ロボティクス技術を最新のAIと連携し、実世界で活躍するスマートなロボットを作ることに興味があります。

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Selected Research Projects

• Research Snapshots: Toward Transparent Synergies Between Humans and Robots

• Shared Autonomy and Teleoperation
  This research focuses on developing shared autonomies that enable intuitive and efficient teleoperation of robots by combining AI-driven methodologies with human input. It is conducted by an international team from Japan, Germany, and France.
  Link1, Link2
  

• Foundation Models Enabled Robotics This research aims to enhance autonomous robotic manipulation through Human-Robot Collaboration (HRC) by leveraging foundation models to translate high-level language commands into actionable motion sequences, integrating teleoperation with Dynamic Movement Primitives (DMP) for skill learning and adaptation.
  Link
  

• Haptic Interfaces This research develops a multi-point tactile interface capable of presenting shear forces alongside normal forces, allowing for real-time perception of object slippage and posture changes during dexterous in-hand manipulation, which was featured in the News Media.
  Link
  

• Tactile Sensing and Feedback This research leverages vision-based tactile sensors such as DIGIT and Gelsight to estimate contact force, enabling force feedback through bilateral control. It aims to expand tactile feedback possibilities by feeding back both normal and shear forces utilizing novel tactile interfaces.
  Link1, Link2
  

• Exoskeletons and Robotic Limbs This research focuses on the development of exoskeletons and robotic limbs, exploring advanced control systems, biomechanics, and sensor technologies to enhance human mobility and strength, while emphasizing embodiment to create more seamless integration between users and robotic artifacts.
  Link1, Link2, Link3
  

• Learning Locomanipulation Policies This research investigates the development of locomanipulation policies for legged robots, emphasizing whole-body control and reinforcement learning to achieve seamless integration of locomotion and manipulation. By leveraging Isaac Sim for sim-to-real transfer, it addresses challenges in deploying adaptive and robust policies in real-world environments. [Coming Soon]
  

Fundings

• Human-Robot Collaboration Framework through Teleoperation and Large Language Models
  (大規模言語モデルを活用した遠隔操作による人・ロボット協働基盤の創成)
  JSPS Grant-in-Aid for Early-Career Scientists, 2024–2027, Principal Investigator

• Embodied Interface for Enhanced Teleoperation of Intelligent Robots
  (身体化インターフェイスを介したスマートロボットの遠隔操作に関する研究)
  JSPS Grant-in-Aid for Early-Career Scientists, 2022–2024, Principal Investigator

• CHIRON
  (AI empowered general-purpose assistive robotic system for dexterous object manipulation through embodied teleoperation and shared control)
  JST-ANR-DFG Trilateral AI Research, 2020–2024, Primary Researcher

• Astérix
  (Edge AI Transformer-based Adaptable Human Robot Collaboration System for Smarter Industry 4.0X)
  JST-ANR Strategic International Collaborative Research Program, 2023–2027, Participation

Memorable Moments

We have received Best Paper Awards from IEEE International Conference on Mechatronics and Automation (ICMA 2024).

Publications