Takuma Shirai

The University of Tokyo — Japan

Engineering · Physical Sciences

11h-index461citations58works0.02yr avg
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Research Topics

Robotic Locomotion and Control(39), Prosthetics and Rehabilitation Robotics(25), Robot Manipulation and Learning(15), Soft Robotics and Applications(10), Muscle activation and electromyography studies(9)

Publications58 total

Development of Joint Module with Two-speed Gear Transmission and Joint Lock Mechanism during Driving for Task Adaptable Robot
2019· 4 cited
Humanoid Robot’s Force-Based Heavy Manipulation Tasks with Torque-Controlled Arms and Wrist Force Sensors
2019· 2 cited
An Approach of Facilitated Investigation of Active Self-healing Tension Transmission System Oriented for Legged Robots
2019· 7 cited
Development of Joint Module with Two-speed Gear Transmission and Joint Lock Mechanism under Driving for Task Adaptable Robot
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)·2019
Comparative Trial for FPGA-Based Low-Latency Distributed Control System on Multi-DOF Humanoid Equipped with Easily-Available Computer
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)·2019
TWIMP: Two-Wheel Inverted Musculoskeletal Pendulum as a Learning Control Platform in the Real World with Environmental Physical Contact
2018· 9 citedOpen Access
Design and Evaluation of Torque Based Bipedal Walking Control System That Prevent Fall Over by Impulsive Disturbance
2018· 4 cited
Resistance-based self-sensing system of active self-melting bolt towards autonomous healing structure
2018· 8 cited
Development of active self-melting bolt and its application to self-healing structure
Transactions of the JSME (in Japanese)·2018· 2 citedOpen Access
Torque based stabilization control for torque sensorless humanoid robots
2017· 8 cited
NanoBridge-Based FPGA in High-Temperature Environments
IEEE Micro·2017· 9 cited
Distributed torque estimation toward low-latency variable stiffness control for gear-driven torque sensorless humanoid
2017· 28 cited
Spine Balancing Strategy Using Muscle ZMP on Musculoskeletal Humanoid Kenshiro
Springer proceedings in advanced robotics·2017· 5 cited
Skeletal structure with artificial perspiration for cooling by latent heat for musculoskeletal humanoid Kengoro
2016· 24 cited
Design and Implementation of a High Power Robot Distributed Control System on Dependable Responsive Multithreaded Processor (D-RMTP)
2016· 5 cited
Joint Overload Absorption Control in Biped Robot with Torque Sensors in Ankle Joints
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)·2016Open Access
Distributed Haptic System for the High-load Anthropomimetic Foot of Life-sized Musculoskeletal Humanoid
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)·2016
Achievement of Pedaling Manipulation Based on Cooperative System for Active Leg and Passive Leg by Tendon-driven Humanoid
Transactions of the Society of Instrument and Control Engineers·2016Open Access
信頼できるResponsive Multithreaded Processor(D RMTP)上の高出力ロボット分散制御システムの設計と実装【Powered by NICT】
IEEE Conference Proceedings·2016
Learning nonlinear muscle-joint state mapping toward geometric model-free tendon driven musculoskeletal robots
2015· 29 cited
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Frequent Co-authors

Masayuki Inaba(50), Kei Okada(40), Yuto Nakanishi(25), Yuki Asano(25), Toyotaka Kozuki(22), Yotaro Motegi(13), Junichi Urata(12), Yohei Kakiuchi(12), Masahiko Osada(9), Yuya Nagamatsu(9), Hironori Mizoguchi(8), Soichi Ookubo(8), Tamon Izawa(8), Ikuo Mizuuchi(5), Koji Kawasaki(5), Fumihito Sugai(5), Shinsuke Nakashima(5), Kazuo Hongo(5), Shigeki Ohta(4), Tomoko Kurotobi(4)