Yorozu Ayanori

Affiliation
Faculty of Engineering, Information and Systems
Official title
Assistant Professor
ORCID
0000-0003-1334-9132
URL
Email
C6,/,72@OK 0I102(2}|I| I'-
Office
Intelligent Robot Laboratory
Research fields
Intelligent robotics
Dynamics/Control
Intelligent mechanics/Mechanical systems
Research keywords
Intelligent robot for human-harmonious collaboration
Task and motion planning
Human and environmental sensing
Field robotics
Research projects
環境と自己機能評価に基づき柔軟な意思決定が可能な生活支援ロボット2021-04 -- 2024-03萬礼応筑波大学/日本学術振興会/学術研究助成基金助成金, 若手研究4,680,000Yen
セマンティックマップを用いた先回り行動によるストレスフリー生活支援ロボットの開発2017-04 -- 2020-03Ayanori YorozuJapan Society for the Promotion of Science/Grant-in-Aid for Young Scientists (B), Grants-in-Aid for Scientific Research4,290,000Yen
急な割込みタスクにも対応可能なロボットの動作フロー生成2019-08 -- 2020-03Ayanori YorozuJapan Science and Technology Agency (JST)/AIP challenge program1,300,000Yen
サービスルール・時空間評価に基づくロボットの動的動作フロー生成2018-08 -- 2019-03Ayanori YorozuJapan Science and Technology Agency (JST)/AIP challenge program1,300,000Yen
深層強化学習を用いた多目的動作モジュールの評価・統合による状況依存可能な行動制御手法の提案2017-08 -- 2018-03Ayanori YorozuJapan Science and Technology Agency (JST)/AIP challenge program1,300,000Yen
異種ロボット間での深層転移学習による動作計画知識の獲得2016-08 -- 2017-03Ayanori YorozuJapan Science and Technology Agency (JST)/AIP challenge program1,300,000Yen
確率制約条件付きモデル予測制御に基づく移動体の対人安全技術の確立2013-04 -- 2016-03Ayanori YorozuJapan Society for the Promotion of Science/Research Fellowships (DC1)3,000,000Yen
Career history
2020-03 -- (current)University of TsukubaFaculty of Engineering, Information and SystemsAssistant Professor
2016-04 -- 2020-03Keio UniversityGraduate School of Science and TechnologyResearch Assistant Professor
2013-04 -- 2016-03Japan Society for the Promotion of ScienceResearch Fellowship for Young Scientists (DC1)
2012-10 -- 2013-03Keio University理工学研究科Researcher
Academic background
2013-04 -- 2016-03Keio University Graduate School of Science and Technology
2011-04 -- 2013-03Keio University Graduate School of Science and Technology
2007-04 -- 2011-03Keio University Faculty of Science and Technology Department of System Design Engineering
Degree
2016-03Ph.D. in EngineeringKeio University
Academic societies
2019-03 -- (current)The Japanese Society for Artificial Intelligence
2019-03 -- (current)The Society of Instrument and Control Engineers
2015-09 -- (current)IEEE
2011-09 -- (current)THE JAPAN SOCIETY OF MECHANICAL ENGINEERS
2011-07 -- (current)The Robotics Society of Japan
Honors & Awards
2020-10-09日本ロボット学会第35回研究奨励賞
2016-10-032015年度日本機械学会機械力学・計測制御部門 部門一般表彰（オーディエンス表彰）
2016-03-28慶應義塾大学 藤原賞
2012-06-29The 12th International Conference on Intelligent Autonomous Systems (IAS-12), Best Poster Paper Award
2011-03-23日本機械学会畠山賞
Articles
  • 3D Course of Action for Motion Planning of Human Support Robots
    家永 直人; 宮田省吾; 小篠裕子; 萬 礼応; 高橋正樹; 斎藤英雄
    IEICE Technical Report/116(462)/pp.29-33, 2017-02
  • Footsteps and walking trajectories during the Timed Up and Go test in young, older, and Parkinson’s disease subjects
    Okada Yohei; Yorozu Ayanori; Fukumoto Takahiko; Morioka ...
    Gait & Posture/89/pp.54-60, 2021-06
  • Uncertainty-aware Non-linear Model Predictive Control for Human-following Companion Robot
    Sekiguchi Shunichi; Yorozu Ayanori; Kuno Kazuhiro; Okada ...
    Proceedings of 2021 International Conference on Robotics and Automation (ICRA2021), 2021-06
  • 移動ロボットのための階層SFAを用いた自己位置推定の実験的評価
    今中 真之; 萬 礼応; 大矢 晃久
    第21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, 2020-12
  • Experimental Investigation of Mutual Avoidance Behavior for Multiple Autonomous Robots
    Hailu Hadush; Yorozu Ayanori; Ohya Akihisa
    第38回日本ロボット学会学術講演会, 2020-10
  • A Multimodal Path Planning Approach to Human Robot Interaction Based on Integrating Action Modeling
    Kawasaki Yosuke; Yorozu Ayanori; Takahashi Masaki; Pagell...
    Journal of Intelligent & Robotic Systems, 2020-09
  • Estimation of body direction based on gait for service robot applications
    Yorozu Ayanori; Takahashi Masaki
    Robotics and Autonomous Systems/132, 2020-10
  • Human-friendly control system design for two-wheeled service robot with optimal control approach
    Sekiguchi Shunichi; Yorozu Ayanori; Kuno Kazuhiro; Okada ...
    Robotics and Autonomous Systems/131, 2020-09
  • Hip abductor muscle weakness and slowed turning motion in people with knee osteoarthritis
    Iijima Hirotaka; Yorozu Ayanori; Suzuki Yusuke; Eguchi R...
    Journal of Biomechanics/101, 2020-03
  • Estimation of Vertical Ground Reaction Force Using Low-cost Insole with Force Plate-free Learning from Single Leg Stance and Walking
    Eguchi Ryo; Yorozu Ayanori; Fukumoto Takahiko; Takahashi ...
    IEEE Journal of Biomedical and Health Informatics, 2019-08
  • Evaluation of Multi-Robot Cafe based on Service Quality Dimensions
    Morita Takeshi; Kashiwagi Naho; Yorozu Ayanori; Suzuki H...
    The Review of Socionetwork Strategies/14/pp.55-76, 2019-08
  • Ridge-tracking for Strawberry Harvesting Support Robot According to Farmer's Behavior
    Yorozu Ayanori; Ishigami Genya; Takahashi Masaki
    Proceedings of 12th Conference on Field and Service Robotics (FSR2019), 2019-08
  • Spatiotemporal and Kinetic Gait Analysis System Based on Multisensor Fusion of Laser Range Sensor and Instrumented Insoles
    Eguchi Ryo; Yorozu Ayanori; Takahashi Masaki
    Proceedings of 2019 International Conference on Robotics and Automation (ICRA2019)/pp.4876-4881, 2019-05
  • Autonomous Navigation using Multimodal Potential Field to Initiate Interaction with Multiple People
    Kawasaki Yosuke; Yorozu Ayanori; Takahashi Masaki
    Proceedings of 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)/pp.7654-7659, 2018-10
  • Implementing Multi-Robot Cafe by PRINTEPS with Service Quality Dimensions
    Morita Takeshi; Kashiwagi Naho; Yorozu Ayanori; Suzuki H...
    Proceedings of 22nd International Conference on Knowledge-Based and Intelligent Information & Engineering Systems (KES2018)/126/pp.1954-1963, 2018-09
  • Practice of Multi-Robot Teahouse based on PRINTEPS and Evaluation of Service Quality
    Morita Takeshi; Kashiwagi Naho; Yorozu Ayanori; Walch Mi...
    Proceedings of The 1st IEEE International Workshop on Advances in AI and Machine Learning: Research & Practice/pp.147-152, 2018-07
  • Evaluation of Service Quality of Multi-Robot Teahouse based on PRINTEPS
    Morita Takeshi; Kashiwagi Naho; Yorozu Ayanori; Suzuki H...
    Proceedings of Federated AI for Robotics Workshop (FAIR), 2018-07
  • Multimodal path planning using potential field for human-robot interaction
    Kawasaki Yosuke; Yorozu Ayanori; Takahashi Masaki
    Proceedings of 15th International Conference on Intelligent Autonomous Systems (IAS-15)/pp.597-609, 2018-06
  • Service robot using estimation of body direction based on gait for human robot interaction
    Yorozu Ayanori; Takahashi Masaki
    Proceedings of 15th International Conference on Intelligent Autonomous Systems (IAS-15)/pp.199-209, 2018-06
  • Nonlinear Model Predictive Control for Two-Wheeled Service Robots
    Sekiguchi Shunichi; Yorozu Ayanori; Kuno Kazuhiro; Okada ...
    Proceedings of 15th International Conference on Intelligent Autonomous Systems (IAS-15)/pp.452-463, 2018-06
  • MILP-based Dual-arm Motion Planning considering Shared Transfer Path for Pick-up and Place
    Kurosu Jun; Yorozu Ayanori; Takahashi Masaki
    Proceedings of 15th International Conference on Intelligent Autonomous Systems (IAS-15)/pp.67-77, 2018-06
  • Driving Control of a Powered Wheelchair Considering Uncertainty of Gaze Input in Unknown Environment
    Ishizuka Airi; Yorozu Ayanori; Takahashi Masaki
    Applied Sciences/8(2), 2018-02
  • Simultaneous Dual-arm Motion Planning considering Shared Transfer Path for Minimizing Operation Time
    Kurosu Jun; Yorozu Ayanori; Takahashi Masaki
    Proceedings of 2017 Asian Control Conference (ASCC2017)/pp.467-472, 2017-12
  • Motion Control of a Powered Wheelchair using Eye Gaze in Unknown Environments
    Ishizuka Airi; Yorozu Ayanori; Takahashi Masaki
    Proceedings of 2017 Asian Control Conference (ASCC2017)/pp.90-95, 2017-12
  • Accessible Ground Reaction Force Estimation Using Insole Force Sensors without Force Plates
    Eguchi Ryo; Yorozu Ayanori; Takahashi Masaki
    Proceedings of 2017 Asian Control Conference (ASCC2017)/pp.2861-2865, 2017-12
  • more...
Conference, etc.
  • 農業ロボットの作業支援による人の身体活動評価
    萬 礼応; 高橋正樹
    Dynamics and Design Conference 2020 (D&D2020)/2020-09-01--2020-09-04
  • Uncertainty-aware Non-linear Model Predictive Control for Human-following Companion Robot
    Sekiguchi Shunichi; Yorozu Ayanori; Kuno Kazuhiro; Okada ...
    2021 International Conference on Robotics and Automation (ICRA2021)/2021-05-30--2021-06-05
  • 移動ロボットのための階層SFAを用いた自己位置推定の実験的評価
    今中 真之; 萬 礼応; 大矢 晃久
    第21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/2020-12--2020-12
  • Experimental Investigation of Mutual Avoidance Behavior for Multiple Autonomous Robots
    Hailu Hadush; Yorozu Ayanori; Ohya Akihisa
    第38回日本ロボット学会学術講演会/2020-10--2020-10
  • 農作業支援ロボットの畝間人追従走行
    萬 礼応; 石上玄也; 高橋正樹
    第62回自動制御連合講演会/2019-11-08--2019-11-10
  • 複数台ロボットによる喫茶店業務実践と評価
    萬 礼応; 川崎陽祐; 高橋正樹; 森田武史; 山口高平
    第37回日本ロボット学会学術講演会(RSJ2019)/2019-09-03--2019-09-07
  • Hybrid A*アルゴリズムによる円滑な複数タスク実行のための経路計画
    川崎陽祐; 萬 礼応; 高橋正樹
    第37回日本ロボット学会学術講演会(RSJ2019)/2019-09-03--2019-09-07
  • Ridge-tracking for Strawberry Harvesting Support Robot According to Farmer's Behavior
    Yorozu Ayanori; Ishigami Genya; Takahashi Masaki
    12th Conference on Field and Service Robotics (FSR2019)/2019-08-29--2019-08-31
  • レーザレンジセンサを用いた歩行位相と脚観測の状態遷移を考慮した両脚追跡
    萬 礼応; 高橋正樹
    Dynamics and Design Conference 2019 (D&D2019)/2019-08-27--2019-08-30
  • 環境変化による誘拐状態抑制のための物体の属性を考慮した自己位置推定
    原田大毅; 萬 礼応; 高橋正樹
    ロボティクス・メカトロニクス講演会2019(ROBOMECH2019)/2019-06-05--2019-06-08
  • Spatiotemporal and Kinetic Gait Analysis System Based on Multisensor Fusion of Laser Range Sensor and Instrumented Insoles
    Eguchi Ryo; Yorozu Ayanori; Takahashi Masaki
    2019 International Conference on Robotics and Automation (ICRA2019)/2019-05-20--2019-05-24
  • ヒューマンロボットインタラクションを考慮したいちご収穫支援ロボット
    萬 礼応; 石上玄也; 高橋正樹
    第6回制御部門マルチシンポジウム(MSCS2019)/2019-03-06--2019-03-09
  • Autonomous Navigation using Multimodal Potential Field to Initiate Interaction with Multiple People
    Kawasaki Yosuke; Yorozu Ayanori; Takahashi Masaki
    2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)/2018-10-01--2018-10-05
  • ロボットによる運搬のためのワゴンの位置・姿勢推定
    川崎陽祐; 萬 礼応; 高橋正樹
    第36回日本ロボット学会学術講演会(RSJ2018)/2018-09-05--2018-09-08
  • Implementing Multi-Robot Cafe by PRINTEPS with Service Quality Dimensions
    Morita Takeshi; Kashiwagi Naho; Yorozu Ayanori; Suzuki H...
    22nd International Conference on Knowledge-Based and Intelligent Information & Engineering Systems (KES2018)/2018-09-03--2018-09-05
  • レーザレンジセンサを用いた体向き推定に基づく両脚追跡
    萬 礼応; 高橋正樹
    Dynamics and Design Conference 2018 (D&D2018)/2018-08-28--2018-08-31
  • 円旋回運動におけるレーザレンジセンサとインソール型足圧センサのセンサフュージョンを用いた両脚トラッキング
    江口僚; 萬 礼応; 高橋正樹
    Dynamics and Design Conference 2018 (D&D2018)/2018-08-28--2018-08-31
  • レーザレンジセンサを用いた変形性膝関節症患者の歩行パラメータ解析 -膝関節痛が機能的移動能力に与える影響-
    飯島弘貴; 高橋正樹; 萬 礼応; 江口僚; 青山朋樹
    Dynamics and Design Conference 2018 (D&D2018)/2018-08-28--2018-08-31
  • Practice of Multi-Robot Teahouse based on PRINTEPS and Evaluation of Service Quality
    Morita Takeshi; Kashiwagi Naho; Yorozu Ayanori; Walch Mi...
    The 1st IEEE International Workshop on Advances in AI and Machine Learning: Research & Practice/2018-07-23--2018-07-23
  • Evaluation of Service Quality of Multi-Robot Teahouse based on PRINTEPS
    Yorozu Ayanori
    Federated AI for Robotics Workshop (FAIR)/2018-07-15--2018-07-15
  • Multimodal path planning using potential field for human-robot interaction
    Kawasaki Yosuke; Yorozu Ayanori; Takahashi Masaki
    15th International Conference on Intelligent Autonomous Systems (IAS-15)/2018-06-11--2018-06-15
  • Service robot using estimation of body direction based on gait for human robot interaction
    Yorozu Ayanori; Takahashi Masaki
    15th International Conference on Intelligent Autonomous Systems (IAS-15)/2018-06-11--2018-06-15
  • Nonlinear Model Predictive Control for Two-Wheeled Service Robots
    Sekiguchi Shunichi; Yorozu Ayanori; Kuno Kazuhiro; Okada ...
    15th International Conference on Intelligent Autonomous Systems (IAS-15)/2018-06-11--2018-06-15
  • MILP-based Dual-arm Motion Planning considering Shared Transfer Path for Pick-up and Place
    Kurosu Jun; Yorozu Ayanori; Takahashi Masaki
    15th International Conference on Intelligent Autonomous Systems (IAS-15)/2018-06-11--2018-06-15
  • PRINTEPSに基づくマルチロボット喫茶店の実践とサービス品質の評価
    森田武史; 柏木菜帆; 萬 礼応; 鈴木秀男; 山口高平
    第32回人工知能学会全国大会/2018-06-05--2018-06-08
  • more...
Intellectural property rights
  • 脚部状態検出装置、脚部状態検出方法、及び脚部状態検出プログラム
    並川浩史; 森口智規; 高橋正樹; 萬 礼応
  • 歩行計測システム
    森口智規; 高橋正樹; 萬 礼応
Teaching
2021-10 -- 2022-12人工知能筑波大学
2021-05 -- 2021-06情報科学概論筑波大学
2021-04 -- 2021-06フレッシュマン・セミナー筑波大学
2021-04 -- 2021-05学問への誘い筑波大学
2021-04 -- 2021-05情報リテラシー(演習)筑波大学
2021-04 -- 2021-06知能感性処理特論筑波大学
2020-10 -- 2021-02ソフトウェアサイエンス実験B筑波大学
2020-10 -- 2020-12知能感性処理特論筑波大学

(Last updated: 2021-08-30)