Ryoichi Tsuzaki

Real-time Multi-Plane Segmentation Based on GPU Accelerated High-Resolution 3D Voxel Mapping for Legged Robot Locomotion

Shun Niijima, Ryoichi Tsuzaki, Noriaki Takasugi, Masaya Kinoshita

This paper proposes a real-time multi-plane segmentation method based on GPU-accelerated high-resolution 3D voxel mapping for legged robot locomotion. Existing online planar mapping approaches struggle to balance accuracy and computational efficiency: direct depth image segmentation from specific sensors suffers from poor temporal …

Real-time Perceptive Motion Control using Control Barrier Functions with Analytical Smoothing for Six-Wheeled-Telescopic-Legged Robot Tachyon 3

Noriaki Takasugi, Masaya Kinoshita, Yasuhisa Kamikawa, Ryoichi Tsuzaki et autres

To achieve safe legged locomotion, it is crucial to generate motion in real-time considering various constraints in robots and environments. In this study, we propose a lightweight real-time perceptive motion control system for the newly developed six-wheeled-telescopic-legged robot, Tachyon 3. In the …

Extrinsic Calibration of Multiple LiDARs for a Mobile Robot based on Floor Plane And Object Segmentation

Shun Niijima, Atsushi Suzuki, Ryoichi Tsuzaki, Masaya Kinoshita

The utilization of mobile robots equipped with multiple light detection and ranging (LiDAR) sensors, capable of perceiving their surroundings, is on the rise due to the miniaturization and cost reduction of LiDAR technology. This paper introduces a target-less extrinsic calibration method for …

Extrinsic Calibration of Multiple LiDARs for a Mobile Robot based on Floor Plane And Object Segmentation

Shun Niijima, Atsushi Suzuki, Ryoichi Tsuzaki, Masaya Kinoshita

Mobile robots equipped with multiple light detection and ranging (LiDARs) and capable of recognizing their surroundings are increasing due to the minitualization and cost reduction of LiDAR. This paper proposes a target-less extrinsic calibration method of multiple LiDARs with non-overlapping field of …

Real-time Perceptive Motion Control using Control Barrier Functions with Analytical Smoothing for Six-Wheeled-Telescopic-Legged Robot Tachyon 3

Noriaki Takasugi, Masaya Kinoshita, Yasuhisa Kamikawa, Ryoichi Tsuzaki et autres

To achieve safe legged locomotion, it is important to generate motion in real-time considering various constraints in robots and environments. In this study, we propose a lightweight real-time perspective motion control system for the newly developed six-wheeled-telescopic-legged robot, Tachyon 3. In the …

Motion Control Based on Fuzzy Potential Method for Autonomous Mobile Robot with Omnidirectional Vision

Ryoichi Tsuzaki, Kazuo YOSHIDA

This study aims at the construction of the control system to have a robot approach to an object and move to an objective point. The designed autonomous mobile robots are equipped with an omni-directional camera for a sensory system. These cameras provide …

us, jp (code pays fourni par la source)

Team Description Eigen

Kazuo YOSHIDA, Ryoichi Tsuzaki, Junichi Kougo, Takaaki Okabe et autres

jp (code pays fourni par la source)