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[1] Moju Zhao, Kei Okada, Masayuki Inaba:
Enhanced Modeling and Control for Multilinked Aerial Robot With Two DoF Force Vectoring Apparatus,
IEEE Robotics and Automation Letters, Vol.6, No.1, pp.135-142, 2021. DOI:10.1109/LRA.2020.3032374
[2] Moju Zhao, Tomoki Anzai, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Singularity-Free Aerial Deformation by Two-Dimensional Multilinked Aerial Robot With 1-DoF Vectorable Propeller,
IEEE Robotics and Automation Letters, Vol.6, No.2, pp.1367-1374, 2021. DOI:10.1109/LRA.2021.3056027
[3] Kento Kawaharazuka, Manabu Nishiura, Yuya Koga, Yusuke Omura, Yasunori Toshimitsu, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Automatic Grouping of Redundant Sensors and Actuators Using Functional and Spatial Connections: Application to Muscle Grouping for Musculoskeletal Humanoids,
IEEE Robotics and Automation Letters, Vol.6, No.2, pp.1981-1988, 2021. DOI:10.1109/LRA.2021.3060715
[4] Shingo Kitagawa, Shun Hasegawa, Naoya Yamaguchi, Kei Okada, Masayuki Inaba:
Miniature Tangible Cube: Concept and Design of Target-Object-Oriented User Interface for Dual-Arm Telemanipulation,
IEEE Robotics and Automation Letters, Vol.6, No.4, pp.6977-6984, 2021. DOI:10.1109/LRA.2021.3096475
[5] Kento Kawaharazuka, Kei Okada, Masayuki Inaba:
Adaptive Robotic Tool-Tip Control Learning Considering Online Changes in Grasping State,
IEEE Robotics and Automation Letters, Vol.6, No.3, pp.5992-5999, 2021. DOI:10.1109/LRA.2021.3088807
[6] Kento Kawaharazuka, Yoichiro Kawamura, Kei Okada, Masayuki Inaba:
Imitation Learning With Additional Constraints on Motion Style Using Parametric Bias,
IEEE Robotics and Automation Letters, Vol.6, No.3, pp.5897-5904, 2021. DOI:10.1109/LRA.2021.3087423
[7] Yuya Koga, Kento Kawaharazuka, Yasunori Toshimitsu, Manabu Nishiura, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Self-Body Image Acquisition and Posture Generation With Redundancy Using Musculoskeletal Humanoid Shoulder Complex for Object Manipulation,
IEEE Robotics and Automation Letters, Vol.6, No.4, pp.6686-6692, 2021. DOI:10.1109/LRA.2021.3095318
[8] Kim{-}Ngoc{-}Khanh Nguyen, Yuta Kojio, Shintaro Noda, Fumihito Sugai, Kunio Kojima, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Dynamic Fall Recovery Motion Generation on Biped Robot With Shell Protector,
IEEE Robotics and Automation Letters, Vol.6, No.4, pp.6741-6748, 2021. DOI:10.1109/LRA.2021.3094234
[9] Hirokazu Ishida, Kei Okada, Masayuki Inaba:
Classifier-Aided Maximization of Feasible-Error-Region for Robust Manipulation Learning,
IEEE Robotics and Automation Letters, Vol.6, No.3, pp.5753-5760, 2021. DOI:10.1109/LRA.2021.3073883
[10] Kohei Kimura, Kei Okada, Masayuki Inaba:
Extended balance stabilization control for humanoid robot on rotational slope based on seesaw-inverted-pendulum model,
Advanced Robotics, Vol.35, No.18, pp.1116-1130, 2021. DOI:10.1080/01691864.2021.1959398 URL:https://doi.org/10.1080/01691864.2021.1959398
[11] Zhao, Moju, Anzai, Tomoki, Shi, Fan, Maki, Toshiya, Nishio, Takuzumi, Ito, Keita, Kuromiya, Naoki, Okada, Kei, Inaba, Masayuki:
Versatile multilinked aerial robot with tilted propellers: Design, modeling, control, and state estimation for autonomous flight and manipulation,
Journal of Field Robotics, Vol.38, No.7, pp.933-966, 2021. DOI:10.1002/rob.22019
[12] Moju Zhao, Fan Shi (equal contribution), Tomoki Anzai, Takuzumi Nishio, Toshiya Maki, Keita Ito, Naoki Kuromiya, Kei Okada, Masayuki Inaba:
Team JSK at {MBZIRC} 2020: Interception of fast flying target using multilinked aerial robot,
Field Robotics, Vol.1, pp.70-101, 2021. DOI:10.55417/fr.2021003
[13] Yuki Asano:
Research and development of tendon-driven humanoids based on human mimetic design principles,
Journal of Robotics Society of Japan, Vol.39, No.9, pp.827--830, 2021. DOI:10.7210/jrsj.39.827

[14] Kento Kawaharazuka, Manabu Nishiura, Shinsuke Nakashima, Yasunori Toshimitsu, Yusuke Omura, Yuya Koga, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Stability Recognition with Active Vibration for Bracing Behaviors and Motion Extensions Using Environment in Musculoskeletal Humanoids,
in Proceedings of the 2021 IEEE International Conference on Soft Robotics, pp.126-133, 2021.
[15] Kosuke Takeuchi, Iori Yanokura, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Automatic Hanging Point Learning from Random Shape Generation and Physical Function Validation,
in Proceedings of The 2021 IEEE International Conference on Robotics and Automation, Vol., No., pp.4237-4243, 2021. DOI:10.1109/ICRA48506.2021.9561484
[16] Shinsuke Nakashima, Kento Kawaharazuka, Manabu Nishiura, Yuki Asano, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Restoring Force Design of Active Self-Healing Tension Transmission System and Application to Tendon-Driven Legged Robot,
in Proceedings of The 2021 IEEE International Conference on Robotics and Automation, Vol., No., pp.7033-7038, 2021. DOI:10.1109/ICRA48506.2021.9561531
[17] Shi, Fan, Homberger, Timon, Lee, Joonho, Miki, Takahiro, Zhao, Moju, Farshidian, Farbod, Okada, Kei, Inaba, Masayuki, Hutter, Marco:
Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs,
in Proceedings of The 2021 IEEE International Conference on Robotics and Automation, Vol., No., pp.2316-2323, 2021. DOI:10.1109/ICRA48506.2021.9561926
[18] Nishio, Takuzumi, Zhao, Moju, Anzai, Tomoki, Kojima, Kunio, Okada, Kei, Inaba, Masayuki:
Fixed-root Aerial Manipulator: Design, Modeling, and Control of Multilink Aerial Arm to Adhere Foot Module to Ceilings using Rotor Thrust,
in Proceedings of The 2021 IEEE International Conference on Robotics and Automation, Vol., No., pp.283-289, 2021. DOI:10.1109/ICRA48506.2021.9561923
[19] Toshimitsu, Yasunori, Kawaharazuka, Kento, Nishiura, Manabu, Koga, Yuya, Omura, Yusuke, Asano, Yuki, Okada, Kei, Kawasaki, Koji, Inaba, Masayuki:
Biomimetic Operational Space Control for Musculoskeletal Humanoid Optimizing Across Muscle Activation and Joint Nullspace,
in Proceedings of The 2021 IEEE International Conference on Robotics and Automation, Vol., No., pp.1184-1190, 2021. DOI:10.1109/ICRA48506.2021.9561919
[20] Kento Kawaharazuka, Naoki Hiraoka, Yuya Koga, Manabu Nishiura, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Online Learning of Danger Avoidance for Complex Structures of Musculoskeletal Humanoids and Its Applications,
in Proceedings of the 2020 IEEE-RAS International Conference on Humanoid Robots, pp.349-355, 2021.
[21] Kento Kawaharazuka, Yuya Koga, Manabu Nishiura, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Motion Modification Method of Musculoskeletal Humanoids by Human Teaching Using Muscle-Based Compensation Control,
in Proceedings of the 2020 IEEE-RAS International Conference on Humanoid Robots, pp.83-89, 2021.
[22] Moritaka Onitsuka, Manabu Nishiura, Kento Kawaharazuka, Kei Tsuzuki, Yasunori Toshimitsu, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Development of Musculoskeletal Legs with Planar Interskeletal Structures to Realize Human Comparable Moving Function,
in Proceedings of the 2020 IEEE-RAS International Conference on Humanoid Robots, pp.17-24, 2021.
[23] Tomoki Anzai, Yuta Kojio, Tasuku Makabe, Kei Okada, Masayuki Inaba:
Design and Development of a Flying Humanoid Robot Platform with Bi-copter Flight Unit,
in Proceedings of the 2020 IEEE-RAS International Conference on Humanoid Robots, pp.69-75, 2021. DOI:10.1109/HUMANOIDS47582.2021.9555801
[24] Tasuku Makabe, Tomoki Anzai, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Development of Amphibious Humanoid for Behavior Acquisition on Land and Underwater,
in Proceedings of the 2020 IEEE-RAS International Conference on Humanoid Robots, pp.104-111, 2021. DOI:10.1109/HUMANOIDS47582.2021.9555671
[25] Shimpei Sato, Yuta Kojio, Kunio Kojima, Fumihito Sugai, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Drop Prevention Control for Humanoid Robots Carrying Stacked Boxes,
in Proceedings of The 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4095-4102, 2021.
[26] Kosuke Takeuchi, Iori Yanokura, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Automatic Learning System for Object Function Points from Random Shape Generation and Physical Validation,
in Proceedings of The 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2405-2412, 2021.
[27] Noriaki Imaoka, Kohei Kimura, Shintaro Noda, Yohei Kakiuchi, Masayuki Inaba, Takeshi Ando:
A Transformable Human-Carrying Wheel-Leg Mobility for Daily Use,
in Proceedings of The 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2982-2988, 2021.
[28] Kento Kawaharazuka, Yasunori Toshimitsu, Manabu Nishiura, Yuya Koga, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Design Optimization of Musculoskeletal Humanoids with Maximization of Redundancy to Compensate for Muscle Rupture,
in Proceedings of The 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3204-3210, 2021.
[29] Kento Kawaharazuka, Koki Shinjo, Yoichiro Kawamura, Kei Okada, Masayuki Inaba:
Environmentally Adaptive Control Including Variance Minimization Using Stochastic Predictive Network with Parametric Bias: Application to Mobile Robots,
in Proceedings of The 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.8381--8387, 2021.
[30] Kunio Kojima:
Drive-trains design and low-level joint control of JAXON series,
in IROS 2021 Workshop: Application perspectives, 2021.
[31] Kanae Kochigami, Kei Okada, Masayuki Inaba:
Design of Taking a Walk with a Robot that Receives Care from a Person and Indirectly Mediates Communication with Strangers,
in Proceedings of The 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1927--1934, 2021.
[32] Kanae Kochigami, Kei Okada, Masayuki Inaba:
Pilot Study on Robot's Open Diary to Deepen Friendships with a Child and Promote Communication between a Child and People,
in Companion of the 2021 ACM/IEEE International Conference on Human-Robot Interaction, pp.104--108, 2021.
[33] Iori Yanaokura, Naoki Wake, Kazuhiro Sasabuchi, Riku Arakawa, Kei Okada, Jun Takamatsu, Masayuki Inaba, Katsushi Ikeuchi:
A Multimodal Learning-from-Observation Towards All-at-once Robot Teaching using Task Cohesion,
in 2022 IEEE/SICE International Symposium on System Integration (SII), pp.367-374, 2022. DOI:10.1109/SII52469.2022.9708836
[34] Ayaka Fujii, Kei Okada, Masayuki Inaba:
Relationship Between Eating and Chatting During Mealtimes with a Robot,
in HCI International 2021 - Late Breaking Posters, pp.249-256, 2021. DOI:10.1007/978-3-030-90176-9_33
[35] Ayaka Fujii, Kei Okada, Masayuki Inaba:
A Basic Study for Acceptance of Robots as Meal Partners: Number of Robots During Mealtime, Frequency of Solitary Eating, and Past Experience with Robots,
in 2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), pp.73-80, 2021. DOI:10.1109/RO-MAN50785.2021.9515451

[36] Hirokazu Ishida, Kei Okada, Masayuki Inaba:
Trajectory library generation with solvability and computational-load bound guarantees for warm-starting trajectory optimization,
in 2021 JSME Conference on Robotics and Mechatronics, 1A1-E12, 2021. DOI:
[37] Shimpei Sato, Yuta Kojio, Kunio Kojima, Fumihito Sugai, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Drop prevention control of carrying multiple objects by Humanoid Robots,
in 2021 JSME Conference on Robotics and Mechatronics, 1A1-D11, 2021. DOI:
[38] Kento Kawaharazuka, Manabu Nishiura, Yusuke Omura, Yuya Koga, Yasunori Toshimitsu, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
機能的・空間的接続を利用した冗長なセンサ・アクチュエータの自動分割: 筋骨格ヒューマノイドの筋分割への適用,
in 2021 JSME Conference on Robotics and Mechatronics, 1A1-D06, 2021. DOI:
[39] Kento Kawaharazuka, Yasunori Toshimitsu, Manabu Nishiura, Yuya Koga, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
筋破断を補償する冗長性を最大限活用した筋骨格ヒューマノイドの設計最適化,
in 2021 JSME Conference on Robotics and Mechatronics, 2P3-H04, 2021. DOI:
[40] Yuya Koga, Kento Kawaharazuka, Yasunori Toshimitsu, Manabu Nishiura, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
筋骨格ヒューマノイドの肩複合体における冗長性を活かした姿勢生成と物体操作を目的とした自己身体像の実機学習,
in 2021 JSME Conference on Robotics and Mechatronics, 1A1-D07, 2021. DOI:
[41] Yusuke Omura, Kento Kawaharazuka, Yuya Nagamatsu, Yuya Koga, Manabu Nishiura, Yasunori Toshimitsu, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
筋骨格ヒューマノイドによる人体模倣両耳聴を用いた視野外環境認識行動,
in 2021 JSME Conference on Robotics and Mechatronics, 2A1-I15, 2021. DOI:
[42] Manabu Nishiura, Kento Kawaharazuka, Yasunori Toshimitsu, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
接触状態を含む身体モデルと強化学習を用いた筋骨格ヒューマノイドによる環境接触行動,
in 2021 JSME Conference on Robotics and Mechatronics, 2A1-I16, 2021. DOI:
[43] Koki Shinjo, Yoshiki Obinata, Kei Okada, Masayuki Inaba:
聴覚・振動覚提示を用いた運動誘導による視覚障害者のための歩行誘導システムの実現,
in 2021 JSME Conference on Robotics and Mechatronics, , 2021.
[44] Shumpei Wakabayashi, Shingo Kitagawa, Kento Kawaharazuka, Takayuki Murooka, Kei Okada, Masayuki Inaba:
視覚情報に基づく食器類の把持の冗長性を考慮した自己教師あり把持学習,
in 2021 JSME Conference on Robotics and Mechatronics, , 2021.
[45] Yuki Asano, Yasuhiro Ishiguro, Yuriko Kakehashi, Manami Yamaguchi, Kei Okada:
Mechatrobot exercise based on integration of electronic circuit and robot control --Case study of online execise at the Dept. of Mechano-Informatics of The Univ. of Tokyo--,
in 2021 JSME Conference on Robotics and Mechatronics, 1P2-M02, 2021. DOI:
[46] Yasunori Toshimitsu, Kento Kawaharazuka, Manabu Nishiura, Yuya Koga, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Control of Musculoskeletal Humanoids in Task Space Utilizing Muscle and Joint Redundancy,
in 2021 JSME Conference on Robotics and Mechatronics, 2P2-G15, 2021. DOI:
[47] Yoshiki Obinata, Naoya Yamaguchi, Shingo Kitagawa, Kei Okada, Masayuki Inaba:
A cooperative system for building facility operation and service robot delivery using smart IoT devices,
in 2021 JSME Conference on Robotics and Mechatronics, 2A1-H02, 2021. DOI:
[48] Yoshiki Obinata, Naoya Yamaguchi, Koki Shinjo, Shingo Kitagawa, Kei Okada, Masayuki Inaba:
An indoor and outdoor errand-behavior system based on the coordination of multiple robots,
in 2021 JSME Conference on Robotics and Mechatronics, 1P1-D02, 2021. DOI:
[49] Nobuki Sugito, Moju Zhao, Tomoki Anzai, Takuzumi Nishio, Kei Okada, Masayuki Inaba:
推力偏向機構を備えたマルチリンク型飛行ロボットにおける環境接触を利用する物体操作に関する研究,
in 2021 JSME Conference on Robotics and Mechatronics, 1P3-B18, 2021. DOI:
[50] Yutaro Matsuura, Yuta Kojio, Kunio Kojima, Fumihito Sugai, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
ヒューマノイドによる瓦礫除去作業における動作計画のための制約条件の逐次的生成,
in 2021 JSME Conference on Robotics and Mechatronics, 1A1-D12, 2021. DOI:10.1299/jsmermd.2021.1A1-D12
[51] Kotaro Uetake, Kosuke Takeuchi, Iori Yanokura, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Realizing of folding clothing work based on understanding the struct of clothing and folding board in life support robot,
in 2021 JSME Conference on Robotics and Mechatronics, 2P2-H10, 2021.
[52] Naoaki Kanazawa, Kei Okada, Masayuki Inaba:
台車移動型双腕ロボットによるカレー調理行動実行システム,
in The 39th Annual Conference on Robotics Society of Japan, 2H3-05, 2021.
[53] Tomoki Anzai, Moju Zhao, Hayata Kanke, Fan Shi, Takuzumi Nishio, Kei Okada, Masayuki Inaba:
マルチリンク型飛行ロボットによる屋外環境における自律ブロック運搬設置動作の実現,
in The 39th Annual Conference on Robotics Society of Japan, 3G1-05, 2021.
[54] Kento Kawaharazuka, Yoichiro Kawamura, Kei Okada, Masayuki Inaba:
Parametric Biasを用いた動作スタイルを制約可能な模倣学習,
in The 39th Annual Conference on Robotics Society of Japan, 1I3-01, 2021.
[55] Kento Kawaharazuka:
深層予測モデル学習によるロボットの時間的・空間的柔軟性攻略,
in Keynote Lecture, The 39th Annual Conference on Robotics Society of Japan, , 2021.
[56] Koki Shinjo, Yoshiki Obinata, Kei Okada, Masayuki Inaba:
Realization of walking support for visually impaired in indoor and outdoor environments with 4-legs robot using topological support behavior graph,
in LIFE2020-2021, OS-2 1, 2021.
[57] Naoaki Kanazawa, Shingo Kitagawa, Takayuki Murooka, Kei Okada, Masayuki Inaba:
Robot System that Operates Home Appliances in Consideration of the State by Template Matching Recognition and Motion Primitives,
in Proceedings of the 22th SICE System Integration Division Annual Conference, 1G2-02, 2021. DOI:
[58] Naoya Yamaguchi, Shun Hasegawa, Kei Okada, Masayuki Inaba:
Attachable sensing module by robots and its application to daily life support,
in Proceedings of the 22th SICE System Integration Division Annual Conference, 2G5-02, 2021. DOI:
[59] Akihiro Miki, Kento Kawaharazuka, Masahiro Bando, Kei Okada, Masayuki Inaba:
Realization of Table setting Movement Including Cloth Manipulation by Wheeled Based Musculoskeletal Humanoid,
in Proceedings of the 22th SICE System Integration Division Annual Conference, 1D2-03, 2021. DOI:
[60] Kento Kawaharazuka, Kei Okada, Masayuki Inaba:
Adaptive Robotic Tool-Tip Control Learning Considering Online Change in Grasping State,
in Proceedings of the 22th SICE System Integration Division Annual Conference, 1D2-04, 2021. DOI:
[61] Kento Kawaharazuka, Koki Shinjo, Yoichiro Kawamura, Kei Okada, Masayuki Inaba:
Environmentally Adaptive Control with Variance Minimization Using Deep Stochastic Predictive Network - Application to Mobile Robot -,
in Proceedings of the 22th SICE System Integration Division Annual Conference, 1H3-02, 2021. DOI:
[62] Yuki Asano, Kei Okada, Masayuki Inaba:
Prototype of valve integrated pulsatile pump using muscle actuator and rubber-like flexible material,
in Proceedings of the 22th SICE System Integration Division Annual Conference, 3D2-03, 2021.
[63] Koki Shinjo, Shingo Kitagawa, Naoya Yamaguchi, Yoshiki Obinata, Kei Okada, Masayuki Inaba:
Realization of delivery robot system which ask for delivery tasks while standing by,
in Proceedings of the 22th SICE System Integration Division Annual Conference, 1H3-02, 2021. DOI:

[64] Kohei Kimura, Hiroto Mizohana, Shunichi Nozawa, Kei Okada, Masayuki Inaba:
Speed governing behavior on parallel two-wheeled electric scooter by life-sized humanoid robot based on learning control with online tuning for PID gain during control,
JSME Medal for Outstanding Paper, 2021.4.22.
[65] Shun Hasegawa, Naoya Yamaguchi, Kei Okada, Masayuki Inaba:
Realization of Ultra-thin Object Grasping and Filing with Precise Grasping and Verification using Wide-Range Precise Proximity Sensors,
Robotics and Mechatronics Division, Certificate of Merit for ROBOMECH Outstanding Research Activity, 2021.6.7.
[66] Moritaka Onitsuka, Manabu Nishiura, Kento Kawaharazuka, Kei Tsuzuki, Yasunori Toshimitsu, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Development of Musculoskeletal Legs with Planar Interskeletal Structures to Realize Human Comparable Moving Function,
Humanoids 2020 Best Oral Paper Award, 2020.7.21.
[67] Moritaka Onitsuka, Manabu Nishiura, Kento Kawaharazuka, Kei Tsuzuki, Yasunori Toshimitsu, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Development of Musculoskeletal Legs with Planar Interskeletal Structures to Realize Human Comparable Moving Function,
Humanoids 2020 Mike Stilman Paper Awawrd Finalist, 2020.7.21.
[68] Kunio Kojima, Yuta Kojio, Fumihito Sugai, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
衝撃緩和と力応答のためのヒューマノイドJAXON3-Pの駆動系設計法と動的接触動作の実現,
The 2nd Excellent Research and Technology Award, The 38th Annual Conference on Robotics Society of Japan, 2021.9.8.
[69] Kunio Kojima, Yuta Kojio, Tatsuya Ishikawa, Fumihito Sugai, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Design Method for Weight Saving Based on Joint Drive Force and Frame Stiffness and Realization of Jump Motions by a Lightweight and High-Power Humanoid JAXON3-P,
The Robotics Society of Japan 35th Best Paper Award, 2021.9.8.
[70] Shimpei Sato, Yuta Kojio, Kunio Kojima, Fumihito Sugai, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Drop Prevention Control for Humanoid Robots Carrying Stacked Boxes,
SICE International Young Authors Award 2021 (IROS), 2021.10.24.
[71] Shun Hasegawa, Shinsuke Nakashima, Kei Okada, Masayuki Inaba:
Development of a Robotic Finger Exhibiting Switchable and Reversible Adhesion Derived from Remoistening Adhesion of Gelatin,
SICE SI System Integration Award for Outstanding Presentation 2021, 2021.12.17.
[72] Koki Shinjo, Shingo Kitagawa, Naoya Yamaguchi, Yoshiki Obinata, Kei Okada, Masayuki Inaba:
Realization of delivery robot system which ask for delivery tasks while standing by,
, 2021.12.24.
[73] Naoaki Kanazawa, Shingo Kitagawa, Takayuki Murooka, Kei Okada, Masayuki Inaba:
Robot System that Operates Home Appliances in Consideration of the State by Template Matching Recognition and Motion Primitives,
, 2021.12.24.
[74] Kento Kawaharazuka, Koki Shinjo, Yoichiro Kawamura, Kei Okada, Masayuki Inaba:
Environmentally Adaptive Control with Variance Minimization Using Deep Stochastic Predictive Network - Application to Mobile Robot -,
, 2021.12.24.
[75] Shun Hasegawa:
Development of a Robotic Finger Exhibiting Switchable and Reversible Adhesion Derived from Remoistening Adhesion of Gelatin,
2021 SICE Young Authors Award for Basic Research, 2022.2.22.

[76] Shingo Kitagawa:
Robot dual-arm telemanipulation: User interface and real-world system,
TUM-UTokyo On-line Workshop 2021 "Excellence, Diversity, and Mobility", 2021.
[77] Shingo Kitagawa:
A novel user interface for dual-arm telemanipulation,
DLR FUTURO and Friends webinar series, 2021.
[78] 木村 航平:
For Robot to Control Vehicles,
Journal of the Society of Mechanical Engineers, Vol.124, No.1233, pp.46--46, 2021. DOI:10.1299/jsmemag.124.1233_46