Takashi TSUBOUCHI
University of Tsukuba
Graduate School of Systems and Information Engineering
Department of Intelligent Interaction Technologies


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Publications

Journal Paper [2006-2011]
  1. E.Magid, T.Tsubouchi, E.Koyanagi, T.Ypshida and S.Tadokoro : "Controlled Balance Losing in Random Step Environment for Path Planning of a Teleoperated Crawler-Type Vehicle," Journal of Field Robotics, vol.28, issue 6, pp.933-949, 2011.
  2. E.Magid, T.Tsubouchi, E.Koyanagi, and T.Ypshida : "Buillding a Search Tree for a Pilot System of a Rescue Search Robot in a Discretized Random Step Environment," Journal of Robotics and Mechatronics, Vol.23, No.4, pp.567-581, 2011.

  3. T.Tsubone, N.Inaba, T.Tsubouchi and T.Yoshinaga : "Synchronization Phenomena from an Extremely Simplified Piecewise-Constant Driven Oscillator," IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences, vol.J93-A, no.5, pp.375-383, 2010.

  4. Y.Morales, A.Carballo, E.Takeuchi, A.Aburadani and T.Tsubouchi : "Autonomous robot navigation in outdoor cluttered pedestrian walkways," Journal of Field Robotics, vol.26, issue 8, pp.609-635, 2009.

  5. K. Yamazaki, M. Tomono and T. Tsubouchi : "Pose Planning for a Mobile Manipulator Based on Joint Motions for Posture Adjustment to End-Effector Error," Advanced Robotics, vol.22, no.4, pp.411-431, 2008.
  6. S.Hiraoka, H.Fujiwara, I.Hoshino, J.Nishio, Y.Shimoda, T.Kitano and T.Tsubouchi : "Development of an Observation System for Underground Gas Piping," Journal of the Japanese Society for Non-Destructive Inspection, vol.57, no.7, pp.311-315, 2008.
  7. K.Yamazaki, T.Tsubouchi and M.Tomono : "Furniture Model Creation Through Direct Teaching to a Mobile Robot," Journal of Robotics and Mechatronics, vol.20, no.2, pp.213-220, 2008.

  8. E.Takeuchi, T.Tsubouchi : "An Automatic Effector Changer for a Mobile Robot", Transactions of the Japan Society of Mechanical Engineers C, vol.73, no.736, pp.3220-3227, 2007.

  9. M.Sekikawa, N.Inaba, T.Yoshinaga and T.Tsubouchi : "Bifurcation Structure of Successive Torus Doubling," Physics Letters A, no.348, pp.187-194, 2006.
  10. Y.Weerakamhaeng, T.Tsubouchi, M.Kurisu and S.Sarata : "A Semi-Optimal Path Generation Scheme for Frame Articulated Steering Type Vehicle," Advanced Robotics, vol.20, no.8, pp.867-896, 2006.

Proceedings [2006-2010]
  1. E.Magid and T.Tsubouchi : "Static Balance for Rescue Robot Navigation: Translation Motion Discretization Issue within Random Step Environment," Proc. of Int. Conf. on Informatics in Control, Automation and Robotics (ICINCO2010), pp. 415-422, 2010.
  2. Y.Sawada and T.Tsubouchi : "Autonomous Re-alignment of Multiple Table Robots," Proc. of IEEE Int. Conf. on Robotics and Automation, pp.1098-1099, 2010.
  3. J.Okumura, T.Takei and T.Tsubouchi : "Path Tracking of an Unicycle Robot with a Wide-Type Wheel aimed for Navigation," The 11th IEEE International Workshop on Advanced Motion Control, NF-003786, 2010.
  4. T.Takei, M.Tsuruta, J.Okumura, T.Nakabayashi and T.Tsubouchi : "Stabilized Motion of a Small Sized Bike Robot only by Steering Control," The 11th IEEE International Workshop on Advanced Motion Control, NF-003751, 2010.

  5. Y.Morales, T.Tsubouchi and S.Yuta : "Vehicle 3D Localization in Mountainous Woodland Environments," Proc. of IEEE Int. Conf. on Intelligent Robots and Systems, pp.3588-3594, 2009.

  6. E.Magid, K.Ozawa, T.Tsubouchi, E.Koyanagi, and T.Yoshida: "Rescue Robot Navigation : Static Stability Estimation in Random Step Environment," Proc. of Int. Conf. on SIMULATION, MODELING and PROGRAMMING for AUTONOMOUS ROBOTS (SIMPAR 2008) , pp. 305-316, 2008.
  7. Y.Morales, E.Takeuchi, A.Carballo, W.Tokunaga, H.Kuniyoshi, A.Aburadani, A.Hirosawa, Y.Nagasaka, Y.Suzuki and T.Tsubouchi : "1Km Autonomous Robot Navigation on Outdoor Pedestrian Paths gRunning The Tsukuba Challenge 2007h," Proc. of IEEE Int. Conf. on Intelligent Robots and Systems, pp.219-225, 2008.
  8. E.Takeuchi and T.Tsubouchi : "Multi Sensor Map Building based on Sparse Linear Equations Solver," Proc. of IEEE Int. Conf. on Intelligent Robots and Systems, pp.2511-2518, 2008.
  9. J.H.Lee, K.Abe, T.Tsubouchi, R.Ichinose, Y.Hosoda and K.Ohba : "Collision-Free Navigation Based on People Tracking Algorithm with Biped Walking Model," Proc. of IEEE Int. Conf. on Intelligent Robots and Systems, pp.2983-2989, 2008.
  10. Y.Morales, E.Takeuchi and T.Tsubouchi : "Vehicle Localization in Outdoor Woodland Environments with sensor fault detection," Proc. of IEEE Int. Conf. on Robotics and Automation, pp.449-454, 2008.

  11. K.Yamazaki, T.Tsubouchi and M.Tomono : "Modeling and Motion Planning for Handling Furniture by a Mobile Manipulator", Proceedings of the 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1926-1931, 2007.
  12. Y.Morales and T.Tsubouchi : "GPS Moving Performance on Open Sky and Forested Paths", Proceedings of the 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.3180-3185, 2007.
  13. Y.Morales and T.Tsubouchi : "DGPS, RTK-GPS and StarFire DGPS Performance Under Tree Shading Environments," Proc. of IEEE Int. Conf. on Integration Technology, pp.519-524, 2007.

  14. S.Sarata, N.Koyachi, T.Tsubouchi, H.Osumi, M.Kurisu and K.Sugawara : "Development of Autonomous System for Loading Operation by Wheel Loader," 23rd Int. Symposium on Automation and Robotics in Construction, pp.466-471, 2006.
  15. K.Tadano, T.Tsubouchi, M.Kurisu and S.Sarata: "Massive Rock Handling by a Breaker -Graspless Manipulation and Object Recognition-," 23rd Int. Symposium on Automation and Robotics in Construction, pp.487-492, 2006.
  16. Y.Weerakamhaeng, T.Tsubouchi, M.Kurisu and S.Sarata : "Parametric Path Planning For A Car-like Robot Using CC Steers," Int. Conf. on Intelligent Autonomous Systmes-9, pp.613-621, 2006.
  17. K.Yamazaki, M.Tomono, T.Tsubouchi and S.Yuta : "A Grasp Planning for Picking up an Unknown Object for a Mobile Manipulator," Proc. of IEEE Int. Conf. on Robotics and Automation, pp.2143-2149, 2006.
  18. E.Takeuchi and T.Tsubouchi : "Portable Effector Docking Mechanism for a Service Mobile Robot and Its Positioning," Proc. of IEEE Int. Conf. on Robotics and Automation, pp.3380-3386, 2006.
  19. K.Yamazaki, M.Tomono, T.Tsubouchi and S.Yuta : "Motion Planning for a Mobile Manipulator Based on Joint Motions for Error Recovery," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.7-12, 2006.
  20. J.H.Lee, T.Tsubouchi, K.Yamamoto and S.Egawa : "People Tracking Using a Robot in Motion with Laser Range Finder," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.2936-2942, 2006.
  21. E.Takeuchi and T.Tsubouchi : "A 3-D Scan Matching using Improved 3-D Normal Distributions Transform for Mobile Robotic Mapping," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.3068-3073, 2006.
  22. K.Yamazaki, M.Tomono and T.Tsubouchi : "Motion Planning for a Mobile Manipulator with Several Grasping Postures," Proc. of IEEE Int. Conf. on Robotics and Biomimetics, pp.1077-1082, 2006.
  23. E.Takeuchi and T.Tsubouchi : "Sensory Data Processing Middlewares for Service Mobile Robot Applications," SICE-ICASE Int. Joint Conf. 2006, pp.1201-1206, 2006.

Presentation : Domestic Conference [2006-2011]
  1. T.Tsubouchi and S.Sarata : "Endevors at Automating Rock Breaking Operation in Opencut Mines," The 29th Annual Conference of the Robotics Society of Japan, 2E2-5 (CD-ROM), 2011.
  2. S.Kawabe, T.Tsubouchi and S.Sarata : "Extraction of Rocks by Image Processing in Primary Crushing Room of Mine," 2011 JSME Conf. on Robotics and Mechatronics, 1A1-C05, (CD-ROM), 2011.
  3. Y.Tadokoro, N.Morikawa and T.Tsubouchi : "Moving Object Detection by a Moving Mobile Robot with Stereo Vision," 2011 JSME Conf. on Robotics and Mechatronics, 1P1-M09, (CD-ROM), 2011.
  4. Y.Okada, T.Tsubouchi, Y.Hosoda, R.Ichinose and Y.Hara : "Outdoor Localization of a Mobile Robot using a Monocular Camera Based on Straight Line Patterns of Tiled Pavement," 2011 JSME Conf. on Robotics and Mechatronics, 2A1-M10, (CD-ROM), 2011.
  5. N.Morikawa and T.TsubouchiF"Localization of Autonomous Outdoor Mobile Robot Using White-line Detection by Image Processing," 2011 JSAE (Society of Automotive Engineers of Japan, Inc.) Annual Congress (Spring), No.58-11-277, 2011
  6. T.Nakabayashi, T.Takei, T.Tsubouchi and J.Okumura : "Autonomous Navigation of a Small Bike Robot in Indoor Hallway Environment," The 16th Robotics Symposia, pp.544-550, 2011.

  7. T.Tsubouchi, N.Morikawa, I.Anusorn, Y.Okada, M.Shiina, S.Bando, K.Kishita, T.Shikina, Y.Shimizu, K.Tanigaki, T.Kimura, Y.TadokoroF"An approach of Okugai-gumi in the Intelligent Robot Lab. at U. of Tsukuba for Tsukuba Challenge 2010," 11th SICE System Integration Division Annual Conf. (SI2010), 3A2-3 (CD-ROM), 2010
  8. T.Takei, J.Okumura, T.Tsubouchi, Y.ShimizuF"Experiment of Navigation in Indoor Environment by an Autonomous Unicycle Robot with Wide-Type Wheel," The 28th Annual Conference of the Robotics Society of Japan, 2Q2-7 (CD-ROM), 2010
  9. S.Kondo, K.Shiozawa, T.Mochizuki, T.Tsubouchi, S.Tomimura, A.Mochizuki, K.Sasaki, T.HayamiF "Three-dimensional map building for forest structure analysis applying ICP," The 28th Annual Conference of the Robotics Society of Japan, 3I3-8 (CD-ROM), 2010
  10. E.Magid and T.Tsubouchi : "Defining a Search Tree for Rescue Robot Navigation in Random Step Environment: Translation Step ," 2010 JSME Conf. on Robotics and Mechatronics, 1A1-B23, (CD-ROM), 2010.
  11. S.Kondo, K.Shiozawa, T.Tsubouchi, S.Tomimura, A.Mochizuki, K.Sasaki and T.Hayami : "Three-dimensional map building for forest structure analysis using SOKUIKI sensor ," 2010 JSME Conf. on Robotics and Mechatronics, 1A1-D16, (CD-ROM), 2010.
  12. Y.Okada and T.Tsubouchi : "The indoor localization of mobile robot that uses Ceiling joint pattern," 2010 JSME Conf. on Robotics and Mechatronics, 1A2-E12, (CD-ROM), 2010.
  13. T.Nakabayashi, T.Takei, T.Tsubouchi and M.Tsuruta : "Indoor autonomous navigation of a small sized bike robot," 2010 JSME Conf. on Robotics and Mechatronics, 2P1-E22, (CD-ROM), 2010.
  14. T.Takei, J.Okumura and T.Tsubouchi : "Developement of Autonomous Unicycle Robot withWide-Type Wheel," 2010 JSME Conf. on Robotics and Mechatronics, 2P1-F13, (CD-ROM), 2010.
  15. N.Morikawa and T.Tsubouchi : "Study on Autonomous Navigation of a Mobile Robot Using Stereo Vision In Outdoor Environment," 2010 JSME Conf. on Robotics and Mechatronics, 2P1-G03, (CD-ROM), 2010.
  16. N.Inaba, T.Yoshinaga, K.Fujimoto, T.Tsubouchi and T.Endo : "Breakdown of Mixed-Mode Oscillations in a Slow-Fast Dynamical System," The Institute of Electronics, Information and Communication Engineers (IEICE) Technical Report, (NLP2009-165), pp.43-46, 2010.
  17. T.Tsubouchi : "Mobile Robot Test Run Experiments in Public Streets -Tsukuba Challenge-," Proceedings of The 2010 Institute of Electronics, Information and Communication Engineers (IEICE) General Conf., (invited talk), DP-1-1, (CD-ROM), 2010.
  18. T.Tsubone, N.Inaba, T.Tsubouchi and T.Yoshinaga : "Synchronization Phenomena from an Extremely Simplified Piecewise-Constant Driven Oscillator," The Institute of Electronics, Information and Communication Engineers (IEICE) Technical Report, (NLP2009-167), pp.53-58, 2010.
  19. Y.Hara, T.Tsubouchi and S.Yuta : "Probabilistic Localization with Scan Matching and Determining Likelihood Distribution based on Normal Direction Constraints of a Point Cloud," The 15th Robotics Symposia, pp.270-275, 2010.

  20. T.Tsubouchi, N.Morikawa, Y.Sawada, A.Chand, S.Bando, Y.Okada, M.Shiina, Y.Koshihara, T.Shikina, K.Kishita and Y.Morales : "An approach of Okugai-gumi in the Intelligent Robot Lab. at U. of Tsukuba for Tsukuba Challenge 2009", 10th SICE System Integration Division Annual Conf. (SI2009), 3B2-6, (CD-ROM), 2009.
  21. N.Morikawa, A.Chand, K.Kishita and T.Tsubouchi : "Visual Approach of "Okugaigumi" in Tsukuba Challenge 2009", 10th SICE System Integration Division Annual Conf. (SI2009), 3B2-4, (CD-ROM), 2009.
  22. M.Kuwano, T.Tsubouchi and T.Doi : "A development of a small-sized pole mounted Stereo camera system for confined space search", 10th SICE System Integration Division Annual Conf. (SI2009), 2M2-5, (CD-ROM), 2009.
  23. T.Doi, T.Aoki, S.Hirose, K.Suzumori and T.Tsubouchi : "Development of the advanced search and rescue tools driven with water pressure and compressed air", 10th SICE System Integration Division Annual Conf. (SI2009), 2M1-4, (CD-ROM), 2009.
  24. S.Sawada and T.Tsubouchi : "Motion Planning for Autonomous Omni-directional Mobile Desk Robots", The 27th Annual Conf. of The Robotics Society of Japan, 1Q1-01, (CD-ROM), 2009.
  25. M.Kuwano and T.Tsubouchi : "A development of a small-sized synchronous image capturing Stereo camera system for search in a confined space", The 27th Annual Conf. of The Robotics Society of Japan, 1G2-06, (CD-ROM), 2009.
  26. Y.Hara, T.Tsubouchi and S.Yuta : "Localization with Probabilistic Scan Matching using a Model to Determine Likelihood Distribution based on Tangential Directions of Scan Points", The 27th Annual Conf. of The Robotics Society of Japan, 1F3-03, (CD-ROM), 2009.
  27. M.Namiki, T.Tsubouchi, S.Sarata and E.Koyanagi : "Recognition and Operation of Rocks in the Laboratory Environment for Automation of Breaker Operation", The 27th Annual Conf. of The Robotics Society of Japan, 2R1-01, (CD-ROM), 2009.
  28. Y.Hara, T.Tsubouchi and S.Yuta : "A Method to Determine Likelihood Distribution based on the Shape of Scan Points in Localization with Scan Matching," 2009 JSME Conf. on Robotics and Mechatronics, 1A1-D14, (CD-ROM), 2009.
  29. K.Ozawa and T.Tsubouchi : "Obstacle Avoidance Using SOKUIKI Sensor for a Mobile Robot," 2009 JSME Conf. on Robotics and Mechatronics, 1A2-G21, (CD-ROM), 2009.

  30. T.Doi, Y.Hashimoto, M.Fujita, T.Aoki, S.Hirose, K.Suzumori and T.Tsubouchi : "Development of the advanced search and rescue tools driven with water pressure and compressed air -The second reportF Summary in 2008 and Approach for practical use-", 9th SICE System Integration Division Annual Conf. (SI2008), 1A4-4, (CD-ROM), 2008.
  31. T.Tsubouchi, Y.Morales, A.Carballo, Y.Hara, A.Aburadani, H.Kuniyoshi, A.Hirosawa, Y.Suzuki, M.Kristou, T.Yamaguchi, Y.Sawada and N.Morikawa : "An approach of Okugai-gumi in the Intelligent Robot Lab. at U. of Tsukuba for Tsukuba Challenge 2008", 9th SICE System Integration Division Annual Conf. (SI2008), 1I4-6, (CD-ROM), 2008.
  32. M.Namiki, T.Tsubouchi, S.Sarata and E.Koyanagi : "The Analysis for Automation of Massive Rock Handling with a Breaker", Proceedings of The 11th Symposium on Construction Robotics in Japan, pp.305-314, 2008.
  33. E.Takeuchi and T.Tsubouchi : "Open Navigation Software for a Mobile Robot using Multi Sensor," 2008 JSME Conf. on Robotics and Mechatronics, 1P1-E22, (CD-ROM), 2008.
  34. Y.Sawada and T.Tsubouchi : "Position Detection of a Group of Mobile Desk Robots using a Camera on the Ceiling," 2008 JSME Conf. on Robotics and Mechatronics, 2A1-F22, (CD-ROM), 2008.
  35. M.Hayashi, T.Tsubouchi and T.Doi : "A Development of a Handheld Pole Mounted Camera System Providing Stereoscopic View in Narrow Space," 2008 JSME Conf. on Robotics and Mechatronics, 2P1-A03, (CD-ROM), 2008.
  36. Y.Morales and T.Tsubouchi : "Vehicle Localization on Outdoor Woodland Environments," 2008 JSME Conf. on Robotics and Mechatronics, 2P2-C11, (CD-ROM), 2008.
  37. A.Aburadani, W.Tokunaga, E.Takeuchi, Y.Morales and T.Tsubouchi : "Obstacle Detection and Avoidance using SOKUIKI Sensor on a Road with Fallen Leaves," 2008 JSME Conf. on Robotics and Mechatronics, 2P2-D20, (CD-ROM), 2008.
  38. S.Nishio, M.Doi, T.Tsubouchi, T.Kotoku and M.Mizukawa : "Towards Standardization of Robotic Localization Service," The 13th Robotics Symposia, pp.51-58, 2008.
  39. E.Takeuchi and T.Tsubouchi : "Multi Sensor Map Building based on Sparse Linear System Solver," The 13th Robotics Symposia, pp.166-173, 2008.
  40. G.Kaino, T.Takei and T.Tsubouchi : "Development of a bicycle type vehicle's simulator with three-dimensional dynamics -Simulation including viscous friction model and the wheel width-," The 13th Robotics Symposia, pp.482-489, 2008.

  41. T.Doi, H.Yano, K.Suzumori, T.Tsubouchi and S.Hirose : "Development of the advanced search and rescue tools driven with water pressure and compressed air -The first reportF Study summary and result-", 8th SICE System Integration Division Annual Conf. (SI2007), 2D2-2, (CD-ROM), 2007.
  42. M.Hayashi, T.Tsubouchi and T.Doi : "Development of a compact stereo camera system for searching in rubble", 8th SICE System Integration Division Annual Conf. (SI2007), 2D2-3, (CD-ROM), 2007.
  43. W.Tokunaga, Y.Morales and T.Tsubouchi : "DGPS data rejection using wide-angle camera for autonomous robot navigation in outdoor environments", 8th SICE System Integration Division Annual Conf. (SI2007), 2F1-5, (CD-ROM), 2007.
  44. T.Tsubouchi, Y.Morales, W.Tokunaga, .Takeuchi, A.Carballo, H.Kuniyoshi, Y.Suzuki, A.Aburadani, A.Hirosawa and Y.Nagasaka : "Autonomous Outdoor Navigation, University of Tsukuba Intelligent Robot Laboratoryfs OKUGAIGUMI Team", 8th SICE System Integration Division Annual Conf. (SI2007), 3C3-6, (CD-ROM), 2007.
  45. K.Abe, J.H.Lee, T.Tsubouchi, R.Ichinose and Y.Hosoda : "People Tracking using SOKUIKI Sensor mounted on a Mobile Robot", 8th SICE System Integration Division Annual Conf. (SI2007), 3K2-1, (CD-ROM), 2007.
  46. S.Wu, E.Takeuchi, T.Tsubouchi and E.Koyanagi : "Object Transportation System by Multiple Omni-Directional Mobile Robots", 2007 JSME Conf. on Robotics and Mechatronics, 1A1-C06, (CD-ROM), 2007.
  47. K.Ishisaka, E.Takeuchi and T.Tsubouchi : "Autonomous table rearrangement system using omni directional mobile tables", 2007 JSME Conf. on Robotics and Mechatronics, 1A1-N06, (CD-ROM), 2007.
  48. E.Takeuchi and T.Tsubouchi : "A development of a localization and an obstacle detection middleware -Towards a Mobile Robot Operating System-", 2007 JSME Conf. on Robotics and Mechatronics, 1P1-D03, (CD-ROM), 2007.
  49. G.Kaino, T.Takei and T.Tsubouchi : "3D dynamics simulation for bicycle", 2007 JSME Conf. on Robotics and Mechatronics, 2A1-C07, (CD-ROM), 2007.
  50. K.Yamazaki, T.Tsubouchi and M.Tomono : "Model Creation for Furniture Handling by a Mobile Robot", 2007 JSME Conf. on Robotics and Mechatronics, 2P1-G10, (CD-ROM), 2007.
  51. M.Hayashi and T.Tsubouchi : "Development of a Rescue Sensor System for indicating In-Rubble Shape Information", 2007 JSME Conf. on Robotics and Mechatronics, 2P1-M04, (CD-ROM), 2007.
  52. E.Takeuchi and T.Tsubouchi : "A customizable mobile robot system for end-users", The 25th Annual Conf. of the Robotics Society of Japan, 1O36, (CD-ROM), 2007.
  53. E.Takeuchi and T.Tsubouchi : "Improvements of Approximations of Pose Graph Optimization SLAM Algorithm", The 25th Annual Conf. of the Robotics Society of Japan, 2O24, (CD-ROM), 2007.
  54. M.Obata, K.Yamazaki and T.Tsubouchi : "Autonomous Crack Detection in Indoor Environment by a Mobile Camera", The 13th Symposium on Sensing via Image Information(SSII07), IN3-02, (CD-ROM), 2007.
  55. J.H.Lee, T.Tsubouchi, K.Yamamoto and S.Egawa : "Multiple Human Objects Tracking for Collision-free Path Planning", The 12th Robotics Symposia, pp.284-290, 2007.
  56. K.Yamazaki, T.Tsubouchi and M.Tomono : "Motion Planning for Handling Furniture by a Mobile Manipulator based on Direct Teaching", The 12th Robotics Symposia, pp.406-411, 2007.
  57. E.Takeuchi and T.TSubouchi : A Localization and Mapping Middleware with Multi Modal Sensors for a Mobile Robot", The 12th Robotics Symposia, pp.492-497, 2007.

  58. J.H.Lee, T.Tsubouchi, K.Yamamoto and S.Egawa : "People Tracking and Trajectory Planning for a Mobile Robot", 2006 JSME Conf. on Robotics and Mechatronics, 2P2-E05, (CD-ROM), 2006.
  59. K.Yamazaki, M.Tomono, T.Tsubouchi and S.Yuta: "A Mobile Manipulator System for Picking up an Unknown Object", 2006 JSME Conf. on Robotics and Mechatronics, 2P1-D24, (CD-ROM), 2006.
  60. E.Takeuchi and T.Tsubouchi : "Create a PC with limbs -A proposal of functional modularization for a versatile mobile robot-", 2006 JSME Conf. on Robotics and Mechatronics, 1P1-C33, (CD-ROM), 2006.
  61. K.Yamamoto, S.Egawa, R.Ichinose, J.Tamamoto, Y.Hosoda, J.H.Lee, T.Tsubouchi, S.Yuta: "Collision-Avoidance Navigation of a Human-Symbiotic Robot gEMIEWh", The 24th Annual Conf. of the Robotics Society of Japan, 1L23, (CD-ROM), 2006.
  62. M.Hattori, E.Okamura, H.Kondoh, T.Araya, T.Tsubouchi, S.Shimizu, T.Kitano : "Development of Laser Drilling Robot for Aged Small-Diameter Gas-Pipes Repair", The 24th Annual Conf. of the Robotics Society of Japan, 2G21, (CD-ROM), 2006.
  63. K.Yamazaki, M.Tomono, T.Tsubouchi and S.Yuta : "Posture Evaluation for a Mobile Manipulator based on Error Recovery", The 24th Annual Conf. of the Robotics Society of Japan, 3E16, (CD-ROM), 2006.
  64. K.Yamazaki, M.Tomono, T.Tsubouchi and S.Yuta : "Motion Planning for a Mobile Manipulator with Several Grasping Postures", The 24th Annual Conf. of the Robotics Society of Japan, 3E17, (CD-ROM), 2006.
  65. S.Wu, E.Takeuchi, T.Tsubouchi and E.Koyanagi : "Object Transportation System by Multiple Omni-Directional Mobile Robots -Relative Position Estimation using Velocity Measurement-", 7th SICE System Integration Division Annual Conf. (SI2006), 1L1-3, (CD-ROM), 2006.
  66. A.Shimomura, T.Tsubouchi and S. Yuta : "Position estimation using relative location information of multiple mobile robots", 7th SICE System Integration Division Annual Conf. (SI2006), 1N3-6, (CD-ROM), 2006.
  67. M.Obata and T.Tsubouchi : "A Mobile Robot System for Indoor Crack Detection - Automatic Image Capturing and Crack Detection -", 7th SICE System Integration Division Annual Conf. (SI2006), 2L2-4, (CD-ROM), 2006.
  68. F.Matsuno, T.Tsubouchi and S.Tadokoro : "Research Activities of On-Rubble Robot System Mission Unit", 7th SICE System Integration Division Annual Conf. (SI2006), 3A1-1, (CD-ROM), 2006.
  69. Y.Inoue, T.Takeuchi, T.Inoh, T.Sasaki, N.Shiroma,@@@T.Kamegawa, N.Sato, M.Guarnieri, K.Takita, K.Ohno, K.Kawasima, S.Tadokoro, S.Hirose, T.Tsubouchi and F.Matsuno: "Development of passive joint arm for connecting HELIOS Carrier", 7th SICE System Integration Division Annual Conf. (SI2006), 3A1-2, (CD-ROM), 2006.
  70. T.Takeuchi, Y.Inoue, N.Shiroma, T.Inoh, T.Kamegawa, N.Sato, K.Takita, K.Ohno, M.Gurarnieri, S.Tadokoro, S.Hirose, T.Tsubouchi and F.Matsuno : "Development of Driving Control System for Articulated Tracked Vehicles HELIOS Carriers", 7th SICE System Integration Division Annual Conf. (SI2006), 3A1-3, (CD-ROM), 2006.
  71. J.H.Lee and T.Tsubouchi: "Redundancy Resolution of Nonholonomic Mobile Manipulator for Welding Application", 7th SICE System Integration Division Annual Conf. (SI2006), 3M3-3, (CD-ROM), 2006.
  72. S.Sarata, N.Koyachi, T.Tsubouchi and K.Sugawara : "Path Planning with Pseudo-clothoid for Loading Operation by Wheel Loader", 7th SICE System Integration Division Annual Conf. (SI2006), 3M3-4, (CD-ROM), 2006.
  73. E.Takeuchi and T.Tsubouchi : "A Fast Scan Matching in 3-D Space using 3D Normal Distributions Transform for Mobile Robotic Mapping", The 11th Robotics Symposia, pp.252-257, 2006.
  74. K.Yamazaki, M.Tomono, T.Tsubouchi and S.Yuta : "A Grasping Planning for Picking up an Unknown 3D Object for a Mobile Manipulator", The 11th Robotics Symposia, pp.339-344, 2006.


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