坪内 孝司
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



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Publications  [-2005]

学術雑誌掲載論文 [-2005]
  1. 山崎, 友納, 坪内, 油田:「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,vol.23, no.7, pp.868-877, 2005.

  2. K.Ohno, T.Tsubouchi, B.Shigematsu and S.Yuta: "Differential GPS and Odometry-Based Outdoor Navigation of a Mobile Robot," Advanced Robotics, vol.18, no.6, pp.611-635, 2004.
  3. 大野, 坪内, 前山, 油田:「カラー画像を用いた歩道領域の認識と自律移動ロボットによる歩道沿い走行」,日本機械学会論文誌 C, vol.70, no.693, pp.1380-1387, 2004.
  4. M.Sekikawa, N.Inaba and T.Tsubouchi: "Chaos via Duck Solution Breakdown in a Piecewise Linear van der Pol Oscillator Driven by an Extremely Small Periodic Perturbation," Physica D, no.194, pp.227-249, 2004.

  5. N.Inaba, M.Sekikawa, T.Endo and T.Tsubouchi: "Revealing the Trick of Taming Chaos by Weak Harmonic Perturbations," International Journal of Bifurcation and Chaos, Vol.13, No.10, pp.2905-2915, 2003.

  6. Li Wen, T.Tsubouchi and S.Yuta: "Manipulative Difficulty of a Mobile Robot with Maltiple Trailers in Pushing and Towing," Advanced Robotics, vol.14, no.3, pp.169-183, 2000.

  7. Y.Ando, T.Tsubouchi and S.Yuta: "Development of Ultra Wide Angle Laser Range Sensor and Navigation of a Mobile Robot in a Corridor Environment," Journal of Robotics and Mechatronics, vol.11, no.1, pp.25-32, 1999.

  8. 皿田, 坪内, 油田:「鉱石堆積物積み込み作業におけるホイールローダの走行経路計画」, 資源・素材学会誌, vol.112, no.8, pp.531-536, 1996.
  9. Y.Ando, T.Tsubouchi and S.Yuta: "A Reactive Wall Following Algorithm and its Behavior of an Autonomous Mobile Robot with Sonarring," Journal of Robotics and Mechatronics, vol.8, no.1, pp.33-39, 1996.

  10. 登内, 坪内, 有本:「観測モデルに誤りがある場合の最適フィルタについて」, 計測自動制御学会論文誌, vol.31, no.8, pp.1168-1174, 1995.

  11. 登内, 坪内, 有本:「移動ロボットにおける空間有限性を考慮した位置推定 -内界センサ情報と作業領域に関する知識のベイズ的融合法-」, 日本ロボット学会誌, vol.12, no.5, pp.695-699, 1994.
  12. 坪内, 浪花, 有本:「平面を移動する複数の移動障害物とその速度を考慮した移動ロボットのプランニングとナビゲーション」, 日本ロボット学会誌, vol.12, no.7 pp.1029-1037, 1994.

    (英語版) T.Tsubouchi, T.Naniwa and S.Arimoto: "Planning and Navigation by a Mobile Robot in the Presence of Multiple Moving Obstacles and their Velocities," Journal of Robotics and Mechatronics, vol.8, no.1, pp.58-66, 1996.

  13. S.Iida, T.Tsubouchi and S.Yuta: "Position Identification Method for Mobile Robots Using Color Images," Advanced Robotics, vol.7, no.3, pp.261-282, 1993.

  14. 飯田, 坪内, 油田:「移動ロボットのカラー画像による自己位置同定法」, 日本ロボット学会誌, vol.8, no.6, pp.641-651, 1990.

  15. 坪内, 油田:「移動ロボット用視覚のための建物内環境地図の表現法と視野像の生成」, 日本ロボット学会誌, vol.7, no.3, pp.199-209, 1989.

  16. 坪内, 金山, 油田:「濃度勾配の方向による領域生成と最小二乗あてはめを用いた線分抽出」, 日本ロボット学会誌, vol.4, no.3, pp.220-230, 1986.

国際会議(査読あり) [-2005]
  1. S.Sarata, Y.Weerakamhaeng, A.Horiguchi and T.Tsubouchi: "V Shape Path Generation for Loading Operation by Wheel Loader," Preprints of Int. Conf. on Field and Service Robotics, pp.592-603, 2005.
  2. S.Sarata, Y.Weeramhaeng and T.Tsubouchi: "Approach Path Generation to Scooping Position for Wheel Loader," Proc. of IEEE Int. Conf. on Robotics and Automation, pp.1821-1826, 2005.

  3. T.Tsubouchi, A.Tanaka, A.Ishioka, M.Tomono and S.Yuta: "A SLAM Based Teleoperation and Interface System for Indoor Environment Reconnaissance in Rescue Activities," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1096-1102, 2004.
  4. K.Yamazaki, M.Tomono, T.Tsubouchi and S.Yuta: "Object Shape Reconstruction and Pose Estimation by a Camera Mounted on a Mobile Robot," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.4019-4025, 2004.
  5. K.Yamazaki, M.Tomono, T.Tsubouchi and S.Yuta: "3-D object Modeling by a Camera Equipped on a Mobile Robot," Proc. of IEEE Int. Conf. on Robotics and Automation, pp.1399-1405, 2004.
  6. K.Ohno, T.Tsubouchi, B.Shigematsu and S.Yuta: "Proper use of GPS for Outdoor Navigation by an Autonomous Mobile Robot," Int. Conf. on Intelligent Autonomous Systmes-8, pp.1070-1079, 2004.
  7. K.Ohno, T.Tsubouchi, and S.Yuta: "Outdoor Map Building Based on Odometry and RTK-GPS Positioning Fusion," Proc. of IEEE Int. Conf. on Robotics and Automation, pp.684-690, 2004.

  8. K.Ohno, T.Tsubouchi, B.Shigematsu and S.Yuta: "Outdoor Navigation of a Mobile Robot between Buildings Based on DGPS and Odometry Data Fusion," 2003 IEEE Int. Conf. on Robotics and Automation, pp.1978-1984, 2003.
  9. K.Ohno, T.Tsubouchi, B.Shigematsu, S.Maeyama and S.Yuta: "Mobile Robot Navigation Based on DGPS and Odometry in Campus Environment," Int. Conf. on Field and Service Robotics '03, pp.189-194, 2003.
  10. S.Kang, M.Nam, T.Tsubouchi and S.Yuta: "Wheeled Blimp: Hybrid Structured Airship with Passive Wheel Mechanism for Tele-guidance Applications," 2003 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.3552-3557, 2003.
  11. T.Tsubouchi, T.Yamaguchi and S.Yuta: "Online Sensor-based Behavior Decision and Navigation of a Mobile Robot in Unknown Indoor Environment," Bruno Siciliano and Paolo Dario Eds., Experimental Robotics VIII (Springer Tracts in Advanced Robotics 5), pp.168-177, Springer 2003.

  12. N.Inaba, M.Sekikawa, T.Endo and T.Tsubouchi: "Trick of Suppression of Chaos by Weak Resonant Perturbations," Proc. of IEEE Int. Symp. on Circuits and Systems, vol.2, pp.522-525, 2002.
  13. Y.Weerakamhaeng, T.Tsubouchi, S.Sarata and S.Yuta: "Path Generation for Articulated Steering Type Vehicle Using Symmetrical Clothoid," Proc. of 2002 IEEE Int. Conf. on Industrial Technology, pp.187-192, 2002.
  14. T.Tsubouchi, S.Sarata, H.Osumi, and M.Kurisu: "Introduction of Yamazumi Project - Trial for Autonomous Heavy Vehicles at Construction Site," Proc. of 2002 IEEE Int. Conf. on Industrial Technology, pp. 514-518, 2002.

  15. S.Sarata, H.Osumi, G.Matsuda, Y.Hirai and T.Tsubouchi: "Motion Control for Bucket of Wheel Loader based on Shape of Pile and Resistance Force," Proc. of 18th Int. Symp. on Automation and Robotics in Construction, pp.259-264, 2001.
  16. T.Tsubouchi, H.Suzuki, E.Koyanagi and S.Yuta: "An Experimental Autonomous Bicycle and Its Stabilized Moving," Proc. of IFAC Workshop on Mobile Robotics, pp.67-72, 2001.
  17. K.Ohno, T.Tsubouchi, S.Maeyama and S.Yuta: "A Mobile Robot Campus Walkway Following with Daylight-Change-Proof Walkway Color Image Segmentation," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.77-83, 2001.

  18. Li Wen, T.Tsubouchi and S. Yuta: "Manipulative Difficulty Index of a Mobile Robot with Multiple Trailers in Pushig and Towing with Imperfect Measurement," Proc. of Int. Conf. on Robotics and Automation, pp.2264-2269, 2000.
  19. T.Tsubouchi, S.Takaki, Y.Kawaguchi and S.Yuta: "A Straight Pipe Observation from the Inside by Laser Spot Array and a TV Camera," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.82-87, 2000.
  20. K.Ohno, T.Tsubouchi, S.Maeyama and S.Yuta: "Campus Walkway Following of an Autonomous Mobile Robot Based on Color Image," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1690-1695, 2000.

  21. T.Tsubouchi, Y.Ando and S.Yuta: "A Mobile Robot Navigation by Means of Range Data from Ultra Wide Angle Laser Sensor and Simple Linguistic Behavior Instructions," Peter Corke et al. Ed., Experimental Robotics VI, pp.89-97, Springer-Verlag, 1999.
  22. Li Wen, T.Tsubouchi and S.Yuta: "On a Manipulative Difficulty of a Mobile Robot with Multiple Trailers for Pushing and Towing," Proc. of Int. Conf. on Robotics and Automation, pp.13-18, 1999.

  23. S.Sarata, T.Tsubouchi and K.Satoh: "Scoop Motion Planning and Control Based on Shape of Piled Ore," Proc. of 4th Int. Symp. on Mine Mechanization and Automation, vol.B1, pp.23-26, 1997.
  24. T.Sekimoto, T.Tsubouchi and S.Yuta: "A Simple Driving Device for a Vehicle - Implementation and Evaluation -," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.147-154, 1997.
  25. M.Viale, T.Tsubouchi and S.Yuta: "A Practical Path and Motion Planner for a Tractor - trailer Robot," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.989-996, 1997.
  26. R.Nakajima, T.Tsubouchi, S.Yuta and E.Koyanagi: "A Development of a New Mechanism of an Autonomous Unicycle," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.906-912, 1997.
  27. H.Ishimoto, T.Tsubouchi, S.Sarata and S.Yuta: "A Practical Trajectory Following of an Articulated Steering Type Vehicle," Proc. of Int. Conf. on Field Service Robotics '97, pp.412-419, 1997.

  28. T.Tsubouchi, H.Ishimoto, S.Sarata and S.Yuta: "A Trajectory Following Control for a Miniature Wheel Loader," Proc. of Int. Symp. on Automation and Robotics in Construction, pp.699-708, 1996.
  29. T.Sekimoto, T.Tsubouchi and S.Yuta: "An Implementation of a Human Interface using a Touch Panel and Visual Images for Controlling a Vehicle," Proc. of IEEE Int. Workshop on Robot and Human Communication, pp.451-455, 1996.
  30. M.Viale, T.Tsubouchi and S.Yuta: "Towards an Onboard Path Planning for a Non-holonomic Autonomous Mobile Robot Towing a Trailer," Latin America Congress on Automatic Control, pp.935-941, 1996.
  31. M.Viale, T.Tsubouchi and S.Yuta: "Yamabico Project: Development of Experimental Robot," Latin America Congress on Automatic Control, pp.929-934, 1996.

  32. T.Tsubouchi, S.Kuramochi and S.Arimoto: "Iterated Forecast and Planning Algorithm to Steer and Drive a Mobile Robot in the Presence of Multiple Moving Objects," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, vol.2, pp.33-38, 1995.
  33. T.Sekimoto, T.Tsubouchi and S.Yuta: "A Remote Operation Using Visual Images and a Pointing Device for Mobile Robot Control," Proc. of 2nd Int. Conf. on Mechatronics and Machine Vision in Practice, pp.260-263, 1995.

  34. T.Tsubouchi and S.Arimoto: "Behavior of a Mobile Robot Navigated by an Iterated Forecast and Planning Scheme in the Presence of Multiple Moving Obstacles," Proc. of IEEE Int. Conf. on Robotics and Automation, pp.2470-2475, 1994.
  35. Y.Tonouchi, T.Tsubouchi and S.Arimoto: "Fusion of Dead-reckoned Position with a Workspace Model for a Mobile Robot by Bayesian Inference," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1347-1354, 1994.

  36. S.Arimoto, T.Naniwa and T.Tsubouchi: "Principle of Orthogonalization for Hybrid Control of Robot Manipulators," Robotics, Mechatronics and Manufacturing Systems, pp.295-302, T.Takamori and K.Tsuchiya eds., Elsevier Science Publishers B.V., (North-Holand) 1993.
  37. T.Tsubouchi, A.Hirose and S.Arimoto: "A Navigation Scheme with Learning for a Mobile Robot among Multiple Moving Obstacles," Proc. of IEEE Int. Conf. on Intelligent Robots and Systems, pp.2234-2240, 1993.

  38. Y.Kawaguchi, Y.H.Liu, T.Tsubouchi and S.Arimoto: "An Efficient Algorithm of Path Planning for an Internal Gas Pipe Inspection Robot," Proc. of IEEE Int. Conf. on Intelligent Robots and Systems, pp.1155-1160, 1992.
  39. T.Tsubouchi, K.Hiraoka, T.Naniwa and S.Arimoto: "A Mobile Robot Navigation Scheme for an Environment with Multiple Moving Obstacles," Proc. of IEEE Int. Conf. on Intelligent Robots and Systems, pp.1791-1798, 1992.
  40. S.Arimoto, Y.H.Liu, T.Naniwa, V.Para-vega and T.Tsubouchi: "Model-based Adaptive Control for Robot Manipulators under Geometric Constraint," Proc. of the 2nd Int. Symp. on Measurement and Control in Robotics, pp.589-596, 1992.

  41. T.Tsubouchi, M.Yamazaki and K.Aoki: "A Map Service System for Mobile Robots Using a Frame System," Proc. of the 2nd Makuhari Int. Conf. on High Technology, pp.275-278, 1991.

  42. T.Tsubouchi and S.Yuta: "Matching between an Abstracted Real Image and a Generated Image from Environment Map - for the Map Assisted Mobile Robot's Vision System -," Proc. of Int. Symp. and Exposition on Robots, pp.338-351, 1988.
  43. T.Tsubouchi and S.Yuta: "The Map Assisted Mobile Robot's Vision System - an Experiment on Real Time Environment Recognition -," Proc. of IEEE Int. Workshop on Intelligent Robots and Systems, pp.659-664, 1988.

  44. T.Tsubouchi and S.Yuta: "Map Assisted Vision System of Mobile Robots for Reckoning in a Building Environment," Proc. of IEEE Int. Conf. on Robotics and Automation, pp.1978-1984, 1987.

口頭発表[-2005]
  1. 李, 坪内, 山本, 柄川: 「LRFを用いた移動障害物のトラッキング 」, 第6回 SICE システムインテグレーション部門講演会 (SI2005), 2D2-3, (CD-ROM), 2005.
  2. 山崎, 友納, 坪内, 油田: 「密な三次元形状モデルに基づく小型物体の把持」, 日本ロボット学会 第23回 学術講演会予稿集, 3C17, (CD-ROM), 2005.
  3. 山崎, 友納, 坪内, 油田: 「方向付き点群を利用した幾何形状判断に基づく小型物体の把持戦略」, ロボティクス・メカトロニクス講演会 '05, 1P2-N-089, (CD-ROM), 2005.
  4. 金井, 清水, 大隅, 皿田, 坪内, 栗栖, 安達:「ホイールローダによる土砂の掬い取り制御 − バケット形状と土砂反力の関係の解析 −」, ロボティクス・メカトロニクス講演会 '05, 2A1-S-056, (CD-ROM), 2005.
  5. 竹内, 坪内, 油田:「機構の取替えにより作業の変更ができる移動ロボットシステム」, ロボティクス・メカトロニクス講演会 '05, 2P1-N-054, (CD-ROM), 2005.
  6. 田中, 坪内, 友納, 油田:「立体形状情報を収集可能な被災地下街探査ロボットの開発」, ロボティクス・メカトロニクス講演会 '05, 2P1-S-095, (CD-ROM), 2005.
  7. 竹内, 坪内, 油田:「効果器の自動交換機能を有する拡張性のある移動ロボットシステム」, 第10回ロボティクスシンポジア予稿集, pp.99-104, 2005.

  8. 岩上, 坪内, 油田, 梶原: 「全球方向を撮像するカメラシステムの開発」, 第5回 SICE システムインテグレーション部門講演会 (SI2004), 1B1-2, (CD-ROM), 2004.
  9. 田中, 坪内, 友納, 油田:「遠隔操作型地下街探査ロボットシステムの開発」, 第5回 SICE システムインテグレーション部門講演会 (SI2004), 1B2-5, (CD-ROM), 2004.
  10. 竹内, 坪内, 油田:「効果器を取り替えて異種複数の作業を行う移動ロボットシステム」, 第5回 SICE システムインテグレーション部門講演会(SI2004), 2E4-6, (CD-ROM), 2004.
  11. 山崎, 友納, 坪内, 油田:「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」, 日本ロボット学会 第22回 学術講演会予稿集, 2F14, (CD-ROM), 2004.
  12. 皿田, 坪内, 大隅, 栗栖:「ホイールローダによる土砂搬送の自立化の試み - 山祗プロジェクトについて-」, 第10回 建設ロボットシンポジウム論文集, pp.173-178, 2004.
  13. 坪内, Y.Weerakamhaeng, 皿田:「ホイールローダの自律走行のためのV字走行経路の計画手法」, 第10回 建設ロボットシンポジウム論文集, pp.185-194, 2004.
  14. 堀口, 坪内, 皿田, 河井, 富田:「採石場における砕石すくいとりのためのステレオ視覚」, 第10回 建設ロボットシンポジウム論文集, pp.195-200, 2004.
  15. 田中, 友納, 坪内, 油田:「遠隔探査ロボットの人間支援によるレスキュー活動を目指した屋内環境収集システム」, ロボティクス・メカトロニクス講演会 '04, 1A1-H-23, (CD-ROM), 2004.
  16. 石岡, 友納, 坪内, 油田:「オドメトリとLRFのスキャンマッチングを用いた移動ロボットの確率的自己位置推定とマップ構築」ロボティクス・メカトロニクス講演会 '04, 1P1-L1-74, (CD-ROM), 2004.
  17. 小島, 坪内, 油田: 「FG距離センサを利用した管内ロボット操作システム」, ロボティクス・メカトロニクス講演会 '04, 2A1-L1-49, (CD-ROM), 2004.
  18. 大野, 坪内, 油田:「屋外移動ロボットのためのLRFを用いた構造物壁面の地図作成と自己位置修正」, ロボティクス・メカトロニクス講演会 '04, 2P1-H-47, (CD-ROM), 2004.
  19. 大隅, 皿田, 坪内, 栗栖, 安達:「ホイールローダによる土砂搬送の自立化」, ロボティクス・メカトロニクス講演会 '04, 2P1-L2-14, (CD-ROM), 2004.
  20. 中川, 坪内, K.Sungchul, 油田:「移動ロボットに用いる浮体係留システムの開発-パラレルワイヤ駆動機構による姿勢制御-」, ロボティクス・メカトロニクス講演会 '04, 2P2-L1-20, (CD-ROM), 2004.
  21. 大野, 坪内, 油田:「屋外環境の三次元形状データに基づくランドマーク地図作成」, 第9回 ロボティクスシンポジア予稿集, pp.44-50, 2004.
  22. 山崎, 友納, 坪内, 油田:「移動ロボットに搭載したカメラの視点移動による3次元形状モデリング」, 第9回 ロボティクスシンポジア予稿集, pp.312-317, 2004.

  23. 大野, 坪内, 重松, 前山, 油田: 「DGPSとオドメトリを用いた建物付近の歩道環境での自己位置推定とナビゲーション」, 第8回 ロボティクスシンポジア予稿集, pp.276-282, 2003.
  24. 山崎, 友納, 坪内, 油田: 「移動マニピュレータによる物体ひろいあげに関する研究(第一報) -実環境中の把持対象物体の認識-」, 第8回 ロボティクスシンポジア予稿集, pp.337-342, 2003.
  25. 落田, 坪内, 油田: 「車輪型移動ロボットの屋内廊下環境における長距離ナビゲーション」, 第8回 ロボティクスシンポジア予稿集, pp.367-372, 2003.
  26. 大野, 坪内, 重松, 油田: 「DGPSとオドメトリを用いた樹木に囲まれた歩道環境での自己位置推定」, ロボティクス・