著者

冨沢 哲雄 村松 聡 平井 雅尊 佐藤 晶則 工藤 俊亮 末廣 尚士

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.30, no.3, pp.280-286, 2012 (Released:2012-04-29)

参考文献数

16

被引用文献数

3 8

---

In this paper, we describe a robust and fast self position estimation technique for mobile robot in an environment where many unknown obstacles exist. The free-space observation model is the basis of the proposed technique. Although the free-space observation achieves robust self-position estimation, it has a complicated likelihood evaluation, and particles continue to spread to a direction where are no landmarks. In this research, we solve these problems with two likelihood evaluations based on the area of free space and occupied space. We evaluated the robustness and verify the validity of the proposed method by a simulation and an experiment in a real environment.

著者

工藤 俊亮 中岡 慎一郎 白鳥 貴亮

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 = Journal of Robotics Society of Japan (ISSN:02891824)

巻号頁・発行日

vol.25, no.5, pp.665-670, 2007-07-15

参考文献数

10

著者

内藤 理 佐藤 啓宏 工藤 俊亮 池内 克史

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.30, no.6, pp.629-638, 2012 (Released:2012-08-15)

参考文献数

19

被引用文献数

1

---

In recent years, the social network has attracted attention as the system which causes the innovation, and various studies for researchers' networks have been carried out. This paper conducts social network analysis for a researchers' social network based on co-authorship in papers in the journal of RSJ. We investigate the 1,912 papers published from 1983 to 2010, which include 2,736 authors (nodes of the network) and 6,531 co-authorship (edges of the network). The network turns out to have general features as a complex network, such as scale-free structure, small-world structure, and cluster structure. We extract 710 core members from the network and analyze various centrality among them to show that some researchers demonstrate more importance in the network than their degrees. We also apply cluster analysis to the network to find 27 clusters in which researchers have close relationship, and give a coarse-grained representation of the clusters to clarify the adjacency among them.

著者

工藤 俊亮

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.37, no.6, pp.471-476, 2019 (Released:2019-07-15)

参考文献数

5

被引用文献数

1

著者

工藤 俊亮 小川原 光一 ルチャヌラック ミティ 高松 淳 池内 克史

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.26, no.6, pp.612-619, 2008-09-15 (Released:2010-08-25)

参考文献数

17

被引用文献数

1

---

This paper describes a painting robot with multi-fingered hands and stereo vision. The goal of this study is for the robot to reproduce the whole procedure involved in human painting. A painting action is divided into three phases: obtaining a 3D model, composing a picture model, and painting by a robot. In this system, various feedback techniques including computer vision and force sensors are used. As experiments, an apple and a human silhouette are painted on a canvas using this system.