Kumagai Iori 熊谷伊織

Researcher Number	60803880
Other IDs
Affiliation (Current)	2025: 国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 主任研究員
Affiliation (based on the past Project Information) *help	2021 – 2023: 国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 主任研究員 2017 – 2020: 国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 研究員
Review Section/Research Field	Principal Investigator Basic Section 61050:Intelligent robotics-related / Intelligent robotics Except Principal Investigator Basic Section 20020:Robotics and intelligent system-related
Keywords	Principal Investigator ヒューマノイドロボット / 動作計画 / 強化学習 / 多点接触 / 作業依存関係 / 状態遷移 / 作業手順計画 / 環境地図生成 / エラーリカバリ / マニピュレーション … More / 運動計画 / 作業計画 / 環境認識 / 足配置計画 / 環境記憶 / 移動計画 / 障害物回避 / 経路計画 / 全身動作計画 / 環境計測 … More Except Principal Investigator モーションライブラリ / ３次元自律異動 / 非線形モデル予測制御 / ３次元自律移動 / 多点接触移動 / 3次元自律移動 / 人型ロボット / ヒューマノイドロボット / オンライン重心軌道生成 / 多点接触運動制御 / 多点接触運動計画 Less

Development of multi-contact motion planning based on learned future contact feasibilityPrincipal Investigator
- Principal Investigator
  
  熊谷伊織
- Project Period (FY)
  2023 – 2025
- Research Category
  
  Grant-in-Aid for Early-Career Scientists
- Review Section
  
  Basic Section 61050:Intelligent robotics-related
- Research Institution
  National Institute of Advanced Industrial Science and Technology
Realization of responsive multi-contact locomotion system in complex unknown environments
- Principal Investigator
  
  Morisawa Mitsuharu
- Project Period (FY)
  2021 – 2023
- Research Category
  
  Grant-in-Aid for Scientific Research (B)
- Review Section
  
  Basic Section 20020:Robotics and intelligent system-related
- Research Institution
  National Institute of Advanced Industrial Science and Technology
Task management framework for a humanoid robot based on object recognition in a semi-unkwon environment and task dependenciesPrincipal Investigator
- Principal Investigator
  
  Kumagai Iori
- Project Period (FY)
  2019 – 2022
- Research Category
  
  Grant-in-Aid for Early-Career Scientists
- Review Section
  
  Basic Section 61050:Intelligent robotics-related
- Research Institution
  National Institute of Advanced Industrial Science and Technology
Development of an adaptive whole-body locomotion planning system for a humanoid robot in an unknown environment based on approximated environmental modelsPrincipal Investigator
- Principal Investigator
  
  Kumagai Iori
- Project Period (FY)
  2017 – 2018
- Research Category
  
  Grant-in-Aid for Research Activity Start-up
- Research Field
  
  Intelligent robotics
- Research Institution
  National Institute of Advanced Industrial Science and Technology

All 2023 2022 2021 2020 2018

All Journal Article Presentation

[Journal Article] Multi-Contact Activities by Humanoids2023
- Author(s)
  Kumagai Iori
- Journal Title
  
  Current Robotics Reports
  
  Volume: 4 Issue: 4 Pages: 117-125
- DOI
  10.1007/s43154-023-00108-w
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-23K16978
[Journal Article] Reachability Based Trajectory Generation Combining Global Graph Search in Task Space and Local Optimization in Configuration Space2022
- Author(s)
  Kumagai Iori、Murooka Masaki、Morisawa Mitsuharu、Kanehiro Fumio
- Journal Title
  
  2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  
  Volume: - Pages: 4513-4520
- DOI
  10.1109/iros47612.2022.9981906
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-19K20380
[Journal Article] Multi-Contact Locomotion Planning With Bilateral Contact Forces Considering Kinematics and Statics During Contact Transition2021
- Author(s)
  Kumagai Iori、Murooka Masaki、Morisawa Mitsuharu、Kanehiro Fumio
- Journal Title
  
  IEEE Robotics and Automation Letters
  
  Volume: 6 Issue: 4 Pages: 6654-6661
- DOI
  10.1109/lra.2021.3095517
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-19K20380
[Journal Article] Multi-Contact Locomotion Planning for Humanoid Robot Based on Sustainable Contact Graph With Local Contact Modification2020
- Author(s)
  Kumagai Iori、Morisawa Mitsuharu、Hattori Shizuko、Benallegue Mehdi、Kanehiro Fumio
- Journal Title
  
  IEEE Robotics and Automation Letters
  
  Volume: 5 Issue: 4 Pages: 6379-6387
- DOI
  10.1109/lra.2020.3013843
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-19K20380
[Presentation] Reachability Based Trajectory Generation Combining Global Graph Search in Task Space and Local Optimization in Configuration Space2022
- Author(s)
  Kumagai Iori、Murooka Masaki、Morisawa Mitsuharu、Kanehiro Fumio
- Organizer
  2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-19K20380
[Presentation] Multi-Contact Locomotion Planning With Bilateral Contact Forces Considering Kinematics and Statics During Contact Transition2021
- Author(s)
  Kumagai Iori、Murooka Masaki、Morisawa Mitsuharu、Kanehiro Fumio
- Organizer
  2021 IEEE International Conference on Intelligent Robots and Systems
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-19K20380
[Presentation] Multi-Contact Locomotion Planning for Humanoid Robot Based on Sustainable Contact Graph With Local Contact Modification2020
- Author(s)
  Kumagai Iori、Morisawa Mitsuharu、Hattori Shizuko、Benallegue Mehdi、Kanehiro Fumio
- Organizer
  2020 IEEE International Conference on Intelligent Robots and Systems
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-19K20380
[Presentation] Efficient Locomotion Planning for a Humanoid Robot with Whole-Body Collision Avoidance Guided by Footsteps and Centroidal Sway Motion2018
- Author(s)
  Kumagai Iori、Morisawa Mitsuharu、Nakaoka Shin'ichiro、Kanehiro Fumio
- Organizer
  IEEE-RAS International Conference on Humanoid Robots
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-17H07391
[Presentation] Perception Based Locomotion System for a Humanoid Robot with Adaptive Footstep Compensation under Task Constraints2018
- Author(s)
  Kumagai Iori、Morisawa Mitsuharu、Nakaoka Shin'ichiro、Sakaguchi Takeshi、Kaminaga Hiroshi、Kaneko Kenji、Kanehiro Fumio
- Organizer
  IEEE/RSJ International Conference on Intelligent Robots and Systems
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-17H07391

1. Morisawa Mitsuharu (00392671)

# of Collaborated Projects: 2 results

# of Collaborated Products: 2 results
2. 室岡雅樹 (70825017)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
3. Escande Adrien (00835374)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
4. Kanehiro Fumio

# of Collaborated Projects: 1 results

# of Collaborated Products: 2 results
5. Nakaoka Shin'ichiro

# of Collaborated Projects: 1 results

# of Collaborated Products: 2 results

Kumagai Iori 熊谷 伊織

Research Projects

Research Products

Co-Researchers

Development of multi-contact motion planning based on learned future contact feasibilityPrincipal Investigator

Principal Investigator

Project Period (FY)

Research Category

Review Section

Research Institution

Realization of responsive multi-contact locomotion system in complex unknown environments

Principal Investigator

Project Period (FY)

Research Category

Review Section

Research Institution

Task management framework for a humanoid robot based on object recognition in a semi-unkwon environment and task dependenciesPrincipal Investigator

Principal Investigator

Project Period (FY)

Research Category

Review Section

Research Institution

Development of an adaptive whole-body locomotion planning system for a humanoid robot in an unknown environment based on approximated environmental modelsPrincipal Investigator

Principal Investigator

Project Period (FY)

Research Category

Research Field

Research Institution

[Journal Article] Multi-Contact Activities by Humanoids2023

Author(s)

Journal Title

DOI

Data Source

[Journal Article] Reachability Based Trajectory Generation Combining Global Graph Search in Task Space and Local Optimization in Configuration Space2022

Author(s)

Journal Title

DOI

Data Source

[Journal Article] Multi-Contact Locomotion Planning With Bilateral Contact Forces Considering Kinematics and Statics During Contact Transition2021

Author(s)

Journal Title

DOI

Data Source

[Journal Article] Multi-Contact Locomotion Planning for Humanoid Robot Based on Sustainable Contact Graph With Local Contact Modification2020

Author(s)

Journal Title

DOI

Data Source

[Presentation] Reachability Based Trajectory Generation Combining Global Graph Search in Task Space and Local Optimization in Configuration Space2022

Author(s)

Organizer

Data Source

[Presentation] Multi-Contact Locomotion Planning With Bilateral Contact Forces Considering Kinematics and Statics During Contact Transition2021

Author(s)

Organizer

Data Source

[Presentation] Multi-Contact Locomotion Planning for Humanoid Robot Based on Sustainable Contact Graph With Local Contact Modification2020

Author(s)

Organizer

Data Source

[Presentation] Efficient Locomotion Planning for a Humanoid Robot with Whole-Body Collision Avoidance Guided by Footsteps and Centroidal Sway Motion2018

Author(s)

Organizer

Data Source

[Presentation] Perception Based Locomotion System for a Humanoid Robot with Adaptive Footstep Compensation under Task Constraints2018

Author(s)

Organizer

Data Source

Kumagai Iori 熊谷伊織