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Masaki Takahashi

13 accepted papers

2023

Switching Head-Tail Funnel UNITER for Dual Referring Expression Comprehension with Fetch-and-Carry Tasks

Ryosuke Korekata, Motonari Kambara, Yu Yoshida, Shintaro Ishikawa, Yosuke Kawasaki, Masaki Takahashi +1
IROS 2023poster

This paper describes a domestic service robot (DSR) that fetches everyday objects and carries them to specified destinations according to free-form natural language instructions. Given an instruction such as “Move the bottle on the left side of the plate to the empty chair,” the DSR is expected to i…

Cited by 11Source ↗Scholar ↗
2022

Active Autorotation of Micro Aerial Vehicle with Foldable Winged Shell for Impact Mitigation during Free Fall

Quek Ching Alvin, Kazunori Ohno, Yoshito Okada, Daiki Fujikura, Satoshi Abe, Masaki Takahashi +2
ICRA 2022poster

Drop mitigation is an important function of micro aerial vehicles (MAVs) that are used for internal inspections of enclosed and cluttered structures (height: 5–10 m). The mechanism also allows continuous operation of drones, prevents the downtime required for maintenance and repair and also provides…

Cited by 3Source ↗Scholar ↗
2022

ProTAMP: Probabilistic Task and Motion Planning Considering Human Action for Harmonious Collaboration

Shunsuke Mochizuki, Yosuke Kawasaki, Masaki Takahashi
IROS 2022poster

For the proper functioning of mobile manipulator-type autonomous robot performing complicated tasks in a human-robot coexistence environment, tasks and motions must be planned simultaneously. In such environments, a human and robot should collaborate with each other. Therefore, the robot must act in…

Cited by 2Source ↗Scholar ↗
2022

UnrealEgo: A New Dataset for Robust Egocentric 3D Human Motion Capture

Hiroyasu Akada, Jian Wang, Soshi Shimada, Masaki Takahashi, Christian Theobalt, Vladislav Golyanik
ECCV 2022poster

"We present UnrealEgo, a new large-scale naturalistic dataset for egocentric 3D human pose estimation. UnrealEgo is based on an advanced concept of eyeglasses equipped with two fisheye cameras that can be used in unconstrained environments. We design their virtual prototype and attach them to 3D hum…

Cited by 54Source ↗PDF ↗Scholar ↗
2021

Uncertainty-aware Non-linear Model Predictive Control for Human-following Companion Robot

Shunichi Sekiguchi, Ayanori Yorozu, Kazuhiro Kuno, Masaki Okada, Yutaka Watanabe, Masaki Takahashi
ICRA 2021poster

For a companion robot that follows a person as an assistant, predicting human walking is important to produce a proactive movement that is helpful to maintain an appropriate area decided by the human personal space. However, fully trusting the prediction may result in obstructing human walking becau…

Cited by 16Source ↗Scholar ↗
2020

Plucking Motions for Tea Harvesting Robots Using Probabilistic Movement Primitives

Kurena Motokura, Masaki Takahashi, Marco Ewerton, Jan Peters
RA-L 2020

This letter proposes a harvesting robot capable of plucking tea leaves. In order to harvest high-quality tea, the robot is required to pluck the petiole of the leaf without cutting it using blades. To pluck the leaves, it is necessary to reproduce a complicated human hand motion of pulling while rot

Cited by 37Source ↗Scholar ↗
2020

Shift-Adaptive Estimation of Joint Angle Using Instrumented Brace With Two Stretch Sensors Based on Gaussian Mixture Models

Ryo Eguchi, Brendan Michael, Matthew Howard, Masaki Takahashi
RA-L 2020

Wearable motion sensing in daily life has attracted attention in various disciplines. Especially, stretchable strain sensors have been instrumented into garments (e.g. brace). To estimate joint motions from such sensors, previous studies have modelled relationships between the sensor strains and mot

Cited by 3Source ↗Scholar ↗
2019

Reinforcement Learning of Trajectory Distributions: Applications in Assisted Teleoperation and Motion Planning

Marco Ewerton, Guilherme Maeda, Dorothea Koert, Zlatko Kolev, Masaki Takahashi, Jan Peters
IROS 2019poster

The majority of learning from demonstration approaches do not address suboptimal demonstrations or cases when drastic changes in the environment occur after the demonstrations were made. For example, in real teleoperation tasks, the demonstrations provided by the user are often suboptimal due to int…

Cited by 9Source ↗Scholar ↗
2019

Spatiotemporal and Kinetic Gait Analysis System Based on Multisensor Fusion of Laser Range Sensor and Instrumented Insoles

Ryo Eguchi, Ayanori Yorozu, Masaki Takahashi
ICRA 2019poster

Tracking of human legs during walking are key technologies for gait analysis evaluating the movement function of the elderly and patients with gait disorders. Although the motion capture cameras are the gold standard method for gait analysis because of their high accuracy, they are not always access…

Cited by 6Source ↗Scholar ↗
2018

Autonomous Navigation Using Multimodal Potential Field to Initiate Interaction with Multiple People

Yosuke Kawasaki, Ayanori Yorozu, Masaki Takahashi
IROS 2018poster

In a human-robot interaction, a robot needs to move to a position where the robot can obtain high reliability data of people, such as positions, postures, and voice. This is because the human recognition reliability depends on the positional relation between the people and the robot. In addition, th…

Cited by 4Source ↗Scholar ↗
2015

Development of gait measurement robot using laser range sensor for evaluating long-distance walking ability in the elderly

Ayanori Yorozu, Masaki Takahashi
IROS 2015poster

Falling is a common problem in the growing elderly population and fall-risk assessment systems are needed for community-based fall prevention program. In particular, gait measurements such as several-meters walk tests are carried out in community health activities. To evaluate the walking ability of…

Cited by 17Source ↗Scholar ↗