東京大学 山川研究室
Yamakawa Laboratory, The University of Tokyo
研究活動詳細
- 山川雄司, 井出裕, 野田善之, 山崎敬則, 神村一幸, 黒須茂:
特性変動をともなう1次おくれ＋むだ時間系へのH∞補償器の適用,
計測自動制御学会論文集, Vol.40, No.5, pp.493-501 (2004)
- Masakazu Kotaki, Yuji Yamakawa, Takanori Yamazaki, Kazuyuki Kamimura and Shigeru Kurosu:
A Tuning Method for PID Controller that Considers Changes in System Characteristics,
ASHRAE Transactions, Vol.111, Part2, pp.13-22 (2005)
- Yuji Yamakawa, Masakazu Kotaki, Takanori Yamazaki, Tadahiko Matsuba, Kazuyuki Kamimura and Shigeru Kurosu:
Application of H∞ Compensator to a Plant with a Large Amount of Changes in Characteristics,
ASHRAE Transactions, Vol.112, Part1, pp.15-25 (2006)
- Motoki Shino, Yuji Yamakawa, Takenobu Inoue and Minoru Kamata:
Longitudinal stability control of electric wheelchairs for persons with severe disability,
Vehicle System Dynamics, Vol.46, Supplement, pp.389-402 (2008)
- 山川雄司, 山崎敬則, 神村一幸, 黒須茂:
空調システムにおけるVAV制御系の安定性 −双線形系の安定解析−,
数理科学会論文集, Vol.10, No.1, pp.65-72 (2008)
- Yuji Yamakawa, Takanori Yamazaki, Kazuyuki Kamimura and Shigeru Kurosu:
Stability of Temperature Control System in VAV Systems,
ASHRAE Transactions, Vol.115, Part1, pp.613-621 (2009)
- 山川雄司, 並木明夫, 石川正俊, 下条誠:
高速多指ハンドと高速視触覚フィードバックを用いた柔軟紐の結び操作,
日本ロボット学会誌, Vol.27, No.9, pp.1016-1024 (2009)
- Yuji Yamakawa, Takanori Yamazaki, Kazuyuki Kamimura and Shigeru Kurosu:
Compensation of Manual Reset to Offset Thermal Loads Change for PID Controller,
ASHRAE Transactions, Vol.116, Part1, pp.303-315 (2010)
- 山川雄司, 小竹元基, 井上剛伸, 鎌田実:
キャスタの動的挙動を考慮した電動車いす運動モデルの構築,
日本機械学会論文集（C編）, Vol.76, No.763, pp.682-689 (2010)
- Yuji Yamakawa, Takanori Yamazaki, Kazuyuki Kamimura and Shigeru Kurosu:
Impact of Decentralized Controllers for Temperature Control on Control Performance,
ASHRAE Transactions, Vol.117, Part2, pp.830-837 (2011)
- 山川雄司, 並木明夫, 石川正俊:
高速多指ハンドシステムを用いた布の動的折りたたみ操作,
日本ロボット学会誌, Vol.30, No.2, pp.225-232 (2012)
- 山川雄司, 並木明夫, 石川正俊, 下条誠:
ロボットハンドの構造・運動を考慮した操りスキルの統合に基づく結び目の生成計画,
日本ロボット学会誌, Vol.31, No.3, pp.283-291 (2013)
- 山川雄司, 並木明夫, 石川正俊:
高速ロボットアームを用いた柔軟紐の動的マニピュレーション,
日本ロボット学会誌, Vol.31, No.6, pp.628-638 (2013)
- Yuji Yamakawa, Akio Namiki and Masatoshi Ishikawa:
Dynamic High-speed Knotting of a Rope by a Manipulator,
International Journal of Advanced Robotic Systems, Vol.10, Article No.361, pp.1-12 (2013)
[link]
- Yuji Yamakawa and Takanori Yamazaki:
Simplified Dynamic Model for High-speed Checkweigher,
International Journal of Modern Physics: Conference Series, Vol.24, Article No.1360036, pp.1-8 (2013)
- Shouren Huang, Yuji Yamakawa, Taku Senoo and Masatoshi Ishikawa:
Dynamic compensation by fusing a high-speed actuator and high-speed visual feedback with its application to fast peg-and-hole alignment,
Advanced Robotics, Vol.28, No.9, pp.613-624 (2014)
- Yuji Yamakawa and Takanori Yamazaki:
Mathematical model of checkweigher with electromagnetic force balance system,
ACTA IMEKO (The e-Journal of the International Measurement Confederation (IMEKO)), Vol.3, No.2, pp.9-13 (2014)
[link]
- Shouren Huang, Yuji Yamakawa, Taku Senoo and Masatoshi Ishikawa:
A Pre-compensation Fuzzy Logic Algorithm Designed for the Dynamic Compensation Robotic System,
International Journal of Advanced Robotic Systems, Vol.12, Article No.3, pp.1-12 (2015)
[link]
- 玉田智樹, 五十嵐渉, 米山大揮, 田中和仁, 山川雄司, 妹尾拓, 石川正俊:
高速2足走行システムACHIRESの開発,
日本ロボット学会誌, Vol.33, No.7, pp.482-489 (2015)
- Yuji Yamakawa, Akio Namiki and Masatoshi Ishikawa:
Analysis and Realization of Card Flicking Manipulation Using a High-speed Robot Hand,
International Journal of Advanced Robotic Systems, Vol.12, Article No.130, pp.1-12 (2015)
[link]
- Hyuno Kim, Yuji Yamakawa, Taku Senoo, and Masatoshi Ishikawa:
Visual encoder: robust and precise measurement method of rotation angle via high-speed RGB vision,
Optics Express, Vol.24, Issue 12, pp.13375-13386 (2016)
[link]
- Shouren Huang, Niklas Bergström, Yuji Yamakawa, Taku Senoo and Masatoshi Ishikawa:
Applying High-Speed Vision Sensing to an Industrial Robot for High-Performance Position Regulation under Uncertainties,
Sensors, Vol.16, Issue 8, Article No. 1195 (2016)
[link]
- Yuji Yamakawa, Akio Namiki and Masatoshi Ishikawa:
Simplified deformation model and shape generation of a rhythmic gymnastics ribbon using a high-speed multi-jointed manipulator,
Mechanical Engineering Journal, Vol.3, No.6, Paper No.15-00510 (2016)
[link]
- 山川雄司, 久野和生, 石川正俊:
高速ロボットハンドシステムの人間機械協調動作への応用,
日本機械学会論文集, Vol.82, No.844, Paper No.16-00352 (2016)
[link]
- Yuji Yamakawa and Takanori Yamazaki:
Reduction of the effect of floor vibrations in a checkweigher using an electromagnetic force balance system,
ACTA IMEKO (The e-Journal of the International Measurement Confederation (IMEKO)), Vol.6, No.2, pp.65-69 (2017)
[link]
- Yuji Yamakawa, Akio Namiki, Masatoshi Ishikawa and Makoto Shimojo:
Planning of Knotting Based on Manipulation Skills with Consideration of Robot Mechanism/Motion and Its Realization by a Robot Hand System,
Symmetry, Vol.9, Issue 9, Article No.194 (2017)
[link]
- Masahiro Hirano, Akihito Noda, Masatoshi Ishikawa and Yuji Yamakawa:
Networked High-speed Vision for Evasive Maneuver Assist,
ICT Express, Volume 3, Issue 4, pp.178-182 (2017)
[link]
- Shouren Huang, Kenta Shinya, Niklas Bergström, Yuji Yamakawa, Tomohiro Yamazaki and Masatoshi Ishikawa:
Dynamic compensation robot with a new high-speed vision system for flexible manufacturing,
International Journal of Advanced Manufacturing Technology, Volume 95, Issue 9-12, pp.4523-4533 (2018)
[link]
- 山川雄司, 遠山渉, 黄守仁, 村上健一, 石川正俊:
人間の手先位置制御の高速高精度化を目指したモジュール開発と基礎検討,
日本機械学会論文集, Vol.84, No.858, Paper No.17-00364 (2018)
[link]
- Akihito Noda, Satoshi Tabata, Masatoshi Ishikawa and Yuji Yamakawa:
Synchronized High-Speed Vision Sensor Network for Expansion of Field of View,
Sensors, Vol.18, Issue 4, Article No. 1276 (2018)
[link]
- Yuji Yamakawa:
Brachiation motion by a 2-DOF brachiating robot with hook-shaped end effectors,
Mechanical Engineering Letters, Volume 4, Paper No.18-00094 (2018)
[link]
- 塚本勇介, 山川雄司, 妹尾拓, 石川正俊:
高速ビジョンを用いた形状のフィードバックによる弾性体アームの操り,
計測自動制御学会論文集, Vol.54, No.5, pp.468-475 (2018)
[link]
- Yuji Yamakawa, Yutaro Matsui, Akihito Noda, Masatoshi Ishikawa and Makoto Shimojo:
Development of a Sensor Network System with High Sampling Rate Based on Highly Accurate Simultaneous Synchronization of Clock and Data Acquisition and Experimental Verification,
micromachines, Vol.9, Issue 7, Article No. 325 (2018)
[link]
- Kazuki Yamani, Yuji Yamakawa and Takanori Yamazaki:
Dynamic behavior of mass measurement system using load-cell (2nd report) -Effect of partial load distribution-,
Journal of Physics: Conf. Series, Volume 1065, Article No. 042048 (2018)
[link]
- Shouren Huang, Masatoshi Ishikawa and Yuji Yamakawa:
A coarse-to-fine framework for accurate positioning under uncertainties -from autonomous robot to human-robot system-,
International Journal of Advanced Manufacturing Technology, Volume 108, pp.2929-2944 (2020)
[link]
- Yuji Yamakawa, Akinori Tsuzura, Takanori Yamazaki:
Vibration compensation using dummy load-cell in dynamic mass measurement,
ACTA IMEKO (The e-Journal of the International Measurement Confederation (IMEKO)), Vol.9, No.5, pp.75-78 (2020)
[link]
- Yuji Yamakawa, Yutaro Matsui and Masatoshi Ishikawa:
Development of a Real-Time Human-Robot Collaborative System Based on 1 kHz Visual Feedback Control and Its Application to a Peg-in-Hole Task,
Sensors, Vol.21, Issue 2, Article No. 663 (2021)
[link]
- Yuji Yamakawa, Yugo Katsuki, Yoshihiro Watanabe and Masatoshi Ishikawa:
Development of a High-Speed, Low-Latency Telemanipulated Robot Hand System,
Robotics, Vol.10, Issue 1, Article No. 41 (2021)
[link]
- Yuji Yamakawa, Hotaka Tozuka and Takanori Yamazaki:
Mathematical model in dynamic mass measurement with consideration of position variation of fulcrum point,
Measurement: Sensors, Vol.18, Article No. 100164 (2021)
[link]
- Masahiro Hirano, Yuji Yamakawa, Taku Senoo and Masatoshi Ishikawa:
An acceleration method for correlation-based high-speed object tracking,
Measurement: Sensors, Vol.18, Article No. 100164 (2021)
[link]
- Tao Morisaki, Ryoma Mori, Ryosuke Mori, Kohki Serizawa, Yasutoshi Makino, Yuta Itoh, Yuji Yamakawa, and Hiroyuki Shinoda:
Ultrasound-driven Curveball in Table Tennis: Human Activity Support via Noncontact Remote Object Manipulation,
Proceedings of the ACM on Human-Computer Interaction (PACM HCI journal), Volume 5, Issue ISS, Article No. 503, pp 1-20 (2021)
[link]
- Taohan Wang and Yuji Yamakawa:
Real-Time Occlusion-Robust Deformable Linear Object Tracking With Model-Based Gaussian Mixture Model,
Frontiers in Neurorobotics, Volume 16, Issue ISS, Article No. 886068, pp 1-14 (2022)
[link]
- Yuji Yamakawa and Koki Yoshida:
Teleoperation of High-Speed Robot Hand with High-Speed Finger Position Recognition and High-Accuracy Grasp Type Estimation,
Sensors, Vol.22, Issue 10, Article No. 3777 (2022)
[link]
- Shengjiang Quan, Xiao Liang, Hairui Zhu, Masahiro Hirano and Yuji Yamakawa:
HiVTac: A High-Speed Vision-Based Tactile Sensor for Precise and Real-Time Force Reconstruction with Fewer Markers,
Sensors, Vol.22, Issue 11, Article No. 4196 (2022)
[link]
- Kenichi Murakami, Shouren Huang, Masatoshi Ishikawa, and Yuji Yamakawa:
Fully Automated Bead Art Assembly for Smart Manufacturing Using Dynamic Compensation Approach,
Journal of Robotics and Mechatronics, Vol.34, No.5, pp.936-945 (2022)
[link]
- Shouren Huang, Kenichi Murakami, Masatoshi Ishikawa, Yuji Yamakawa:
Robotic Assistance Realizing Peg-and-Hole Alignment by Mimicking the Process of an Annular Solar Eclipse,
Journal of Robotics and Mechatronics, Vol.34 No.5, pp.946-955 (2022)
[link]
- Hairui Zhu and Yuji Yamakawa:
Robotic Pouring Based on Real-Time Observation and Visual Feedback by a High-Speed Vision System,
Journal of Robotics and Mechatronics, Vol.34 No.5, pp.965-974 (2022)
[link]
- Hyuno Kim, Yuji Yamakawa, and Masatoshi Ishikawa:
Seamless Multiple-Target Tracking Method Across Overlapped Multiple Camera Views Using High-Speed Image Capture,
Journal of Robotics and Mechatronics, Vol.34 No.5, pp.1043-1052 (2022)
[link]
- Xiao Liang, Masahiro Hirano, and Yuji Yamakawa:
Real-Time Marker-Based Tracking and Pose Estimation for a Rotating Object Using High-Speed Vision,
Journal of Robotics and Mechatronics, Vol.34 No.5, pp.1063-1072 (2022)
[link]
- Masahiro Hirano, Keigo Iwakuma, and Yuji Yamakawa:
Multiple High-Speed Vision for Identical Objects Tracking,
Journal of Robotics and Mechatronics, Vol.34 No.5, pp.1073-1084 (2022)
[link]
- Taohan Wang and Yuji Yamakawa:
Edge-Supervised Linear Object Skeletonization for High-Speed Camera,
Sensors, Vol.23, Issue 12, Article No. 5721 (2023)
[link]
- Akira Matsuo and Yuji Yamakawa:
High-Speed Tracking with Mutual Assistance of Feature Filters and Detectors,
Sensors, Vol.23, Issue 16, Article No. 7082 (2023)
[link]
- Junzhe Su, Masahiro Hirano and Yuji Yamakawa:
Online Camera Orientation Calibration Aided by A High-Speed Ground-View Camera,
IEEE Robotics and Automation Letters, Vol.8, Issue 10, pp.6275-6282 (2023)
[link]
- 安辰晟, 村上健一, 平野正浩, 山川雄司:
高機能3Dプリンティングのための動的補償システムの開発と評価,
日本機械学会論文集, Vol.89, No.928, Paper No.23-00191 (2023)
[link]
日本機械学会 ロボティクス・メカトロニクス部門 部門優秀論文表彰
- Nan Zhao, Kenichi Murakami and Yuji Yamakawa:
Vision based trajectory dynamic compensation system of industrial robot,
The International Journal of Advanced Manufacturing Technology, Vol. 131, pp.6013-6026 (2024)
[link]
- 米津真之介, 山川雄司:
高速ビジョンシステムを用いた高速振動オブジェクトの鮮明画像取得,
計測自動制御学会論文集, Vol.60, No.4, pp.303-313 (2024)
- Shinnosuke Yonezu and Yuji Yamakawa:
Clear Image Acquisition by 3D High-speed Vibration Tracking of Object with Various Shapes Under High Magnification,
IEEE Sensors Letters, Vol.8, Issue 7 (2024)
[link]
- Xiaohang Shi, Qitong Guo, Kenichi Murakami and Yuji Yamakawa:
A High-speed and Computational Cost-effective 3D Recognition Method With 2D-Edges-based 4-points Congruent Set Algorithm,
IEEE Access, Vol.12, pp.151112-151121 (2024)
[link]
- Taohan Wang and Yuji Yamakawa:
Enhancing precision in 3D printing for highly functional printing with high-speed vision,
The International Journal of Advanced Manufacturing Technology (2024)
[link]
- 村上友規, 村上健一, 山川雄司:
吊り下げ搬送下の面状柔軟物に対するコーナーのリアルタイム認識とロボットによる追跡・把持,
計測自動制御学会論文集, Vol.60, No.12, pp.638-646 (2024)
- 米津真之介, 山川雄司:
高速ビジョンシステムを用いた3次元高速振動追跡による鮮明画像取得,
計測自動制御学会論文集, Vol.61, No.4, pp.240-253 (2025)
- Xiaohang Shi and Yuji Yamakawa:
Recognizing and Picking Up Deformable Linear Objects Based on Graph,
Journal of Robotics and Mechatronics, Vol.37 No.2, pp.335-347 (2025)
[link]
- Xuebin Zhu, Kenichi Murakami, and Yuji Yamakawa:
Wide-Range and Real-Time 3D Tracking of a Moving Object by Dynamic Compensation Based on High-Speed Visual Feedbackn,
Journal of Robotics and Mechatronics, Vol.37 No.2, pp.399-411 (2025)
[link]
- Shouren Huang, Wenhe Wang, Leo Miyashita, Kenichi Murakami, Yuji Yamakawa, and Masatoshi Ishikawa:
Utilizing High-Speed 3D Vision for a Commercial Robotic Arm: Direct Integration and the Dynamic Compensation Approach,
Journal of Robotics and Mechatronics, Vol.37 No.2, pp.424-433 (2025)
[link]
- Xiaohang Shi, Qitong Guo, Ruoyu Jia, Chunxin Yang, Kenichi Murakami, and Yuji Yamakawa:
Ultra-low-latency 3D measurement with a 1D approximate de Bruijn pattern,
Optics Letters, Vol.50, Issue 9, pp.3142-3145 (2025)
[link]
- Shinnosuke Yonezu and Yuji Yamakawa:
Acquiring Clear Images for Objects Undergoing 3D High-speed Vibration and Low-speed Motion and its Evaluation,
IEEE Transactions on Instrumentation and Measurement, Vol.74, Article No.5029719, pp.1-19 (2025)
[link]
- Yuki Kawawaki, Kenichi Murakami and Yuji Yamakawa:
Collision-Free Path Planning in Dynamic Environment Using High-Speed Skeleton Tracking and Geometry-Informed Potential Field Method,
Robotics, Vol.14, Issue 5, Article No. 65 (2025)
[link]
- Taohan Wang, Mamoru Oka, Kenichi Murakami, Shouren Huang, Hirofumi Sumi, Masatoshi Ishikawa and Yuji Yamakawa:
Robot system for sequential suspending point selection, grasping, spreading, and aligning manipulation of randomly placed towel-like objects,
Robotics and Autonomous Systems, Vol.192, Article No.105053 (2025)
[link]
- Yuki Kawawaki and Yuji Yamakawa:
High-Speed Multiple Object Tracking Based on Fusion of Intelligent and Real-Time Image Processing,
Sensors, Vol.25, Issue 11, Article No. 3400 (2025)
[link]
- Takanori Yamazaki and Yuji Yamakawa:
Mathematical model of mass measurement system with consideration of fulcrum point position shift and its evaluation,
Measurement: Sensors, Vol.38, Article No. 101363 (2025)
[link]
- Kenta Takahashi, Yuji Yamakawa, Tetsu Kamiya and Takanori Yamazaki:
Estimation of force acting on oral cavity during chewing using tongue simulator,
Measurement: Sensors, Vol.38, Article No. 101377 (2025)
[link]
- 山川雄司, 石川正俊:
勝率100%じゃんけんロボットの開発,
画像ラボ, Vol.24, No.6, pp.1-8 (2013)
- Taku Senoo, Yuji Yamakawa, Yoshihiro Watanabe, Hiromasa Oku and Masatoshi Ishikawa:
High-Speed Vision and its Application Systems,
Journal of Robotics and Mechatronics, Vol.26, No.3, pp.287-301 (2014)
- 妹尾拓, 山川雄司, 石川正俊:
高速ビジョンのロボット応用,
日本ロボット学会誌, Vol.32, No.9, pp.769-773 (2014)
- 黄守仁, 山川雄司, 妹尾拓, べリストロムニクラス:
高速ビジョンに基づく動的補償および産業用ロボットへの応用,
日本ロボット学会誌, Vol.32, No.9, pp.591-595 (2017)
- 山川雄司:
高速ビジョンと高速ロボットによる人間機械協調,
日本ロボット学会誌, Vol.35, No.8, pp.596-599 (2017)
- Taku Senoo, Yuji Yamakawa, Shouren Huang, Keisuke Koyama, Makoto Shimojo, Yoshihiro Watanabe, Leo Miyashita, Masahiro Hirano, Tomohiro Sueishi, and Masatoshi Ishikawa:
Dynamic Intelligent Systems Based on High-Speed Vision,
Journal of Robotics and Mechatronics, Vol.31 No.1, pp.45-56 (2019)
- 山川雄司:
ブラキエーションロボットの制御,
バイオメカニズム学会誌, Vol.44, No.2, pp.90-95 (2020)
- Masatoshi Ishikawa, Idaku Ishii, Hiromasa Oku, Akio Namiki, Yuji Yamakawa, and Tomohiko Hayakawa:
Special Issue on High-Speed Vision and its Applications,
Journal of Robotics and Mechatronics, Vol.34 No.5, p.911 (2022)
- 米津真之介, 山川雄司:
高速ビジョンシステムを用いたミクロ視点での高速振動オブジェクトのリアルタイム追跡と鮮明画像取得,
画像ラボ, Vol.35, No.12, pp.1-8 (2024)
- 黒須茂 (監修), 山崎敬則, 山川雄司,渡邉彰裕 (共著): 制御工学演習, パワー社 (2008)
- Yuji Yamakawa, Akio Namiki, Masatoshi Ishikawa and Makoto Shimojo:
One-handed Knotting of a Linear Flexible Object based on Reconfigurable Skill Synthesis Strategy,
Reconfigurable Mechanisms and Robots (Jian S Dai, Matteo Zoppi, and Xianwen Kong eds.),
pp.478-485, KC edizioni (2009)
- Yuji Yamakawa, Akio Namiki, Masatoshi Ishikawa and Makoto Shimojo:
Knotting a Flexible Rope using a High-speed Multifingered Hand System based on Synthesis of Knotting Manipulation Skills,
Robotics 2010 Current and Future Challenges (H. Abdellatif Ed.), pp.149-166, INTECH (2010)
- 黒須茂 (監修), 田崎良佑, 山川雄司, 渡邉彰裕 (共著): わかる数学の勉強（分数・小数・方程式）, パワー社 (2010)
- 黒須茂 (監修), 田崎良佑, 山川雄司, 渡邉彰裕 (共著): やさしい数学の勉強（分数・小数・文章題）, パワー社 (2011)
- Takanori Yamazaki, Yuji Yamakawa, Kazuyuki Kamimura and Shigeru Kurosu:
Air-conditioning PID Control System with Adjustable Reset to Offset Thermal Loads Upsets,
Advances in PID Control (Valery D. Yurkevich Ed.), pp. 209-228, INTECH (2011)
- 黒須茂 (監修), 田崎良佑, 山川雄司, 渡邉彰裕 (共著): よくわかる数学記号（力学に出てくる量と単位）, パワー社 (2012)
- 黒須茂 (監修), 山川雄司, 渡邉彰裕 (共著): わかったつもりの迷い道 教えて！算数・数学（なぜなの・どうして）, パワー社 (2014)
- 山川雄司:
9-6 じゃんけんロボット,
ハンディブック メカトロニクス 改訂3版,
pp.444-449, オーム社 (2014)
- 黒須茂, 山川雄司, 横田正仁 (共著): こうすれば解ける！文章題 問題の正しい読み方・解き方, パワー社 (2017)
- 山川雄司, 石川正俊:
20.3 高速ハンドリング,
ロボット制御学ハンドブック,
pp.656-660, 近代科学社 (2017)
- Yuji Yamakawa, Shouren Huang, Akio Namiki and Masatoshi Ishikawa:
Toward Dynamic Manipulation of Flexible Objects by High-Speed Robot System: From Static to Dynamic,
Dynamic Modelling and Control of Robotic Interaction, (Ali Leylavi Shoushtari and Andon Topalov eds.),
pp.1-21, IntechOpen (2019)
- Shouren Huang, Yuji Yamakawa and Masatoshi Ishikawa:
Dynamic Compensation Framework to Improve the Autonomy of Industrial Robots,
Industrial Robotics - New Paradigms, (Antoni Grau ed.),
pp.1-20, IntechOpen (2019)
- 黒須茂 (監修), 山川雄司, 神谷哲, 山崎敬則 (共著): これでわかる方程式 算数がもっと身近になる, パワー社 (2020)