Otani Takuya 大谷拓也

… Alternative Names

Takuya OTANI 大谷拓也

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Researcher Number	70777987
Other IDs	https://orcid.org/0000-0002-5514-6037
Affiliation (Current)	2025: 芝浦工業大学, システム理工学部, 准教授
Affiliation (based on the past Project Information) *help	2024: 芝浦工業大学, システム理工学部, 准教授 2021 – 2023: 早稲田大学, 理工学術院, 次席研究員(研究院講師) 2018 – 2019: 早稲田大学, 理工学術院, 次席研究員(研究院講師) 2017: 早稲田大学, 理工学術院, 助手
Review Section/Research Field	Principal Investigator Basic Section 61050:Intelligent robotics-related Except Principal Investigator Broad Section J / Basic Section 61020:Human interface and interaction-related / Medium-sized Section 61:Human informatics and related fields / Intelligent robotics
Keywords	Principal Investigator ヒューマノイド / ロボティクス / 安定性 / 操縦 / 熟練度 / 身体所有感 / 上半身 / 角運動量 / 走行 Except Principal Investigator ヒューマノイド … More / ロボティクス / 脱力 / 関節弾性 / スポーツ科学 / 知能ロボティクス / 全身没入 / ヒューマンインタフェース / バーチャルリアリティ / 冗長自由度 / 関節剛性 Less

Automatic whole-body stability assist control based on the operator's skill level of the humanoid robotPrincipal Investigator
- Principal Investigator
  
  大谷拓也
- Project Period (FY)
  2024 – 2026
- Research Category
  
  Grant-in-Aid for Scientific Research (C)
- Review Section
  
  Basic Section 61050:Intelligent robotics-related
- Research Institution
  Shibaura Institute of Technology
人型ロボットの身体内保存力学的エネルギー活用による高効率運動実現に関する研究
- Principal Investigator
  
  高西淳夫
- Project Period (FY)
  2021
- Research Category
  
  Grant-in-Aid for Scientific Research (A)
- Review Section
  
  Medium-sized Section 61:Human informatics and related fields
- Research Institution
  Waseda University
Basic research on physical restraint immersive VR system
- Principal Investigator
  
  Nakamura Sousuke
- Project Period (FY)
  2021 – 2023
- Research Category
  
  Grant-in-Aid for Scientific Research (C)
- Review Section
  
  Basic Section 61020:Human interface and interaction-related
- Research Institution
  Hosei University
Whole-body stable control of a humanoid robot accurate to motion intention of an operatorPrincipal Investigator
- Principal Investigator
  
  Otani Takuya
- Project Period (FY)
  2021 – 2022
- Research Category
  
  Grant-in-Aid for Early-Career Scientists
- Review Section
  
  Basic Section 61050:Intelligent robotics-related
- Research Institution
  Waseda University
Highly efficient transportation and sports movements utilizing the in-body storage of mechanical energy in humanoid robots
- Principal Investigator
  
  高西淳夫
- Project Period (FY)
  2021 – 2025
- Research Category
  
  Grant-in-Aid for Scientific Research (S)
- Review Section
  
  Broad Section J
- Research Institution
  Waseda University
Upper body motion control method of humanoid robot based on angular momentum compensation mechanism of humanPrincipal Investigator
- Principal Investigator
  
  Takuya OTANI
- Project Period (FY)
  2018 – 2019
- Research Category
  
  Grant-in-Aid for Early-Career Scientists
- Review Section
  
  Basic Section 61050:Intelligent robotics-related
- Research Institution
  Waseda University
Research on Instantaneous High-power Motion Generation by Whole-body Coordination of a Humanoid Robot
- Principal Investigator
  
  Takanishi Atsuo
- Project Period (FY)
  2017 – 2019
- Research Category
  
  Grant-in-Aid for Scientific Research (A)
- Research Field
  
  Intelligent robotics
- Research Institution
  Waseda University

All 2023 2022 2021 2020 2019 2018 2017

All Journal Article Presentation

[Journal Article] Energy Efficient Path and Trajectory Optimization of Manipulators With Task Deadline Constraints2023
- Author(s)
  Otani Takuya、Nakamura Makoto、Kimura Koichi、Takanishi Atsuo
- Journal Title
  
  IEEE Access
  
  Volume: 11 Pages: 107441-107450
- DOI
  10.1109/access.2023.3320143
- Peer Reviewed / Open Access
- Data Source
  KAKENHI-PROJECT-21H05055
[Journal Article] Development of a Pitching Humanoid Robot based on the Motions of a Human Pitcher2023
- Author(s)
  Nakazawa Yuri、Watanabe Ryuhya、Miyazawa Keigo、Mineshita Hiroki、Otani Takuya、Kawakami Yasuo、Lim Hun-ok、Takanishi Atsuo
- Journal Title
  
  Journal of the Robotics Society of Japan
  
  Volume: 41 Issue: 9 Pages: 805-808
- DOI
  10.7210/jrsj.41.805
- ISSN
  0289-1824, 1884-7145
- Language
  Japanese
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-21H05055
[Journal Article] Development of the Agricultural Robot in Synecoculture<sup><b>TM</b></sup> Environment2023
- Author(s)
  Mitani Kento、Sugiyama Soma、Osawa Kurumi、Itoh Akira、Kondo Takahisa、Morita Manahiro、Aotake Shuntaro、Funabashi Masatoshi、Otani Takuya、Takanishi Atsuo
- Journal Title
  
  Journal of the Robotics Society of Japan
  
  Volume: 41 Issue: 6 Pages: 565-568
- DOI
  10.7210/jrsj.41.565
- ISSN
  0289-1824, 1884-7145
- Language
  Japanese
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-21H05055
[Journal Article] Energy Efficiency Improvement of a Robotic Finger With Ultra High Molecular Weight Polyethylene Gear2022
- Author(s)
  Otani Takuya、Mineshita Hiroki、Miyazawa Keigo、Nakazawa Yuri、Kasuga Hideyuki、Kawai Ryuki、Takanishi Atsuo
- Journal Title
  
  IEEE Access
  
  Volume: 10 Pages: 100033-100040
- DOI
  10.1109/access.2022.3207752
- Peer Reviewed / Open Access
- Data Source
  KAKENHI-PROJECT-21H05055
[Journal Article] Mechanical Linkage between Achilles Tendon and Plantar Fascia Accounts for Range of Motion of Human Ankle?Foot Complex2022
- Author(s)
  Shiotani Hiroto、Takahashi Katsuki、Honma Yuki、Tomari Kazuki、Hayashi Hidetaka、Sado Natsuki、Kawakami Yasuo
- Journal Title
  
  Medicine & Science in Sports & Exercise
  
  Volume: 55 Issue: 1 Pages: 66-73
- DOI
  10.1249/mss.0000000000003020
- Peer Reviewed / Open Access / Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-21K17592, KAKENHI-PROJECT-21KK0175, KAKENHI-PROJECT-21H05055
[Journal Article] Development of Joint Mechanism that can Achieve Both Active Drive and Variable Joint Quasi-stiffness by Utilizing 4-Bar and 5-Bar Composite Linkage2022
- Author(s)
  Mineshita Hiroki、Otani Takuya、Kuroiwa Yuji、Sakaguchi Masanori、Kawakami Yasuo、Lim Hun-ok、Takanishi Atsuo
- Journal Title
  
  CISM International Centre for Mechanical Sciences, Courses and Lectures
  
  Volume: 606 Pages: 231-237
- DOI
  10.1007/978-3-031-06409-8_24
- ISBN
  9783031064081, 9783031064098
- Peer Reviewed / Open Access
- Data Source
  KAKENHI-PROJECT-21H05055
[Journal Article] Optimization of Link Length Fitting between an Operator and a Robot with Digital Annealer for a Leader-Follower Operation2022
- Author(s)
  Otani Takuya、Takanishi Atsuo、Nakamura Makoto、Kimura Koichi
- Journal Title
  
  Robotics
  
  Volume: 11 Issue: 1 Pages: 12-12
- DOI
  10.3390/robotics11010012
- Peer Reviewed / Open Access
- Data Source
  KAKENHI-PROJECT-21K17832
[Journal Article] Development of a trapezoidal leaf spring for a small and light variable joint stiffness mechanism2020
- Author(s)
  Mineshita Hiroki, Otani Takuya, Hashimoto Kenji, Sakaguchi Masanori, Kawakami Yasuo, Lim Hun-ok, Takanishi Atsuo
- Journal Title
  
  Proceedings of 23rd CISM IFToMM Symposium on Robot Design, Dynamics and Control
  
  Volume: -
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-17H00767
[Journal Article] Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion2020
- Author(s)
  Mizukami Hideki, Otani Takuya, Shimizu Juri, Hashimoto Kenji, Sakaguchi Masanori, Kawakami Yasuo, Lim Hun-ok, Takanishi Atsuo
- Journal Title
  
  Proceedings of 23rd CISM IFToMM Symposium on Robot Design, Dynamics and Control
  
  Volume: -
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-17H00767
[Journal Article] Robotic Ankle Mechanism Capable of Kicking While Jumping and Running and Adaptable to Change in Running Speed2019
- Author(s)
  Mineshita Hiroki, Otani Takuya, Hashimoto Kenji, Sakaguchi Masanori, Kawakami Yasuo, Lim Hun-ok, Takanishi Atsuo
- Journal Title
  
  Proceedings of 2019 IEEE-RAS 19th International Conference on Humanoid Robots
  
  Volume: - Pages: 505-510
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-17H00767
[Journal Article] Jumping Motion Generation of a Humanoid Robot Utilizing Human-like Joint Elasticity2018
- Author(s)
  Takuya Otani, Kenji Hashimoto, Ueta Hiroki, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim and Atsuo Takanishi
- Journal Title
  
  Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
  
  Volume: 1 Pages: 8707-8714
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-17H00767
[Journal Article] Upper-Body Control and Mechanism of Humanoids to Compensate for Angular Momentum in the Yaw Direction Based on Human Running2018
- Author(s)
  Otani Takuya、Hashimoto Kenji、Miyamae Shunsuke、Ueta Hiroki、Natsuhara Akira、Sakaguchi Masanori、Kawakami Yasuo、Lim Hum-Ok、Takanishi Atsuo
- Journal Title
  
  Applied Sciences
  
  Volume: 8 Issue: 1 Pages: 1-16
- DOI
  10.3390/app8010044
- Peer Reviewed / Open Access
- Data Source
  KAKENHI-PROJECT-17H00767, KAKENHI-PROJECT-25220005, KAKENHI-PROJECT-16H01870
[Journal Article] Trunk motion control during the flight phase while hopping considering angular momentum of a humanoid2018
- Author(s)
  Otani Takuya、Hashimoto Kenji、Isomichi Takaya、Natsuhara Akira、Sakaguchi Masanori、Kawakami Yasuo、Lim Hun-ok、Takanishi Atsuo
- Journal Title
  
  Advanced Robotics
  
  Volume: 32 Issue: 22 Pages: 1197-1206
- DOI
  10.1080/01691864.2018.1526709
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-18K18132, KAKENHI-PROJECT-16H01870, KAKENHI-PROJECT-17H00767
[Presentation] Human performance transcendence: an approach to the health promotion of humans from sport science and engineering perspective2023
- Author(s)
  Yasuo Kawakami, Shigeru Wesugi, Atsuo Takanishi, Shinji Takeoka, Takuya Otani, and Fumiko Tanaka
- Organizer
  2nd International Conference on TU Health Science
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-21H05055
[Presentation] 脚弾性を活用した２足走行ロボットのための軽量・高出力発揮可能な脚機構の開発2023
- Author(s)
  津野太希，金丸光希，峯下弘毅，大谷拓也，川上泰雄，林憲玉，高西淳夫
- Organizer
  第41回日本ロボット学会学術講演会
- Data Source
  KAKENHI-PROJECT-21H05055
[Presentation] 人間の特徴に着目した投球ヒューマノイドロボットの開発（第 4 報：肘関節の慣性力利用を模擬した投球動作生成手法）2023
- Author(s)
  中澤由理，宮澤啓吾，峯下弘毅，大谷拓也，川上泰雄，林憲玉，高西淳夫
- Organizer
  第41回日本ロボット学会学術講演会
- Data Source
  KAKENHI-PROJECT-21H05055
[Presentation] Humanoid robots mimicking humans' anatomical and functional features2023
- Author(s)
  Takuya Otani
- Organizer
  Human Movement Studies: From Perspectives of Sport Science, Engineering, and Medicine
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-21H05055
[Presentation] 脚弾性を活用した２足走行ロボットのための高出力発揮・トルク計測可能な剛性可変機構の開発2023
- Author(s)
  金丸光希，津野太希，峯下弘毅，大谷拓也，川上泰雄，林憲玉，高西淳夫
- Organizer
  第41回日本ロボット学会学術講演会
- Data Source
  KAKENHI-PROJECT-21H05055
[Presentation] ロボットアームの低エネルギー消費運動最適化手法の提案2023
- Author(s)
  大谷拓也, 中村誠, 木村浩一, 春山純一, 高西淳夫
- Organizer
  第67回宇宙科学技術連合講演会
- Data Source
  KAKENHI-PROJECT-21H05055
[Presentation] Contributions of ankle joint and gastrocnemius muscle-tendon unit behavior to rebound jump performance2023
- Author(s)
  Kazuki Tomari, Haruki Tasaka, Daichi Homma, Carmela Julia Mantecon Tagarro, Fumiko Tanaka, Takuya Otani, and Yasuo Kawakami
- Organizer
  European College of Sport Science
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-21H05055
[Presentation] 人間の特徴に着目した投球ヒューマノイドロボットの開発（第 5 報：弾性を備えた投球ロボットの肩・肩甲骨機構の開発）2023
- Author(s)
  岩本真輝，中澤由理，宮澤啓吾，峯下弘毅，大谷拓也，川上泰雄，林憲玉，高西淳夫
- Organizer
  第41回日本ロボット学会学術講演会
- Data Source
  KAKENHI-PROJECT-21H05055
[Presentation] 協生農法環境における農作業支援ロボットの開発 (第9報：パラレルコンベックス駆動による高伸縮比アーム)2023
- Author(s)
  前田菜夏香，土井瑛人，政谷巧樹，田中大雅，青竹峻太郎，舩橋真俊，三木浩，大谷拓也，高西淳夫
- Organizer
  第41回日本ロボット学会学術講演会
- Data Source
  KAKENHI-PROJECT-21H05055
[Presentation] Development of Joint Mechanism that can Achieve Both Active Drive and Variable Joint Quasi-stiffness by Utilizing 4-Bar and 5-Bar Composite Linkage2022
- Author(s)
  Hiroki Mineshita, Takuya Otani, Yuji Kuroiwa, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim, and Atsuo Takanishi
- Organizer
  ROMANSY 24 - Robot Design, Dynamics and Control
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-21H05055
[Presentation] 振動受容器への電気刺激による触運動時の粗さ感提示に関する基礎検討2022
- Author(s)
  生島昇, 井口純志, 大谷拓也, 望月典樹, 中村壮亮
- Organizer
  ロボティクスメカトロニクス講演会2022
- Data Source
  KAKENHI-PROJECT-21K11985
[Presentation] 協生農法環境における農作業支援ロボットの開発(第6報:コンベックスを用いた高伸縮比を持つ直動機構)2022
- Author(s)
  三谷健人，杉山壮真，大澤来実，伊藤明，近藤貴久，森田愛大，青竹峻太郎，舩橋真俊，大谷拓也，高西淳夫
- Organizer
  第40回日本ロボット学会学術講演会
- Data Source
  KAKENHI-PROJECT-21H05055
[Presentation] 人間の特徴に着目した投球ヒューマノイドロボットの開発(第3報:投球時の脱力動作を模擬する軽量肘部機構およびボールに回転を加える投球が可能な指部機構の開発)2022
- Author(s)
  中澤由理, 宮澤啓吾, 峯下弘毅, 大谷拓也, 川上泰雄, 林憲玉, 高西淳夫
- Organizer
  第40回日本ロボット学会学術講演会
- Data Source
  KAKENHI-PROJECT-21H05055
[Presentation] 人間の特徴に着目した投球ヒューマノイドロボットの開発(第2報:人間と同等の出力発揮が可能な前腕部および手部機構の開発)2021
- Author(s)
  宮澤啓吾, 渡部竜也, 峯下弘毅, 大谷拓也, 川上泰雄, 林憲玉, 高西淳夫
- Organizer
  日本ロボット学会学術講演会予稿集
- Data Source
  KAKENHI-PROJECT-21H05055
[Presentation] Jumping Motion Generation of a Humanoid Robot Utilizing Human-like Joint Elasticity2018
- Author(s)
  Takuya OTANI
- Organizer
  2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-17H00767
[Presentation] 骨盤運動に着目した２足走行ロボットの開発（第22報：能動駆動と弾性発揮を活用する跳躍運動の実現）2018
- Author(s)
  大谷拓也
- Organizer
  第36回日本ロボット学会学術講演会
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-17H00767
[Presentation] Ankle and Foot Mechanism Mimicking Joint Stiffness and Following Motion Based on Human2018
- Author(s)
  Takuya OTANI
- Organizer
  ROMANSY 22; Robot Design, Dynamics and Control
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-17H00767
[Presentation] 骨盤運動に着目した２足走行ロボットの開発（第18報：角運動量を考慮した跳躍時体幹制御）2017
- Author(s)
  大谷拓也
- Organizer
  第35回日本ロボット学会学術講演会
- Data Source
  KAKENHI-PROJECT-17H00767

1. Takanishi Atsuo (50179462)

# of Collaborated Projects: 3 results

# of Collaborated Products: 19 results
2. 石井裕之 (10398927)

# of Collaborated Projects: 3 results

# of Collaborated Products: 0 results
3. 橋本健二 (10449340)

# of Collaborated Projects: 3 results

# of Collaborated Products: 5 results
4. Nakamura Sousuke (20634695)

# of Collaborated Projects: 1 results

# of Collaborated Products: 1 results
5. 望月典樹 (70823756)

# of Collaborated Projects: 1 results

# of Collaborated Products: 1 results
6. 川上泰雄 (60234027)

# of Collaborated Projects: 1 results

# of Collaborated Products: 10 results
7. 佐渡夏紀

# of Collaborated Projects: 0 results

# of Collaborated Products: 1 results

Otani Takuya 大谷 拓也

Takuya OTANI 大谷 拓也

Research Projects

Research Products

Co-Researchers

Automatic whole-body stability assist control based on the operator's skill level of the humanoid robotPrincipal Investigator

Principal Investigator

Project Period (FY)

Research Category

Review Section

Research Institution

人型ロボットの身体内保存力学的エネルギー活用による高効率運動実現に関する研究

Principal Investigator

Project Period (FY)

Research Category

Review Section

Research Institution

Basic research on physical restraint immersive VR system

Principal Investigator

Project Period (FY)

Research Category

Review Section

Research Institution

Whole-body stable control of a humanoid robot accurate to motion intention of an operatorPrincipal Investigator

Principal Investigator

Project Period (FY)

Research Category

Review Section

Research Institution

Highly efficient transportation and sports movements utilizing the in-body storage of mechanical energy in humanoid robots

Principal Investigator

Project Period (FY)

Research Category

Review Section

Research Institution

Upper body motion control method of humanoid robot based on angular momentum compensation mechanism of humanPrincipal Investigator

Principal Investigator

Project Period (FY)

Research Category

Review Section

Research Institution

Research on Instantaneous High-power Motion Generation by Whole-body Coordination of a Humanoid Robot

Principal Investigator

Project Period (FY)

Research Category

Research Field

Research Institution

[Journal Article] Energy Efficient Path and Trajectory Optimization of Manipulators With Task Deadline Constraints2023

Author(s)

Journal Title

DOI

Data Source

[Journal Article] Development of a Pitching Humanoid Robot based on the Motions of a Human Pitcher2023

Author(s)

Journal Title

DOI

ISSN

Language

Data Source

[Journal Article] Development of the Agricultural Robot in Synecoculture<sup><b>TM</b></sup> Environment2023

Author(s)

Journal Title

DOI

ISSN

Language

Data Source

[Journal Article] Energy Efficiency Improvement of a Robotic Finger With Ultra High Molecular Weight Polyethylene Gear2022

Author(s)

Journal Title

DOI

Data Source

[Journal Article] Mechanical Linkage between Achilles Tendon and Plantar Fascia Accounts for Range of Motion of Human Ankle?Foot Complex2022

Author(s)

Journal Title

DOI

Data Source

[Journal Article] Development of Joint Mechanism that can Achieve Both Active Drive and Variable Joint Quasi-stiffness by Utilizing 4-Bar and 5-Bar Composite Linkage2022

Author(s)

Journal Title

DOI

Otani Takuya 大谷拓也

Takuya OTANI 大谷拓也

[Presentation] 人間の特徴に着目した投球ヒューマノイドロボットの開発（第 4 報：肘関節の慣性力利用を模擬した投球動作生成手法）2023

[Presentation] 脚弾性を活用した２足走行ロボットのための高出力発揮・トルク計測可能な剛性可変機構の開発2023

[Presentation] 人間の特徴に着目した投球ヒューマノイドロボットの開発（第 5 報：弾性を備えた投球ロボットの肩・肩甲骨機構の開発）2023