徳田 冬樹Fuyuki Tokuda 東北大学 未踏スケールデータアナリティクスセンター

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研究業績

国内発表、特許、学位論文まで含めた一覧は研究業績一覧（PDF）にまとめています。Google Scholar、researchmapも参照してください。

学術論文誌（査読付き）

  1. [J18] W. Dong, D. Bhattacharya, K. Tang, A. Kobayashi, F. Tokuda, A. Seino, N. C. Tien and K. Kosuge, “Robotic Fabric Alignment System for Sewing Using Global Local Weighted ICP,” IEEE Transactions on Automation Science and Engineering, vol. 23, pp. 13391-13406, 2026.
  2. [J17] A. Seino, A. Kobayashi, F. Tokuda, K. Tang and K. Kosuge, “Design and Development of an End-Effector for Fabric Edge Folding Along a Convex Curve With Multiple Pleats,” IEEE/ASME Transactions on Mechatronics, Early Access, 2026.
  3. [J16] H. Cheng, F. Tokuda and K. Kosuge, “Automated Action Generation Based on Action Field for Robotic Garment Smoothing and Alignment,” IEEE Transactions on Automation Science and Engineering, vol. 23, pp. 5884-5896, 2026.
  4. [J15] F. Tokuda, A. Seino, A. Kobayashi, K. Tang and K. Kosuge, “Transformer Driven Visual Servoing for Fabric Texture Matching Using Dual-Arm Manipulator,” IEEE Robotics and Automation Letters, vol. 11, no. 2, pp. 1522-1529, 2026.
  5. [J14] A. Seino, F. Tokuda, A. Kobayashi and K. Kosuge, “Passive Actuator-Less Gripper for Pick-and-Place of a Piece of Fabric,” IEEE/ASME Transactions on Mechatronics, vol. 30, no. 6, pp. 5856-5866, 2025.
  6. [J13] A. Kobayashi, W. Dong, A. Seino, F. Tokuda and K. Kosuge, “RollUP: Rolling-Up End-Effector for Fabric Handling,” IEEE Robotics and Automation Letters, vol. 10, no. 11, pp. 11204-11211, 2025.
  7. [J12] B. Jin, A. Kobayashi, D. Bhattacharya, A. Seino, F. Tokuda, N. C. Tien and K. Kosuge, “Automated Straight-Line Sewing of Stretchable Fabrics With Different Lengths,” IEEE Robotics and Automation Letters, vol. 10, no. 11, pp. 12165-12172, 2025.
  8. [J11] Y. Ma, F. Tokuda, A. Seino, A. Kobayashi, M. Hayashibe and K. Kosuge, “Fabric Flattening with Dual-Arm Manipulator via Hybrid Imitation and Reinforcement Learning,” Machines, vol. 13, no. 10, 923, 2025. ［Editor's Choice Article］
  9. [J10] K. Tang, X. Huang, A. Seino, F. Tokuda, A. Kobayashi, N. C. Tien and K. Kosuge, “Fixture-Free Automated Sewing System Using Dual-Arm Manipulator and High-Speed Fabric Edge Detection,” IEEE Robotics and Automation Letters, vol. 10, no. 9, pp. 8962-8969, 2025.
  10. [J9] L. Li, F. Tokuda, A. Seino, A. Kobayashi, N. C. Tien and K. Kosuge, “Fabric Dynamic Motion Modeling and Collision Avoidance With Oriented Bounding Box,” IEEE Robotics and Automation Letters, vol. 10, no. 9, pp. 9542-9549, 2025.
  11. [J8] X. Huang, A. Seino, F. Tokuda, A. Kobayashi, D. Chen, Y. Hirata, N. C. Tien and K. Kosuge, “SIS: Seam-Informed Strategy for T-Shirt Unfolding,” IEEE Robotics and Automation Letters, vol. 10, no. 7, pp. 7342-7349, 2025.
  12. [J7] F. Tokuda, R. Murakami, A. Seino, A. Kobayashi, M. Hayashibe and K. Kosuge, “Fixture-Free 2D Sewing Using a Dual-Arm Manipulator System,” IEEE Transactions on Automation Science and Engineering, vol. 22, pp. 7927-7940, 2025.
  13. [J6] K. Tang, F. Tokuda, A. Seino, A. Kobayashi, N. C. Tien and K. Kosuge, “Time-Scaling Modeling and Control of Robotic Sewing System,” IEEE/ASME Transactions on Mechatronics, vol. 29, no. 4, pp. 3166-3174, 2024.
  14. [J5] F. Tokuda, S. Arai and K. Kosuge, “Convolutional Neural Network-Based Visual Servoing for Eye-to-Hand Manipulator,” IEEE Access, vol. 9, pp. 91820-91835, 2021.
  15. [J4] D. Liu, S. Arai, Y. Xu, F. Tokuda and K. Kosuge, “6D Pose Estimation of Occlusion-Free Objects for Robotic Bin-Picking Using PPF-MEAM With 2D Images (Occlusion-Free PPF-MEAM),” IEEE Access, vol. 9, pp. 50857-50871, 2021.
  16. [J3] Y. Xu, S. Arai, F. Tokuda and K. Kosuge, “A Convolutional Neural Network for Point Cloud Instance Segmentation in Cluttered Scene Trained by Synthetic Data Without Color,” IEEE Access, vol. 8, pp. 70262-70269, 2020.
  17. [J2] 徳田冬樹，荒井翔悟，小菅一弘, “深層学習に基づくビジュアルサーボによる物体の位置決め,” 計測自動制御学会論文集，vol. 55，no. 11，pp. 717-725，2019.
  18. [J1] M. Honda, F. Tokuda and Y. Ichikawa, “Effects of carbon defects on ZnO nanorods directly grown on graphene,” Japanese Journal of Applied Physics, vol. 56, no. 11, 110306, 2017.

国際会議（査読付き）

  1. [C12] K. Tang, D. Bhattacharya, H. Xu, F. Tokuda, N. C. Tien and K. Kosuge, “RTFF: Random-to-Target Fabric Flattening Policy using Dual-Arm Manipulator,” IEEE/RSJ IROS 2026, Pittsburgh, USA. Presented by Kai Tang; arXiv:2510.00814.
  2. [C11] F. Tokuda, A. Seino, A. Kobayashi and K. Kosuge, “Robotic Sewing System for Fully Automated Fabric Picking, Stacking, Loading, Sewing, and Unloading,” Proc. IEEE International Conference on Mechatronics and Automation (ICMA), pp. 1124-1130, Beijing, China, 2025年8月.
  3. [C10] E. Lo, X. Huang, K. Tang, A. Seino, F. Tokuda and K. Kosuge, “Fabric Flattening and Alignment System Using Real-Time Mesh-Based State Estimation and Visual Servoing,” Proc. IEEE ICMA, pp. 328-334, Beijing, China, 2025年8月. ［Best Conference Paper Award］
  4. [C9] W. Dong, D. Bhattacharya, A. Kobayashi, A. Seino, F. Tokuda, X. Huang, K. Tang, N. C. Tien and K. Kosuge, “Precise Top-Layer Fabric Segmentation for Fabric Destacking with Edge- and Shape-Aware Deep Networks,” Proc. IEEE ICMA, pp. 1343-1348, Beijing, China, 2025年8月.
  5. [C8] Y. Ma, F. Tokuda, A. Seino, A. Kobayashi, M. Hayashibe, B. Jin and K. Kosuge, “Partial Fabric Flattening for Seam Line Region Using Dual-Arm Manipulation,” Proc. IEEE ICMA, pp. 1173-1178, Beijing, China, 2025年8月.
  6. [C7] A. Seino, A. Kobayashi, F. Tokuda and K. Kosuge, “PALGRIP-Twin for Handling a Piece of Fabric,” Proc. IEEE ICMA, pp. 1137-1142, Beijing, China, 2025年8月.
  7. [C6] L. Li, F. Tokuda, A. Seino, A. Kobayashi, N. C. Tien and K. Kosuge, “Modeling of Dynamic Fabric Motion Using Multiple Oriented Bounding Boxes,” Proc. IEEE ICMA, pp. 1110-1115, Beijing, China, 2025年8月.
  8. [C5] I. Yokota, A. Seino, F. Tokuda, A. Kobayashi, M. Hayashibe and K. Kosuge, “Fabric Manipulation Using Rubbing Motion for Local Edge Alignment,” Proc. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 1-7, Hangzhou, China, 2025年7月.
  9. [C4] A. Seino, J. Terayama, F. Tokuda, A. Kobayashi and K. Kosuge, “Robot End-effector for Fabric Folding,” Proc. IEEE/ASME AIM, pp. 150-155, Seattle, USA, 2023年6月.
  10. [C3] F. Tokuda, A. Seino, A. Kobayashi and K. Kosuge, “CNN-based Visual Servoing for Simultaneous Positioning and Flattening of Soft Fabric Parts,” Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 748-754, London, UK, 2023年5月.
  11. [C2] D. Liu, S. Arai, F. Tokuda, Y. Xu, J. Kinugawa and K. Kosuge, “Deep-Learning based Robust Edge Detection for Point Pair Feature-based Pose Estimation with Multiple Edge Appearance Models,” Proc. IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 2920-2925, Dali, China, 2019年12月.
  12. [C1] F. Tokuda, M. Honda and Y. Ichikawa, “The effect of annealing graphene in O2 and N2 flow,” AIP Conference Proceedings, vol. 1963, 020004, 2018 (NANO-SciTech 2017, Shah Alam, Malaysia). ［Best Oral Presentation Award · NANO-SciTech 2017］

プレプリント

  1. [P2] X. Huang, K. Tang, F. Tokuda, N. C. Tien and K. Kosuge, “Seam-to-Graph Reconstruction for Garment Configuration Alignment,” arXiv, 2026.
  2. [P1] S. Arai, Z. Feng, F. Tokuda, A. Purnomo and K. Kosuge, “Deep Learning-based Fast Grasp Planning for Robotic Bin-picking by Small Data Set without GPU,” TechRxiv, 2021.

講演・ワークショップ発表

2026.06
Transformer Driven Visual Servoing for Fabric Texture Matching, ICRA 2026（RA-L論文の発表）
2025.08
Visual Servoing Enhanced with AI, WRC SARA（招待講演）
2025.08
CNN-based Visual Servoing for Flattening of Fabric Parts, ICMA 2025 Workshop
2025.05
Fixture-Free 2D Sewing Using a Dual-Arm Manipulator System, ICRA 2025（T-ASE論文の発表）
2025.01
Fixture-Free Sewing System, SII 2025 Workshop
2024.12
Fixture Free Sewing of Fabric Parts, ROBIO 2024 Workshop

特許出願