Bio

Shuuji Kajita received the master's degree (1985) and the doctor of engineering degree (1996) from Tokyo Institute of Technology, Japan. In 1985, he joined the Mechanical Engineering Laboratory, Agency of Industrial Science and Technology, Ministry of International Trade and Industry (AIST-MITI). Meanwhile he was a visiting researcher at California Institute of Technology, 1996-1997. Currently he is a chief senior researcher at the National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan, which was reorganized from AIST-MITI in April 2001.His research interests include robotics and control theory. He is a member of Society of Instrument and Control Engineers, Robotics Society of Japan and IEEE (Robotics and Automation Society). Received the best paper award of the Society of Instrument and Control Engineers in 1996, and the best paper award of the Robotics Society of Japan in 2005.

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 pdf
Preemptive Foot Compliance to Lower Impact During Biped Robot Walking Over Unknown Terrain J. Guadarrama-Olvera, S. Kajita, G. Cheng IEEE Robotics and Automation Letters 2022
Knee-stretched Biped Gait Generation along Spatially Quantized Curves Y. Onishi, T. Ibuki, S. Kajita IEEE/RSJ International Conference on Intelligent Robots and Systems 2021
ヒューマノイドロボット(改訂2版 S. Kajita ヒューマノイドロボット(改訂2版) 2020
Toward Industrialization of Humanoid Robots: Autonomous Plasterboard Installation to Improve Safety and Efficiency I. Kumagai, M. Morisawa, T. Sakaguchi, S. Nakaoka, K. Kaneko, H. Kaminaga, S. Kajita, M. Benallegue, R. Cisneros-Limón, F. Kanehiro IEEE Robotics & Automation Magazine 2019
Biped Gait Control Based on Spatially Quantized Dynamics S. Kajita, M. Benallegue, R. Cisneros-Limón, T. Sakaguchi, S. Nakaoka, M. Morisawa, H. Kaminaga, I. Kumagai, K. Kaneko, F. Kanehiro IEEE-RAS International Conference on Humanoid Robots 2018
Whole-Body Control [TC Spotlight] F. Moro, L. Sentis, J. Park, C. Atkeson, M. Gienger, A. Goswami, S. Kajita, O. Khatib, J. Kuffner, D. Orin, C. Ott, J. Pratt, L. Righetti, B. Sicilliano, R. Tedrake, E. Yoshida IEEE Robotics & Automation Magazine 2017
Biped walking pattern generation based on spatially quantized dynamics S. Kajita, M. Benallegue, R. Cisneros-Limón, T. Sakaguchi, S. Nakaoka, M. Morisawa, K. Kaneko, F. Kanehiro IEEE-RAS International Conference on Humanoid Robots 2017
Effective teleoperated manipulation for humanoid robots in partially unknown real environments: team AIST-NEDO's approach for performing the Plug Task during the DRC Finals R. Cisneros-Limón, S. Nakaoka, M. Morisawa, K. Kaneko, S. Kajita, T. Sakaguchi, F. Kanehiro Advanced Robotics 2016
Multi-Contact Vertical Ladder Climbing with a HRP-2 Humanoid J. Vaillant, A. Kheddar, H. Audren, F. Keith, S. Brossette, A. Escande, K. Bouyarmane, K. Kaneko, M. Morisawa, P. Gergondet, E. Yoshida, S. Kajita, F. Kanehiro Autonomous Robots 2016
Enabling a teleoperated humanoid robot to pass through debris-filled terrain using manipulation R. Cisneros-Limón, M. Morisawa, S. Nakaoka, K. Kaneko, S. Kajita, T. Sakaguchi, F. Kanehiro IEEE-RAS International Conference on Humanoid Robots 2016
Impact Acceleration of Falling Humanoid Robot with an Airbag S. Kajita, R. Cisneros-Limón, M. Benallegue, T. Sakaguchi, S. Nakaoka, M. Morisawa, K. Kaneko, F. Kanehiro IEEE-RAS International Conference on Humanoid Robots 2016
Task Sequencer Integrated into a Teleoperation Interface for Biped Humanoid Robots S. Nakaoka, M. Morisawa, R. Cisneros-Limón, T. Sakaguchi, S. Kajita, K. Kaneko, F. Kanehiro IEEE-RAS International Conference on Humanoid Robots 2015
Humanoid Robot HRP-2Kai - Improvement of HRP-2 towards Disaster Response Tasks K. Kaneko, M. Morisawa, S. Kajita, S. Nakaoka, T. Sakaguchi, R. Cisneros-Limón, F. Kanehiro IEEE-RAS International Conference on Humanoid Robots 2015
Task-Level Teleoperated Manipulation for the HRP-2Kai Humanoid Robot R. Cisneros-Limón, S. Kajita, T. Sakaguchi, S. Nakaoka, M. Morisawa, K. Kaneko, F. Kanehiro IEEE-RAS International Conference on Humanoid Robots 2015
Risk Evaluation of Ground Surface Using Multichannel Foot Sensors for Biped Robots F. Asano, H. Asoh, M. Morisawa, S. Kajita, K. Yokoi International Symposium on Robotic and Sensors Environments 2014
Biped Locomotion Control for Uneven Terrain with Narrow Support Region M. Morisawa, N. Kita, S. Nakaoka, K. Kaneko, S. Kajita, F. Kanehiro IEEE/SICE International Symposium on System Integration 2014
Development of an Indirect-type Teleoperation Interface for Biped Humanoid Robots S. Nakaoka, M. Morisawa, K. Kaneko, S. Kajita, F. Kanehiro IEEE/SICE International Symposium on System Integration 2014
Vertical vibration suppression for a position controlled biped robot S. Kajita, F. Asano, M. Morisawa, K. Miura, K. Kaneko, F. Kanehiro, K. Yokoi IEEE International Conference on Robotics and Automation 2013
Quick Slip-Turn of HRP-4C on its Toes K. Miura, F. Kanehiro, K. Kaneko, S. Kajita, K. Yokoi IEEE International Conference on Robotics and Automation 2012
Balance Control based on Capture Point Error Compensation for Biped Walking on Uneven Terrain M. Morisawa, S. Kajita, F. Kanehiro, K. Kaneko, K. Miura, K. Yokoi IEEE-RAS International Conference on Humanoid Robots 2012
Evaluation of a Stabilizer for Biped Walk with Toe Support Phase S. Kajita, K. Miura, M. Morisawa, K. Kaneko, F. Kanehiro, K. Yokoi IEEE-RAS International Conference on Humanoid Robots 2012
Human-like Walking with Toe Supporting for Humanoids K. Miura, M. Morisawa, F. Kanehiro, S. Kajita, K. Kaneko, K. Yokoi IEEE/RSJ International Conference on Intelligent Robots and Systems 2011
VocaWatcher: Natural Singing Motion Generator for a Humanoid Robot S. Kajita, T. Nakano, M. Goto, Y. Matsusaka, S. Nakaoka, K. Yokoi IEEE/RSJ International Conference on Intelligent Robots and Systems 2011
VocaListener and VocaWatcher: Imitating a Human Singer by Using Signal Processing M. Goto, T. Nakano, S. Kajita, Y. Matsusaka, S. Nakaoka, K. Yokoi IEEE International Conference on Acoustics, Speech, and Signal Processing 2011
Reactive biped walking control for a collision of a swinging foot on uneven terrain M. Morisawa, F. Kanehiro, K. Kaneko, S. Kajita, K. Yokoi IEEE-RAS International Conference on Humanoid Robots 2011
Slip turn generation of humanoid robots based on an analysis of friction model ,Emerging Trends in Mobile Robotics K. Miura, F. Kanehiro, K. Harada, K. Yokoi, S. Kajita International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines 2010
Biped Walking Stabilization Based on Linear Inverted Pendulum Tracking S. Kajita, M. Morisawa, K. Miura, S. Nakaoka, K. Harada, K. Kaneko, F. Kanehiro, K. Yokoi IEEE/RSJ International Conference on Intelligent Robots and Systems 2010
Two-Stage Time-Parametrized Gait Planning for Humanoid Robots K. Harada, S. Hattori, H. Hirukawa, M. Morisawa, S. Kajita, E. Yoshida IEEE-ASME Transactions on Mechatronics 2010
Analysis on a Friction Based ``Twirl" for Biped Robots K. Miura, S. Nakaoka, M. Morisawa, F. Kanehiro, K. Harada, S. Kajita IEEE International Conference on Robotics and Automation 2010
Creating Facial Motions of Cybernetic Human HRP-4C S. Nakaoka, F. Kanehiro, K. Miura, M. Morisawa, K. Fujiwara, K. Kaneko, K. Kajita, S. Kajita, H. Hirukawa IEEE-RAS International Conference on Humanoid Robots 2009
Reactive Stepping to Prevent Falling for Humanoids M. Morisawa, K. Harada, S. Kajita, K. Kaneko, J. Sola, E. Yoshida, N. Mansard, K. Yokoi, J.-P. Laumond IEEE-RAS International Conference on Humanoid Robots 2009
Robot Motion Remix based on Motion Capture Data - Towards Human-like Locomotion of Humanoid Robots - K. Miura, M. Morisawa, S. Nakaoka, F. Kanehiro, K. Harada, K. Kaneko, S. Kajita IEEE-RAS International Conference on Humanoid Robots 2009
Cybernetic Human HRP-4C K. Kaneko, F. Kanehiro, M. Morisawa, K. Miura, S. Nakaoka, S. Kajita IEEE-RAS International Conference on Humanoid Robots 2009
Kinodynamic Planning for Humanoid Robots walking on Uneven Terrain K. Harada, M. Morisawa, S. Nakaoka, K. Kaneko, S. Kajita Journal of Robotics and Mechatronics 2009
Combining Haptic Sensing with Safe Interaction M. Battaglia, L. Blanchet, A. Kheddar, S. Kajita, K. Yokoi IEEE/RSJ International Conference on Intelligent Robots and Systems 2009
Kinodynamic gait planning for full-body humanoid robots K. Harada, M. Morisawa, K. Miura, S. Nakaoka, K. Fujiwara, K. Kaneko, S. Kajita IEEE/RSJ International Conference on Intelligent Robots and Systems 2008
A Friction Based ``Twirl'' for Biped Robots K. Miura, S. Nakaoka, M. Morisawa, K. Harada, S. Kajita IEEE-RAS International Conference on Humanoid Robots 2008
An Optimal Planning of Falling Motions of a Humanoid Robot K. Fujiwara, S. Kajita, K. Harada, K. Kaneko, M. Morisawa, F. Kanehiro, S. Nakaoka, H. Hirukawa IEEE/RSJ International Conference on Intelligent Robots and Systems 2007
Dinosaur Robotics for Entertainment Applications H. Hirukawa, F. Kanehiro, K. Kaneko, S. Kajita, M. Morisawa IEEE Robotics & Automation Magazine 2007
ZMP-based Biped Running Control (The HRP-2LR Humanoid Biped Robot) S. Kajita, T. Nagasaki, K. Kaneko, H. Hirukawa IEEE Robotics & Automation Magazine 2007
Whole-Body Motion Generation Integrating Operator's Intention and Robot's Autonomy in Controlling Humanoid Robots Ee Neo, K. Yokoi, S. Kajita, K. Tanie IEEE Transactions on Robotics 2007
Constraint-based Dynamics Simulator for Humanoid Robots with Shock Absorbing Mechanisms S. Nakaoka, S. Hattori, F. Kanehiro, S. Kajita, H. Hirukawa IEEE/RSJ International Conference on Intelligent Robots and Systems 2007
A Pattern Generator of Humanoid Robots Walking on a Rough Terrain K. Koyanagi, H. Hirukawa, S. Hattori, M. Morisawa, S. Nakaoka, K. Harada, S. Kajita IEEE/RSJ International Conference on Intelligent Robots and Systems 2007
Motion Planning for Walking Pattern Generation of Humanoid Robots K. Harada, S. Hattori, H. Hirukawa, M. Morisawa, S. Kajita, E. Yoshida IEEE/RSJ International Conference on Intelligent Robots and Systems 2007
Experimentation of Humanoid Walking Allowing Immediate Modification of Foot Place Based on Analytical Solution M. Morisawa, K. Harada, S. Kajita, S. Nakaoka, K. Fujiwara, F. Kanehiro, K. Kaneko, H. Hirukawa IEEE International Conference on Robotics and Automation 2007
ZMP-based Biped Running Enchanced by Toe Springs S. Kajita, K. Kaneko, M. Morisawa, S. Nakaoka IEEE International Conference on Robotics and Automation 2007
Motion Planning of Emergency Stop for Humanoid Robot by State Space Approach M. Morisawa, K. Kaneko, F. Kanehiro, S. Kajita, K. Fujiwara, K. Harada, H. Hirukawa IEEE/RSJ International Conference on Intelligent Robots and Systems 2006
An Analytical Method on Real-time Gait Planning for a Humanoid Robot", Journal of Humanoid Robotics K. Harada, S. Kajita, H. Hirukawa International Journal of Humanoid Robotics 2006
Dynamics and Balance of a Humanoid Robot during Manipulation Tasks K. Harada, S. Kajita, K. Kaneko, H. Hirukawa IEEE Transactions on Robotics 2006
Towards an Optimal Falling Motion for a Humanoid Robot K. Fujiwara, S. Kajita, K. Harada, K. Kaneko, M. Morisawa, F. Kanehiro, S. Nakaoka, H. Hirukawa IEEE-RAS International Conference on Humanoid Robots 2006
A Biped Pattern Generation Allowing Immediate Modification of Foot Placement in Real-time M. Morisawa, K. Harada, S. Kajita, K. Kaneko, F. Kanehiro, K. Fujiwara, S. Nakaoka, H. Hirukawa IEEE-RAS International Conference on Humanoid Robots 2006
A Universal Stability Criterion of the Foot Contact of Legged Robots ? Adios ZMP H. Hirukawa, S. Hattori, K. Harada, S. Kajita, K. Kaneko, F. Kanehiro, K. Fujiwara, M. Morisawa IEEE International Conference on Robotics and Automation 2006
Biped Walking Pattern Generator allowing Auxiliary ZMP Control S. Kajita, M. Morisawa, K. Harada, K. Kaneko, F. Kanehiro, K. Fujiwara, H. Hirukawa IEEE/RSJ International Conference on Intelligent Robots and Systems 2006
Motion Suspension System for Humanoids in case of Emergency - Real-time Motion Generation and Judgment to suspend Humanoid - K. Kaneko, F. Kanehiro, S. Kajita, M. Morisawa, K. Fujiwara, K. Harada, H. Hirukawa IEEE/RSJ International Conference on Intelligent Robots and Systems 2006
Faster and Smoother Walking of Humanoid HRP-2 with Passive Toe Joints R. Sellaouti, O. Stasse, S. Kajita, K. Yokoi, A. Kheddar IEEE/RSJ International Conference on Intelligent Robots and Systems 2006
A Humanoid Robot Carrying a Heavy Object K. Harada, S. Kajita, H. Saito, M. Morisawa, F. Kanehiro, K. Fujiwara, K. Kaneko, H. Hirukawa IEEE International Conference on Robotics and Automation 2005
The Human-Size Humanoid Robot That Can Walk, Lie Down and Get Up H. Hirukawa, S. Kajita, F. Kanehiro, K. Kaneko, T. Isozumi The International Journal of Robotics Research 2005
A Running Controller of Humanoid Bipd HRP-2LR S. Kajita, T. Nagasaki, K. Kaneko, K. Yokoi, K. Tanie IEEE International Conference on Robotics and Automation 2005
Whole Body Locomotion Planning of Humanoid Robots based on a 3D Grid Map F. Kanehiro, T. Yoshimi, S. Kajita, M. Morisawa, K. Fujiwara, K. Harada, K. Kaneko, H. Hirukawa, F. Tomita IEEE International Conference on Robotics and Automation 2005
Pattern Generation of Biped Walking Constrained on Parametric Surface M. Morisawa, S. Kajita, K. Kaneko, K. Harada, F. Kanehiro, K. Fujiwara, H. Hirukawa IEEE International Conference on Robotics and Automation 2005
Slip Observer for Walking on a Low Friction Floor K. Kaneko, F. Kanehiro, S. Kajita, M. Morisawa, K. Fujiwara, K. Harada, H. Hirukawa IEEE/RSJ International Conference on Intelligent Robots and Systems 2005
Emergency stop algorithm for walking humanoid robots M. Morisawa, S. Kajita, K. Harada, K. Fujiwara, F. Kanehiro, K. Kaneko, H. Hirukawa IEEE/RSJ International Conference on Intelligent Robots and Systems 2005
A Running Experiment of Humanoid Biped T. Nagasaki, S. Kajita, K. Kaneko, K. Yokoi, K. Tanie IEEE/RSJ International Conference on Intelligent Robots and Systems 2004
Real-Time Planning of Humanoid Robot's Gait for Force Controlled Manipulation K. Harada, S. Kajita, F. Kanehiro, K. Fujiwara, K. Kaneko, K. Yokoi, H. Hirukawa IEEE International Conference on Robotics and Automation 2004
A Hop towards Running Humanoid Biped S. Kajita, T. Nagasaki, K. Kaneko, K. Yokoi, K. Tanie IEEE International Conference on Robotics and Automation 2004
Locomotion Planning of Humanoid Robots to Pass through Narrow Spaces F. Kanehiro, H. Hirukawa, K. Kaneko, S. Kajita, K. Fujiwara, K. Harada, K. Yokoi IEEE International Conference on Robotics and Automation 2004
Humanoid Robot HRP-2 K. Kaneko, F. Kanehiro, S. Kajita, H. Hirukawa, T. Kawasaki, M. Hirata, K. Akachi, T. Isozumi IEEE International Conference on Robotics and Automation 2004
OpenHRP: A Software Platform for Humanoid Robotics F. Kanehiro, H. Hirukawa, S. Kajita The International Journal of Robotics Research 2004
Experimental Study of Humanoid Robot HRP-1S K. Yokoi, F. Kanehiro, K. Kaneko, S. Kajita, K. Fujiwara, H. Hirukawa The International Journal of Robotics Research 2004
Humanoid robotics platforms developed in HRP H. Hirukawa, F. Kanehiro, K. Kaneko, S. Kajita, K. Fujiwara, Y. Kawai, F. Tomita, S. Hirai, K. Tanie, T. Isozumi, K. Akachi, T. Kawasaki, S. Ota, K. Yokoyama, H. Handa, Y. Fukase, J.-I. Maeda, Y. Nakamura, S. Tachi, H. Inoue Robotics and Autonomous Systems 2004
A stable foot teleoperation method for humanoid robots Ee Neo, K. Yokoi, S. Kajita, H. Saito, K. Tanie IEEE International Conference on Robotics and Automation 2004
Dynamical Balance of a Humanoid Robot Grasping an Environment K. Harada, H. Hirukawa, F. Kanehiro, K. Fujiwara, K. Kaneko, S. Kajita, M. Nakamura IEEE/RSJ International Conference on Intelligent Robots and Systems 2004
Biped Walking on a Low Friction Floor, S. Kajita, K. Kaneko, K. Harada, F. Kanehiro, K. Fujiwara, H. Hirukawa IEEE/RSJ International Conference on Intelligent Robots and Systems 2004
Falling motion control of a humanoid robot trained by virtual supplementary tests K. Fujiwara, F. Kanehiro, H. Saito, S. Kajita, K. Harada, H. Hirukawa IEEE International Conference on Robotics and Automation 2004
Whole Body Teleoperation of a Humanoid Robot Integrating Operator's Intention and Robot's Autonomy-An Experimental Verification- Ee Neo, K. Yokoi, S. Kajita, K. Tanie IEEE/RSJ International Conference on Intelligent Robots and Systems 2003
ZMP Analysis for Arm/Leg Coordination K. Harada, S. Kajita, K. Kaneko, H. Hirukawa IEEE/RSJ International Conference on Intelligent Robots and Systems 2003
The First Human-Size Humanoid that can Fall Over Safely and Stand-up Again K. Fujiwara, F. Kanehiro, S. Kajita, K. Yokoi, H. Saito, K. Harada, K. Kaneko, H. Hirukawa IEEE/RSJ International Conference on Intelligent Robots and Systems 2003
The First Humanoid Robot that has the Same Size as a Human and that can Lie down and Get up F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, S. Kajita, K. Yokoi, H. Hirukawa, K. Akachi, T. Isozumi IEEE International Conference on Robotics and Automation 2003
Biped walking pattern generation by using preview control of zero-moment point S. Kajita, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, H. Hirukawa IEEE International Conference on Robotics and Automation 2003
Experimental Evaluation of the Dynamics Simulation of Biped Walking of Humanoid Robots H. Hirukawa, F. Kanehiro, S. Kajita, K. Fujiwara, K. Yokoi, K. Kaneko, K. Harada IEEE International Conference on Robotics and Automation 2003
Pushing manipulation by humanoid considering two-kinds of ZMPs K. Harada, S. Kajita, K. Kaneko, H. Hirukawa IEEE International Conference on Robotics and Automation 2003
UKEMI: Falling Motion Control to Minimize Damage to Biped Humanoid Robot K. Fujiwara, F. Kanehiro, S. Kajita, K. Kaneko, K. Yokoi, H. Hirukawa IEEE/RSJ International Conference on Intelligent Robots and Systems 2002
Design of Prototype Humanoid Robotics Platform for HRP K. Kaneko, F. Kanehiro, S. Kajita, K. Yokoyama, K. Akachi, T. Kawasaki, S. Ota, T. Isozumi IEEE/RSJ International Conference on Intelligent Robots and Systems 2002
Design and Experiments of Advanced Leg Module(HRP-2L)for Humanoid Robot(HRP-2)Development N. Kanehira, T. Kawasaki, S. Ota, T. Isozumi, T. Kawada, F. Kanehiro, S. Kajita, K. Kaneko IEEE/RSJ International Conference on Intelligent Robots and Systems 2002
Running Pattern Generation for a Humanoid Robot S. Kajita, T. Nagasaki, K. Yokoi, K. Kaneko, K. Tanie IEEE International Conference on Robotics and Automation 2002
A Realtime Pattern Generator for Biped Walking S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Yokoi, H. Hirukawa IEEE International Conference on Robotics and Automation 2002
Open Architecture Humanoid Robot Platform F. Kanehiro, K. Fujiwara, S. Kajita, K. Yokoi, K. Kaneko, H. Hirukawa, Y. Nakamura, K. Yamane IEEE International Conference on Robotics and Automation 2002
Design of Advanced Leg Module for Humanoid Robotics Project of METI K. Kaneko, S. Kajita, F. Kanehiro, K. Yokoi, K. Fujiwara, H. Hirukawa, T. Kawasaki, M. Hirata, T. Isozumi IEEE International Conference on Robotics and Automation 2002
Real-time 3D walking patttern generation for a biped robot with telescopic legs S. Kajita, O. Matsumoto, M. Saigo IEEE International Conference on Robotics and Automation 2001
Virtual Humanoid Robot Platform to Develop Controllers of Real Humanoid Robots without Porting F. Kanehiro, N. Miyataka, S. Kajita, K. Fujiwara, H. Hirukawa, Y. Nakamura, K. Yamane, I. Kohara, Y. Kawamura, Y. Sankai IEEE/RSJ International Conference on Intelligent Robots and Systems 2001
Balancing a Humanoid Robot Using Backdrive Concerned Torque Control and Direct Angular Momentum Feedback S. Kajita, K. Yokoi, M. Saigo, K. Tanie IEEE International Conference on Robotics and Automation 2001
The 3D Linear Inverted Pendulum Mode: A simple modeling for a biped walking pattern generation S. Kajita, F. Kanehiro, K. Kaneko, K. Yokoi, H. Hirukawa IEEE/RSJ International Conference on Intelligent Robots and Systems 2001
Planning Walking Patterns for a Biped Robot Q. Huang, K. Yokoi, S. Kajita, K. Kaneko, H. Arai, N. Koyachi, K. Tanie IEEE Transactions on Robotics and Automation 2001