Organization
- - Professor
External link
Fujita Toyomi
Degree
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Ph.D. ( Tohoku University )
Research Interests
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Robotics
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Robot Vision
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Mobile Robot
Research Areas
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Informatics / Intelligent informatics
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Informatics / Robotics and intelligent system
Education
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Tohoku University Graduate School, Division of Engineering
- 1997
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Tohoku University
- 1997
Country/Region： Japan
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Tohoku University
- 1991
Country/Region： Japan
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Tohoku University Graduate School, Division of Engineering
- 1991
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Tohoku University Faculty of Engineering
- 1989
Country/Region： Japan
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Tohoku University Faculty of Engineering
- 1989
Research History
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- 電気通信大学大学院情報システム学研究科 助手
1997
Professional Memberships
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Institute of Electrical Installation Engineers of Japan
2013
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Institute of Electrical and Electronic Engineers (IEEE)
2008
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Robotics Society of Japan
1993
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電子情報通信学会
2008
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Society of Instrument and Control Engineers
1998
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日本機械学会
Committee Memberships
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電気設備学会 東北支部長
2021.5 - 2025.5
Committee type：Academic society
Papers
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Robot Hand Movement Detection based on Top-Down and Bottom-Up Scanpath Prediction Reviewed International journal
Toyomi Fujita, Claudio M. Privitera
Procedia Engineering 41 1162 - 1168 2012
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New types of semiconductor image position sensitive device Reviewed International journal
Toyomi Fujita, Masanori Idesawa
Optical Engineering 48 ( 9 ) 2009.9
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Perceptual Features and Evaluation Methods for Rotational Dynamic Illusion Reviewed
Toyomi FUJITA, Youhei KOBORI, and Masanori IDESAWA
IEICE TRANSACTIONS on Information and Systems (Japanese Edition) J92-D ( 2 ) 199 - 207 2009
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Positional Features and Algorithmic Predictability of Visual Regions-of-Interest in Robot Hand Movement Reviewed
Toyomi Fujita and Claudio M. Privitera
Journal of Robotics and Mechatronics 21 ( 6 ) 765 - 772 2009
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Image-type dependent eigen-Regions-of-interest define conspicuity operators for predicting human scanpath fixation Reviewed International journal
Toyomi Fujita, Claudio M. Privitera, Lawrence W. Stark
Computers in Biology and Medicine 37 ( 7 ) 965 - 974 2007.7
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Gap Traversing Motion via a Hexapod Tracked Mobile Robot Based on Gap Width Detection
Taiga Sasaki, Toyomi Fujita
Journal of Robotics and Mechatronics 33 ( 3 ) 665 - 675 2021.6
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Development of hexapod tracked mobile robot and hybrid motions for transportation
Toyomi Fujita, Taiga Sasaki
Proceedings of 2018 5th International Conference on Business and Industrial Research: Smart Technology for Next Generation of Information, Engineering, Business and Social Science, ICBIR 2018 155 - 160 2018.6
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Object carrying motion with handover and wide gap traversing by hexapod tracked robot
Toyomi Fujita, Taiga Sasaki
Lecture Notes in Engineering and Computer Science 2238 543 - 546 2018
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Development of Shape-Variable Hand Unit for Quadruped Tracked Mobile Robot Invited Reviewed International journal
Toyomi Fujita and Fumiya Sato
International Journal of Mechanical Engineering and Robotics Research 6 ( 6 ) 488 - 494 2017.11
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Leg-Track Hybrid Carrying with Traversing a Wide Gap by Hexapod Tracked Mobile Robot
SASAKI Taiga, FUJITA Toyomi
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2017 2P1 - I09 2017
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Object Gripping and Lifting based on Plane Detection by Tracked Mobile Robot with Two Fore Arms
SEGAWA Wataru, AIMI Nobuatsu, FUJITA Toyomi
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2017 2P1 - I10 2017
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3D Terrain Sensing by Laser Range Finder with 4-DOF Sensor Movable Unit based on Frontier-Based Strategies Invited Reviewed International journal
Toyomi Fujita and Toshinori Yoshida
Engineering Letters 24 ( 2 ) 164 - 171 2016.5
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Gripping Position Detection of a Box-shaped Object using a RGB-D Sensor by Tracked Mobile Robot with Two Manipulators Reviewed
Toyomi Fujita, Wataru Segawa
2016 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV) 2016
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双腕不整地移動ロボットにおけるRGB-Dセンサを用いた把持面検出の検討
瀨川 渉, 藤田 豊己
電気関係学会東北支部連合大会講演論文集 2016 89 - 89 2016
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Regions of Interest in Object Selection and Hand Movement Actions by Wheeled Mobile Robot with a Manipulator Reviewed
Toyomi Fujita
PROCEEDINGS OF 2016 THE 2ND INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS 20 - 23 2016
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3-D Position Detection of Partner Robot using SURF Descriptor and Voting Method for Indirect Cooperation Between Multiple Robots Reviewed
Toyomi Fujita, Kento Yamada
ICINCO: PROCEEDINGS OF THE 13TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2 522 - 525 2016
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Hand Motion Detection for Observation-Based Assistance in a Cooperation by Multiple Robots Reviewed
Toyomi Fujita, Tetsuya Endo
INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS 325 293 - 308 2015
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Development of a Tracked Mobile Robot Equipped with Two Arms Reviewed
Toyomi Fujita, Yuichi Tsuchiya
IECON 2014 - 40TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY 2738 - 2743 2014
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3D Sensing and Mapping by a Tracked Mobile Robot using a Movable Laser Ranger Finder Invited Reviewed International journal
Toyomi Fujita
TSEST Transaction on Control and Mechanical Systems 2 ( 6 ) 259 - 266 2013.6
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Observation-based assistance by mobile robot for object handling of its partner robot
Toyomi Fujita, Tetsuya Endo
ICINCO 2013 - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics 2 458 - 463 2013
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Development of a Rough Terrain Mobile Robot with Multistage Tracks Reviewed
Toyomi Fujita, Takashi Shoji
2013 16TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR) 2013
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Hand Movement Detection using Monocular Camera for Robot Cooperation Reviewed
Toyomi Fujita
2008 10TH INTERNATIONAL CONFERENCE ON CONTROL AUTOMATION ROBOTICS & VISION: ICARV 2008, VOLS 1-4 2188 - 2191 2008
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Accommodation assisting glasses for presbyopia
Toyomi Fujita, Masanori Idesawa
Proceedings of SPIE - The International Society for Optical Engineering 4902 99 - 109 2002
MISC
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2A2-B06 Development of Quadruped Tracked Mobile Robot and its Basic Motion(Wheeled Robot / Tracked Vehicle (2))
TSUCHIYA Yuichi, FUJITA Toyomi
2014 "2A2 - B06(1)"-"2A2-B06(2)" 2014.5
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2013 ( 80 ) 7 - 12 2013.9
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1P1-G10 Removing Obstacle by Tracked Mobile Robot with Two Arms(Wheeled Robot/Tracked Vehicle(3))
HAZAWA Hiroshi, TAKAHASHI Shunta, FUJITA Toyomi
2012 "1P1 - G10(1)"-"1P1-G10(4)" 2012.5
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1C2-2 Scanpath Properties and Regions-of-Interest Extraction for Robot Action Detection
FUJITA Toyomi
FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies 2011 ( 21 ) 126 - 129 2011.9
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1P1-J16 Development of Quadruped Tracked Mobile Robot : Design of Basic Mechanisms and Prototype of Robot Body with Crawler(Wheeled Robot/Tracked Vehicle)
HAZAWA Hiroshi, FUJITA Toyomi
2011 "1P1 - J16(1)"-"1P1-J16(2)" 2011.5
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Memoirs of the Tohoku Institute of Technology. Ser.1, Science and engineering ( 29 ) 31 - 37 2009.3
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Positional features and algorithmic predictability of regions-of-interests in robot hand movement
Sensing and perception 16 37 - 42 2009.2
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Hand movement detection based on robot vision in a cooperative work
Memoirs of the Tohoku Institute of Technology. Ser.1, Science and engineering ( 28 ) 21 - 25 2008.3
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焦点調節補助眼鏡の開発に関する研究
ISシンポジウム第８回「Sensing and Perception」 119 - 126 2001.3
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Stitching Method of 3-D Measuring Space for High Precision 3-D Position Sensing System with 1-D Mark Direction Detecting Devices
41 - 50 2001.3
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回転変動型動的錯視の生理的知覚特性
ISシンポジウム第８回「Sensing and Perception」 107 - 112 2001.3
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老視用自動焦点調節補助眼鏡
日本視覚学会2001年冬季大会 79 2001.1
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``A Practical Geometric Calibration Method for a Large-Scale High-Precision Measurement System in 3-D Space for Head Posture''
Proc. of The First International Symposium on Measurement, Analysisand Modeling of Human Functions (ISHF2001) 2001
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``焦点補助眼鏡の開発について''
社団法人 日本機械工業連合会 人間感覚機能アシスト分野の産業創成に関する調査研究(II)－人間感覚機能アシスト研究交流会報告書－ 48 - 56 2001
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``Study on Characteristics of Rotational Dynamic Illusion-In Relation to Virtual Environment-''
The Journal of Three Dimensional Images 15 ( 2 ) 18 - 21 2001
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``Implementation of Integrated Cooperative Robots System for Tight Cooperation''
Proc. of The 32nd International Symposium on Robotics (ISR2001) 728 - 733 2001
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焦点調節補助眼鏡の開発に関する研究
電気通信大学大学院ISシンポジウム第７回「Sensing and Perception」 5 - 10 2000.3
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回転変動型動的錯視の知覚特性に関する研究
電気通信大学大学院ISシンポジウム第７回「Sensing and Perception」 49 - 54 2000.3
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自動焦点調節型眼鏡に関する研究
電気通信大学大学院ISシンポジウム第７回「Sensing and Perception」 111 - 118 2000.3
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High Precision 3-D Position Sensing System with 1-D Mark Direction Sensing Devices
Sensing and perception 7 53 - 60 2000.3
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Characteristics of Rotational Dynamic Illusion on Physiological Influences in Virtual Environments
International Symposium on Robotics and Automation（ISRA'2000） 331 - 336 2000
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Communication Method for Information Systems to the benefits of disable and Aged People
The Second Tunisian Interdisciplinary Workshop on Science and Society ENG-1-3 1999.10
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A Study on Automatic Focusing Glasses
HAGIWARA Makoto, IDESAWA Masanori, FUJITA Toyomi
9 ( 99-18 ) 105 - 110 1999.10
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Visual Illusions and a Study on Human Visual Mechanism
The Second Tunisian Interdisciplinary Workshop on Science and Society ENG-20-25 1999.10
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New Type of Position Sersitive Device and Its Detecting Characteristics(共著)
IMEKO-(]G0010[)(]G0005[) World Congress ( (]G0010[) ) 21 - 26 1999.6
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Is Seeing Believing?（Newly found visual illusions offer a clue to reveal the human visual mechanism）
IMEKO-XV World Congress XI 91 - 98 1999.6
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Formulation of 3-D Gazing Points Detecting System for Human-Machine Interactions
IMEKO-XV World Congress XIII 171 - 177 1999.6
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新型半導体位置検出素子（PSD）とその検出特性
第２回SVBL報告会（調布市） 1999.3
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Pointing and Communication Metohd for Information Systems by Detecting Line of Sight
SAIED M.
Sensing and perception ( 6 ) 109 - 116 1999.3
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萩原 誠, 出沢 正徳, 藤田 豊己
ISシンポジウム第６回「Sensing and Perception」（調布市） ( 6 ) 1 - 6 1999.3
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藤田 豊己, 出沢 正徳
ISシンポジウム第６回「Sensing and Perception」（調布市） ( 6 ) 49 - 54 1999.3
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New types of position sensitive device for accurate sensing
Toyomi Fujita, Masanori Idesawa
Proceedings - 1999 International Conference on Information Intelligence and Systems, ICIIS 1999 141 - 148 1999
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Perceptual Characteristics of Multi Stably Perceptible 3-D Structure with Binocular Viewing
NAKANE Yuhka, IDESAWA Masanori, ZHANG Qi, FUJITA Toyomi, SEKINE Michiaki
9 111 - 116 1999
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新型半導体像位置検出素子（PSD）とその検出特性
第８回インテリジェント・システム・シンポジウム（FAN Symposium '98）論文集 177 - 180 1998.10
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Tight Cooperative Working System by Multiple Robots(共著)
IEEE/RSJ International Conference on Intelligent Robots and Systems'98 1405 - 1410 1998.10
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Eye-Gazing Pointing Method for Information Systems Using Line of Sight Detection
317 - 322 1998.9
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Implementation of Object Oriented System for Tight Cooperative Work by Multiple Robots
Toyomi Fujita, Hiroshi Kimura
Journal of Robotics Society of Japan 16 ( 7 ) 927 - 933 1998
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Implementation of Object Oriented System for Tight Cooperative Work by Multiple Robots
FUJITA Toyomi, KIMURA Hiroshi
JRSJ 16 ( 7 ) 927 - 933 1998
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Newly Found Dynamic Visual Illusions
IDESAWA Masanori, FUJITA Toyomi
7 479 - 484 1997.11
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回転変動型錯視における知覚特性
第7回インテリジェント・システム・シンポジウム(FAN sympesium)'97論文集 475 - 478 1997
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Characteristic of Rotational Dynamical Illusion
Fuzzy, Artifical Intelligence, Neural Networks and Computational Intelligence(FAN Symposium'97) 475 - 478 1997
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THE DESIGN OF SOFTWARE-DEVELOPMENT SYSTEM FOR MULTIPLE ROBOTS
T FUJITA, H KIMURA
IROS 93 : PROCEEDINGS OF THE 1993 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOL 1-3 1119 - 1125 1993
Presentations
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4脚クローラ型不整地移動ロボットの姿勢情報検出
佐藤峻,藤田豊己
2021年度電気関係学会東北支部連合大会 2021.8
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Object Detection using Single Shot Multibox Detector for Robotic Manipulation
Yuichi YASUTA, Toyomi FUJITA
The 20th SICE System Integration Division Annual Conference 2020.12
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Object Detection by Tracked Mobile Robot,Using Single Shot Multibox Detector
Yuichi YASUTA, Toyomi FUJITA
2021.12
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Gapped-Step Traversing Motion by a Hexapod Tracked Moblie Robot International conference
Taiga Sasaki and Toyomi Fujita
2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 2022.7
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Rollover prevention by Quadruped Tracked Mobile Robot
Toyomi Fujita and Shun Sato
2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 2023.6
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双腕クローラ型移動ロボットによる箱状対象物の把持位置検出に基づく運搬操縦システム
遠藤和典,藤田豊己
第41回日本ロボット学会学術講演会 2023.9
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全方向移動ロボットによる火災感知器点検システムの開発
佐々木啓太,藤田豊己
第42回電気設備学会全国大会 2024.8
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Rollover Prevention for Quadruped Tracked Mobile Robot by Legs Dynamics Control International conference
Toyomi Fujita and Naoki Ono
2024 16th International Conference on Information Technology and Electrical Engineering (ICITEE) 2024.10
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深層学習による物体検出モデルを用いた不整地作業移動ロボットの対象物探索と回収
安田裕一,藤田豊己
第23回計測自動制御学会システムインテグレーション部門講演会 (SI2022) 2022.12
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双腕移動ロボットにおける把持作業のアシスト機能を有する遠隔操縦システムの構築
遠藤和典,藤田豊己
第23回計測自動制御学会システムインテグレーション部門講演会 (SI2022) 2022.12
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6脚クローラ型不整地移動ロボットの脚とクローラのハイブリッド動作による不整地運搬作業
佐々木大雅,藤田豊己
第28回ロボティクスシンポジア 2023.3
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Development of an Omnidirectional Fire Detector Inspection Robot
2024.12
Awards
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ICINCO2019 Best Poster Award
2019.7 the 16th International Conference on Informatics in Control Automation and Robotics (ICINCO 2019) Autonomous Gripping and Carrying of Polyhedral Shaped Object based on Plane Detection by a Quadruped Tracked Mobile Robot
Toyomi Fujita and Nobuatsu Aimi
Research Projects
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6脚クローラ型ロボットの学習と注視機能による自律作業
Grant number：20K12013 2020.4 - 2023.3
日本学術振興会 科学研究費助成事業 基盤研究(C)
藤田 豊己
Grant amount：\4290000 （ Direct Cost: \3300000 、 Indirect Cost：\990000 ）
本研究では，災害等での人間に危険な現場で，6脚を有するクローラ型移動ロボットが脚を腕としても用いて，クローラとのハイブリッド移動をしながら，自律的に作業を実行できる技術の確立を目指す．特に，物体回収・運搬の作業を対象とし，対象物の認識や自律的な操作を可能とすることを目的とする.
そのため，令和3年度において，前年度拡張したロボット前脚の4自由度から6自由度への拡張を後脚にも適用し，脚先を任意の位置・姿勢に制御できるようにした．これによって，作業性能のみならず，脚を用いて補助しながらの段差溝乗り越えなどにおいて移動性能の向上が可能となった．
それに加え，前年度から行っていた深層学習Single Shot Multibox Detector(SSD) を適用した対象物検出を発展させ，ロボットによる認識とそれに基づく動作を実現した．実際にロボットが活動する屋外環境において，対象物のスプレー缶が様々な距離・姿勢や他の物体とのオクルージョンがある状態で置かれた場合を想定し，様々なパターンの画像を用いて学習をした．そして，実際にロボットによる実機実験によりロボット動作時の認識を検証した．ロボットはその場回転し周囲の対象物を検出する．検出した場合，検出領域が小さく対象物が遠くにある場合は前進し，また対象物検出領域重心が画像の左右にある場合には機体を旋回させて画像内の中心に捉える．これを繰り返し，対象物を操作できる位置に到達する．実験の結果，対象物が遠距離のとき未検出となる場合もあったが，中距離のときは検出して対象物に接近できた． -
Study on Action Recognition and Autonomous Work by a Mobile Robot based on Attention Mechanism
Grant number：15K00364 2015.4 - 2019.3
Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C)
Fujita Toyomi
Grant amount：\4940000 （ Direct Cost: \3800000 、 Indirect Cost：\1140000 ）
An attention mechanism is useful for obtaining essential information effectively in a cooperative work by multiple robots. Thus, an experiment was conducted to investigate characteristics of human attention when observing movies of robot action. The result suggested that we attend between objects and robot repeatedly to recognize the action, then attend the target object to anticipate the action.
Next, a method for generating robotic attention was considered by applying image processing techniques to detect 3-D position of a partner robot as a part of action recognition. Experimental result confirmed that the proposed method can detect valid position.
Also, two methods were presented for detecting attentive positions on a box-shaped object to grip and lift up in a transportation task based on corner detection and plane detection. These methods were applied to a tracked mobile robot with multiple manipulation arms. The experimental results showed that these are valid for autonomous work. -
A Study on Robotic Attention for Action Detection based on Scanpath Theory
Grant number：20500182 2008 - 2010
Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C)
FUJITA Toyomi
Grant amount：\4160000 （ Direct Cost: \3200000 、 Indirect Cost：\960000 ）
This study investigated human visual scanpath features in a scene of robot hand movement. Human regions-of-interest (hROIs) were measured in psychophysical experiments and compared using a positional similarity index on the basis of scanpath theory. Results showed consistent hROI loci due to dominant top-down active looking in such a scene. This study also presented a method for detecting hROIs which used both bottom-up and top-down image processing algorithms (IPAs). Algorithmic regions-of-interest (aROIs) generated by this method were compared to the hROIs. The results showed that the IPAs have a high ability to predict hROIs and to detect actions of a partner robot.
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動的錯視の知覚特性に関する研究
Grant type：Competitive
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Study on Characteristic of Dynamic Illvsion
Grant type：Competitive
Social Activities
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知能ロボットコンテスト実行委員
Role(s)： Organizing member
2009
Academic Activities
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電気設備学会東北支部長
Role(s)： Planning, management, etc.
2021