Details of the Researcher

PHOTO

Shotaro Kojima
Section
Tough Cyberphysical AI Research Center
Job title
Specially Appointed Assistant Professor(Research)
Degree

  • 博士（情報科学）（東北大学）

  • 修士（情報科学）（東北大学）

e-Rad No.
20788195

Research History 3

  • 2023/04 - Present
    Tohoku University　Tough Cyberphysical AI Research Center　Assistant Professor

  • 2021/04 - 2023/03
    Tohoku University　New Industry Creation Hatchery Center　Assistant Professor

  • 2020/04 - 2021/03
    Tohoku University　New Industry Creation Hatchery Center　Research Fellow

Education 2

  • Tohoku University　Graduate School of Information Sciences

    2015/04 - 2020/03

  • Tohoku University　Faculty of Engineering　Department of Mechanical and Aerospace Engineering

    2011/04 - 2015/03

Research Interests 4

  • Field Robotics

  • Construction Robots

  • Autonomous navigation

  • rescue robots

Research Areas 1

  • Informatics / Robotics and intelligent systems /

Awards 18

  1. ROBOCUP2023 RESCUE ROBOT LEAGUE 3rd Place

    2023/07　Robocup Federation

  2. ロボカップジャパンオープン2023レスキューロボットリーグ 準優勝 及び Best-in-Class Mapping賞

    2023/05　ロボカップジャパンオープン2023開催委員会

  3. 優秀講演賞

    2022/12　計測自動制御学会　SI2022にて発表した「異種ロボットによるプラント点検タスクの分業と WRS2020 における評価」に対して

  4. 優秀講演賞

    2022/12　計測自動制御学会　SI2022にて発表した「周囲の状況に応じて速度と追従精度のバランスをとる安全な軌跡追従制御の検討」に対して

  5. ロボカップジャパンオープン2022 レスキュー実機リーグ 優勝 / 計測自動制御学会賞

    2022/10　ロボカップ日本委員会 レスキュー実機リーグ

  6. WRS2020 Plant Disaster Prevention Challenge1st Place, Minister of Economy, Trade and Industry Award

    2021/10　Ministry of Economy, Trade and Industry

  7. Finalist of Best Paper Award on Safety, Security, and Rescue Robotics in memory of Motohiro Kisoi

    2020/10　IEEE Robotics and Automation Society　For IROS2020 paper "Stable autonomous spiral stair climbing of tracked vehicles using wall reaction force"

  8. ROBOMECH表彰

    2017/05　一般社団法人日本機械学会　ROBOMECH2016での発表「狭隘路におけるクローラロボットの走行制御」に対して

  9. 日本機械学会若手優秀講演フェロー賞受賞

    2017/05　一般社団法人日本機械学会　ROBOMECH2016での発表「狭隘路におけるクローラロボットの走行制御」に対して

  10. IEEE Robotics and Automation Society Japan Joint Chapter Young Award

    2016/10　IEEE Robotics and Automation Society Japan Joint Chapter Young Award　Awarded for the IROS2016 paper "Motion Control of Tracked Vehicle Based on Contact Force Model"

  11. WRS2025 Harsh Environment F-REI Challenge Pre-tournament, Plant Disaster Challenge, 1st place

    2024/10　Fukushima institute for Research, Education and Innovation (F-REI)

  12. ロボカップジャパンオープン2024 レスキュー実機リーグ 優勝 / 計測自動制御学会賞

    2024/05　ロボカップジャパンオープン2024開催委員会

  13. Advanced Robotics Excellent Paper Award

    2023/09　The Robotics Society of Japan　Awarded for the Advanced Robotics paper "Estimation of articulated angle in six-wheeled dump trucks using multiple GNSS receivers for autonomous driving""

  14. 2022年度日本機械学会賞（技術）

    2023/03　一般社団法人日本機械学会　「石油コンビナート等の大規模火災に対応可能な消防ロボットシステム」に対して

  15. 優秀講演賞

    2022/12　計測自動制御学会　SI2022にて発表した「異方摩擦により受動回転ローラを模擬するメカナムホイールの高精度軽量シミュレーション」に対して

  16. 優秀講演賞

    2021/12　計測自動制御学会　SI2021で発表した「弾性ベルト循環式エンドエフェクタ機構弾性履帯による対象物への内部なじみ接触が可能な大型バルブ操作用効果器」に対して

  17. WRS2020 Plant Disaster Prevention Challenge SICE Award

    2021/10　The Society of Instrument and Control Engineers (SICE)

  18. 第 2 回次世代イニシアティブ廃炉技術カンファレンス(NDEC-3) 研究奨励賞受賞 (遠隔技術に関する部門)

    2017/03　NDEC事務局　NDEC-2での発表「狭隘通路におけるクローラロボットの走行制御」に対して

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Papers 49

  1. Loading an Autonomous Large-Scale Dump Truck: Path Planning Based on Motion Data from Human-Operated Construction Vehicles Peer-reviewed

    Tetsu Akegawa, Kazunori Ohno, Shotaro Kojima, Naoto Miyamoto, Taro Suzuki, Tomohiro Komatsu, Takahiro Suzuki, Yukinori Shibata, Kimitaka Asano, Satoshi Tadokoro

    2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)　2022/10/23

    Publisher: IEEE

    DOI： 10.1109/iros47612.2022.9981828 　

  2. Heterogeneous robots coordination for industrial plant inspection and evaluation at World Robot Summit 2020 Peer-reviewed

    Shotaro Kojima, Tomoya Takahashi, Ranulfo Bezerra, Takaaki Nara, Masaki Takahashi, Naoto Saiki, Kenta Gunji, Pongsakorn Songsuroj, Ryota Suzuki, Kotaro Sato, Zitong Han, Kagetora Takahashi, Yoshito Okada, Masahiro Watanabe, Kenjiro Tadakuma, Kazunori Ohno, Satoshi Tadokoro

    Advanced Robotics　36　(21)　1102-1119　2022/08/26

    Publisher: Informa UK Limited

    DOI： 10.1080/01691864.2022.2111230 　

    ISSN： 0169-1864

    eISSN： 1568-5535

  3. Estimation of articulated angle in six-wheeled dump trucks using multiple GNSS receivers for autonomous driving Peer-reviewed

    Taro Suzuki, Kazunori Ohno, Shotaro Kojima, Naoto Miyamoto, Takahiro Suzuki, Tomohiro Komatsu, Yukinori Shibata, Kimitaka Asano, Keiji Nagatani

    Advanced Robotics　35　(23)　1376-1387　2021/09/07

    Publisher: Informa UK Limited

    DOI： 10.1080/01691864.2021.1974942 　

    ISSN： 0169-1864

    eISSN： 1568-5535

  4. Stable Autonomous Spiral Stair Climbing of Tracked Vehicles Using Wall Reaction Force Peer-reviewed

    Shotaro Kojima, Kazunori Ohno, Takahiro Suzuki, Yoshito Okada, Thomas Westfechtel, Satoshi Tadokoro

    IEEE Robotics and Automation Letters　5　(4)　6575-6582　2020/10

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/lra.2020.3015463 　

    eISSN： 2377-3766 2377-3774

  5. Wall Deadlock Evasion Control Based on Rotation Radius Adjustment Peer-reviewed

    Shotaro Kojima, Kazunori Ohno, Takahiro Suzuki, Yoshito Okada, Thomas Westfechtel, Satoshi Tadokoro

    IEEE Robotics and Automation Letters　5　(2)　1358-1365　2020/04

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/lra.2020.2967332 　

    eISSN： 2377-3766 2377-3774

  6. Motion control of tracked vehicle based on contact force model Peer-reviewed

    Shotaro Kojima, Kazunori Ohno, Takahiro Suzuki, Thomas Westfechtel, Yoshito Okada, Satoshi Tadokoro

    2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)　2016/10

    Publisher: IEEE

    DOI： 10.1109/iros.2016.7759198 　

  7. Validation of LLM-Generated Object Co-Occurrence Information for Understanding Three-Dimensional Scenes Peer-reviewed

    Kenta Gunji, Kazunori Ohno, Shuhei Kurita, Ken Sakurada, Ranulfo Bezerra, Shotaro Kojima, Yoshito Okada, Masashi Konyo, Satoshi Tadokoro

    IEEE Access　186573-186585　2024/12

    DOI： 10.1109/ACCESS.2024.3514473 　

  8. Rapid Soil Surface Reinforcement Method Using Flour for Soft Ground in Disaster Response Robotics

    Shotaro Kojima, Kazunori Ohno, Takaaki Nara, Tomoaki Satomi, Hiroshi Takahashi, Satoshi Tadokoro

    2024 IEEE International Symposium on Safety Security Rescue Robotics (SSRR)　237-242　2024/11/12

    Publisher: IEEE

    DOI： 10.1109/ssrr62954.2024.10770058 　

  9. Effectiveness of canine training using suit-mounted feeder

    Shoichi Nezu, Kazunori Ohno, Shotaro Kojima, Ranulfo Bezerra, Miho Nagasawa, Takufumi Kikusui, Satoshi Tadokoro

    Advanced Robotics　1-11　2024/07/11

    Publisher: Informa UK Limited

    DOI： 10.1080/01691864.2024.2365301 　

    ISSN： 0169-1864

    eISSN： 1568-5535

  10. Automatic Operation of an Articulated Dump Truck: State Estimation by Combined QZSS CLAS and Moving-Base RTK Using Multiple GNSS Receivers

    Taro Suzuki, Shotaro Kojima, Kazunori Ohno, Naoto Miyamoto, Takahiro Suzuki, Kimitaka Asano, Tomohiro Komatsu, Hiroto Kakizaki

    ION Pacific PNT　65-74　2024/05/08

    Publisher: Institute of Navigation

    DOI： 10.33012/2024.19617 　

    ISSN： 2331-6284

  11. A Direction-Independent Reinforcement by Combination of Fiber Reinforced Cementitious Composite and Automated Pin Insertion

    Haruto Tasaki, Tomoya Asakawa, Noriyuki Kobayashi, Tomoya Nishiwaki, Ryo Egawa, Shotaro Kojima, Yoshito Okada, Kazunori Ohno, Keisuke Nishijo, Sho Sato, Yuki Miyazawa, Hideyuki Kajita

    RILEM Bookseries　53　335-341　2024

    DOI： 10.1007/978-3-031-70031-6_39 　

    ISSN： 2211-0844

    eISSN： 2211-0852

  12. Anomaly Detection in LiDAR Data Using Virtual and Real Observations

    Keiichiro Hattori, Ranulfo Bezerra, Shotaro Kojima, Yoshito Okada, Kazunori Ohno, Shintaro Ishihara, Kenji Sawada, Satoshi Tadokoro

    2023 21st International Conference on Advanced Robotics, ICAR 2023　191-198　2023

    DOI： 10.1109/ICAR58858.2023.10406443 　

  13. Fast and Accurate Simulation of Mecanum Wheels with Passive Rollers Emulated by Fixed Joints and Anisotropic Friction

    Yoshito Okada, Kazuya Oguma, Kenta Gunji, Yoshiki Yokota, Hanif Aryadi, Shotaro Kojima, Ranulfo Bezerra, Masashi Konyo, Kazunori Ohno, Satoshi Tadokoro

    2023 21st International Conference on Advanced Robotics, ICAR 2023　592-598　2023

    DOI： 10.1109/ICAR58858.2023.10406382 　

  14. MoCArU: Low-Cost Wireless Portable Robot Localization System Using IoT

    Rawin Assabumrungrat, Ranulfo Bezerra, Iuri Barros, Shotaro Kojima, Yoshito Okada, Masashi Konyo, Kazunori Ohno, Satoshi Tadokoro

    Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics　3458-3465　2023

    DOI： 10.1109/SMC53992.2023.10394661 　

    ISSN： 1062-922X

  15. Redundant Voronoi Roadmap Graph Using Imaginary Obstacles for Multi-Robot Path Planning

    Hanif A. Aryadi, Ranulfo Bezerra, Kazunori Ohno, Kenta Gunji, Shotaro Kojima, Masao Kuwahara, Yoshito Okada, Masashi Konyo, Satoshi Tadokoro

    Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics　1772-1779　2023

    DOI： 10.1109/SMC53992.2023.10393983 　

    ISSN： 1062-922X

  16. Multi-Agent Pickup and Delivery in Transformable Production

    Hanif A. Aryadi, Ranulfo Bezerra, Kazunori Ohno, Kenta Gunji, Shotaro Kojima, Masao Kuwahara, Yoshito Okada, Masashi Konyo, Satoshi Tadokoro

    IEEE International Conference on Automation Science and Engineering　2023-August　2023

    DOI： 10.1109/CASE56687.2023.10260587 　

    ISSN： 2161-8070

    eISSN： 2161-8089

  17. LayoutSLAM++: Simultaneous Estimation of Layout and Object Map Based on Geometric Features of Object Placement

    Kenta Gunji, Kazunori Ohno, Ranulfo Bezerra, Shotaro Kojima, Hanif Aryadi, Yoshito Okada, Masao Kuwahara, Masashi Konyo, Satoshi Tadokoro

    IEEE International Conference on Automation Science and Engineering　2023-August　2023

    DOI： 10.1109/CASE56687.2023.10260535 　

    ISSN： 2161-8070

    eISSN： 2161-8089

  18. Heterogeneous Multi-Robot Task Allocation for Garment Transformable Production using Deep Reinforcement Learning

    Ranulfo Bezerra, Kazunori Ohno, Shotaro Kojima, Hanif A. Aryadi, Kenta Gunji, Masao Kuwahara, Yoshito Okada, Masashi Konyo, Satoshi Tadokoro

    IEEE International Conference on Automation Science and Engineering　2023-August　2023

    DOI： 10.1109/CASE56687.2023.10260437 　

    ISSN： 2161-8070

    eISSN： 2161-8089

  19. LayoutSLAM: Object Layout based Simultaneous Localization and Mapping for Reducing Object Map Distortion Peer-reviewed

    Kenta Gunji, Kazunori Ohno, Shotaro Kojima, Ranulfo Bezerra, Yoshito Okada, Masashi Konyo, Satoshi Tadokoro

    2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)　2022/10/23

    Publisher: IEEE

    DOI： 10.1109/iros47612.2022.9981492 　

  20. Automatic Sediment Transportation for Large-Size 6 Wheel Dump Trucks Using Retrofit Technology

    OHNO Kazunori, SUZUKI Takahiro, KOJIMA Shotaro, MIYAMOTO Naoto, SUZUKI Taro, KOMATSU Tomohiro, ASANO Kimitaka, KAKIZAKI Hiroto

    Journal of The Society of Instrument and Control Engineers　61　(9)　645-650　2022/09/10

    Publisher: The Society of Instrument and Control Engineers

    DOI： 10.11499/sicejl.61.645 　

    ISSN： 0453-4662

    eISSN： 1883-8170

  21. Heterogeneous Multi-Robot Task Scheduling Heuristics for Garment Mass Customization Peer-reviewed

    Ranulfo Bezerra, Kazunori Ohno, Shotaro Kojima, Hanif A. Aryadi, Kenta Gunji, Masao Kuwahara, Yoshito Okada, Masashi Konyo, Satoshi Tadokoro

    2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)　2022/08/20

    Publisher: IEEE

    DOI： 10.1109/case49997.2022.9926509 　

  22. Fundamental Study on Automated Interlayer Reinforcing System with Metal Fiber Insertion for 3D Concrete Printer Peer-reviewed

    Tomoya Asakawa, Tomoya Nishiwaki, Kazunori Ohno, Shigeru Yokoyama, Yoshito Okada, Shotaro Kojima, Youichi Satake, Yoshihiro Miyata, Yuki Miyazawa, Youhei Ito, Hideyuki Kajita

    RILEM Bookseries　411-416　2022/06/25

    Publisher: Springer International Publishing

    DOI： 10.1007/978-3-031-06116-5_61 　

    ISSN： 2211-0844

    eISSN： 2211-0852

  23. Electrocardiogram Measurement and Emotion Estimation of Working Dogs

    Kazunori Ohno, Kotaro Sato, Ryunosuke Hamada, Takatomi Kubo, Kazushi Ikeda, Miho Nagasawa, Takefumi Kikusui, Sandeep Kumar Nayak, Shotaro Kojima, Satoshi Tadokoro

    IEEE Robotics and Automation Letters　7　(2)　4047-4054　2022/04

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/lra.2022.3145590 　

    eISSN： 2377-3766 2377-3774

  24. Path Planning of the Turning Back of an Autonomous Large-Scale Six-Wheeled Dump Truck for Loading/Leaving Sediment Based on Backhoe Work Peer-reviewed

    Tetsu Akegawa, Kazunori Ohno, Shotaro Kojima, Kento Yamada, Wiru Go, Taro Suzuki, Seiga Kiribayashi, Tomohiro Komatsu, Naoto Miyamoto, Takahiro Suzuki, Yukinori Shibata, Kimitaka Asano, Keiji Nagatani, Satoshi Tadokoro

    2022 IEEE/SICE International Symposium on System Integration (SII)　2022/01/09

    Publisher: IEEE

    DOI： 10.1109/sii52469.2022.9708879 　

  25. Analysis of sediment shape according to sediment type and unloading position using a simulator

    YOKOYAMA Shigeru, SAIJO Tatsuyosi, OHNO Kazunori, KOJIMA Shotaro, AKEGAWA Tetsu, SUZUKI Taro, KOMATSU Tomohiro, MIYAMOTO Naoto, SUZUKI Takahiro, SHIBATA Yukinori, ASANO Kimitaka, TADOKORO Satoshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　1P1-B02　2022

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2022.1p1-b02 　

    eISSN： 2424-3124

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    We are trying to automate the work of unloading soil by installing retrofit equipment on large dump trucks. To automate the work, it is necessary to establish a standard for the unloading position. However, no method has been established for determining the optimal unloading position because the unloading of soil is done by the experience and feeling of the operator. To determine the best position, we considered how to unload more soil at the designated unloading location. Using simulator that can represent a variety of soil types, we investigated the relationship between different soil types, unloading position, and the amount and shape of soil piled in the virtual space.

  26. Automatic Earth and Sand Transportation of Large-size 6-Wheel Dump Trucks with 40t Loading Capacity Using Retrofit Technologies

    OHNO Kazunori, AKEGAWA Tetsu, KOJIMA Shotaro, YOKOYAMA Shigeru, SUZUKI Taro, KOMATSU Tomohiro, MIYAMOTO Naoto, SUZUKI Takahiro, SHIBATA Yukinori, Asano Kimitaka, Tadokoro Satoshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　1P1-B03　2022

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2022.1p1-b03 　

    eISSN： 2424-3124

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    Against the backdrop of a declining and aging workers and efforts to improve productivity at construction sites, there is a strong demand for automation of construction vehicles. We have developed autonomous dump trucks using retrofit technologies. This paper describes automatic earth and sand transportation of large-size 6 wheel dump trucks in cooperation with a human-operated backhoe. The automation system uses a drone to measure the 3D terrain, a retrofit driving robot and AI to control the dump truck, and sensor boxes to measure the backhoe operation. This achievement contributes to the automation of construction vehicles owned by construction company and rental companies.

  27. Causal Analysis for Understanding Vehicle Behavior Affected by Multiple Factors Peer-reviewed

    Ranulfo Bezerra, Kazunori Ohno, Shotaro Kojima, Satoshi Tadokoro

    2021 20th International Conference on Advanced Robotics (ICAR)　2021/12/06

    Publisher: IEEE

    DOI： 10.1109/icar53236.2021.9659455 　

  28. Lateral Skidding Motion of Tracked Vehicles using Wall Reaction Force Peer-reviewed

    Shotaro Kojima, Yuki Harata, Kazunori Ohno, Takahiro Suzuki, Yoshito Okada, Satoshi Tadokoro

    2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)　2021/10/25

    Publisher: IEEE

    DOI： 10.1109/ssrr53300.2021.9597863 　

  29. An individual prediction model of the pre-loading motion for operator and backhoe pairs Peer-reviewed

    Kento Yamada, Kazunori Ohno, Ryunosuke Hamada, Ranulfo Plutarco Bezerra Neto, Naoto Miyamoto, Shotaro Kojima, Taro Suzuki, Takahiro Suzuki, Keiji Nagatani, Yukinori Shibata, Kimitaka Asano, Tomohiro Komatsu, Satoshi Tadokoro

    Advanced Robotics　35　(23)　1388-1403　2021/10/13

    Publisher: Informa UK Limited

    DOI： 10.1080/01691864.2021.1980101 　

    ISSN： 0169-1864

    eISSN： 1568-5535

  30. Region Recognition Based on HMM Using Primitive Motion Transitions Peer-reviewed

    Ranulfo P. Bezerra Netol, Kazunori Ohno, Shotaro Kojima, Satoshi Tadokoro

    2021 IEEE International Intelligent Transportation Systems Conference (ITSC)　2021/09/19

    Publisher: IEEE

    DOI： 10.1109/itsc48978.2021.9564906 　

  31. Knowledge Acquisition from Pedestrian Flow Analysis using Sparse Mobile Probe Data Peer-reviewed

    Ranulfo Plutarco Bezerra Neto, Kazunori Ohno, Thomas Westfechtel, Shotaro Kojima, Kento Yamada, Satoshi Tadokoro

    Journal of Intelligent & Robotic Systems　102　(4)　2021/07/17

    Publisher: Springer Science and Business Media LLC

    DOI： 10.1007/s10846-021-01419-w 　

    ISSN： 0921-0296

    eISSN： 1573-0409

    More details Close

    Abstract Autonomous vehicles require high-level semantic maps, which contain the activities of pedestrians and cars, to ensure safe navigation. High-level semantics can be obtained from mobile probe sensor data. Analyzing pedestrian trajectories obtained from mobile probe data is an effective approach to avoid collisions between autonomous vehicles and pedestrians. Such analyses of pedestrian trajectories can generate new information such as pedestrian behaviors in violation of traffic regulations. However, pedestrian trajectories obtained from mobile probe data significantly sparse and noisy, making it challenging to analyze pedestrian activity. To address this issue, we propose multiple daily data and graph-based approaches to treat sparse and noisy data for estimating the flow of pedestrians based on mobile probe data. To improve the sparseness of the data, multiple daily data are fused. After that, a pedestrian graph is created to enhance the region’s coverage by connecting the sparse data indicating the flow of pedestrians. This proposed approach successfully obtained pedestrian trajectory data from the sparse and noisy data. Moreover, it was possible to identify the potential locations where pedestrians tend to cross the street by analyzing the pedestrian flow. The results indicate that 83% of well-known regions where pedestrians tend to cross the street corresponded with those extracted using the proposed approach. Furthermore, a high-level semantic map of the regions where pedestrians tend to cross the street along a 1-km road is presented. The trajectory information obtained using the proposed approach is expected to be essential for understanding different scenarios of the interactions between individuals and autonomous vehicles.

  32. Semantic Mapping of Construction Site From Multiple Daily Airborne LiDAR Data Peer-reviewed

    Thomas Westfechtel, Kazunori Ohno, Tetsu Akegawa, Kento Yamada, Ranulfo Plutarco Bezerra Neto, Shotaro Kojima, Taro Suzuki, Tomohiro Komatsu, Yukinori Shibata, Kimitaka Asano, Keji Nagatani, Naoto Miyamoto, Takahiro Suzuki, Tatsuya Harada, Satoshi Tadokoro

    IEEE Robotics and Automation Letters　6　(2)　3073-3080　2021/04

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/lra.2021.3062606 　

    eISSN： 2377-3766 2377-3774

  33. Real-time Simulation of Non-Deformable Continuous Tracks with Explicit Consideration of Friction and Grouser Geometry Peer-reviewed

    Yoshito Okada, Shotaro Kojima, Kazunori Ohno, Satoshi Tadokoro

    2020 IEEE International Conference on Robotics and Automation (ICRA)　2020/05

    Publisher: IEEE

    DOI： 10.1109/icra40945.2020.9196776 　

  34. Design and Control of Parallel Gripper with Linear and Curved Trajectory Consisting of Only Revolute Pairs Peer-reviewed

    Tomoya Takahashi, Yoshito Okada, Shotaro Kojima, Kenjiro Tadakuma, Masahiro Watanabe, Masaki Takahashi, Satoshi Tadokoro

    2020 IEEE/SICE International Symposium on System Integration (SII)　2020/01

    Publisher: IEEE

    DOI： 10.1109/sii46433.2020.9025997 　

  35. Attachable Sensor Boxes to Visualize Backhoe Motion Peer-reviewed

    Kento Yamada, Kazunori Ohno, Naoto Miyamoto, Taro Suzuki, Shotaro Kojima, Ranulfo Plutarco Bezerra Neto, Takahiro Suzuki, Keiji Nagatani, Yukinori Shibata, Kimitaka Asano, Tomohiro Komatsu, Satoshi Tadokoro

    2020 IEEE/SICE International Symposium on System Integration (SII)　2020/01

    Publisher: IEEE

    DOI： 10.1109/sii46433.2020.9026227 　

  36. Fusion of Camera and Lidar Data for Large Scale Semantic Mapping Peer-reviewed

    Thomas Westfechtel, Kazunori Ohno, Ranulfo Plutarco Bezerra Neto, Shotaro Kojima, Satoshi Tadokoro

    2019 IEEE Intelligent Transportation Systems Conference (ITSC)　2019/10

    Publisher: IEEE

    DOI： 10.1109/itsc.2019.8917107 　

  37. Wall deadlock evasion motion of tracked vehicles for narrow space navigation

    KOJIMA Shotaro, OHNO Kazunori, SUZUKI Takahiro, OKADA Yoshito, TADOKORO Satoshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　2P2-B06　2019

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2019.2P2-B06 　

    eISSN： 2424-3124

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    <p>In this paper, the authors construct a motion generation method to avoid wall deadlock problem. Wall deadlock is a phenomenon that the robot cannot leave from a wall once it collides on it because collision force inhibits the motion. The proposed method is constructed directory from a static model of the tracked vehicle colliding with a wall.</p>

  38. Parking Spot Estimation and Mapping Method for Mobile Robots Peer-reviewed

    Thomas Westfechtel, Kazunori Ohno, Naoki Mizuno, Ryunosuke Hamada, Shotaro Kojima, Satoshi Tadokoro

    IEEE Robotics and Automation Letters　3　(4)　3371-3378　2018/10

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/lra.2018.2849832 　

    eISSN： 2377-3766 2377-3774

  39. Robust stairway-detection and localization method for mobile robots using a graph-based model and competing initializations Peer-reviewed

    Thomas Westfechtel, Kazunori Ohno, Bärbel Mertsching, Ryunosuke Hamada, Daniel Nickchen, Shotaro Kojima, Satoshi Tadokoro

    The International Journal of Robotics Research　37　(12)　1463-1483　2018/09/12

    Publisher: SAGE Publications

    DOI： 10.1177/0278364918798039 　

    ISSN： 0278-3649

    eISSN： 1741-3176

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    One of the major challenges for mobile robots in human-shaped environments is navigating stairways. This study presents a method for accurately detecting, localizing, and estimating the characteristics of stairways using point cloud data. The main challenge is the wide variety of different structures and shapes of stairways. This challenge is often aggravated by an unfavorable position of the sensor, which leaves large parts of the stairway occluded. This can be further aggravated by sparse point data. We overcome these difficulties by introducing a three-dimensional graph-based stairway-detection method combined with competing initializations. The stairway graph characterizes the general structural design of stairways in a generic way that can be used to describe a large variety of different stairways. By using multiple ways to initialize the graph, we can robustly detect stairways even if parts of the stairway are occluded. Furthermore, by letting the initializations compete against each other, we find the best initialization that accurately describes the measured stairway. The detection algorithm utilizes a plane-based approach. We also investigate different planar segmentation algorithms and experimentally compare them in an application-orientated manner. Our system accurately detects and estimates the stairway parameters with an average error of only [Formula: see text] for a variety of stairways including ascending, descending, and spiral stairways. Our method works robustly with different depth sensors for either small- or large-scale environments and for dense and sparse point cloud data. Despite this generality, our system’s accuracy is higher than most state-of-the-art stairway-detection methods.

  40. Consistent map building in petrochemical complexes for firefighter robots using SLAM based on GPS and LIDAR Peer-reviewed

    Abu Ubaidah Shamsudin, Kazunori Ohno, Ryunosuke Hamada, Shotaro Kojima, Thomas Westfechtel, Takahiro Suzuki, Yoshito Okada, Satoshi Tadokoro, Jun Fujita, Hisanori Amano

    ROBOMECH Journal　5　(1)　2018/04/03

    Publisher: Springer Science and Business Media LLC

    DOI： 10.1186/s40648-018-0104-z 　

    eISSN： 2197-4225

  41. Attempt at climbing of spiral staircase for tracked vehicles using reaction force of stairs' handrail Peer-reviewed

    Yuto Ohashi, Shotaro Kojima, Kazunori Ohno, Yoshito Okada, Ryunosuke Hamada, Takahiro Suzuki, Satoshi Tadokoro

    2017 IEEE/SICE International Symposium on System Integration (SII)　2017/12

    Publisher: IEEE

    DOI： 10.1109/sii.2017.8279255 　

  42. Generation of Turning Motion for Tracked Vehicles Using Reaction Force of Stairs’ Handrail Peer-reviewed

    Yuto Ohashi, Shotaro Kojima, Kazunori Ohno, Yoshito Okada, Ryunosuke Hamada, Takahiro Suzuki, Satoshi Tadokoro

    Field and Service Robotics　65-80　2017/11/03

    Publisher: Springer International Publishing

    DOI： 10.1007/978-3-319-67361-5_5 　

    ISSN： 2511-1256

    eISSN： 2511-1264

  43. Two-stage Hybrid A* path-planning in large petrochemical complexes Peer-reviewed

    A. U. Shamsudin, K. Ohno, R. Hamada, S. Kojima, N. Mizuno, T. Westfechtel, T. Suzuki, S. Tadokoro, J. Fujita, H. Amano

    2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)　2017/07

    Publisher: IEEE

    DOI： 10.1109/aim.2017.8014250 　

  44. Suppression of slip-down on stairs by using intentional contact with walls during turning motion of tracked vehicles

    OHASHI Yuto, KOJIMA Shotaro, OHNO Kazunori, OKADA Yoshito, HAMADA Ryunosuke, SUZUKI Takahiro, TADOKORO Satoshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　1P2-D07　2017

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2017.1P2-D07 　

    eISSN： 2424-3124

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    <p>Inspections by mobile robots are required in nuclear power and steel plants. The robots need to climb and descend stairs because equipments are installed on difference levels. This paper proposes a turning motion on the stairs for tracked vehicles. A characteristic of the proposed turning motion is by using the reaction force from the safety wall. Experimental result shows that the movement direction can be changed by the proposed turning motion. In addition, the proposed turning motion enables the vehicle to run with less slippage than other turning motions.</p>

  45. Real-time display of onboard spherical images that synchronizes head pose of operator for robotic search Peer-reviewed

    Yoshito Okada, Takumi Fujinami, Shotaro Kojima, Takuma Ishii, Kazunori Ohno, Satoshi Tadokoro

    2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)　2016/10

    Publisher: IEEE

    DOI： 10.1109/ssrr.2016.7784285 　

  46. Use of active scope camera in the Kumamoto Earthquake to investigate collapsed houses Peer-reviewed

    Yuichi Ambe, Tomonari Yamamoto, Shotaro Kojima, Eri Takane, Kenjiro Tadakuma, Masashi Konyo, Satoshi Tadokoro

    2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)　2016/10

    Publisher: IEEE

    DOI： 10.1109/ssrr.2016.7784272 　

  47. 3D graph based stairway detection and localization for mobile robots Peer-reviewed

    Thomas Westfechtel, Kazunori Ohno, Barbel Mertsching, Daniel Nickchen, Shotaro Kojima, Satoshi Tadokoro

    2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)　2016/10

    Publisher: IEEE

    DOI： 10.1109/iros.2016.7759096 　

  48. Spherical Omnidirectional Wheel Mechanism with an Offset Pair and the Outer Supporting Shaft Peer-reviewed

    TADAKUMA Kenjiro, SAKIYAMA Seiji, TAKANE Eri, TADAKUMA Riichiro, KOJIMA Shotaro, KONYO Masashi, TADOKORO Satoshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　(0)　2A2-07b5　2016

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2016.2A2-07b5 　

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    <p>In the disaster site, mechanisms which can run on uneven and soft ground, and narrow space is needed. In this paper, we study omnidirectional crawler and propose 2 mechanisms, pitching-axis helical gear transmission and yawing-axis helical gear transmission, which transmit driving force by omnidirectional crawler with surface of contact. We design and prototype them by chain and rack gear. We also report about the first trial of them. In addition, we claim that the omnidirectional crawler mechanism can be used for not only mobile robot but also other applications. For example, when the omnidirectional crawler touch one object, the crawler is manipulator.</p>

  49. Motion control of tracked vehicle in narrow pssages

    KOJIMA Shotaro, OHNO Kazunori, SUZUKI Takahiro, TADOKORO Satoshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　2A1-07b2　2016

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2016.2A1-07b2 　

    eISSN： 2424-3124

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    <p>In this paper, we propose an autonomous navigation method for tracked vehicles based on a contact force model, which enables navigation in narrow space though it collides surrounding environment. The model counts on the contact force, driving force and friction force with the floor on the vehicle body. Using the model, controllable range is derived in velocity space. Experimental results shows that the robot can move in target direction with motion control based on the model if it collides with the wall, despite the navigation often fails using conventional path following in same conditions.</p>

Show all ︎Show first 5

Misc. 5

  1. Establishment of Path Planning Method Suitable for Earthmoving Work of Large-scale Dump Trucks

    AKEGAWA Tetsu, OHNO Kazunori, KOJIMA Shotaro, YAMADA Kento, GO Wiru, SUZUKI Taro, KIRIBAYASHI Seiga, KOMATSU Tomohiro, MIYAMOTO Naoto, SUZUKI Takahiro, SHIBATA Yukinori, ASANO Kimitaka, NAGATANI Keiji, TADOKORO Satoshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2021　2P1-A11　2021

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2021.2p1-a11 　

    eISSN： 2424-3124

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    There is an urgent need to automate earthmoving works for large-scale six-wheeled dump trucks. At actual sites, a dump truck stops at a loading position, informed by the backhoe's backet, with its bed facing the backhoe. Therefore, it is necessary to plan a path including a turning back and rapidly replan according to the goal position change. However, there is no suitable path-planning method for earthmoving works of a large-scale six-wheeled dump truck. Here we propose a path-planning method that moves the dump truck forward and then backward to the working position. According to the goal position change, it also rapidly generates a path from the turning position to the new goal position. We confirmed the proposed path resembled the trajectory of human-operated dump trucks, and the time required for replanning was shortened. We also confirmed the autonomous dump truck could do earthmoving works in cooperation with a human-operated backhoe.

  2. Automatic stop of the large dump truck based on loading posture of the backhoe

    GO Wiru, OHNO Kazunori, KOJIMA Shotaro, YAMADA Kento, AKEGAWA Tetsu, SUZUKI Taro, KIRIBAYASHI Seiga, KOMATSU Tomohiro, MIYAMOTO Naoto, SUZUKI Takahiro, SHIBATA Yukinori, ASANO Kimitaka, NAGATANI Keiji, TADOKORO Satoshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2021　2P3-B01　2021

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2021.2p3-b01 　

    eISSN： 2424-3124

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    We develop a large-size dump truck that automatically transports sediments loaded by human-operated backhoes. The dump truck is equipped with a driver robot named SAM and sensors. The driver robot can drive the dump truck remotely and autonomously. However, the difficulty of loading sediments is to decide the suitable dump truck parking location that changes according to the working position of the backhoe. Here, this paper proposes a method to decide the dump truck loading location. We proposed two ideas for obtaining the loading location. These two ideas were evaluated based on the human-operated dump truck loading data. We confirmed that the actual dump truck automatically parked the loading location based on the backhoe cabin.

  3. Analysis of Lateral Skidding Movement of Tracked Vehicle Using Wall Reaction Forces

    HARATA Yuki, KOJIMA Shotaro, OHNO Kazunori, OKADA Yoshito, SUZUKI Takahiro, TADOKORO Satoshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　2P1-A10　2019

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2019.2p1-a10 　

    eISSN： 2424-3124

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    This paper proposed skidding movement method for tracked vehicle that uses the wall reaction force. There is a demand for tracked robot to inspect in the plant automatically. In the plant, usually there are many obstacles such as stairs, steps, and so on. So, tracked robot is proper for plant inspection, because crawler has high road abilities. However, tracked robot has a problem that it is difficult to adjust the position of the robot. This paper tries to solve this problem by lateral skidding movement using wall reaction force. Originally, tracked vehicle cannot move lateral direction, but if we use forces from wall, tracked vehicle can move lateral direction.

  4. Hacking COMS: How to turn a commercially available EV into a Self-Driving car using open source software

    MIZUNO Naoki, WESTFECHTEL Thomas, KOJIMA Shotaro, KAMATA Koichiro, OHNO Kazunori, SUZUKI Takahiro, TADOKORO Satoshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　1P2-C07　2018

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2018.1p2-c07 　

    eISSN： 2424-3124

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    The popularity of autonomous driving has significantly increased in the recent years. In this paper, the authors developed a self-driving car using COMS, a commercially available electric vehicle from Toyota Body, and the open source robotics platform ROS. Actuators were attached to the brake and steering wheel and the wires connected to the ECU are tapped to send accelerator and shift signals from mbed. The authors used Gmapping and Hybrid-State A* for SLAM and path planning, respectively, to achieve autonomous driving of the developed vehicle.

  5. Motion control of differential-drive wheeled robot to avoid wall-deadlock

    KOJIMA Shotaro, OHASHI Yuto, OHNO Kazunori, SUZUKI Takahiro, OKADA Yoshito, HAMADA Ryunosuke, TADOKORO Satoshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　1P1-F12　2017

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2017.1p1-f12 　

    eISSN： 2424-3124

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    In this paper, we propose a motion control method of differential-drive wheeled robot to avoid wall-deadlock. We define the wall-deadlock problem as the cases that the robot cannot rotate to the desired dirrection because of the collision force from an obstacle. The proposed method generates rotational moment to the desired direction by adjusting rotational radius though the collision force inhibits the motion. Experimental results show that the proposed method can generate rotational motion to the desired direction while the driving motor torque is limited to prevent the wheel slip.

Research Projects 2

  1. ロボットが移動しやすい形状に地形を改変して踏破する自律移動知能の構築

    小島 匠太郎

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業

    Category: 若手研究

    Institution: 東北大学

    2023/04/01 - 2026/03/31

  2. 外力による外乱に強いクローラロボットの走行制御の構築

    小島 匠太郎

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業

    Category: 特別研究員奨励費

    Institution: 東北大学

    2018/04/25 - 2020/03/31

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    申請者が取り組んでいる「外力による外乱に強いクローラロボットの走行制御に関する研究」において，令和元年度の達成目標は接触による反力を利用した動作生成手法の構築とその評価，実環境への適用およびそれら成果の論文化である．当年度，申請者はロボットが壁に接触した際に壁から離れる方向に旋回できなくなる「壁デッドロック」問題を回避するための動作生成手法の構築およびその評価を行った．この方法は，ロボットの駆動車輪にかかるトルク情報をもとに，壁デッドロックに陥らないよう動作を決定するものである．これらの成果の一部はIEEE Robotics and Automation Letters に採録された．また，同内容は2020年6月にロボティクス分野のトップレベルの査読付国際会議であるInternational Conference on Robotics and Automation (ICRA)にて発表した．さらに，三菱重工業株式会社がこの機能の有用性に着目し，同社で開発中のプラント点検用防爆型クローラロボットにも搭載された．これは社内のモックアップでの評価を終え，実際のプラント点検の現場で利用する準備を行っている．