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

Simulation to Detect Collision with a Patient for a Puncture Robot on Preplanning of surgery

SAKAI Nanako, MATSUNO Takayuki, KIDO Naoki, KAMEGAWA Tetsushi, HIRAKI Takao, TODA Yuichiro, MINAMI Mamoru

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020 2A1 - E06 2020

Language：Japanese Publisher：The Japan Society of Mechanical Engineers

In recent years, interventional radiology (IR) which is a medical procedure has been attracting considerable attention. Since this surgical method is less invasive, the number of this surgery tends to increase. However, doctors are exposed to strong radiation in the case under CT-guidance. In order to overcome this problem, we developed remote-controlled IR assistance robot. When doctors operate by remote control, there is possibility that parts of the robot collide with peripheral devices or a patient. Especially, if in the case of collision with the patient, it could become a serious incident. Accordingly, it is important to build a suitable path plan of the needle insertion before the surgery. Doctors, however, currently, do not have methods to grasp the possibility of the collision. Therefore, a simulation which detect collision with a patient in the advanced planning is proposed in this paper. The effectiveness of proposed simulation is confirmed.

DOI： 10.1299/jsmermd.2020.2A1-E06

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Topological Structure Learning of Point Cloud data using Modified Region of Interest Growing Neural Gas

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 25th 2020

Intelligent Image Processing and Sea Docking Using Stereo-vision-based 3D Real-time Pose Estimation System

Mamoru Minami, Yuichiro Toda

Marine Engineering 54 ( 6 ) 821 - 827 2019.11

Fish’s Motion Intelligence Measurement based on Antagonistic Relationship of Robot and Fish and Trial of Intelligence Creation Using Chaos Reviewed

見浪護, 戸田雄一郎, 松野隆幸, 矢納陽

計測と制御 58 ( 1 ) 8 - 14 2019

ImPACT-TRC Legged Robot Improvement and User Interface Reviewed

橋本健二, 佐藤徳孝, 松野文俊, 並木明夫, 戸田雄一郎, 久保田直行, 佐々木洋子, 高西淳夫

日本ロボット学会誌 37 ( 9 ) 818 - 823 2019

知的画像処理とステレオビジョンによる実時間空間認識を用いた水中ロボットの実海域ドッキング Reviewed

見浪護, 戸田雄一郎

日本マリンエンジニアリング学会誌 54 ( 6 ) 23 - 29 2019

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, 新井智之, 井上椋太, 戸田雄一郎

電気設備学会全国大会講演論文集 37th 2019

照度測定ロボットの開発

辻元誠, 谷口和彦, 久保田直行, 戸田雄一郎

建築設備と配管工事 57 ( 13 ) 2019

マルチセンサフュージョンに基づく照度計測ロボットの行動制御

井上椋太, 新井智之, 戸田雄一郎, 辻元誠, 谷口和彦, 久保田直行

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2019 2019

屋内環境における自律照度測定ロボットの開発

新井智之, 井上椋太, 戸田雄一郎, 辻元誠, 谷口和彦, 相野谷威雄, 笠松慶子, 久保田直行

日本保全学会学術講演会要旨集 16th 2019

CT透視下IVRロボットの自動穿刺に関する研究

松野隆幸, 城戸脩希, 村上輝, 亀川哲志, 平木隆夫, 戸田雄一郎, 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) 20th 2019

Environmental Perception for Mobile Robots Using a Variable Ranging Sensor Array

ARAI Tomoyuki, INOUE Ryota, KITAI Sasuga, TODA Yuichiro, WADA Kazuyoshi, TAKESUE Naoyuki, KUBOTA Naoyuki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019 ( 0 ) 2P1 - D02 2019

Language：Japanese Publisher：The Japan Society of Mechanical Engineers

Recently, large-scale disasters occur frequently, and the demand for disaster robots is increasing. Environmental perception is necessary for mobile robots to act autonomously in complex environments such as disaster sites. Various measurements are necessary for environmental perception in such environments. For example, global measurement for recognizing the entire surrounding environment, local measurement for recognizing an obstacle, and the like are included. Therefore, in this research, we develop a Variable Ranging Sensor Array equipped with multiple Laser Range Finders. In this paper, we propose a control method of the sensor array measurement using the concept of Multi-Objective Behavior Coordination. We showed the effectiveness of the proposed method by experiment that moved the mobile robot autonomously based on the environmental perception result from the sensor array.

DOI： 10.1299/jsmermd.2019.2P1-D02

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The Study about Estimating a Form of Needle by Using a Force Sensor Information for Puncture Robot

MURAKAMI Hikaru, MATSUNO Takayuki, KIMURA Kazushi, KAMEGAWA Tetsushi, HIRAKI Takao, MINAMI Mamoru, TODA Yuichiro

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019 1P1 - A02 2019

Language：Japanese Publisher：The Japan Society of Mechanical Engineers

In recent years, interventional radiology (IR) which is a medical procedure has been attracting considerable attention. Since this surgical method is less invasive, but doctors are exposed to strong radiation in the case under CT-guidance. In order to overcome this problem, we developed remote-controlled IR assistance robot. As a research topic, automated needle puncturing by the robot is focused on. However, currently the robot cannot obtain CT image in real time. So, the robot cannot obtain the form of needle based on CT image and cannot control state of needle accurately. On the other hands, we aim that the robot moves automatically for restraining a bend of needle. As the first step for this, the method to estimate a form of needle by using a force sensor information is proposed in this paper. If a form of the needle is displayed in user interface, it become easy for doctors to remove a bend of the needle during surgery with remote-controlled IR assistance robot. Additionally, we conducts the experiment to confirm effectiveness of proposed method.

DOI： 10.1299/jsmermd.2019.1P1-A02

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遺伝的アルゴリズムを用いたヒューマノイドの歩行解析

和田亮雅, 戸田雄一郎, 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) 29th 2019

改良型Growing Neural Gas with Utilityを用いた時系列3次元点群からの特徴量抽出と領域分割

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) 20th 2019

Region of Interest Growing Neural Gasに関する検討

戸田雄一郎, 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) 29th 2019

ステレオビジョンを用いた信号機の位置姿勢実時間認識

WANG Lujie, TIAN Hongzhi, KOU Yejun, WANG Junxiang, LI Xiang, 山本太郎, 戸田雄一郎, 松野隆幸, 見浪護

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

発光3Dマーカーによる混濁深海模擬環境下での認識性能評価

岡田優也, 山田大喜, LI Xiang, HSU Horng-Yi, 神田佳希, 山下耕平, 中村翔, 門田拓也, 戸田雄一郎, 松野隆幸, 見浪護

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

水中ロボットのための完全自律式回転型充電システムの構築

門田拓也, 山下耕平, 神田佳希, 中村翔, 山田大喜, 岡田優也, 松野隆幸, 戸田雄一郎, 見浪護

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

ステレオビジョンによる新しい空間認識手法の提案

川上拓朗, 山本太郎, KOU Yejun, TIAN Hongzhi, LI Xiang, 戸田雄一郎, 松野隆幸, 見浪護

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

環境を測るためのロボット技術

久保田直行, 戸田雄一郎, 辻元誠, 谷口和彦

保全学 17 ( 3 ) 21 - 27 2018

多目的行動調停を用いた可変型測域センサアレイの知的制御

北井瑳佳, 武居直行, 和田一義, 久保田直行, 戸田雄一郎

計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM) 2018 2018

Batch Learning Growing Neural Gasを用いた強化学習における検討

戸田雄一郎, 新井智之, 久保田直行

自律分散システム・シンポジウム(CD-ROM) 30th 2018

測域センサアレイを用いた歩行者の認識技術に関する検討

戸田雄一郎, 北井瑳佳, 荒川俊哉, 井上椋太, 久保田直行

Journal of the Japanese Council of Traffic Science 18 ( Supplement ) 2018

Remote control and visualization of the behavior for a mobile robot in a dynamic environment

井上椋太, 新井智之, 戸田雄一郎, 久保田直行

電気学会研究会資料 ( ST-18-039-054.056-078.080-084 ) 2018

スマートデバイス連動型シニアカートにおける自動運転に向けた知能化技術

戸田雄一郎, 中村佳雅, 久保田直行

自動車技術会大会学術講演会講演予稿集(CD-ROM) 2018 2018

部分未知環境における帰路の走行環境を考慮した自律移動ロボットの経路計画

岩朝睦美, 戸田雄一郎, 久保田直行

ロボティクスシンポジア予稿集 23rd 2018

Growing Neural Gasを用いた日用品の把持位置の決定

呉澤沛, 戸田雄一郎, 久保田直行

計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM) 2018 2018

コミュニケーションロボットによる能動的インタラクションのための行動認識

加藤薫平, HONG Chin Wei, 戸田雄一郎, 久保田直行

ViEWビジョン技術の実利用ワークショップ講演論文集(CD-ROM) 2018 (Web) 2018

照度測定の自動化に向けた自律移動ロボットの知能化技術

戸田雄一郎, CHIN WeiHong, 新井智之, 辻元誠, 谷口和彦, 久保田直行

日本保全学会学術講演会要旨集 15th 2018

Evolution Strategy based 3D Localization using Sokuiki Sensor Array

TODA Yuichiro, KITAI Sasuga, TAKESUE Naoyuki, WADA Kazuyoshi, KUBOTA Naoyuki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018 ( 0 ) 2A2 - M03 2018

Language：Japanese Publisher：The Japan Society of Mechanical Engineers

Recently, the expectation to rescue robots has been increasing much in order to perform the monitoring in disaster areas. However, there are many critical problems in rescue robots. Especially, a real-time 3D localization is the one of the most important capability for the rescue robot by using 3D measurement sensor. In this paper, we introduce our Sokuiki sensor array system for measuring 3D distance data. Next, we propose Evolution Strategy (ES) based real-time 3D localization method using Sokuiki sensor array. Our method uses the occupancy grid map for the map representation and (μ+1)-ES for estimating the robot pose for realizing the real-time 3D localization. Finally, we show several experimental results of the proposed method.

DOI： 10.1299/jsmermd.2018.2A2-M03

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コミュニケーションロボットのためのConvolutional Neural Networkを用いた姿勢推定と学習用データセットに関する検討

加藤薫平, 戸田雄一郎, 久保田直行

ViEWビジョン技術の実利用ワークショップ講演論文集(CD-ROM) 2017 2017

物体把持のためのBatch Learning Growing Neural Gasを用いた把持位置の決定

呉澤沛, 戸田雄一郎, TAY Noel, 久保田直行

日本ロボット学会学術講演会予稿集(CD-ROM) 35th 2017

Study of improvement about the heuristic function in A* algorithm

岩朝睦美, 戸田雄一郎, 久保田直行

ファジィシステムシンポジウム講演論文集(CD-ROM) 33rd 2017

Topological Structure Learning and Feature Extraction of 3D Point Clouds for Grasping

戸田雄一郎, 北井瑳佳, 武居直行, 和田一義, 久保田直行

インテリジェント・システム・シンポジウム(CD-ROM) 27th 2017

測域センサアレイを用いたDYNAMIC TIME WARPINGに基づく3次元点群からの特徴点抽出

戸田雄一郎, 北井瑳佳, 武居直行, 和田一義, 久保田直行

ロボティクスシンポジア予稿集 22nd 2017

可変型測域センサアレイによる動的物体の追従制御

北井瑳佳, 戸田雄一郎, 武居直行, 和田一義, 久保田直行

日本ロボット学会学術講演会予稿集(CD-ROM) 35th 2017

Growing Neural Gas with Utilityを用いた3次元点群からの動的物体の検出

戸田雄一郎, 久保田直行

インテリジェント・システム・シンポジウム(CD-ROM) 26th 2016

電動カートによる対象物の移動方向推定を用いた追従走行

田松孝慈, 戸田雄一郎, 久保田直行

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2016 2016

環境認識のためのGrowing Neural Gasを用いた注視領域に基づく位相構造の抽出

戸田雄一郎, 三宅晨, 武居直行, 和田一義, 久保田直行

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2016 2016

2A1-O04 2D Environmental Map Building based on Evolution Strategy using 3D Distance Sensor

TODA Yuichiro, KUBOTA Naoyuki

2015 "2A1 - O04(1)"-"2A1-O04(2)" 2015.5

Language：Japanese Publisher：The Japan Society of Mechanical Engineers

Simultaneous Localization And Mapping (SLAM) is one of the most important problems of mobile robot systems. Recently, 3D distance sensor is expected for 3D SLAM. However, It is difficult to build the 3D environmental map in real time because a distance dataset from 3D distance sensor has many position data and it is difficult to search the corresponding points from the dataset in real time. In our research, we combine the 2D environmental maps that are divided into different height for realizing the real-time 3D SLAM. In this paper, we propose a real-time 2D SLAM based on an Evolution Strategy by using 3D distance sensor. The experimental result shows the effectiveness of our proposed method.

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ランドマークを利用したシニアカーの自動追従システム

田松孝慈, 中村佳雅, 戸田雄一郎, 久保田直行

日本ロボット学会学術講演会予稿集(CD-ROM) 33rd 2015

Batch Learning Growing Neural Gasを用いた半教師あり学習

戸田雄一郎, 久保田直行

インテリジェント・システム・シンポジウム(CD-ROM) 25th 2015

遠隔モニタリングのためのバネモデルに基づく取り囲みフォーメーション制御

戸田雄一郎, 久保田直行

自律分散システム・シンポジウム(CD-ROM) 27th 2015

スマートデバイスの個人データを用いたロボットパートナーの自然なコミュニケーション

粕谷千秋, WOO Jinseok, 戸田雄一郎, 久保田直行

ファジィシステムシンポジウム講演論文集(CD-ROM) 31st 2015

Formation Control with Co-leader for Multi-robot System In dynamic environment

Miyake Shin, Toda Yuichiro, Kubota Naoyuki, Nakano Kazushi, Funato Tetsuro

Proceedings of the Fuzzy System Symposium 31 111 - 114 2015

Language：Japanese Publisher：Japan Society for Fuzzy Theory and Intelligent Informatics

In this paper, we discuss formation control of multiple mobile robots with co-leader. Our objective is to realize the robust control method for applying the multi-robot system to various situations such as maintenance of the formation shape, obstacle avoidance and adjusting to environmental changes.First, we apply a spring model for constructing the formation and maintaining the optimum position between the robots. Next, we introduce the obstacle avoidance method by using fuzzy control.Finally, we show several experiments in simulation and real environments in order to verify the effectiveness our proposed method.

DOI： 10.14864/fss.31.0_111

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