achieved.
  • 妹尾拓, 並木明夫, 石川正俊  ロボティクスシンポジア予稿集  10th-  2005
  • Senoo T, Namiki A, Ishikawa M  ロボティクス・メカトロニクス講演会講演概要集  2004-  51  -51  2004/06/18
  • 妹尾拓, 並木明夫, 石川正俊  日本ロボット学会学術講演会予稿集(CD-ROM)  22nd-  2004

Books etc

  • 妹尾拓, 石川正俊 (Contributor野球ロボットとジャグリングロボット, pp. 664-667)
    近代科学社 2017/12 (ISBN: 9784764904736) xx, 999p
  • ロボットテクノロジー（日本ロボット学会編）
    妹尾拓, 渡辺義浩, 石川正俊 (Contributor高速ビジョン, pp. 202-205)
    オーム社 2011/08 (ISBN: 9784274210723)
  • Cutting Edge Robotics 2010
    Satoru Mizusawa, Akio Namiki, Taku Senoo, Masatoshi Ishikawa (ContributorTweezers Type Manipulation by a Multifingered Hand Using a High-speed Visual Servoing, pp. 395-410)
    INTECH 2010/10 (ISBN: 9789533070629)
  • Visual Servoing via Advanced Numerical Methods
    Akio Namiki, Taku Senoo, Satoru Mizusawa, Masatoshi Ishikawa (ContributorHigh-speed Visual Feedback Control for Grasping and Manipulation, pp. 39-53)
    Springer 2010/03 (ISBN: 9781849960892)
  • Robotics 2010 Current and Future Challenges
    Taku Senoo, Akio Namiki, Masatoshi Ishikawa (ContributorBall Control in High-speed Throwing Motion Based on Kinetic Chain Approach, pp. 109-122)
    INTECH 2010/02 (ISBN: 9789537619787)

Research Projects

  • Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research
    Date (from‐to) : 2023/06 -2026/03 
    Author : 近野 敦, 妹尾 拓, 小水内 俊介
  • Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research
    Date (from‐to) : 2023/04 -2026/03 
    Author : 近野 敦, 安部 崇重, 妹尾 拓, 小水内 俊介, 安孫子 聡子, 辻田 哲平, 陳 暁帥, 佐瀬 一弥
  • 日本学術振興会：科学研究費助成事業 基盤研究(B)
    Date (from‐to) : 2022/04 -2025/03 
    Author : 並木 明夫, 妹尾 拓, 山川 雄司
  • Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (S)
    Date (from‐to) : 2020/08 -2025/03 
    Author : 石川 正俊, 妹尾 拓, 早川 智彦, 黄 守仁, 宮下 令央, 末石 智大
     
    本年度の研究成果をサブテーマごとに以下に示す． (A)人間の視覚を超えた高速知覚情報処理技術の確立 A-1) 逐次的な相対運動推定結果から各時刻の位置姿勢を推定するため，高速性を失わずにドリフトを補正する機構を構築し，安定したトラッキングを行った．また，レーザードップラーセンサー及び光学システムを用いる複数物体の運動計測と三次元トラッキングシステムを構築し，同システムの計測データを解析するアルゴリズムの設計と評価を行った．A-2) 本年度の目標としていたマーカレスの高速トラッキングアルゴリズム群を開発し，本年度以降の高速トラッキング技術および高速運動計測技術開発の基盤を構築した． (B)人間の動作をシームレスにサポートする高速情報・力覚呈示技術の確立 B-1) ユーザーのダイナミクスである視線を高速に計測するシステムと，事前にマーカーを付与しない高速自己位置推定手法の第１次試作を構築した．B-2) 塑性変形を基軸とした力制御則を提案し，ヒトとロボットハンドの滑らかなインタラクションを実現した． (C)高速知覚情報処理の基盤強靭化技術の確立 C-1) 映像遅延だけではなく，フレームレートも制御できるシステムを構築し，錯視現象に対するフレームレートの影響を観測する被験者実験を実施した．C-2) 高速ビジョンモジュールを用いた1,000fpsの高速カメラネットワークを構築し，トラッキング精度に影響する同時撮像におけるフレーム同期を数十マイクロ秒の精度で実現した． (D)次世代情報環境システムによる時空間インタラクションにおける違和感の打破 D-1) 高速トラッキングに利用しやすい事前情報の利用を想定し，高速なスポーツ動作に対する予測情報即時呈示の基礎検討を行った．D-2)複合センシングシステムを構築し，ユーザーの意図と環境中のアフォーダンスをミリ秒オーダで読み取る手法を検討した．
  • ロボット用微細コネクタの開発
    Date (from‐to) : 2022/04 -2025/03 
    Author : 妹尾 拓
  • Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B)
    Date (from‐to) : 2020/04 -2023/03 
    Author : 妹尾 拓
     
    本年度の研究成果をサブテーマごとに以下に示す． (A) 変形モデルに基づく力制御手法の確立：ロボットハンドのように慣性が小さく関節摩擦が相対的に大きい機構に対してモデルベースの力制御手法を適用すると，パラメータ誤差の影響により挙動が不安定になる．この問題を解消するため，変形モデルから導出される目標位置を陽に計算し，力フィードバック制御系の内部に位置制御系を組み込んだ二重構造制御系を提案した．これにより，塑性変形に基づく受動的な緩衝軌道を生成すると同時に，パラメータ誤差に起因する振動の抑制が可能となった． (B) 低摩擦特性を有する高バックドライブロボットの開発：磁石歯車を利用したグリッパを開発した．磁石による非接触のトルク伝達により物理的摩擦を無くすことで，出力軸側に負荷が加わった際にわずかなトルクで逆回転し，従来のロボットに比べてバックドライバビリティの高い柔軟な動作が可能である．機構全体を剛体で構成しているため制御が容易で高精度な位置決めも実行しやすい．指先側面あるいは掌に対して負荷が生じたときに受動的に両指が内側へスライドする機構を設計し，衝撃から把持動作への移行を効率的に実行できる構造となっている． (C) 低衝撃高速マニピュレーションの実現：ロボットハンドの指モジュールに対して二重構造制御系を実装することで，ヒトがロボットを押したときに滑らかに動作するインタラクションタスクを実現した．提案した制御系に関する比較実験をおこない，安定した外力緩衝が可能であることを実証した．
  • VSLAMを用いた高精度ロケータ
    Date (from‐to) : 2022/04 -2023/03 
    Author : 妹尾 拓
  • Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (A)
    Date (from‐to) : 2019/04 -2022/03 
    Author : ISHII IDAKU
     
    We develop a hyper vibration spectrum camera in which pixel-level vibration spectrum analysis is implemented in parallel to a high-speed vision system. It can realize dynamics-based image recognition based on multi-dimensional vibration spectrum images in which brightness signals are processed in the audio frequency range. We show its effectiveness in real-time vibration spectrum imaging that enable vibration pattern recognition by hybridizing high-speed image recognition and vibration analysis through vibration surveillance cases in various applications.
  • 日本学術振興会：科学研究費助成事業 基盤研究(B)
    Date (from‐to) : 2019/04 -2022/03 
    Author : 並木 明夫, 妹尾 拓, 山川 雄司
     
    従来の知能ロボットでは，使用するカメラ台数は少数に抑えられ，設置場所も人間のように頭部に装着するか，ハンドアイとして手先に装着するかのどちらかであり，視界は狭く，オクルージョンによる死角が頻繁に生じるという問題があった。そのため，複雑なタスクでは成功率が上がらず，作業速度も人間以上に遅くなっていた。本課題ではこの問題を解決するために，小型高速カメラをロボットの体表に高密度で配置することで，「無死角性」と「高速性」を実現する多眼高速ビジョンネットワークシステムを実現する．今年度は下記の研究を行った． [多眼高速ビジョンハンドの開発]前年度に開発したシステムを改良する。これは超小型カメラ８台をロボットハンドの指表皮に埋め込んだものである．USBから画像を取得するためのソフトウェアを改良することで，120Hz以上の画像を安定して取得するとともに，ホワイトバランス等のカメラ制御パラメータをリアルタイムで変更できるようにした． [多眼視覚サーボ制御] 前年度に開発した多眼システムのために，ロボット表皮上に配置された複数のカメラを効果的にキャリブレーションするための手法を考案した．関節角の誤差についても同時にキャリブレーションすることで，カメラパラメータを高精度に推定することを可能とした． [カメラネットワークの動的最適経路制御] 前年度に引き続き，対象検出・衝突検出の緊急度・優先度に応じて個々のカメラからの情報を動的に変えるシステムの開発について検討した．
  • Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research Grant-in-Aid for Young Scientists (A)
    Date (from‐to) : 2016/04 -2019/03 
    Author : Senoo Taku
     
    By integrating high-speed vision and high-speed actuator, a bipedal running system with instantaneous response characteristics was realized. As for system development, the high torque-weight-ratio actuators suitable for bipedal movement were developed and high-speed bipedal running mechanism equipped with 1000 fps compact lightweight vision at the head part was designed. With respect to posture stabilization, a new feedback-based control method in that posture recovery motion is repeatedly executed in response to instantaneous detection of the beginning of falling was established, instead of the commonly-used previously-determined feedforward type falling avoidance. These technologies have made it possible to achieve acrobatic tasks: robust running in unpredicted external force and on rough terrain, somersault by accelerating and jumping forward to make one rotation, and emergency stop action for rapidly incoming obstacles during running.
  • Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research Grant-in-Aid for Challenging Exploratory Research
    Date (from‐to) : 2013/04 -2015/03 
    Author : SENOO Taku
     
    A method of simultaneously identifying geometric and mechanical information of an object was proposed using the data set of time-series multi-view image captured with high-speed vision. By actively manipulating a measurement objet to get multi-view images with a single camera, the 3-D shape reconstruction was performed in voxel space on the basis of a space carving method using the objet silhouette, and the inertia moment and mass distribution were also estimated in fitting the object movement to the mechanical constraint such as the conservation of angular momentum and the conservation of energy.
  • 日本学術振興会：科学研究費助成事業 特別研究員奨励費
    Date (from‐to) : 2005 -2007 
    Author : 妹尾 拓
     
    本研究では「高速性」に焦点を当てて,マニピュレーションアルゴリズムの開発および機械システムの限界に挑む超高速ロボットシステムの実現を目指している.本年度は、アームの高速スウィングアルゴリズムおよび多指ハンドによるリリース制御戦略を提案し,スローイング動作の実験をおこなった. はじめに手先速度の高速化を目指して,スウィング動作に着目した.人間の運動を参考にして,キネティックチェーンという平面的な運動連鎖と3次元的な多軸回転運動の慣性力伝播という2つの運動を直交に組み合わせたスウィングモデルを提案した.体幹から手先へ向けてエネルギーの伝播に大きく影響する要素を基底関数として抽出し,それをタイミングよく重ね合わせることで手先速度の高速化を可能にしている.シミュレーションにより,体幹で発生したトルクが手先へ伝播していく効率的な高速スウィング動作を実現できることを示した.また実機とスウィングモデルの関節構造が異なっていても,提案したスウィング動作はダイナミクスの変換をおこなうことで適応可能となっている. また高速動作を利用した器用なマニピュレーションを目指して,多指ハンドによるリリース制御について研究した.ハンドとボールのあいだに働く接触力の時間応答および指上でのボールの転がり距離を解析し,その結果を利用することでリリースのタイミング誤差に対してロバストにリリース方向を制御する投球アルゴリズムを提案した.この戦略はアームの高速スウィング動作によって出現する慣性力を利用することで,把持状態からリリース状態へ効果的に遷移するリリース制御となっている. 上記の高速スウィング動作とリリース制御をハンドアームシステムへ実装し,目標地点へ向けてボールを投げる実験をおこなった.そして2m離れた半径10cmのネットへ向かって半径5cmのボールをコントロールする高速スローイング動作を実現した.

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