Bio
Ko Ayusawa received the B.S. degree in mechanical engineering, and the M.S. and Ph.D. degrees in mechano-informatics from the University of Tokyo, Japan, in 2006, 2008, and 2011, respectively. He worked with the Department of Mechano-Informatics at the University of Tokyo, as a postdoctoral researcher from 2011 to 2012, and as a project assistant processor in 2013. He is currently a researcher of Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan, and a researcher of CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL. His research interests include identification of human/humanoid dynamics, motion control for humanoid robots, and kinematics and dynamics simulation for human musculoskeletal models.
Publications
The publication list may not be complete, especially for publications prior to 2017. We are working on updating it.
| Title | Authors | Conference/Book | Year | bib | |
| Fast Direct Optimal Control for Humanoids Based on Dynamics Representation in FPC Latent Space | S. Shimizu, Ko Ayusawa, G. Venture | IEEE Robotics and Automation Letters | 2024 | ||
| A cybernetic avatar system to embody human telepresence for connectivity, exploration, and skill transfer | R. Cisneros-Limón, A. Dallard, M. Benallegue, K. Kaneko, H. Kaminaga, P. Gergondet, A. Tanguy, R. Singh, L. Sun, Y. Chen, C. Fournier, G. Lorthioir, M. Tsuru, Ś. Chefchaouni-Moussaoui, Y. Osawa, G. Caron, K. Chappellet, M. Morisawa, A. Escande, Ko Ayusawa, Y. Houhou, I. Kumagai, M. Ono, K. Shirasaka, S. Wada, H. Wada, F. Kanehiro, A. Kheddar | International Journal of Social Robotics | 2024 | ||
| Measuring and Analyzing Human Wide-Area Contact Motion Using Tactile Sensors | S. Wang, Ko Ayusawa, E. Yoshida | IEEE-RAS International Conference on Humanoid Robots | 2024 | ||
| Contacts from Motion: Learning Discrete Features for Automatic Contact Detection and Estimation from Human Movements | H. Miyake, Ko Ayusawa, R. Sagawa, E. Yoshida | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2024 | ||
| A Study on the Benefits of Using Variable Stiffness Feet for Humanoid Walking on Rough Terrains | I. Frizza, H. Kaminaga, Ko Ayusawa, P. Fraisse, G. Venture | IEEE-RAS International Conference on Humanoid Robots | 2022 | ||
| Estimating Muscle Activity from the Deformation of a Sequential 3D Point Cloud | H. Niu, T. Ito, D. Desclaux, Ko Ayusawa, Y. Yoshiyasu, R. Sagawa, E. Yoshida | Journal of Imaging | 2022 | ||
| Humanoids’ Feet: State-of-the-Art & Future Directions | I. Frizza, Ko Ayusawa, A. Cherubini, H. Kaminaga, P. Fraisse, G. Venture | International Journal of Humanoid Robotics | 2022 | ||
| Pseudo Direct and Inverse Optimal Control Based on Motion Synthesis Using FPCA | S. Shimizu, Ko Ayusawa, G. Venture | IEEE-RAS International Conference on Humanoid Robots | 2021 | ||
| Generalized Comprehensive Motion Theory for High-Order Differential Dynamics | V. Samy, Ko Ayusawa, E. Yoshida | Robotics: Science and Systems | 2021 | ||
| Simultaneous Control Framework for Humanoid Tracking Human Movement With Interacting Wearable Assistive Device | T. Ito, Ko Ayusawa, E. Yoshida, H. Kobayashi | IEEE Robotics and Automation Letters | 2020 | ||
| HRP-4 walks on Soft Feet | M. Catalano, I. Frizza, C. Morandi, G. Grioli, Ko Ayusawa, T. Ito, G. Venture | IEEE Robotics and Automation Letters | 2020 | ||
| A review of state estimation of humanoid robot targeting the center of mass, base kinematics, and external wrench | K. Masuya, Ko Ayusawa | Advanced Robotics | 2020 | ||
| Motion Synthesis Using Low-Dimensional Feature Space and Its Application to Inverse Optimal Control | S. Shimizu, Ko Ayusawa, G. Venture | CISM IFToMM Symposium on Robot Design, Dynamics and Control | 2020 | ||
| Statistical Human Body Shape Model including Elderly People | Y. Yoshiyasu, V. Samy, Y. Imamura, Ko Ayusawa, R. Sagawa, E. Yoshida | International Conference of the IEEE Engineering in Medicine and Biology Society | 2020 | ||
| 低次元特徴空間を利用した運動合成と逆最適制御への応用 | S. Shimizu, Ko Ayusawa, G. Venture | Robotics Symposia | 2020 | ||
| Musculoskeletal Estimation Using Inertial Measurement Units and Single Video Image | V. Samy, Ko Ayusawa, Y. Yoshiyasu, R. Sagawa, E. Yoshida | IEEE International Conference on Advanced Robotics and its Social Impacts | 2019 | ||
| Experimental Study for Controller-Friendly Contact Estimation for Humanoid Robot | T. Ito, Ko Ayusawa, E. Yoshida, A. Kheddar | IEEE International Conference on Advanced Robotics and its Social Impacts | 2019 | ||
| Predictive Inverse Kinematics: Optimizing Future Trajectory through Implicit Time Integration and Future Jacobian Estimation | Ko Ayusawa, W. Suleiman, E. Yoshida | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2019 | ||
| Toward a Human(oid) Motion Planner | E. Yoshida, Ko Ayusawa, Y. Yoshiyasu, A. Escande, A. Kheddar | International Symposium on Robotics Research | 2019 | ||
| Fusion of Multiple Motion Capture Systems for Musculoskeletal Analysis | V. Samy, Ko Ayusawa, Y. Yoshiyasu, R. Sagawa, E. Yoshida | IEEE/SICE International Symposium on System Integration | 2019 | ||
| Real-Time Musculoskeletal Visualization of Muscle Tension and Joint Reaction Forces | V. Samy, Ko Ayusawa, E. Yoshida | IEEE/SICE International Symposium on System Integration | 2019 | ||
| Neurorobotic approach to study Humtington disease based on a mouse neuromusculoskeletal model | S. Oota, Y. Okamura-Oho, Ko Ayusawa, Y. Ikegami, A. Murai, E. Yoshida, Y. Nakamura | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2018 | ||
| Interspecies Retargeting of Homologous Body Posture Based on Skeletal Morphing | Ko Ayusawa, Y. Ikegami, A. Murai, Y. Yoshiyasu, E. Yoshida, S. Oota, Y. Nakamura | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2018 | ||
| Gravity compensation for impedance control of legged robots using optimizationless proportional contact force estimation | C. Wong, Ko Ayusawa, E. Yoshida | IEEE-RAS International Conference on Humanoid Robots | 2018 | ||
| Whole-Body Motion Blending under Physical Constraints using Functional PCA | S. Shimizu, Ko Ayusawa, E. Yoshida, G. Venture | IEEE-RAS International Conference on Humanoid Robots | 2018 | ||
| Online Center of Mass and Momentum Estimation for a Humanoid Robot Based on Identification of Inertial Parameters | K. Mori, Ko Ayusawa, E. Yoshida | IEEE-RAS International Conference on Humanoid Robots | 2018 | ||
| Optimization Framework of Humanoid Walking Pattern for Human Motion Retargeting | S. Masuda, Ko Ayusawa, E. Yoshida | IEEE-RAS International Conference on Humanoid Robots | 2018 | ||
| Predicting Muscle Activity and Joint Angle from Skin Shape | R. Sagawa, Ko Ayusawa, Y. Yoshiyasu, A. Murai | European Conference on Computer Vision | 2018 | ||
| On prioritized inverse kinematics tasks: Time-space decoupling | W. Suleiman, Ko Ayusawa, F. Kanehiro, E. Yoshida | IEEE International Workshop on Advanced Motion Control | 2018 | ||
| Skeleton Transformer Networks:3D Human Pose and Skinned Mesh from single RGB Image | Y. Yoshiyasu, R. Sagawa, Ko Ayusawa, A. Murai | Asian Conference on Computer Vision | 2018 | ||
| Evaluation of Active wearable assistive devices with Human Posture Reproduction using a Human Robot | T. Ito, Ko Ayusawa, E. Yoshida, H. Kobayashi | Advanced Robotics | 2018 | ||
| Evaluation Framework for Passive Assistive Device Based on Humanoid Experiments | Y. Imamura, Ko Ayusawa, E. Yoshida, T. Tanaka | International Journal of Humanoid Robotics | 2018 | ||
| Comprehensive theory of differential kinematics and dynamics towards extensive motion optimization framework | Ko Ayusawa, E. Yoshida | The International Journal of Robotics Research | 2018 | ||
| Standard Performance test of Wearable Robots for Lumbar Support | C. Nabeshima, Ko Ayusawa, C. Hochberg, E. Yoshida | IEEE Robotics and Automation Letters | 2018 | ||
| Motion Retargeting for Humanoid Robots Based on Simultaneous Morphing Parameter Identification and Motion Optimization | Ko Ayusawa, E. Yoshida | IEEE Transactions on Robotics | 2017 | ||
| Comprehensive Theory of Differential Kinematics and Dynamics for Motion Optimization | Ko Ayusawa, E. Yoshida | Robotics: Science and Systems | 2017 | ||
| Towards Unified Framework for Trajectory Optimization using General Differential Kinematics and Dynamics | E. Yoshida, Ko Ayusawa | International Symposium on Robotics Research | 2017 | ||
| Generating persistently exciting trajectory based on condition number optimization | Ko Ayusawa, A. Rioux, E. Yoshida, G. Venture, M. Gautier | IEEE International Conference on Robotics and Automation | 2017 | ||
| Simulation-based Design for Robotic Care Device: Optimizing Trajectory of Transfer Support Robot | Y. Imamura, Ko Ayusawa, Y. Endo, E. Yoshida | International Conference on Rehabilitation Robotics | 2017 | ||
| Human Motion Reproduction by Torque-based Humanoid Tracking Control for Active Assistive Device Evaluation | T. Ito, Ko Ayusawa, E. Yoshida, H. Kobayashi | IEEE-RAS International Conference on Humanoid Robots | 2017 | ||
| Risk Estimation for Intervertebral Disc Pressure through Musculoskeletal Joint Reaction Force Simulation | Y. Imamura, Ko Ayusawa, E. Yoshida | International Conference of the IEEE Engineering in Medicine and Biology Society | 2017 | ||
| Modeling and identification of a realistic spiking neural network and musculoskeletal model of the human arm, and an application to the stretch reflex | M. Sreenivasa, Ko Ayusawa, Y. Nakamura | IEEE Transactions on Neural Systems and Rehabilitation Engineering | 2016 | ||
| New evaluation framework for human-assistive devices based on humanoid robotics | Ko Ayusawa, E. Yoshida, Y. Imamura, T. Tanaka | Advanced Robotics | 2016 | ||
| Ongoing studies on investigation into criteria into lumber strength and development of a simulator for lumber stress evaluation | Y. Yamada, N. Kudo, Ko Ayusawa, Y. Yoshiyasu, E. Yoshida | 日本ロボット学会誌 | 2016 | ||
| Humanoid and Human Inertia Parameter Identification Using Hierarchical Optimization | J. Jovic, A. Escande, Ko Ayusawa, E. Yoshida, A. Kheddar, G. Venture | IEEE Transactions on Robotics | 2016 | ||
| Dynamics identification of humanoids and humans | Ko Ayusawa, E. Yoshida | IEEE-RAS International Conference on Humanoid Robots | 2016 | ||
| Stationary Torque Replacement for Evaluation of Active Assistive Devices using Humanoid | T. Ito, Ko Ayusawa, E. Yoshida, H. Kobayashi | IEEE-RAS International Conference on Humanoid Robots | 2016 | ||
| Whole-body motion retargeting using constrained smoothing and functional principle component analysis | S. Morishima, Ko Ayusawa, E. Yoshida, G. Venture | IEEE-RAS International Conference on Humanoid Robots | 2016 | ||
| Identification of dynamics of humanoids: systematic exciting motion generation | J. Jovic, F. Philipp, A. Escande, Ko Ayusawa, E. Yoshida, A. Kheddar, G. Venture | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2015 | ||
| Motion Retargeting for Humanoid Robots Based on Identification to Preserve and Reproduce Human Motion Features | Ko Ayusawa, M. Morisawa, E. Yoshida | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2015 | ||
| Converting constrained whole-body human motions to humanoid using smoothing | S. Morishima, Ko Ayusawa, E. Yoshida, G. Venture | International Conference on Advanced Mechatronic Systems | 2015 | ||
| Analyzing Muscle Activity and Force with Skin Shape Captured by Non-contact Visual Sensor | R. Sagawa, Y. Yoshiyasu, A. Alspach, Ko Ayusawa, K. Yamane, A. Hilton | Pacific Rim Symposium on Image and Video Technology | 2015 | ||
| Verification of passive power-assist device using humanoid robot: Effect on bending and twisting motion | Y. Imamura, T. Tanaka, Ko Ayusawa, E. Yoshida | IEEE-RAS International Conference on Humanoid Robots | 2015 | ||
| Forward dynamics simulation of human figures on assistive devices using geometric skin deformation model | Y. Yoshiyasu, Ko Ayusawa, E. Yoshida, Y. Matsumoto, Y. Endo | International Conference of the IEEE Engineering in Medicine and Biology Society | 2015 | ||
| Simulation-based optimal motion planning for deformable object | E. Yoshida, Ko Ayusawa, G. Ramirez-Alpizar, K. Harada, C. Duriez, A. Kheddar | IEEE International Conference on Advanced Robotics and its Social Impacts | 2015 | ||
| Verification of assistive effect generated by passive power-assist device using humanoid robot | Y. Imamura, T. Tanaka, Ko Ayusawa, E. Yoshida | IEEE/SICE International Symposium on System Integration | 2014 | ||
| Identifiability and identification of inertial parameters using the underactuated base-link dynamics for legged multibody systems | Ko Ayusawa, G. Venture, Y. Nakamura | The International Journal of Robotics Research | 2014 | ||
| Simultaneous global inverse kinematics and geometric parameter identification of human skeletal model from motion capture data | Ko Ayusawa, Y. Ikegami, Y. Nakamura | Mechanism and Machine Theory | 2014 | ||
| Evaluation of Assistive Devices Using Humanoid Robot with Mechanical Parameters Robots | Ko Ayusawa, S. Nakaoka, E. Yoshida, Y. Imamura, T. Tanaka | IEEE-RAS International Conference on Humanoid Robots | 2014 |