Tsuyoshi Takei

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In this paper, we propose a pair of shape features for shape-similarity search of 3D polygonal-mesh models. The shape features are extension of the D2 shape functions proposed by Osada et al. [Osada01, Osada02]. Our proposed shape features are tolerant of topological variations and geometrical degeneracies. Our shape feature is also invariant to similarity(More)
In this paper, we propose an algorithm for shape-similarity comparison and retrieval of 3D shapes defined as polygon soup. One of the issues in comparing 3D shapes is the diversity of shape representations used to represent these "3D" shapes. While a solid model is well-defined and is easier to handle, others such as polygon soup poses many problems. In(More)
In this paper, we propose a method for shape-similarity search of 3D polygonal-mesh models. The system accepts triangular meshes, but tolerates degenerated polygons, disconnected component, and other anomalies. As the feature vector, the method uses a combination of three vectors, (1) the moment of inertia, (2) the average distance of surface from the axis,(More)
As the number of in-house and public-domain 3D shape models increase, importance of shape-similarity based search and retrieval for 3D shapes models has increased rapidly. In this paper, we describe our preliminary findings in applying a multiresolution analysis technique to the task of shape similarity comparison of polygon soup models. We used the 3D(More)
This paper proposes novel micro-macro bilateral control architecture with respect to standardized modal space. In bilateral control, force control and position control must be realized simultaneously in the same real axis. In this paper, force control is achieved in virtual common mode space and position control is attained in virtual differential mode(More)
A micro-macro bilateral system consists of master and slave system of different sizes. Thus, it is vital for the micro- macro bilateral control to use appropriate scaling factors of position and force responses, And the appropriate control gains should be used according to the scaling gains. The proposed method is designed based on ideal reproducibility and(More)
Recently, minimally invasive surgery (MIS) that has some advantages has come to the front. The research on surgical robot for operational support has been actively done. To use such robots in MIS, it is needed to estimate the environmental impedance as the numerical data and to preserve it from the viewpoint of knowing the standard reference value of the(More)
Recently, minimally invasive surgery (MIS) that has some advantages has come to the front. The research on surgical robot for operational support has been actively done. To use such robots in MIS, it is needed to estimate the environmental impedance as the numerical data and to preserve it from the viewpoint of knowing the standard reference value of the(More)