TAKAHASHI Yasutake

FacultyDepartment of Human and Artificial Intelligent Systems Division of Advanced Informatics and Machinery
Teacher OrganizationDepartment of Human and Artificial Intelligent Systems Division of Advanced Informatics and Machinery
Education and
 Research Organization
Faculty of Engineering /Graduate School of Engineering
PositionProfessor
Last Updated: 19/07/23 19:10

Researcher Profile & Settings

Name

    TAKAHASHI Yasutake

Affiliation

  •  Department of Human and Artificial Intelligent Systems Division of Advanced Informatics and Machinery Professor

Education

  • Apr. 1996Mar. 2000Osaka University 電子制御機械工学専攻
  • Apr. 1994Mar. 1996Osaka University 電子制御機械工学専攻
  • Apr. 1993Mar. 1996Osaka University

Degree

  • Ph.D (Eng.)

Academic & Professional Experience

  • Mar. 2018University of Fukui Faculty of Engineering Professor
  • Apr. 2016Feb. 2018University of Fukui Faculty of Engineering Associate Professor
  • Apr. 2012Mar. 2016University of Fukui Graduate School of Engineering Associate Professor
  • Jul. 2009Mar. 2012University of Fukui Graduate School of Engineering Senior Assistant Professor
  • Jun. 2006Sep. 2007Fraunhofer IAIS Guest researchre
  • Apr. 2000Jun. 2009Osaka University Assistant Professor

Association Memberships

    IEEE Nagoya Section trustee,Japanese wind energy Association member,The RoboCup Japanese National Committee trustee,The Robot Society of Japan other,IEEE member,Japan Society for Fuzzy Theory and Intelligent Informatics member,RoboCup Federation Japan trustee,The Japanese Society for Artificial Intelligence member,The Robotics Society of Japan member,

Research Activities

Published Papers

  • Power Assist Control Based on Human Motion Estimation Using Motion Sensors for Powered Exoskeleton without Binding Legs
    Shinnosuke Nomura, Yasutake Takahashi, Katsuya Sahashi, Shota Murai, Masayuki Kawai, Yoshiaki Taniai, and Tomohide Naniwa
    Applied Sciences 9(1) 164-(17) Jan.  2019 Refereed
  • Walking Motion Model based on Quaternion-valued Recurrent Neural Network for Powered Exoskeleton
    Fumihito Murata and Yasutake TAKAHASHI
    Intelligent Systems Workshop 2018 (ISWS 2018) 1354-1359 Dec.  2018 Refereed
  • Case Study of HRI for Elderly People - Effects of awareness of water intake in words and gestures of humanoid robot-
    Yasutake Takahashi, Yuki Kayukawa, Yuki Kennai, Norie Takaku, Junko Yotsuya, Natsumi Kakutani, Ayaka Yanagida, Takeru Hirafumi and Yuri Tamai
    Intelligent Systems Workshop 2018 (ISWS 2018) 1279-1282 Dec.  2018 Refereed
  • Humanoid Robot Motion Modeling Based on Time-Series Data Using Kernel PCA and Gaussian Process Dynamical Models
    Jian Mi and Yasutake Takahashi
    Journal of Advanced Computational Intelligence and Intelligent Informatics 22(6) 965-977 Oct.  2018 Refereed
  • Modeling Walking Behavior of Powered Exoskeleton Based on Complex-Valued Neural Network
    Yudai Ishizuka, Shota Murai, Yasutake Takahashi, Masayuki Kawai, Yoshiaki Taniai, Tomohide Naniwa
    Proceedings of 2018 IEEE International Conference on Systems, Man, and Cybernetics 1923-1928 Oct.  2018 Refereed
  • Indoor mobile robot self-localization based on a low-cost light system with a novel emitter arrangement
    Jun Wang and Yasutake TAKAHASHI
    ROBOMECH Journal 5(1) 17-(17) Aug.  2018 Refereed
  • Power Assist Control Based on Learning Database of Joint Angle of Powered Exoskeleton Suitable for Wearer’s Posture
    Katsuya Sahashi, Shota Murai, and Yasutake TAKAHASHI
    12th International Conference, UAHCI 2018, Held as Part of HCI International 2018, LNCS 10908 340-346 Jul.  2018 Refereed
  • Motion Representation for Humanoid Robot Based on Gaussian Process Dynamical Models
    Jian MI and Yasutake TAKAHASHI
    The 5th International Workshop on Advanced Computational Intelligence and Intelligent Informatics 1 (IWACIII2017) MS2-3-3-(6) Nov.  2017 Refereed
  • A low-cost light based self-localization system with repeated landmark ID for the indoor mobile robot
    Jun Wang and Yasutake Takahashi
    The 5th International Workshop on Advanced Computational Intelligence and Intelligent Informatics 1 (IWACIII2017) MS2-1-5-(6) Nov.  2017 Refereed
  • SLAM Method Based on Independent Particle Filters for Landmark Mapping and Localization for Mobile RobotBased on HF-band RFID System
    Jun Wang and Yasutake Takahashi
    Journal of Intelligent & Robotic Systems Oct.  2017 Refereed
  • Influence of Emotional Expression of Real Humanoid Robot to Human Decision-Making
    Yuki Kayukawa, Yasutake Takahashi, Takuya Tsujimoto, Kazunori Terada, Hiroyuki Inoue
    Proceedings of The 2017 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2017) Jul.  2017 Refereed
  • Real-time Whole Body Imitation by Humanoid Robot based on Particle Filter and Dimension Reduction by Autoencoder
    Yo Kondo and Yasutake Takahashi
    Proceedings of Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems (IFSA-SCIS 2017) Jun.  2017 Refereed
  • Performance analysis of mobile robot self-localization based on different configurations of RFID system
    Jian Mi and Yasutake Takahashi
    Proceedings of 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2015) 1591-1596 Jul.  2015 Refereed
    This paper analyzes the MCL (Monte Carlo Lo- calization) performances of an omnidirectional vehicle based on an RFID system with multiple readers at the bottom of a vehicle and the tags on the floor with different configurations of RFID system. This paper also proposes a method of reinitializing of the particles in the MCL and a likelihood function as the measurement model that are specialized to the RFID based self- localization. The simulations demonstrate that how accurately the self-localization works according to the changes of the RFID system’s configuration and how the definition of the likelihood function affects the accuracy. The results show that the self-localization based on MCL works accurately enough for realistic situation even using less RFID readers on the vehicle and lower density IC tag textiles on the floor.
  • Learning Fuzzy Control Parameters for Kite-based Tethered Flying Robot using Human Operation Data
    Chiaki Todoroki, Yasutake TAKAHASHI, Takayuki Nakamura
    Proceedings of Joint 7th International Conference on Soft Computing and Intelligent Systems and 15th International Symposium on Advanced Intelligent Systems (SCIS & ISIS 2014) 111-116 Dec.  2014 Refereed
  • Learning Control based on Intention Recognition by Inverted Two-Wheeled Mobile Robot through Interactive Operation
    Shinnosuke Nomura, Takuya Inoue, Yasutake TAKAHASHI, Takayuki Nakamura
    Proceedings of Joint 7th International Conference on Soft Computing and Intelligent Systems and 15th International Symposium on Advanced Intelligent Systems (SCIS & ISIS 2014) 111-116 Dec.  2014 Refereed
  • Attention Prediction System Based on Eye Tracking and Saliency Map by Fuzzy Neural Network
    Mao Wang, Yoichiro Maeda, Yasutake TAKAHASHI, Kazuki Naruki
    Proceedings of Joint 7th International Conference on Soft Computing and Intelligent Systems and 15th International Symposium on Advanced Intelligent Systems (SCIS & ISIS 2014) 339-342 Dec.  2014 Refereed
  • Teaching Assistant System used Eye Tracking Device Based on Gaze Estimation by Neural Network and Intention Recognition by Fuzzy Inference
    Yoichiro Maeda, Yasutake TAKAHASHI, Mao Wang
    INFORMATION 17(9(B)) 4661-4676 Sep.  2014 Refereed
  • Intention Recognition by Inverted Two-Wheeled Mobile Robot through Interactive Operation
    Yasutake Takahashi, Takuya Inoue, Takayuki Nakamura
    Proceedings of 2014 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE) DVD-ROM 1291-1296 Jul.  2014 Refereed
  • Saliency Map for Visual Attention Region Prediction Based on Fuzzy Neural Network
    Mao Wang, Yoichiro Maeda, Yasutake Takahashi
    Proceedings of 2014 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE) DVD-ROM 1281-1286 Jul.  2014 Refereed
  • Melody Oriented Interactive Chaotic Sound Generation System Using Music Conductor Gesture
    Shuai Chen, Yoichiro Maeda, Yasutake Takahashi
    Proceedings of 2014 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE) DVD-ROM 1287-1290 Jul.  2014 Refereed
  • Fuzzy Control for Kite-based Tethered Flying Robot
    Tohru Ishii, Yasutake Takahashi, Yoichiro Maeda, Takayuki Nakamura
    Proceedings of 2014 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE) DVD-ROM 746-751 Jul.  2014 Refereed
  • Visual Attention Region Prediction Based on Eye Tracking Using Fuzzy Inference
    Mao Wang, Yoichiro Maeda, Yasutake Takahashi
    Journal of Advanced Computational Intelligence and Intelligent Informatics 18(4) 499-510 Jul.  2014 Refereed
  • Mobile Robot Localization based on 96 HF band RFID readers and ID Tag Installed Floor Carpet
    Yasutake Takahashi, Takumi Hashiguchi
    Proceedings of the International Workshop on Advanced Computational Intelligence and Intelligent Informatics 2014 (IWACIII 2014) Talk 2-3 Mar.  2014 Not refereed
  • Tethered Flying Robot for Information Gathering System
    Tohru Ishii, Yasutake Takahashi, Yoichiro Maeda, Takayuki Nakamura
    IROS'13 Workshop on Robots and Sensors integration in future rescue INformation system (ROSIN'13) Nov.  2013 Refereed
  • Mobile Robot Self Localization Based on Multi-Antenna-RFID Reader and IC Tag Textile
    Yasutake TAKAHASHI, Yuta Ii, Mi Jian, Wang Jun, Yoichiro Maeda, Masahiko Takeda, Ryuji Nakamura, Hiroaki Miyoshi, Hidenori Takeuchi, Yoshinori Yamashita, Hiroshi Sano, Atsuji Masuda
    Proceedings of the 2013 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO2013) 106-112 Nov.  2013 Refereed
  • Chaotic Music Generation System Using Music Conductor Gesture
    Shuai Chen, Yoichiro Maeda, Yasutake TAKAHASHI
    Journal of Advanced Computational Intelligence and Intelligent Informatics 17(2) 194-200 Mar.  2013 Refereed
  • Music Conductor Gesture Recognized Interactive Music Generation System
    Shuaii Chen, Yoichiro Maeda, Yasutake TAKAHASHI
    Proceedings of The 6th International Conference on Soft Computing and Intelligent Systems, and The 13th International Symposium on Advanced Intelligent Systems (SCIS-ISIS 2012) CD-ROM 840-845 Nov.  2012 Refereed
  • Human Intention Recognition via Eye Tracking Based on Fuzzy Inference
    Mao Wang, Yoichiro Maeda, Yasutake TAKAHASHI
    Proceedings of The 6th International Conference on Soft Computing and Intelligent Systems, and The 13th International Symposium on Advanced Intelligent Systems (SCIS-ISIS 2012) CD-ROM 846-851 Nov.  2012 Refereed
  • Self-localization based on Image Features of Omni-directional Image
    Fuminori HIBINO, Yuta II, Yasutake TAKAHASHI, Yoichiro Maeda
    Proceedings of The 6th International Conference on Soft Computing and Intelligent Systems, and The 13th International Symposium on Advanced Intelligent Systems (SCIS-ISIS 2012) CD-ROM 2040-2043 Nov.  2012 Refereed
  • Skill Acquisition and Rule Extraction Method of Expert's Operation
    Takahiro Shose, Yoichiro Maeda, Yasutake TAKAHASHI
    Proceedings of WCCI 2012 IEEE World Congress on Computational Intelligence 576-581 Jun.  2012 Refereed
  • Body Mapping from Human Demonstrator to Inverted-Pendulum Mobile Robot for Learning from Observation
    Yasutake Takahashi, Tatsuya Kimura, Yoichiro Maeda, Takayuki Nakamura
    Proceedings of WCCI 2012 IEEE World Congress on Computational Intelligence 945-950 Jun.  2012 Refereed
  • Interactive Learning of Social Agents Based on Confidence Degree
    Kun Zhang, Yoichiro Maeda, Yasutake Takahashi
    Proceedings of WCCI 2012 IEEE World Congress on Computational Intelligence 1239-1242 Jun.  2012 Refereed
  • Verification of Relaxation Effect by Electroencephalogram Feature Analysis for Interactive Sound Generation System
    Ryosuke ICHII, Yoichiro MAEDA, Yasutake TAKAHASHI
    Journal of Japan Society for Fuzzy Theory and Intelligent Informatics 24(1) 560-570 Feb.  2012 Refereed
  • Generation Method of Mixed Emotional Behavior by Self-Organizing Maps in Interactive Emotion Comunication
    Ryohei TAKI, Yoichiro Maeda, Yasutake TAKAHASHI
    Journal of Japan Society for Fuzzy Theory and Intelligent Information 24(5) 933-943 Jan.  2012 Refereed
  • Construction of Relaxation Sound Generation System Used Electroencephalogram Information
    Yoichiro Maeda, Ryosuke Ichii, Yasutake TAKAHASHI
    Journal of Japan Society for Fuzzy Theory and Intelligent Information 24(5) 967-978 Jan.  2012 Refereed
  • Learning Model Considering the Interaction among Heterogeneous Multi-Agents
    Kun ZHANG, Yoichiro Maeda, Yasutake TAKAHASHI
    Journal of Japan Society for Fuzzy Theory and Intelligent Information 24(5) 1002-1011 Jan.  2012 Refereed
  • Trails of RoboCup -Chart toward 2050- Middle Size League""
    Yasutake TAKAHASHI, Akihiro MATSUMOTO, Yasunori TAKEMURA
    IPSJ MAGAZINE 52(11) 1410-1422 Nov.  2011 Not refereed
  • Human Pointing Navigation Interface for Mobile Robot with Spherical Vision System
    Yasutake TAKAHASHI, Kyohei Yoshida, Fuminori Hibino, Yoichiro Maeda
    Journal of Advanced Computational Intelligence and Intelligent Informatics 15(7) 869-877 Sep.  2011 Refereed
  • Group Behavior Learning in Multi-Agent Systems Based on Social Interaction Among Agents
    Kun Zhang, Yoichiro Maeda, Yasutake Takahashi
    Journal of Advanced Computational Intelligence and Intelligent Informatics 15(7) 896-903 Sep.  2011 Refereed
  • Cooperative Behavior Learning Based on Social Interaction of State Conversion and Reward Exchange among Multi-Agents
    Kun Zhang, Yoichiro Maeda, Yasutake TAKAHASHI
    Journal of Advanced Computational Intelligence and Intelligent Informatics 15(5) 606-616 Jul.  2011 Refereed
  • Development of Body Mapping from Human Demonstrator to Inverted-Pendulum Mobile Robot for Imitation
    Sataya TAKAHASHI, Yasutake TAKAHASHI, Yoichiro MAEDA, Takayuki NAKAMURA
    Proceedings of 2011 IEEE International Conference on Fuzzy Systems CD-ROM 1344-1349 Jun.  2011 Refereed
  • Social Interaction of Cooperative Communication and Group Generation in Multi-Agent Reinforcement Learning Systems
    Kun Zhang, Yoichiro Maeda, Yasutake TAKAHASHI
    Proceedings of 2011 IEEE International Conference on Fuzzy Systems CD-ROM 1350-1355 Jun.  2011 Refereed
  • Evaluation of Pointing Navigation Interface for Mobile Robot with Spherical Vision System
    Kyohei YOSHIDA, Fuminori HIBINO, Yasutake TAKAHASHI, Yoichiro Maeda
    Proceedings of 2011 IEEE International Conference on Fuzzy Systems CD-ROM 721-726 Jun.  2011 Refereed
  • Kicking Motion Imitation of Inverted-Pendulum Mobile Robot and Development of Body Mapping from Human Demonstrator
    Sataya TAKAHASHI, Yasutake TAKAHASHI, Yoichiro MAEDA, Takayuki NAKAMURA
    Journal of Advanced Computational Intelligence and Intelligent Informatics 15(8) 1030-1038 Jan.  2011 Refereed
  • Group Behavior Learning in Multi-Agent Systems Based on Social Interaction among Agents
    Kun Zhang, Yoichiro Maeda, Yasutake TAKAHASHI
    Proceedings of Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems CD-ROM 193-198 Dec.  2010 Refereed
  • Effective Emotional Model of Pet-type Robot in Interactive Emotion Communication
    Ryohei Taki, Yoichiro Maeda, Yasutake Takahashi
    Proceedings of Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems CD-ROM 199-200 Dec.  2010 Refereed
  • Relaxation Effect Measurement Method Used Brain Wave Feature Extraction
    Ryosuke Ichii, Yoichiro Maeda, Yasutake Takahashi
    Proceedings of Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems CD-ROM 205-210 Dec.  2010 Refereed
  • Inverted-Pendulum Mobile Robot Motion Learning from Human Player Observation
    Sataya Takahashi, Hiroaki Nonoshita, Yasutake Takahashi, Yoichiro Maeda
    Proceedings of Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems CD-ROM 211-216 Dec.  2010 Refereed
  • Human Pointing Navigation of Mobile Robot with Spherical Vision System
    Fuminori Hibino, Yasutake Takahashi, Kyohei Yoshida, Yoichiro Maeda
    Proceedings of Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems CD-ROM 217-221 Dec.  2010 Refereed
  • Observed Body Clustering for Imitation Based on Value System
    Yoshihiro Tamura, Yasutake Takahashi, Minoru Asada
    Journal of Advanced Computational Intelligence and Intelligent Informatics 14(7) 802-812 Nov.  2010 Refereed
  • Personal Preference Analysis for Emotional Behavior Response of Autonomous Robot in Interactive Emotion Communication
    Ryohei Taki, Yoichiro Maeda, Yasutake Takahashi
    Journal of Advanced Computational Intelligence and Intelligent Informatics 14(7) 852-859 Nov.  2010 Refereed
  • Emulation and behavior understanding through shared values
    Yasutake TAKAHASHI, Yoshihiro TAMURA, Minoru Asada, Mario Negrello
    Robotics and Autonomous Systems 58(7) 855-865 Jul.  2010 Refereed
  • Clustering Observed Body Image for Imitation based on Value System
    Yoshihiro Tamura, Yasutake Takahashi, Minoru Asada
    Proceedings of 2010 IEEE World Congress on Computational Intelligence 917-923 Jul.  2010 Refereed
  • Behavioral Development of Ball Kicking Motion of a Two-wheeled Inverted Pendulum Mobile Robot
    Yasutake Takahashi, Hiroaki Nonoshita, Takayuki Nakamura, Yoichiro Maeda
    Proceedings of 2010 IEEE World Congress on Computational Intelligence 830-835 Jul.  2010 Refereed
  • Efficient Behavior Learning by Utilizing Estimated State Value of Self and Teammates
    Kouki Shimada, Yasutake TAKAHASHI, Minoru Asada
    RoboCup 2009: Robot Soccer World Cup XIII 355--365 Mar.  2010 Refereed
  • View Estimation Learning based on Value System
    Yasutake TAKAHASHI, Kouki SHIMADA, Minoru ASADA
    Proceedings of the 18th IEEE International Conference on Fuzzy Systems CD-ROM 939-944 Aug.  2009 Refereed
  • Human Instruction Recognition and Self Behavior Acquisition based on State Value
    Yasutake TAKAHASHI, Yoshihiro TAMURA, Minoru ASADA
    Proceedings of the 18th IEEE International Conference on Fuzzy Systems CD-ROM 969-974 Aug.  2009 Refereed
  • Mutual Development of Behavior Acquisition and Recognition based on State Value
    Yasutake TAKAHASHI, Yoshihiro TAMURA, Minoru ASADA
    The 25th Fuzzy System Symposium 2009 CD-ROM 2A1-03 Jul.  2009 Not refereed
  • Acquisition of View Estimation between Different Bodies based on State Value Estimation
    Kouki SHIMADA, Yasutake TAKAHASHI, Minoru ASADA
    The 25th Fuzzy System Symposium 2009 CD-ROM 2A1-02 Jul.  2009 Not refereed
  • Generation of Team Behavior Based on State Value Estimation of Self and Others
    Kouki SHIMADA, Yasutake TAKAHASHI, Minoru ASADA
    2009 JSME Conference on Robotics and Mechatronics CD-ROM 1P1-C10 May  2009 Not refereed
  • Learning Dynamic Throwing Motion of A Wheeled Inverted Pendulum utilizing Whole Body Dynamics
    2009 JSME Conference on Robotics and Mechatronics CD-ROM 2A2-D18 May  2009 Not refereed
  • Acquisition of Competitive Behaviors in Multi-Agent System based on a Modular Learning System
    Yasutake TAKAHASHI, Kazuhiro EDAZAWA, Kentaro NOMA, Minoru ASADA
    Journal of the Robotics Society of Japan 27(3) 350-357 Apr.  2009 Refereed
  • Behavior Understanding based on Shared Value
    Yasutake TAKAHASHI, Teruyasu KAWAMATA, Minoru ASADA
    Journal of Japan Society for Fuzzy Theory and Intelligent Informatics 21(3) 381-391 Apr.  2009 Refereed
  • ViewEstimationBasedonValueSystem
    Yasutake TAKAHASHI, Kouki SHIMADA, Minoru ASADA
    Transactions of the Japanese Society for Artificial Intelligence 24(1) 163-169 Jan.  2009 Refereed
  • Mutual Development of Behavior Acquisition and Recognition based on Value System
    Yasutake TAKAHASHI, Yoshihiro TAMURA, Minoru Asada
    Journal of Japan Society for Fuzzy Theory and Intelligent Informatics 21(5) 640--652 Jan.  2009 Refereed
  • Motion Segmentation and Recognition for Imitation Learning and Influence of Bias for Learning Walking Motion of Humanoid Robot Based on Human Demonstrated Motion
    Yasutake Takahashi, Hiroki Hatano, Yosuke Maida, Kazuyuki Usui, and Yoichiro Maeda
    Journal of Advanced Computational Intelligence and Intelligent Informatics 19(4) 532-543 Jul.  2015 Refereed
    wo main issues arise in practical imitation learn- ing by humanoid robots observing human behavior – the first is segmenting and recognizing motion demon- strated naturally by a human beings and the second is utilizing the demonstrated motion for imitation learn- ing. Specifically, the first involves motion segmen- tation and recognition based on the humanoid robot motion repertoire for imitation learning and the sec- ond introduces learning bias based on demonstrated motion in the humanoid robot’s imitation learning to walk. We show the validity of our motion segmenta- tion and recognition in a practical way and report the results of our investigation in the influence of learning bias in humanoid robot simulations.
  • Fuzzy Control for a Kite-Based Tethered Flying Robot
    Yasutake Takahashi, Tohru Ishii, Chiaki Todoroki, Yoichiro Maeda, and Takayuki Nakamura
    Journal of Advanced Computational Intelligence and Intelligent Informatics 19(3) 349-358 May  2015 Refereed
    Observation providing information from above is im- portant in in large-scale or dangerous rescue activ- ity. This has been done from balloons or airplanes. Balloon observation requires a gas such as helium and takes a relatively long time to prepare, and while airplane observation can be prepared in a relatively short time and is highly mobile, flight time depends on the amount of fuel a plane can carry. We have proposed and developed a kite-based tethered flying robot that complements balloon and airplane obser- vation while providing a short preparation time and long flight time [1]. The objective of our research is autonomous flight information gathering consisting of a kite, a flight unit, a tether and a ground control unit with a line-winding machine. We propose fuzzy con- trollers for our robot that are inspired by kite flying.
  • Acquisition of Human Operation Characteristics for Kite-based Tethered Flying Robot using Human Operation Data
    Chiaki Todoroki, Yasutake Takahashi and Takayuki Nakamura
    IEEE International Conference on Fuzzy Systems 2015 #15220 Aug.  2015 Refereed
    This paper shows human skill acquisition systems to control the kite-based tethered flying robot. The kite-based tethered flying robot has been proposed as a flying observation system with long-term activity capability. It is a relatively new system and aimed to complement other information gathering systems using a balloon or an air vehicle. This paper shows some approaches of human operation characteristics acquisition based on fuzzy learning controller, k- nearest neighbor algorithm, and artificial neural network for the kite-based tethered flying robot using human operation data and their validity through computational simulation which we developed.
  • Acquisition of Control Strategy for Kite-based Tethered Flying Robot Based on Human Operation
    Chiaki TODOROKI, Yasutake TAKAHASHI and Takayuki NAKAMURA
    Journal of Japan Society for Fuzzy Theory and Intelligent Informatics 27(6) 864-876 Dec.  2015 Refereed
  • Intention Recognition Learning and Support Control by Inverted Two-Wheeled Pendulum Mobile Robot through Interactive Physical Operation
    Shinnosuke NOMURA, Yasutake TAKAHASHI and Takuya INOUE
    Journal of Japan Society for Fuzzy Theory and Intelligent Informatics 27(6) 854-863 Dec.  2015 Refereed
  • Evaluation of Power-Assist System by Computer Simulation
    Yoshiaki Taniai, Tomohide Naniwa, Yasutake Takahashi, and Masayuki Kawai
    Journal of Advanced Computational Intelligence and Intelligent Informatics 20(3) 477-483 May  2016 Refereed
  • Particle Filter based Landmark Mapping for SLAM of Mobile Robot based on RFID System
    Jun Wang and Yasutake Takahashi
    Proceedings of 2016 IEEE International Conference on Advanced Intelligent Mechatronics 870-875 Jul.  2016 Refereed
  • Intention Recognition Learning and Support Control by Inverted Two-Wheeled Pendulum Mobile Robot through Interactive Physical Operation
    NOMURA Shinnosuke;TAKAHASHI Yasutake;INOUE Takuya
    J. SOFT 27(6) 854-863 2015
    Two-wheeled inverted pendulum mobile robots have been developed so far as a transportation assistant system. The robot recognizes the user intention by the user's physical operation of the robot. It changes the control parameters according to the user intention. The conventional system fixes the number of user intentions beforehand, however, the number of intentions can vary according to a user preference. This paper proposes a data clustering system for user intention recognition and an incremental learning system of the intention recognition modules for the inverted mobile robot that is interactively operated by a user. It shows some experimental results with a real robot in order to show the validity of theproposed method.
  • Acquisition of Control Strategy for Kite-based Tethered Flying Robot Based on Human Operation
    TODOROKI Chiaki;TAKAHASHI Yasutake;NAKAMURA Takayuki
    J. SOFT 27(6) 864-876 2015
    Autonomous observation systems using a balloon or an airplane have been studied as a solution of information gathering systems from the sky. The balloon needs the helium gas reservation and a relatively long time and specialists of gas maintenance for the ight preparations. Furthermore, the balloon system is not available under strong wind condition. On the other hand, an airplane system needs less time for ight preparations, but long-term activity is difficult due to limitation of fuel. In order to complement those information gathering system, we have proposed a tethered ying robot based on a kite that ies with wind power as one of the natural power sources and conducted some experiments with a real robot we designed and built. It is difficult to design the ight controller because wind situation often varies in real robot experimentation. We have also developed a computational dynamics simulator for the kite-based tethered ying robot.
     In the paper [1], authors designed 3-inputs 1-output fuzzy controller in order to reect control strategy based on human operation. In real robot experimentation, we conducted ight controller based on fuzzy control theory using fuzzy rule table which is written by human. However, there is a possibility that this fuzzy table differs from the actual human operation. Furthermore, it becomes difficult to define the table by manpower if the number of state variables or membership functions becomes big. We verify a learning method of fuzzy control parameters for the robot using human operation data. The original controller for the kite-based tethered ying robot was designed based on 3-inputs 1-output fuzzy controller in order to reect control strategy based on human operation. However, as the controller cannot have control for extending the tether line to control the kite stably in condition of various change of wind because of lack of information for state description.
     This paper aims at acquiring human control strategy for the kite-based ying robot using human operation data. Besides learning the fuzzy control parameters, we also use k-nearest neighbor algorithm and artificial neural network. We extend the fuzzy controller with 4-inputs 1-output system in order to reect human control strategy and verify their effectiveness with the computational simulations. The weighted k-nearest neighbor algorithm that showed the best performance has a disadvantage of heavy calculation processing if training data is big, because this technique explores all of the training data. We propose a method that reduces training data itself and also shows its validity with the computational simulations.
  • Design of an HF-Band RFID System with Multiple Readers and Passive Tags for Indoor Mobile Robot Self-Localization
    Jian Mi and Yasutake Takahashi
    Sensors 16(8) 1200-1200 Jul.  2016 Refereed
    Radio frequency identification (RFID) technology has already been explored for efficient self-localization of indoor mobile robots. A mobile robot equipped with RFID readers detects passive RFID tags installed on the floor in order to locate itself. The Monte-Carlo localization (MCL) method enables the localization of a mobile robot equipped with an RFID system with reasonable accuracy, sufficient robustness and low computational cost. The arrangements of RFID readers and tags and the size of antennas are important design parameters for realizing accurate and robust self-localization using a low-cost RFID system. The design of a likelihood model of RFID tag detection is also crucial for the accurate self-localization. This paper presents a novel design and arrangement of RFID readers and tags for indoor mobile robot self-localization. First, by considering small-sized and large-sized antennas of an RFID reader, we show how the design of the likelihood model affects the accuracy of self-localization. We also design a novel likelihood model by taking into consideration the characteristics of the communication range of an RFID system with a large antenna. Second, we propose a novel arrangement of RFID tags with eight RFID readers, which results in the RFID system configuration requiring much fewer readers and tags while retaining reasonable accuracy of self-localization. We verify the performances of MCL-based self-localization realized using the high-frequency (HF)-band RFID system with eight RFID readers and a lower density of RFID tags installed on the floor based on MCL in simulated and real environments. The results of simulations and real environment experiments demonstrate that our proposed low-cost HF-band RFID system realizes accurate and robust self-localization of an indoor mobile robot.
  • Leg Control based on Human Motion Prediction Using Motion Sensor for Power Assist Suit without Binding Knee
    Takuya Inoue, Shinnosuke Nomura, Yasutake Takahashi, Masayuki Kawai and Yoshiaki Tani
    Proceedings of IEEE World Congress on Computational Intelligence 2016 (IEEE WCCI 2016) 1720-1726 Jul.  2016 Refereed
  • RNN with Russell’s Circumplex Model for Emotion Estimation and Emotional Gesture Generation
    Takuya Tsujimoto, Yasutake Takahashi, Shouhei Takeuchi, and Yoichiro Maeda,
    Proceedings of IEEE World Congress on Computational Intelligence 2016 (IEEE WCCI 2016) 1427-1431 Jul.  2016 Refereed
  • OS0203 High Altitude Wind Power Monitoring System using Kite based Tethered Flying Robot with Lifting Mount
    TODOROKI Chiaki;KONDO Tomoyuki;TAKAHASHI Yasutake
     2016(22) "OS0203-1"-"OS0203-2" Mar.  2016
    This research aims at realizing a high altitude wind power monitoring system, we have proposed a kite-based tethered flying robot. In order to lift up heavy wind power generator and monitoring sensors with the robot, we have also proposed that the kite is lifted up first to acquire enough lifting power, and then, the wind power generator and monitoring sensors are lifted along the tether line later. In this paper, we report the improved wind power measurement system in order to realize a wind power generation system by lifting up wind power generator using kite-based tethered flying robot with lifting mount.
  • Learning System for Emotion Estimation and Emotional Expression Motion Generation based on RNN with Russell's Circumplex Model
    Takuya TSUJIMOTO, Yasutake TAKAHASHI, Shouhei TAKEUCHI and Yoichiro MAEDA
    Intelligence and Informatics 28(4) 716-722 Sep.  2016 Refereed
  • Real-time Posture Imitation of Biped Humanoid Robot based on Particle Filter with Simple Joint Control for Standing Stabilization
    Yo Kondo, Shohei Yamamoto, and Yasutake Takahashi
    Proceedings of 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems 130-135 Aug.  2016 Refereed
  • Power Assist Control based on Motion Estimation of Wearer’s Forearm using Motion Sensor
    Katsuya Sahashi, Shinnosuke Nomura, Takuya Inoue, Yasutake Takahashi, Yoshiaki Taniai, and Masayuki Kawai
    Proceedings of 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems 649-654 Aug.  2016 Refereed
  • Learning System for Emotion Estimation and Emotional Expression Motion Generation based on RNN with Russell's Circumplex Model
    TSUJIMOTO Takuya;TAKAHASHI Yasutake;TAKEUCHI Shouhei;MAEDA Yoichiro
    Journal of Japan Society for Fuzzy Theory and Intelligent Informatics 28(4) 716-722 2016
    Recently, various robots trying to communicate with and support for human beings, for example, pet-type and service robots, have been increasing. It is required to realize smooth communication skills with human beings for the robots. In this research, we aim to realize Interactive Emotion Communication(Interactive Emotion Communication: IEC) -which is a bidirectional communication based on emotional behaviors between a human and a robot. IEC consists of three processes- (1)inferring human emotion, (2)generating robot emotion, and (3)expressing robot emotion. The purpose of IEC is to raise the personal a.nity which the robot gives to the human by interactive emotional behaviors. In our previous research, the authors have proposed the "Fuzzy Emotion Inference System(FEIS)". The FEIS particularly focuses only on the process of "human emotion inference" by analyzing the human body motion values based on Laban's theory. It measures the basic psychological value by fuzzy reasoning and infers the emotion based on Russell's circumplex model. The "human emotion inference" should be tightly related to the "expressing robot emotion", however, the conventional methods do not take it into account. This paper proposes "Recurrent Neural Network with Russell's Circumplex Model(RNNRCM)" -which introduces Russell's circumplex model to a Recurrent Neural Network that learns human emotion inference through motion and robot emotional motion generation bidirectionally. The RNNRCM realizesthe process of "recognizing human emotion" and "expressing robot emotion" in the IEC. We confirm the efficacy of the proposed method with experiments.
  • SLAM Method Based on Independent Particle Filters for Landmark Mapping and Localization for Mobile Robot Based on HF-band RFID System
    Wang, Jun;Takahashi, Yasutake
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 92(3-4) 413-433 Dec.  2018

Books etc

  • robot information technology handbook
    Yasutake TAKAHASHI, Tetsunari INAMURA, Takehisa YAIRI, Hajime Kimura, Katsunari Shibata, Hitoshi Iba, Takaya Arita, Yoichiro Maeda
    Chapter 7 Learning/Evolutionary Approach
    Nano-Optonics Energy, Inc Mar.  2010
    4764955075

Conference Activities & Talks

  • Control of Lower Limb Powered Exoskeleton based on Torso Motion
    Shuichiro HASHIMOTO, Yasutake TAKAHASHI
    2019 JSME Conference on Robotics and Mechatronics Jun.  2019
  • Power Assist Control Based on Posture Angles Estimation Using LPC and Motion Following using Interaction Force Between Wearer and Powered Exoskeleton
    Shota MURAI, Yudai ISHIZUKA, Yasutake TAKAHASHI
    2019 JSME Conference on Robotics and Mechatronics Jun.  2019
  • Case Study of Influence of Emotional Gesture using whole body of Humanoid Robot to Human Behavior Decision-Making
    Yuki Kayukawa, Yasutake TAKAHASHI, Kazunori Terada, Hiroyuki Inoue
    Human-Agent Interaction Symposium 2018 Mar.  2019
  • Control of Lower Limb Powered Exoskeleton based on Torso Motion
    Shuichiro Hashimoto, Yasutake Takahashi
     Nov.  2018
  • Development of a Face scale Measurement System for caring for elderly people with dementia
    Takeru Hirafumi, Yasutake Takahashi, Norie Takaku, Junko Yotsuya
     Nov.  2018
  • Developing arm assist system using e-textile sensor
    Takashi Kimura, Yasutake Takahashi
     Nov.  2018
  • Development of contact sensing type matrix sensor using e-textile and construction of contact state recognition system
    Yuri Tamai, Yasutake Takahashi
     Nov.  2018
  • Feasibility Study on a symmetric airfoil kitoon for the Airborne Wind Energy Generation Platform
    Tairo Kusagaya, HIronori Fujii, Kazuichi Seki, Hiroshi Okubo, Yasutake Takahashi, Hideto Mashidori, Taiki Endo, Hiroki Yamamoto, Takumi Tomita, Takeo Watanabe, Yuusuke Maruyama, Mari Tanaka, and Yujiro Sasahara
    The 39th Wind Energy Usage Symposium Dec.  2017
  • Study of High Altitude Wind Power Generation using Kite and Propeller Type Windmill
    Masafumi NARIKAWA, Tomoyuki KONDO, Yasutake TAKAHASHI
    The 39th Wind Power Energy Usage Symposium Dec.  2017
  • High-Sky Wind Energy Generation on a Tethered System
    Hironori A. Fujii, Hiroshi Okubo, Yasutake Takahashi, Yusuke Maruyama, Tairo Kusagaya, Shigeo Yoshida, Kazuo Arakawa, Hiroki Endo, Kenji Uchiyama, Kazuichi Seki, Takeo Watanabe
    Airborne Wind Energy Conference 2017 Oct.  2017
  • Experimental Setup to Study Airborne Wind Energy Generation Using a Train of Kites
    Hiroki T. Endo, Kazuo Arakawa, Gonzalo Sánchez-Arriaga, Hironori A.Fujii, Hiroshi Okubo, Yasutake Takahashi
    Airborne Wind Energy Conference 2017 Oct.  2017
  • Learning Control Based on the Human Motion Prediction Using Motion Sensor for Powered exoskeleton without Binding Knee
    Shinnosuke NOMURA, Katsuya SAHASHI, Shota MURAI, Yasutake TAKAHASHI, Masayuki KAWAI
    2017 JSME Conference on Robotics and Mechatronics May  2017 The Japan Society of Mechanical Engineers, Robotics and Mechatronics Division
  • Power Assist Control Based on Walk State Estimation using Force Information between Wearer and Powered Exoskeleton without Binding Knee
    Shota MURAI, Katsuya SAHASHI, Shinnosuke NOMURA, Yasutake TAKAHASHI, Masayuki KAWAI
    2017 JSME Conference on Robotics and Mechatronics May  2017 The Japan Society of Mechanical Engineers, Robotics and Mechatronics Division
  • Development of Measurement System for High-Altitude Wind Power Generation using a Train of Kite
    Tomoyuki Kondo, Yasutake Takahashi, Hiroki Endo
     Mar.  2017
  • Neural Network Based Model for Learning Visuomotor Policies of a Robot’s Letter Drawing
    Shinpei Masuda, Yasutake Takahashi
    The 79th National Convention of IPSJ Mar.  2017
  • Estimation of Joint Angle Sequence of Humanoid Robot for Imitation of Human Demonstration based on Particle Filter
    Kouta Sakakibara, Yasutake Takahashi
     Nov.  2014
  • Incremental Learning of Intention Recognition Modules for Interactive Operated Inverted Two-Wheeled Mobile Robot
    Shinnosuke Nomura, Takuya Inoue, Yasutake Takahashi, Takayuki Nakamura
     Nov.  2014
  • SLAM on HF-band RFID Self-Localization System
    Jun Wang, Yasutake Takahashi
     Nov.  2014
  • Personality Estimation and Kansei Evaluation by Body Motions of Human for Communication Robot
    Yukie Ichioka, Yoichiro Maeda, Yasutake Takahashi, Hiroyuki Inoue
     Nov.  2014
  • Investigation of Different Tag and Antenna Arrangement Effect on RFID-based Mobile Robot Self-localization
    Mi Jian, Yasutake Takahashi
     Nov.  2014
  • Human Character Extraction Using Vision of Communication Robot Based on Recognition of Human Body Motion
    Yukie ICHIOKA, Yoichiro MAEDA, Hiroyuki INOUE, Yasutake TAKAHASHI
    30th Fuzzy System Symposium Sep.  2014
  • Learning Control based on Intention Recognition by Inverted Two-Wheeled Mobile Robot through Interactive Operation
    Shinnosuke Nomura, Takuya Inoue, Yasutake TAKAHASHI, Takayuki Nakamura
    30th Fuzzy System Symposium Sep.  2014
  • Construction of Interactive Teaching System for Omnidirectional Wheelchair Based on Eye Tracking and Saliency Map
    Mao Wang, Yoichiro Maeda, Yasutake TAKAHASHI
    30th Fuzzy System Symposium Sep.  2014
  • Melody Oriented Chaotic Sound Generation System Based on Music Conductor Gesture
    Shuai Chen, Yoichiro Maeda, Yasutake TAKAHASHI
    30th Fuzzy System Symposium Sep.  2014
  • Automatic Melody Generation System Used Interactive Genetic Algorithm According to Specified Tone Row as User's Favorite
    Mo Zhang, Yoichiro Maeda, Yasutake TAKAHASHI
    30th Fuzzy System Symposium Sep.  2014
  • Emotion Inference System Using RNN in Intractive Communication between Human and Robot
    Shouhei Takeuchi, Yoichiro Maeda, Yasutake TAKAHASHI
    30th Fuzzy System Symposium Sep.  2014
  • Learning Fuzzy Control Parameters based on Human Operation Data for Tethered Flying Robot
    Chiaki Todoroki, Yasutake TAKAHASHI, Takayuki Nakamura
    The 32nd Annual Conference of the Robotics Society of Japan Sep.  2014
  • Realtime estimation of joint angle sequence for humanoid robot imitation based on particle filter
    髙橋 泰岳
    Particle filter study group camp in September 2014 Sep.  2014
  • Development and Autonomous Flight Control for Tethered Flying Robot
    Tohru ISHII, Chiaki TODOROKI, Yasutake TAKAHASHI, Yoichiro MAEDA, Takayuki NAKAMURA
    The 2014 JSME Conference on Robotics and Mechatronics May  2014
  • Research on dvelopment of the linear actuator using vibration motor and MR fluid
    Souta NAGATA, Hiroki INOU, Yasutake TAKAHASHI, Yoichiro MAEDA
    The 2014 JSME Conference on Robotics and Mechatronics May  2014
  • Intention Recognition by Inverted Two-Wheeled Mobile Robot through Interactive Operation
    Takuya INOUE, Yasutake TAKAHASHI, Takayuki NAKAMURA
    The 2014 JSME Conference on Robotics and Mechatronics May  2014
  • Mobile Robot Self Localization based on Multiple-RFID Reader and IC Tag Textile
    Yasutake TAKAHASHI, Takumi HASHIGUCHI, Jiang PENG
    The 2014 JSME Conference on Robotics and Mechatronics May  2014
  • Human Melody Oriented Chaotic Sound Generation System Using Music Conductor Gesture
    Shuai Chen, Yoichiro Maeda, Yasutake Takahashi
    The 2nd Human Symbiotic Systems Design Contest (HSS-DC) 2014 Mar.  2014
  • Two wheeled Inverted Mobile Robot Control based on Intention Recognition through Physical Interaction
    Takuya Inoue, Yasutake Takahashi, Takayuki Nakamura
    The 2nd Human Symbiotic Systems Design Contest (HSS-DC) 2014 Mar.  2014
  • Emotion Inference System based on Human Body Motion Features using Recurrent Neural Network
    Shohei Takeuchi, Yoichiro Maeda, Yasutake Takahashi
    The 2nd Human Symbiotic Systems Design Contest (HSS-DC) 2014 Mar.  2014
  • Evaluation of Personal Affinity Improvement by Character Emergence in Communication Robot
    Yukie Ichioka, Yoichiro Maeda, Yasutake Takahashi
    The 2nd Human Symbiotic Systems Design Contest (HSS-DC) 2014 Mar.  2014
  • Tethered Flying Robot for Information Gathering System
    Tohru Ishii,, Yasutake TAKAHASHI, Yoichiro Maeda, Takayuki Nakamura
    IROS'13 Workshop on Robots and Sensors integration in future rescue INformation system (ROSIN'13) Nov.  2013
  • Mobile Robot Self Localization Based on Multi-Antenna-RFID Reader and IC Tag Textile
    Yasutake Takahashi, Yuta Ii, Mi Jian, Wang Jun, Yoichiro Maeda, Masahiko Takeda, Ryuji Nakamura, Hiroaki Miyoshi, Hidenori Takeuchi, Yoshinori Yamashita, Hiroshi Sano, Atsuji Masuda
    2013 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO 2013) Nov.  2013
  • Construction of Assistant System for Disabled People Based on Eye Tracking
    Mao Wang, Yoichiro Maeda, Yasutake TAKAHASHI
    The 31st Annual Conference of the Roboticcs Society of Japan Sep.  2013
  • Recognition of Human Body Motion Pattern Using Recurrent Neural Network in Robot Interaction
    Shouhei Takeuchi, Yoichiro Maeda, Yasutake Takahashi
    The 29th Fuzzy System Symposium Sep.  2013
  • Personal Affinity Evaluation by Characterization in Communication Robot
    Yukie Ichioka, Yoichiro Maeda, Yasutake Takahashi
    The 29th Fuzzy System Symposium Sep.  2013
  • A Fuzzy Inference Method Based on Saliency Map for Visual Attention Region Prediction
    Mao Wang, Yoichiro Maeda, Yasutake Takahashi
    The 29th Fuzzy System Symposium Sep.  2013
  • Automatic Melody Generation System Used Genetic Algorithm According to User's Favorite
    Mo Zhang, Yoichiro Maeda, Yasutake Takahashi
    The 29th Fuzzy System Symposium Sep.  2013
  • Interactive Orchestra Sound Generation System Using Music Conductor Gesture
    Shuai Chen, Yoichiro Maeda, Yasutake Takahashi
    The 29th Fuzzy System Symposium Sep.  2013
  • Trajectory-based Imitation Learning for Humanoid Robot using Human Demonstration as Learning Bias
    Kazuyuki Usui, Hiroki Hatano, Yasutake Takahashi, Yoichiro Maeda
    The 29th Fuzzy System Symposium Sep.  2013
  • Trajectory-based Imitation Learning of Dynamic Motion for Robots
    Yasutake TAKAHASHI
    The Second International Symposium Past and future directions of cognitive developmental robotics"" Jan.  2013
  • Experiment of Interactive Communication Between Human and Robot Based on Emotional Behavior Learning by Using Self-Organizing Maps
    Shohei TAKEUCHI, Ryohei TAKI, Yoichiro MAEDA, Yasutake TAKAHASHI
    28th Fuzzy System Symposium Sep.  2012
  • Face Recognition System Used Spatial Frequency and Self-Organizing Maps for Human Interaction
    Daisuke MATSUBARA, Yoichiro MAEDA, Yasutake TAKAHASHI
    28th Fuzzy System Symposium Sep.  2012
  • Imitation Learning with Via-Point Representation of Human Motion by Inverted-Pendulum Mobile Robot
    Tatsuya KIMURA, Yasutake TAKAHASHI, Yoichiro MAEDA, Takayuki NAKAMURA
    28th Fuzzy System Symposium Sep.  2012
  • Modified Artificial Bee Colony Algorithm Applied Arithmetic Crossover
    Tatsuro KATO, Yoichiro MAEDA, Yasutake TAKAHASHI
    28th Fuzzy System Symposium Sep.  2012
  • Relaxation Sound Generation System Based on Electroencephalogram Feature Analysis
    Hotaka KiTABORA, Ryosuki ITII, Yoichiro MAEDA, Yasutake TAKAHASHI
    28th Fuzzy System Symposium Sep.  2012
  • Self-localization based on Image Features by Spherical Vision System
    Fuminori HIBINO, Yuta II, Yoichiro MAEDA, Yasutake TAKAHASHI
    28th Fuzzy System Symposium Sep.  2012
  • Expert's Rule Extraction by Using Adaptive Learning CMAC and Fuzzy Neural Network
    Takahiro SHOSE, Yoichiro MAEDA, Yasutake TAKAHASHI
    28th Fuzzy System Symposium Sep.  2012
  • Visualization of Cooperative Behavior of Social Agents Based on Interactive Reinforcement Learning
    Kun Zhang, Yoichiro MAEDA, Yasutake TAKAHASHI
    28th Fuzzy System Symposium Sep.  2012
  • Simple Teaching System of Viewpoint Tracking by Using Smart Tablet
    Meng Li, Yoichiro MAEDA, Yasutake TAKAHASHI
    28th Fuzzy System Symposium Sep.  2012
  • Chaotic Music Generation System Using Music Conductor Gesture Recognition
    Shuai Chen, Yoichiro MAEDA, Yasutake TAKAHASHI
    28th Fuzzy System Symposium Sep.  2012
  • Recognition Experiment of Human Instructions Based on HMD Prototype with Eye Tracking Function
    Mao Wang, Yoichiro MAEDA, Yasutake TAKAHASHI
    28th Fuzzy System Symposium Sep.  2012
  • ?Interactive Sound Generation System Based on Instruction Recognition of Human Body Motion
    Hotaka Kitabora, Yoichiro Maeda, Yasutake Takahashi
    13th ACIS International Conference on Software Engineering, Artificial Intelligence, Networking and Parallel/Distributed Computing Aug.  2012
  • Inverted-Pendulum Mobile Robot Motion Imitating from Human Player Observation and Body Parts Mapping for Imitation
    Sataya TAKAHASHI, Yasutake TAKAHASHI, Yoichiro MAEDA, Takayuki NAKAMURA
    The 25th Annual Conference of the Japanese Society for Artificial Intelligence, 2011 Jun.  2011
  • Effective Reaction Model of Robot in Interactive Emotion Communication between Human and Robot
    Ryohei Taki, Yoichiro MAEDA, Yasutake TAKAHASHI
    26th Fuzzy System Symposium Sep.  2010
  • Relaxation Effect Measurement Method Used Brain Wave Feature Extraction
    Ryusuke ICHII, Yoichiro MAEDA, Yasutake TAKAHASHI
    26th Fuzzy System Symposium Sep.  2010
  • Task Assignment Based on Fuzzy Contract Net for Multi-Agent Robot System
    Liang Mei, Yoichiro MAEDA, Yasutake TAKAHASHI
    26th Fuzzy System Symposium Sep.  2010
  • Reward Distribution of Multi-Agent Reinforcement Learning Based on Evaluation of Contribution Degree
    Kun Zhang, Yoichiro MAEDA, Yasutake TAKAHASHI
    26th Fuzzy System Symposium Sep.  2010
  • Behavior Acquisition of Autonomous Mobile Robot Used Fuzzy State Division-type Shaping Reinforcement Learning
    Takahiro SHOSE, Taiki HASEGAWA, Yoichiro MAEDA, Yasutake TAKAHASHI
    26th Fuzzy System Symposium Sep.  2010
  • Instruction System for Autonomous Distributed Agents Using Miniature Robots
    Sota YAMAMOTO, Yasutake TAKAHASHI, Yoichiro MAEDA
    26th Fuzzy System Symposium Sep.  2010
  • Human Instruction Recognition and Self Behavior Acquisition based on State Value
    Yasutake TAKAHASHI, Yoshihiro TAMURA, Minoru ASADA
    The 18th IEEE International Conference on Fuzzy Systems Aug.  2009
  • View Estimation Learning based on Value System
    Yasutake TAKAHASHI, Kouki SHIMADA, Minoru ASADA
    The 18th IEEE International Conference on Fuzzy Systems Aug.  2009
  • Acquisition of View Estimation between Different Bodies based on State Value Estimation
    Kouki SHIMADA, Yasutake TAKAHASHI, Minoru ASADA
    The 25th Fuzzy System Symposium 2009 Jul.  2009
  • Mutual Development of Behavior Acquisition and Recognition based on State Value
    Yoshihiro TAMURA, Yasutake TAKAHASHI, Minoru ASADA
    The 25th Fuzzy System Symposium 2009 Jul.  2009
  • Generation of Team Behavior Based on State Value Estimation of Self and Others
    Kouki SHIMADA, Yasutake TAKAHASHI, Minoru ASADA
    2009 JSME Conference on Robotics and Mechatronics May  2009
  • Learning Dynamic Throwing Motion of A Wheeled Inverted Pendulum utilizing Whole Body Dynamics
    西川 剛広, Yasutake TAKAHASHI, Takayuki NAKAMURA, Minoru ASADA, Hiroshi ISHIGURO
    2009 JSME Conference on Robotics and Mechatronics May  2009
  • Power Assist Control based on Motion Sensor
    Katsuya Sahashi, Shinnnosuke NOmura, Takuya Inoue, Yasutake Takahashi, Yoshiaki Taniai, Masayuki Kawai
    The 31 Fuzzy System Symposium Sep.  2015
  • Learning System for Emotion Estimation and Emotional Expression Motion Generation based on RNN with Russell’s Circumplex Model
    Takuya Tsujimoto, Yasutake Takahashi, Shouhei Takeuchi, Yoichiro Maeda
    The 31st Fuzzy System Symposium Sep.  2015
  • Tethered Flying Robot Control based on Weighted K-Nearest Neighbor Algorithm with Less Increase of Teaching Data of Human Operation
    Chiaki Todoroki, Yasutake Takahashi, Takayuki Nakamura
    The 33rd Annual Conference of the Robotics Society of Japan Sep.  2015
  • SLAM on HF-band RFID System and LRF for Omni-Directional Vehicle
    Jun Wang, Yasutake Takahashi
    The 33rd Annual Conference of the Robotics Society of Japan Sep.  2015
  • Power Assist Control based on User Motion Model and Motion Sensor
    Katsuya Sahashi, Shinnosuke Nomura, Takuya Inoue, Yasutake TAKAHASHI, Masayuki Kawai
     Nov.  2015
  • Real time Imitation of whole Body Link postures based on Particle Filter for Humanoid Robot
    Shohei Yamamoto, Yasutake Takahashi
     Nov.  2015
  • Investigation of Learning System for Emotion Estimation and Emotional Expression Motion Generation based on RNN with Russell's Circumplex Model
    Takuya Tsujimoto, Yasutake Takahashi
     Nov.  2015
  • Development of Lifting Mount of Kite based Tethered Flying Robot for High-Altitude Monitoring System
    Tomoyuki Kondo, Chiaki Todoroki, Yasutake Takahashi
     Nov.  2015
  • Self-Localization using MCL based on a novel HF-band RFID System with Large Antennas and Small Tags
    Jian Mi, Yasutake TAKAHASHI
    SICE Symposium on Systems and Information 2015 Nov.  2015
  • SLAM based on Distributed Particle Updates for Landmark Mapping for RFID-based Mobile Robot Self-Localizaiton
    Jun Wang, Yasutake TAKAHASHI
    SICE Symposium on Systems and Information 2015 Nov.  2015
  • HF-band RFID System based Self-Localization System for Omni-directional Service Robot
    Jun Wang, Jian Mi, Yasutake Takahashi
     Nov.  2015
  • Real-time Imitation of Humanoid Robot based on Particle Filter with Standing Stabilization Control
    Yo KONDO, Shohei YAMAMOTO, and Yasutake TAKAHASHI
    The 44th JSAI SIG-Challenge Meeting Mar.  2016
    This paper proposes a posture imitation method based on particle-filter-based joint an- gle estimation with stabilization control for a humanoid robot. An inexpensive camera with depth sensor enables us to observe joint posi- tions of a human demonstrator with reasonable accuracy in a fast and comfortable way. In order to mimic the motion observed with the depth sensor based motion capture system by a humanoid robot, inverse kinematics should be solved to acquire the joint angle of the robot. However, It is tough to solve the inverse kine- matics, in fact, to calculate the joint angles of the robot from the position of the joints of the human demonstrator, because of redundancy and difference of body link structure between a human demonstrator and a humanoid robot. The proposed method provides a realistic solu- tion of the estimated sequence of the joint angle for the humanoid robot imitation in real-time.
  • Development of foot device contacting ground at Metacarpo phalangeal joint for a powered exoskeleton
    Toshihiro MIZUSAKI, Takeo YOSHIMURA, Masayuki KAWAI, and Yasutake TAKAHASHI
    Proceedings of the 2016 JSME Conference on Robotics and Mechatronics Jun.  2016
  • Lower Leg Control Based on the Human Motion Prediction Using Motion Sensor for Power Assist Suits without Binding Knee
    Shinnosuke NOMURA, Takuya INOUE, Yasutake TAKAHASHI, Masayuki KAWAI, and Yoshiaki TANIAI
    The 2016 JSME Conference on Robotics and Mechatronics Jun.  2016
  • Power Assist Control Based on the Human’s Forearm Motion Prediction Using Motion Sensor
    Katsuya SAHASHI, Shinnosuke NOMURA, Yasutake TAKAHASHI, Yoshiaki TANIAI, Masayuki KAWAI
    The 2016 JSME Conference on Robotics and Mechatronics Jun.  2016
  • Simulation of Power-Assisted Upper-Arm Reaching Movements based on PD Control with Gravity Compensation
    Yoshiaki TANIAI, Tomohide NANIWA, Yasutake TAKAHASHI, and Masayuki KAWAI
    The 2016 JSME Conference on Robotics and Mechatronics Jun.  2016
  • Case Study of Influence of Emotional Gesture of Humanoid Robot to Human Decision-Making
    Yuki Kayukawa, Yasutake Takahashi, Takuya Tsujimoto, Kazunori Terada
    Fuzzy System Symposium 2016 Aug.  2016
  • Case Study of Small Wind Power Generation using Kite-based Tethered Flying Robot
    Tomoyuki KONDO
    Mechanical Engineering Congress, 2016 Japan Sep.  2016 The Japan Society of Mechanical Engineering
  • Visual Tracking and State Estimation of Foil Kite based on Particle Filter
    Tomoyuki Kondo and Yasutake Takahashi
    The 26th Intelligent System Symposium Oct.  2016
  • Visuomotor Learning Model for Robot Letter Drawing based on Deep Neural Network
    Shimpei Masuda, Yasutake Takahashi
     Nov.  2016
  • Power Assist Control Based on User Motion Estimation using Force Between Users Foot and Powered Exoskeleton and Jacobian
    Shota Murai, Katsuya Sahashi, Shinnosuke Nomura, Yasutake Takahashi, Masayuki Kawai
     Nov.  2016
  • Case Study of Influence of Emotional Gesture of Humanoid Robot to Human Decision-Making
    Yuki Kayukawa, Yasutake Takahashi, Takuya Tsujimoto, Kazunori Terada
     Nov.  2016
  • Human Gesture Recognition Using 3D Depth Sensor for Automatic Mobile Robot
    Wanfeng Fu and Yasutake Takahashi
     Nov.  2016
  • Physical Action Recognition based on Motion Sensor on Body for Powered Exoskeleton
    Xuan Wang, Katsuya Sahashi, Shinnosuke Nomura and Yasutake Takahashi
     Nov.  2016

Awards & Honors

  •  Organizing Committee of the 5th IWACIII 2017 Session Best Presentation Award Motion Representation for Humanoid Robot Based on Gaussian Process Dynamical ModelsNov. 2017
  •  Organizing Committee of the 5th IWACIII 2017 Session Best Presentation Award A low-cost light based self-localization system with repeated landmark ID for the indoor mobile robot,Nov. 2017
  •  Human Symbiotic System Research Group, Japan Society for Fuzzy Theory and Intelligent Informatics HSS Design AwardMar. 2014
  •  Human Symbiotic System Research Group, Japan Society for Fuzzy Theory and Intelligent Informatics HSS Design AwardMar. 2014
  •  RoboCup Japanese National Committee RoboCup Research AwardMay 2010