学術論文 |
- "Robust iterative value conversion: Deep reinforcement learning for neurochip-driven edge robots," Robotics and Autonomous Systems, vol.181, no.104782, 1 Nov. 2024
- Yuki Kadokawa, Tomohito Kodera, Tsurumine Yoshihisa, Shinya Nishimura, Takamitsu Matsubara
- "Multiple comonomer concentrations prediction from FTIR spectra with quantum chemistry-based interpretation," MRS Communications , vol.14, pp439-444, 20 May. 2024
- Araki Wakiuchi, Swarit Jasial, Shigehito Asano, Ryo Hashizume, Miho Hatanaka, Yu-ya Ohnishi, Takamitsu Matsubara, Hiroharu Ajiro, Teshunori Sugawara, Mikiya Fujii, Tomoyuki Miyao
 [ doi:10.1557/s43579-024-00568-x ]
- "Constrained footstep planning using model-based reinforcement learning in virtual constraint-based walking," Advanced Robotics, vol.8, no.8, pp525-545, 1 Apr. 2024
- Takanori Jin, Taisuke Kobayashi, 松原 崇充
- "センサ信号の損失に対処するゲイン切替型オブザーバと領域極配置," 計測自動制御学会論文集, vol.60, no.3, pp124-131, 2024.3.1
- 杉本謙二, 永田篤樹, 松原 崇充
- "拡張モデル予測制御とスライディングイノベーションフィルタによる水中ドローンのロバスト制御," 計測自動制御学会論文集, vol.60, no.3, pp268-279, 2024.3.1
- 花田研太, 藤倉駆, 東崇史, 松原 崇充, 杉本謙二
- "Slip Detection by Vibration Injection into Soft Sensor," IEEE Robotics and Automation Letters, vol.9, no.4, pp3251-3258, 1 Feb. 2024
- Naoto Komeno, 松原 崇充
- "Leveraging Demonstrator-Perceived Precision for Safe Interactive Imitation Learning of Clearance-Limited Tasks," IEEE Robotics and Automation Letters, vol.9, no.4, pp3387-3394, 2024.2.1
- Hanbit Oh, 松原 崇充
- "Reinforcement Learning of Action and Query Policies with LTL Instructions under Uncertain Event Detector," IEEE Robotics and Automation Letters, vol.8, no.11, pp7010-7017, 1 Nov. 2023
- Wataru Hatanaka, Ryota Yamashina, Takamitsu Matsubara
- "Policy Optimization for Waste Crane Automation from Human Preferences," IEEE Access, vol.11, pp126524-126541, 1 Nov. 2023
- 権 裕煥, 佐々木 光, Terushi Hirabayashi, Kaoru Kawabata, 松原 崇充
- "AdaTerm: Adaptive T-distribution estimated robust moments for Noise-Robust stochastic gradient optimization," Neurocomputing, vol.557, pp126692, Nov. 2023
- Wendyam Eric Lionel Ilboudo, Taisuke Kobayashi, Takamitsu Matsubara
- "Cautious policy programming: exploiting KL regularization for monotonic policy improvement in reinforcement learning," Machine Learning Journal, Aug. 2023
- Lingwei Zhu, Takamitsu Matsubara
- "Reinforcement Learning with Energy-exchange Dynamics for Spring-loaded Biped Robot Walking," IEEE Robotics and Automation Letters, vol.8, no.10, pp 6243-6250, Aug. 2023
- Cheng-Yu Kuo, Hirofumi Shin, Takamitsu Matsubara
- "Learning to Shape by Grinding: Cutting-Surface-Aware Model-Based Reinforcement Learning," IEEE Robotics and Automation Letters, vol.8, no.10, pp6235 -6242, Aug. 2023
- Takumi Hachimine, Jun Morimoto, Takamitsu Matsubara
- "Cyclic Policy Distillation: Sample-Efficient Sim-to-Real Reinforcement Learning with Domain Randomization," Robotics and Autonomous Systems, vol.165, pp104425, Jul. 2023
- Yuki Kadokawa, Lingwei Zhu, Tsurumine Yoshihisa, Takamitsu Matsubara
- "Gripper-Inspired Soft Jig for Perceptive Parts Fixing," IEEE Access, vol.11, pp62187-62199, 13 Jun. 2023
- Tatsuya Sakuma, Takamitsu Matsubara, Jun Takamatsu, Takahiro Wada, Tsukasa Ogasawara
- "Chemometrics Approach Based on Wavelet Transforms for the Estimation of Monomer Concentrations from FTIR Spectra," ACS Omega, vol.8, pp19781-19788, 23 May. 2023
- Araki Wakiuchi, Swarit Jasial, Shigehito Asano, Ryo Hahizume, Miho Hatanaka, Yu-ya Ohnishi, Takamitsu Matsubara, Hiroharu Ajiro, Tetsunori Sugawara, Tomoyuki Miyao, Mikiya Fujii
[ doi:10.1021/acsomega.3c01515 ]
- "Extrapolation performance improvement by quantum chemical calculations for machine-learning-based predictions of flow-synthesized binary copolymers," Digital Discovery, vol.2, pp809-818, 8 May. 2023
- Takayama Tomoaki, TAKASUKA Shogo, Yosuke Harashima, Mikiya Fujii, Tomoyuki Miyao, Hiroharu Ajiro, Shunto Oikawa, Takayoshi Yoshimura, Sho Ito, Shigehito Asano, Akira Kurosawa, Tetsunori Sugawara, Miho Hatanaka, Takamitsu Matsubara, Yu-ya Ohnishi
[ doi:10.1039/D2DD00144F ]
- "Composition Regulation by Flow Copolymerization of Methyl Methacrylate and Glycidyl Methacrylate with Free Radical Method," Macromolecular Materials and Engineering, no.2200626, 22 Jan. 2023
- Wakiuchi Araki, Takasuka Shogo, Asano Shigehito, Ryo Hashizume, Aniruddha Nag, Miho Hatanaka, Tomoyuki Miyao, Ohnishi Yuya, Takamitsu Matsubara, Tsuyoshi Ando, Sugawara Tetsunori, Hiroharu Ajiro
[ doi:10.1002/mame.202200626 ]
- "Multi-step motion learning by combining learning-from-demonstration and policy-search," Advanced Robotics, pp1-16, 19 Jan. 2023
- Yaqiang Mo, Hikaru Sasaki, Takamitsu Matsubara, Kimitoshi Yamazaki
[ doi:10.1080/01691864.2022.2163187 ]
- "Deep reinforcement learning of event-triggered communication and consensus-based control for distributed cooperative transport," Robotics and Autonomous Systems, vol.159, pp104307, Jan. 2023
- Kazuki Shibata, Tomohiko Jimbo
[ doi:10.1016/j.robot.2022.104307 ]
- "Bayesian Disturbance Injection: Robust imitation learning of flexible policies for robot manipulation," Neural Networks, vol.158, pp42-58, Jan. 2023
- Hanbit Oh, Brendan Michael
[ doi:10.1016/j.neunet.2022.11.008 ]
- "Goal-aware generative adversarial imitation learning from imperfect demonstration for robotic cloth manipulation," Robotics and Autonomous Systems, vol.158, Dec. 2022
- Yoshihisa Tsurumine, Takamitsu Matsubara
- "Composition Regulation by Flow Copolymerization of Methyl Methacrylate and Glycidyl Methacrylate with Free Radical Metho," Macromol. Mater. Eng, pp2200626-2200626, Dec. 2022
- Araki Wakiuchi, TAKASUKA Shogo, Shigehito Asano, Ryo Hashizume, Aniruddha Nag, Miho Hatanaka, Tomoyuki Miyao, Yuya Ohnishi, Takamitsu Matsubara, Tsuyoshi Ando, Tetsunori Sugawara, Mikiya Fujii, Hiroharu Ajiro
[ doi:10.1002/mame.202200626 ]
- "不均質なごみを扱うごみクレーンの自動化に向けたベイズ最適化," 日本ロボット学会誌「ロボ學」, vol.40, no.10, pp873-878, 2022.12
- 佐々木 光, 松原 崇充
[ doi:10.7210/jrsj.40.873 ]
- "掘削・整地作業の自動化に向けた模倣学習・強化学習," AI・データサイエンス論文集, vol.3, no.J2, pp1-5, 2022.11
- 松原 崇充
[ doi:10.11532/jsceiii.3.J2_1 ]
- "Randomized-to-Canonical Model Predictive Control for Real-World Visual Robotic Manipulation," IEEE Robotics Autom. Lett., vol.7, no.4, pp8964-8971, Oct. 2022
- Tomoya Yamanokuchi, Yuhwan Kwon, Eiji Uchibe, Jun Morimoto
[ doi:10.1109/LRA.2022.3189156 ]
- "Uncertainty-Aware Manipulation Planning Using Gravity and Environment Geometry," IEEE Robotics and Automation Letters, vol.7, no.4, pp11942-11949, Sep. 2022
- Felix von Drigalski, Kazumi Kasaura, Cristian C. Beltran-Hernandez, Masashi Hamaya, Kazutoshi Tanaka, Takamitsu Matsubara
[ doi:10.1109/LRA.2022.3207565 ]
- "Physically Consistent Preferential Bayesian Optimization for Food Arrangement," IEEE Robotics Autom. Lett., vol.7, no.4, pp11863-11870, Sep. 2022
- Yuhwan Kwon, Takeshi Shimmura, Sadao Kawamura
- "サンプル効率の良い強化学習・模倣学習と双腕ロボットによる布操作タスクへの応用," 機械設計, vol.66, no.5, pp18-22, 2022.4
- 松原 崇充
- "User intent estimation during robot learning using physical human robot interaction primitives," Autonomous Robots, vol.46, pp421-436, Jan. 2022
- Yujun Lai, Gavin Paul, Yunduan Cui, Takamitsu Matsubara
[ doi:10.1007/s10514-021-10030-9 ]
- "Task-Relevant Encoding of Domain Knowledge in Dynamics Modeling: Application to Furnace Forecasting From Video," IEEE Access, vol.10, pp4615-4627, Jan. 2022
- Brendan Michael, Akifumi Ise, Kaoru Kawabata, Takamitsu Matsubara
[ doi:10.1109/ACCESS.2022.3140758 ]
- "Variational policy search using sparse Gaussian process priors for learning multimodal optimal actions," Neural Networks, vol.143, pp291-302, Nov. 2021
- Hikaru Sasaki
[ doi:10.1016/j.neunet.2021.06.010 ]
- "Binarized P-Network: Deep Reinforcement Learning of Robot Control from Raw Images on FPGA," IEEE Robotics and Automation Letters, vol.6, no.4, pp8545-8552, Oct. 2021
- Yuki Kadokawa
[ doi:10.1109/LRA.2021.3111416 ]
- "Tactile Perception Based on Injected Vibration in Soft Sensor," IEEE Robotics and Automation Letters, vol.6, no.3, pp5365-5372, Jul. 2021
- Naoto Komeno
[ doi:10.1109/LRA.2021.3075664 ]
- "Sample-efficient Gear-ratio Optimization for Biomechanical Energy Harvester," International Journal of Intelligent Robotics and Applications, May. 2021
- Taisuke Kobayashi, Yutaro Ikawa, Takamitsu Matsubara
[ doi:10.1007/s41315-021-00170-7 ]
- "Innovative technologies for infrastructure construction and maintenance through collaborative robots based on an open design approach," Advanced Robotics, vol.35, no.11, pp715-722, May. 2021
- Kenji Nagatani, Masato Abe, Koichi Osuka, Pang-jo Chun, Takayuki Okatani, Mayuko Nishio, Shota Chikushi, Takamitsu Matsubara, Yusuke Ikemoto, Hajime Asama
[ doi:10.1080/01691864.2021.1929471 ]
- "Uncertainty-Aware Contact-Safe Model-Based Reinforcement Learning," IEEE Robotics and Automation Letters, vol.6, no.2, pp3918-3925, Apr. 2021
- Cheng-Yu Kuo, Andreas Schaarschmidt, Yunduan Cui, Tamim Asfour
[ doi:10.1109/LRA.2021.3065271 ]
- "乱択化フーリエ特徴を用いた近似ガウス過程によるモデルベース強化学習," 日本ロボット学会誌「ロボ學」, vol.39, no.7, pp587-590, 2021.4
- 松原 崇充
[ doi:10.7210/jrsj.39.587 ]
- "Quaternion-Based Trajectory Optimization of Human Postures for Inducing Target Muscle Activation Patterns," IEEE Robotics and Automation Letters, vol.5, no.4, pp6607-6614, Oct. 2020
- Tatsuya Teramae, Takamitsu Matsubara, Tomoyuki Noda, Jun Morimoto
[ doi:10.1109/LRA.2020.3015460 ]
- "Learning Force Control for Contact-Rich Manipulation Tasks With Rigid Position-Controlled Robots," IEEE Robotics and Automation Letters, vol.5, no.4, pp5709-5716, Oct. 2020
- Cristian Camilo Beltran-Hernandez, Damien Petit, Ixchel Georgina Ramirez-Alpizar, Takayuki Nishi, Shinichi Kikuchi, Takamitsu Matsubara, Kensuke Harada
[ doi:10.1109/LRA.2020.3010739 ]
- "Exploiting Visual-Outer Shape for Tactile-Inner Shape Estimation of Objects Covered with Soft Materials," IEEE Robotics and Automation Letters, vol.5, no.4, pp6278-6285, Oct. 2020
- Tomoya Miyamoto, Hikaru Sasaki
[ doi:10.1109/LRA.2020.3013915 ]
- "Autonomous boat driving system using sample-efficient model predictive control-based reinforcement learning approach," Journal of Field Robotics, vol.38, no.3, pp331-354, Sep. 2020
- Yunduan Cui, Shigeki Osaki, Takamitsu Matsubara
[ doi:10.1002/rob.21990 ]
- "Robust shape estimation with false-positive contact detection," Robotics and Autonomous Systems, vol.129, pp103527, Jul. 2020
- Kazuki Shibata, Tatsuya Miyano, Tomohiko Jimbo
- "Probabilistic active filtering with gaussian processes for occluded object search in clutter," Applied Intelligence , vol.50, pp4310-4324, Jul. 2020
- Yunduan Cui, Jun'ichiro Ooga, Akihito Ogawa, Takamitsu Matsubara
[ doi:10.1007/s10489-020-01789-y ]
- "動的方策計画法を用いた敵対的模倣学習とその応用," 日本ロボット学会誌「ロボ學」, vol.36, no.6, pp507-510, 2020.7
- 松原 崇充, 鶴峯 義久
[ doi:10.7210/jrsj.38.507 ]
- "Bayesian Policy Optimization for Waste Crane With Garbage Inhomogeneity," IEEE Robotics and Automation Letters, vol.5, no.3, pp4533-4540, Jun. 2020
- Hikaru Sasaki, Terushi Hirabayashi, Kaoru Kawabata, Yukio Onuki
[ doi:10.1109/LRA.2020.3002204 ]
- "Scalable reinforcement learning for plant-wide control of vinyl acetate monomer process," Control Engineering Practice, vol.97, pp104331, Apr. 2020
- Lingwei Zhu, Yunduan Cui, Go Takami, Hiroaki Kanokogi
- "方策を滑らかに更新する深層強化学習と双腕ロボットによる布操作タスクへの適用," 人工知能学会誌「人工知能」, vol.35, no.1, pp47-53, 2020.1
- 松原 崇充, 鶴峯 義久
[ doi:10.11517/jjsai.35.1_47 ]
- "Learning from demonstration for locally assistive mobility aids," International Journal of Intelligent Robotics and Applications, vol.3, pp255-268, Sep. 2019
- James Poon, Yunduan Cui, Jaime Valls Miro, Takamitsu Matsubara
[ doi:10.1007/s41315-019-00096-1 ]
- "人の実演教示の観察に基づく布製品の胸当て畳み作業能力の獲得," 日本ロボット学会誌, vol.37, no.6, pp523-531, 2019.7
- 莫 亜強, 松原 崇充, 山崎 公俊
[ doi:10.7210/jrsj.37.523 ]
- "Design of physical user–robot interactions for model identification of soft actuators on exoskeleton robots," International Journal of Robotics Research, vol.40, no.1, pp397-410, Jun. 2019
- Masashi Hamaya, Takamitsu Matsubara, Tatsuya Teramae, Tomoyuki Noda, Jun Morimoto
[ doi:10.1177/0278364919853618 ]
- "強化学習によるプラント自動最適化操業への試み～酢酸ビニルモノマー製造プラントモデルへの適用～,," 化学工学会会誌, vol.83, no.4, pp233-235, 2019.3
- 松原 崇充, 鹿子木宏明
- "Environment-adaptive interaction primitives through visual context for human–robot motor skill learning," Autonomous Robots, pp1-16, 18 Aug. 2018
- Cui Yunduan, James Poon, Jaime Valls Miro, Kimitoshi Yamazaki, Kenji Sugimoto, Takamitsu Matsubara
- "Kernel dynamic policy programming: Applicable reinforcement learning to robot systems with high dimensional states," Neural Networks, vol.94, pp13-23, Oct. 2017
- Cui Yunduan, Takamitsu Matsubara, Kenji Sugimoto
- "Pneumatic artificial muscle-driven robot control using local update reinforcement learning," Advanced Robotics, vol.31, no.8, pp397-412, Aug. 2017
- Yunduan Cui, Takamitsu Matsubara, Kenji Sugimoto
- "Active Tactile Exploration with Uncertainty and Travel Cost for Fast Shape Estimation of Unknown Object," Robotics and Autonomous Systems, vol.91, pp314-326, 1 May. 2017
- Takamitsu Matsubara, Kotaro Shibata
- "Learning Assistive Strategies for Exoskeleton Robots from User-Robot Physical Interaction," Pattern Recognition Letters, 1 Apr. 2017
- Masashi Hamaya, Takamitsu Matsubara, Tomoyuki Noda, Tatsuya Teramae, Jun Morimoto
- "Generation of Comfortable Lifting Motion for a Human Transfer Assistant Robot," International Journal of Intelligent Robotics and Applications, pp1-12, Jan. 2017
- Ming Ding, Takamitsu Matsubara, Yoshihito Funaki, Ryojun Ikeura, Toshiharu Mukai, Tsukasa Ogasawara
- "Kernel dynamic policy programming: Applicable reinforcement learning to robot systems with high dimensional states," Neural Networks, vol.94, pp13-23, Jan. 2017
- Yunduan Cui, Takamitsu Matsubara, Kenji Sugimoto
- "ガウス過程に基づくロボットの運動制御・学習--解析的モーメントマッチングによる近似推論," システム制御情報学会誌, vol.60, no.12, pp515-520, 2016.12.1
- 松原 崇充
- "課題発掘型学習を中心とするロボット教育の大学院向けカリキュラム," 日本ロボット学会誌, vol.34, no.9, pp615-622, 2016.11
- 山口明彦, 高松 淳, 池田篤俊, 吉川雅博, 松原 崇充, 神原 誠之, 小笠原 司
- "器用な遠隔マニピュレーションのための共有制御方策の強化学習–ページめくりタスクへの適用–," システム制御情報学会論文誌, vol.29, no.8, pp346-354, 2016.8
- 長谷川嵩大, 松原崇充, 杉本謙二
- "Input-Output Manifold Learning with State Space Models," IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, vol.E99-A, no.6, pp1179-1187, Jun. 2016
- D. Tanaka, T. Matsubara, K. Sugimoto
- "確率最適制御の近年の動向--確率推論による解法," システム制御情報学会誌, vol.59, no.10, pp369-374, 2015.10.15
- 松原 崇充
- "Spatio-Temporal Synchronization of Biped Walking Patterns with Multiple External Inputs by Style-Phase Adaptation," Biological Cybernetics, 29 Sep. 2015
- Takamitsu Matsubara, Akimasa Uchikata, Jun Morimoto
- "Dynamic Linear Bellman Combination of Optimal Policies for Solving New Tasks," IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, 29 Jun. 2015
- Takamitsu Matsubara, Takaya Asakura, Kenji Sugimoto
- "時空間整列カーネルによる姿勢変化に頑健なsEMG動作識別," 電子情報通信学会論文誌D, vol.J97-D, no.1, pp226-235, 2014.1
- 井林雅樹, 松原 崇充, 杉本 謙二
- "入出力多様体学習によるシステム同定," 電子情報通信学会論文誌A, vol.J96-A, no.8, pp551-561, 2013.8
- 田中大介, 松原 崇充, 杉本 謙二
- "Bilinear Modeling of EMG Signals to Extract User-Independent Features for Multi-User Myoelectric Interface," IEEE Transactions on Biomedical Engineering (TBME), 6 Mar. 2013
- Takamitsu Matsubara, Jun Morimoto
- "多重時系列データ解析のための正準多重整列法," 電子情報通信学会論文誌, 2012.11.13
- 松原 崇充, 森本 淳
- "Reinforcement Learning of a Motor Skill for Wearing a T-shirt using Topology Coordinates," Advanced Robotics, 13 Nov. 2012
- Takamitsu Matsubara, Daisuke Shinohara, Masatsugu Kidode
- "世界初！ 着衣介護ロボット ～超高齢社会のロボット介護ヘルパーを目指して～," Ohm Bulletin, vol.48, no.春, pp2-4, 2012.4.10
- 柴田 智広, 松原 崇充, 為井 智也
- "スタイル-位相適応に基づく周期運動の時空間同期： ２足歩行運動への適用," 電子情報通信学会論文誌, vol.J95-D, no.7, 2012.4.5
- 内方 章雅, 松原 崇充, 森本 淳
- "モーションタブレット：次元削減法を利用したヒューマノイド用全身運動合成インタフェース," 日本ロボット学会誌, 2012.1.27
- 射庭彩人, 松原 崇充, 木戸出正繼
- "着衣支援ロボット：着衣状態の計測・評価技術と支援動作学習への応用," 映像情報インダストリアル2012年2月号, pp7-12, 2012.1.25
- 松原 崇充, 為井 智也, 柴田 智広
- "Real-Time Stylistic Prediction for Whole-Body Human Motions," Neural Networks, 20 Sep. 2011
- Takamitsu Matsubara, Sang-Ho Hyon, Jun Morimoto
- "状態予測-行動則モジュールデータベースを用いたヒューマンロボットインタラクションにおける行動則の適応," 電子情報通信学会論文誌A, 2011.9.20
- 坂本覚仁, 松原 崇充, 木戸出正繼
- "個性を考慮した周期的全身運動の予測," 電子情報通信学会論文誌D, vol.J94-D, no.1, pp344-355, 2011.6.30
- 松原 崇充, 玄 相昊, 森本 淳
- "Learning Parametric Dynamic Movement Primitives from Multiple Demonstrations," Neural Networks, vol.24, no.5, 30 Jun. 2011
- Takamitsu Matsubara, Sang-Ho Hyon, Jun Morimoto
- "卓球タスクにおけるスイング動作からのスピン関連情報抽出と打球予測への応用," 電子情報通信学会論文誌D, vol.J94-D, no.10, 2011.6.30
- 佐々木智樹, 松原 崇充, 野崎康, 木戸出正繼
- "強化学習を用いたヒューマノイドロボットによる転倒回避ステップ動作の学習," 日本ロボット学会誌, vol.27, no.5, pp527-537, 2009.6.16
- 丸山 淳一, 松原 崇充, Joshua G. Hale, 森本 淳
- "Highly Precise Dynamic Simulation Environment for Humanoid Robots ," Advanced Robotics, vol.22, no.10, pp1075-1105, 1 Jul. 2008
- Joshua G Hale, Benjamin Hohl, Sang-Ho Hyon, Takamitsu Matsubara, Eduardo Moraud, Gordon Cheng
- "Learning to Acquire Whole-Body Humanoid Center of Mass Movements to Achieve Dynamic Tasks ," Advanced Robotics, vol.22, no.10, pp1125-1142, 1 Jul. 2008
- Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Sang-Ho Hyon, Joshua G Hale, Gordon Cheng
- "Learning CPG-based Biped Locomotion with a Policy Gradient Method:Apply to a Humanoid Robot," The International Journal of Robotics Research, vol.27, no.2, pp213-228, Feb. 2008
- Gen Endo, Jun Morimoto, Takamitsu Matsubara, Jun Nakanishi, Gordon Cheng
- "Learning CPG-based Biped Locomotion with a Policy Gradient Method," Robotics and Autonomous Systems, Elsevier Science, vol.54, no.11, pp911-920, 2006
- Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Masa-aki Sato, Kenji Doya
- "方策勾配法を用いた動的行動則の獲得：2足歩行運動への適用," 電子情報通信学会論文誌, vol.J88-D2, no.1, pp53-65, 2005.4
- 松原 崇充, 森本淳, 中西淳, 佐藤雅昭, 銅谷 賢治
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