経歴

鮎澤 光 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.

論文リストは完全ではない場合があります。特に2017年以前の論文については、更新作業を進めています。
タイトル 著者 学会/論文誌 bib pdf
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
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
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
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
Generalized Comprehensive Motion Theory for High-Order Differential Dynamics V. Samy, Ko Ayusawa, E. Yoshida Robotics: Science and Systems 2021
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
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
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
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
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
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
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
Toward a Human(oid) Motion Planner E. Yoshida, Ko Ayusawa, Y. Yoshiyasu, A. Escande, A. Kheddar International Symposium on Robotics Research 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
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
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
On prioritized inverse kinematics tasks: Time-space decoupling W. Suleiman, Ko Ayusawa, F. Kanehiro, E. Yoshida IEEE International Workshop on Advanced Motion Control 2018
Predicting Muscle Activity and Joint Angle from Skin Shape R. Sagawa, Ko Ayusawa, Y. Yoshiyasu, A. Murai European Conference on Computer Vision 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
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
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
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
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
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
Standard Performance test of Wearable Robots for Lumbar Support C. Nabeshima, Ko Ayusawa, C. Hochberg, E. Yoshida IEEE Robotics and Automation Letters 2018
Comprehensive theory of differential kinematics and dynamics towards extensive motion optimization framework Ko Ayusawa, E. Yoshida The International Journal of Robotics Research 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
Motion Retargeting for Humanoid Robots Based on Simultaneous Morphing Parameter Identification and Motion Optimization Ko Ayusawa, E. Yoshida IEEE Transactions on Robotics 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
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
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
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
Towards Unified Framework for Trajectory Optimization using General Differential Kinematics and Dynamics E. Yoshida, Ko Ayusawa International Symposium on Robotics Research 2017
Comprehensive Theory of Differential Kinematics and Dynamics for Motion Optimization Ko Ayusawa, E. Yoshida Robotics: Science and Systems 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
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
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