シロマ ナオジ城間 直司准教授Naoji SHIROMA
■研究者基本情報
経歴
委員歴
■研究活動情報
論文
- Augmented Reality and Mixed Reality Behavior Navigation System for Telexistence Remote Assistance
Eimei Oyama; Kohei Tokoi; Ryo Suzuki; Sousuke Nakamura; Naoji Shiroma; Norifumi Watanabe; Arvin Agah; Hiroyuki Okada; Takashi Omori
Advanced Robotics, 2021年10月, ［査読有り］ - Omnidirectional Traveling Instruction for ehavior Navigation
Yuuya Suzuki; Naoji Shiroma; Arvin Agah and Eimei Oyama, With advances in wearable computing, wearable virtual reality and wearable robotics have become popular areas of research. This work focuses on task execution where traveling motion of a worker is required and the traveling instructions are provided to the worker by an instructor. The goal of this research is to develop the behavior navigation system that can provide work and traveling instructions through showing the instructions visually and intuitively. The worker is a person who executes a task at a work site according to visually presented instruction by the instructor. A graphical human model of the instructor which moves in the same manner as the instructor is presented to the worker to provide the work instruction. A traveling instruction is defined by the relative position and orientation based on the current position and orientation of the worker, graphically. The omnidirectional traveling instruction is realized by this relative traveling instruction. The effectiveness of the developed system has been verified by a number of experiments., Springer Verlag
Nineth International Conference on Social Robotics (ICSR 2017), 2017年11月, ［査読有り］ - Behavior navigation system for harsh environments
Eimei Oyama; Naoji Shiroma; Norifumi Watanabe; Arvin Agah; Takashi; Omori and Natsuo Suzuki, Performing general human behavior by experts' navigation is expected to be realized as wearable technologies and computing systems are further developed. We have proposed and developed the prototype of the advanced behavior navigation system (BNS) using augmented reality technology. Utilizing the BNS, an expert can guide a non-expert to perform a variety of tasks. The BNSs are useful in tasks to be performed in harsh and hazardous environments, such as factories, construction sites, and areas affected by natural disasters (e.g. earthquakes and tsunamis). In this paper, we present a BNS that is specifically designed to operate in harsh environments, with characteristics such as wet or dusty conditions. The implementation, experimental results, and evaluation of the BNS prototypes are presented., TAYLOR & FRANCIS LTD
Advanced Robotics, 2016年03月07日, ［査読有り］ - Behavior navigation system for harsh environments (vol 30, pg 151, 2016)
E. Oyama; N. Shiroma; N. Watanabe, TAYLOR & FRANCIS LTD
ADVANCED ROBOTICS, 2016年, ［査読有り］ - Development of information collection system with omnidirectional images
Naoji Shiroma; Kenji Itou; Tomohiro Kai; Kousuke Inoue; Yasuhiro Fukuoka and Yoshikazu Mori, A robot is an important tool for collecting data such as camera images at a remote site. These camera images are also used for robot operation. In this paper our aim is to develop an information collection system that can collect environmental information efficiently and can reduce the operational load for controlling a robot by realizing reduction of a travelling distance without reducing amount of collected information. An omnidirectional camera unit is used to capture an omnidirectional image around a robot at a time. When we need to access information around the place where the robot has already passed by at least once, the robot does not need to return to the place to get the information but it can be collected from stored omnidirectional images by choosing the point of gaze and gaze direction that indicate the place where an operator wants to look at. The conducted experiments show effectiveness of the developed system., IEEE
International Conference on Intelligent Informatics and Biomedical Sciences (ICIIBMS 2015), 2015年11月29日, ［査読有り］ - Gaze direction based vehicle teleoperation method with omnidirectional image stabilization and automatic body rotation control
Naoji Shiroma; Ryo Miyauchi; Akira Nagafusa; Youhei Haga; Fumitoshi Matsuno, In robot teleoperation, a robot works as a physical agent at a remote site for a robot operator. There are mainly two tasks in robot teleoperation using camera images: environment recognition using visual information and robot control according to the recognition. In this paper, we propose a gaze direction based vehicle teleoperation method with an omnidirectional image stabilization and an automatic body rotation control. In the proposed method, we manage above two tasks in the same manner that are usually treated separately. This method is an intuitive vehicle teleoperation method where an operator do not need to have concern about vehicle body orientations and can absorb differences of vehicle driving mechanisms. That is, this method frees an operator from being bothered from controlling a vehicle and the operator can concentrate on where he/she intends to go. This method mainly consists of two technologies: an omnidirectional image stabilization technology and automatic body rotation control. The conducted experiments show effectiveness of the proposed method., TAYLOR & FRANCIS LTD
ADVANCED ROBOTICS, 2015年02月, ［査読有り］ - Hybrid Head Mounted/Surround Display for Telexistence/Telepresence and Behavior Navigation
E. Oyama; N. Shiroma; N. Masataka; N. Watanabe; T. Omori; N. Suzuki, Head Mounted Displays (HMDs) are the most popular devices for virtual reality, telexistence/telepresence humanoid operation, and remote behavior navigation. Telexistence/telepresence robot operation is an advanced teleoperation, enabling a human operator to perform remote dexterous manipulation tasks while having the feeling of being present in the remote environment. Behavior navigation is a novel technology that allows an expert to navigate a remote unskilled cooperator to perform general tasks. Since it is difficult to realize a large field of view (FOV) with an HMD, this has led to the development of immersive surround display systems. However, the fact that the operator's arms sometimes conceal the screen image of the surround display presents a serious drawback. To improve the performance of robot operation or remote behavior navigation in unknown environments, we propose the simultaneous utilization of a slimline HMD for central vision and a surround display for peripheral vision. Users of this novel display system can see the relatively high-resolution image on the display screens of the HMD, and their arms do not conceal the HMD image. In addition, users can see the large FOV image on the surround display around the HMD, although this may still be concealed by the user's arms. This enables full utilization of the natural and large FOV image. In this paper, we present the concept of a hybrid head mounted/surround display system, describe the configuration of a prototype setup, and present the results of a preliminary experiment. © 2013 IEEE.
11th IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2013), 2013年10月, ［査読有り］ - Behavior Navigation Using Common Communication Devices for CPR
Eimei Oyama; Takashi Omori; Naoji Shiroma; Itsuki Noda; Arvin Agah, Performing general human behavior by experts' navigation is expected to be realized as wearable and ubiquitous technologies and computing develop further. For example, the user of the behavior navigation system will be able to conduct first aid treatment as an expert would. We proposed and developed the Wearable Behavior Navigation System (WBNS) using Augmented Reality (AR) technology. By using the WBNS, an expert can guide a non-expert to conduct a variety of first aid treatments. However, a number of issues must be resolved in order to commercialize the WBNS using AR technology, because of the limitations of the Head Mounted Display (HMD). It usually takes a few minutes to wear the HMD. The time required for wearing the HMD is a critical problem for performing emergency first-aid treatment. In order to start the first-aid treatment as soon as possible, we propose three simpler Behavior Navigation Systems (BNSs) using popular video conferencing systems on an internet TV, a laptop computer, and a smartphone. Although these BNSs do not have general behavior navigation function, they have enough capability to conduct the behavior navigation for CPR (CardioPulmonary Resuscitation), which is the most critical/important first aid treatment. In this paper, the configuration of the BNSs for CPR, the instructions for remote CPR, and the results of the preliminary experiments are presented., IEEE
2012 IEEE/SICE International Symposium on System Integration, 2012年12月, ［査読有り］ - Behavior Navigation System for Use in Harsh Environments
Eimei Oyama and Naoji Shiroma, Performing general human behavior by experts' navigation is expected to be realized as advances are made in wearable technologies and computing. For instance, the user of the behavior navigation system can conduct first aid treatment similar to an expert. We have proposed and developed a prototype of the advanced Behavior Navigation System (BNS) using Augmented Reality (AR) technology. By using BNS, an expert can guide a non-expert to conduct a variety of tasks. The behavior navigation systems can also be used in various tasks in harsh environments, such as factories and construction sites. In this paper, we present the BNS specifically designed to operate in harsh environments with conditions such as strong vibrations, high temperatures and wet or dusty environments. The detailed configuration of the prototype of the BNS and the results of preliminary evaluations are presented. © 2011 IEEE.
9th IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2011), 2011年11月, ［査読有り］ - Asynchronous Visual Information Sharing System with Image Stabilization
Naoji Shiroma and Eimei Oyama, With advances in wearable computing, wearable virtual reality and wearable robotics have become popular areas of research. In the present study, we consider the case in which an expert in first aid treatment at a remote critical care center receives an image from an assistant/cooperator who is with a patient, i.e., the sharing of visual information between an expert and an assistant. A head-mounted camera worn by the assistant is used to capture visual information related to the patient and his/her surroundings. The expert directs the assistant to provide the desired visual information. Information of the status of the patient, the surrounding environment, and the situation can be obtained from the shared visual information. The assistant should make observations according to the directions of the expert. However, these persons are not required to be tightly linked/synchronized at all times, but only when necessary. There are primarily two behaviors in visual information sharing, namely, searching and staring behaviors. The proposed asynchronous visual information sharing system with image stabilization can separate these two behaviors and can reduce the stress of both the expert and the assistant in visual information sharing. This system consists of three components: image stabilization, virtual viewing direction operation, and relative orientation display. We experimentally evaluate the performance of virtual viewing direction operation, image stabilization, and asynchronous visual information sharing of the proposed system., IEEE
The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010), 2010年10月, ［査読有り］ - Development of Virtual Viewing Direction Operation System with Image Stabilization for Asynchronous Visual Information Sharing
Naoji Shiroma and Eimei Oyama, As devices such as computers, sensors and motors have decreased in size, wearable computing has become an increasingly active area of research. Guidance of general human behavior by expert navigation is expected to be realized through the development of wearable computing. We aim to apply this technology to first-aid treatment. If an injured or ill person requires first-aid treatment but only non-experts are nearby, guidance from an expert at a remote site would be necessary. We focus on the sharing of visual information between a first-aid expert at a remote critical care center and a nonexpert at the patient's location. Visual information about the remote site is captured by a head-mounted camera worn by the assistant and is shared with the expert, thus providing rich information on the status of the patient, the environment and the situation. In a typical master-slave configuration, the shared visual information is tightly linked between the expert and the assistant; that is, the assistant views what the expert wants to see. However, a tight link or synchronization is required only in certain situations, rather than at all times. The aim of this research is to develop a virtual viewing direction operation system with image stabilization for asynchronous visual information sharing between an expert and an assistant. The proposed system consists of three main parts: image stabilization, virtual viewing direction operation and the relative orientation display. The effectiveness of the developed system was confirmed experimentally., IEEE
19th IEEE International Symposium in Robot and Human Interactive Communication (RO-MAN2010), 2010年09月, ［査読有り］ - A Study on Wearable Behavior Navigation System (II) - A Comparative Study on Remote Behavior Navigation Systems for First-Aid Treatment -
Eimei Oyama; Norifumi Watanabe; Hiroaki Mikado; Hikaru Araoka; Jun Uchida; Takashi Omori; Kousuke Shinoda; Itsuki Noda; Naoji Shiroma; Arvin Agah; Tomoko Yonemura; Hideyuki Ando; Daisuke Kondo and Taro Maeda, The capability to perform specific human tasks with the assistance of expert navigation is expected to be realized through the development wearable and ubiquitous computing technology. For instance, when an injured or ill person requires first-aid treatment, but only non-experts are nearby, instruction from an expert at a remote site is necessary. A behavior navigation system will allow the user to provide first-aid treatment in the same manner as an expert. Focusing on first-aid treatment, we have proposed and developed a prototype wearable behavior navigation system (WBNS) that uses augmented reality (AR) technology. This prototype WBNS has been evaluated in experiments, in which participants wore the prototype and successfully administered various first-aid treatments. Although the effectiveness of the WBNS has been confirmed, many challenges must be addressed to commercialize the system. The head-mounted displays (HMDs) used in the WBNS have a number of drawbacks, for example, high cost (which is not expected to decrease in the near future) and the time required for an ordinary user to become accustomed to the display. Furthermore, some individuals may experience motion sickness wearing the HMD. We expect that these drawbacks to the current technology will be resolved in the future; meanwhile, a near-future remote behavior navigation system (RBNS) is necessary. Accordingly, we have developed RBNSs for first-aid treatment using off-the-shelf components, in addition to the WBNS. In this paper, the basic mechanisms of the RBNS, experiments investigating the demonstration of expert behavior, and a comparative study of the WBNS and the RBNSs are presented., IEEE
19th IEEE International Symposium in Robot and Human Interactive Communication (RO-MAN2010), 2010年09月, ［査読有り］ - A Study on Wearable Behavior Navigation System - Development of Simple Parasitic Humanoid System –
Eimei Oyama; Fuminori Watanabe; Takashi Omori; Kousuke Shinoda; Itsuki Noda; Naoji Shiroma; Daisuke Kondo; Kazutaka Hamada; Tomoko Yonemura; Hideyuki Ando; Taro Maeda, Performing general human behavior by experts' navigation is expected to be realized as wearable and ubiquitous technologies and computing develop. For simple, ordinary behavior, a person does not need the assistance of an expert. However, if one is standing next to an injured/ill person, one needs the instruction on performing first aid treatment from an expert. The wearer of the wearable behavior navigation system will be able to conduct first aid treatment as an expert would. We have developed the wearable behavior navigation systems using Augmented Reality technology, mainly for the navigation of the first aid treatment and for escape from dangerous areas, such as a building on fire. The effectiveness of the wearable navigation systems has been evaluated by a number of experiments. In this paper, the basic mechanism to realize general human behavior navigation is presented, along with the concrete configuration of the prototype of the navigation systems, and the experimental evaluation., IEEE
IEEE Intl. Conf. on Robotics and Automation 2010, 2010年05月, ［査読有り］ - 車体屈折式操向車両の非線形直線経路追従制御
城間直司,石川哲史,井上康介,福岡泰宏,森善一
日本機械学会論文集C編, 2010年03月, ［査読有り］ - On-rubble robot systems for the DDT Project
Fumitoshi Matsuno; Fumitoshi Matsuno; Takashi Tsubouchi; Shigeo Hirose; Iwaki Akiyama; Takao Inoh; Michele Guarnieri; Kenji Kawashima; Takahiro Sasaki; Naoji Shiroma; Tetsushi Kamegawa; Kazunori Ohno; Satoshi Tadokoro; Satoshi Tadokoro; Noritaka Sato; Yoshikazu Inoue; Takahide Takeuchi; Hideyuki Tsukagoshi; Masashi Sasaki; Ato Kitagawa; Takahiro Tanaka; Yasuhiro Masutani; Haruo Soeda; Koichi Osuka; Masamitsu Kurisu; Tomoharu Doi; Tadahiro Kaneda; Xin Zhi Zheng; Hiroshi Sugimoto; Noriyuki Matsuoka; Teruaki Azuma; Masahiro Hatsuda, Intelligent rescue systems with advanced information and robot technology have been expected to mitigate disaster damage, particularly in Japan after the 1995 Hanshin-Awaji Earthquake. It is important that the robots developed for search and rescue tasks can actually work at a real disaster site. Several robots were used for the search and detection operation in the collapsed World Trade Center building in September 2001. In 2002, the DDT Project (Special Project for Earthquake Disaster Mitigation in Urban Areas, III-4 Development of Advanced Robots and Information Systems for Disaster Response) was launched by MEXT (Ministry of Education, Culture, Sports, Science and Technology, Japan). It was a 5-year project for 2002-2007. It aimed at developing necessary technologies for mitigating the damage caused by large-scale earthquakes of the scale of the Great Hanshin-Awaji Earthquake, occurring in densely populated areas in big city regions such as the Tokyo metropolitan area and Keihanshin area. In this paper, we introduce the activities of the mission unit for the information collection by on-rubble mobile platforms. © 2009 Springer London.
Rescue Robotics: DDT Project on Robots and Systems for Urban Search and Rescue, 2009年12月01日 - Design guidelines for human interface for rescue robots
Yasuyoshi Yokokohji; Takashi Tsubouchi; Akichika Tanaka; Tomoaki Yoshida; Eiji Koyanagi; Fumitoshi Matsuno; Fumitoshi Matsuno; Shigeo Hirose; Hiroyuki Kuwahara; Fumiaki Takemura; Takao Inoh; Kensuke Takita; Naoji Shiroma; Tetsushi Kamegawa; Yasushi Hada; Xin Zhi Zheng; Koichi Osuka; Taro Watasue; Tetsuya Kimura; Hiroaki Nakanishi; Yukio Horiguchi; Satoshi Tadokoro; Satoshi Tadokoro; Kazunori Ohno, In this chapter, we summarize the findings and knowhow in the individual developments of rescue robots and attempt to establish design guidelines for the human interface for rescue robots. The guidelines for image display were established on the basis of some case studies in the DDT project and RoboCupRescue. Since the established guidelines are general and independent of the purpose of a robot, we decided to build a standardized image display prototype. After introducing some implementation examples based on our guidelines, the standardized image display prototype is presented. The established guidelines would be useful for the future development of rescue robots. Further, the prototype image display is a good example of a standardized interface testbed. © 2009 Springer London.
Rescue Robotics: DDT Project on Robots and Systems for Urban Search and Rescue, 2009年12月01日 - 感覚共有と小型人型ロボット操縦のためのコンパクトな画像安定化システム
城間 直司; 降旗 郁馬; 大山 英明, Wearable computing has been actively investigated as the dimensions of a device such as a computer, a sensor, and a motor are getting smaller. In this work we focus on visual information sharing and our aim is to develop an image stabilization system for visual information sharing between humans. We use a small-sized-humanoid robot to simulate a person who captures visual information at a distant site. The developed image stabilization system can be used for an advanced wearable telepresence system. The requirements of an image stabilization system that can be applied to a wearable system are compactness, lightness in weight, and real-time process rates. We have implemented our image stabilization system to satisfy these requirements. The developed system uses a three-dimensional motion sensor for camera rotational motion detection, the optical flow for camera translational motion detection, and the image-processing method for motion compensation. The experimental results show that images from the camera mounted on the small-sized humanoid robot can be stabilized by our developed system., 一般社団法人 日本機械学会
日本機械学会論文集C編, 2009年11月, ［査読有り］ - Nonlinear Straight Path Tracking Control for an Articulated Steering Type Vehicle
Naoji SHIROMA and Satoshi ISHIKAWA, Autonomous control of an articulated steering type vehicle such as a wheel loader, which is usually used at surface mining fields to load mineral resources and rocks, is highly expected for operation cost reduction. A wheel loader is one of heavy machines which is also used for snow removing and/or loading operation at construction fields because of its high mobility. Its steering system is articulated steering and the rear wheels follow tracks where the front wheels have traveled. We have introduced a new virtual velocity constraint of the vehicle and formulated nonlinear state equations using two velocity constraints. A nonlinear state-feedback controller is designed using exact linearization. Simulation and experimental results show that an articulated steering type vehicle can follow a straight line with the proposed feedback control method., Japan Society of Mechanical Engineers
ICROS-SICE International Joint Conference 2009(ICCAS-SICE 2009), 2009年08月, ［査読有り］ - Compact Image Stabilization System for Small-sized Humanoid
Naoji SHIROMA; Jun'ichi KOBAYASHI and Eiei Oyama, Wearable computing has been actively investigated as the dimensions of devices such as computers.. sensors and motors are getting smaller. In this work our aim is to develop an image stabilization system for a small-sized humanoid robot as the first step for sharing of visual information between humans. A small-sized humanoid robot is used to simulate a person who captures visual Information of a distant site. The developed image stabilization system can be used for an advanced wearable telepresence system. Requirements of an image stabilization system, which can be used as a wearable system, are compactness, lightness in weight, and real time process such as 30 frames/s. We have implemented our Image stabilization system to satisfy these requirements. The developed system uses a 3D motion sensor for camera rotation detection, optical flow for camera translation detection and image process for motion compensation. The experimental results show that images from a small-sized humanoid robot can be stabilized by our developed system., IEEE
IEEE International Conference on Robotics and Biomimetics (ROBIO2008), 2009年02月, ［査読有り］ - In-rubble robot system for USAR under debris
Koichi Osuka; Tomoharu Doi; Satoshi Tadokoro; Naoji Shiroma; Takashi Tsubouchi; Hideyuki Tsukagoshi; Shigeo Hirose; Fumitoshi Matsuno; Takumi Hashizume; Masamitsu Kurisu; Hiroyuki Kuwahara; Toshi Takamori; Yasuyoshi Yokokohji; Shugen Ma; Tatsuo Arai; Koichi Suzumori, This paper introduces the activities of the In-Rubble Robot System Mission Unit during the DDT project. The objective of the mission unit (MU) was to develop effective systems that can search for victims under debris. The main activities of the MU were as follows: (1) developing advanced search system based on IRS Souryu; (2) developing advanced tools such as jack robot, cutter robot, intelligent search cam, and KURUKURU-3; (3) developing a rescue system carrier named BENKEI-2. © 2009 Springer London., Springer London
Rescue Robotics: DDT Project on Robots and Systems for Urban Search and Rescue, 2009年, ［査読有り］ - Mobile Robot Teleoperation through Virtual Robot
Naoji SHIROMA; Ryo Miyauchi and Fumitoshi MATSUNO, In robot teleoperation a robot works as a physical agent at a remote site for a robot operator. There are mainly two tasks such as environment recognition using visual information and robot control according to the recognition in robot teleoperation using camera images. In this paper we propose a teleoperation method for a mobile robot through a virtual robot. In the proposed method we manage above two tasks in the same manner which are usually treated separately. This method is an intuitive robot teleoperation method where an operator do not need to concern about robot body orientations and can absorb difference of robot driving mechanisms. That is this method frees an operator from being bothered from controlling a robot and the operator can concentrate on where he/she intends to go. This method mainly consists of two technologies: an omni-directional image stabilization technology and automatic robot orientation control. The conducted experiments show effectiveness of the proposed method., IEEE
Proceedings of 17th IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN2008), 2008年08月, ［査読有り］ - Touch-pen interface with local environment map for mobile robot navigation
Noritaka Sato; Hisashi Mizumoto; Naoji Shiroma; Masahiko Inami and Fumitoshi Matsuno, In this paper, we propose a robot navigation interface using a touch-pen, Generally, the global map building and position estimation are very difficult in the disaster site. In the proposed system, local sensory information is mainly used for the robot navigation. The local environment map is displayed for a robot operator, and the operator inputs the goal point on the map for the robot navigation. The desired trajectory and velocity are calculated according to the operator's command and then the robot automatically moves to the goal position., IEEE
SICE Annual Conference 2008, 2008年08月, ［査読有り］ - A Teleoperation Interface using Past Images for Outdoor Environment
Masataka Ito; Noritaka Sato; Maki Sugimoto; Naoji Shiroma; Masahiko Inami and Fumitoshi Matsuno, We proposed a vehicle remote control method using past images. This method provides an operator with a bird's-eye view image of the vehicle for easy remote control in a remote environment. This method was mainly adapted to a flat indoor environment. In this paper, we extend it to a 3D outdoor environment by using a GPS and a three-axis attitude sensor., IEEE
SICE Annual Conference 2008, 2008年08月, ［査読有り］ - Development of a high mobility wheeled rescue robot with a 1-DOF arm
Noritaka Sato; Fumitoshi Matsuno and Naoji Shiroma, Human rescuers, who carry out urban search and rescue (USAR) missions, frequently enter dangerous zones to search for survivors. In these zones, rescuer’s life may be threatened. For this reason, rescue robots are expected to become useful work partner for urban search and rescue missions. This paper presents platform design of FUMA, which is a four-wheeled rescue robot with a 1-DOF arm for environment information gathering. Only one arm of FUMA has two benefits for both mobility and teleoperation. Using this arm, FUMA can climb higher obstacles than simple four-wheeled robot. Human rescuers can operate FUMA at a safe distance while the missions are carried out. To teleoperate robot systems efficiently, the key is the interface between the robot systems and operators. During rescue operation, an operator of FUMA usually relies on the images from two fish-eye cameras installed at the top of the arm, as they provide wide images of the environment with the robot included in those views. © 2008 Inderscience Enterprises Ltd.
International Journal of Advanced Mechatronic Systems, 2008年, ［査読有り］ - Compact Image Stabilization System Using Camera Posture Information
Ryo MIYAUCHI; Naoji SHIROMA and Fumitoshi MATSUNO, A teleoperated robot that works in unstructured environments such as disaster sites is mainly controlled based on images obtained from cameras mounted on the robot. Because the robot runs on rough terrains, the images from the mounted camera are nonsteady ones. These nonsteady images will make it difficult for the operator to understand the surrounding information and will cause the camera motion sickness. We have developed an image stabilization system using camera posture information for a mobile robot that moves on uneven terrains. Because the camera posture information is detected by a three-dimensional-motion sensor separately from the camera image, this system works even in bad light condition environments and is robust for light condition changes. The wide-field-of-view images obtained by the fish-eye-lens camera are used to handle a large-amplitude disturbance. The sphere mapping and the image shifting of a region of interest according to the detected camera attitudes are used for motion compensation. A compact and lightweight system with a quick response is achievable by this system configuration as compared with a mechanically stabilized one. The stabilized image can be obtained in 30 frames per second, and the rotation angles that can be compensated are +/- 25 deg in yaw, +/- 20 deg in pitch, and +/- 180 deg in roll rotations. We have applied the developed system for real mobile robots and tested it on simple step fields. (C) 2008 Wiley Periodicals, Inc., WILEY-BLACKWELL
Journal of Field Robotics, 2008年, ［査読有り］ - Development of Omni-directional Image Stabilization System using Camera Posture Information
Ryo MIYAUCHI; Naoji SHIROMA and Fumitoshi MATSUNO, A teleoperated robot which works in unstructured environments such as disaster sites is mainly controlled based on images obtained from cameras mounted on the robot. Since it runs on rough terrains, the images from the mounted camera are non-steady ones. These non-steady images will make the operator difficult to understand the surrounding information and will cause the camera motion sickness. We have developed the image stabilization system using camera posture information for a mobile robot that moves on uneven terrains. Since the camera posture information is detected by a 3D motion sensor separately from the camera image, this system works even in bad light condition environments and is robust for the light condition changes. The wide field of view images are obtained by the fish-eye lens camera in the previous implementation and these images are used to handle a large amplitude disturbance. The sphere mapping and the image shifting of a region of interest according to the detected camera attitudes are used for the motion compensation. We have extended our previous system to handle much larger amplitude vibration by using four fish-eye lens cameras. The omni-directional hemisphere world image can be obtained by the system and the rotation angle which can be compensated is 360 deg in yaw rotation., IEEE
IEEE International Conference on Robotics and Biomimetics (ROBIO2007), 2007年12月, ［査読有り］ - FUMA : Platform development and system integration for rescue missions
Noritaka Sato; Fumitoshi Matsuno; Naoji Shiroma, Human rescuers who carry out urban search and rescue (USAR) missions, frequently enter dangerous zones to search for survivors. In these zones, rescuer's life may be threatened. For this reason, rescue robots are expected to become useful work partner for urban search and rescue missions. This paper presents platform design and system integration of FUMA, which is a wheeled rescue robot with a 1-DOF arm for environment information gathering. Using this arm, FUMA can climb over high obstacles. Human rescuers can operate FUMA at a safe distance while the missions are carry out. To teleoperate robot system efficiently, the key is the interface between the robot system and the operator. We focus attention on understanding the environment of the disaster site, understanding the states of victims and advancement of operability. This paper will present mechanical development and system integrations of FUMA for rescue missions., IEEE
2007 IEEE INTERNATIONAL WORKSHOP ON SAFETY, SECURITY AND RESCUE ROBOTICS, 2007年, ［査読有り］ - Development of Robot Teleoperation System in Bad Viewing Condition
Kazuyuki KON; Yuki URANO; Naoji SHIROMA; Noritaka SATO; Yusuke FUJINO; Hiroaki FUKUSHIMA and Fumitoshi MATSUNO, In robot telleoperation there is a mounted camera on a robot and I he opera Lion is usually performed from a remote site using captured images by the mounted camera. Even though color cameras provide many useful information of a remote site, robot teleoperation using color cameras are highly effected by environmental conditions such as lighting, colors, smoke, etc. and there might be a case that cameras might become useless during an operation such as in dark places. In this paper we have developed a robot teleoperation system which does not fully rely on color camera images and works well in bad viewing condition for operating a robot and searching for a victim. A laser rangefinder is used for sensing surroundings of a robot and a thermal camera is used for victim detection. An operator can control a robot in a remote site only using environmental contour figure information around a robot without color camera images. The augmented image interface consists of color and thermal camera images :are used for victim detection. We have executed a victim searching task in different lighting conditions with different sensor configurations to show the effectiveness of developed system., IEEE
IEEE International Conference on Robotics and Biomimetics (ROBIO2006), 2006年12月, ［査読有り］ - Development and Control of a High Maneuverability Wheeled Robot with Variable-Structure Functionality
Naoji SHIROMA; Yu-huan CHIU; Zi MIN; Ichiro KAWABUCHI and Fumitoshi MATSUNO, Common wheeled robots face many difficulties when traveling in complex environments, especially its incapability to climb over obstacles higher than its wheel radius. Many alterations were made to these robots to allow them to travel in rough terrains or conquer high obstacles, nevertheless, most designs are complex in nature and lost several original wheeled robot advantages by gaining others. In this paper, we propose a novel wheeled type robot with variable structure functionality. It is designed with simple structure consisting of three main robot parts, the main body, the left and right wheel-arm units. The robot could achieve five locomotion modes that allows the robot to travel in various environments and climb over high obstacles. Moreover, the fast-speed advantage in flat floor condition that common wheeled robot originally hold is still remained. The confirmation of the effectiveness of the robot's maneuverability is shown by several experimental results., IEEE
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006), 2006年10月, ［査読有り］ - Environment Data Collection and Its Use for Robot Teleoperation
Naoji Shiroma; Kazuyuki Kon; Fumitoshi Matsuno
Proceedings of The 3rd International Conference on Ubiquitous Robots and Ambient Intelligence (URAI2006), 2006年10月, ［査読有り］ - Introduction of Mission Unit on Information Collection by On-Rubble Mobile Platforms of Development of Rescue Robot Systems (DDT) Project in Japan
Fumitoshi MATSUNO; Shigeo HIROSE; Iwaki AKIYAMA; Takao INOH; Michele GUARNIERI; Naoji SHIROMA; Tetsushi KAMEGAWA; Kazunori OHNO; Noritaka SATO, Intelligent rescue systems with high information and robot technology have been expected to mitigate disaster damages, especially in Japan after the 1995 Hanshin-Awaji Earthquake, In development of robots for search and rescue tasks it is important to develop a robot which can actually work in a real disaster site. Several robots were used for the search and detection operation in the collapsed World Trade Center building in September 2001. From 2002 "Special Project for Earthquake Disaster Mitigation in Urban Areas" (5 yeras project) launched by Ministry of Education, Culture Sports, Science and Technology Japan. It aims at significant mitigation the earthquake disaster damage on the scale of the Great Hanshin Earthquake in densely populated areas in big city regions such as Tokyo metropolitan area and Keihanshin area. In this paper, we introduce the activities of the mission unit on the information collection by on-nibble mobile platforms., IEEE
Proceedings of SICE-ICASE International Joint Conference, 2006年10月, ［査読有り］ - Guidlines for Human Interface Design of Rescue Robots
Yasuyoshi YOKOKOHJI; Takashi TUBOUCHI; Akichika TANAKA; Tomoaki YOSHIDA; Eiji KOYANAGI; Fumitoshi MATSUNO; Shigeo HIROSE; Hiroyuki KUWAHARA; Fumiaki TAKEMURA; Takao INO; Kensuke TAKITA; Naoji SHIROMA; Tetsushi KAMEGAWA; Yasuhi HADA; Koichi OSUKA; Taro WATASUE; Tetsuya KIMURA; Hiroaki NAKANISHI; Yukio HORIGUCHI; Satoshi TADOKORO; and Kazunori OHNO, In this paper, we summarize the findings and know-hows in the individual developments and try to establish guidelines of human-interface design of rescue robots. These guidelines would be useful for the future development of rescue robots. Preliminary guidelines were set from some case studies of the DDT project and RoboCup Rescue. A trial towards the standardized interface is also shown., IEEE
Proceedings of SICE-ICASE International Joint Conference, 2006年10月, ［査読有り］ - Automatic Step Climbing by Wheeled Robot HANZO with Variable Structure Functionality using 3D Range Sensor
Naoji SHIROMA; Yusuke FUJINO; Fumitoshi MATSUNO
IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR2006), 2006年08月, ［査読有り］ - Development of Image Stabilization System using Camera Posture Information
Ryo MIYAUCHI; Naoji SHIROMA; Fumitoshi MATSUNO
IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR2006), 2006年08月, ［査読有り］ - Synthesized Scene Recollection for Robot Teleoperation
Naoji SHIROMA; Hirokazu NAGAI; Maki SUGIMOTO; Masahiko INAMI and Fumitoshi MATSUNO, In this paper we propose an innovative robot remote control method, a synthesized scene recollection method, which provides the operator with a bird's-eye view image of the robot in an environment which is generated by using position and orientation information of the robot, stored image history data captured by a camera mounted on the robot, and the model of the robot. This method helps the operator to easily recognize the situation of the robot even in unknown surroundings and enables the remote operation ability of a robot to be improved. This method is mainly based on two technologies, robot positioning and image synthesis. In this paper we use scan matching of laser rangefinder's scan data for robot positioning and realized self-contained implementation of the proposed method in 2D horizontal plane., SPRINGER-VERLAG BERLIN
Preprints of the International Conference on Field and Service Robotics (FSR2005), 2005年07月, ［査読有り］ - FUMA: Environment Information Gathering Wheeled Rescue Robot with One-DOF Arm
Yu-huan CHIU; Naoji SHIROMA; Hiroki IGARASHI; Noritaka SATO; Masahiko INAMI; and Fumitoshi MATSUNO, Rescue robots are expected to become useful work partners for urban search and rescue (USAR) missions. Human rescuers who carry out these missions, frequently enter dangerous zones to search for survivors. However, due to the unstableness of the collapsed buildings or objects, rescuers' lives may also be threatened. For this reason, in order to reduce life-threatening risks, rescue robots can be deployed to carry out the job instead. Rescuers can now operate the robots at a safe distance while the missions are carried out. After the robots have gathered enough information in regard to the location of the victims and data about their physical conditions, rescuers can then enter the disaster site with enough knowledge to avoid harm and to rescue victims in the shortest time possible. This paper will present a wheel-type rescue robot we have developed for information collection purpose at disaster arenas that the robot was specifically designed for., IEEE
Proc. IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR2005), 2005年06月, ［査読有り］ - Cooperative Task Excecution of Search and Rescue Mission by a Multi-robot Team
Naoji SHIROMA; Yu-huan CHIU; Noritaka SATO and Fumitoshi MATSUNO, Rescue robots have proved to be an extremely useful work partner for urban search and rescue (USAR) missions. Human rescuers who carry out these missions frequently enter dangerous zones to search for survivors; however, due to the unstable nature of collapsed buildings or objects, their lives may also be threatened. For this reason, in order to reduce life-threatening risks, rescue robots are deployed to carry out the job instead. Rescuers can now operate the robots at a safe place while the missions are carried out. When the robots have gathered enough information about the location of the victims and data about their physical conditions, rescuers can then enter the disaster site with enough knowledge to avoid harm and rescue the victims in the shortest time possible. In this paper, we introduce examples of 'effective multiple robot cooperative activities' and 'a study of the number of robots and operators in a multi-robot team' from our experiences gained from participating in RoboCup Rescue competitions., TAYLOR & FRANCIS LTD
Advanced Robotics, 2005年, ［査読有り］ - Time Follower's Vision: A Teleoperation Interface with Past Images
Maki SUGIMOTO; Georges KAGOTANI; Hideaki NII; Naoji SHIROMA; Masahiko INAMI and Fumitoshi MATSUNO, IEEE COMPUTER SOC
IEEE Computer Graphics and Applications, 2005年, ［査読有り］ - Development of rescue robotic systems for both daily and emergency use
Naoji Shiroma; Yu Huan Chiu; Tetsushi Kamegawa; Fumitoshi Matsuno; Fumitoshi Matsuno, In order to improve our life further, it is our inspiration to develop efficient robotic systems that can assist our usual need. The system that we are developing not only bring forward efficiency and credibility for daily usage or research platform, but when natural catastrophes like earthquake happens to strike, our robotic system is also capable of entering post-disaster sites and collect information about victim states that will be transmitted to the human rescuers, so that a more accurate and efficient rescue mission can be carried out. This paper will present the up-to-date information about our robotic system development of two different types of robots, the snake-type and the wheel-type. © 2004 IEEE.
2004 1st IEEE Technical Exhibition Based Conference on Robotics and Automation, Proceedings, TExCRA 2004, 2004年12月01日 - Study on Effective Camera Images for Mobile Robot Teleoperation
Naoji SHIROMA; Noritaka SATO; Yu-huan CHIU and Fumitoshi MATSUNO, In this paper, the effectiveness of different camera images for mobile robot teleoperation is investigated. During a robot teleoperation where the operator can only control the robot through observing the cameara images rather than direct-view control, the information provided by the images must be sufficient enough to allow the operator to perform the remote control efficiently. In order to understand which kind of camera images are most effective for robot teleoperation, we have conducted several experiments to examine their validness. The experimental results indicated that an image where the robot is positioned in the center of the camera view with clear survey of the surroundings shows high efficiency in remote control of a mobile robot., IEEE
Proc. 13th IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN2004), 2004年09月, ［査読有り］ - Cooperative Task Execution by a Multiple Robot Team and Its Operators in Search and Rescue Operations
Noritaka SATO; Naoji SHIROMA; Tatsuhiro YAMASAKI; Tetsushi KAMEGAWA; Fumitoshi MATSUNO; Hiroki IGARASHI
Proc. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2004), 2004年09月, ［査読有り］ - Dynamic Scene View Interpolation with Multiple Moving Objects using Layered Representation
Naoji SHIROMA; Keith CONNOR
Proc. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2004), 2004年09月, ［査読有り］ - Time Follower's Vision
Maki SUGIMOTO; Georges KAGOTANI; Hideaki NII; Naoji SHIROMA; Masahiko INAMI and Fumitoshi MATSUNO
Emerging technologies, SIGGRAPH2004, 2004年08月, ［査読有り］ - A Novel Teleoperation Method for a Mobile Robot Using Real Image Data Records
Naoji SHIROMA; Maki SUGIMOTO; Georges KAGOTANI; Masahiko INAMI and Fumitoshi MATSUNO, In this paper we propose an innovative robot remote control method which provides the operator with a bird's-eye view image of the robot in an environment which is generated by using position and orientation information of the robot, stored image history data captured by a camera mounted on the robot, and the model of the robot. This method helps the operator to easily recognize the situation of the robot even in unknown surroundings and enables the remote operation ability of a robot to be improved. We also propose the different ways of presenting the synthesized bird's-eye view images to an operator., IEEE
IEEE International Conference on Robotics and Biomimetics (ROBIO2004), 2004年08月, ［査読有り］ - Sequentially Connected Multiple-unit Rescue Robot Platform
Tetsushi KAMEGAWA; Tatsuhiro YAMASAKI; Noritaka SATO; Naoji SHIROMA; Hiroki IGARASHI; Dai AKIMOTO; Hiroshi OTSUKA; Fumitoshi MATSUNO
First International Workshop on Synthetic Simulation and Robotics to Mitigate Earthquake Disaster, 2003年07月, ［査読有り］ - Nonholonomic Motion Planning of Coupled Planar Rigid Bodies with Passive Revolute Joints
Naoji SHIROMA; Hirohiko ARAI and Kazuo TANIE, Motion planning for coupled rigid bodies in a horizontal plane is investigated. The rigid bodies are serially connected by passive revolute joints. The dynamic constraints on the system are second-order nonholonomic constraints. We attempted to control those n coupled rigid bodies by the translational acceleration inputs at the first joint. If each rigid body is hinged at the center of percussion, it is possible to compose a positioning trajectory by connecting rotational and translational trajectory segments. Each rigid body can be rotated about its center of percussion one after another When all of the rigid bodies are aligned on a straight line, they can be translated. The algorithm for positioning is presented. Simulations show that the coupled planar rigid bodies can reach the desired configuration by the constructed inputs., SAGE PUBLICATIONS LTD
International Journal of Robotics Research, 2002年, ［査読有り］ - Collision-Free Trajectory Planning for a 3-DOF Robot with a Passive Joint
Kevin M. LYNCH; Naoji SHIROMA; Hirohiko ARAI and Kazuo TANIE, This paper studies motion planning from one zero-velocity state to another for a three-joint robot in a horizontal plane with a passive revolute third joint Such a robot is small-time locally controllable on an open subset of its zero-velocity section, allowing it to follow any path in this subset arbitrarily closely. However; some paths are "preferred" by the dynamics of the manipulator in that they can be followed at higher speeds. In this paper, the authors describe a computationally efficient trajectory planner that finds fast, collision-free trajectories among obstacles. The planner decouples the problem of planning feasible trajectories in the robot's six-dimensional state space into the computationally simpler problems of planning paths in the three-dimensional configuration space and time scaling the paths according to the manipulator dynamics. This decoupling is made possible by the existence of velocity directions, fixed in the passive link frame, which can be executed at arbitrary speeds. Results of the planner have been implemented on an experimental underactuated manipulator To the authors' knowledge, it is the first implementation of a collision-free motion-planning algorithm for a manipulator subject to a second-order nonholonomic constraint., SAGE PUBLICATIONS INC
International Journal of Robotics Research, 2000年12月, ［査読有り］ - Effects of Undiscerned Craters on Lunar Rover Traveling Distance
Naoji SHIROMA; Shin'ich YUTA; Makoto ICHIKAWA; Takeshi SASAKI and Jun'ich IIJIMA, Effects of craters, unrecognized in advance, on a lunar rover traveling distance is investigated. The high resolution stereo camera of the SELENE will provide vs with the data of spatial resolution of 10 m. Since at least several pixels are necessary to recognize an object, obstacles with less pixels cannot be recognized. Though a path of a lunar rover is planned according to the scientific purpose based on the data obtained from the former mission, the rover has to make detours to avoid unexpected obstacles. We have to adapt the rover design to this traveling distance to achieve the mission purpose. This extra traveling distance of the rover is estimated by simulation. We suppose that the obstacles on the moon are craters and these are generated based on E. M. Shoemaker's distribution. Equations. The rover travels to the goal veering around the craters. The results of a survey to determine the necessary number of pixels in a picture to recognize a crater are also presented., ESA PUBLICATIONS DIVISION C/O ESTEC
4th Intl. Conference on Exploration and Utilization of the Moon, 2000年07月 - Motion Planning for a Three-Axis Planar Manipulator with a Passive Revolute Joint
Naoji Shiroma; Kevin M. Lynch; Hirohiko Arai; Kazuo Tanie, Obstacle avoidance motion planning for a three-axis planar manipulator with a passive revolute third joint from one zero velocity state to another is investigated. This kind of manipulator is smalltime locally controllable on its zero velocity states and can follow any arbitrarily path, in zero velocity states almost exactly. We constructed positioning trajectory by connecting rotational and translational motion segments which are preferred motion of the manipulator considering its dynamics and can be executed at higher speeds. The way of constructing trajectories makes six-dimensional trajectory planning be reduced computationally as simpler three-dimensional path planning and time-scaling on the specified paths. The algorithm for obstacle avoidance motion planning is presented. The experimental result shows that the manipulator can reach the desired configuration according to the planned trajectory. © 2000, The Japan Society of Mechanical Engineers. All rights reserved.
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 2000年, ［査読有り］ - 複数の非駆動関節を有する連結平面剛体の非ホロノミック運動計画
城間直司,荒井裕彦,谷江和雄
日本機械学会論文集C編, 2000年, ［査読有り］ - 非駆動関節を有する水平3軸マニピュレータの障害物回避運動計画
城間直司,荒井裕彦,谷江和雄
日本機械学会論文集C編, 2000年, ［査読有り］ - Cooperative Behavior of a Mechanically Unstable Mobile Robot for Object Transportation
Naoji SHIROMA; Osamu MATSUMOTO and Kazuo TANI, Cooperative transportation of an object by two or more mobile robots requires each robot to exert an appropriate force to support and move the object, to move along the object, and to maintain the robot's attitude stably. Studies of cooperative transportation by multiple robots so far have scarcely considered the stability of the robot's attitude influenced by the force from the object. To take part in cooperative transportation, a mechanically unstable robot, such as a wheeled inverted pendulum, needs to control the force and follow the object while standing stably against the force in an integrated manner. We call this "cooperative behavior". To realize this behavior of a mechanically unstable robot, we built a control system to estimate the external force, maintain standing, and exert a specified force. Experiments were conducted on cooperative transportation between a human and the robot., JAPAN SOC MECHANICAL ENGINEERS
JSME International Journal, Series C, 1999年, ［査読有り］ - Nonholonomic Motion Planning for Coupled Planar Rigid Bodies
Naoji SHIROMA; Hirohiko ARAI; Kazuo TANIE
3rd Intl. Conf. on Advanced Mechatronics, 1998年08月, ［査読有り］ - Motion Planning for a 3-DOF Robot with a Passive Joint
Kevin M. LYNCH; Naoji SHIROMA; Hirohiko ARAI and Kazuo TANIE, This paper studies motion planning from one zero velocity state to another for a three-joint robot in a horizontal plane with a passive revolute third joint. Such a robot is small-rime locally controllable on an open subset of its zero velocity section, allowing it to follow any path in this subset arbitrarily closely. However; some paths are "preferred" by the dynamics of the manipulator in that they can be followed at higher speeds. We describe an algorithm that plans collision-free paths in the robot's configuration space, where the motions correspond to dynamically preferred robot motions. Thus the problem of planning fast trajectories in the robot's six-dimensional state space is reduced to the computationally, simpler problems of planning paths in the three-dimensional configuration space and time-scaling the paths according to the manipulator dynamics. Implementation on an underactuated manipulator is described., IEEE
Proc. of 1998 IEEE Intl. Conf. on Robotics and Automation, 1998年05月, ［査読有り］ - The Roles of Shape and Motion in Dynamic Manipulation
Kevin M. LYNCH; Naoji SHIROMA; Hirohiko ARAI and Kazuo TANIE, We are studying a juggler's skill called the "butterfly." Starting with a ball resting on the palm of his/her open hand, a skilled juggler can accelerate and shape his/her hand so that the ball rolls up the fingers, over the top, and back down to the back of the hand. This paper describes a robotic implementation of the butterfly. The hand's shape and motion combine to effect the rolling motion of the ball, and we find that the shape and motion parameters enter the dynamic equations in a similar way. We define parameterized spaces of hand shapes and motions, and using a simulation based on the rolling equations, we identify shape and motion solutions that roll the ball from one side of the hand to the other We describe an implementation of the butterfly on our planar dynamic manipulation testbed FLATLAND. This example is our first step toward exploring the roles of shape and motion in dynamic manipulation., IEEE
Proc. of 1998 IEEE Intl. Conf. on Robotics and Automation, 1998年05月, ［査読有り］ - Time-Scaling Control of an Underactuated Manipulator
Hirohiko ARAI; Kazuo TANIE and Naoji SHIROMA, Position control of an underactuated manipulator that has one passive joint is investigated. The dynamic constraint caused by the passive joint is second-order nonholonomic. Time-scaling of the active joint trajectory and bi-directional motion planning from the initial and the desired configurations provide an exact solution of the positioning trajectory. The active and passive joints can be positioned to the desired angles simultaneously by swinging the active joints only twice. Feedback control constrains the manipulator along the planned path in the configuration space. Simulation and experimental results show the validity of the proposed methods., IEEE
Proc. of 1998 IEEE Intl. Conf. on Robotics and Automation, 1998年05月, ［査読有り］ - Time-Scaling Control of an Underactuated Manipulator
Hirohiko ARAI; Kazuo TANIE and Naoji SHIROMA, Position control of an underactuated manipulator that has one passive joint is investigated. The dynamic constraint caused by the passive joint is second-order nonholonomic. Time scaling of the active joint trajectory and bidirectional motion planning from the initial and the desired configurations provide an exact solution of the positioning trajectory. The active and passive joints can be positioned to the desired angles simultaneously by swinging the active joints only twice. Feedback control constrains the manipulator along the planned path in the configuration space. Simulation and experimental results show the validity of the proposed methods. © 1998 John Wiley &
Sons, Inc., John Wiley and Sons Inc.
Journal of Robotic Systems, 1998年, ［査読有り］ - Time-scaling control of an underactuated manipulator
H Arai; K Tanie; N Shiroma, Position control of an underactuated manipulator that has one passive joint is investigated. The dynamic constraint caused by the passive joint is second-order nonholonomic. Time-scaling of the active joint trajectory and bi-directional motion planning from the initial and the desired configurations provide an exact solution of the positioning trajectory. The active and passive joints can be positioned to the desired angles simultaneously by swinging the active joints only twice. Feedback control constrains the manipulator along the planned path in the configuration space. Simulation and experimental results show the validity of the proposed methods., IEEE
1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, 1998年, ［査読有り］ - 構造的に不安定な移動ロボットの協調行動による物体の運搬
城間直司,松本治,谷和男, Cooperative transportation of an object by two or more mobile robots requires each robot to exert an appropriate force to support and move the object, to move along the object, and to maintain the robot's attitude stably. Studies of cooperative transportation by multiple robots so far have scarcely considered the stability of the robot's attitude influenced by the force from the object. To take part in cooperative transportation, a mechanically unstable robot, such as a wheeled inverted pendulum, needs to control the force and follow the object as standing stably against the force in an integrated manner. We call this a cooperative behavior. To realize this behavior of a wheeled inverted pendulum, we built a control system to estimate the external force and maintain standing and to exert a specified force. Experiments were conducted of cooperative transportation between a human and the robot., 一般社団法人日本機械学会
日本機械学会論文集C編, 1998年, ［査読有り］ - Nonholonomic Control of a Three-DOF Planar Underactuated Manipulator
Hirohiko ARAI; Kazuo TANIE and Naoji SHIROMA, Control of a manipulator with a passive joint which has neither an actuator nor a holding brake is investigated. The manipulator has three degrees of freedom in a horizontal plane, with the third joint being passive. The dynamic constraint on the free link is shown to be second-order nonholonomic. Controllability of the system is proved by constructing examples of the input trajectories from arbitrary initial states to arbitrary desired states, considering the motion of the center of percussion of the link. Trajectories for positioning are composed of simple translational and rotational trajectory segments. The trajectory segments are stabilized by nonlinear feedback control. Simulations and experimental results show the effectiveness of the planned trajectory and the feedback control law., IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
IEEE Transactions on Robotics and Automation, 1998年, ［査読有り］ - Nonlinear Control of a Planar Free Link under a Nonholonomic Constraint
Naoji SHIROMA; Hirohiko ARAI and Kazuo TANIE, Control of a manipulator with a passive joint which has neither an actuator nor a holding brake is investigated. The manipulator has three degrees of freedom in a horizontal plane, with the third joint being passive. The dynamic constraint on the free link is 2nd-order nonholonomic. A trajectory for positioning is composed of simple translational and rotational trajectory segments. The trajectory segments are stabilized by nonlinear feedback, considering the motion of the center of percussion of the free link. Experimental results show the effectiveness of the planned trajectory and the feedback control law., I E E E
8th Intl. Conf. on Advanced Robotics, 1997年07月, ［査読有り］ - Feedback Control of a 3-DOF Planar Underactuated Manipulator
Hirohiko ARAI; Kazuo TANIE and Naoji SHIROMA, Feedback control of a manipulator with a passive joint which has neither an actuator nor a holding brake is investigated. The manipulator has three degrees of freedom in a horizontal plane, with the third joint being passive. The dynamic constraint on the free link is 2nd-order nonholonomic. A trajectory for positioning is composed of simple translational and rotational trajectory segments. The trajectory segments are stabilized by nonlinear feedback, considering the motion of the center of percussion of the free link. Simulation results show the effectiveness of the feedback control., I E E E
Proc. of 1997 IEEE Intl. Conf. on Robotics and Automation, 1997年04月, ［査読有り］ - Cooperative Behavior of a Wheeled Inverted Pendulum for Object Transportation
Naoji SHIROMA; Osamu MATSUMOTO; Shuuji KAJITA and Kazuo TANI, Cooperative transportation of an object by two or more mobile robots requires each robot to exert an appropriate force to support and move the object, to move along the object, and to maintain its attitude. A mechanically unstable robot, such as a wheeled inverted pendulum, needs to control the force and follow the object as standing stably against the force in an integrated manner. We call this a cooperative behavior. To realize this behavior of a wheeled inverted pendulum, we built control systems to estimate the external force and maintain standing and to exert a specified force. We applied them to a wheeled inverted pendulum. Experiments were conducted of cooperative transportation between a human and the robot. In the future, we aim to realize cooperative transportation by two wheeled inverted pendulums using the control systems., I E E E
Proc. of 1996 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, 1996年11月, ［査読有り］
MISC
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日本ロボット学会誌, 2010年03月 - 804 小型人型ロボットのための画像安定化システムにおける並進運動情報抽出(OS15-(1) 新しいロボット技術,オーガナイズドセッション)
降旗 郁馬; 城間 直司; 大山 英明
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インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence, 2006年09月25日 - 2P2-D24 多様な形態変化機能を持つ高機動車輪型ロボットHANZOの操縦と制御
城間 直司; CHIU Yu-Huan; 川渕 一郎; 閔 子; 松野 文俊
ロボティクス・メカトロニクス講演会講演概要集, 2006年 - 実写履歴画像を用いた遠隔ロボット操作法の研究(レスキューシステム・レスキュー工学1)
城間直司; 加護谷譲二; 杉本真樹; 稲見昌彦; 松野文俊
ロボティクス・メカトロニクス講演会講演概要集, 2004年06月18日 - 実写履歴画像を用いた遠隔ロボット操縦法の研究
加護谷譲二; 杉本麻樹; 新居英明; 城間直司; 稲見昌彦; 松野文俊
ヒューマンインタフェース学会研究報告集 : human interface, 2004年06月07日 - 実写履歴画像を用いた遠隔ロボット操縦法の研究(人工現実感)
加護谷譲二; 杉本麻樹; 新居英明; 城間直司; 稲見昌彦; 松野文俊
電子情報通信学会技術研究報告. MVE, マルチメディア・仮想環境基礎, 2004年06月01日
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令和３年度（第29回）電気学会東京支部茨城支所研究発表会（オンライン）, 2021年12月11日 - 3次元カメラを用いた豚の体型情報推定のための複数視点からの点群取得手法に関する研究
鄭 聖超,城間 直司
日本機械学会 2021年茨城講演会（オンライン）, 2021年08月19日 - 環境地図統合と環境探査システムに関する研究
平野 剛,城間 直司
日本機械学会 2021年茨城講演会（オンライン）, 2021年08月19日 - レーザセンサによる環境計測情報を利用したホイールローダの制御に関する研究
関 俊亮,城間 直司
日本機械学会 2021年茨城講演会（オンライン）, 2021年08月19日 - 全方位画像の安定化と視覚共有に関する研究
土田 哲平,城間 直司,大山 英明
日本機械学会 2021年茨城講演会（オンライン）, 2021年08月19日 - 3 次元カメラを用いた豚の体重推定システムの開発
海老原 聖也,城間 直司
令和元年度電気学会東京支部茨城支所研究発表会, 2019年12月 - 全方位画像を用いた情報共有可能な遠隔操作システムに関する研究
玉木 敦,城間 直司
令和元年度電気学会東京支部茨城支所研究発表会, 2019年12月 - 人による環境情報取得と提示・共有システムの開発
大畑 慶典,城間 直司
令和元年度電気学会東京支部茨城支所研究発表会, 2019年12月 - 外部センサによるホイールローダの位置姿勢計測と制御に関する研究
小岩 友義,城間 直司
平成30年度電気学会東京支部茨城支所研究発表会, 2018年11月 - 非同期視覚共有システムにおける頭部の動きの検出と画像安定化
林 鈴,城間 直司,大山 英明
平成30年度電気学会東京支部茨城支所研究発表会, 2018年11月 - テレイグジスタンスロボットの予測ディスプレイ機能の実験的評価
大山 英明,城間 直司,床井 浩平,中村 壮亮,河野 功,大森 隆司,岡田 浩之
第62回宇宙科学技術連合講演会, 2018年10月 - 体験共有における投射について
大山英明,床井浩平,城間直司,中村壮亮,米村朋子,鈴木夏夫,大森隆司,岡田浩之
2018年度 人工知能学会全国大会（第32回）, 2018年06月 - 全方位過去画像を用いて容易に周囲を確認可能な移動ロボットシステム
津村 諒,甲斐 智博,城間 直司
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, 2017年12月 - TelExistence Display System (TED): テレイグジスタンス／ 遠隔行動誘導／体験共有のための AR表示オープンソースソフトウェア
大山 英明,城間 直司,八木下 明宏,根本 太晴,岡田 浩之,鈴木 夏夫,床井 浩平
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, 2017年12月 - 広視野画像を用いた注視点に基づいた移動ロボットの遠隔操作に関する研究
甲斐 智博, 城間 直司
第25回電気学会東京支部茨城支所研究発表会, 2017年11月 - ロボットミドルウェアを用いたテレイグジスタンスロボット操縦システム
大山 英明,城間 直司,床井 浩平,根本 太晴,勝俣 優,岡田 浩之
第17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, 2016年12月 - ホイールローダのための経路計画と遠隔操作
野本 和,城間 直司,皿田 滋
2016年度精密工学会秋季大会, 2016年09月07日 - 月探査のためのテレイグジスタンスロボット操縦システム
大山 英明,城間 直司,床井 浩平,河野 功,根本 太晴; 勝俣 優,岡田 浩之
第60回宇宙科学技術連合講演会, 2016年09月 - 複数センサを用いたモーションキャプチャによる直感的な遠隔作業指示システムの開発
芳賀 要平,城間 直司,大山 英明
第22回電気学会東京支部茨城支所研究発表会, 2014年11月 - 測距センサを用いた移動指示のための情報提示システムの開発
伊藤 健治,城間 直司,大山 英明
第22回電気学会東京支部茨城支所研究発表会, 2014年11月 - 経路指示によるホイールローダの遠隔操作と半自律制御
日野 瑞己,城間 直司,皿田 滋
第21回電気学会東京支部茨城支所研究発表会, 2013年11月 - 非同期視覚共有のためのカメラ運動補償手法の開発
豊島 和樹
ロボティクス・メカトロニクス講演会2013, 2013年05月 - 広視野画像を用いた操作負担を低減するロボット遠隔操作
永房 晃,城間 直司
電気学会茨城支所 第20回研究発表会, 2012年11月 - 通信時間遅れの存在する移動ロボットの遠隔操作
城間 直司,藤原 秀,永房 晃,加藤 裕基,西田 信一郎
第30回日本ロボット学会学術講演会, 2012年09月 - 単眼カメラのみによる生成俯瞰視点画像を利用した遠隔操作システムの開発
大槻 正,城間直司
第29回日本ロボット学会学術講演会, 2011年09月 - 時間遅れを考慮した移動ロボットの遠隔操作手法
城間 直司,藤原 秀,西田 信一郎
日本機械学会 2011年度年次大会, 2011年09月 - 小型人型ロボットのための画像安定化システムにおける並進運動情報抽出
降旗郁馬; 城間直司; 大山英明
日本機械学会2009茨城講演会, 2009年08月25日 - 小型人型ロボットのための画像安定化システム
城間直司; 小林淳一; 大山英明
第26回日本ロボット学会学術講演会, 2008年09月
共同研究・競争的資金等の研究課題
- 公共交通機関を利用できる遠距離工場間搬送用ロボットの開発
2021年10月 - 2024年03月 - 全方位画像と装着センサ群利用で一人称・三人称の状況可視化と状態検知する遠隔見守り
2021年04月 - 2024年03月 - 全方位の安定化画像と過去画像履歴による視点・視線方向を変更可能な視覚共有の研,究
2016年04月 - 2019年03月 - 全方位の安定化画像と過去画像履歴による視点・視線方向を変更可能な視覚共有の研,究
2016年04月 - 2019年03月 - 機構特性を考慮したホイールローダの半自律制御を利用した遠隔操作手法の開発
2011年12月 - 2012年07月 - 月面移動ロボット遠隔操作技術に関する研究
2011年09月 - 2012年03月 - 月面移動ロボット遠隔操作技術に関する研究
2010年09月 - 2011年03月 - 人間志向な視線感による環境把握メカニズムの解明
2007年04月 - 2009年03月
社会貢献活動
