Yoshimaru Tanaka

This is the GCL blog of Yoshimaru Tanaka.

[y-tanaka-gcl]

Curriculum Vitae 2016

Yoshimaru Tanaka

Inaba & Okada Lab.

Department of Creative Informatics

Graduate School of Information Science and Technology

Supervisor’s Name: Prof. Masayuki Inaba

Email: [email protected]

Phone: [phone]

Address: Engineering Building No.2 #73B2, 7-3-1 Hongo,  Bunkyo-ku, Tokyo

EDUCATION

MA in Information Science and Technology, The University of Tokyo, March, 2015

Graduate School of Information Science and Technology

Thesis: Robot System Integration with Vision-based Navigation and Action Directive

BA in Mechanical Engineering, The University of Minnesota

Faculty of Mechanical Engineering

Thesis: None

JOB EXPERIENCE

None

JOURNAL and CONFERENCE PAPERS

(1) 田中義丸,村瀬和都,垣内洋平,岡田慧,稲葉雅幸:オープンソースロボットソフト ウェアを利用した移動案内ロボットの実現法およびクラウドブレインの提案, in 第 31 回日本ロボット学会学術講演会講演論文集, 1I1-06, 2013.09. (2) 田中義丸,長濱虎太郎,矢口裕明,垣内洋平,岡田慧,稲葉雅幸:農園ハウス環境での農作業支援ロボットのための 3D 視覚センサの構成と評価および環境形状の分析と利用, in 第 15 回 SICE システムインテグレーション部門講演会講演概要集,pp.775–780, 2014.

AWARDS

First-prize winner in Tomato Robotics Challenge, 2014

DARPA Robotics Challenge Final, 2015

OTHER SKILLS

TOEIC 960, Dec. 2013

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Social Issues and the Research

Creating New Values and Resolution of Social Issues by the Research

1. Vision for Social Innovation Project

Application of Humanoid Robots for Social Issues:

USA have approached application of humanoid robots for social issues by holding some robotics challenges such as DARPA Robotics Challenge, Amazon Picking Challenge, and so on. Now, they are planning NASA Space Robotics Challenge. JAPAN copied DRC and held JVRC, however what’s next including our “originality”?

Review the big events in the past and future:

1. DARPA Robotics Challenge

2. NASA Space Robotics Challenge

3. Tokyo Olympic 2020

Thus, our big chance is upcoming Tokyo Olympic 2020 and we should hold a remarkable humanoid robotics challenge at that moment.

Here are an existing idea and mine. The first one is a project building a 1/1 scale GUNDAM as a tourism resource during Tokyo Olympic 2020. Mine is an idea of performing a flying humanoid robot demo in the opening ceremony as an homage of the rocket man demo in the LA Olympic 1984.

2. Vision for GDWS C

To Brainstorm ideas for a humanoid robot project, we set up “GCL Humanoid Revolution Initiative” for GDWS C. Then, we feedback some ideas into my social inovation project “ Application of Humanoid Robots for Social Issues”.

[y-tanaka-gcl]

Research Plan

Research Theme: SLAM on Humanoid Robot Platform

1. Reasech Progress

1.1. Background and Motivation

1.2. Introduction - Odometry and SLAM

Odometry is changes in translation and rotation of robots. It is estimated from a difference in sensor wheel or IMU data between time t and t-1. 

Consecutive odometry data present a map.

Here is a created map by 2D SLAM.

Visual odometry is a common approach in 3D SLAM. Instead of laser range data, camera data are used. Visual odometry is estimated from a difference between time t and t-1.

Estimated translation along X axis.

Estimated translation along Y axis.

Estimated translation along Z axis.

Here is a created map by 3D SLAM.

1.3. Research Progress in 3D SLAM with Humanoid Locomotion

Applying a existing 3D SLAM algorithm RTAB-Map, our humanoid estimated odometry data during locomotion and created a 3D map.

2.1. Research Plan - Brushing up 3D SLAM with Humanoid Locomotion

Here is my future plan.

2.2 Research Plan - Internship

In my internship, I’m planning to participate in NASA Space Robotics Challenge. Here is what we do in the challenge.

2.3 Research Progress & Plan - Time Line

2.3.1 Progress

2.3.2 Plan

[y-tanaka-gcl]

Review of GCL Activities

Overall review of GCL activities in FY2015

1. Records of GCL education programs in FY2015

1.1 Advanced Practical English for Global Creative Leaders I, II

Planning to attend in FY2016 and FY2017

1.2 Required courses

Already attended in FY2013

1.3 GDWS

Already attended in FY2013

1.4 Internship

Under planning to go to Northeastern University

Planning to participate in Space Robotics Challenge

1.5 TOEIC

960 points scored in December 2013

Planning to take Oct. 23 in 2016

1.6 Teack Talks (GDL and GDS)

Attented a lot: see the records of the attendances

1.7 Others

11th in DARPA Robotics Challenge

1st Prize in Tomato Robotics Challenge

Overall review of GCL activities in FY2014

1. Records of GCL education programs in FY2014

1.1 Advanced Practical English for Global Creative Leaders I, II

Planning to attend in FY2015

1.2 Required courses

Already attended in FY2013

1.3 GDWS

Already attended in FY2013

1.4 Internship

Under planning to go to Edinburgh University

1.5 TOEIC

965 points scored in December 2013

1.6 GCL GDS and 

1st Prize in Tomato Robotics Challenge

Overall review of GCL activities in FY2013

2. Records of GCL education programs in FY2013

2.1 Practical English for Global Creative Leaders I, II

2.2 Required Courses

GCL Lecture I

GCL Lecture II

2.3 Selective Courses

GCL Lecture VIII

GCL Lecture IX

2.4 GDWS

GDWS A Small (Ice Break)

GDWS A Medium (Workshop Design)

GDWS A Large (2 day workshop)

GDWS B (Assisting developmental difficulty)

2.5 Internship

None

2.6 TOEIC

965 points  scored in December 2013

2.7 Others

None

[y-tanaka-gcl]

GCL Plan in 2016

1. GCL plan for activities in 2016

1.1 Practical English for Global Creative Leaders I & II

Planning to take II in Winter 2016

Planning to take I in Summer 2016

1.2 Required courses

already full-filled the requirements

1.3 GDWS

already full-filled the requirements for A & B

Planning to do C Winter 2017

1.4 Internship

Under planning to go to Edinburgh University

1.5 TOEIC

taking the TOEIC again on 10/25

1.6 Others

HSR hackathon

NASA Space Robotics Challenge

2. GCL plan for research in 2016

My current research focus is robotics challenges. I have won the tomato roboticsc challenge 2014. However, I’ve finished 11th in DARPA Robotics Challenge 2015. Thus, I have to revenge a defeat by participating in NASA Space Robotics Challenge 2017, and  In SRC, I’ll search for research theme in space humanoid robotics.

[y-tanaka-gcl]

GCL Plan in 2015

1. GCL plan for activities in 2015

1.1 Practical English for Global Creative Leaders II

Planning to take I in 2016

1.2 Required courses

already full-filled the requirements

1.3 GDWS

already full-filled the requirements

1.4 Internship

Under planning to go to Edinburgh University

1.5 TOEIC

taking the TOEIC again on 10/25

1.6 Others

HSR hackathon

NASA Space Robotics Challenge

2. GCL plan for research in 2015

My research will focus on robotics challenges. I have won the tomato roboticsc challenge 2014. However, I’ve finished 11th. Thus, I have to revenge a defeat by participating in NASA Space Robotics Challenge, and  In SRC, I’ll search for research theme in space humanoid robotics.

[y-tanaka-gcl]

Review of GCL Activities

Overall review of GCL activities in FY2014

1. Records of GCL education programs in FY2014

1.1 Practical English for Global Creative Leaders I, II (2013)

1.2 Required courses

Already attended in FY2013

1.3 GDWS

Already attended in FY2013

1.4 Internship

Under planning to go to Edinburgh University

1.5 TOEIC

965 points scored in December 2013

1.6 Others

1st Prize in Tomato Robotics Challenge

Overall review of GCL activities in FY2013

2. Records of GCL education programs in FY2013

2.1 Practical English for Global Creative Leaders I, II

2.2 Required Courses

GCL Lecture I

GCL Lecture II

2.3 Selective Courses

GCL Lecture VIII

GCL Lecture IX

2.4 GDWS

GDWS A Small (Ice Break)

GDWS A Medium (Workshop Design)

GDWS A Large (2 day workshop)

GDWS B (Assisting developmental difficulty)

2.5 Internship

None

2.6 TOEIC

960 points  scored in December 2013

2.7 Others

None