Aoi Shinya

アオイシンヤ | Aoi Shinya

Affiliation and department：
Job title： Professor
Homepage URL (1)： https://mechbiosys.me.es.osaka-u.ac.jp/members/shinya_aoi.html

Research field (2)： Mechanics and mechatronics , Robotics and intelligent systems

Research keywords (3)：歩行ロボット , 神経筋骨格モデル , 歩行力学系

Research theme for competitive and other funds (22)：

2024 - 2028 起き上がり小法師の安定化原理に逆らう不安定性を利用した直立二足歩行の獲得
2022 - 2025 柔軟体幹を介した前後非対称な腕振りで生じる床反力中心の左右移動が生み出す歩行機能
2020 - 2024 Achieving bipedal locomotion by using instability: Exploring the origin of human bipedalism
2020 - 2023 Experimental and computational modeling studies to unravel the spinal-cerebellar circuits underlying locomotor adaptation
2019 - 2022 Development of viscoelastic trunk mechanism that promotes and transitions multi-modal legged locomotion

2018 - 2021 Learning and recovery mechanism of posture control in the cerebellum

2017 - 2020 Development of a new control strategy of a multilegged robot for high maneuverability using bifurcation structures

2015 - 2020 Mathematical aspects of locomotion dynamics based on synergies and rhythm

2014 - 2019 Modeling of motor control that alters body representations in brain

2019 - 2019 Adaptive locomotion of multi-legged robots through spatiotemporal layers in the neural system and bifurcation in the mechanical system

2015 - 2018 Role of the spinocerebellar loop for the execution and learning of the motor skill

2015 - 2017 Three-dimensional simulation of lateral- and diagonal-sequence quadrupedal walking

2014 - 2017 Elucidation of the posture control disability in cerebellar ataxia from the model-based evaluation of patients and rodents

2014 - 2016 Elucidation of mechanism of maneuverable multilegged locomotion based on straight walk instability and development of maneuverable multilegged robot

2011 - 2014 Elucidation of the roles of neuromusculoskeletal systems for traversability and robustness in locomotion based on a constructive approach

2009 - 2014 Rigorous Topological Computation of Global Dynamical Structures for Rhythmic Behaviors in Coupled Systems and Applications

2011 - 2012 Elucidation of body undulation mechanism in centipede locomotion and application to robotics

2007 - 2011 Design Theory for Dynamical Systems with Semiosis

2007 - 2009 Elucidating the mechanisms to generate adaptive locomotion based on a neuromusculoskeletal model of the Japanese monkey

2005 - 2009 Generation of locomotion based on dynamic interaction among neuro-musculo-skeletal systems

2005 - 2008 Dynamics of Two-Legged Walking--Analysis, Structure and Advanced

2003 - 2005 非線形振動子を用いた歩行ロボットの歩行運動制御

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Papers (68)：

Takahiro Arai, Kaiichiro Ota, Tetsuro Funato, Kazuo Tsuchiya, Toshio Aoyagi, Shinya Aoi. Interlimb coordination is not strictly controlled during walking. Communications Biology. 2024. 7. 1152
Haruma Furukawa, Takahiro Arai, Tetsuro Funato, Shinya Aoi, Toshio Aoyagi. Bayesian estimation of trunk-leg coordination during walking using phase oscillator models. 2024
Kota Okamoto, Nozomi Akashi, Ippei Obayashi, Kohei Nakajima, Hiroshi Kokubu, Kei Senda, Kazuo Tsuchiya, Shinya Aoi. Sharp changes in fractal basin of attraction in passive dynamic walking. Nonlinear Dynamics. 2023. 111. 23. 21941-21955
Hajime Ohtsu, Kazunori Hase, Kouta Sakoda, Shinya Aoi, Shunsuke Kita, Shinya Ogaya. A powered simple walking model explains the decline in propulsive force and hip flexion torque compensation in human gait. Scientific Reports. 2023. 13. 14770
Shinya Aoi, Yuki Yabuuchi, Daiki Morozumi, Kota Okamoto, Mau Adachi, Kei Senda, Kazuo Tsuchiya. Maneuverable and efficient locomotion of a myriapod robot with variable body-axis flexibility via instability and bifurcation. Soft Robotics. 2023. 10. 5. 1028-1040

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MISC (111)：

Mau Adachi, Shinya Aoi. Postural stabilization of quadrupedal mammals during trotting in the transverse plane. Journal of the Robotics Society of Japan. 2023. 41. 3. 223-228
Yuichi Ambe, Shinya Aoi, Masashi Konyo, Satoshi Tadokoro. Local sensory feedback generates various wave gaits in multi-legged robots via embodied sensorimotor interaction. Proceedings of 13th Asian Control Conference (ASCC2022). 2022. 1379-1383
江上静子, 寺川翔, 大島裕子, 伊藤彰人, 辻内伸好, 青井伸也, 土屋和雄. Mechanical Analysis of Stepping Motion-Analysis of vertical floor reaction force patterns-. 計測自動制御学会関西支部・システム制御情報学会シンポジウム(CD-ROM). 2022. 2021
江上静子, 寺川翔, 大島裕子, 辻内伸好, 伊藤彰人, 青井伸也, 土屋和雄. Motion Analysis of Foot Stepping Motion-Dependence of Vertical Floor Reaction Force Pattern on Leg Stretching Frequency-. システム制御情報学会研究発表講演会講演論文集(CD-ROM). 2022. 66th
Kota Okamoto, Shinya Aoi, Ippei Obayashi, Hiroshi Kokubu, Kei Senda, Kazuo Tsuchiya. Disappearance of chaotic attractor of passive dynamic walking by stretch-bending deformation in basin of attraction. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2020). 2020. 3908-3913

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Books (14)：

第4章歩行・姿勢制御 4.3 歩行のモデル研究 -筋シナジーに基づく運動制御仮説
身体性システムとリハビリテーションの科学1 運動制御 (太田順, 内藤栄一, 芳賀信彦編), 東京大学出版会 2018
第8章脚ロボットの制御 8.5 生物規範CPGに基づく制御法
ロボット制御学ハンドブック (松野文俊, 大須賀公一, 松原仁, 野田五十樹, 稲見昌彦編), 近代科学社 2017
Chapter 8. Neuromusculoskeletal modeling for the adaptive control of posture during locomotion
Neuromechanical Modeling of Posture and Locomotion, B. Prilutsky and D.H. Edwards (Eds.), Springer 2016
Muscle synergy analysis of human standing-up motion using forward dynamic simulation with four body segment model
2016
Chapter 1 Gait generation and transition of a biped robot based on kinematic synergy in human locomotion
Handbook of Research on Advancements in Robotics and Mechatronics, M.K. Habib (Ed.), IGI Global, Hershey, PA, USA 2015

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Lectures and oral presentations (29)：

筋シナジーに基づく歩行の数理モデル
(第6回嚥下シミュレーション研究会 2020)
Improving turning maneuver of a multilegged robot using pitchfork bifurcation
(日本学術会議第6回理論応用力学シンポジウム 2020)
Neuromusculoskeletal models based on the muscle synergy hypothesis for understanding adaptive motor control in locomotion
(6th International Autumn School on Movement Science (AS2019) 2019)
Neuromusculoskeletal models that exhibit locomotor functions by controlling muscle synergy activities
(The 9th International Symposium on Adaptive Motion of Animals and Machines (AMAM2019) 2019)
Model of fast and slow dynamics for adaptive locomotion based on the muscle synergy hypothesis
(The 2nd International Symposium on Embodied-Brain Systems Science (EmboSS2018) 2018)

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Education (3)：

2003 - 2006 Kyoto University
2001 - 2003 Kyoto University
1997 - 2001 Kyoto University Faculty of Engineering School of Engineering Science

Professional career (1)：

博士(工学) (京都大学)

Work history (6)：

2022/04 - 現在 Osaka University Graduate School of Engineering Science, Department of Mechanical Science and Bioengineering Division of Bioengineering Professor
2020/02 - 2022/03 Kyoto University Graduate School of Engineering Department of Aeronautics and Astronautics Associate Professor
2014/05 - 2020/02 Kyoto University
2007/04 - 2014/04 Kyoto University
2006/04 - 2007/03 Kyoto University

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Awards (14)：

2023/11 - 計測自動制御学会システム・情報部門 SSI最優秀論文賞
2019/09 - 中山人間科学振興財団第28回中山賞奨励賞
2018/12 - IEEE International Symposium on Micro-NanoMechatronics and Human Science Best Paper Awards
2018/07 - 日本学術振興会特別研究員等審査会専門委員(書面担当)の表彰
2017/09 - 論文賞・友田賞

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