Identification of the inertial parameters of a humanoid robot using unactuated dynamics of the base link. - Ko Ayusawa; Gentiane Venture; Yoshihiko Nakamura (Humanoids, 2008)

Identification of humanoid robots dynamics using floating-base motion dynamics. - Ko Ayusawa; Gentiane Venture; Yoshihiko Nakamura (IROS, 2008)

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 (ICRA, 2009)

Optimal estimation of human body segments dynamics using realtime visual feedback. - Gentiane Venture; Ko Ayusawa; Yoshihiko Nakamura (IROS, 2009)

Identification of flying humanoids and humans. - Ko Ayusawa; Gentiane Venture; Yoshihiko Nakamura (ICRA, 2010)

High-fidelity joint drive system by torque feedback control using high precision linear encoder. - Tomohiro Kawakami; Ko Ayusawa; Hiroshi Kaminaga; Yoshihiko Nakamura (ICRA, 2010)

Identification of standard inertial parameters for large-DOF robots considering physical consistency. - Ko Ayusawa; Yoshihiko Nakamura (IROS, 2010)

Inverse kinematics based on high-order moments of feature points and their Jacobian matrices. - Ko Ayusawa; Yoshihiko Nakamura (ICRA, 2011)

Real-time implementation of physically consistent identification of human body segments. - Ko Ayusawa; Gentiane Venture; Yoshihiko Nakamura (ICRA, 2011)

Muscle strength and Mass Distribution Identification toward subject-specific musculoskeletal modeling. - Mitsuhiro Hayashibe; Gentiane Venture; Ko Ayusawa; Yoshihiko Nakamura (IROS, 2011)

Balancing anatomy and function in a musculoskeletal model of hands. - Aaron Blasdel; Yosuke Ikegami; Ko Ayusawa; Yoshihiko Nakamura (ICRA, 2012)

Fast inverse kinematics algorithm for large DOF system with decomposed gradient computation based on recursive formulation of equilibrium. - Ko Ayusawa; Yoshihiko Nakamura (IROS, 2012)

Masters' Skill Explained by Visualization of Whole-Body Muscle Activity. - Yosuke Ikegami; Ko Ayusawa; Yoshihiko Nakamura (SIMPAR, 2012)

On the structural identifiability of joint parameters from motion capture data. - Quang-Cuong Pham; Ko Ayusawa; Kanade Kubota; Yoshihiko Nakamura (SMC, 2012)

Evaluation of assistive devices using humanoid robot with mechanical parameters identification. - Ko Ayusawa; Shinichiro Nakaoka; Eiichi Yoshida; Yumeko Imamura; Takayuki Tanaka (Humanoids, 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)

Simulation-based optimal motion planning for deformable object. - Eiichi Yoshida; Ko Ayusawa; Ixchel Georgina Ramirez-Alpizar; Kensuke Harada; Christian Duriez; Abderrahmane Kheddar (ARSO, 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 001 (EMBC, 2015)

Verification of passive power-assist device using humanoid robot: Effect on bending and twisting motion. - Yumeko Imamura; Takayuki Tanaka; Ko Ayusawa; Eiichi Yoshida (Humanoids, 2015)

Motion retargeting for humanoid robots based on identification to preserve and reproduce human motion features. - Ko Ayusawa; Mitsuharu Morisawa; Eiichi Yoshida (IROS, 2015)

Identification of dynamics of humanoids: Systematic exciting motion generation. - Jovana Jovic; Franck Philipp; Adrien Escande; Ko Ayusawa; Eiichi Yoshida; Abderrahmane Kheddar; Gentiane Venture (IROS, 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 001 (PSIVT, 2015)

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 (EMBC, 2016)

Stationary torque replacement for evaluation of active assistive devices using humanoid. - Takahiro Ito; Ko Ayusawa; Eiichi Yoshida; Hiroshi Kobayashi (Humanoids, 2016)

Whole-body motion retargeting using constrained smoothing and functional principle component analysis. - Saori Morishima; Ko Ayusawa; Eiichi Yoshida; Gentiane Venture (Humanoids, 2016)

New evaluation framework for human-assistive devices based on humanoid robotics. - Ko Ayusawa; Eiichi Yoshida; Yumeko Imamura; Takayuki Tanaka (Adv. Robotics, 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)

Risk estimation for intervertebral disc pressure through musculoskeletal joint reaction force simulation. - Yumeko Imamura; Ko Ayusawa; Eiichi Yoshida (EMBC, 2017)

Human motion reproduction by torque-based humanoid tracking control for active assistive device evaluation. - Takahiro Ito; Ko Ayusawa; Eiichi Yoshida; Hiroshi Kobayashi (Humanoids, 2017)

Simulation-based design for robotic care device: Optimizing trajectory of transfer support robot. - Yumeko Imamura; Ko Ayusawa; Yui Endo 001; Eiichi Yoshida (ICORR, 2017)

Generating persistently exciting trajectory based on condition number optimization. - Ko Ayusawa; Antoine Rioux; Eiichi Yoshida; Gentiane Venture; Maxime Gautier (ICRA, 2017)

Towards Unified Framework for Trajectory Optimization Using General Differential Kinematics and Dynamics. - Eiichi Yoshida; Ko Ayusawa (ISRR, 2017)

Toward a Human(oid) Motion Planner. - Eiichi Yoshida; Ko Ayusawa; Yusuke Yoshiyasu; Adrien Escande; Abderrahmane Kheddar (ISRR, 2017)

Comprehensive Theory of Differential Kinematics and Dynamics for Motion Optimization. - Ko Ayusawa; Eiichi Yoshida (Robotics: Science and Systems, 2017)

Motion Retargeting for Humanoid Robots Based on Simultaneous Morphing Parameter Identification and Motion Optimization. - Ko Ayusawa; Eiichi Yoshida (IEEE Trans. Robotics, 2017)

Skeleton Transformer Networks: 3D Human Pose and Skinned Mesh from Single RGB Image. - Yusuke Yoshiyasu; Ryusuke Sagawa; Ko Ayusawa; Akihiko Murai (ACCV (4), 2018)

On prioritized inverse kinematics tasks: Time-space decoupling. - Wael Suleiman; Ko Ayusawa; Fumio Kanehiro; Eiichi Yoshida (AMC, 2018)

Predicting Muscle Activity and Joint Angle from Skin Shape. - Ryusuke Sagawa; Ko Ayusawa; Yusuke Yoshiyasu; Akihiko Murai (ECCV Workshops (1), 2018)

Optimization Framework of Humanoid Walking Pattern for Human Motion Retargeting. - Shimpei Masuda; Ko Ayusawa; Eiichi Yoshida (Humanoids, 2018)

Online Center of Mass and Momentum Estimation for a Humanoid Robot Based on Identification of Inertial Parameters. - Kenya Mori; Ko Ayusawa; Eiichi Yoshida (Humanoids, 2018)

Whole-Body Motion Blending Under Physical Constraints Using Functional PCA. - Soya Shimizu; Ko Ayusawa; Eiichi Yoshida; Gentiane Venture (Humanoids, 2018)

Gravity Compensation for Impedance Control of Legged Robots Using Optimizationless Proportional Contact Force Estimation. - Christopher Yee Wong; Ko Ayusawa; Eiichi Yoshida (Humanoids, 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 (IROS, 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 (IROS, 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)

Evaluation Framework for Passive Assistive Device Based on Humanoid Experiments. - Yumeko Imamura; Ko Ayusawa; Eiichi Yoshida; Takayuki Tanaka (Int. J. Humanoid Robotics, 2018)

Comprehensive theory of differential kinematics and dynamics towards extensive motion optimization framework. - Ko Ayusawa; Eiichi Yoshida (Int. J. Robotics Res., 2018)

Standard Performance Test of Wearable Robots for Lumbar Support. - Cota Nabeshima; Ko Ayusawa; Conrad Hochberg; Eiichi Yoshida (IEEE Robotics Autom. Lett., 2018)

Experimental Study for Controller-Friendly Contact Estimation for Humanoid Robot. - Takahiro Ito; Ko Ayusawa; Eiichi Yoshida; Abderrahmane Kheddar (ARSO, 2019)

Musculoskeletal Estimation Using Inertial Measurement Units and Single Video Image. - Vincent Samy; Ko Ayusawa; Yusuke Yoshiyasu; Ryusuke Sagawa; Eiichi Yoshida (ARSO, 2019)

Predictive Inverse Kinematics: optimizing Future Trajectory through Implicit Time Integration and Future Jacobian Estimation. - Ko Ayusawa; Wael Suleiman; Eiichi Yoshida (IROS, 2019)

Real-time musculoskeletal visualization of muscle tension and joint reaction forces. - Vincent Samy; Ko Ayusawa; Eiichi Yoshida (SII, 2019)

Fusion of Multiple Motion Capture Systems for Musculoskeletal Analysis. - Vincent Samy; Ko Ayusawa; Yusuke Yoshiyasu; Ryusuke Sagawa; Eiichi Yoshida (SII, 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)

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)

Pseudo Direct and Inverse Optimal Control based on Motion Synthesis using FPCA. - Soya Shimizu; Ko Ayusawa; Gentiane Venture (HUMANOIDS, 2021)

Generalized Comprehensive Motion Theory for High-Order Differential Dynamics. - Vincent Samy; Ko Ayusawa; Eiichi Yoshida (Robotics: Science and Systems, 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)

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)

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 (Humanoids, 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)

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)

Self-supervised Extraction of Human Motion Structures via Frame-wise Discrete Features. - Tetsuya Abe; Ryusuke Sagawa; Ko Ayusawa; Wataru Takano (CoRR, 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., 2023)

Optimizing and Predicting Human-Symbiotic Robot Trajectory. - Tomoya Sasaki; Ko Ayusawa; Eiichi Yoshida (BioRob, 2024)

Measuring and Analyzing Human Wide-Area Contact Motion using Tactile Sensors. - Shuang Wang; Ko Ayusawa; Eiichi Yoshida (Humanoids, 2024)

Contacts from Motion: Learning Discrete Features for Automatic Contact Detection and Estimation from Human Movements. - Hibiki Miyake; Ko Ayusawa; Ryusuke Sagawa; Eiichi Yoshida (IROS, 2024)

Muscle Property Optimization Based on Motion Intentionality for Motor Skill Augmentation. - Hinako Suzuki; Ko Ayusawa; Akihiko Murai (J. Robotics Mechatronics, 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)

Comprehensive Gradient Computation Framework of PCS Model for Soft Robot Simulation. - Taiki Ishigaki; Ko Ayusawa; Ko Yamamoto 001 (IEEE Robotics Autom. Lett., 2024)

A Cybernetic Avatar System to Embody Human Telepresence for Connectivity, Exploration, and Skill Transfer. - Rafael Cisneros Limón; Antonin Dallard; Mehdi Benallegue; Kenji Kaneko; Hiroshi Kaminaga; Pierre Gergondet; Arnaud Tanguy; Rohan Pratap Singh; Leyuan Sun; Yang Chen 026; Carole Fournier; Guillaume Lorthioir; et al. (Int. J. Soc. Robotics, 2025)

Unified Framework of Gradient Computation for Hybrid-Link System and Its Dynamical Simulation by Implicit Method. - Taiki Ishigaki; Ko Ayusawa; Ko Yamamoto 001 (IEEE Robotics Autom. Lett., 2025)

Active Learning for Exciting Motion Generation With Safety Constraint: Toward Reducing Model-Reality Gap in Inertial Parameters. - Kenya Mori; Ko Ayusawa; Gentiane Venture (IEEE Robotics Autom. Lett., 2025)