ヒューマノイド・ロボティクス2018夏の学校

2018年9月22～23日 於 明治大学駿河台キャンパス

日本ロボット学会ヒューマノイド・ロボティクス研究専門委員会主催


新着情報

  • 2018. 8.29 スケジュールを修正しました。
  • 2018. 8. 9 参加募集を打ち切りました。
  • 2018. 7.31 ウェブページを公開しました。

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趣旨

人型ロボットの力学・制御・運動計画に関する勉強会を行います。 これは、人型ロボット研究に現在携わっている、あるいはこれから携わる意志のある方たちの研究力向上と、互いの研究について組織を越えて忌憚なく議論できるコミュニティの育成を狙いとするものです。

幾つかのトピックについて形式的に講師役を設定しますが、講師が一方的にある知識を聴講者に伝達するのではなく、今まさに世界の先端でなされている研究内容について全員が議論し、理解を深めることを旨とします。 講師は議論の舵取り役を務めます。 参加される方々には、可能な範囲で予習をしておいて頂きたく存じます。

3回目となる今年は、実験的に受講者からの研究発表も募ります。 1件あたり30分程度で、発表数5件程度を想定しております。 最先端で活動している一流研究者から質の高いフィードバックを戴けるチャンスですので、奮ってご応募下さい。 内容は既発表/未発表を問いません。
※公的な発表記録にはなりませんのでご注意下さい。
※発表希望者多数の場合は主催者にて選抜させて頂きます。
※未発表内容が含まれる場合、参加者には守秘誓約書に署名して頂きます。

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場所

明治大学駿河台キャンパス リバティタワー8F 1083教室

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スケジュール

9/22(土)
9:25- 9:30開会挨拶
9:30-11:00講義1: 人型ロボットの力学1 山本江（東大）
11:05-12:25講義2: 人型ロボットの力学2 杉原知道（阪大）
12:25-13:15昼休み
13:15-14:45講義3: 人型ロボットの運動制御1 上岡拓未（ホンダ・リサーチ・インスティチュート・ジャパン）
14:50-16:50講義4: アクチュエータの力学と制御 藤本康孝（横国大）
17:30-19:30懇親会
9/23(日)
9:00-10:30講義5: 人型ロボットの運動制御2 室岡雅樹（東大）
10:40-12:00講義6: 人型ロボットの状態推定 舛屋賢（東工大）
12:00-13:00昼休み
13:00-15:00講義7: 自律ロボットの外界認識とマッピング 友納正裕（fuRo）
15:10-17:10受講者による研究発表
17:20-17:50ディスカッション
17:50-17:55閉会挨拶，解散

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講義

講義1: 人型ロボットの力学1 山本江（東大）

人型ロボットは一般に剛体浮遊リンク系でモデル化される。本講義では、その運動学・動力学について特に冗長自由度と接触力拘束の扱いに注目しながら解説する。

参考文献:
Y. Fujimoto and A. Kawamura, Simulation of an Autonomous Biped Walking Robot including Environmental Force Interaction, IEEE Robotics and Automation Magazine, vol. 5, no. 2, pp. 33-42, 1998.
O. Khatib, A Unified Approach for Motion and Force Control: The Operational Space Formulation, IEEE International Journal of Robotics and Automation, vol. 3, no. 1, pp. 43-53, 1987.
K. Yamane and Y. Nakamura, Natural motion animation through constraining and deconstraining at will, IEEE Transaction of Visualization and Computer Graphics, vol. 9, no. 3, pp. 352-360, 2003.
K. Nagasaka, A. Miyamoto, M. Nagano, H. Shirado, T. Fukushima, and M. Fujita, Motion control of a virtual humanoid that can perform real physical interactions with a human, in Proceedings of 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2303-2310, 2008.
N. Mansard, O. Khatib, and A. Kheddar, A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks, IEEE Transaction on Robotics, vol. 25, no. 3, pp. 670-685, 2009.
L. Righetti and S. Schaal, Quadratic programming for inverse dynamics with optimal distribution of contact forces, in Proceedings of 2012 IEEE-RAS International Conference on Humanoid Robots, pp. 538-543, 2012.
C. Ott, A. Dietrich, and A. Albu-Schäffer, Prioritized multi-task compliance control of redundant manipulators, Automatica, vol. 53, pp. 416–423, 2015.
K. Ayusawa and E. Yoshida, Comprehensive theory of differential kinematics and dynamics towards extensive motion optimization framework, International Journal of Robotics Research, pp. 1-19, 2018

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講義2: 人型ロボットの力学2 杉原知道（阪大）

複雑な人型ロボットの運動を階層的にとらえるために、全身運動量と反力中心の関係に着目した低次元力学について考える。

主なトピック:重心運動量、重心-ZMPモデル、線形倒立振子モード、Capture Point

参考文献（太字=重点的に議論するもの）:
F. Miyazaki and S. Arimoto, A Control Theoretic Study on Dynamical Biped Locomotion, Transaction of the ASME, Journal of Dynamic Systems, Measurement, and Control, Vol. 102, pp. 233--239, 1980. [Download]
Y. Umetani and K. Yoshida, Resolved Motion Rate Control of Space Manipulators with Generalized Jacobian Matrix, IEEE Transactions on Robotics and Automation, Vol. 5, No. 3, pp. 303--314, 1989. [Download]
R. Boulic, R. Mas and D. Thalmann, Inverse Kinetics for Center of Mass Position Control and Posture Optimization, in Proceedings of European Workshop on Combined Real and Synthetic Image Processing for Broadcast and Video Production, 1994. [Download]
D. E. Orin, A. Goswami and S-H. Lee, Centroidal dynamics of a humanoid robot, Autonomous Robots, Vol. 35, pp. 161--176, 2013. [Download]
M. Vukobratovic and J. Stepanenko, On the Stability of Anthropomorphic Systems, Mathematical Biosciences, Vol. 15, No. 1, pp. 1--37, 1972. [Download]
K. Mitobe, G. Capi and Y. Nasu, Control of walking robots based on manipulation of the zero moment point, Robotica, Vol. 18, Issue 6, pp. 651--657, 2000. [Download]
S. Kagami, F. Kanehiro, Y. Tamiya, M. Inaba and H. Inoue, AutoBalancer: An Online Dynamic Balance Compensation Scheme for Humanoid Robots, in Proceedings of the 4th International Workshop on Algorithmic Foundation on Robotics, 2000.
T. Sugihara, Y. Nakamura and H. Inoue, Realtime Humanoid Motion Generation through ZMP Manipulation based on Inverted Pendulum Control, in Proceedings of the 2002 IEEE International Conference on Robotics and Automation, pp. 1404--1409, 2002. [Download]
S. Kajita, T. Yamaura and A. Kobayashi, Dynamic Walking Control of a Biped Robot Along a Potential Energy Conserving Orbit, IEEE Transactions on Robotics and Automation, Vol. 8, No. 4, pp. 431--438, 1992. [Download]
T. Sugihara, Standing Stabilizability and Stepping Maneuver in Planar Bipedalism based on the Best COM-ZMP Regulator, Proceedings of the 2009 IEEE International Conference on Robotics and Automation, pp. 1966--1971, 2009. [Download]
T. Koolen, T. de Boer, J. Rebula, A. Goswami and J. Pratt, Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models, The International Journal of Robotics Research, Vol. 31, Issue 9, pp. 1094--1113, 2012. [Download]

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講義3: 人型ロボットの運動制御1 上岡拓未（ホンダ・リサーチ・インスティチュート・ジャパン）

本講義では人型ロボットの二足歩行制御について議論する．特に動作計画と安定化制御からなる軌道追従型の歩行制御を中心に，1) 実時間動作計画，2) 線形倒立振子モードに基づく安定化制御，3) 逆動力学に基づく安定化制御，の3点を題材として，Hondaにおける実装例を他者と比較する形で紹介する．

主なトピック: 予見制御，モデル予測制御，着地位置制御，姿勢安定化制御，逆動力学制御

参考文献
S. Kajita et al., Biped Walking Pattern Generation by using Preview Control of Zero-Moment Point, in Proceedings of 2003 IEEE International Conference on Robotics and Automation, 2003, vol. 2, pp. 1620-1626. [Download]
J. Urata, K. Nishiwaki, Y. Nakanishi, K. Okada, S. Kagami, and M. Inaba, Online Decision of Foot Placement using Singular LQ Preview Regulation, in Proceedings of 2011 IEEE-RAS International Conference on Humanoid Robots, pp. 13-18, 2011. [Download]
J. Urata, K. Nishiwaki, Y. Nakanishi, O. Okada, S. Kagami, and M. Inaba, Online walking pattern generation for push recovery and minimum delay to commanded change of direction and speed, in Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3411-3416, 2012. [Download]
P.-B. Wieber, Trajectory Free Linear Model Predictive Control for Stable Walking in the Presence of Strong Perturbations, in Proceedings of 2006 IEEE-RAS International Conference on Humanoid Robots. [Download]
A. Herdt, H. Diedam, P.-B. Wieber, D. Dimitrov, M. Diehl, and K. Mombaur, Online Walking Motion Generation with Automatic Foot Step Placement, Advanced Robotics, vol. 24, no. 5-6, pp. 719-737, 2010. [Download]
T. Takenaka, T. Matsumoto, and T. Yoshiike, Real time motion generation and control for biped robot - 1st report: Walking gait pattern generation -, in Proceedings of 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1084-1091, 2009. [Download]
T. Kamioka, H. Kaneko, T. Takenaka, and T. Yoshiike, Simultaneous Optimization of ZMP and Footsteps based on the Analytical Solution of Divergent Component of Motion, in Proceedings of 2018 IEEE International Conference on Robotics and Automation, pp. 1763-1770, 2018. [Download]
T. Kamioka et al., Dynamic gait transition between walking, running and hopping for push recovery, in Proceedings of 2017 IEEE-RAS International Conference on Humanoid Robots, pp. 1-8, 2017. [Download]
S. Kajita et al., Biped walking control on uneven ground by linear inverted pendulum tracking, in Proceedings of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4489-4496, 2010. [Download]
T. Takenaka et al., Real time motion generation and control for biped robot - 4th report: Integrated balance control -, in Proceedings of 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1601-1608, 2009. [Download]
T. Sugihara, Standing stabilizability and stepping maneuver in planar bipedalism based on the best COM-ZMP regulator, in Proceedings of 2009 IEEE International Conference on Robotics and Automation, pp. 1966-1971, 2009. [Download]
M. Morisawa, S. Kajita, F. Kanehiro, K. Kaneko, K. Miura, and K. Yokoi, Balance control based on Capture Point error compensation for biped walking on uneven terrain, in Proceedings of 2012 IEEE-RAS International Conference on Humanoid Robots, pp. 734-740, 2012. [Download]
竹中透, 2脚ロボットの歩行・走行歩容生成と姿勢制御, 東京工業大学博士論文, 2015. [Download]
T. Buschmann, S. Lohmeier, and H. Ulbrich, Biped Walking Control Based on Hybrid Position/Force Control, in Proceedings of 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3019-3024, 2009. [Download]
R. Wittmann, A.-C. Hildebrandt, D. Wahrmann, F. Sygulla, D. Rixen, and T. Buschmann, Model-Based Predictive Bipedal Walking Stabilization, in Proceedings of 2016 IEEE-RAS International Conference on Humanoid Robots, pp. 718-724, 2016. [Download]
S. Feng, E. Whitman, X. Xinjilefu, and C. G. Atkeson, Optimization-based full body control for the DARPA Robotics Challenge, Journal of Field Robotics, vol. 32, no. 2, pp. 293-312, 2015. [Download]
M. A. Hopkins, A. Leonessa, B. Y. Lattimer, and D. W. Hong, Optimization-Based Whole-Body Control of a Series Elastic Humanoid Robot, Int. J. Humanoid Robotics, vol. 13, no. 1, pp. 1550034, 2015. [Download]
T. Koolen et al., Design of a Momentum-Based Control Framework and Application to the Humanoid Robot Atlas, Int. J. Humanoid Robotics, vol. 13, no. 01, 2016. [Download]
S. Caron, Q. Pham, and Y. Nakamura, Stability of Surface Contacts for Humanoid Robots: Closed-Form Formulae of the Contact Wrench Cone for Rectangular Support Areas, in Proceedings of 2015 IEEE International Conference on Robotics and Automation, pp. 5107-5112, 2015. [Download]
J. Englsberger, G. Mesesan, A. Werner, and C. Ott, Torque-based dynamic walking - A long way from simulation to experiment, in Proceedings of 2018 IEEE International Conference on Robotics and Automation, pp. 440-447, 2018. [Download]
Y. Kanemoto, T. Yoshiike, M. Muromachi, and M. Osada, Compact and High Performance Torque-Controlled Actuators and its Implementation to Disaster Response Robot, in Proceedings of 2018 IEEE International Conference on Robotics and Automation, pp. 4057-4063, 2018. [Download]

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講義4: アクチュエータの力学と制御 藤本康孝（横国大）

本講義では，ロボット用アクチュエータの基礎と応用について議論する．

主なトピック：各種アクチュエータ，減速機，モータ，モータドライバ，アクチュエータの制御

参考文献
G. A. Pratt and M. M. Williamson, Series Elastic Actuators, proc. of IEEE/RSJ IROS, pp.399-406, 1995. [Download]
M. Zinn, O. Khatib, B. Roth, and J. K. Salisbury, Playing It Safe, IEEE Robotics and Automation Mag., vol. 11, no. 2, pp. 12-21, 2004. [Download]
C. A. Ihrke, et al., Rotary Series Elastic Actuator, US Patent, Pub. No. US2011/0067517A1, 2011. [Download]
M. Laffranchi, N. Tsagarakis, and D. G. Caldwell, A Compact Compliant Actuator (CompAct) with Variable Physical Damping, proc. IEEE ICRA, pp. 4644-4650, 2011. [Download]
A. Albu-Schaffer, et al., The DLR Lightweight Robot - Design and Control Concepts for Robots in Human Environments, Ind. Robot, vol. 34, no. 5, pp. 376-385, 2007. [Download]
H. Kaminaga, J. Ono, Y. Nakashima, and Y. Nakamura, Development of backdrivable hydraulic joint mechanism for knee joint of humanoid robots, proc. IEEE ICRA, pp. 1577-1582, 2009. [Download]
T. Kawakami, K. Ayusawa, H. Kaminaga, and Y. Nakamura, High-fidelity joint drive system by torque feedback control using high precision linear encoder, proc. IEEE ICRA, pp. 3904-3909, 2010. [Download]
H. Kaminaga, et al., Backdrivability analysis of Electro-Hydrostatic Actuator and series dissipative actuation model, proc. IEEE ICRA, pp. 4204-4211, 2010. [Download]
Y. Kuroki, et al., Cr-N alloy thin-film based torque sensors and joint torque servo systems for compliant robot control, proc. IEEE ICRA, pp. 4954-4959, 2013. [Download]
D. Kobuse and Y. Fujimoto, Efficiency Optimization of High-reduction-ratio Planetary Gears for Very High Power Density Actuators, proc. IEEE ISIE, pp. 1240-1245, 2016. [Download]
Y. Fujimoto and D. Kobuse, Highly Backdrivable Robotic Actuators, proc. IEEJ SAMCON, IS2-1, Nagaoka, 2017. [Download]
Y. Fujimoto, Highly-efficient Backdrivable Reduction Gearboxes for Robotic Applications, proc. IEEJ JIASC, vol. 2, pp. 35-40, 2017. (in Japanese) [Download]
K. Hori and I. Hayashi, Maximum Efficiencies of Conventional Mechanical Paradox Planetary Gears for Reduction Drive, Trans. of JSME, C, vol. 60, no. 579, pp. 3940-3947, 1994. (in Japanese) [Download]
K. Hori and I. Hayashi, Optimization of the Profile-Shift Coefficients of Conventional Mechanical Paradox Planetary Gear Drives to Obtain the Maximum Efficiency, Trans. of JSME, C, vol. 61, no. 586, pp. 2559-2566, 1995. (in Japanese) [Download]
K. Hori and I. Hayashi, Improvement of Efficiency of 3K-Type Mechanical Paradox Planetary Gear Drive by Equalizing Approach and Recess-Contact Ratios, Trans. of JSME, C, vol. 62, no. 596, pp. 1548-1555, 1996. (in Japanese) [Download]
T. Yada, Review of Gear Efficiency Equation and Force Treatment, JSME Int. J., C, vol. 40, no. 1, pp. 1-8, 1997. [Download]
Y. Fujimoto, I. A. Smadi, H. Omori, K. Suzuki, and H. Hamada, Modeling and Control of a High-thrust Direct-drive Spiral Motor, proc. IEEJ IPEC, pp. 2222-2229, 2010. [Download]
Y. Fujimoto, T. Suenaga, and M. Koyama, Control of an Interior Permanent Magnets Screw Motor with Power-saving Axial-gap Displacement Adjustment, IEEE Trans. on Industrial Electronics, vol. 61, no. 7, pp. 3610-3619, 2014. [Download]
C. S. Cyusa and Y. Fujimoto, Enactment Based Direct-Drive Test of a Novel Radial-Gap Helical RotLin Machine, IEEE Trans. on Industry Applications, vol. 54, no. 2, pp. 1273-1282, 2018. [Download]
H. Noma and Y. Fujimoto, Analysis of Low-Cogging PM Motor for Highly Backdrivable Actuators, proc. IEEJ SAMCON, TT4-1, Tokyo, 2018. [Download]

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講義5: 人型ロボットの運動制御2 室岡雅樹（東大）

本講義では，人型ロボットが手や足を使うような多点接触・脚腕協調を伴う三次元ロコモーション・マニピュレーションの運動生成・計画について議論する．

主なトピック:多点接触，脚腕協調，モーションプランニング，マニピュレーション

参考文献
H. Hirukawa et al. A universal stability criterion of the foot contact of legged robots-Adios ZMP, in Proceedings of 2006 IEEE International Conference on Robotics and Automation, 2006. [Download]
S. Hirai and H. Asada. Kinematics and statics of manipulation using the theory of polyhedral convex cones, The International Journal of Robotics Research, vol. 12, no. 5, pp. 434-447, 1993. [Download]
K. Bouyarmane and A. Kheddar, Humanoid robot locomotion and manipulation step planning, Advanced Robotics, vol. 26, no. 10, pp. 1099-1126, 2012. [Download]
K. Hauser et al., Motion planning for legged robots on varied terrain, The International Journal of Robotics Research vol. 27, no. 11-12, pp. 1325-1349, 2008. [Download]
A. Escande, A. Kheddar and S. Miossec., Planning support contact-points for humanoid robots and experiments on HRP-2, in Proceedings of 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006. [Download]
K. Harada et al., A humanoid robot carrying a heavy object, in Proceedings of 2005 IEEE International Conference on Robotics and Automation, 2005. [Download]
T. Takubo, K. Inoue and T. Arai, Pushing an object considering the hand reflect forces by humanoid robot in dynamic walking, in Proceedings of 2005 IEEE International Conference on Robotics and Automation, 2005. [Download]
S. Nozawa et al., Three-dimensional humanoid motion planning using COM feasible region and its application to ladder climbing tasks, in Proceedings of 2016 IEEE-RAS 16th International Conference on Humanoid Robots, 2016. [Download]
M. Posa, C. Cantu and R. Tedrake, A direct method for trajectory optimization of rigid bodies through contact, The International Journal of Robotics Research, vol. 33, no. 1, pp. 69-81, 2014. [Download]
V. Nguyen, Constructing force-closure grasps, The International Journal of Robotics Research, vol. 7, no. 3, pp. 3-16, 1988. [Download]
Y. Maeda, T. Nakamura and T. Arai, Motion planning of robot fingertips for graspless manipulation, in Proceedings of 2004 IEEE International Conference on Robotics and Automation, 2004. [Download]
W. Wan and K. Harada, Regrasp Planning using 10,000s of Grasps, in Proceedings of 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems,2017. [Download]
M. Murooka et al., Global planning of whole-body manipulation by humanoid robot based on transition graph of object motion and contact switching, Advanced Robotics, vol. 31, no. 6, pp. 322-340, 2017. [Download]

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講義6: 人型ロボットの状態推定 舛屋賢（東工大）

本講義では，人型ロボットの制御に用いられる状態量（重心やベースリンク位置・姿勢，接触力）の推定方法について，近年の研究動向を通して議論する．

参考文献
F. Nori, N. Kuppuswamy, and S. Traversaro, Simultaneous state and dynamics estimation in articulated structures in Proc. of the 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3380--3386, 2015. [Download]
N. Rotella, M. Bloesch, L. Righetti and S. Schaal, State Estimation for a Humanoid Robot, in Proc. of the 2014 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 952--958, 2014. [Download]
K. Masuya and T. Sugihara, Dead reckoning for biped robots that suffers less from foot contact condition based on anchoring pivot estimation, Advanced Robotics, Vol. 29, No. 12, pp. 785--799, 2015. [Download]
M. Benallegue and F. Lamiraux, Humanoid Flexibility Deformation Can Be Efficiently Estimated Using Only Inertial Measurement Units and Contact Information, in Proc. of the 2014 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 246--251, 2014. [Download]
S.J. Kwon and Y. Oh, Estimation of the Center of Mass of Humanoid Robot, in Proc. of the 2007 Int. Conf. on Control, Automation and Systems, pp. 2705--2709, 2007. [Download]
B. J. Stephens, State estimation for force-controlled humanoid balance using simple models in the presence of modeling error, in Proc. of the 2011 IEEE Int. Conf. on Robotics and Automation, pp. 3994--3999, 2011. [Download]
K. Masuya and T. Sugihara, COM motion estimation of a biped robot based on kinodynamics and torque equilibrium, Advanced Robotics, Vol. 30, No. 10, pp. 691--703, 2016. [Download]
J. Carpentier, M. Benallegue, N. Mansard and J.-P. Laumond, A Kinematics-Dynamics based Estimator of the Center of Mass position for Anthropomorphic System - A Complementary Filtering Approach, in Proc. of the 2015 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 1121--1126, 2015. [Download]
N. Rotella, A. Herzog, S. Schaal and L. Righetti, Humanoid Momentum Estimation Using Sensed Contact Wrenches, in Proc. of the 2015 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 556--563, 2015. [Download]
S. Piperakis, M. Koskinopoulou, and P. Trahanias, Nonlinear State Estimation for Humanoid Robot Walking IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 3347--3354, 2018. [Download]
M. Benallegue, P. Gergondet, H. Audren, A. Mifsud, M. Morisawa, F. Lamiraux, A. Kheddar, and F. Kanehiro, Model-Based External Force/Moment Estimation For Humanoid Robots With No Torque Measurement in Proc. of the 2018 IEEE Int. Conf. on Robotics and Automation, pp. 3122--3129, 2018.
F. Flacco, A. Paolillo, and A. Kheddar, Residual-based contacts estimation for humanoid robots in Proc. of the 2016 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 409--415, 2016. [Download]
L. Manuelli, R. Tedrake, Localizing external contact using proprioceptive sensors: The Contact Particle Filter, in Proc. of the 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 5062--5069, 2016. [Download]

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講義7: 自律ロボットの外界認識とマッピング 友納正裕（fuRo）

本講義ではロボットの地図構築技術であるSLAMについて、その考え方と基礎理論、Lidarやカメラを用いた3D-SLAMの手法、実装・実用上の課題について議論する。

参考文献
S. Thrun, W. Burgard, and D. Fox: Probabilistic Robotics, MIT Press, 2005. (上田隆一訳、 確率ロボティクス、毎日コミュニケーションズ、2007)
友納正裕、 SLAM入門 -ロボットの自己位置推定と地図構築の技術-、オーム社、2018.
R. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, Cambridge University Press, 2004.
友納正裕、2D レーザスキャナによるSLAMにおける地図の点群表現とループ閉じ込み、第22回ロボティクスシンポジア、2017.
D. Nister and H. Stewnius, Scalable Recognition with a Vocabulary Tree, Proc. CVPR, 2006.
F. Lu and E. Millos, Globally Consistent Range Scan Alignment for Environment Mapping, Autonomous Robots, 1997.
P. Furgale, T. D. Barfoot, and G. Sibley, Continuous-Time Batch Estimation using Temporal Basis Functions, Proc. ICRA, 2012
M. Bosse and R. Zlot, Continuous 3D scan-matching with a spinning 2D laser, Proc. ICRA, 2009.
E. Olson, J. Leonard, and S. Teller, Fast Iterative Alignment of Pose Graphs with Poor Initial Estimates, Proc. ICRA, 2006.
K. Konolige, G. Grisetti, R. Kummerle, W. Burgard, B.Limketkai, and R. Vincent, Efficient Sparse Pose Adjustment for 2D Mapping, Proc. IROS, 2010.
R. Kummerle, G. Grisetti, H. Strasdat, K. Konolige and W. Burgard, g2o: A General Framework for Graph Optimization, Proc. ICRA, 2011.
P. Agarwal and E. Olson: Variable reordering strategies for SLAM, IROS2012.
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参加登録

（8/9追記）参加希望人数が上限に達しましたので、参加募集を打ち切りました。

参加希望される方は、rsj-tchr[at]mi.ams.eng.osaka-u.ac.jp宛に

    1. 御名前
    2. 御所属
    3. 役職or学年
    4. 主たる研究テーマ、関心事項
    5. 研究発表を希望するか否か
    6. 懇親会に参加するか否か

を記載したメールをお送り下さい（[at]→@）。 興味ある方ならばどなたでもご参加を歓迎します。 ただし、初学者向けに分かりやすく解説する主旨のものではないことを、どうかご理解下さいますようお願い申し上げます。 また、もし希望人数が部屋の収容人数の上限（100人程度）に達しましたら、恐れ入りますがその時点で募集を打ち切らせて頂きます。

なお、受講者お一人当たりテキスト代として1,000円を、さらに懇親会に参加される方には別途参加費（5,000円程度）をお支払い頂きます。

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お問い合わせ

杉原知道（大阪大学大学院工学研究科知能・機能創成工学専攻）
zhidao[at]ieee.org

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