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
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 | 年 | 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| Toward a Human(oid) Motion Planner | E. Yoshida, Ko Ayusawa, Y. Yoshiyasu, A. Escande, A. Kheddar | International Symposium on Robotics Research | 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 |