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History of Robotics Research and Development of Japan2007Integration, Intelligence, etc.Robot Town Project

Tsutomu HasegawaKyushu University
Ryo KurazumeKyushu University
Kouji MurakamiKyushu University
Yoshihiko KimuroKyushu University
Takashi IenagaKyushu University
Daisaku AritaKyushu University
Yousuke SendaKyushu University
Masaru AdachiKyushu University
Kazuhiko YokoyamaKyushu University
Ordinary environment of human daily life is a dynamically changing 3D real space. Although it may be a simple and well-ordered environment for human beings, it is too complex to recognize for a conventional self-contained autonomous robot equipped with as many sensors as possible within its limited body. Considering the state-of-arts, we cannot expect to have a capable robot executing various tasks in our daily life environment in near future. We have proposed a new approach to an intelligent robot working within an everyday environment to support human life. Instead of solely relying on the sensors on the robot body, we have developed an informationally structured environment ``Robot Town'', where vision, other sensors and RFID tags are distributed and are connected to the network. The real-time data from sensors and robots are integrated by a management system together with GIS and other database. Being provided with the integrated data of dynamically changing surrounding situations, decision and action of the robots will be successfully performed. Among the various components developed within the project, a cooperative multiple robots system for laser-based geometric modeling of large-scale architectural structures, a cooperative multiple robots for calibration of widely distributed vision cameras, and a mobile robot system for localizing RFID tags embedded in the floor are typical robotization of constructing the informationally structured environment. The project has been promoted as a part of the national program “Establishment of Common Platform Technology for Next Generation Robots” by Council of Science and Technology Policy.

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Correspondence papers

Ryo Kurazume, Yukihiro Tobata, Kouji Murakami, and Tsutomu Hasegawa：Study on CPS SLAM - 3D Laser Measurement System for Large Scale Architectures -

Journal of the Robotics Society of Japan, Vol. 25, No. 8, pp. 1234-1242, 2007 (in Japanese).

Kouji Murakami, Tsutomu Hasegawa, Yoshihiko Kimuro, Yosuke Senta, Takafumi Ienaga, Daisaku Arita, and Ryo Kurazume：A Method to Manage Data Flow between Intelligent Robots and an Intelligent Environment

Journal of the Robotics Society of Japan, Vol. 26, No. 2, pp. 192-199, 2008 (in Japanese).

Tsutomu Hasegawa：Robot Town:A Robotics Structured Environment Platform

Journal of the Robotics Society of Japan, Vol. 26, No. 5, pp. 411-414, 2008 (in Japanese).

Ryo Kurazume, Kouji Murakami, Yoshihiko Kimuro, Takafumi Ienaga, Sin-ichi Baba, and Zhongxiang Yin：Technical Introduction of the Common Platform in Robot Town Project

Journal of the Robotics Society of Japan, Vol. 26, No. 5, pp. 415-419, 2008 (in Japanese).

横矢 剛, 長谷川 勉, 倉爪 亮, 村上 剛司：移動ロボットによる統一座標系での広域分散カメラキャリブレーション

電子情報通信学会誌, Vol．J92-D, No．1, pp.123-130, (2009.1)

野敦稔, 内田誠一, 倉爪 亮, 谷口倫一郎, 長谷川勉：自己発信情報の組み込みによる移動体の分離追跡

電気学会論文誌(C), vol.129, no.5, pp.977-984, (2009.5).

Kouji Murakami, Tsutomu Hasegawa, Ryo Kurazume, and Yoshihiko Kimuro：Supporting Robotic Activities in Informationally Structured Environment with Distributed Sensors and RFID Tags

Journal of Robotics and Mechatronics, Vol.21, No.4, pp.453-459, (2009.8)

Takafumi Ienaga, Yosuke Senta, Daisaku Arita, Yoshihiko Kimuro, Tsutomu Hasegawa, Ken-ichi Morooka, Hajime Kenmochi, Kazuo Tanoue, and Makoto Hashizume：Wheelchair Robot Service on Smart Medical Facilities and its Evaluation

Journal of the Robotics Society of Japan, Vol. 27, No. 8, pp. 877-884, 2009 (in Japanese).

Ryo Kurazume, hiroyuki Yamada, Koji Sokabe, Kouji Murakami, Kouji Murakami, Yumi Iwashita, and Tsutomu Hasegawa：Simultaneous Tracking of Multiple Targets Using SIR/MCMC Particle Filters by Distributed Cameras and Laser Range Finders

Journal of the Robotics Society of Japan, Vol. 28, No. 1, pp. 65-76, 2010 (in Japanese).

Oscar Martinez Mozos, Ryo Kurazume, Tsutomu Hasegawa：Multi-Part People Detection Using 2D Range Data

International Journal of Social Robotics, Vol. 2 , No. 1 , pp. 31-40, 2010 (in Japanese).

長谷川 勉：人間共生広域環境の情報構造化

計測自動制御学会誌 計測と制御, Vol.49, No.6, pp.360-366, (2010.6)

長谷川 勉：人とロボットの共存する環境　－実現への課題―

計測自動制御学会誌 計測と制御, Vol.49, No.6, pp.337-340, (2010.6)

倉爪 亮：ロボット共生環境のための環境情報計測技術

計測自動制御学会誌 計測と制御, Vol.49, No.6, pp.348-353, (2010.6)

Tsutomu Hasegawa, Yasunobu Nohara, and Kouji Murakami：Floor Sensing System for Commodity Management in Daily Life Environment

Journal of the Robotics Society of Japan, Vol. 28, No. 9, pp. 1144-1147, 2010 (in Japanese).

Yukihiro Tobata, Ryo Kurazume, Yusuke Noda, Kai Lingemann, YumiIwashita, Tsutomu Hasegawa：Laser-based geometrical modeling of large-scale architectural structures using co-operative multiple robots

Autonomous Robot, Vol.32, No.1, pp. 49-62, (2012)

Jeong Yongjin, Yumi Iwashita, and Ryo Kurazume：Study on CPS-SLAM - Improvement of Measurement Prescision and Application for Tunnel Shape Measurement System -

Journal of the Robotics Society of Japan, Vol. 30, No. 2, pp. 180-187, 2012 (in Japanese).

Related papers

[1] Ryo Kurazume, Yusuke Noda, Yukihiro Tobata, Kai Lingemann, Yumi Iwashita, Tsutomu Hasegawa, Laser-based Geometric Modeling using Cooperative Multiple Mobile Robots, in Proc. IEEE International Conference on Robotics and Automation, pp.3200-3205, May 12-17, 2009.

[2] Ryo Kurazume, Yukihiro Tobata, Yumi Iwashita, Tsutomu Hasegawa, 3D laser measurement system for large scale architectures using multiple mobile robots, The 6th International Conference on 3-D Digital Imaging and Modeling (3DIM2007), August 2007.

[3] Tsutomu Hasegawa, Kouji Murakami, Ryo Kurazume, Yosuke Senta, Yoshihiko Kimuro, Takafumi Ienaga, Robot Town Project: Sensory Data Management and Interaction with Robot of Intelligent Environment for Daily Life, 2007 International Conference on Ubiquitous Robots and Ambient Intelligence (URAI07), 2007.

[4] Kazuya Matsuo, Kouji Murakami, Tsutomu Hasegawa, and Ryo Kurazume, Recognition of Manipulation Sequences by Human Hand Based on Support Vector Machine, The 33rd Annual Conference of the IEEE Industrial Electronics Society (IECON'07), pp. 2801-2806, Taipei, Taiwan, November. 2007

[5] Ryo Kurazume, Hiroyuki Yamada, Kouji Murakami, Yumi Iwashita, and Tsutomu Hasegawa, Target Tracking Using SIR and MCMC Particle Filters by Multiple Cameras and Laser Range Finders, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3838-3844, Nice, Sep. 2008

[6] Koichi Ogawara, Yasufumi Tanabe, Ryo Kurazume, Tsutomu Hasegawa, Learning Meaningful Interactions from Repetitious Motion Patterns, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3350-3355, Nice, Sep. 2008

[7] Tsuyoshi Yokoya, Tsutomu Hasegawa, and Ryo Kurazume, Calibration of Widely Distributed Vision Cameras by Mobile Robots with Cooperative Positioning, 17th IFAC World Congress, pp.-, July 2008.

[8] Kazuya Matsuo, Kouji Murakami, Tsutomu Hasegawa, Ryo Kurazume, A Decision Method for the Placement of Tactile Sensors for Manipulation Task Recognition, in Proc. IEEE International Conference on Robotics and Automation, pp.1641-1646, April 2008.

[9] Tsuyoshi Yokoya, Tsutomu Hasegawa, Ryo Kurazume, and Kouji Murakami, Calibration of Distributed Vision Network in Unified Coordinate System by Mobile Robots, in Proc. IEEE International Conference on Robotics and Automation, pp.1412-1417, April 2008.

[10] Kouji Murakami, Tsutomu Hasegawa, Ryo Kurazume and Yoshihiko Kimuro, A Structured Environment with Sensor Networks for Intelligent Robots, Proc. of IEEE Int. Conf. on Sensors, pp.705-708, Lecce, Italy, Oct. 2008

[11] Koichi Ogawara, Yasufumi Tanabe, Ryo Kurazume, Tsutomu Hasegawa, Fast Repetitious Motion Pattern Detection Method via Dynamic Programming using Motion Density, in Proc. IEEE International Conference on Robotics and Automation, pp.1743-1749, May 12-17, 2009.

[12] Yumi Iwashita, Ryo Kurazume, Takamitsu Mori, Masaki Saito and Tsutomu Hasegawa, Model-based motion tracking system using distributed network cameras, in Proc. IEEE International Conference on Robotics and Automation, pp.3020-3025, Anchorage, May 3-8, 2010.

[13] Yumi Iwashita, Masaki Saito, Ryo Kurazume, Tsutomu Hasegawa, Motion Tracking in Daily Environment Using Distributed Image and Laser Sensors, The First International Workshop on Human Behavior Sensing, Kassel, Germany, June 15, 2010.

[14] Kouji Murakami, Tsutomu Hasegawa, Yasunobu Nohara, Byong-won Ahn, Ryo Kurazume, Position Tracking System for Commodities in a Daily Life Environment, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS10), pp.3712-3718, Taipei, October 18-22, 2010

[15] Koichi Ogawara, Yasufumi Tanabe, Ryo Kurazume, Tsutomu Hasegawa, Detecting Repeated Motion Patterns using Partly Locality Sensitive Hashing, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS10), pp.1353-1358, Taipei, October 18-22, 2010

[16] Kouji Murakami, Tsutomu Hasegawa, Yasunobu Nohara, Byong Won Ahn, and Ryo Kurazume, Position Tracking System for Commodities in an Indoor Environment, Proc. of IEEE International Conference on Sensors, pp.1879-1882, USA, Nov. 2010

[17] Yukihiro Tobata, Ryo Kurazume, Yumi Iwashita and Tsutomu Hasegawa, Automatic laser-based geometrical modeling using multiple mobile robots, 2010 IEEE International Conference on Robotics and Biomimetics (ROBIO 2010), pp.363-369, Tianjin, Dec. 14-18, 2010 (T.J.Tarn Best Paper in Robotics)

[18] Ryo Kurazume, Yumi Iwashita, Koji Murakami, and Tsutomu Hasegawa, Introduction to the Robot Town Project and 3-D Co-operative Geometrical Modeling Using Multiple Robots, 15th International Symposium on Robotics Research (ISRR 2011), Flagstaff, August 28-31, 2011.

[19] Yongjin Jeong, Ryo Kurazume, Yoonseok Pyo, Yumi Iwashita, Tsutomu Hasegawa, High-Precision Three-Dimensional Laser Measurement System by Cooperative Multiple Mobile Robots, 2012 IEEE/SICE International Symposium on System Integration (SII2012), pp.198-205, Fukuoka, 2012.12.16-18, 2012

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