Rchr
J-GLOBAL ID：201801009099548482
Update date: Jul. 12, 2024
Kakiuchi Yohei
カキウチ ヨウヘイ | Kakiuchi Yohei
Affiliation and department：
Job title：
Professor
Research field (1)：
Intelligent robotics
Research theme for competitive and other funds (4)：
- 2020 - 2024 Acquition of Perception Action Control Systems on Environment-Adaptive Mobile Manipulation Robot with Multi-body Transformer Mechanism
- 2019 - 2023 ソフトセンサスーツを着た人間型ロボットによる柔軟物の学習型全身マニピュレーション
- 2014 - 2019 Acquisition of Body Schema, Tool Usages and Behavioral manner through Human Observation and Interactive Practice on Various Humanoid Series
- 2009 - 2014 Developmental Approach in Configuring Body and Behavior of Life-size Humanoids with Whole-body Passivity and Attention Inductivity
Papers (98)：
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Temma Suzuki, Yasunori Toshimitsu, Yuya Nagamatsu, Kento Kawaharazuka, Akihiro Miki, Yoshimoto Ribayashi, Masahiro Bando, Kunio Kojima, Yohei Kakiuchi, Kei Okada, et al. RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping. CoRR. 2023. abs/2311.04573
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Kim Ngoc Khanh Nguyen, Yuta Kojio, Shintaro Noda, Fumihito Sugai, Kunio Kojima, Yohei Kakiuchi, Kei Okada, Masayuki Inaba. Dynamic Fall Recovery Motion Generation on Biped Robot with Shell Protector. IEEE Robotics and Automation Letters. 2021. 6. 4. 6741-6748
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Kohei Kimura, Noriaki Imaoka, Shintaro Noda, Yohei Kakiuchi, Kei Okada, Masayuki Inaba. Locomotion approach of bipedal robot utilizing passive wheel without swing leg based on stability margin maximization and fall prevention functions. ROBOMECH Journal. 2020. 7. 1
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Yasuhiro Ishiguro, Tasuku Makabe, Yuya Nagamatsu, Yuta Kojio, Kunio Kojima, Fumihito Sugai, Yohei Kakiuchi, Kei Okada, Masayuki Inaba. Bilateral Humanoid Teleoperation System Using Whole-Body Exoskeleton Cockpit TABLIS. IEEE Robotics Autom. Lett. 2020. 5. 4. 6419-6426
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Yuta Kojio, Yuki Omori, Kunio Kojima, Fumihito Sugai, Yohei Kakiuchi, Kei Okada, Masayuki Inaba. Footstep Modification Including Step Time and Angular Momentum Under Disturbances on Sparse Footholds. IEEE Robotics Autom. Lett. 2020. 5. 3. 4907-4914
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MISC (133)：
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鈴木天馬, 利光泰徳, 永松祐弥, 河原塚健人, 三木章寛, 李林嘉元, 板東正祐, 小島邦生, 垣内洋平, 岡田慧, et al. Design and Jumping Motion of a Parallel Wire-Driven Monopedal Robot RAMIEL. 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM). 2022. 2022
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Toshinori Hirose, Shingo Kitagawa, Shun Hasegawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba. Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration. 5th IEEE International Conference on Soft Robotics(RoboSoft). 2022. 109-116
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Shimpei Sato, Yuta Kojio, Yohei Kakiuchi, Kunio Kojima, Kei Okada, Masayuki Inaba. Robust Humanoid Walking System Considering Recognized Terrain and Robots' Balance. IROS. 2022. 8298-8305
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Tasuku Makabe, Jihoon Oh, Tomoki Anzai, Yuta Kojio, Shintaro Noda, Yohei Kakiuchi, Kei Okada, Masayuki Inaba. Development of Amphibious Humanoid Platform for Sensor-based Behavior Acquisition of Whole-body Manipulation Tasks. Humanoids. 2022. 526-533
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Yohei Kakiuchi, Yuta Kojio, Noriaki Imaoka, Daiki Kusuyama, Shimpei Sato, Yutaro Matsuura, Takeshi Ando, Masayuki Inaba. Trajectory Generation and Compensation for External Forces with a Leg-wheeled Robot Designed for Human Passengers. Humanoids. 2022. 32-38
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Patents (16)：
Books (1)：
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実用ロボット開発のためのROSプログラミング
森北出版 2018 ISBN:462767581X
Lectures and oral presentations (25)：
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Design and Jumping Motion of a Parallel Wire-Driven Monopedal Robot RAMIEL
(The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2022)
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Step-by-step Realization of Heavy Unstable Object Manipulation by Humanoids based on Motion Failure Detection and Repeated Attempts
(The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2022)
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Robust Walking System for Humanoids Using Online Recognition of Steppable Region
(The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2022)
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Drop prevention control of carrying multiple objects by Humanoid Robots
(The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2021)
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Online Constraints Generation for Motion Planning Based on Sequential Recognition in Debris Removal Work by Humanoid Robot
(The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2021)
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Works (1)：
Education (5)：
- 2009 - 2012 The University of Tokyo
- 1998 - 2000 The University of Tokyo
- 1996 - 1998 The University of Tokyo The Faculty of Engineering Department of Mechano-Informatics
- 1994 - 1996 The University of Tokyo College of Arts and Sciences
- 1991 - 1994 金沢大学教育学部附属高等学校
Professional career (1)：
Work history (7)：
Committee career (1)：
- 2019/04 - 現在 日本ロボット学会 論文査読小委員会委員
Association Membership(s) (2)：
IEEE
, THE ROBOTICS SOCIETY OF JAPAN
