Contents

• Profile
• Education
• Employment
• Professional activities
• Research subsidy
• Research Topics
• Publications
  • Selected Papar
  • Book Chapters
  • Degree Thesis

Profile

Hiroshi Takemura received his B.S. degree in engineering from Kyushu Institute of Technology, Fukuoka, Japan in 1999. He then went to Nara Institute of Science and Technology, Nara, Japan where he received his M.S. (2001) and Ph.D. (2003) degree in information engineering. During October 2003 - March 2004 and January 2005 - May 2005, he was employed as a lecturer (PT) at the Nara Institute of Science and Technology, Nara, Japan. During April 2004 - December 2004, he went to the University of Karlsruhe, Germany as a guest lecturer in Industrial Applications of Information & Microsystems. In 2005, he joined the Department of Mechanical Engineering at Tokyo University of Science, Chiba, Japan, where he is currently an Assistant Professor. His research interests include legged robot, humanoid robot, gait analysis and human modeling.

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Education

• Ph.D. degree in Mechanical Engineering, Sept. 2003
  Nara Institute of Science and Technology

• M.S. degree in Mechanical Engineering, Mar. 2001
  Nara Institute of Science and Technology

• B.S. in Information Engineering, Mar. 1999
  Kyushu Institute of Technology

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Employment

• Associate Visiting Researchers, University of Tokyo
  Jun. 2009 -Present
  

• Visiting Scholar, Biomechanics Research Laboratory (BRL) in the Department of Mechanical Engineering, University of Michigan
  Apr. 2008 -Mar. 2009
  

• Visiting Researcher, Advanced Engineering Team, The Institute of Physical and Chemical Research (RIKEN)
  Aug. 2007 -Present
  

• Researcher, Holistic Computational Science Research Center, Research Institute for Science and Technology, Tokyo University of Science
  May. 2006 - Present
  

• Assistant Professor, Department of Mechanical Engineering, Faculty of Science and Technology, Tokyo University of Science
  Apr. 2005 - Present
  

• Lecturer (PT), Graduate School of Information Science, Nara Institute of Science and Technology
  Jan. 2005 - Mar. 2005

• Guest Lecturer, SFB 588 "Humanoid Robots - Learning and Cooperating Multimodal Robots", Industrielle Anwendungen d. Infor. & Mikrosystemtechnik Universität Karlsruhe, GERMANY
  Apr. 2004 - Dec. 2004

• Lecturer (PT), Graduate School of Information Science, Nara Institute of Science and Technology
  Oct. 2003 - Mar. 2004

• COE Research Fellow, 21st Century COE Program, Graduate School of Information Science, Nara Institute of Science and Technology
  Oct. 2002 - Sept. 2003

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Professional activities

• TPC member of ROBOCOMM 2009 / Second International Conference on Robot Communication and Coordination
  - Apr. 2009
  

• PC member of AIM2008 / IEEE/ASME International Conference on Advanced Intelligent Mechatronics
  - Jul. 2008
  

• PC member of MFI2008 / IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
  - Aug. 2008
  

• TPC member of ROBOCOMM 2007 / First International Conference on Robot Communication and Coordination
  Oct. 2007
  

• Editorial board, Journal of the Robotics Society of Japan
  Apr. 2005 - Mar. 2007
  

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Research subsidy

• Research subsidy from Grant-in-Aid for Young Scientists (B), 2009-2010.

• Research subsidy from Grant-in-Aid for Young Scientists (B), 2007-2008.

• Research subsidy from Futaba Electronics Memorial Foundation, July, 2007.

• Research subsidy from CASIO Foundation (CASIO COMPUTER CO.,LTD.), Dec. 2006.

• Research subsidy from Saneyoshi Scholarship Foundation, Sep. 2005.

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Research Topics

• Human Motion Measurement and its Application to Humanoid

• Analyze and Model the Human Walk M echanism

  • "How do humans walk?"

  • "How does human walk and humanoid walk differ?"

  • "Are toes really necessary for walk?"

• Adaptive Gait Generation of Quadruped Robot Based on Neural Oscillators

  • Simply put, I want to walk a robot like a living creature... in ANY environment!

  • To say a little more... Creatures have an inner rhythm occurrence system that is strongly related to its cyclic activities. My current research aims at using a system similar to such natural system in controlling the rhythmically generated gait of a legged robot. （abstract）

  • TITAN-VIII（images）

  • video:using camera
    climbing stairs（mpg 6M）, walking over obstacles（mpg 4M）

  • simulation:
    varying walking patterns（mpg 9M）, optimized and not（mpg 5M）, obstacles（mpg 3M）, slippery conditions（mpg 5M）, sticky conditions（mpg 5M）

  • movie:
    without SSM（mpg 2M）, with SSM（mpg 2M）, slope（mpg 4M）

  • Slip-adaptive walking:
    CPG-based slip-adaptive walking: Simulation （mpg 4M）
    CPG-based slip-adaptive walking: Real robot （mpg 7M）
    Based on force control （without force control:mpg 7M, mpg 5M ,with force control:mpg 5M ）

• Gait Generation of Quadruped Robot by Using Genetic Programming

  • A robot must be able to generate a walking pattern that is optimal (quick and stable) to the walking environment it stands in (sand, grass, mud, water-covered surface) without human guidance. I worked on the development of a walking mechanism that realizes this, and also conducted research on evolution algorithm based on genetic algorithm and artificial life. A prototype quadruped robot (image) was built, which learned basic walking（movie(8M) through (Genetic Programming:GP).

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Publications (with peer review) (selected)

1. Kentaro Sekiguchi, Shinichiro Suzuki, Hiroshi Takemura, and Hiroshi Mizoguchi, "Walking Analysis by 6-axis Force Sensor for Simultaneous Measuring of Plantar Deformation", IEEE SENSORS 2009 CONFERENCE (SENSORS 2009), pp.177-180, October 25-28, 2009. (Christchurch, New Zealand)

2. Kentaro Sekiguchi, Shinichiro Suzuki, Hiroshi Takemura, and Hiroshi Mizoguchi, "Development and Experiment of walking by 6-axis Force Sensor for Simultaneous Measuring of Plantar Deformation", ICROS-SICE International Joint Conference 2009 (ICCAS-SICE 2009), pp.3831-3834, August 18-21, 2009. (Fukuoka International Congress Center, Japan)

3. Kentaro Sekiguchi, Shinichiro Suzuki, Masahiro Ueda, Hiroshi Takemura, and Hiroshi Mizoguchi, "Experiment for Walking Analysis by 6-axis Force Sensor for Simultaneous Measuring of Plantar Deformation", The 24th International Technical Conference on Circuits/Systems, Computers and Communications(ITC-CSCC2009), pp.1052-1057, July 5-8, 2009. (Jeju Island, Korea)

4. Kazuki Tada, Hiroshi Takemura, and Hiroshi Mizoguchi, "Estimation of Head Position by Multiple Cameras for 3D Position Control of Sound Spot", The 24th International Technical Conference on Circuits/Systems, Computers and Communications(ITC-CSCC2009), pp.405-407, July 5-8, 2009. (Jeju Island, Korea)

5. Ryo Okumura, Hiroshi Takemura, Hiroshi Mizoguchi,"Path Planning in Consideration of Relative Velocity for Mobile robot -Efficiency Improvement by Selection of Interference Area-",The 24th International Technical Conference on Circuits/Systems, Computers and Communications(ITC-CSCC2009),pp.733-735,July 5-8,2009,(Jeju Island Korea)

6. Yoshitaka Yamauchi, Hiroshi Takemura, Satoshi Kagami, Hiroshi Mizoguchi,"Optimization of BBF Threshold Based on Background Image and 3D Model by using SIFT Features in 3D Objects Recognition",The 24th International Technical Conference on Circuits/Systems, Computers and Communications(ITC-CSCC2009), pp.736-739, July.5-8, 2009. (Jeju Island, Korea)

7. Shinichiro Suzuki, Kentaro Sekiguchi, Hiroshi Takemura, and Hiroshi Mizoguchi, "Influence of Plantar Sensation Decrease on Lower Limbs for Human Gait under Uneven Surface", The 24th International Technical Conference on Circuits/Systems, Computers and Communications(ITC-CSCC2009), pp.740-742, July 5-8, 2009. (Jeju Island, Korea)

8. Kuniaki KAWABATA, Soichiro MORISHITA, Hiroshi TAKEMURA, Kazuhiro HOTTA, Taketoshi MISHIMA, Hajime ASAMA, Hiroshi MIZOGUCHI and Haruhisa Takahashi,"Development of an Automated Microscopic System for Supporting Asbestos Qualitative Analysis by Dispersion Staining Method," Journal of Robotics and Mechatronics, Vol.21, No.2, pp.186-192, 2009.

9. Ken-ichi Ishizu, Hiroshi Takemura, Kuniaki Kawabata, Hajime Asama, Taketoshi Mishima, and Hiroshi Mizoguchi, "Image Processing of Particle Detection for Asbestos Qualitative Analysis Support Method -Particle Counting System based on Classification of Background Area-", Proceedings of ICARCV2008, pp.868-873, December 17-20, 2008. (Melia Hotel, Hanoi, Vietnam)

10. Masahiro UEDA, Kentaro SEKIGUCHI, Hiroshi TAKEMURA, Hiroshi MIZOGUCHI, "Plantar 3-Axis Distributed Forces Sensor Based on Measurement of Silicone Rubber Deformation for Walking Analysis", The 7th Annual IEEE Conference on SENSORS (IEEE SENSORS 2008), pp. 945-948, October 26-29, 2008. (Grand Hotel Tiziano e Dei Congressi, Lecce, ITALY)

11. Kentaro Sekiguchi, Masahiro Ueda, Hiroshi Takemura, and Hiroshi Mizoguchi, "Development and Calibration of 6-axis Force Sensor for Simultaneous Measuring of Plantar Deformation", Proceedings of 2008 IEEE International Conference on Systems, Man and Cybernetics (SMC '08), pp.3138-3142, October 12-15, 2008. (Suntec Singapore International Convention Exhibition Centre, Singapore)

12. Kazuhiko Shinagawa, Kyosuke Horio, Hiroshi Takemura, Hiroshi Mizoguchi, “Sound spot generation and evaluation by large scale panel loudspeaker array” Proceedings of 2008 IEEE International Conference on Systems, Man and Cybernetics (SMC '08), pp.1164-1168, October 12-15, 2008. (Suntec Singapore International Convention Exhibition Centre, Singapore)

13. Kunihiro Mitsuhashi, Hiroshi Takemura, and Hiroshi Mizoguchi, "Tracking Control of Sound Spot around Head," Proceedings of SICE Annual Conference 2008 (SICE2008), pp.183-186, Aug.20-22, 2008. (Univ. of Electro-Communications, Chofu, Tokyo, Japan)

14. Kazuhiko Shinagawa, Ohtomo Yuuki, Hiroshi Takemura, and Hiroshi Mizoguchi, "Simultaneous generation of multiple three-dimensional sound spot by using 512 ch panel loudspeaker array," Proceedings of SICE Annual Conference 2008 (SICE2008), pp.179-182, Aug.20-22, 2008. (Univ. of Electro-Communications, Chofu, Tokyo, Japan)

15. Kentaro Sekiguchi, Masahiro Ueda, Hiroshi Takemura, and Hiroshi Mizoguchi, "Manufacture and Proofreading of 6-axis Force Sensor for Walking Analysis," Proceedings of SICE Annual Conference 2008(SICE2008), pp.2646-2649, Aug.20-22, 2008. (Univ. of Electro-Communications, Chofu, Tokyo, Japan)

16. Kenichi Ishizu, Hiroshi Takemura, Kuniaki Kawabata, Hajime Asama, Taketoshi Mishima, and Hiroshi Mizoguchi, “Image Processing of Particle Detection for Asbestos Qualitative Analysis Support Method -Particle Counting by Using Color Variance of Background- “, Proceedings of SICE Annual Conference 2008(SICE2008), pp.3202-3207, Aug.20-22, 2008. (Univ. of Electro-Communications, Chofu, Tokyo, Japan)

17. Hiroshi Takemura, Keita Ito, and Hiroshi Mizoguchi, "Person Following Mobile Robot under Varying Illumination Based on Distance and Color Information," Proceedings of the 2007 IEEE International Conference on Robotics and Biomimetics, pp.1500-1505, December 15 -18, 2007, Sanya, China.

18. Soh Nishimura, Hiroshi Takemura, Hiroshi Mizoguchi, "Development of Attachable Modules for Robotizing Daily Items -Person Following Shopping Cart Robot-," Proceedings of the 2007 IEEE International Conference on Robotics and Biomimetics,pp.1506-1511, December 15 -18, 2007, Sanya, China.

19. Zentaro Nemoto, Hiroshi Takemura, Hiroshi Mizoguchi, "Development of Small-sized Omni-directional Laser Range Scanner and Its Application to 3D Background Difference", The 33nd Annual Conference of the IEEE Industrial Electronics Society (IECON'2007), pp.2284-2289, Novembers 5-8, 2007 (Taipei, Taiwan).

20. Masahiro UEDA, Harutaka UNO, Hiroshi TAKEMURA, Hiroshi MIZOGUCHI, "Development of Optical 3-axis Distributed Forces Sensor for Walking Analysis", The 6th Annual IEEE Conference on SENSORS (IEEE SENSORS 2007), pp. 403-406, October 28-31, 2007 (Hayatt Regency Atlanta, Atlanta, Georgia, USA).

21. Kazuhiko Shinagawa, Yutaka Amemiya, Hiroshi Takemura, Satoshi Kagami and Hiroshi Mizoguchi, "Three Dimensional Simulation and Measurement of Sound Pressure Distribution Generated by 120 ch Plane Loudspeaker Array", Proceedings of 2007 IEEE International Conference on Systems, Man and Cybernetics (SMC '07), pp. 278-283, October 7-10, 2007 (Montreal, Canada).

22. Harutaka Uno, Hiroshi Takemura, and Hiroshi Mizoguchi, "An Effect on Walk and Plantar Contact Area from Ice Immersion Approach", Proceedings of 2007 IEEE International Conference on Systems, Man and Cybernetics (SMC '07), pp. 1524-1529, October 7-10, 2007, (Montreal, Canada).

23. Yuki Ohtomo, Hiroshi Takemura, and Hiroshi Mizoguchi, "Computers’ Synchronization for Large-Scale Loudspeaker Array System", SICE Annual Conference 2007, pp.672-675, Sept. 17-20, 2007, (Kagawa University, Japan).

24. Yu Fukasawa, Hiroshi Takemura, and Hiroshi Mizoguchi, "Implementation of Luggable Linear Speaker Array System and Formation of Sound Spot", SICE Annual Conference 2007, pp.668-671, Sept. 17-20, 2007, (Kagawa University, Japan).

25. Kyosuke Horio, Yuki Ohtomo,Hiroshi Takemura, and Hiroshi Mizoguchi, "Simultaneous Generation of Various Shaped Sound Spots with Multiple Linear Speaker Arrays ", SICE Annual Conference 2007, pp.676-679, Sept. 17-20, 2007, (Kagawa University, Japan)

26. Masahiro Ueda, Harutaka Uno, Hiroshi Takemura, and Hiroshi Mizoguchi, "Development of 3-axis Distributed Forces Sensor for Walking Analysis", SICE Annual Conference 2007, pp.720-723, Sept. 17-20, 2007, (Kagawa University, Japan).

27. Soh Nishimura, Keita Itou, Takashi Kikuchi, Hiroshi Takemura and Hiroshi Mizoguchi, "A Study of Robotizing Daily Items For an Autonomous Carrying System -Development of person following shopping cart robot-," The 9th International Conference on Control, Automation, Robotics and Vision (ICARCV 2006), pp.613-618,2006. (Singapore, 5-8th December 2006)

28. Hiroshi Mizoguchi, Takafumi Nakamura, Hiroshi Takemura and Satoshi Kagami, "Software-centered implementation of 128-channel loudspeaker array with stock PC and its application," The Journal of the Acoustical Society of America, Vol 120, No. 5, pp.3213, November 2006. Abstract

29. Keita ITOH, Takashi KIKUCHI, Hiroshi TAKEMURA, Hiroshi MIZOGUCHI, "Development of a Person Following Mobile Robot in Complicated Background by Using Distance and Color Information," The 32nd Annual Conference of the IEEE Industrial Electronics Society　(IECON'2006), pp.3839-3844, November 2006 (Paris, France).

30. Harutaka Uno, Hiroshi Takemura, Hiroshi Mizoguchi, and Tsukasa Ogasawara, "Development of Incipient Slip Measurement System for Walking Analysis with High-speed Camera" Proceedings of 2006 IEEE International Conference on Systems, Man and Cybernetics (SMC '06), pp. 2374-2379, October 9-12, 2006 (Taipei, Taiwan).

31. Hiroshi Takemura, Masato Deguchi, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "Slip-adaptive Walk of Quadruped Robot," Journal of Robotics and Autonomous Systems, Vol 53/2, pp.124--141, 2005. abstract

32. Hiroshi Takemura, Akihiro Matsuyama, Jun Ueda, Yoshio Matsumoto, Hiroshi Mizoguchi and Tsukasa Ogasawara, "Momentum Compensation for the Dynamic Walk of Humanoids based on the Optimal Pelvic Rotation," 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2005),pp.485--492, 2005. (September 13-15, London, U.K.)

33. Hiroshi Takemura, Masaaki Obayashi, Jun Ueda, Yoshio Matsumoto, Hiroshi Mizoguchi, Tsukasa Ogasawara, "Investigation of the Elastic Contact Model of the Plantar in Human Walking based on the Incipient Slip," Proceedings of 2005 International Technical Conference on Circuits/System, Computers and Communications (ITC-CSCC2005), pp.1175--1176, 2005. (July 4-7, Jeju, Korea)

34. Hiroshi Takemura, Masato Deguchi, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "Slip-adaptive Walk of Quadruped Robot Based on Force Control Utilizing Acceleration Signals of the Legs," Journal of the Robotics Society of Japan , Vol. 23, No. 1, pp. 124--130 2005 (in Japanese).

35. Hiroshi Takemura, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "Three Dimentional Adaptive Walking of Quadruped Robot using Sideways Sway Motion and Posture Reflex via Neural Oscillators," Journal of the Robotics Society of Japan , Vol. 22, No. 6, pp.106--112, 2004 (in Japanese).

36. Hiroya Iwaya, Hiroshi Takemura, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "A Study of the Toe Function for Human Walking by the Existence of a Toe Using a Toe Pressure Measurement System," Transactions of the Japan Society of Mechanical Engineers (C), Vol.70, No.689, pp.212--220, 2004 (in Japanese).

37. Hiroshi Takemura, Abdelaziz Khiat, Hiroya Iwama, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "Study of the Toes Role in Human Walk by a Toe Elimination and Pressure Measurement System," IEEE International Conference on Systems, Man & Cybernetics, pp.2569--2574, Washington, D.C., USA, 2003.

38. Hiroshi Takemura, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "The Influence of Friction on Gait and Energy Efficiency of the Walking Robot Based on Rhythmic Control," 2nd International Symposium on Adaptive Motion of Animals and Machines (AMAM2003) March 4-8, 2003, Kyoto, Japan.

39. Hiroshi Takemura, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "A study of a gait generation of a quadruped robot based on rhythmic control -optimization of CPG parameters by a fast dynamics simulation environment," Proceedings of 5th International Conference on Climbing and Walking Robots (CLAWAR 2002), pp.759--766, 2002.

40. Hiroshi Takemura, Yoshio Matsumoto, Tsukasa Ogasawara, "Dynamic walking of an autonomous quadruped robot based on rhythm generation," Proceedings of 4th International Conference on Climbing and Walking Robots (CLAWAR 2001), pp.727--734, 2001.

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Book Chapters

1. Hiroshi Takemura, Akihiro Matsuyama, Jun Ueda, Yoshio Matsumoto, Hiroshi Mizoguchi, Tsukasa Ogasawara, "Dynamic Walk of Humanoids: Momentum Compensation based on the Optimal Pelvic Rotation", Climbing & Walking Robots Towards New Applications, Houxiang Zhang Eds, ISBN 978-3-902613-16-5, Chapter 13, pp.283-298, 2007, I-Tech Education and Publishing.

2. Hiroshi Takemura, Akihiro Matsuyama, Jun Ueda, Yoshio Matsumoto, Hiroshi Mizoguchi and Tsukasa Ogasawara, "Momentum Compensation for the Dynamic Walk of Humanoids based on the Optimal Pelvic Rotation," Climbing And Walking Robots: Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Macines, M. O. Tokhi, G. S. Virk, M. A. Hossain Eds, ISBN-13: 978-3540264132, pp.485-492, 2005, Springer-Verlag

3. Hiroshi Takemura, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "A study of a gait generation of a quadruped robot based on rhythmic control -optimization of CPG parameters by a fast dynamics simulation environment," Climbing and Walking Robots and the Support Technologies for Mobile Machines, Phillippe Bidaud, Faiz Ben Amar Eds, ISBN-13: 978-1860583803, pp.759-766, 2002, Mechanical Engineering Pubns Ltd.

4. Hiroshi Takemura, Yoshio Matsumoto, Tsukasa Ogasawara, "Dynamic walking of an autonomous quadruped robot based on rhythm generation," Climbing and Walking Robots: From Biology to Industrial Applications Clawar 2001, Karsten Berns, Rudiger Dillmann Eds, ISBN-13: 978-1860583650, pp.727-734, 2001, Mechanical Engineering Pubns Ltd.

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Degree Thesis

• Ph.D. Thesis: "Adaptive Gait Generation of Quadruped Robot Based on Neural Oscillators," Nara Institute of Science and Technology, September 2003 (in Japanese).

• M.S. Thesis: "Research on the Gait Generation of the Quadruped Robot Based on Rhythm Generation," Nara Institute of Science and Technology, March 2001 (in Japanese).

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