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山﨑公俊  ヤマザキ キミトシ

教員組織学術研究院(工学系)電話番号
教育組織先鋭領域融合研究群 社会基盤研究所FAX番号
職名准教授メールアドレス
住所〒380-8553 長野県長野市若里4-17-1ホームページURLhttp://www.ais.shinshu-u.ac.jp

更新日:2020/07/09

プロフィール

兼担研究科・学部
工学部 機械システム工学科
研究分野
知能ロボティクス
所属学会
所属学会
日本ロボット学会
日本機械学会
情報処理学会
IEEE
計測自動制御学会
学歴
出身大学院
2007 , 筑波大学大学院 , システム情報工学研究科 , 知能機能システム専攻

出身学校・専攻等(大学院を除く)
筑波大学 , 第三学群 , 工学システム学類

取得学位
博士(工学) , 筑波大学
受賞学術賞
2019 , The Most Influential Paper over the Decade Award, IAPR MVA2019
2018 , ものづくりカテゴリー第2位(NEDO理事長賞),World Robot Summit
2017 , IEEE ICIA Gaitech Best Robotics Paper
2016 , 文部科学大臣表彰 若手科学者賞
2015 , 日本機械学会奨励賞(研究)
2014 , 計測自動制御学会論文賞
2012 , 計測自動制御学会SI部門若手奨励賞
2010 , 日本ロボット学会研究奨励賞
研究職歴等
研究職歴
2019- , 信州大学社会基盤研究所 副所長
2017- , 信州大学学術研究院工学系 准教授
2018-2019 , 信州大学食農産業イノベーション研究センター センター長
2016-2019 , 産業技術総合研究所 客員研究員
2012-2017 , 信州大学工学部 助教
2012-2012 , 東京大学大学院情報理工学系研究科 特任講師
2012-2012 , 東京大学大学院情報理工学系研究科 客員研究員
2010-2014 , 科学技術振興機構 さきがけ 研究員
2007-2012 , 東京大学大学院情報理工学系研究科・IRT研究機構 特任助教
2006-2007 , 日本学術振興会特別研究員

研究活動業績

研究業績(著書・
発表論文等)
著書
Disaster Robotics -Results from the ImPACT Tough Robotics Challenge
Springer 2019(Jan.)
Author:Tadokoro, Satoshi (Ed.)


センサフュージョン技術の開発と応用事例
技術情報協会 2019(Jan.)
Author:三鴨道弘,藤田和弘,柴田剛志ほか


実用ロボット開発のためのROSプログラミング
森北出版 2018(Oct.)
Author:西田健,森田賢,岡田浩之,原祥尭,山崎公俊,田向権,垣内洋平,大川一也,斎藤功,田中良道,有田裕太,石田裕太郎


Autonomous 3D Shape Modeling and Grasp Planning for Handling Unknown Object
IN-TECH , :479 – 495 2010(May)
Author:Kimitoshi Yamazaki, Takashi Tsubouchi, Masahiro Tomono


論文
End-effector with Wire Thrusting Mechanism for Bin Picking of Small Parts with Circular Holes,
Proc. of the 2020 IEEE/SICE International Symposium on System Integration,:1312-1317 2020
Author:Taiki Abe, Kimitoshi Yamazaki


Active Learning of the Cutting of Cooking Ingredients using Simulation with Object Splitting,
Proc. of the 2020 IEEE/SICE International Symposium on System Integration,:1224-1231 2020
Author:Nahomi Ikegami, Solvi Arnold, Kotaro Nagahama, Kimitoshi Yamazaki


不定形物操作のための知能システムと行動学習
学会誌「人工知能」,35(1):40-46 2020
Author:山崎公俊


Development of assembly system with quick and low-cost installation
Advanced Robotics 2020
Author:Masanari Tennomi, Atsushi Okamura, Yuta Nakamura, Taiki Abe, Seiji Nakamura, Sho Tajima, Toshihiro Nishimura, Yuji Hirai, Yuji, Takuro Sawada, Naoki Ichikawa, Tokuo Tsuji, Kimitoshi Yamazaki, Yosuke Suzuki, Tetsuyou Watanabe


Robust bin-picking system using tactile sensor
Advanced Robotics,:1-15 2020
Author:Sho Tajima, Seiji Wakamatsu, Taiki Abe, Masanari Tennomi, Koki Morita, Hirotoshi Ubata, Atsushi Okamura, Yuji Hirai, Kota Morino, Yosuke Suzuki, Tokuo Tsuji, Kimitoshi Yamazaki, Tetsuyou Watanabe


Fast and Flexible Multi-Step Cloth Manipulation Planning using an Encode-Manipulate-Decode Network (EM*D Net)
Frontiers Neurorobotics 2019(May)
Author:Solvi Arnold, Kimitoshi Yamazaki


Learning from Demonstration Based on a Mechanism to Utilize an Object’s Invisibility
Proc. of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems,:6120-6125 2019
Author:Kotaro Nagahama, Kimitoshi Yamazaki


Generative Adversarial Imitation Learning with Deep P-Network for Robotic Cloth Manipulation
Proc. of The 2019 IEEE-RAS International Conference on Humanoid Robots 2019
Author:Yoshihisa Tsurumine, Yunduan Cui, Kimitoshi Yamazaki, Takamitsu Matsubara


A Learning Method of Dual-arm Manipulation for Cloth Folding Using Physics Simulator
Proceedings of the 2019 IEEE International Conference on Mechatronics and Automation,:756-762 2019
Author:Daisuke Tanaka, Sho Tsuda, Kimitoshi Yamazaki


A Case Study on Automated Manipulation for Hooking Wiring of Flexible Flat Cables
Proceedings of the 2019 IEEE International Conference on Mechatronics and Automation,:793-798 2019
Author:Kazuki Sano, Siguma Iijima, Kimitoshi Yamazaki


A Method of Online Motion Generation Using Swept Volumes Collected in Advance
Proceedings of the 2019 IEEE International Conference on Mechatronics and Automation,:1842-1847 2019
Author:Rui Zhu, Kotaro Nagahama, Keisuke Takeshita, Kimitoshi Yamazaki


Floor Surface Property Estimation based on Measurement of Hardness and Viscosity Using Wiping-motion and Separating-motion
Proceedings of the 2019 IEEE International Conference on Mechatronics and Automation,:2552-2558 2019
Author:Koichiro Matsumoto, Kimitoshi Yamazaki


人の実演教示の観察に基づく布製品の胸当て畳み作業能力の獲得
日本ロボット学会誌,37(6):523-531 2019
Author:莫亜強,松原崇充,山崎公俊


An image recognition system aimed at search activities using cyber search and rescue dogs
Journal of Field Robotics,36(4):677-695 2019
Author:Solvi Arnold, Kazunori Ohno, Ryunosuke Hamada, Kimitoshi Yamazaki


Folding Behavior Acquisition of a Shirt Placed on the Chest of a Dual-Arm Robot
International Conference on Information and Automation,:190-195 2018(Aug. 11)
Author:Mo Yaqiang, Takamitsu Matsubara, Kimitoshi Yamazaki


Environment-adaptive Interaction Primitives through Visual Context for Human-Robot Motor Skill Learning
Autonomous Robots,43(5):1225-1240 2018(Aug.)
Author:Yunduan Cui, James Poon, Jaime Valls Miro, Kimitoshi Yamazaki, Kenji Sugimoto and Takamitsu Matsubara


EM*D-net による動作生成と形状予測に基づく布製品の操作
日本機械学会論文集,84(864):18-00069 2018(Aug.)
Author:田中大輔,アーノード・ソービ,山崎公俊


A Method of Picking up a Folded Fabric Product by a Single-Armed Robot
ROBOMECH Journal,5(1):1-12 2018(Jan.)
Author:Yusuke Moriya, Daisuke Tanaka, Kimitoshi Yamazaki, Keisuke Takeshita


Traversable Region Estimation for Mobile Robots in Outdoor Image
Journal of Intelligent Robots and Systems,:1-11 2018(Jan.)
Author:Sango Matsuzaki, Kimitoshi Yamazaki, Yoshitaka Hara, Takashi Tsubouchi


EMD Net: An Encode-Manipulate-Decode Network for Cloth Manipulation
IEEE Robotics and Automation Letters,3(3):1771 – 1778 2018(Jan.)
Author:Daisuke Tanaka, Solvi Arnold, Kimitoshi Yamazaki


Assembly Manipulation Understanding Based on 3D Object Pose Estimation and Human Motion Estimation
Proceedings of the 2018 IEEE International Conference on Robotics and Biomimetics,:802-807 2018
Author:Kimitoshi Yamazaki, Taichi Higashide, Daisuke Tanaka, Kotaro Nagahama


A Trajectory Modification Method for Tool Operation Based on Human Demonstration Using MITATE Technique
Proceedings of the 2018 IEEE International Conference on Robotics and Biomimetics,:1915-1920 2018
Author:Satonori Demura, Yaqiang Mo, Kotaro Nagahama and Kimitoshi Yamazaki


Picking up One of the Folded and Stacked Towls by a Single Arm Robot
Proceedings of the 2018 IEEE International Conference on Robotics and Biomimetics,:1551-1556 2018
Author:Satonori Demura, Kazuki Sano, Wataru Nakajima, Kotaro Nagahama, Keisuke Takeshita, Kimitoshi Yamazaki


Estimating Door Shape and Manipulation Model for Daily Assistive Robots based on the Integration of Visual and Touch Information
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems,:7660-7666 2018
Author:Kotaro Nagahama, Keisuke Takeshita, Hiroaki Yaguchi, Kimitoshi Yamazaki, Takashi Yamamoto and Masayuki Inaba


Gripping Positions Selection for Unfolding a Rectangular Cloth Product
14th IEEE International Conference on Automation Science and Engineering,:606-611 2018
Author:Kimitoshi Yamazaki


A Learning Method for a Daily Assistive Robot for Opening and Closing Doors Based on Simple Instructions
14th IEEE International Conference on Automation Science and Engineering,:599-605 2018
Author:Kotaro Nagahama, Keisuke Takeshita, Hiroaki Yaguchi, Kimitoshi Yamazaki, Takashi Yamamoto and Masayuki Inaba


実環境における実応用に向けた物体操作研究 -物体認識・ソフトロボットハンド・チャレンジプログラムとベンチマーク
日本ロボット学会誌,36(5):34-43 2018
Author:渡辺哲陽,山崎公俊,横小路泰義


知能ロボットによる布製品操作のためのセンサ情報処理と認識
画像ラボ,:25-30 2018
Author:山崎公俊


遠隔移動体を用いた災害時捜索活動のための画像認識システム
画像ラボ,29(2):7-14 2018
Author:山崎公俊,Solvi Arnold


Kullback Leibler Control Approach to Rubber Band Manipulation
Proceedings of the IEEE/SICE International Symposium on System Integration(SII),:680 - 685 2017(Dec.)
Author:Masaki Murase, Kimitoshi Yamazaki and Takamitsu Matsubara


自律型ロボットによる布製品の認識と操作
計測と制御,56(10) 2017(Oct.)
Author:山崎公俊


Hanging Work of T-Shirt in Consideration of Deformability and Stretchability
Proceedings of the IEEE International Conference on Information and Automation,:130-135 2017(Jul.)
Author:Yosuke Koishihara, Solvi Arnold, Kimitoshi Yamazaki, Takamitsu Matsubara


Selection of Grasp Points of Cloth Product on a Table Based on Shape Classification Feature
Proceedings of the IEEE International Conference on Information and Automation,:136-141 2017(Jul.)
Author:Kimitoshi Yamazaki


Real-time scene parsing by means of a convolutional neural network for mobile robots in disaster scenarios
Proceedings of the IEEE International Conference on Information and Automation,:201-207 2017(Jul.)
Author:Solvi Arnold, Kimitoshi Yamazaki


A method of classifying crumpled clothing based on image features derived from clothing fabrics and wrinkles
Autonomous Robots,41(4):865-879 2017(Apr.)
Author:Kimitoshi Yamazaki


Unfolding of a rectangular cloth from unarranged starting shapes by a Dual-Armed robot with a mechanism for managing recognition error and uncertainty
Advanced Robotics,31(10):554-556 2017(Feb.)
Author:Hiroyuki Yuba, Solvi Arnold, Kimitoshi Yamazaki


畳み込み演算を利用したロボットビジョンアプリケーション
日本ロボット学会誌,35(9):644-647 2017
Author:山崎公俊


Survey of robotic manipulation studies intending practical applications in real environments -object recognition, soft robot hand, and challenge program and benchmarking
Advanced Robotics,31(19-20):1114-1132 2017
Author:Tetsuyou Watanabe, Kimitoshi Yamazaki, Yasuyoshi Yokokoji


Implicit Policies for Deformable Object Manipulation with Arbitrary Start and End States: A Novel Evolutionary Approach
Proceedings of the 2016 IEEE Conference on Robotics and Biomimetics,:1776-1781 2016(Dec.)
Author:Solvi Arnold and Kimitoshi Yamazaki


An Approach to Realistic Physical Simulation of Digitally Captured Deformable Linear Objects
Proceedings of the 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots,:135-140 2016(Dec.)
Author:Nahum Alvarez, Kimitoshi Yamazaki and Takamitsu Matsubara


An Interactive Simulator for Deformable Linear Objects Manipulation Planning
Proceedings of the 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots,:259-267 2016(Dec.)
Author:Nahum Alvarez, Kimitoshi Yamazaki


Environment-adaptive Interaction Primitives for Human-Robot Motor Skill Learning
Proc. of IEEE-RAS International Conference on Humanoid Robotics,:711-717 2016(Nov.)
Author:Yunduan Cui, James Poon, Takamitsu Matsubara, Jaime Valls Miro, Kenji Sugimoto, Kimitoshi Yamazaki


人手による画像上への経路指示を利用したスコアの学習に基づく妥当な走行領域の推定
日本ロボット学会誌,34(8):558-568 2016(Nov.)
Author:松崎燦心,山崎公俊,原祥尭,坪内孝司


Use of character information by autonomous robots based on character string detection in daily environments
Robotica,34(5):1113-1127 2016(May)
Author:Kimitoshi Yamazaki, Tomohiro Nishino, Kotaro Nagahama, Kei Okada and Masayuki Inaba


Bottom Dressing by a Dual-arm Robot Using a Clothing State Estimation Based on Dynamic Shape Changes
International Journal of Advanced Robotic Systems 2016(Jan.)
Author:Kimitoshi Yamazaki, Ryosuke Oya, Kotaro Nagahama, Kei Okada and Masayuki Inaba


Identification and Pose Estimation of a Stick-like Object by a Tactile Sensor System for a Robot Hand
Proceedings of the International Conference on Advanced Mechatronics,:290-291 2015(Dec.)
Author:Koichiro Matsumoto, Kimitoshi Yamazaki


Trajectory Planning for Reaching an Object on a Table Using Accumulated Action Data
Proceedings of the IEEE/SICE International Symposium on System Integration,:696-701 2015(Dec.)
Author:Yusuke Moriya, Nahum Alvarez, and Kimitoshi Yamazaki


Unfolding of a Rectangular Cloth Based on Action Selection Depending on Recognition Uncertainty
Proceedings of the IEEE/SICE International Symposium on System Integration,:623-628 2015(Dec.)
Author:Hiroyuki Yuba, Solvi Arnold and Kimitoshi Yamazaki


Instance Recognition of Clumped Clothing Using Image Features Focusing on Clothing Fabrics and Wrinkles
Proc. of IEEE International Conference on Robotics and Biomimetics,:1102-1108 2015(Dec.)
Author:Kimitoshi Yamazaki


Feasibility Study of Textureless Object Detection and Pose Estimation Based on a Model with 3D Edgels and Surfaces
Journal of Behavioral Robotics,6(1):191-204 2015(Dec.)
Author:Kimitoshi Yamazaki, Kiyohiro Sogen, Takashi Yamamoto and Masayuki Inaba


Quality visual landmark selection based on distinctiveness and repeatability
ROBOMECH Journal,2(16) 2015(Nov.)
Author:Masamichi Shimoda, Kimitoshi Yamazaki


単腕ロボットによる巻き込み防止器具を用いた矩形布生地の展開
システム制御情報学会誌,28(6):267-274 2015(Jun.)
Author:弓場寛之,山崎公俊


A Method of Grasp Point Selection from an Item of Clothing Using Hem Element Relations
Advanced Robotics,29(1):13-24 2015(Jan.)
Author:Kimitoshi Yamazaki


移動ロボットのための地図の表現と獲得
日本ロボット学会誌,33(10):748-753 2015
Author:山崎公俊,倉爪亮


書評 イラストで学ぶ 人工知能概論
計測と制御,54(12):922 2015
Author:山崎公俊


データ工学ロボティクス
日本ロボット学会誌,33(2):35-37 2015
Author:大野和則,山崎公俊,下坂正倫


Unfolding an Item of Rectangular Clothing Using a Single Arm and an Assistant Instrument
Proceedings of the IEEE/SICE International Symposium on System Integration,:571-576 2014(Dec.)
Author:Hiroyuki Yuba, Kimitoshi Yamazaki


Bottom Dressing by a Life-Sized Humanoid Robot Provided Failure Detection and Recovery Functions
Proceedings of the IEEE/SICE International Symposium on System Integration,:564-570 2014(Dec.)
Author:Kimitoshi Yamazaki, Ryosuke Oya, Kotaro Nagahama, Kei Okada and Masayuki Inaba


Grasping Point Selection on an Item of Crumpled Clothing Based on Relational Shape Description
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems,:3123-3128 2014(Sep.)
Author:Kimitoshi Yamazaki


An Object Classification Framework Based on Unmeasurable Area Patterns Found in 3D Range Images
Proceedings of the IEEE International Conference on Automation Science and Engineering,:242-248 2014(Aug.)
Author:Koichiro Matsumoto and Kimitoshi Yamazaki


3D Shape Modeling of Movable Parts of Furniture Based on Time-Series Surface Correspondence
Proceedings of the IEEE International Conference on Automation Science and Engineering,:249-254 2014(Aug.)
Author:Kimitoshi Yamazaki, Kiyohiro Sogen, Takashi Yamamoto and Masayuki Inaba


Use of Character Information by Autonomous Robots Based on Character String Detection in Daily Environments
Robotica,:1-15 2014(Aug.)
Author:Kimitoshi Yamazaki, Tomohiro Nishino, Kotaro Nagahama, Kei Okada and Masayuki Inaba


A Method of State Recognition of Dressing Clothes Based on Dynamic State Matching
Proc. of the 2013 IEEE/SICE International Symposium on System Integration,:406-411 2013(Dec.)
Author:Kimitoshi Yamazaki, Ryosuke Oya, Kotaro Nagahama, Masayuki Inaba


A Vision System for Daily Assistive Robots Using Character Information in Daily Environments
Proc. of the 2013 IEEE/SICE International Symposium on System Integration,:901-906 2013(Dec.)
Author:Kimitoshi Yamazaki, Tomohiro Nishino, Kotaro Nagahama, Kei Okada, Masayuki Inaba


Clothing Classification Using Image Features Derived from Clothing Fabrics, Wrinkles and Cloth Overlaps
Proc. of IEEE/RSJ International Conference on Robots and Systems,:2710-2717 2013(Nov.)
Author:Kimitoshi Yamazaki and Masayuki Inaba


Assistive System Research for Creative Life Management on Robotics and Home Economics
Proc. of the 2013 IEEE Workshop on Advanced Robotics and its Social Impacts,:151-156 2013(Nov.)
Author:Yohei Kakiuchi, Shunichi Nozawa, Kimitoshi Yamazaki, Kei Okada, Masayuki Inaba


布地の折れ重なりやしわの状態,布地に着目した画像特徴量による無造作に置かれた布製品の個体識別
計測自動制御学会論文集,49(7):661-669 2013(Jul.)
Author:山崎公俊, 稲葉雅幸


Comparing Investigation of Images and 3D Mesh Model For Categorizing Electric Appliance Components
Proc. of the 2013 IAPR International Conference on Machine Vision Applications,:427-430 2013(May)
Author:Kimitoshi Yamazaki, Ryo Hanai, Hiroaki Yaguchi, Kotaro Nagahama, Katsuyoshi Yamagami, Masayuki Inaba


Manipulation of Multiple Objects in Close Proximity Based on Visual Hierarchical Relationships
Proc. of the 2013 IEEE International Conference on Robotics and Automation,:1295-1302 2013(May)
Author:Kotaro Nagahama, Kimitoshi Yamazaki, Kei Okada, Masayuki Inaba


Cooking Behavior with Handling General Cooking Tools based on a System Integration for a Life-sized Humanoid Robot
Journal of Behavioral Robotics,4(2):63-72 2013(Feb. 01)
Author:Yoshiaki Watanabe, Kotaro Nagahama, Kimitoshi Yamazaki, KeiOkada and Masayuki Inaba


Cuboid-based mapping using time-series range data for a daily assistive robot working on a daily environment
Advanced Robotics,27(4):287-299 2013(Feb.)
Author:Kimitoshi Yamazaki, Takemitsu Mori, Takashi Yamamoto, Masayuki Inaba


Attention region detection and tracking for observing a person manipulating day-to-day objects
International Journal of Mechatronics and Automation,3(1):58-67 2013(Jan.)
Author:Kotaro Nagahama, Tomohiro Nishino, Kimitoshi Yamazaki, Kei Okada, Masayuki Inaba


Hierarchical Estimation of Multiple Objects from Proximity Relationships Arising from Tool Manipulation
Proc. of the 2012 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012),:666-673 2012(Nov.)
Author:Kotaro Nagahama, Kimitoshi Yamazaki, Kei Okada, Masayuki Inaba


Home Assistant Robot for an Aging Society
Proceeding of the IEEE,100(8):2429-2441 2012(Aug.)
Author:Kimitoshi Yamazaki, Ryohei Ueda, Shunichi Nozawa, Mitsuharu Kojima, Kei Okada, Kiyoshi Matsumoto, Masaru Ishikawa


生活支援ロボットの作業空間把握のための時系列距離データに適したマップ表現と平面検出
日本ロボット学会誌,30(4):443-452 2012(Jun.)
Author:山崎公俊, 森健光, 山本貴史, 稲葉雅幸


Construction of Semantic Maps for Personal Mobility Robots in Dynamic Outdoor Environments
Proceedings of the International Conference on Field and Service Robotics 2012
Author:Naotaka Hatao, Satoshi Katami, Ryo Hanai, Kimitoshi Yamazaki and Masayuki Inaba


仮想マニピュレータを用いた移動ロボットの反射的動作生成法
日本ロボット学会誌,29(2):163-171 2011(Feb.)
Author:山崎公俊,稲葉雅幸


Electric appliance parts classification using a measure combining the whole shape and local shape distribution similarities
Proc. of 3DIM-PVT,:296-303 2011
Author:Ryo Hanai, Kimitoshi Yamazaki, Hiroaki Yaguchi, Kenji Sato, Kei Okada and Masayuki Inaba


Extraction of Character String Regions from Scenery Images Based on Contours and Thickness of Characters
Proc. of the IAPR Conf. on Machine Vision Applications,:307-310 2011
Author:Tomohiro Nishino, Kimitoshi Yamazaki, Kei Okada and Masayuki Inaba


Daily Clothes Observation from Visible Surfaces Based on Wrinkle and Cloth-Overlap Detection
Proc. of the IAPR Conf. on Machine Vision Applications,:275-278 2011
Author:Kimitoshi Yamazaki, Kotaro Nagahama and Masayuki Inaba


End Point Tracking for a Moving Object with Several Attention Regions by Composite Vision System
Proc. of IEEE Int’l Conf. on Mechatronics and Automation,:590 – 596 2011
Author:Kotaro Nagahama, Tomohiro Nishino, Mitsuharu Kojima, Kimitoshi Yamazaki, Kei Okada and Masayuki Inaba


Online Collision and Occlusion Detection Based on 3D Cuboid Maps for a Daily Assistive Robot with a Tilting LRF
Proc. of IEEE Int’l Conf. on Mechatronics and Automation,:767-772 2011
Author:Kimitoshi Yamazaki, Masayuki Inaba, Takemitsu Mori and Takashi Yamamoto


Grasp Observation and Reproduction by Humanoid Robots Using Color Camera and 3D Sensor
Proc. of IEEE/SICE Int’l Symposium on System Integration,:808-813 2011
Author:Tien Coung Kieu, Kimitoshi Yamazaki, Ryo Hanai, Kei Okada and Masayuki Inaba


Cuboid-Based Workspace Mapping and Plane Detection using Time-Series Range Data
Proc. of IEEE Int’l Conf. on Robotics and Biomimetics,:583-590 2011
Author:Kimitoshi Yamazaki, Takemitsu Mori, Takashi Yamamoto and Masayuki Inaba


System Integration of a Daily Assistive Robot and its Application to Tidying and Cleaning Rooms
Proc. of IEEE Int’l Conf. on Intelligent Robots and Systems,:1365-1371 2010
Author:Kimitoshi Yamazaki, Ryohei Ueda, Shunichi Nozawa, Yuto Mori, Toshiaki Maki, Naotaka Hatao, Kei Okada and Masayuki Inaba


Pedestrian Detection using a LRF and a Small Omni-view Camera for Outdoor Personal Mobility Robot
Proc. of IEEE Int’l Conf. on 155-160Robotics and Biomimetics 2010
Author:Manabu Saito, Kimitoshi Yamazaki, Naotaka Hatao, Ryo Hanai, Kei Okada and Masayuki Inaba


Recognition and Manipulation Integration of a Daily Assistive Robot Working on Kitchen Environment
Proc. of IEEE Int’l Conf. on Robotics and Biomimetics,:196-201 2010
Author:Kimitoshi Yamazaki, Yoshiaki Watanabe, Kotaro Nagahama, Kei Okada and Masayuki Inaba


Tidying and Cleaning Rooms using a Daily Assistive Robot – An Integrated System for Doing Chores in Real World -
Journal of Behavioral Robotics,11(4):231-239 2010
Author:Kimitoshi Yamazaki, Ryohei Ueda, Shunichi Nozawa, Yuto Mori, Toshiaki Maki, Naotaka Hatao, Kei Okada, Masayuki Inaba


A Cloth Detection Method Based on Wrinkle Features for Daily Assistive Robots
Proc. of the IAPR Conf. on Machine Vision Applications,:366-369 2009
Author:Kimitoshi Yamazaki and Masayuki Inaba


Real-Time Navigation for a Personal Mobility Robot in an Environment with Pedestrians
Proc. of 18th IEEE Int’l Symposium on Robot and Human Interactive Communication,:619-626 2009
Author:Naotaka Hatao, Ryo Hanai, Kimitoshi Yamazaki, Masayuki Inaba


Trajectory Control of Wheeled Mobile Robots Based on Virtual Manipulators
Proc. of IEEE Int’l Conf. on Intelligent Robots and Systems,:2973-2978 2009
Author:Kimitoshi Yamazaki and Masayuki Inaba


View-based Localization Using Head-Mounted Multi Sensors Information
Journal of Robotics and Mechatoronics,21(3):376-383 2009
Author:Hiroaki Yaguchi, Nikolaus Zaoputra, Naotaka Hatao, Kimitoshi Yamazaki, Kei Okada, Masayuki Inaba


三次元物体のモデリング・認識とロボティクスへの応用
日本ロボット学会誌,26(4):318-312 2008
Author:友納正裕,山崎公俊


Furniture Model Creation Through Direct Teaching to a Mobile Robot
Journal of Robotics and Mechatoronics,20(2):213-220 2008
Author:Kimitoshi Yamazaki, Takashi Tsubouchi and Masahiro Tomono


Pose Planning for a Mobile Manipulator based on Joint Motions for Posture Adjustment to End-Effector Error
Advanced Robotics,22(4):411-431 2008
Author:Kimitoshi Yamazaki, Masahiro Tomono, Takash Tsubouchi


Furniture Model Creation based on Direct Teaching to a Mobile Robot
Proc. of IAPR Conf. on Machine Vision and Applications,:272-275 2007
Author:Kimitoshi Yamazaki, Takashi Tsubouchi and Masahiro Tomono


Picking up and Unknown Object Through Autonmous Modeling and Grasping by a Mobile Manipulator
Proc. of the 6th Int’l Conf. on Field and Service Robotics,:563-571 2007
Author:Kimitoshi Yamazaki, Masahiro Tomono and Takashi Tsubouchi


Modeling and Motion Planning for Handling Furniture by a Mobile Manipulator
Proc. of IEEE Int’l Conf. on Intelligent Robots and Systems,:1926-1931 2007
Author:Kimitoshi Yamazaki, Takashi Tsubouchi and Masahiro Tomono


A Grasp Planning for Picking up an Unknown Object for a Mobile Manipulator
Proc. of IEEE Int’l Conf. on Robotics and Automation,:2143-2149 2006
Author:Kimitoshi Yamazaki, Masahiro Tomono, Takashi Tsubouchi and Shin’ichi Yuta


Motion Planning for a Mobile Manipulator Based on Joint Motions for Error Recovery
Proc. of IEEE/RSJ Int’l Conf. on Intelligent Robots and Systems,:7-12 2006
Author:Kimitoshi Yamazaki, Masahiro Tomono, Takashi Tsubouchi and Shin’ichi Yuta


Motion Planning for a Mobile Manipulator with Several Grasping Postures
Proc. of IEEE Int’l Conf. on Robotics and Biomimetics,:1077-1082 2006
Author:Kimitoshi Yamazaki, Masahiro Tomono, Takashi Tsubouchi and Shin’ichi Yuta


移動ロボット搭載のカメラを用いた物体の三次元形状モデリング
日本ロボット学会誌,23(7):102-111 2005(Oct.)
Author:山崎公俊, 友納正裕, 坪内孝司, 油田信一


カメラを搭載した移動ロボットによる物体のオンライン3次元モデリング
映像情報インダストリアル2004年12月号,:61-68 2004
Author:山崎公俊,友納正裕,坪内孝司,油田信一


3-D Object Modeling by a Camera Equipped on a Mobile Robot
Proc. of IEEE Int’l Conf. on Robotics and Automation,:1399-1405 2004
Author:Kimitoshi Yamazaki, Masahiro Tomono, Takashi Tsubouchi and Shin’ichi Yuta


Object Shape Reconstruction and Pose Estimation by a Camera Mounted on a Mobile Robot
Proc. of IEEE/RSJ Int’l Conf. on Intelligent Robots and Systems,:4019-4025 2004
Author:Kimitoshi Yamazaki, Masahiro Tomono, Takashi Tsubouchi and Shin’ichi Yuta

特許等知的財産
登録済特許
布検出装置及び布検出方法
ロボット装置及び物体の位置姿勢推定方法
自律型移動ロボット及び自律型移動ロボットの移動制御方法
ロボットアームの教示システム及び方法
3次元環境復元装置、その処理方法、及びプログラム
モデル生成装置,モデル生成方法及びモデル生成プログラム
物体認識装置、物体認識方法及び物体認識プログラム
3次元情報取得方法及び3次元情報取得装置
研究費
共同研究
2015 - 2015 , データ工学と人工知能学に基づく実世界ロボット学の構築 , 国内共同研究
2014 - 2014 , 知能ロボットのための新たな認識判断処理の構成 (国立情報学研究所) , 国内共同研究
2013 - 2015 , 屋外用自律移動体の環境認識に関する研究(他大学との共同研究) , 国内共同研究
2013 - 2013 , 知能ロボットのための新たな認識判断処理の構成 (国立情報学研究所) , 学内共同研究
2012 - 2014 , テクスチャの認識手法に関する研究(他大学との共同研究) , 国内共同研究
2012 - 2012 , 知能ロボットのための新たな認識判断処理の構成 (国立情報学研究所 共同研究) , 国内共同研究

受託研究
2019 - , 食材加工サポートシステムの研究開発
2019 - , モデル化難物体の操作知識抽出に基づく柔軟物製品の生産工程改善
2015 - , 不定形物操作のための知能システム構築プログラムの研究開発
家具のモデル化ならびに認識手法に関する研究(国内企業との共同研究)
2015 - 2019 , 不定形パターン情報処理に基づく極限環境センシングの能動化とセンシング情報の知的化
2010 - 2014 , 能動センシングによる日用柔軟物の情報知識化とその応用 (科学技術振興機構 さきがけ)
- 2013 , 掃除・片付け・拾い上げを行う自律型支援ロボットのための 認識特徴量ライブラリと識別器の研究開発(総務省SCOPE)

科学研究費補助金(研究代表者)
2018 - , 不均一性・弾性・異方性を伴う , 挑戦的萌芽研究
2011 - 2012 , 単純構成ロボットハンドによる器用な道具操作実現のための知能情報処理 , 挑戦的萌芽研究
2009 - 2010 , 移動型双腕ロボットによる生活支援行動のためのエラーリカバリシステム構成法 , 若手研究(B)
2006 - 2007 , 物体操作を行う移動マニピュレータの視覚と動作計画に関する研究 , 特別研究員奨励費

その他
2003 - 2004 , 携帯端末からの3次元形状の配信システム (情報処理推進機構 未踏ソフトウェア(ユース枠))

教育活動実績

授業等
2018 , 前期 , 工業力学演習
2017 , 前期 , 工業力学演習
2017 , 前期 , プログラミング基礎演習
2017 , 後期 , エンジニアリングスキル実習
2016 , 前期 , 工業力学演習
2016 , 後期 , エンジニアリングスキル実習
2015 , 前期 , 工業力学演習
2015 , 後期 , プログラミング基礎演習
2014 , 前期 , 工業力学演習
2014 , 後期 , プログラミング基礎演習