TAKUYA KIYOKAWA
Ph.D. student - Robotics Laboratory
Nara Institute of Science and Technology (NAIST), Japan
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Biography

Research and working experiences

  • 2016-present

    Robotics Lab.

    • Ph.D. student (2018-present)

    • Research intern - Microsoft Research
      Research in robot vision field

    • Super Creator (certified by IPA & METI) - MITOU program 2018
      A framework for quickly deploying image recognition AI

    • Master cource student (2016-2018)
      Tactile-based pouring motion inspired by human skill

    • Collaborative researcher - NIT,K
      Designing a human upper limb model and baseball pitching motion analysis

    • Technical assistant - ATOUN Inc.
      Human motion analysis for development and evaluation of a power assist robot

    • System engineering intern - YASKAWA Electric Corporation
      Training on simulation and deployment of industrial robot systems

    • Advanced cource student (2014-2016)
      Modeling of forearm pro-supination for sports biomechanics

    • Visiting student - Ngee Ann Polytechnic
      2-weeks' lecture of training on implementation of digital signal processing theory

    • Software development intern - Tokyo Electron Kyushu Limited
      Software development of semiconductor manufacturing equipment

    • Technical college student (2009-2014)
      An artificial-muscle-driven robotic arm with biarticular muscles

    • Exchange student - Temasek Polytechnic
      Student exchange program for 2-weeks

Publication

Journals

  1. Yuto Tsuchiya, Takuya Kiyokawa, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu and Tsukasa Ogasawara:
    ''Pouring from Deformable Containers Using Dual-Arm Manipulation and Tactile Sensing,''
    International Journal of Robotic Computing (IJRC), 2019. (presented at IRC2019, in press)
  2. Takuya Kiyokawa, Keita Tomochika, Jun Takamatsu and Tsukasa Ogasawara:
    ''Fully Automated Annotation with Noise-Masked Visual Markers for Deep-Learning-Based Object Detection,''
    IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 2, pp. 1972-1977, 2019. (presented at ICRA2019)
  3. Kosei Nojiri, Takuya Kiyokawa, Hirohumi Ohtsuka and Yoji Okayama:
    ''Stiffness Parameter Estimation for Forearm Skeleton Model by Using Particle Swarm Optimization,''
    The Japanese Journal of Ergonomics, vol. 52, no. 1, pp. 30-39, 2016. (in Japanese)

International conferences

  1. Kento Tariki, Takuya Kiyokawa, Tomoki Nagatani, Jun Takamatsu and Tsukasa Ogasawara:
    ''3D Model-Based Non-interference Assembly Sequence Generation for Products with a Large Number of Parts,''
    in Proc. IEEE Int. Conf. on Cybernetics and Intelligent Systems and IEEE Int. Conf. on Robotics, Automation and Mechatoronics (CIS-RAM2019),
    Bangkok, Thailand, November, 2019. (in press)
  2. Takuya Kiyokawa, Ming Ding, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu and Tsukasa Ogasawara:
    ''Generation of a Tactile-Based Pouring Motion Using Fingertip Force Sensors,''
    in Proc. IEEE/SICE Int. Symp. on System Integration (SII2019), Tu2D.3, Paris, France, January, 2019.
  3. Takuya Kiyokawa, Kosei Nojiri, Hirohumi Ohtsuka and Youji Okayama:
    ''Estimation of Kinematics Parameters Dependent on Pronation Supination for Modeling Forearm Skeletal System Based on CT Images,''
    in Proc. IEEE/SICE Int. Symp. on System Integration (SII2015), ThAT6.3, Nagoya, Japan, December, 2015.
  4. Kosei Nojiri, Takuya Kiyokawa and Yoji Okayama:
    ''Forearm Skeleton Modeling for Pro-/supination Movement Using CT Image Measurement,''
    in Proc. IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM2015), SaD2.7, Busan, Korea, July, 2015.

Japanese conferences

  1. Takuya Kiyokawa, Jun Takamatsu, Kazuhiro Sasabuchi, Tsukasa Ogasawara and Katsushi Ikeuchi:
    ''Revolute Joint Parameter Estimation by Object Observation Using a Visual Marker,''
    in Proc. Annual Conf. of the Robotics Society of Japan (RSJ2019), 3E2-03, Waseda Univ., September, 2019.
  2. Kento Tariki, Takuya Kiyokawa, Tomoki Nagatani, Jun Takamatsu and Tsukasa Ogasawara:
    ''Assembly Sequence Optimization for Products with Many Parts using Only 3D Parts Models,''
    in Proc. Annual Conf. of the Robotics Society of Japan (RSJ2019), 3I1-04, Waseda Univ., September, 2019.
  3. Hiroki Katayama, Takuya Kiyokawa, Jun Takamatsu and Tsukasa Ogasawara:
    ''Verification of Estimating the Normal Direction of an Object Surface Based on Differences in Reflection Property of Sound Waves,''
    in Proc. Annual Conf. of the Robotics Society of Japan (RSJ2019), 2I2-03, Waseda Univ., September, 2019.
  4. Takuya Kiyokawa, Keita Tomochika, Jun Takamatsu and Tsukasa Ogasawara:
    ''Multi-View Image Dataset Collection Using Web Application,''
    in Proc. IEEE/SICE System Integration Division (SI2018), 3D4-12, Osaka, December, 2018.
  5. Yuto Tsuchiya, Takuya Kiyokawa, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu and Tsukasa Ogasawara:
    ''Pouring Motion from Deformable Containers Based on Tactile Information Using Dual Arm Robot,''
    in Proc. IEEE/SICE System Integration Division (SI2018), 3A2-07, Osaka, December, 2018.
  6. Kosei Nojiri, Takuya Kiyokawa, Hirohumi Ohtsuka and Etsuo Horikawa:
    ''Development of 3-axis Force Sensor Ball Capable of Measuring Contact Forces of Multiple Fingers,''
    in Proc. IEEE/SICE System Integration Division (SI2018), 1D2-11, Osaka, December, 2018.
  7. Yuki Kitamura, Takuya Kiyokawa, Ming Ding, Jun Takamatsu and Tsukasa Ogasawara:
    ''Development of Soft Fingers with Temperature Controllable Passive Mechanism for a Touch-Care Robot,''
    in Proc. Annual Conf. of the Robotics Society of Japan (RSJ2018), 2D1-01, Kasugai, September, 2018.
  8. Keita Tomochika, Takuya Kiyokawa, Jun Takamatsu and Tsukasa Ogasawara:
    ''Unbiased Training Data Collection System for Object Detection Using Visual Markers,''
    in Proc. Robotics and Mechatronics Conf. 2018 (ROBOMECH2018), 2A2-J18, Kitakyushu, June, 2018.
  9. Takuya Kiyokawa, Keita Tomochika, Ming Ding, Jun Takamatsu and Tsukasa Ogasawara:
    ''Automatic Annotation of Training Data Using Visual Markers for Object Detection in Automated Factories,''
    in Proc. Robotics Symposia, 5D4, Yaizu, March, 2018. (reviewed extended abstract)
  10. Sung-Gwi Cho, Takuya Kiyokawa, Keita Tomochika, Masahiro Yoshikawa and Tsukasa Ogasawara:
    ''Operation of Robot Arm Using Hand Motion Recognition Based on Forearm Deformation,''
    in Proc. Human Interface Symp. 2017, 7D2-2, Osaka, September, 2017.
  11. Kosei Nojiri and Takuya Kiyokawa:
    ''Integration of Ulna Behavior Estimation Method for Forearm Pro-/supination Using Motion Capture,''
    in Proc. Conf. of Japan Ergonomics Society, C3-4, Narashino, June, 2017.
  12. Takuya Kiyokawa, Kosei Nojiri, Hirohumi Ohtsuka and Daisuke Iwata:
    ''Estimation of Rotation Center Axis with Forearm Parallel-mechanism for Pitching Motion,''
    in Proc. JSME Symp.: Sports engineering and Human Dynamics 2015 (SHD2015), A-8, Kusatsu, October, 2015.
  13. Takuya Kiyokawa, Kosei Nojiri, Hirohumi Ohtsuka and Yoji Okayama:
    ''Kinematic Parameter Estimation Method of Forearm Skeleton Model Based on CT Image,''
    in Proc. Japan Biomedical Engineering Symp., Okayama, September, 2015. (reviewed paper)
  14. Takuya Kiyokawa, Kosei Nojiri and Yoji Okayama:
    ''Suggestion of Non-linear Stiffness Parameter Estimation Method Using Particle Swarm Optimization for Forearm Skeleton Model,''
    in Proc. Robotics and Mechatronics Conf. 2015 (ROBOMECH2015), 1P1-I03, Kyoto, May, 2015.
  15. Takuya Kiyokawa and Kosei Nojiri:
    ''A Consideration on Stiffness Parameter Estimation Method for Pro-/supination Model of Forearm Skeleton,''
    in Proc. Multi-symposium on Control Systems (MSCS2015), 544-5, Tokyo, March, 2015.
  16. Takuya Kiyokawa and Kosei Nojiri:
    ''Parameter Estimation of Pro-/supination Model for Forearm Skelton with Particle Swarm Optimization,''
    in Proc. IEEE/SICE System Integration Division (SI2014), 3J3-2, Tokyo, December, 2014.
  17. Takuya Kiyokawa and Kosei Nojiri:
    ''Motion Analysis of Pro-/supination for Estimation of Forearm Rotation Center Axis,''
    IEICE Technical Report, vol. 114, no. 261, pp. 3-6, October, 2014.

Activity

Activities and achivements

Patents

  1. Keita Tomochika, Takuya Kiyokawa, Tsukasa Ogasawara, Jun Takamatsu and Ming Ding:
    ''Creation Method of Training Data Set and Apparatus,''
    Japanese Patent Application No. 2018-066282, 2018.
  2. Keita Tomochika, Takuya Kiyokawa, Tsukasa Ogasawara, Jun Takamatsu and Ming Ding:
    ''Creation Method of Training Data Set, Object Recognition and Pose Estimation Method,''
    Japanese Patent No. 6474179, 2017.

Grants

  1. June 2019 - Mar. 2020, NAIST, Creative and International Competitiveness Project (CICP 2019)
    ''Automation of Collecting Marine Debris Using an Underwater Robot''
  2. June 2019 - Mar. 2020, NAIST, Creative and International Competitiveness Project (CICP 2019)
    ''Robot Audition-Based Grasping System Under Varied Illumination''
  3. Apr. 2019, The NEC C&C Foundation, Grants for Researchers Attending International Conferences
    For participation at IEEE International Conference on Robotics and Automation 2019 (ICRA2019)
  4. June 2018 - Mar. 2019, NAIST, Creative and International Competitiveness Project (CICP 2018)
    ''CAD-Based and Domain Adaptive Robotic Assembly System with Universal Robot Gripper''
  5. June 2017 - Mar. 2018, NAIST, Creative and International Competitiveness Project (CICP 2017)
    ''Automatic Annotation of Training Data for Robot Picking System''

Honors and Awards

  1. May. 2019, Certified as Super Creator by IPA and METI of Japan, MITOU program 2018
    ``A Framework for Quickly Deploying Image Recognition AI''
  2. Feb. 2019, Excellent Research Project Award, NAIST CICP 2018
    Takuya Kiyokawa, Tatsuya Sakuma, Pedro Miguel Uriguen Eljuri, Shori Kinoshita, Yuto Tsuchiya and Kento Tariki:

    ``CAD-Based and Domain Adaptive Robotic Assembly System with Universal Robot Gripper''
  3. Mar. 2018, Repayment Exemption for Students with Excellent Grades
    Japan Student Services Organization (JASSO) Type 1 scholarship, Exemption of half of loan

Articles

  1. Sep. 15, 2019, IPSJ MAGAZINE, 25th-generation Mitou Super Creators
  2. July 24, 2017, The Nikkan Kogyo Shinbun|NEWSWITCH, Hackasson "Super Baseball"
  3. Oct. 14, 2016, The Nara Shinbun, Ball Catching Robot

Workshops

  1. Mar. 28, 2018, Keihanna Research Complex 12th framework lecture (Kyoto) No. 4
    ''Automatic Collection Method of Training Data for Product Recognition System'' (poster)
  2. Dec. 10-11, 2017, Workshop for Creative and International Competitiveness Project (Nara) #10
    ''Automatic Annotation of Training Data for Robot Picking System'' (poster and demo)
  3. Sept. 14, 2017, Keihanna Research Complex 6th framework lecture (Kyoto) No. 2
    ''Development of a Robot Picking System for Factory Automation Using Deep Learning'' (poster)

Exhibitions

  1. Aug. 30-31, 2018, Innovation Japan (Tokyo)
    ''Make AI smarter, quickly sort items'' (poster and demo)
  2. Nov. 8-9, 2017, Business Encourage Fair, with presentation for seeds of technology (Osaka)
    ''A Framework for Quickly Deploying Product Recognition System'' (poster and demo)
  3. Oct. 26-28, 2017, Keihanna IT-fair (Kyoto)
    ''A Framework for Quickly Deploying Product Recognition System'' (poster and demo)
  4. Oct. 19-21, 2016, Japan Robot Week 2016 (Tokyo)
    ''Ball Catching Robot'' (poster and demo)
  5. Oct. 13, 2016, Keihanna Business Messe 2016 (Kyoto) No.94
    ''Ball Catching Robot'' (poster and demo)

Educational activities

  1. Apr. 2018 - present, Research Assistant
    Researches of ''Robot motion generation by multimodal teaching''
  2. Oct. 2017 - Jan. 2018, 3D-printer Manager
    3D-printing assistant
  3. Apr. 2017 - Aug. 2017, Advanced Robot Development I
    Teaching assistant - Lecture for NAIST IT3 RT-PBL (Robot Technology-Problem-Based Learning)
  4. Apr. 2017 - Aug. 2017, Global Entrepreneur I, II, III, IV
    Teaching assistant - Lectures for NAIST GEIOT (Global Entrepreneurs in Internet Of Things)
  5. Apr. 2017 - Aug. 2017, Prototyping Foundation A, B ,C, D
    Teaching assistant - Lectures for NAIST GEIOT (Global Entrepreneurs in Internet Of Things)
  6. Feb. 23-24, 2017, Spring seminar at NAIST Robotics Lab. No.21
    Lecturer - Spring Seminer 2017,
    ''Picking Motion Generation of Robot Arm Based on Object Recognition''

Contact Me

Feel free to contact me anytime for anything:

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