Robot Sensor Systems Research Team

We are conducting research on robotic sensor devices, sensor information processing and human-robot interaction using sensors, aiming to give intelligence and autonomy to robots that will be developed in the collaboration center. It requires to conduct research in wide areas from materials to robot motion control and planing. We are developing new sensors that can actually be used in our robots, by collaborating with the other teams in the center.

Research Fields

Engineering / Materials Sciences / Biology & Biochemistry / Computer Science / Psychology & Psychiatry / Mathematics / Multidisciplinary

Research Subjects

• Soft areal tactile sensors for human-interactive robots
• Robot behavior based on sensor information
• Sound source localization of multiple sources
• Human position and posture extraction from depth images

Publications

1. Kato, Y. and Mukai, T.:
   A Real-Time Intelligent Gas Sensor System Using a Nonlinear Dynamic Response
   Sensors and Actuators B, Vol.120, Issue 2, pp.514-520 (2007).
2. Nakabo, Y., Mukai, T., Ogawa, K., Ohnishi, N., and Asaka, K.:
   Biomimetic Soft Robot Using Artificial Muscle
   2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2004) Tutorial, 9pages (2004).
3. Nakashima, H., Ohnishi, N., and Mukai, T.:
   A Learning System for Estimating the Elevation Angle of a Sound Source by Using a Feature Map of Spectrum
   Trans. on the Institute of Electronics, Information and Communication Engineers D-II, Vol.J87-D-II, No.11, 2034-2044 (2004) (in Japanese).
4. Rossiter, J. and Mukai, T.:
   Bio-Mimetic Learning from Images Using Imprecise Expert Information
   Fuzzy Sets and Systems,Vol.158, Issue 3, pp.295-311 (2007).
5. Ohata, M., Matsuoka, M., and Mukai, T.:
   An Adaptive Blind Separation Method Using Para-Hermitian Whitening Filter for Convolutively Mixed Signals
   Signal Processing, Vol.87, Issue 1, pp.33-50 (2007).
6. Takashima, T., Ota, S., Ohta, M., Yoshinaka, K., and Mukai, T.:
   Development of Computer-based Simulator for Catheter Navigation in Blood Vessels (2nd Report, Evaluation of Torquability of Guidewire)
   Trans. of the Japan Society of Mechanical Engineers C, Vol.73, No.735, pp.116-123 (2007) (in Japanese).
7. Ogawa, K., Nakabo Y., Mukai, T., Asaka, K., and Ohnishi, N.:
   A Snake-Like Swimming Robot with an Artificial Muscle
   Trans. of the Society of Instrument and Control Engineers,Vol.42, No.1, pp.80-89 (2006) (in Japanese).
8. Mukai, T., Onishi, M., Odashima, T., Hirano, S., and Luo, Z.:
   Development of the Tactile Sensor System of a Human-Interactive Robot 'RI-MAN'
   IEEE Trans. on Robotics, Vol. 24, No. 2 505-512. (2008)
9. T. Mukai, Y. Kato,
   1 ms Soft Areal Tactile Giving Robots Soft Response,
   Journal of Robotics and Mechatronics 2008, 20, 473-480.
10. K. Takashima, N. Kamamichi, T. Yagi, K. Asaka, T. Mukai,
    Cytotoxicity Test and Mass Spectrometry of IPMC,
    Electronics and Communications in Japan 2010, 93, 1029-1035.