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CNRS-AIST JRL(Joint Robotics Laboratory) is an international joint research organization established by the National Institute of Advanced Industrial Science and Technology (AIST) and the Centre National de la Recherche Scientifique (CNRS) in France, and is located in department of information technology and human factors. Research to increase the autonomy of robots is being carried out through close cooperation between researchers from both countries, mainly using humanoid robots as a platform.


What's New

Ko Ayusawa has received the MEXT Award for Science and Technology for young scientists.
CNRS-AIST JRL(Joint Robotics Laboratory) has been established.

Research Topics

JRL is an official organization of Unite Mixte Internationale (UMI) at CNRS and Collaborative Research Laboratory at AIST. Through participation in international projects such as EU project, we are conducting international collaborations with other research institutions under the CNRS, as well as with research institutions in other countries, mainly in Europe.
Our main research interests include the planning and control of tasks and motions in humanoid robots, interaction with humans and the surrounding environment through perception, and cognitive robotics. In addition, we are engaged in a wide range of research, from human modeling and simulation to basic and applied research on human-robot interaction.

Multi-contact locomotion    
To move in environments more complex than those with flat floor, it is often necessary to use more than just the feet. Typically, we can use the hands, but also the elbows, knees, ... to make contacts with the environment and help us move. This is called multi-contact locomotion.
An important topic at JRL since its beginning is to develop the ability for humanoid robots to perform multi-contact locomotion. This research is done on the planning level (thinking in advance about the sequence of contact) and the control level (deciding in real-time how to move while the robot execute a sequence of contact), but also on the numerical algorithms needed for planning and control.

Motion retargeting  
The aim of this research topic is to develop a method for retargeting human motions onto a humanoid robot. Since the motion retargeting method takes account of the differences in body structure between the human and the robot, it enables the robot’s motion which is similar as much as possible to the original human motion. The method can also reconstruct the human motion with the modification imposed by the motion retargeting onto the robot. Such a reconstruction process enables quantitative evaluation of the retargeting results through direct comparison with the original human motion.  

Evaluation of robotic assistive devices  
Since a humanoid robot is designed to have a structure similar to that of a human, it can physically simulate usage of tools or products in a similar manner to a human. The sensors mounted on the robot enables the quantitative measurement about the forces generated inside the body, while the robot imitates the human usage situation. This research topic is to use a humanoid robot as a physical human simulator in order to evaluate the physical effects on humans of ergonomic products, especially the robotic wearable assistive devices.  

Measurement and simulation of motion assistive technology  
We are studying on experimental verification and simulation methods of assistive technologies, such as powered suits for power assist / skill assist. This research aims to construct a simulation method including the effect of assist by applying robot motion control technology, digital human technology, and musculoskeletal analysis technology. In addition, we have been developing an experimental assist suit that generates assist force using a wire and a motor, and performing basic experiments to determine the relationship between the changes in human movement and the operation timing, direction, and magnitude of the assist forces.  

Humanoid robot platform  
We have been developing a hardware platform to realize a humanoid robot that can replace and release human activities in facilities such as plants damaged by natural disasters and in harsh environments such as ergonomically inappropriate working environments. In order to realize a robot with the same or more capabilities as a human, we are conducting research and development on the mechanism to realize a wide range of joint movement with light weight and high rigidity, the joint structure to withstand impacts such as falls, and the information system inside the robot.  


name position E-mail address
(Please convert "_*_" to "@".)
Administrative Committee Eiichi Yoshida UMI Director,
Adjunct Member(Principal Research Manager, Industrial CPS Research Center)
Abderrahmane Kheddar UMI Deputy Director
(CNRS Research Director)
Fumio Kanehiro IRL Director f-kanehiro_*
Mitsuharu Morisawa IRL Deputy Director m.morisawa_*
AIST researchers Shuuji Kajita Chief Senior Researcher s.kajita_*
Kenji Kaneko Chief Senior Researcher k.kaneko_*
Shin'ichiro Nakaoka Senior Researcher s.nakaoka_*
Takeshi Sakaguchi Senior Researcher sakaguchi-t_*
Hiroshi Kaminaga Senior Researcher hiroshi.kaminaga_*
Ko Ayusawa Senior Researcher k.ayusawa_*
Adrien Escande Senior Researcher adrien.escande_*
Yumeko Imamura Senior Researcher yumeko.imamura_*
Mehdi Bénallegue Researcher mehdi.benallegue_*
Rafael Cisneros Researcher rafael.cisneros_*
Iori Kumagai Researcher iori-kumagai_*
Masaki Murooka Researcher m-murooka_*
CNRS researchers Ganesh Gowrishankar International Visitor
(CNRS Senior Researcher)
Guillaume Caron International Visitor
(UPJV Associate Professor)
Adjunct Members Ryusuke Sagawa Adjunct Member
(Leader, Computer Vision Research Team, Artificial Intelligence Research Center)
Yusuke Yoshiyasu Adjunct Member
(Senior Researcher, Computer Vision Research Team, Artificial Intelligence Research Center)
Natsuki Yamanobe Adjunct Member
(Senior Researcher, Automation Research Team, Artificial Intelligence Research Center)
Joint Appointed Fellow Gentiane Venture Joint Appointed Fellow
(Distinguished Professor, Tokyo University of Agriculture and Technology)
Postdoc Yue Hu JSPS Fellow hu.yue_*
Vincent Samy AIST Postdoctoral Researcher vincent.samy_*
Takahiro Itou AIST Postdoctoral Researcher takahiro-itou_*
Assistant Naoko Sakai Assistant sakai.naoko_*
Mitsuko Kato Assistant m.katou_*
Technical Staff   Arnaud Tanguy Technical Staff arnaud.tanguy_*
Kevin Chappellet Technical Staff chappellet.kevin_*
Research Assistant Ryoudou Tanaka Research Assistant
(University of Tsukuba)
Souya Shimizu Research Assistant
(Tokyo University of Agriculture and Technology)
Lucas Games Research Assistant
(Montpellier University)
Giryoku Tan Research Assistant
(University of Tsukuba)
Rakugen Son Research Assistant
(University of Tsukuba)
Rohan Pratap Singh Research Assistant
(University of Tsukuba)
Masato Tsuru Research Assistant
(Osaka University)
Uryuu O- Research Assistant
(University of Tsukuba)
Collaborating Visitors    Antonio Gabas Collaborating Visitors
(University of Tsukuba)
Xinchi Gao Collaborating Visitors
(University of Tsukuba)
Tomoya Okumiya Collaborating Visitors
(University of Tsukuba)
Keisuke Sakai Collaborating Visitors
(University of Tsukuba)
Kaito Tamura Collaborating Visitors
(University of Tsukuba)
Gyuu E Collaborating Visitors
(University of Tsukuba)


CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/IRL
Department of Information Technology and Human factors
National Institute of Advanced Industrial Science and Technology(AIST) 

Address : AIST Tsukuba Headquarters and Information Technology Collaborative Research Center (AIST Tsukuba Central 1), 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8560, Japan
Phone: +81-29-861-9323 Fax: +81-29-862-6507
Email: jrl-info-ml_* (Please convert "_*_" to "@".)

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