Tsutomu Hasegawa

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This paper describes a model-based robot system. This system was developed to replace and improve upon the conventional robot control scheme of teaching-by-showing and replay. The key concept of this system consists of the combination of manipulation skills with an environment model. The model provides the geometric structure and the physical properties of(More)
This paper is concerned with an early recognition and prediction algorithm of gestures. Early recognition is the algorithm to provide recognition results before input gestures are completed. Motion prediction is the algorithm to predict the subsequent posture of the performer by using early recognition. In addition to them, this paper considers a gesture(More)
The categorization of places in indoor environments is an important capability for service robots working and interacting with humans. In this paper we present a method to categorize different areas in indoor environments using a mobile robot equipped with a Kinect camera. Our approach transforms depth and grey scale images taken at each place into(More)
Th,e paper proposes a, new approa,ch, to 3-D object modeling hy indegrating sll,~erqll.adric-ftting and segm,entation in,to a, top-down, recursive algorith,m,. Given sensor da,@ wh,ich are a set of m,ulti-view ra,n,ge d a t a coveriny th,e w h o l e o b j e c t surfa,ce, th,e m,ethod begin,s with an in,itia,l a,pproxima.tion, of the object by fitting a,(More)
Viewpoint planning plays an important role in automatic 3-D model generation. In a previous paper [18], we have proposed a viewpoint planning method to determine the next-best-viewpoint (NBV) for incremental model construction. Based on a current partial model, this algorithm provides quantitative evaluations on the suitability of viewpoints as the NBV.(More)
From 1970’s, legged robots have attracted much attention of many researchers. In spite of this, it has been regarded that dynamically stable walking is very difficult to be tackled for any types of legged robots. For a trot gait for quadruped walking robots, we have proposed “the sway compensation trajectory”. This method utilizes a lateral, longitudinal,(More)
The level set method (LSM) has been widely used for various applications such as motion tracking and 3D geometrical modeling. However, the calculation cost of reinitialization and updating of an implicit function is considerably expensive as compared with conventional active contour models such as ”Snakes”. To tackle this problem, we propose an efficient(More)