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Kazutoshi Tanaka

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(Mail) kazutoshi.tanaka(at)sinicx.com

Kazutoshi Tanaka is a researcher who develops robots that can play sports. Born in Kumamoto prefecture in 1987, he received his PhD from the Graduate School of Information Science and Technology, The University of Tokyo, in 2017. He is a senior researcher of OMRON SINIC X Corporation. He received ‘The 33rd Young Investigation Excellence Award’ in 2018 from The Robotics Society of Japan (RSJ).

Recent works

Twist Snake


Twist Snake: Plastic table-top cable-driven robotic arm with all motors located at the base link, Kazutoshi Tanaka, Masashi Hamaya, IEEE International Conference on Robotics and Automation (ICRA), pp. 7345-7351, doi: 10.1109/ICRA48891.2023.10160995, London, United Kingdom, 2023. [Paper] [Video] [Project HP]

Continuum-Body-Pose Estimation


Continuum-Body-Pose Estimation From Partial Sensor Information Using Recurrent Neural Networks, Kazutoshi Tanaka, Yuna Minami, Yuji Tokudome, Katsuma Inoue, Yasuo Kuniyoshi, Kohei Nakajima, IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 11244-11251, doi: 10.1109/LRA.2022.3199034, October, 2022. [Paper]

Learning Robotic Contact Juggling


Learning Robotic Contact Juggling, Kazutoshi Tanaka, Masashi Hamaya, Devwrat Joshi, Felix von Drigalski, Ryo Yonetani, Takamitsu Matsubara, Yoshihisa Ijiri, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 958-964, doi: 10.1109/IROS51168.2021.9636790, Prague, Czech Republic, 2021. [Paper] [Project HP]

TRANS-AM


TRANS-AM: Transfer Learning by Aggregating Dynamics Models for Soft Robotic Assembly, Kazutoshi Tanaka, Ryo Yonetani, Masashi Hamaya, Robert Lee, Felix von Drigalski, Yoshihisa Ijiri, IEEE International Conference on Robotics and Automation (ICRA), pp. 4627-4633, doi: 10.1109/ICRA48506.2021.9561081, Xi'an, China, 2021. [Paper] [Video] [Slide] [Blog(En)] [Project HP]

Soft Wrist


A Compact, Cable-driven, Activatable Soft Wrist with Six Degrees of Freedom for Assembly Tasks, Felix von Drigalski, Kazutoshi Tanaka, Masashi Hamaya, Robert Lee, Chisato Nakashima, Yoshiya Shibata, Yoshihisa Ijiri, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 8752-8757, Las Vegas, USA, October, 2020. [Paper] [Video]

Publications

Journal papers

  1. Learning by Breaking: Food Fracture Anticipation for Robotic Food Manipulation, Reina Ishikawa, Masashi Hamaya, Felix von Drigalski, Kazutohi Tanaka, Atsushi Hashimoto, IEEE Access, vol. 10, pp. 99321-99329, doi: 10.1109/ACCESS.2022.320749, 2022.
  2. Open-ended movements structure sensorimotor information in early human development, Hoshinori Kanazawa, Yasunori Yamada, Kazutoshi Tanaka, Masahiko Kawai, Fusako Niwa, Kougoro Iwanaga, Yasuo Kuniyoshi, Proceedings of the National Academy of Sciences, vol. 120, no. 1, doi: 10.1073/pnas.2209953120, December, 2022. [Paper]
  3. Uncertainty-Aware Manipulation Planning Using Gravity and Environment Geometry, Felix von Drigalski, Kazumi Kasaura, Cristian C. Beltran-Hernandez, Masashi Hamaya, Kazutoshi Tanaka, Takamitsu Matsubara, IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 11942-11949, doi: 10.1109/LRA.2022.3207565, October, 2022. [Paper]
  4. Continuum-Body-Pose Estimation From Partial Sensor Information Using Recurrent Neural Networks, Kazutoshi Tanaka, Yuna Minami, Yuji Tokudome, Katsuma Inoue, Yasuo Kuniyoshi, Kohei Nakajima, IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 11244-11251, doi: 10.1109/LRA.2022.3199034, October, 2022. [Paper]
  5. Learning by Breaking: Food Fracture Anticipation for Robotic Food Manipulation, Reina Ishikawa, Masashi Hamaya, Felix von Drigalski, Kazutoshi Tanaka, Atsushi Hashimoto, IEEE Access, vol. 10, September, 2022. [Paper]
  6. Self-Organization of Remote Reservoirs: Transferring Computation to Spatially Distant Locations, Kazutoshi Tanaka, Yuji Tokudome, Yuna Minami, Satoko Honda, Toshiki Nakajima, Kuniharu Takei, Kohei Nakajima, Advanced Intelligent Systems, vol. 4, no. 3, pp. 2100166, doi: https://doi.org/10.1002/aisy.202100166, December, 2021. [Paper]
  7. Immediate generation of jump-and-hit motions by a pneumatic humanoid robot using a lookup table of learned dynamics, Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi, IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5557-5564, IEEE, 2021. [Paper]
  8. Robotic Learning from Advisory and Adversarial Interactions using a Soft Wrist, Masashi Hamaya, Kazutohi Tanaka, Yoshiya Shibata, Felix von Drigalski, Chisato Nakashima, Yoshihisa Ijiri, IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 3878-3885, doi: 10.1109/LRA.2021.3067232, April, 2021. [Paper]
  9. Flapping-Wing Dynamics as a Natural Detector of Wind Direction, Kazutoshi Tanaka, Shih-Hsin Yang, Yuji Tokudome, Yuna Minami, Yuyao Lu, Takayuki Arie, Seiji Akita, Kuniharu Takei, Kohei Nakajima, Advanced Intelligent Systems, pp. 2000174, November, 2020. [Paper]
  10. High-Speed Humanoid Robot Arm for Badminton Using Pneumatic-Electric Hybrid Actuators, Shotaro Mori, Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi, IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 3601-3608, October, 2019.
  11. High-Speed and Lightweight Humanoid Robot Arm for a Skillful Badminton Robot, Shotaro Mori, Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi, IEEE Robotics and Automation Letters, vol. 3, no. 3, 2018. [Paper] [Blog(Ja)]
  12. A musculoskeletal bipedal robot designed with angle-dependent moment arm for dynamic motion from multiple states, Satoshi Nishikawa, Kazutoshi Tanaka, Kazuya Shida, Toshihiko Fukushima, Ryuma Niiyama, Yasuo Kuniyoshi, Advanced Robotics, vol. 28, no. 7, pp. 487-496, Taylor & Francis, doi: 10.1080/01691864.2013.876936, 2014.

Conferece proceedings

  1. LfDT: Learning Dual-Arm Manipulation from Demonstration Translated from a Human and Robotic Arm, Masato Kobayashi, Jun Yamada, Masashi Hamaya, Kazutoshi Tanaka, IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 7345-7351, doi: 10.1109/humanoids57100.2023.10375192, Texas, United States, 2023. [Paper] [Video] [Project HP]
  2. Learning Robotic Powder Weighing from Simulation for Laboratory Automation, Yuki Kadokawa, Masashi Hamaya, Kazutoshi Tanaka, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), doi: 10.1109/iros55552.2023.10342463, Detroit, United States, 2023. [Paper] [Video] [Project HP]
  3. Robotic Powder Grinding with Audio-Visual Feedback for Laboratory Automation in Materials Science, Yusaku Nakajima, Masashi Hamaya, Kazutoshi Tanaka, Takafumi Hawai, Felix von Drigalski, Yasuo Takeuchi, Yoshitaka Ushiku, Kanta Ono, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), doi: 10.1109/IROS55552.2023.10341526, Detroit, United States, 2023. [Paper] [Video] [Project HP]
  4. Learning Robotic Assembly by Leveraging Physical Softness and Tactile Sensing, Joaqu'in Royo-Miquel, Masashi Hamaya, Cristian C. Beltran-Hernandez, Kazutoshi Tanaka, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), doi: 10.1109/iros55552.2023.10341471, Detroit, United States, 2023. [Paper] [Video] [Project HP]
  5. Transtiff: Haptic Interaction with a Stick Interface with Various Stiffness, Ayumu Ogura, Kodai Ito, Shigeo Yoshida, Kazutoshi Tanaka, Yuichi Itoh, ACM SIGGRAPH 2023 Emerging Technologies, doi: 10.1145/3588037.359, Los Angeles, United States, 2023. [Paper]
  6. Twist Snake: Plastic table-top cable-driven robotic arm with all motors located at the base link, Kazutoshi Tanaka, Masashi Hamaya, IEEE International Conference on Robotics and Automation (ICRA), pp. 7345-7351, doi: 10.1109/ICRA48891.2023.10160995, London, United Kingdom, 2023. [Paper] [Video] [Project HP]
  7. Learning Food Picking without Food: Fracture Anticipation by Breaking Reusable Fragile Objects, Rinto Yagawa, Reina Ishikawa, Masashi Hamaya, Kazutoshi Tanaka, Atsushi Hashimoto, Hideo Saito, IEEE International Conference on Robotics and Automation (ICRA), pp. 917-923, doi: 10.1109/ICRA48891.2023.10160405, London, United Kingdom, 2023. [Project HP]
  8. Robotic Powder Grinding with a Soft Jig for Laboratory Automation in Material Science, Yusaku Nakajima, Masashi Hamaya, Yuta Suzuki, Takafumi Hawai, Felix von Drigalski, Kazutoshi Tanaka, Yoshitaka Ushiku, Kanta Ono, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2320-2326, doi: 10.1109/IROS47612.2022.9981081, Kyoto, Japan, 2022.
  9. Quasistatic contact-rich manipulation via linear complementarity quadratic programming, Sotaro Katayama, Tatsunori Taniai, Kazutoshi Tanaka, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 203-210, doi: 10.1109/IROS47612.2022.9981498, Kyoto, Japan, 2022. [Paper] [Project HP]
  10. Iterative Backpropagation Disturbance Observer with Forward Dynamics Model, Takayuki Murooka, Masashi Hamaya, Felix von Drigalski, Kazutoshi Tanaka, Yoshihisa Ijiri, IEEE International Conference on Automation Science and Engineering (CASE), pp. 373-378, doi: 10.1109/CASE49439.2021.9551455, Lyon, France, 2021. [Paper]
  11. Learning Robotic Contact Juggling, Kazutoshi Tanaka, Masashi Hamaya, Devwrat Joshi, Felix von Drigalski, Ryo Yonetani, Takamitsu Matsubara, Yoshihisa Ijiri, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 958-964, doi: 10.1109/IROS51168.2021.9636790, Prague, Czech Republic, 2021. [Paper] [Project HP]
  12. Precise Multi-Modal In-Hand Pose Estimation using Low-Precision Sensors for Robotic Assembly, Felix von Drigalski, Kennosuke Hayashi, Yifei Huang, Ryo Yonetani, Masashi Hamaya, Kazutoshi Tanaka, Yoshihisa Ijiri, IEEE International Conference on Robotics and Automation (ICRA), pp. pp. 968-974, doi: 10.1109/ICRA48506.2021.9561222, Xi'an, China, 2021. [Paper]
  13. An analytical diabolo model for robotic learning and control, Felix von Drigalski, Devwrat Joshi, Takayuki Murooka, Kazutoshi Tanaka, Masashi Hamaya, Yoshihisa Ijiri, IEEE International Conference on Robotics and Automation (ICRA), pp. 4055-4061, doi: 10.1109/ICRA48506.2021.9561578, Xi'an, China, 2021. [Paper] [Video] [Slide] [Blog(En)]
  14. TRANS-AM: Transfer Learning by Aggregating Dynamics Models for Soft Robotic Assembly, Kazutoshi Tanaka, Ryo Yonetani, Masashi Hamaya, Robert Lee, Felix von Drigalski, Yoshihisa Ijiri, IEEE International Conference on Robotics and Automation (ICRA), pp. 4627-4633, doi: 10.1109/ICRA48506.2021.9561081, Xi'an, China, 2021. [Paper] [Video] [Slide] [Blog(En)] [Project HP]
  15. EXI-Net: EXplicitly/Implicitly Conditioned Network for Multiple Environment Sim-to-Real Transfer, Takayuki Murooka, Masashi Hamaya, Felix von Drigalski, Kazutoshi Tanaka, Yoshihisa Ijiri, Conference on Robot Learning, November, 2020.0. [Paper]
  16. Learning Soft Robotic Assembly Strategies from Successful and Failed Demonstration, Masashi Hamaya, Felix von Drigalski, Takamitsu Matsubara, Kazutoshi Tanaka, Robert Lee, Chisato Nakashima, Yoshiya Shibata, Yoshihisa Ijiri, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 8309-8315, doi: 10.1109/IROS45743.2020.9341504, Las Vegas, USA, October, 2020. [Paper]
  17. A Compact, Cable-driven, Activatable Soft Wrist with Six Degrees of Freedom for Assembly Tasks, Felix von Drigalski, Kazutoshi Tanaka, Masashi Hamaya, Robert Lee, Chisato Nakashima, Yoshiya Shibata, Yoshihisa Ijiri, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 8752-8757, Las Vegas, USA, October, 2020. [Paper] [Video]
  18. Contact-based in-hand pose estimation using Bayesian state estimation and particle filtering, Felix von Drigalski, Shohei Taniguchi, Robert Lee, Takamitsu Matsubara, Masashi Hamaya, Kazutoshi Tanaka, Yoshihisa Ijiri, IEEE International Conference on Robotics and Automation, pp. 7294-7299, doi: 10.1109/ICRA40945.2020.9196640, Paris, France, May, 2020. [Paper] [Video] [Blog(En)]
  19. Learning Robotic Assembly Tasks with Lower Dimensional Systems by Leveraging Physical Softness and Environmental Constraints, Masashi Hamaya, Robert Lee, Kazutoshi Tanaka, Felix von Drigalski, Chisato Nakashima, Yoshiya Shibata, Yoshihisa Ijiri, IEEE International Conference on Robotics and Automation, pp. 7747-7753, Paris, France, May, 2020. [Paper] [Video] [Blog(En)]
  20. Control of Pneumatic Cylinders using Iterative Linear Quadratic Regulator with Deep Local Linear Dynamics for Explosive Motions, Yuki Nakamura, Izumi Karino, Shotaro Mori, Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi, The International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR), pp. 125-132, August, 2019.
  21. Body of a high-speed anthropomorphic table-tennis robot with a linkage mechanism, Kazutoshi TANAKA, The International Symposium on Adaptive Motion of Animals and Machines, Lausanne, Switzerland, August, 2019. [Paper]
  22. DETAILED FULL BODY MOTION ANALYSIS TECHNIQUE FOR HUMAN NEONATES AND INFANTS, Hoshinori Kanazawa, Kazutoshi Tanaka, Masahiko Kawai, Yasuo Kuniyoshi, the World Confederation for Physical Therapy Congress, May, 2019.
  23. Early developmental change in inter-muscle sensorimotor modules of human infants: Preliminary results, Hoshinori Kanazawa, Yasunori Yamada, Kazutoshi Tanaka, Masahiko Kawai, Yasuo Kuniyoshi, Neural Control of Movement, April, 2019.
  24. Bilateral Teleoperation System for a Musculoskeletal Robot Arm using a Musculoskeletal Exoskeleton, Xi Chen, Satoshi Nishikawa, Kazutoshi Tanaka, Ryuma Niiyama,, Yasuo Kuniyoshi, IEEE International Conference on Robotics and Biomimetics, pp. 2734-2739, doi: 10.1109/ROBIO.2017.8324833, December, 2017.
  25. Humanoid robot performing jump-and-hit motions using structure-integrated pneumatic cable cylinders, Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi, IEEE-RAS International Conference on Humanoid Robots, pp. 696-702, doi: 10.1109/HUMANOIDS.2017.8246948, Birmingham, UK, November, 2017. [Paper] [Video] [Blog(Ja)]
  26. ADJUSTMENT OF PRESSURE IN ANTAGONISTIC JOINTS WITH PNEUMATIC ARTIFICIAL MUSCLES FOR RAPID REACTING MOTIONS, Kazutoshi Tanaka, Satoshi Nishikawa, Yasuo Kuniyoshi, International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines, pp. 183-190, 2014.
  27. Transitional Buckling Model for Active Bending Effect in Pole Vault, Toshihiko Fukushima, Satoshi Nishikawa, Kazutoshi Tanaka, Yasuo Kuniyoshi, International Symposium on Adaptive Motion of Animals and Machines (AMAM), pp. None, May, 2013. [Paper] [Blog(En)]
  28. Angle-Dependent Moment Arm with Biased Pivot for Jumping from Various Squatting Positions, Satoshi Nishikawa, Kazutoshi Tanaka, Kazuya Shida, Ryuma Niiyama, Yasuo Kuniyoshi, International Symposium on Adaptive Motion of Animals and Machines (AMAM), March, 2013.
  29. IMPROVEMENT OF ENERGY CONSUMPTION BY MOVEMENT OF CENTER OF ROTATION OF JOINT, Kazutoshi Tanaka, Satoshi Nishikawa, Yasuo Kuniyoshi, International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR), pp. 273-280, 2013.
  30. Effect of preliminary motions on agile motions, Kazutoshi Tanaka, Satoshi Nishikawa, Yasuo Kuniyoshi, International Conference on Advanced Robotics (ICAR), pp. 1-6, doi: 10.1109/ICAR.2013.6766534, Montevideo, Uruguay, 2013.

Extend abstract, workshop, preprint

  1. Learning Multiple Tasks by Self-Goal-Setting Based on Self-Evaluation, Kazutoshi Tanaka, Izumi Karino, Hoshinori Kanazawa, Ryuma Niiyama, Yasuo Kuniyoshi, The Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics (Extended abstract), August, 2019. [Paper]
  2. Switching Isotropic and Directional Exploration with Parameter Space Noise in Deep Reinforcement Learning, Izumi Karino, Kazutoshi Tanaka, Ryuma Niiyama, Yasuo Kuniyoshi, arXiv, September, 2018. [Paper]
  3. Role of Vertical Component in Skillful Pushing Motion, Kazutoshi Tanaka, Kunihiho Ogata, Yasuo Kuniyoshi, Full-day workshop on Computational Techniques in Natural Motion Analysis and Reconstruction at IEEE International Conference on Robotics and Automation, May, 2013.