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Takahide Yoshiike

14 accepted papers

2026

Adaptive Non-Linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots

Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti, Giulio Romualdi, Stefano Dafarra, Tomohiro Kawakami +4
ICRA 2026poster

Nonlinear model predictive locomotion controllers based on the reduced centroidal dynamics are nowadays ubiquitous in legged robots. These schemes, even if they assume an inherent simplification of the robot’s dynamics, were shown to endow robots with a step-adjustment capability in reaction to smal…

Cited by 0Source ↗PDF ↗Scholar ↗
2025

Adaptive Non-Linear Centroidal MPC With Stability Guarantees for Robust Locomotion of Legged Robots

Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti, Giulio Romualdi, Stefano Dafarra, Tomohiro Kawakami +4
RA-L 2025

Nonlinear model predictive locomotion controllers based on the reduced centroidal dynamics are nowadays ubiquitous in legged robots. These schemes, even if they assume an inherent simplification of the robot's dynamics, were shown to endow robots with a step-adjustment capability in reaction to smal

Cited by 10Source ↗Scholar ↗
2025

Humanoid-Human Sit-to-Stand-to-Sit Assistance

Hugo Lefévre, Tomohiro Chaki, Tomohiro Kawakami, Arnaud Tanguy, Takahide Yoshiike, Abderrahmane Kheddar
RA-L 2025

Standing and sitting are basic tasks that become increasingly difficult with age or frailty. Assisting these movements using humanoid robots is a complex challenge, particularly in determining where and how much force the robot should apply to effectively support the human's dynamic motions. In this

Cited by 6Source ↗Scholar ↗
2023

A Control Approach for Human-Robot Ergonomic Payload Lifting

Lorenzo Rapetti, Carlotta Sartore, Mohamed Elobaid, Yeshasvi Tirupachuri, Francesco Draicchio, Tomohiro Kawakami +2
ICRA 2023poster

Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control approach for human-robot collaboration based on human monitoring…

Cited by 10Source ↗Scholar ↗
2022

Load-sensitive Data Acquisition for a Tactile Sensor System of Multi-fingered Robotic Hands

Ryusuke Ishizaki, Shun Ogiwara, Fumiya Hamatsu, Tomoyuki Sakurai, Hirofumi Shin, Takahide Yoshiike
ICRA 2022poster

In this paper, we present a data acquisition method to realize a distributed tactile sensor system that can provide wide-range, and high-sensitivity with a small data size for communication. Since the data size is proportional to the number of acquired data and the resolution of the data, we propose…

Cited by 2Source ↗Scholar ↗
2022

Powerful and dexterous multi-finger hand using dynamical pulley mechanism

Tadaaki Hasegawa, Hironori Waita, Tomohiro Kawakami, Yoshinari Takemura, Tetsuya Ishikawa, Yuta Kimura +3
ICRA 2022poster

A multi-fingered hand that can grasp and manipulate a variety of objects is an option for assisting people in their daily lives. However, the range of torque output that can be handled by the multi-fingered hand is very limited compared to the capability of the human hand. In this paper, we introduc…

Cited by 13Source ↗Scholar ↗
2021

Shared Control of Robot-Robot Collaborative Lifting with Agent Postural and Force Ergonomic Optimization

Lorenzo Rapetti, Yeshasvi Tirupachuri, Alberto Ranavolo, Tomohiro Kawakami, Takahide Yoshiike, Daniele Pucci
ICRA 2021poster

Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple agents acting on a shared environment. In this paper we pres…

Cited by 12Source ↗Scholar ↗
2020

Learning of Key Pose Evaluation for Efficient Multi-contact Motion Planner

Shintaro Noda, Masaki Murooka, Yuki Asano, Ryusuke Ishizaki, Tomohiro Kawakami, Tomoki Watabe +3
ICRA 2020poster

It is necessary to use not only foot but also hand, knee and other body parts to support body weight for locomotion in uneven terrain. Such multi-contact motion planning is an important research topic including lots of previous works; however, a problem of computational speed of planning is still re…

Cited by 3Source ↗Scholar ↗
2018

Compact and High Performance Torque-Controlled Actuators and its Implementation to Disaster Response Robot

Yoshiki Kanemoto, Takahide Yoshiike, Masaaki Muromachi, Masahiko Osada
ICRA 2018poster

Applying robots in narrow and cluttered disaster environments such as oil refineries requires a slim body and a wide range of motion. It is also necessary to have abilities to absorb unexpected contact with the environment and to walk on scattered debris. In this paper we propose new compact and hig…

Cited by 17Source ↗Scholar ↗
2018

Simultaneous Optimization of ZMP and Footsteps Based on the Analytical Solution of Divergent Component of Motion

Takumi Kamioka, Hiroyuki Kaneko, Toru Takenaka, Takahide Yoshiike
ICRA 2018poster

Real-time planning of footsteps has been a big challenge for bipedal research. A large number of methods have been proposed over the last several years. In addition, divergent component of motion (DCM) of linear inverted pendulum (LIP) has been applied to solve this problem thus attracting a great d…

Cited by 41Source ↗Scholar ↗
2017

Development of experimental legged robot for inspection and disaster response in plants

Takahide Yoshiike, Mitsuhide Kuroda, Ryuma Ujino, Hiroyuki Kaneko, Hirofumi Higuchi, Shingo Iwasaki +3
IROS 2017poster

In this paper, a new experimental legged robot for inspection and disaster response in social infrastructures designed for humans, such as factories and power plants is presented. The robot has distinctive features to climb up and down ladders with a narrow cage, to pass through narrow environments,…

Cited by 66Source ↗Scholar ↗
2015

Dynamic gait transition between bipedal and quadrupedal locomotion

Takumi Kamioka, Tomoki Watabe, Masao Kanazawa, Hiroyuki Kaneko, Takahide Yoshiike
IROS 2015poster

Applying humanoid robots in disaster sites requires strong locomotion abilities due to the cluttered and unstructured environment. Besides bipedal walking, it is beneficial to provide functionality to locomote on four limbs, and to control the transitions between bipedal and quadrupedal locomotion.…

Cited by 34Source ↗Scholar ↗
2015

Robust vertical ladder climbing and transitioning between ladder and catwalk for humanoid robots

Masao Kanazawa, Shunichi Nozawa, Yohei Kakiuchi, Yoshiki Kanemoto, Mitsuhide Kuroda, Kei Okada +2
IROS 2015poster

This paper presents a novel control method to stabilize the whole-body motion of humanoid robots when climbing vertical ladders and transitioning between ladders and catwalks. In such environments, the body of the robot tends to incline and rotate because of the slippery surfaces. The inclination an…

Cited by 45Source ↗Scholar ↗