Yasunori Takemura

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In this paper, we describe the concept, design and implementation of a series of autonomous mobile soccer robots, named "Musashi" robot, which have a mechatronics modular architecture, to participate in the RoboCup middle-size league. In this design methodology, we show that the selection of a proper moving mechanism, a suitable vision system and a(More)
One of important subjects for mobile robots is the vision based decision making system, where the color constancy is big problem for robots which use color property to recognize environments. We have been working on color constancy vision algorithms using bio-inspired information processing as creatures can recognize color and shape of objects even if there(More)
In this paper, we describe the concept, design and implementation of a series of autonomous mobile soccer robots, named ldquoMusashirdquo robot, which have safety design which is based on ISO and a mechatronics modular architecture, to participate in the RoboCup middle-size league. In modularity design methodology, we show that the selection of a proper(More)
Tomato is one of important fruit vegetables and most tomatoes are produced in the greenhouses, or large-scale farms, where the high temperature and humidity, and long harvest age force the farmers heavy works. With an aim to promote the automation of tomato harvesting, we have organized the tomato harvesting robot competition. In this paper, we report on(More)
The sphere kinematics has been discussed in the research field of multi-fingers grasping, mobile robot motion control driven by a sphere, ball handling, etc. In the multi-fingers grasping problem, a sphere and a plane correspond to a spherical finger and a cuboid object are used and the contact points of the sphere are analyzed. The mobile robot driven by a(More)
Victory or defeat in team sports depends on each player's technique, physical strength, and psychological condition. It follows that team performance depends on the player's adaptation to (suitability for) a certain role (position in the team) and the relationships between different roles. We assume that team performance is related to physical and(More)
Research and development of the ocean, one of the most familiar environments for us, is very important for our future life. Fundamental research to investigate the ocean such as oceanic engineer, biology, chemistry, and geo science should be promoted more and more. As a toll of ocean survey and underwater manipulation, underwater robots have attracted(More)