| 屋外警備ロボットの研究 | 2012-04 -- 2013-03 | | Sohgo Security Services Co.,Ltd./Commissioned research from Private | 1,050,000Yen |
| 次世代ロボット知能化技術開発プロジェクト〈移動知能（サービス産業分野）の開発のうち、移動ロボット用基本知能のモジュール化〉に係るもの | 2007-12 -- 2012-03 | 油田信一 | 経済産業省/出資金による受託研究 | 22,619,041Yen |
| Life Support Robot moving together with Human | 2000-10 -- 2003-09 | OHYA Akihisa | Japan Science and Technology Agency (JST)/JST Precursory Research for Embryonic Science and Technology (PRESTO) | 29,100,000Yen |
| A Study on Portable 3D Environment Mapping System | 2009 -- 2012-03 | OHYA Akihisa | Japan Society for the Promotion of Science/Grant-in-Aid for Scientific Research (C) | 4,680,000Yen |
| Scanning Laser Range Finder for Environment Recognition Measuring Reliably While Moving | 2006 -- 2008-03 | OHYA Akihisa | Japan Society for the Promotion of Science/Grant-in-Aid for Scientific Research (C) | 4,110,000Yen |
| Study on the Improvement of Image Degradation for Ultrasonic Echographic Image by Using Higher Order Harmonics | 2005 -- 2008-03 | AKIYAMA Iwaki | Japan Society for the Promotion of Science/Grant-in-Aid for Scientific Research (C) (co-investigators) | 910,000Yen |
| A Walk Support System for Two Distant Persons using Mobile Robots | 2004 -- 2006-03 | OHYA Akihisa | Japan Society for the Promotion of Science/Grant-in-Aid for Scientific Research (C) | 3,700,000Yen |
| Building the autonomous mobile robot to navigate in the various real environment | 2003 -- 2007-03 | YUTA Shinichi | Japan Society for the Promotion of Science/Grant-in-Aid for Scientific Research (B) | |
| A Research on Formulation for Positioning Method of Autonomous Mobile Vehicle Running in Outdoor Environment | 2003 -- 2006-03 | TSUBOUCHI Takashi | Japan Society for the Promotion of Science/Grant-in-Aid for Scientific Research (B) (co-investigators) | 15,300,000Yen |
| 単眼視・超音波複合センシングによる障害物回避可能な自律航法に関する研究 | 1997 -- 1999-03 | OHYA Akihisa | Japan Society for the Promotion of Science/Grant-in-Aid for Encouragement of Young Scientists (A) | 2,200,000Yen |
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