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Kumagai Iori  熊谷 伊織

ORCIDConnect your ORCID iD *help
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
  • Research Projects

    (4 results)
  • Research Products

    (9 results)
  • Co-Researchers

    (5 People)
  •  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

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