KAKIUCHI YOHEI 垣内洋平

… Alternative Names

KAKIUCHI Yohei 垣内洋平

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Researcher Number	70501328
Other IDs
Affiliation (Current)	2025: 豊橋技術科学大学, 工学(系)研究科(研究院), 教授 2025: 豊橋技術科学大学, 次世代半導体・センサ科学研究所, 教授
Affiliation (based on the past Project Information) *help	2023: 東京大学, 大学院情報理工学系研究科, 特任准教授 2022: 豊橋技術科学大学, エレクトロニクス先端融合研究所, 教授 2018 – 2021: 東京大学, 大学院情報理工学系研究科, 特任准教授 2017: 東京大学, 大学院情報理工学系研究科, 助教 2016: 東京大学, 大学院情報理工学系研究科, 特任講師 … More 2015: 東京大学, 情報理工学(系)研究科, 講師 2013 – 2014: 東京大学, 情報理工学(系)研究科, 助教 2013: 東京大学, 大学院情報理工学系研究科, 特任助教 Less
Review Section/Research Field	Principal Investigator Basic Section 20020:Robotics and intelligent system-related Except Principal Investigator Medium-sized Section 20:Mechanical dynamics, robotics, and related fields / Intelligent robotics / Perception information processing/Intelligent robotics
Keywords	Principal Investigator センサースーツ / 最適転倒姿勢解析 / 最適ロボット構成自動化 / 分散衝撃吸収モジュール / ソフトセンサスーツ / ソフトロボティクス / 柔軟物シミュレーション / 人間共存ロボティクス / ソフトセンサモジュール / ソフトセンサーモジュール / ソフトロボット / ヒューマノイドロボット … More Except Principal Investigator … More ヒューマノイド / ロボティクス / 知能ロボット / ロボットシステム / 認識行動制御系 / 環境適応 / センサ融合システム / 水中ロボット / 飛行ロボット / トランスフォーマ / 多態変形機構 / 認識行動制御システム / 環境適応認識行動 / 移動作業ロボット / 多態推進操作機構 / トランスフォーム / 全身行動制御 / 自己身体推定 / 多態変形変身 / 移動作業操作行動 / 環境認識適応行動 / 多機能ロボット / 多態変形推進操作機能 / 合体分離マルチロボット / モジュラーロボット / ツール交換多機能ロボット / 飛行変形ロボット / 水陸両用ロボット / モジュールロボット / トランスフォームロボット / 身体可変機能 / 身体割込注意 / ヒューマノイドロボット / 身体拡張 / アフォーダンス / 身体割り込み注意 / 知識獲得 / 深層学習 / モデル学習 / 身体像 / 身体割込み注意 / 道具・環境モデル獲得 / 自己身体像獲得 / 視覚認識 / 行動様式獲得 / 道具操作獲得 / 行動獲得 / 身体像獲得 / 身体図式 / 腱駆動 / SLAM / 注意誘導性 / ロボット体内自律反応系 / 感覚行動統合 / 筋骨格剛性可変腱駆動 / 発展的構成法 / 注意誘導 / 全身受動性 Less

Acquition of Perception Action Control Systems on Environment-Adaptive Mobile Manipulation Robot with Multi-body Transformer Mechanism
- Principal Investigator
  
  Inaba Masayuki
- Project Period (FY)
  2020 – 2023
- Research Category
  
  Grant-in-Aid for Scientific Research (A)
- Review Section
  
  Medium-sized Section 20:Mechanical dynamics, robotics, and related fields
- Research Institution
  The University of Tokyo
Whole-body manipulation method for flexible objects by a humanoid robot with a soft-sensor suitPrincipal Investigator
- Principal Investigator
  
  Kakiuchi Yohei
- Project Period (FY)
  2019 – 2022
- Research Category
  
  Grant-in-Aid for Scientific Research (C)
- Review Section
  
  Basic Section 20020:Robotics and intelligent system-related
- Research Institution
  Toyohashi University of Technology
  The University of Tokyo
Acquisition of Body Schema, Tool Usages and Behavioral manner through Human Observation and Interactive Practice on Various Humanoid Series
- Principal Investigator
  
  Inaba Masayuki
- Project Period (FY)
  2014 – 2018
- Research Category
  
  Grant-in-Aid for Scientific Research (S)
- Research Field
  
  Intelligent robotics
- Research Institution
  The University of Tokyo
Developmental Approach in Configuring Body and Behavior of Life-size Humanoids with Whole-body Passivity and Attention Inductivity
- Principal Investigator
  
  INABA Masayuki
- Project Period (FY)
  2009 – 2013
- Research Category
  
  Grant-in-Aid for Scientific Research (S)
- Research Field
  
  Perception information processing/Intelligent robotics
- Research Institution
  The University of Tokyo

All 2022 2021 2020 2018 2017 2016 2015 2014 2013 2012 2011 2010 Other

All Journal Article Presentation Patent

[Journal Article] Development of Amphibious Humanoid Platform for Sensor-based Behavior Acquisition of Whole-body Manipulation Tasks,2022
- Author(s)
  Tasuku Makabe, Jihoon Oh, Tomoki Anzai, Yuta Kojio, Shintaro Noda, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
- Journal Title
  
  in Proceedings of the 2022 IEEE-RAS International Conference on Humanoid Robots,
  
  Volume: 1 Pages: 526-533
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20H00226
[Journal Article] Design and Development for Humanoid-Vehicle Transformer Platform with Plastic Resin Structure and Distributed Redundant Sensors2022
- Author(s)
  Makabe Tasuku、Hiraoka Naoki、Noda Shintaro、Anzai Tomoki、Kimura Kohei、Hattori Mirai、Sato Hiroya、Sugai Fumihito、Kakiuchi Yohei、Okada Kei、Inaba Masayuki
- Journal Title
  
  in Proceedings of The 2022 IEEE International Conference on Robotics and Automation,
  
  Volume: 1 Pages: 8526-8532
- DOI
  10.1109/icra46639.2022.9811683
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20H00226
[Journal Article] Development of Amphibious Humanoid for Behavior Acquisition on Land and Underwater2021
- Author(s)
  Tasuku Makabe, Tomoki Anzai, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Journal Title
  
  in Proceedings of the 2020 IEEE-RAS International Conference on Humanoid Robots
  
  Volume: Humanoids2020 Pages: 104-111
- DOI
  10.1109/humanoids47582.2021.9555671
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20H00226
[Journal Article] Dynamic Fall Recovery Motion Generation on Biped Robot With Shell Protector2021
- Author(s)
  Nguyen Kim-Ngoc-Khanh、Kojio Yuta、Noda Shintaro、Sugai Fumihito、Kojima Kunio、Kakiuchi Yohei、Okada Kei、Inaba Masayuki
- Journal Title
  
  IEEE Robotics and Automation Letters
  
  Volume: 6 Issue: 4 Pages: 6741-6748
- DOI
  10.1109/lra.2021.3094234
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-19K20372, KAKENHI-PROJECT-20H00226
[Journal Article] Robust and Stretched-Knee Biped Walking Using Joint-Space Motion Control2018
- Author(s)
  Nguyen Kim-Ngoc-Khanh、Noda Shintaro、Kojio Yuta、Sugai Fumihito、Nozawa Shunichi、Kakiuchi Yohei、Okada Kei、Inaba Masayuki
- Journal Title
  
  Proceedings of The 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
  
  Volume: 1 Pages: 1247-1257
- DOI
  10.1109/iros.2018.8594440
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-26220003
[Journal Article] Semi-Passive Walk and Active Walk by One Bipedal Robot2018
- Author(s)
  Noda Shintaro、Sugai Fumihito、Kojima Kunio、Nguyen Kim-Ngoc-Khanh、Kakiuchi Yohei、Okada Kei、Inaba Masayuki
- Journal Title
  
  Proceedings of the 2018 IEEE-RAS International Conference on Humanoid Robots
  
  Volume: 1 Pages: 1025-1031
- DOI
  10.1109/humanoids.2018.8624983
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-26220003
[Journal Article] Transparent Integration of Humanoid Robot System for Performing Various Tasks2018
- Author(s)
  Kakiuchi Yohei、Okada Kei、Inaba Masayuki
- Journal Title
  
  International Conference on Control, Automation, Robotics and Vision
  
  Volume: 15 Pages: 319-324
- DOI
  10.1109/icarcv.2018.8581316
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-26220003
[Journal Article] Goal-Oriented Simulation-Based Motion Interpolator for Complex Contact Transition: Experiments on Knee-Contact Behavior2018
- Author(s)
  Noda Shintaro、Kakiuchi Yohei、Takeda Hiroki、Okada Kei、Inaba Masayuki
- Journal Title
  
  Proceedings of the 2018 IEEE-RAS International Conference on Humanoid Robots
  
  Volume: 1 Pages: 761-767
- DOI
  10.1109/humanoids.2018.8625028
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-26220003
[Journal Article] High Speed Whole Body Dynamic Motion Experiment with Real Time Master-Slave Humanoid Robot System2018
- Author(s)
  Ishiguro Yasuhiro、Kojima Kunio、Sugai Fumihito、Nozawa Shunichi、Kakiuchi Yohei、Okada Kei、Inaba Masayuki
- Journal Title
  
  Proceedings of The 2018 IEEE International Conference on Robotics and Automation
  
  Volume: 1 Pages: 5835-5841
- DOI
  10.1109/icra.2018.8461207
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-26220003
[Journal Article] Development of Life-Sized Humanoid Robot Platform (RHP2) with Tough Contact Point for Continuing to Perform After Falls2018
- Author(s)
  Kakiuchi Yohei、Kamon Masayuki、Shimomura Nobuyasu、Yukizaki Sou、Nozawa Shunichi、Okada Kei、Inaba Masayuki
- Journal Title
  
  Journal of the Robotics Society of Japan
  
  Volume: 36 Issue: 10 Pages: 703-712
- DOI
  10.7210/jrsj.36.703
- NAID
  130007579770
- ISSN
  0289-1824, 1884-7145
- Language
  Japanese
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-26220003
[Journal Article] Global planning of whole-body manipulation by humanoid robot based on transition graph of object motion and contact switching,2017
- Author(s)
  Masaki Murooka, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Journal Title
  
  Advanced Robotics
  
  Volume: 31-6 Pages: 322-340
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-26220003
[Journal Article] 複数の接触遷移方式を統合する全身行動計画法とヒューマノイドの滑り接触遷移行動への応用,2017
- Author(s)
  野田晋太朗, 野沢峻一, 垣内洋平, 岡田慧, 稲葉雅幸
- Journal Title
  
  日本ロボット学会誌
  
  Volume: 35-5 Pages: 393-402
- NAID
  130006855064
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-26220003
[Journal Article] Rotational Sliding Motion Generation for Humanoid Robot by Force Distribution in Each Contact Face2017
- Author(s)
  Kunio Kojima, Yasuhiro Ishiguro, Fumihito Sugai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Journal Title
  
  IEEE Robotics and Automation Letters
  
  Volume: 2-4 Pages: 2088-2095
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-26220003
[Journal Article] Tricycle Manipulation by Arms and Legs of Humanoid Robot based on Active and Passive Switching Control System2016
- Author(s)
  木村航平, 野沢峻一, 垣内洋平, 岡田慧, 稲葉雅幸
- Journal Title
  
  Journal of the Robotics Society of Japan
  
  Volume: 34 Issue: 7 Pages: 468-477
- DOI
  10.7210/jrsj.34.468
- NAID
  130005598544
- ISSN
  0289-1824, 1884-7145
- Language
  Japanese
- Peer Reviewed / Open Access
- Data Source
  KAKENHI-PROJECT-26220003, KAKENHI-PROJECT-16J09587
[Journal Article] Whole-body Pushing Manipulation of Large and Heavy Objects by Life-sized Humanoidbased on Contact Posture Planning and Online Footstep Modification2016
- Author(s)
  室岡雅樹, 植田亮平, 野沢峻一, 垣内洋平, 岡田慧, 稲葉雅幸
- Journal Title
  
  Journal of the Robotics Society of Japan
  
  Volume: 34 Issue: 7 Pages: 448-457
- DOI
  10.7210/jrsj.34.448
- NAID
  130005598527
- ISSN
  0289-1824, 1884-7145
- Language
  Japanese
- Peer Reviewed / Open Access
- Data Source
  KAKENHI-PROJECT-15J07023, KAKENHI-PROJECT-26220003
[Journal Article] 等身大ヒューマノイドにおける接触姿勢計画と歩行動作修正に基づく大型重量物全身押し操作行動の実現2016
- Author(s)
  室岡雅樹，小椎尾侑多，野沢峻一，垣内洋平，岡田慧，稲葉雅幸
- Journal Title
  
  日本ロボット学会誌
  
  Volume: 34
- NAID
  130005598527
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-26220003
[Journal Article] 等身大ヒューマノイドにおける物体状態・操作力オンライン推定制御法に基づく大型重量物ピボット運搬行動の実現2014
- Author(s)
  室岡雅樹, 野田晋太朗, 野沢峻一, 垣内洋平, 岡田慧, 稲葉雅幸
- Journal Title
  
  日本ロボット学会誌
  
  Volume: 32-7 Pages: 595-602
- NAID
  130004697450
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-26220003
[Journal Article] 電波強弱監視に基づく複数無線モジュールの順次投下と環境地図作成を行う小型飛行ロボットの実現2014
- Author(s)
  趙漠居, 川崎宏治, 垣内洋平, 岡田慧, 稲葉雅幸
- Journal Title
  
  日本ロボット学会誌
  
  Volume: 32-7 Pages: 643-650
- NAID
  130004697455
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-26220003
[Journal Article] 柔軟変形多軸触覚を分散配置した等身大ヒューマノイド用外装による物体受渡作用の検知反応行動の実現2013
- Author(s)
  熊谷伊織, 小林一也, 野沢峻一, 垣内洋平, 吉海智晃, 岡田慧, 稲葉雅幸
- Journal Title
  
  日本ロボット学会誌
  
  Volume: Vol. 31, No. 10 Pages: 985-991
- NAID
  130003396228
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-21220004
[Journal Article] 対話画面インタフェースでのマルチタッチジェスチャ指示と操作候補提示に基づくロボット遠隔操作システム2013
- Author(s)
  東馳, 垣内洋平, 岡田慧, 稲葉雅幸
- Journal Title
  
  日本ロボット学会誌
  
  Volume: Vol. 31, No. 4 Pages: 409-415
- NAID
  10031167743
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-21220004
[Journal Article] 色ヒストグラムを用いたカラー距離画像の高速位置合わせによる未知物体のモデリングを伴う生活環境地図作成2011
- Author(s)
  垣内洋平, 岡田慧, 稲葉雅幸
- Journal Title
  
  日本ロボット学会誌
  
  Volume: Vo.29, No.8 Pages: 694-701
- NAID
  10029819332
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-21220004
[Journal Article] Sensor-Based Integration of Full-Body Object Manipulation Based On Strategy Selection in aLife-Sized Humanoid Robot2011
- Author(s)
  S.Nozawa, R.Ueda, Y.Kakiuchi, K.Okada, M.Inaba
- Journal Title
  
  Journal of Robotics and Mechatronics
  
  Volume: Vol.23, No.2 Pages: 239-248
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-21220004
[Patent] 移動ロボット2014
- Inventor(s)
  金澤雅夫，稲葉雅幸，岡田慧，垣内洋平，野沢俊一
- Industrial Property Rights Holder
  金澤雅夫，稲葉雅幸，岡田慧，垣内洋平，野沢俊一
- Industrial Property Rights Type
  特許
- Filing Date
  2014
- Acquisition Date
  2018
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] 等身大ヒューマノイドにおける空気ダンパ衝撃吸収外装を用いた受身動作2020
- Author(s)
  垣内洋平
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会'20
- Data Source
  KAKENHI-PROJECT-19K04307
[Presentation] Humanoid Activities and Evaluations for Actuator, Controller and Systems2018
- Author(s)
  Yohei Kakiuchi
- Organizer
  ICRA 2018 Workshop: Which Torque Controlled Actuator Do I need? - On Criteria, Metrics and Experiments for Design, Selection and Comparison
- Invited / Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Humanoid Robot Design with Robustness for Falling Down2018
- Author(s)
  Yohei Kakiuchi
- Organizer
  IROS2018 workshop on Humanoid Robot Falling
- Invited / Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Complementary Integration Framework of Localization and Recognition for a Humanoid Robot Based on Task-Oriented Frequency and Accuracy Requirements2017
- Author(s)
  Iori Kumagai, Fumihito Sugai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba, Fumio Kanehiro:
- Organizer
  The 2017 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2017), pp.683--688, 2017
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Human Mimetic Forearm Design with Radioulnar Joint Using Miniature Bone-Muscle Modules and Its Applications,2017
- Author(s)
  Kento Kawaharazuka, Shogo Makino, Masaya Kawamura, Yuki Asano, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4956-4962, 2017
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Bipedal Walking Control against Swing Foot Collision Using Swing Foot Trajectory Regeneration and Impact Mitigation2017
- Author(s)
  Tatsuya Ishikawa, Yuta Kojio, Kunio Kojima, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Rappelling by a Humanoid Robot Based on Transition Motion Generation and Reliable Rope Manipulation2017
- Author(s)
  Shintaro Komatsu, Yohei Kakiuchi, Shunichi Nozawa, Yuta Kojio, Fumihito Sugai, Kei Okada, Masayuki Inaba:
- Organizer
  IEEE-RAS International Conference on Humanoid Robots (Humanoids 2017), pp.378--383, 2017.
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Distributed Torque Estimation toward Low-Latency Variable Stiffness Control for Gear-Driven Torque Sensorless Humanoid2017
- Author(s)
  Yuya Nagamatsu, Takuma Shirai, Hiroto Suzuki, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.5239-5244, 2017
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Bipedal Oriented Whole Body Master-Slave System for Dynamic Secured Locomotion with LIP Safety Constraints,2017
- Author(s)
  Yasuhiro Ishiguro, Kunio Kojima, Fumihito Sugai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.0-0, 2017.
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Torque Based Stabilization Control for Torque Sensorless Humanoid Robots2017
- Author(s)
  Hiroto Suzuki, Yuya Nagamatsu, Takuma Shirai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  IEEE-RAS International Conference on Humanoid Robots (Humanoids 2017), pp.425--431, 2017
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Transformable Semantic Map Based Navigation using Autonomous Deep Learning Object Segmentation2016
- Author(s)
  Yuki Furuta, Kentaro Wada, Masaki Murooka, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The 2016 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016)
- Place of Presentation
  Cancun, Mexico
- Year and Date
  2016-11-15
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Planning and Execution of Groping Behavior for Contact Sensor based Manipulation in an Unknown Environment2016
- Author(s)
  Masaki Murooka, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The 2016 IEEE International Conference on Robotics and Automation
- Place of Presentation
  Stockholm, Sweden
- Year and Date
  2016-05-16
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Real-Time Skating Motion Control of Humanoid Robots for Acceleration and Balancing2016
- Author(s)
  Noriaki Takasugi, Kunio Kojima, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Place of Presentation
  Daejeon, Korea
- Year and Date
  2016-10-09
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Walking Control in Water Considering Reaction Forces from Water for Humanoid Robots with a Waterproof Suit2016
- Author(s)
  Yuta Kojio, Tatsushi Karasawa, Kunio Kojima, Ryo Koyama, Fumihito Sugai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Place of Presentation
  Daejeon, Korea
- Year and Date
  2016-10-09
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Human Mimetic Foot Structure with Multi-DOFs and Multi-sensors for Musculoskeletal Humanoid Kengoro2016
- Author(s)
  Yuki Asano, Shinsuke Nakashima, Toyotaka Kozuki, Soichi Ookubo, Iori Yanokura, Youhei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Place of Presentation
  Daejeon, Korea
- Year and Date
  2016-10-09
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Tricycle Manipulation Strategy for Humanoid Robot Based on Active and Passive Manipulators Control2016
- Author(s)
  Kohei Kimura, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Place of Presentation
  Daejeon, Korea
- Year and Date
  2016-10-09
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Achievement of localization system for humanoid robots with virtual horizontal scan relative to improved odometry fusing internal sensors and visual information2016
- Author(s)
  Iori Kumagai, Ryohei Ueda, Fumihito Sugai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Place of Presentation
  Daejeon, Korea
- Year and Date
  2016-10-09
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Redundancy Embedding for Search Space Reduction using Deep Auto-Encoder: Application to Collision-Free Posture Generation2016
- Author(s)
  Shintaro Noda, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Place of Presentation
  Daejeon, Korea
- Year and Date
  2016-10-09
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Study on the feasibility and the design to support child care for a child to do chores with an interactive robot Pepper2016
- Author(s)
  Kanae Kochigami, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The XXIII International Federation for Home Economics World Congress 2016 (IFHE 2016)
- Place of Presentation
  Daejeon, Korea
- Year and Date
  2016-07-31
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Skeletal Structure with Artificial Perspiration for Cooling by Latent Heat for Musculoskeletal Humanoid Kengoro2016
- Author(s)
  Toyotaka Kozuki, Hirose Toshinori, Takuma Shirai, Shinske Nakashima, Yuki Asano, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Place of Presentation
  Daejeon, Korea
- Year and Date
  2016-10-09
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Human Mimetic Musculoskeletal Humanoid Kengoro toward Real World Physically Interactive Actions2016
- Author(s)
  Yuki Asano, Toyotaka Kozuki, Soichi Ookubo, Masaya Kawamura, Shinsuke Nakashima, Takeshi Katayama, Iori Yanokura, Toshinori Hirose, Kento Kawaharazuka, Shogo Makino, Youhei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The 2016 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016)
- Place of Presentation
  Cancun, Mexico
- Year and Date
  2016-11-15
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Achievement of Dynamic Tennis Swing Motion by Offline Motion Planning and Online Trajectory Modification Based on Optimization with a Humanoid Robot2016
- Author(s)
  Ryo Terasawa, Shintaro Noda, Kunio Kojima, Ryo Koyama, Fumihito Sugai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The 2016 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016)
- Place of Presentation
  Cancun, Mexico
- Year and Date
  2016-11-15
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Online Master-Slave Footstep Control for Dynamical Human-Robot Synchronization with Wearable Sole Sensor2016
- Author(s)
  Yasuhiro Ishiguro, Tatsuya Ishikawa, Kunio Kojima, Fumihito Sugai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The 2016 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016)
- Place of Presentation
  Cancun, Mexico
- Year and Date
  2016-11-15
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Achievement of Recognition Guided Teleoperation Driving System for Humanoid Robots with Vehicle Path Estimation2015
- Author(s)
  Iori Kumagai , Ryo Terasawa , Shintaro Noda, Ryohei Ueda, Shunichi Nozawa , Yohei Kakiuchi , Kei Okada , Masayuki Inaba
- Organizer
  2015 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2015), pp.670--675
- Place of Presentation
  Seoul, Korea
- Year and Date
  2015-11-03
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Development of Musculoskeletal Spine Structure that Fulfills Great Force Requirement in Upper Body Kinematics,2015
- Author(s)
  Toyotaka Kozuki, Yotaro Motegi, Koji Kawasaki, Yuki Asano, Takuma Shirai, Soichi Ookubo, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2768--2773
- Place of Presentation
  Hamburg, Germany
- Year and Date
  2015-09-29
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Spine Balancing Strategy Using Muscle ZMP on Musculoskeletal Humanoid Kenshiro2015
- Author(s)
  Yuki Asano, Soichi Ookubo, Toyotaka Kozuki, Takuma Shirai, Kohei Kimura, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The 2015 International Symposium on Robotics Research, pp.1-16
- Place of Presentation
  Sestri Levante, Italy
- Year and Date
  2015-09-12
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] 等身大ヒューマノイドによる可動構造物操作における馴染みと踏ん張りを備えた適応制御2012
- Author(s)
  野沢峻一, 熊谷伊織, 垣内洋平, 岡田慧, 稲葉雅幸
- Organizer
  第17回ロボティクスシンポジア
- Place of Presentation
  山口
- Data Source
  KAKENHI-PROJECT-21220004
[Presentation] 3次元点群形状位置合わせによる視覚フィードバックのタスクレペル障害復帰システムへの統合2011
- Author(s)
  植田亮平, 垣内洋平, 野沢峻一, 岡田慧, 稲葉雅幸
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会
- Place of Presentation
  岡山
- Data Source
  KAKENHI-PROJECT-21220004
[Presentation] ヒューマノイドによる把持物体の双腕見回し操作による3次元見かけ認識モデル構築のための最良把持選択2011
- Author(s)
  津田敦史, 野沢峻一, 植田亮平, 垣内洋平, 岡田慧, 稲葉雅幸
- Organizer
  第12回SICEシステムインテグレーション部門講演会
- Place of Presentation
  京都
- Data Source
  KAKENHI-PROJECT-21220004
[Presentation] Creating Household Environment Map for Environment Manipulation Using Color Range Sensors on Environment and Robot2011
- Author(s)
  Yohei Kakiuchi, Ryohei Ueda, Kei Okada, Masayuki Inaba
- Organizer
  The 2011 IEEE International Conference on Robotics and Automation
- Place of Presentation
  Shanghai, China
- Data Source
  KAKENHI-PROJECT-21220004
[Presentation] Full-Body Motion Control Integrated with Force Error Detection for Wheelchair Support2011
- Author(s)
  S.Nozawa, M.Ishida, R.Ueda, Y.Kakiuchi, K.Okada, M.Inaba
- Organizer
  IEEE-EAS International Conference on Humanoid Robots (Humanoids 2011)
- Place of Presentation
  Bled, Slovenia
- Data Source
  KAKENHI-PROJECT-21220004
[Presentation] サービスロボットにおけるユーザへのフィードバックを含むGUIを用いた簡易・認識システム2011
- Author(s)
  陳騁, 垣内洋平, 岡田慧, 稲葉雅幸
- Organizer
  第29回日本ロボット学会学術講演会
- Place of Presentation
  東京
- Data Source
  KAKENHI-PROJECT-21220004
[Presentation] 環境接触行動ヒューマノイドのための柔軟変形多軸触覚センサを用いた全身分散配置被覆外装の実現2011
- Author(s)
  熊谷伊織, 野沢峻一, 垣内洋平, 吉海智晃, 岡田慧, 稲葉雅幸
- Organizer
  第12回SICEシステムインテグレーション部門講演会
- Place of Presentation
  京都
- Data Source
  KAKENHI-PROJECT-21220004
[Presentation] 三次元視覚を用いた生活環境認識による生活支援行動フローの作成2011
- Author(s)
  垣内洋平, 植田亮平, 伊藤司, 岡田慧, 稲葉雅幸
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会
- Place of Presentation
  岡山
- Data Source
  KAKENHI-PROJECT-21220004
[Presentation] ヒューマノイドにおける手先反力制御に基づく重量物の回転対応押し操作の制御法2011
- Author(s)
  野沢峻一, 垣内洋平, 岡田慧, 稲葉雅幸
- Organizer
  第29回日本ロボット学会学術講演会
- Place of Presentation
  東京
- Data Source
  KAKENHI-PROJECT-21220004
[Presentation] View-base Multi-touch Gesture Interface for Furniture Manipulation Robots2011
- Author(s)
  H.Azuma, Y.Kakiuchi, M.Saito, K.Okada, M.Inaba
- Organizer
  IEEE Workshop on Advanced Robotics and Its Social Impacts
- Place of Presentation
  Half-Moon Bay, California, USA
- Data Source
  KAKENHI-PROJECT-21220004
[Presentation] Anytime Error Recovery by Integrating Local and Global Feedback with Monitoring Task States2011
- Author(s)
  R.Ueda, Y.Kakiuchi, S.Nozawa, K.Okada, M.Inaba
- Organizer
  15th International Conference on Advanced Robotics
- Place of Presentation
  Tallinn, Estonia
- Data Source
  KAKENHI-PROJECT-21220004
[Presentation] ヒューマノイドにおける複雑形状物品の双腕物体操作による見かけ認識モデル獲得2011
- Author(s)
  津田敦史, 野沢峻一, 植田亮平, 垣内洋平, 岡田慧, 稲葉雅幸
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会
- Place of Presentation
  岡山
- Data Source
  KAKENHI-PROJECT-21220004
[Presentation] AFull Body Motion Control Method for a Humanoid Robot based on On-Line Estimation of the Operational Force of an Object with an Unknown Weight2010
- Author(s)
  S.Nozawa, R.Ueda, Y Kakiuchi, K.Okada, M.Inaba
- Organizer
  The 2010 IEEE/RSJ International Conference On Intelligent Robots and Systems(IROS2010)
- Place of Presentation
  Taipei, Taiwan
- Year and Date
  2010-10-19
- Data Source
  KAKENHI-PROJECT-21220004
[Presentation] 見守りロボットによる人間識別・移動観察と目印を利用した\\物品の所有者・収納場所情報の獲得2010
- Author(s)
  西野友博, 小島光晴, 垣内洋平, 岡田慧, 稲葉雅幸
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会
- Place of Presentation
  旭川大雪アリーナ
- Year and Date
  2010-06-14
- Data Source
  KAKENHI-PROJECT-21220004
[Presentation] Working with Movable Obstacles Using On-line Environment Perception Reconstruction Using Active Sensing and Color Range Sensor2010
- Author(s)
  Y.Kakiuchi, R.Ueda, K.Kobayashi, K.Okada, M.Inaba
- Organizer
  The 2010 IEEE/RSJ International Conference On Intelligent Robots and Systems(IROS2010)
- Place of Presentation
  Taipei, Taiwan
- Year and Date
  2010-10-19
- Data Source
  KAKENHI-PROJECT-21220004
[Presentation] 輻榛機構を有するズームカメラステレオビジョンにおけるキャリブレーションとズーム立体視の実現2010
- Author(s)
  白山翔太, 長濱虎太郎, 垣内洋平, 小島光晴, 岡田慧, 稲葉雅幸
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会
- Place of Presentation
  旭川大雪アリーナ
- Year and Date
  2010-06-14
- Data Source
  KAKENHI-PROJECT-21220004
[Presentation] Recognition and Motion Primitives for Autonomous Clothes Unfolding for Humanoid Robot2010
- Author(s)
  H.Kobori, Y.Kakiuchi, K.Okada, M.Inaba
- Organizer
  Intelligent Autonomous Systems 11
- Place of Presentation
  Ottawa, Canada
- Year and Date
  2010-09-03
- Data Source
  KAKENHI-PROJECT-21220004
[Presentation] カラー距離画像センサと能動的センシングを用いた可動障害物の認識と環境操作を伴う行動の実現2010
- Author(s)
  垣内洋平, 植田亮平, 岡田慧, 稲葉雅幸
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会
- Place of Presentation
  旭川大雪アリーナ
- Year and Date
  2010-06-14
- Data Source
  KAKENHI-PROJECT-21220004
[Presentation] ヒューマノイドにおける未知重量対象物への操作戦略決定法に基づく全身動作制御法2010
- Author(s)
  野沢峻一, 植田亮平, 垣内洋平, 岡田慧, 稲葉雅幸
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会
- Place of Presentation
  旭川大雪アリーナ
- Year and Date
  2010-06-14
- Data Source
  KAKENHI-PROJECT-21220004
[Presentation] ヒューマノイドにおける視覚と指先触覚を利用した未知対象物体把持のための行動選択2010
- Author(s)
  伊藤司, 植田亮平, 垣内洋平, 岡田慧, 稲葉雅幸
- Organizer
  第28回日本ロボット学会学術講演会
- Place of Presentation
  名古屋
- Year and Date
  2010-09-22
- Data Source
  KAKENHI-PROJECT-21220004
[Presentation] Online Maintaining Behavior of High-Load and Unstable Postures Based on Whole-Body Load Balancing Strategy with Thermal Prediction
- Author(s)
  Shintaro Noda, Masaki Murooka, Shunichi Nozawa, Yohoei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The 2014 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2014)
- Place of Presentation
  Madrid, Spain
- Year and Date
  2014-11-18 – 2014-11-20
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Manipulation Strategy Decision and Execution Based on Strategy Proving Operation for Carrying Large and Heavy Objects
- Author(s)
  Masaki Murooka, Shintaro Noda, Shunichi Nozawa, Yohoei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The 2014 IEEE International Conference on Robotics and Automation
- Place of Presentation
  Hong Kong Convention and Exhibition Center, Hong Kong, China
- Year and Date
  2014-05-31 – 2014-06-07
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Manipulation Strategy Learning for Carrying Large Objects based on Mapping from Object Physical Property to Object Manipulation Action in Virtual Environment
- Author(s)
  Masaki Murooka, Shintaro Noda, Shunichi Nozawa, Yohoei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The 2014 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2014)
- Place of Presentation
  Madrid, Spain
- Year and Date
  2014-11-18 – 2014-11-20
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] 三次元視覚に基づく等身大ヒューマノイドロボットによるバルブ開閉操作
- Author(s)
  大坪諭史, 室岡雅樹, 植田亮平, 黒岩英則, 野沢峻一, 垣内洋平, 岡田慧, 稲葉雅幸
- Organizer
  第15回SICEシステムインテグレーション部門講演会
- Place of Presentation
  東京ビッグサイト(東京都江東区)
- Year and Date
  2014-12-15 – 2014-12-17
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Shintaro Noda, Masaki Murooka, Shunichi Nozawa, Yohoei Kakiuchi, Kei Okada, Masayuki Inaba: Generating Whole-body Motion Keep Away From Joint Torque, Contact Force, Contact Moment Limitations enabling Steep Climbing with a Real Humanoid Robot
- Author(s)
  Shintaro Noda, Masaki Murooka, Shunichi Nozawa, Yohoei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The 2014 IEEE International Conference on Robotics and Automation
- Place of Presentation
  Hong Kong Convention and Exhibition Center, Hong Kong, China
- Year and Date
  2014-05-31 – 2014-06-07
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Determining proper grasp configurations for handovers through observation of object movement patterns and inter-object interactions during usage
- Author(s)
  Wesley P. Chan, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
- Organizer
  The 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Place of Presentation
  Plamer House Hilton, Chicago, Illinois
- Year and Date
  2014-09-14 – 2014-09-18
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] 具体的操作期の子供との対話を目指した視聴覚対話協調システムに関する研究
- Author(s)
  東風上奏絵, 稲垣祐人, 古田悠貴, 植田亮平,垣内洋平, 岡田慧, 稲葉雅幸
- Organizer
  第32会日本ロボット学会学術講演会
- Place of Presentation
  九州産業大学(福岡県福岡市)
- Year and Date
  2014-09-04 – 2014-09-06
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Muscle-tendon complex control by “Tension controlled Muscle” and “Non-linear Spring Ligament” for real world musculoskeletal body simulator Kenshiro
- Author(s)
  Toyotaka Kozuki, Takuma Shirai, Yuki Asano, Yotaro Motegi, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The 2014 IEEE International Conference on Biomedical Robotics and Biomechatronics
- Place of Presentation
  São Paulo, Brazil
- Year and Date
  2014-10-12 – 2014-10-15
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] Implementation of a Robot-Human Object Handover Controller on a Compliant Underactuated Hand Using Joint Position Error Measurements for Grip Force and Load Force Estimations
- Author(s)
  Wesley P. Chan, Iori Kumagai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
- Organizer
  The 2014 IEEE International Conference on Robotics and Automation
- Place of Presentation
  Hong Kong Convention and Exhibition Center, Hong Kong, China
- Year and Date
  2014-05-31 – 2014-06-07
- Data Source
  KAKENHI-PROJECT-26220003
[Presentation] 反射的振る舞いに対する自動車衝突試験のための筋骨格ヒューマノイドによる運転と衝突反射行動の実現
- Author(s)
  浅野悠紀, 上月豊隆 , 川崎宏治, 茂木陽太郎, 趙漠居, 白井拓磨, 大久保壮一, 木村航平, 矢口裕明, 垣内洋平, 岡田慧, 稲葉雅幸
- Organizer
  第32会日本ロボット学会学術講演会
- Place of Presentation
  九州産業大学(福岡県福岡市)
- Year and Date
  2014-09-04 – 2014-09-06
- Data Source
  KAKENHI-PROJECT-26220003

1. INABA Masayuki (50184726)

# of Collaborated Projects: 3 results

# of Collaborated Products: 71 results
2. OKADA Kei (70359652)

# of Collaborated Projects: 2 results

# of Collaborated Products: 68 results
3. NOZAWA Shunichi (80707620)

# of Collaborated Projects: 2 results

# of Collaborated Products: 41 results
4. 浅野悠紀 (40783080)

# of Collaborated Projects: 2 results

# of Collaborated Products: 8 results
5. YOSHIKAI Tomoaki (60436558)

# of Collaborated Projects: 1 results

# of Collaborated Products: 2 results
6. NAKANISHI Yuto (50559458)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
7. URATA Junichi (10625479)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
8. 矢口裕明 (00568115)

# of Collaborated Projects: 1 results

# of Collaborated Products: 1 results
9. 小島邦生 (50839131)

# of Collaborated Projects: 1 results

# of Collaborated Products: 1 results
10. 木村航平 (50839230)

# of Collaborated Projects: 1 results

# of Collaborated Products: 1 results
11. 菅井文仁 (30739256)

# of Collaborated Projects: 1 results

# of Collaborated Products: 1 results
12. 野田晋太朗 (30825104)

# of Collaborated Projects: 1 results

# of Collaborated Products: 2 results
13. 趙漠居 (30825378)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results

KAKIUCHI YOHEI 垣内 洋平

KAKIUCHI Yohei 垣内 洋平

Research Projects

Research Products

Co-Researchers

Acquition of Perception Action Control Systems on Environment-Adaptive Mobile Manipulation Robot with Multi-body Transformer Mechanism

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Research Institution

Whole-body manipulation method for flexible objects by a humanoid robot with a soft-sensor suitPrincipal Investigator

Principal Investigator

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Acquisition of Body Schema, Tool Usages and Behavioral manner through Human Observation and Interactive Practice on Various Humanoid Series

Principal Investigator

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Developmental Approach in Configuring Body and Behavior of Life-size Humanoids with Whole-body Passivity and Attention Inductivity

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[Journal Article] Development of Amphibious Humanoid Platform for Sensor-based Behavior Acquisition of Whole-body Manipulation Tasks,2022

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Data Source

[Journal Article] Design and Development for Humanoid-Vehicle Transformer Platform with Plastic Resin Structure and Distributed Redundant Sensors2022

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DOI

Data Source

[Journal Article] Development of Amphibious Humanoid for Behavior Acquisition on Land and Underwater2021

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[Journal Article] Dynamic Fall Recovery Motion Generation on Biped Robot With Shell Protector2021

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Data Source

[Journal Article] Robust and Stretched-Knee Biped Walking Using Joint-Space Motion Control2018

Author(s)

Journal Title

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Data Source

[Journal Article] Semi-Passive Walk and Active Walk by One Bipedal Robot2018

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[Journal Article] Transparent Integration of Humanoid Robot System for Performing Various Tasks2018

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[Journal Article] Goal-Oriented Simulation-Based Motion Interpolator for Complex Contact Transition: Experiments on Knee-Contact Behavior2018

Author(s)

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Data Source

[Journal Article] High Speed Whole Body Dynamic Motion Experiment with Real Time Master-Slave Humanoid Robot System2018

Author(s)

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[Journal Article] Development of Life-Sized Humanoid Robot Platform (RHP2) with Tough Contact Point for Continuing to Perform After Falls2018

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KAKIUCHI YOHEI 垣内洋平

KAKIUCHI Yohei 垣内洋平