横井　一仁　博士（工学） Kazuhito Yokoi, Ph.D. Director Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (AIST) AIST Tsukuba Central 2, Tsukuba, 305-8568 JAPAN Phone: +81-298-615201 Fax: +81-298-615989 Kazuhito.Yokoi (append "@aist.go.jp")

Curriculum Vitae

Date of Birth
November 11, 1961.

Education
He received the B. E. degree in Mechanical Engineering from the Nagoya Institute of Technology in 1984, and the M. E. and Ph. D. degrees in Mechanical Engineering Science from the Tokyo Institute of Technology in 1986 and 1994, respectively.

Professional Positions
In 1986, he joined the Mechanical Engineering Laboratory, Ministry of International Trade and Industry. He is currently Director of Intelligent Systems Research Institute (IS), National Institute of Advanced Industrial Science and Technology (AIST), at Tsukuba, Japan. He is also an Adjunctive Professor of Cooperative Graduate School at University of Tsukuba, a Guest Professor of Faculty of Science and Engineering at Waseda University. From August 2013 to MArch 2015, he was a General Manager, International Research Institute for Nuclear Decommissioning. From November 1994 to October 1995, he was a Visiting Scholar at Robotics Laboratory, Computer Science Department, Stanford University.

Recent Journal Papers
F. Kanehiro, E. Yoshida, K. Yokoi, “Efficient reaching motion planning method for low- level autonomy of teleoperated humanoid robots,” ADVANCED ROBOTICS, Vol.28, No.7, pp.433-439 (2014)
K. Miura, F. Kanehiro, K. Kaneko, S. Kajita, K. Yokoi, “Slip-Turn for Biped Robots,” IEEE TRANSACTIONS ON ROBOTICS, Vol.29, No.4, pp.875-887 (2013)
S. Kang, K. Komoriya, K. Yokoi, T. Kotoku, B. Kim, S. Park, “Control of Impulsive Contact Force between Mobile Manipulator and Environment Using Effective Mass and Damping Controls,” Int. J. Precision Engineering and Manufacturing, Vo.11, No.5, pp.697-704 (2010)
N. Kwak, K. Yokoi, B.H. Lee, “Analysis of Rank-Based Resampling Based on Particle Diversity in the Rao-Blackwellized Particle Filter for Simultaneous Localization and Mapping,” ADVANCED ROBOTICS, Vol.24, No.4, pp.585-604 (2010)
E. Yoshida, M. Poirier, J.P. Laumond, O. Kanoun, L. Florent, R. Alami, K. Yokoi, “Pivoting based manipulation by a humanoid robot,” AUTONOMOUS ROBOTS, Vo.28, No.1, pp.77-88 (2010)
O. Stasse, B. Verrelst, B. Vanderborght, K. Yokoi, “Strategies for Humanoid Robots to Dynamically Walk over Large Obstacles,” IEEE TRANSACTIONS ON ROBOTICS, Vol.25, No.4, pp.960-967 (2009)
K. Sakaguchi, K. Ujiie, S. Tsuno, K. Yokoi, K. Wada, “Design of Common Environmental Information for Door-closing Tasks with Various Robots,” Int. J. Robotics and Automation, Vol.24, No.3, pp.203-213 (2009)
E. Yoshida, J.P. Laumond, C. Esteves, O. Kanoun, A. Mallet, K. Sakaguchi, K. Yokoi, “Motion Autonomy for Humanoids: Experiments on HRP-2 No. 14,” Computer Animation and Virtual Worlds, No.20, pp.511-522 (2009)
Y. Guan, K. Yokoi, X. Zhang, “Numerical Methods for Reachable Space Generation of Humanoid Robots,” Int. J. Robotics Research, Vol.27, No.8, pp.935-950 (2008)
O. Stasse, B. Verrelst, P.B. Wieber, B. Vanderborght, P. Evrard, A. Kheddar, K. Yokoi, "Modular Architecture for Humanoid Walking Pattern Prototyping and Experiments," ADVANCED ROBOTICS, Vol.22, No.6, pp.589-611 (2008)
E.S. Neo, K. Yokoi, S. Kajita, K. Tanie "Whole-Body Motion Generation Integrating Operator's Intention and Robot's Autonomy in Controlling Humanoid Robots," IEEE TRANSACTIONS ON ROBOTICS, Vol.23, No.4, pp.763-775 (2007)
F. Saidi, O. Stasse, K. Yokoi, "Active Visual Search by a Humanoid Robot," Lecture Notes in Control and Information Sciences: Recent Progress in Robotics: Viable Robotic Service to Human, Springer-Verlag, Vol.370, pp.171-184 (2007)
A. Kheddar, E.S. Neo, R. Tadakuma, K. Yokoi, "Enhanced Teleoperation Through Virtual Reality Techniques," Springer Tracts in Advanced Robotics: Advances in Telerobotics, Vol.31, pp.139-159 (2007)
K. Yokoi, E.S. Neo, T. Sakaguchi, O. Stasse, Y. Kawai, K. Maruyama, "Humanoid Robot HRP-2 with Human Supervision," Springer Tracts in Advanced Robotics: Experimental Robotics, Vol.39, pp.513-522 (2007)
K. Yokoi, et al., "A Tele-operated Humanoid Operator," Int. J. Robotics Research, vol.25, no.5-6, pp.593-602 (2006)
E. S. Neo, K. Yokoi, S. Kajita, F. Kanehiro, and K. Tanie, "A Switching Command-Based Whole-Body Operation Method for Humanoid Robots," IEEE/ASME Tran. on Mechatronics, Vol.10, No.5, pp.546-559 (2005)
K. Yokoi, F. Kanehiro, K. Kaneko, S. Kajita，K. Fujiwara, H. Hirukawa, "Experimental Study of Humanoid Robot HRP-1S," Int. J. of Robotics Research，Vol.23, No.4/5, pp.351-362 (2004)
K. Yokoi, et al., "Humanoid Robot Applications in HRP," Int. J. Humanoid Robots, Vol.1, No.3, pp.409-428 (2004)
N.E. Sian, K. Yokoi, S. Kajita, F. Kanehiro, K. Tanie, "Whole Body Teleoperation of a Humanoid Robot: Development of a Simple Master Device using Joysticks," J. Robotics Society of Japan, Vol.22, No.4, pp.519-527 (2004) (in Japanese)
N.E. Sian, K. Yokoi, S. Kajita, K. Tanie, "Whole Body Teleoperation of a Humanoid Robot: A Method of Integrating Operator's Intention and Robot's Autonomy," J. Robotics Society of Japan, Vol.22, No.8, pp.1013-1020 (2004) (in Japanese)

Recent Conference Papers
O. Stasse, E. Adrien, N. Mansard, S. Miossec, P. Rvrard, A. Kheddar "Real-Time (self)-Collision Avoidance Task on a HRP-2 Humanoid Robot," Proc. IEEE Int. Conf. Robotics and Automation, pp.3200-3205 (2008)
H. Arisumi, J.-R. Chardonnet, A. Kheddar, K. Yokoi, "Dynamic Lifting Motion of Humanoid Robots," Proc. IEEE International Conference on Robotics and Automation, pp.2661-2667 (2007)
N. Mansard, O. Stasse, F. Chaumette, K. Yokoi "Visually-Guided Grasping While Walking on a Humanoid Robot," Proc. IEEE Int. Conf Robotics and Automation, pp.3041-3047 (2007)
O. Stasse, B. Verrelst, A.J. Davison, N. Mansard, B. Vanderborght, C. Esteves, F. Saidi, K. Yokoi "Integrating Walking and Vision to Increase Humanoid Robot Autonomy," Video Proc. IEEE Int. Conf. Robotics and Automation, pp.2772-2773 (2007)
F. Saidi, O. Stasse, K. Yokoi "Active Visual Search by a Humanoid Robot," Proc. International Conference on Advanced Robotics, pp.360-365 (2007)
F. Saidi, O. Stasse, K. Yokoi "The Visibility Map, A Constraint for an Active Visual Search by a Humanoid Robot," Proc. IFAC Symposium on Intelligent Autonomous Vehicles, (2007)
K. Yokoi, "Humanoid Robotics," Proc. Int. Conf. Control, Automation and Systems, (2007)
H. Sanada, E. Yoshida, K. Yokoi "Passing Under Obstacles with Humanoid Robots," Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp.4028-4034 (2007)
F. Saidi, O. Stasse, K. Yokoi, F. Kanehiro, "Online Object Search with a Humanoid Robot," Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp.1677-1682 (2007)
T. Sakaguchi, T. Ujiie, S. Tsuno, K. Ohara, E.S. Neo, K. Yokoi, "Intelligent Ambience-Robot Cooperation -Closing Door with Humanoid Robot-," Proc. International Conference on Ubiquitous Robots and Ambient Intelligence, pp.383-388 (2007)
E.S. Neo, T. Sakaguchi, K. Yokoi, "Constructing an Interactive Behavioral On-line Operation System for Humanoid Robots Using Natural Language Instructions," Proc. Syposium on Language and Robots, pp.77-78 (2007)
O. Stasse, D. Larlus, B. Lagard, A. Escande, F. Saidi, A. Kheddar, K. Yokoi, F. Jurie, "Towards Autonomous Object Reconstruction for Visual Search by the Humanoid Robot HRP-2," Proc. IEEE-RAS Int. Conf. Humanoid Robots, (2007)
A. Escande, S. Miossec, A. Kheddar, "Continuous gradient proximity distance for humanoids free-collision optimized-postures," Proc. IEEE-RAS Int. Conf. Humanoid Robots, (2007)
K. Yokoi, K. Nakashima, and Y. Yanagihara, "A Tele-operated Humanoid Operator," Experimental Robotics IX, Springer, pp.229-238 (2006)
Y. Guan and K. Yokoi, "Reachable Boundary of A Humanoid Robot with Two Feet Fixed on The Ground," Proc. IEEE Int. Conf. on Robotics and Automations, pp.1518-1523 (2006)
E.S. Neo, S. Olivier, Y. Kawai, T. Sakaguchi, and K. Yokoi, "A Unified On-line Operation Interface for Humanoid Robots in A Partially-Unknown Environment," Proc. IEEE Int. Conf. on Robotics and Automations, pp.4437-4439 (2006)
B. Verrelst, K. Yokoi, S. Olivier, H. Arisumi, and K.B. Vanderborght, "Mobility of Humanoid Robots: Stepping over Large Obstacles Dynamically," Proc. IEEE Int. Conf. on Mechatronics and Automation, pp.1072-1079 (2006)
S. Miossec, K. Yokoi, K. Abderrahmane, "A Method for Trajectory Optimization of Robots having Contacts or Motion Constraints," Proc. IEEE Int. Conf. on Robotics, Automation and Mechatronics, pp.750-755 (2006)
K. Yokoi, E.S. Neo, T. Sakaguchi, S. Olivier, Y. Kawai and K. Maruyama, "Humanoid Robot HRP-2 with Human Supervision," Proc. Int. Symp. on Experimental Robotics (2006)

Awards
Young Engineers award of The Japan Society of Mechanical Engineers in 1993
The best paper award of Society of Instrument and Control Engineers in 1993
A finalist in the best manipulation paper competition at the 2001 IEEE Int. Conf. on Robitics and Automation
The best video award at the 2003 IEEE Int. Conf. on Robitics and Automation
The best video award at the 2004 IEEE Int. Conf. on Robitics and Automation
The best paper award of Robotics Society of Japan in 2005
Robotics and Mechatronics Division, Certificate of Merit for Outstanding Contribution of The Japan Society of Mechanical Engineers in 2005
Robotics and Mechatronics Academic Achievement Award of The Japan Society of Mechanical Engineers, Robotics and Mechatronics Division in 2006
The best conference paper award at the 2006 IEEE Int. Conf. on Mechatronics and Automation

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