Faculty Profiles - TODA Yuuichirou

MISC - TODA Yuuichirou

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Growing Neural Gas based 3D Terrain Environment Learning for Step Perception

小笹航輝, 戸田雄一郎, 松野隆幸

ロボティクスシンポジア予稿集 28th 2023

Integration of Growing Neural Gas based 3D Space Perception with 2D Environmental Map

KUBOHIRA Daichi, OZASA Koki, NAKAMURA Yoshimasa, MASUDA Toshiki, KONISHI Hirohide, TODA Yuichiro, MATSUNO Takayuki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2023 2A1-G02 2023

Language：Japanese Publisher：The Japan Society of Mechanical Engineers

Recently, various types of autonomous robots are expected with developments of Robot technologies and AI technologies. Especially, an unsupervised learning based perception methods of the robot is required in an unknown environment. In our previous works, we proposed 2D and 3D perception system based on Growing Neural Gas (GNG) that is one of the unsupervised learning methods. This paper proposes an integration method of GNG based 3D space perception with 2D environmental map for an autonomous mobile robot. For integrating the 3D space perception and 2D environmental map, this paper uses Robot Operating System. Next, this paper conducts an experiment to verify the effectiveness of our proposed method.

DOI： 10.1299/jsmermd.2023.2a1-g02

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Development of a crawler robot capable of traveling on uneven terrain and construction of a control system based on fuzzy control

室本達也, 小笹航輝, 戸田雄一郎, 松野隆幸

インテリジェント・システム・シンポジウム(CD-ROM) 30th 2022

Growing Neural Gas based Traversability Analysis for Autonomous Driving

小笹航輝, 室本達也, 戸田雄一郎, 松野隆幸

ファジィシステムシンポジウム講演論文集(CD-ROM) 38th 2022

Study of Contour Detection for Growing Neural Gas based 3D Shape Recognition

古田優泰, 戸田雄一郎, 松野隆幸

ファジィシステムシンポジウム講演論文集(CD-ROM) 38th 2022

An Overview and Outcome of World Robot Summit 2020 Fukushima

Satoshi Tadokoro, Tetsuya Kimura, Katsuji Oogane, Yoshikazu Ohtsubo, Masayuki Okugawa, Noritaka Sato, Masaru Shimizu, Soichiro Suzuki, Takeshi Aoki, Yoshito Okada, Shota Chikushi, Yuichiro Toda, Hikaru Nagano, Yudai Hasumi, Daisuke Yamaguchi, Mika Murata, Mitsuru Takahashi, Yumi Morita, Elena Mary Rooney

Journal of the Robotics Society of Japan 40 ( 6 ) 475 - 483 2022

Growing Neural Gas based Learning of 3D Terrain Environment and Path Planning in Unknown Environment

小笹航輝, 戸田雄一郎, 松野隆幸, 見浪護

ロボティクスシンポジア予稿集 27th 2022

Topological Intelligence for A Physical Difference which Makes A Perceptual Difference

久保田直行, 戸田雄一郎

ファジィシステムシンポジウム講演論文集(CD-ROM) 38th 2022

Report of Plant Disaster Prevention Challenge in World Robot Summit 2020

OKUGAWA Masayuki, OHTSUBO Yoshikazu, AOKI Takeshi, YAMAGUCHI Daisuke, OKADA Yoshito, CHIKUSHI Shota, TODA Yuichiro, NAGANO Hikaru, HASUMI Yudai, HIROOKA Daisuke

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2022 1A1-H02 2022

Language：Japanese Publisher：The Japan Society of Mechanical Engineers

From the viewpoint of disaster prevention, it is expected the unmanned automation of daily inspection/health monitoring and diagnostic work for facilities/structures in places where it is difficult to let the inspectors going such as offshore plant and dangerous places. By adopting remote controlled/autonomous robot, regarding the occurrence of abnormality due to human factors, breakage of facilities due to aging of facilities, malfunction caused by them, accidents by increasing the frequency of periodic inspection, it becomes possible to prevent it in advance. In addition, introduction of the robot makes it possible to conduct inspection work even during operation, so it is expected that the availability factor of facilities in such environment will be improved. This paper described about the plant disaster prevention challenge of the World Robot Summit 2020 disaster robotics category held at the Fukushima Robot Test Field in October 2021. The competition concept and the competition rule were introduced. The analysis of the competition results were shown and considered based on competition results. Finally, the lessons learned was mentioned.

DOI： 10.1299/jsmermd.2022.1a1-h02

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Simulation of Needle Bending Estimation in Puncture Robot

宮本隆晃, 松野隆幸, 村上輝, 亀川哲志, 平木隆夫, 戸田雄一郎, 見浪護

システム制御情報学会研究発表講演会講演論文集(CD-ROM) 65 1039 - 1044 2021.5

Utilizing a robot teaching kit to develop a new experiment menu for students

亀川哲志, 松野隆幸, 脇元修一, 戸田雄一郎, 岡野訓尚, 山口大介

システム制御情報学会研究発表講演会講演論文集(CD-ROM) 65th 2021

Topological Mapping based Path Planning in Unknown Environment and Semi-autonomous Teleoperation System

長尾圭介, LI Qi, 小笹航輝, 戸田雄一郎, 松野隆幸, 見浪護

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

Study of Cluster Tracking Method using Growing Neural Gas with Different Topologies

戸田雄一郎, 和田亮雅, 宮瀬光梨, 松野隆幸, 見浪護

インテリジェント・システム・シンポジウム(CD-ROM) 2021 2021

Effect of arm swing on humanoid walking using NSGA-II

森本晃行, 戸田雄一郎, 見浪護

インテリジェント・システム・シンポジウム(CD-ROM) 2021 2021

Needle Shape Estimation Using Force Sensor Information during Small Movements in IVR Robot

松野隆幸, 村上輝, 亀川哲志, 酒井菜々子, 眞弓虎太郎, 戸田雄一郎, 平木隆夫, 見浪護

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

Path Planning and Behavior Control of Mobile Robot using Topological Map

宮瀬光梨, LI Qi, 和田亮雅, 戸田雄一郎, 松野隆幸, 見浪護

ファジィシステムシンポジウム講演論文集(CD-ROM) 37th 2021

Area Identification Simulator for Real-time Contact Judgment in IVR Robot

酒井菜々子, 松野隆幸, 城戸脩希, 門田成司, 亀川哲志, 平木隆夫, 戸田雄一郎, 見浪護

日本コンピュータ外科学会誌 23 ( 4 (Web) ) 2021

Node Density Adjusting Method of Growing Neural Gas

戸田雄一郎, 和田亮雅, 宮瀬光梨, 松野隆幸, 見浪護

ファジィシステムシンポジウム講演論文集(CD-ROM) 37th 2021

Driving Evaluation of Lux Mesurement Robot by Autonomous Driving

辻元誠, 谷口和彦, 久保田直行, 井上椋太, 戸田雄一郎

電気設備学会全国大会講演論文集 38th 2020

自律走行型照度測定ロボットの開発

辻元誠, 谷口和彦, 久保田直行, 井上椋太, 大塩晃平, 戸田雄一郎

電気関係学会関西連合大会(Web) 2020 2020

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