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Yuta Kojio

13 accepted papers

2022

Imitation Behavior of the Outer Edge of the Foot by Humanoids Using a Simplified Contact State Representation

Yoshimoto Ribayashi, Kento Kawaharazuka, Yasunori Toshimitsu, Daiki Kusuyama, Akihiro Miki, Koki Shinjo +5
IROS 2022poster

There is a way to utilize humanoid robots to mimic human behavior by taking advantage of their human-like proportions. In general, motion capture is used; in this case, the posture of the body links can be taken. However, this method does not provide detailed information on the contact state, which…

Cited by 0Source ↗Scholar ↗
2022

Learning Agile Hybrid Whole-body Motor Skills for Thruster-Aided Humanoid Robots

Fan Shi, Tomoki Anzai, Yuta Kojio, Kei Okada, Masayuki Inaba
IROS 2022poster

Humanoid robots are versatile platforms with the potential for multiple locomotion skills. However, this contact-switched system with only two contact feet is fragile to keep balance in many scenarios. Inspired by birds combining legs and wings, we propose the novel hybrid locomotion behavior for th…

Cited by 5Source ↗Scholar ↗
2022

Robust Humanoid Walking System Considering Recognized Terrain and Robots' Balance

Shimpei Sato, Yuta Kojio, Yohei Kakiuchi, Kunio Kojima, Kei Okada, Masayuki Inaba
IROS 2022poster

When robots walk on uneven terrain, trajectory planning should take into account both the whole-body dy-namics and the ground geometry simultaneously. In uneven terrain environments, there are only a limited number of places where the robot is able to make stable contact with the ground without its…

Cited by 6Source ↗Scholar ↗
2021

Drop Prevention Control for Humanoid Robots Carrying Stacked Boxes

Shimpei Sato, Yuta Kojio, Kunio Kojima, Fumihito Sugai, Yohei Kakiuchi, Kei Okada +1
IROS 2021poster

We developed a method to enable a humanoid robot to carry stacked boxes. In order to transport objects efficiently, it is necessary to carry multiple objects at the same time, but in previous studies, humanoid robots have only been able to carry a single object. When a humanoid robot carries stacked…

Cited by 8Source ↗Scholar ↗
2021

Dynamic Fall Recovery Motion Generation on Biped Robot With Shell Protector

Kim-Ngoc-Khanh Nguyen, Yuta Kojio, Shintaro Noda, Fumihito Sugai, Kunio Kojima, Yohei Kakiuchi +2
RA-L 2021

Fall recovery after falling over is a critical feature for biped robots that work in the real world. We propose a method by considering robot joint angle trajectory as a multivariable function of time and orientation of robot root links. Compared with the conventional method, our method required les

Cited by 10Source ↗Scholar ↗
2020

Bilateral Humanoid Teleoperation System Using Whole-Body Exoskeleton Cockpit TABLIS

Yasuhiro Ishiguro, Tasuku Makabe, Yuya Nagamatsu, Yuta Kojio, Kunio Kojima, Fumihito Sugai +3
RA-L 2020

We describe a system design approach for the bilateral teleoperation of a humanoid robot. We have focused on bipedal stability and 2D/3D locomotion space problems. Our proposed system has two robot hardware and two control software. The master side hardware is newly developed seat-type whole-body ex

Cited by 70Source ↗Scholar ↗
2020

Drive-Train Design in JAXON3-P and Realization of Jump Motions: Impact Mitigation and Force Control Performance for Dynamic Motions

Kunio Kojima, Yuta Kojio, Tatsuya Ishikawa, Fumihito Sugai, Yohei Kakiuchi, Kei Okada +1
IROS 2020poster

For mitigating joint impact torques, researchers have reduced joint stiffness by series elastic actuators, reflected inertia by low gear ratios, and friction torque from drive-trains. However, these impact mitigation methods may impair the control performance of contact forces or may increase motor…

Cited by 9Source ↗Scholar ↗
2020

Footstep Modification Including Step Time and Angular Momentum Under Disturbances on Sparse Footholds

Yuta Kojio, Yuki Omori, Kunio Kojima, Fumihito Sugai, Yohei Kakiuchi, Kei Okada +1
RA-L 2020

Maintaining dynamic balance is an important requirement for bipedal robots. To deal with large disturbances, the footsteps need to be modified depending on the disturbance. Currently, there are few methods that determine footsteps by considering foothold constraints and the balance of the robot. In

Cited by 22Source ↗Scholar ↗
2019

Autonomous Safe Locomotion System for Bipedal Robot Applying Vision and Sole Reaction Force to Footstep Planning

Yuki Omori, Yuta Kojio, Tatsuya Ishikawa, Kunio Kojima, Fumihito Sugai, Yohei Kakiuchi +2
IROS 2019poster

Humanoid robots are expected to conduct tasks on behalf of humans in places such as a disaster scattered environment. Although humanoid robots have potentials to walk on uneven ground unlike wheeled robots, it is difficult to reach a given destination without falling down based on only visual inform…

Cited by 5Source ↗Scholar ↗
2019

Unified Balance Control for Biped Robots Including Modification of Footsteps with Angular Momentum and Falling Detection Based on Capturability

Yuta Kojio, Yasuhiro Ishiguro, Kim-Ngoc-Khanh Nguyen, Fumihito Sugai, Yohei Kakiuchi, Kei Okada +1
IROS 2019poster

In this paper, we propose walking balance control based on Caputurability. The proposed method consists of five strategies: (i) moving Zero Moment Point (ZMP) in the support polygon (ii) landing position modification (iii) landing timing modification (iv) angular momentum control (v) falling detecti…

Cited by 26Source ↗Scholar ↗
2018

Robust and Stretched-Knee Biped Walking Using Joint-Space Motion Control

Kim-Ngoc-Khanh Nguyen, Shintaro Noda, Yuta Kojio, Fumihito Sugai, Shunichi Nozawa, Yohei Kakiuchi +2
IROS 2018poster

Comparing to IK (Inverse Kinematics) based motion control, joint-space motion control is more advantageous in terms of not being restricted by kinematics singularity problem. In this paper, we start with SIMBICON (Simple Biped Locomotion Control) based controller, a joint-space motion control method…

Cited by 7Source ↗Scholar ↗
2017

Bipedal walking control against swing foot collision using swing foot trajectory regeneration and impact mitigation

Tatsuya Ishikawa, Yuta Kojio, Kunio Kojima, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada +1
IROS 2017poster

For humanoid robots, unexpected collision can cause instability of robot balancing and damage to both robots and environment. This paper presents a reactive bipedal walking controller against swing foot collision for humanoid robots. This controller is composed of following three components: 1) Swin…

Cited by 9Source ↗Scholar ↗
2016

Walking control in water considering reaction forces from water for humanoid robots with a waterproof suit

Yuta Kojio, Tatsushi Karasawa, Kunio Kojima, Ryo Koyama, Fumihito Sugai, Shunichi Nozawa +3
IROS 2016poster

In this paper, we develop a waterproof suit for humanoid robots and propose an underwater walking control method. Although very few life-sized humanoid robots are completely waterproof, we can easily make these humanoid robots watertight by putting a waterproof suit on them. In water, humanoid robot…

Cited by 21Source ↗Scholar ↗