Author name cluster

Takeo Igarashi

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

6 papers

2 author rows

AAAI Conference 2026 Conference Paper

Axis-Aligned Document Dewarping

Chaoyun Wang
I-Chao Shen
Takeo Igarashi
Caigui Jiang

Document dewarping is crucial for many applications. However, existing learning-based methods rely heavily on supervised regression with annotated data without fully leveraging the inherent geometric properties of physical documents. Our key insight is that a well-dewarped document is defined by its axis-aligned feature lines. This property aligns with the inherent axis-aligned nature of the discrete grid geometry in planar documents. Harnessing this property, we introduce three synergistic contributions: for the training phase, we propose an axis-aligned geometric constraint to enhance document dewarping; for the inference phase, we propose an axis alignment preprocessing strategy to reduce the dewarping difficulty; and for the evaluation phase, we introduce a new metric, Axis-Aligned Distortion (AAD), that not only incorporates geometric meaning and aligns with human visual perception but also demonstrates greater robustness. As a result, our method achieves state-of-the-art performance on multiple existing benchmarks, improving the AAD metric by 18.2% to 34.5%.

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ICRA Conference 2014 Conference Paper

Delivering electricity to home appliances by mobile robots

Kentaro Ishii
Youichi Kamiyama
Wirawit Chaochaisit
Masahiko Inami
Takeo Igarashi

In this paper, we propose an electric power management system for delivering power to home appliances with mobile robots. With our system, the user places an appliance without power cables freely within the home, and a robot provides the appliance with the electric power required for its operation. In addition to providing explanations of a usage scenario and a theoretical analysis, we demonstrate a prototype implementation. The robot of the prototype autonomously locates the target appliance, transfers its battery power to the appliance, and returns to the home position to recharge its battery. The validation study showed our proof-of-concept prototype worked as expected by the theory.

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IJCAI Conference 2013 Conference Paper

User-Centered Programming by Demonstration: Stylistic Elements of Behavior

James E. Young
Kentaro Ishii
Takeo Igarashi
Ehud Sharlin

User-Centered Programming by Demonstration is an approach that places the needs of people above algorithmic constraints and requirements. In this paper we present a user-centered programming by demonstration project for authoring interactive robotic locomotion style. The style in which a robot moves about a space, expressed through its motions, can be used for communication. For example, a robot could move aggressively in reaction to a person’s actions, or alternatively react using careful, submissive movements. We present a new demonstration interface, algorithm, and evaluation results.

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IROS Conference 2012 Conference Paper

Multi-robot multi-object rearrangement in assignment space

Martin Levihn
Takeo Igarashi
Mike Stilman

We present Assignment Space Planning, a new efficient robot multi-agent coordination algorithm for the PSPACE-hard problem of multi-robot multi-object push rearrangement. In both simulated and real robot experiments, we demonstrate that our method produces optimal solutions for simple problems and exhibits novel emergent behaviors for complex scenarios. Assignment Space takes advantage of the domain structure by splitting the planning up into three stages, effectively reducing the search space size and enabling the planner to produce optimized plans in seconds. Our algorithm finds solutions of comparable quality to complete configuration space search while reducing the computing time to seconds, which allows our approach to be applied in practical scenarios in real-time.

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ICRA Conference 2011 Conference Paper

Automatic learning of pushing strategy for delivery of irregular-shaped objects

Manfred Lau
Jun Mitani
Takeo Igarashi

Object delivery by pushing objects with mobile robots on a flat surface has been successfully demonstrated. However, existing methods can push objects that have a circular or rectangular shape. In this paper, we introduce a learning-based approach for pushing objects of any irregular shape to user-specified goal locations. We first automatically collect a set of data on how an irregular-shaped object moves given the robot's relative position and pushing direction. We collect this data with a randomized approach, and we demonstrate that this approach can successfully collect useful data. Object delivery is achieved by using the collected data with a nonparametric regression method. We demonstrate our approach with a number of irregular-shaped objects.

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ICRA Conference 2010 Conference Paper

A dipole field for object delivery by pushing on a flat surface

Takeo Igarashi
Youichi Kamiyama
Masahiko Inami

This paper introduces a simple algorithm for non-prehensile object transportation by a pushing robot on a flat surface. We assume that the global position and orientation of the robot and objects are known. The system computes a dipole field around the object and moves the robot along the field. This simple algorithm resolves many subtle issues in implementing reliable pushing behaviors, such as collision avoidance, error recovery, and multi-robot coordination. We verify the effectiveness of the algorithm via several experiments with varying robot and object form factors. Although object delivery by pushing and motion control by a vector field are not new, the proposed algorithm offers easier implementation with fewer parameter adjustments because of its mode-less definition and scale-invariant formulation.

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