Ko Ayusawa

According to our database, Ko Ayusawa authored at least 65 papers between 2008 and 2024.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of four.

2024

Fast Direct Optimal Control for Humanoids Based on Dynamics Representation in FPC Latent Space.

Soya Shimizu, Ko Ayusawa, Gentiane Venture

IEEE Robotics Autom. Lett., 2024

2023

Fast Inverse Kinematics Based on Pseudo-Forward Dynamics Computation: Application to Musculoskeletal Inverse Kinematics.

Ko Ayusawa, Akihiko Murai, Ryusuke Sagawa, Eiichi Yoshida

IEEE Robotics Autom. Lett., September, 2023

Self-supervised Extraction of Human Motion Structures via Frame-wise Discrete Features.

Tetsuya Abe, Ryusuke Sagawa, Ko Ayusawa, Wataru Takano

CoRR, 2023

2022

Estimating Muscle Activity from the Deformation of a Sequential 3D Point Cloud.

Hui Niu, Takahiro Ito, Damien Desclaux, Ko Ayusawa, Yusuke Yoshiyasu, Ryusuke Sagawa, Eiichi Yoshida

J. Imaging, 2022

Humanoids' Feet: State-of-the-Art & Future Directions.

Irene Frizza, Ko Ayusawa, Andrea Cherubini, Hiroshi Kaminaga, Philippe Fraisse, Gentiane Venture

Int. J. Humanoid Robotics, 2022

A study on the benefits of using variable stiffness feet for humanoid walking on rough terrains.

Irene Frizza, Hiroshi Kaminaga, Ko Ayusawa, Philippe Fraisse, Gentiane Venture

Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

2021

DATSURYOKU Sensor - A Capacitive-Sensor-Based Belt for Predicting Muscle Tension: Preliminary Results.

Akihiko Murai, Shusuke Kanazawa, Ko Ayusawa, Sohei Washino, Manabu Yoshida, Masaaki Mochimaru

Sensors, 2021

HRP-4 Walks on Soft Feet.

Manuel G. Catalano, Irene Frizza, Cecilia Morandi, Giorgio Grioli, Ko Ayusawa, Takahiro Ito, Gentiane Venture

IEEE Robotics Autom. Lett., 2021

Generalized Comprehensive Motion Theory for High-Order Differential Dynamics.

Vincent Samy, Ko Ayusawa, Eiichi Yoshida

Proceedings of the Robotics: Science and Systems XVII, Virtual Event, July 12-16, 2021., 2021

Pseudo Direct and Inverse Optimal Control based on Motion Synthesis using FPCA.

Soya Shimizu, Ko Ayusawa, Gentiane Venture

Proceedings of the 20th IEEE-RAS International Conference on Humanoid Robots, 2021

2020

Simultaneous Control Framework for Humanoid Tracking Human Movement With Interacting Wearable Assistive Device.

Takahiro Ito, Ko Ayusawa, Eiichi Yoshida, Hiroshi Kobayashi

IEEE Robotics Autom. Lett., 2020

A review of state estimation of humanoid robot targeting the center of mass, base kinematics, and external wrench.

Ken Masuya, Ko Ayusawa

Adv. Robotics, 2020

Fusion of Multiple Motion Capture Systems for Musculoskeletal Analysis.

Vincent Samy, Ko Ayusawa, Yusuke Yoshiyasu, Ryusuke Sagawa, Eiichi Yoshida

Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, 2020

2019

Real-time musculoskeletal visualization of muscle tension and joint reaction forces.

Vincent Samy, Ko Ayusawa, Eiichi Yoshida

Proceedings of the IEEE/SICE International Symposium on System Integration, 2019

Predictive Inverse Kinematics: optimizing Future Trajectory through Implicit Time Integration and Future Jacobian Estimation.

Ko Ayusawa, Wael Suleiman, Eiichi Yoshida

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Musculoskeletal Estimation Using Inertial Measurement Units and Single Video Image.

Vincent Samy, Ko Ayusawa, Yusuke Yoshiyasu, Ryusuke Sagawa, Eiichi Yoshida

Proceedings of the 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, 2019

Experimental Study for Controller-Friendly Contact Estimation for Humanoid Robot.

Takahiro Ito, Ko Ayusawa, Eiichi Yoshida, Abderrahmane Kheddar

Proceedings of the 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, 2019

2018

Standard Performance Test of Wearable Robots for Lumbar Support.

Cota Nabeshima, Ko Ayusawa, Conrad Hochberg, Eiichi Yoshida

IEEE Robotics Autom. Lett., 2018

Comprehensive theory of differential kinematics and dynamics towards extensive motion optimization framework.

Ko Ayusawa, Eiichi Yoshida

Int. J. Robotics Res., 2018

Evaluation Framework for Passive Assistive Device Based on Humanoid Experiments.

Yumeko Imamura, Ko Ayusawa, Eiichi Yoshida, Takayuki Tanaka

Int. J. Humanoid Robotics, 2018

Evaluation of active wearable assistive devices with human posture reproduction using a humanoid robot.

Takahiro Ito, Ko Ayusawa, Eiichi Yoshida, Hiroshi Kobayashi

Adv. Robotics, 2018

Neurorobotic Approach to Study Huntington Disease Based on a Mouse Neuromusculoskeletal Model.

Satoshi Oota, Yuko Okamura-Oho, Ko Ayusawa, Yosuke Ikegami, Akihiko Murai, Eiichi Yoshida, Yoshihiko Nakamura

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Interspecies Retargeting of Homologous Body Posture Based on Skeletal Morphing.

Ko Ayusawa, Yosuke Ikegami, Akihiko Murai, Yusuke Yoshiyasu, Eiichi Yoshida, Satoshi Oota, Yoshihiko Nakamura

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Gravity Compensation for Impedance Control of Legged Robots Using Optimizationless Proportional Contact Force Estimation.

Christopher Yee Wong, Ko Ayusawa, Eiichi Yoshida

Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots, 2018

Whole-Body Motion Blending Under Physical Constraints Using Functional PCA.

Soya Shimizu, Ko Ayusawa, Eiichi Yoshida, Gentiane Venture

Proceedings of the 18th 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.

Kenya Mori, Ko Ayusawa, Eiichi Yoshida

Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots, 2018

Optimization Framework of Humanoid Walking Pattern for Human Motion Retargeting.

Shimpei Masuda, Ko Ayusawa, Eiichi Yoshida

Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots, 2018

Predicting Muscle Activity and Joint Angle from Skin Shape.

Ryusuke Sagawa, Ko Ayusawa, Yusuke Yoshiyasu, Akihiko Murai

Proceedings of the Computer Vision - ECCV 2018 Workshops, 2018

On prioritized inverse kinematics tasks: Time-space decoupling.

Wael Suleiman, Ko Ayusawa, Fumio Kanehiro, Eiichi Yoshida

Proceedings of the IEEE 15th International Workshop on Advanced Motion Control, 2018

Skeleton Transformer Networks: 3D Human Pose and Skinned Mesh from Single RGB Image.

Yusuke Yoshiyasu, Ryusuke Sagawa, Ko Ayusawa, Akihiko Murai

Proceedings of the Computer Vision - ACCV 2018, 2018

2017

Motion Retargeting for Humanoid Robots Based on Simultaneous Morphing Parameter Identification and Motion Optimization.

Ko Ayusawa, Eiichi Yoshida

IEEE Trans. Robotics, 2017

Comprehensive Theory of Differential Kinematics and Dynamics for Motion Optimization.

Ko Ayusawa, Eiichi Yoshida

Proceedings of the Robotics: Science and Systems XIII, 2017

Toward a Human(oid) Motion Planner.

Eiichi Yoshida, Ko Ayusawa, Yusuke Yoshiyasu, Adrien Escande, Abderrahmane Kheddar

Proceedings of the Robotics Research, The 18th International Symposium, 2017

Towards Unified Framework for Trajectory Optimization Using General Differential Kinematics and Dynamics.

Eiichi Yoshida, Ko Ayusawa

Proceedings of the Robotics Research, The 18th International Symposium, 2017

Generating persistently exciting trajectory based on condition number optimization.

Ko Ayusawa, Antoine Rioux, Eiichi Yoshida, Gentiane Venture, Maxime Gautier

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Simulation-based design for robotic care device: Optimizing trajectory of transfer support robot.

Yumeko Imamura, Ko Ayusawa, Yui Endo, Eiichi Yoshida

Proceedings of the International Conference on Rehabilitation Robotics, 2017

Human motion reproduction by torque-based humanoid tracking control for active assistive device evaluation.

Takahiro Ito, Ko Ayusawa, Eiichi Yoshida, Hiroshi Kobayashi

Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017

Risk estimation for intervertebral disc pressure through musculoskeletal joint reaction force simulation.

Yumeko Imamura, Ko Ayusawa, Eiichi Yoshida

Proceedings of the 2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2017

2016

Humanoid and Human Inertia Parameter Identification Using Hierarchical Optimization.

Jovana Jovic, Adrien Escande, Ko Ayusawa, Eiichi Yoshida, Abderrahmane Kheddar, Gentiane Venture

IEEE Trans. Robotics, 2016

New evaluation framework for human-assistive devices based on humanoid robotics.

Ko Ayusawa, Eiichi Yoshida, Yumeko Imamura, Takayuki Tanaka

Adv. Robotics, 2016

Whole-body motion retargeting using constrained smoothing and functional principle component analysis.

Saori Morishima, Ko Ayusawa, Eiichi Yoshida, Gentiane Venture

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Stationary torque replacement for evaluation of active assistive devices using humanoid.

Takahiro Ito, Ko Ayusawa, Eiichi Yoshida, Hiroshi Kobayashi

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

In-vitro identification of shoulder joint and muscle dynamics based on motion capture and musculoskeletal computation.

Akihiko Murai, Yusuke Kawano, Ko Ayusawa, Mitsunori Tada, Noboru Matsumura, Takeo Nagura

Proceedings of the 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2016

2015

Analyzing Muscle Activity and Force with Skin Shape Captured by Non-contact Visual Sensor.

Ryusuke Sagawa, Yusuke Yoshiyasu, Alexander Alspach, Ko Ayusawa, Katsu Yamane, Adrian Hilton

Proceedings of the Image and Video Technology - 7th Pacific-Rim Symposium, 2015

Identification of dynamics of humanoids: Systematic exciting motion generation.

Jovana Jovic, Franck Philipp, Adrien Escande, Ko Ayusawa, Eiichi Yoshida, Abderrahmane Kheddar, Gentiane Venture

Proceedings of the 2015 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, Mitsuharu Morisawa, Eiichi Yoshida

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Verification of passive power-assist device using humanoid robot: Effect on bending and twisting motion.

Yumeko Imamura, Takayuki Tanaka, Ko Ayusawa, Eiichi Yoshida

Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015

Forward dynamics simulation of human figures on assistive devices using geometric skin deformation model.

Yusuke Yoshiyasu, Ko Ayusawa, Eiichi Yoshida, Yoshio Matsumoto, Yui Endo

Proceedings of the 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2015

Simulation-based optimal motion planning for deformable object.

Eiichi Yoshida, Ko Ayusawa, Ixchel Georgina Ramirez-Alpizar, Kensuke Harada, Christian Duriez, Abderrahmane Kheddar

Proceedings of the 2015 IEEE International Workshop on Advanced Robotics and its Social Impacts, 2015

2014

Identifiability and identification of inertial parameters using the underactuated base-link dynamics for legged multibody systems.

Ko Ayusawa, Gentiane Venture, Yoshihiko Nakamura

Int. J. Robotics Res., 2014

Evaluation of assistive devices using humanoid robot with mechanical parameters identification.

Ko Ayusawa, Shinichiro Nakaoka, Eiichi Yoshida, Yumeko Imamura, Takayuki Tanaka

Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

2012

On the structural identifiability of joint parameters from motion capture data.

Quang-Cuong Pham, Ko Ayusawa, Kanade Kubota, Yoshihiko Nakamura

Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, 2012

Masters' Skill Explained by Visualization of Whole-Body Muscle Activity.

Yosuke Ikegami, Ko Ayusawa, Yoshihiko Nakamura

Proceedings of the Simulation, Modeling, and Programming for Autonomous Robots, 2012

Fast inverse kinematics algorithm for large DOF system with decomposed gradient computation based on recursive formulation of equilibrium.

Ko Ayusawa, Yoshihiko Nakamura

Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Balancing anatomy and function in a musculoskeletal model of hands.

Aaron Blasdel, Yosuke Ikegami, Ko Ayusawa, Yoshihiko Nakamura

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

2011

Muscle strength and Mass Distribution Identification toward subject-specific musculoskeletal modeling.

Mitsuhiro Hayashibe, Gentiane Venture, Ko Ayusawa, Yoshihiko Nakamura

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Real-time implementation of physically consistent identification of human body segments.

Ko Ayusawa, Gentiane Venture, Yoshihiko Nakamura

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Inverse kinematics based on high-order moments of feature points and their Jacobian matrices.

Ko Ayusawa, Yoshihiko Nakamura

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

2010

Identification of standard inertial parameters for large-DOF robots considering physical consistency.

Ko Ayusawa, Yoshihiko Nakamura

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

High-fidelity joint drive system by torque feedback control using high precision linear encoder.

Tomohiro Kawakami, Ko Ayusawa, Hiroshi Kaminaga, Yoshihiko Nakamura

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Identification of flying humanoids and humans.

Ko Ayusawa, Gentiane Venture, Yoshihiko Nakamura

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

2009

Optimal estimation of human body segments dynamics using realtime visual feedback.

Gentiane Venture, Ko Ayusawa, Yoshihiko Nakamura

Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

A numerical method for choosing motions with optimal excitation properties for identification of biped dynamics - An application to human.

Gentiane Venture, Ko Ayusawa, Yoshihiko Nakamura

Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

2008

Identification of humanoid robots dynamics using floating-base motion dynamics.

Ko Ayusawa, Gentiane Venture, Yoshihiko Nakamura

Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Identification of the inertial parameters of a humanoid robot using unactuated dynamics of the base link.

Ko Ayusawa, Gentiane Venture, Yoshihiko Nakamura

Proceedings of the 8th IEEE-RAS International Conference on Humanoid Robots, 2008