Shin'ichiro NAKAOKA Ph.D.

CEO at Choreonoid Inc.

Tsukuba, Ibaraki, JAPAN

Reserch Interests

Humanoid robots, Robotics software system

Education

• 2006: Received Ph.D. from The University of Tokyo (Supervisor: Katsushi Ikeuchi)
• 2003: Received Master of Computer Science from The University of Tokyo (Supervisor: Katsushi Ikeuchi)
• 2001: Received B.Sc. from Tokyo Institute of Technology

Jobs

• 2019 -: CEO at Choreonoid Inc.
• 2012 - 2023: Senior Researcher of AIST
• 2011 - 2012: Visiting researcher of The University of Edinburgh
• 2006 - 2012: Researcher of AIST
• 2000 - 2003: Part-time employment at ACCESS CO., LTD.

Awards

• IEEE/SICE SII 2013 Best Paper Award (Robotics)
• IEEE/RSJ IROS 2010 Best Paper Finalist
• IEEE/RSJ IROS 2010 NTF Award Finalist for Entertainment Robots and Systems
• IEEE-RAS Humanoids 2009 Best Paper Award (Oral Category)
• 22nd Best Paper Award of the Robotics Society of Japan

Software Works

• Choreonoid: Integrated software platform for dealing with robot motions.
• OpenHRP3: Rigid-body dynamics simulator for robots.

Demonstrations

• Dance performance by HRP-4C (2010)
  • Another version (the most view-couunted one) uploaded by Kazumichi Moriyama
• Singing performance by HRP-4C (Cooperative work with YAMAHA, 2009)
• Traditional Japanese dance (Aizu-Bandaisan) performance by HRP-2 (2005)
  • This demonstration is also used in the Japanese movie called Robo-G

Publications

Refreed Journal Papers

• Shin'ichiro Nakaoka, Kanako Miura, Mitsuharu Morisawa, Fumio Kanehiro, Kenji Kaneko, Shuuji Kajita and Kazuhito Yokoi, "Toward the use of humanoid robots as assemblies of content technologies - Realization of a biped humanoid robot allowing content creators to produce various expressions -", Synthesiology, vol.4, no.2, pp.80-91, 2011 (PDF).


• Shin'ichiro Nakaoka, Atsushi Nakazawa, Fumio Kanehiro, Kenji Kaneko, Mitsuharu Morisawa, Hirohisa Hirukawa and Katsushi Ikeuchi, "Learning from Observation Paradigm: Leg Task Models for Enabling a Biped Humanoid Robot to Imitate Human Dances", International Journal of Robotics Research, vol.26, no.8, pp.829-844, August 2007.


• Kensuke Harada, Mitsuharu Morisawa, Shin'ichiro Nakaoka, Kenji Kaneko and Shuuji Kajita, "Kinodynamic Planning for Humanoid Robots Walking on Uneven Terrain", Journal of Robotics and Mechatronics, vol.21, no.3, pp.311-316, June 2009.

Refreed Conference Papers

• Shin'ichiro Nakaoka, "Choreonoid: Extensible Virtual Robot Environment Built on an Integrated GUI Framework", Proc. of the 2012 IEEE/SICE International Symposium on System Integration (SII2012), Fukuoka, Japan, December 2012, pp.79-85. Best Paper Award (Robotics).


• Shin'ichiro Nakaoka and Taku Komura, "Interaction Mesh Based Motion Adaptation for Biped Humanoid Robots", Proc. of the 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November 2012, pp.625-631.


• Shin'ichiro Nakaoka, Shuuji Kajita and Kazuhito Yokoi, "Intuitive and Flexible User Interface for Creating Whole Body Motions of Biped Humanoid Robots", Proc. of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October 2010, pp.1675-1682. Best Paper Finalist, NTF Award Finalist for Entertainment Robots and Systems.


• Shuuji Kajita, Mitsuharu Morisawa, Kanako Miura, Shin'ichiro Nakaoka, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro and Kazuhito Yokoi, "Biped Walking Stabilization Based on Linear Inverted Pendulum Tracking", Proc. of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October 2010.


• Kanako Miura, Shin'ichiro Nakaoka, Mitsuharu Morisawa, Fumio Kanehiro, Kensuke Harada and Shuuji Kajita, "Analysis on a Friction Based ``Twirl'' for Biped Robots", Proc. of the 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)", Anchorage, Alaska, USA, May 2010, pp.4249-4255.


• Kenji Kaneko, Fumio Kanehiro, Mitsuharu Morisawa, Kanako Miura, Shin'ichiro Nakaoka and Shuuji Kajita, "Cybernetic Human HRP-4C", Proc. of the 9th IEEE-RAS International Conference on Humanoid Robots, Paris, France, December 2009, pp.7-14. Best Paper Award (Oral Category),


• Shin'ichiro Nakaoka, Fumio Kanehiro, Kanako Miura, Mitsuharu Morisawa, Kiyoshi Fujiwara, Kenji Kaneko, Shuuji Kajita and Hirohisa Hirukawa, "Creating Facial Motions of Cybernetic Human HRP-4C", Proc. of the 9th IEEE-RAS International Conference on Humanoid Robots, Paris, France, December 2009, pp.561-567.


• Kanako Miura, Mitsuharu Morisawa, Shin’ichiro Nakaoka, Fumio Kanehiro, Kensuke Harada, Kenji Kaneko and Shuuji Kajita, "Robot Motion Remix based on Motion Capture Data - Towards Human-like Locomotion of Humanoid Robots -", Proc. 9th IEEE-RAS International Conference on Humanoid Robots, pp.596-603, December 2009.


• Kensuke Harada, Kanako Miura, Mitsuharu Morisawa, Kenji Kaneko, Shin’ichiro Nakaoka, Fumio Kanehiro, Tokuo Tsuji and Shuuji Kajita, "Toward Human-Like Walking Pattern Generator", Proc. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1071-1077, October 2009.


• Kanako Miura, Shin'ichiro Nakaoka, Mitsuharu Morisawa, Kensuke Harada and Shuuji Kajita, "A Friction Based ``Twirl'' for Biped Robots", Proc. 8th IEEE-RAS International Conference on Humanoid Robots", pp.279-284, December, 2008.


• Ken'ichi Koyanagi, Hirohisa Hirukawa, Shizuko Hattori, Mitsuharu Morisawa, Shin'ichiro Nakaoka, Kensuke Harada and Shuuji Kajita, "A Pattern Generator of Humanoid Robots Walking on a Rough Terrain using a Handrail", Proc. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2617-2622, September 2008.


• Kensuke Harada, Mitsuharu Morisawa, Kanako Miura, Shinichiro Nakaoka, Kiyoshi Fujiwara, Kenji Kaneko and Shuuji Kajita, "Kinodynamic Gait Planning for Full-Body Humanoid Robots", Proc. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1544-1550, September 2008.


• Shin'ichiro Nakaoka, Shizuko Hattori, Fumio Kanehiro, Shuuji Kajita and Hirohisa Hirukawa, "Constraint-based Dynamics Simulator for Humanoid Robots with Shock Absorbing Mechanisms", Proc. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3641-3647, October 2007.


• Kiyoshi Fujiwara, Shuuji Kajita, Kensuke Harada, Kenji Kaneko, Mitsuharu Morisawa, Fumio Kanehiro, Shinichiro Nakaoka and Hirohisa Hirukawa, "An Optimal Planning of Falling Motions of a Humanoid Robot", Proc. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.456-462, October 2007.


• Takaaki Shiratori, Shunsuke Kudoh, Shin'ichiro Nakaoka and Katsushi Ikeuchi, "Temporal Scaling of Upper Body Motion for Sound Feedback System of a Dancing Humanoid Robot", "Proc. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems", pp.3251-3257, October 2007.


• Hirohisa Hirukawa, Shizuko Hattori, Shuuji Kajita, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Mitsuharu Morisawa and Shinichiro Nakaoka, "A Pattern Generator of Humanoid Robots Wlaking on a Rough Terrain", Proc. 2007 IEEE International Conference on Robotics and Automation, pp.2182-2187, April 2007.


• Fumio Kanehiro, Kiyoshi Fujiwara, Hirohisa Hirukawa, Shin’ichiro Nakaoka and Mitsuharu Morisawa, Getting up Motion Planning using Mahalanobis Distance, Proc. 2007 IEEE International Conference on Robotics and Automation, pp.2540-2545, April 2007.


• Shuuji Kajita, Kenji Kaneko, Mitsuharu Morisawa, Shinichiro Nakaoka and Hirohisa Hirukawa, ZMP-based Biped Running Enhanced by Toe Springs, Proc. 2007 IEEE International Conference on Robotics and Automation, pp.3963-3969, April 2007.


• Mitsuharu Morisawa, Kensuke Harada, Shuuji Kajita, Shinichiro Nakaoka, Kiyoshi Fujiwara, Fumio Kanehiro, Kenji Kaneko and Hirohisa Hirukawa, Experimentation of Humanoid Walking Allowing Immediate Modification of Foot Place Based on Analytical Solution", Proc. 2007 IEEE International Conference on Robotics and Automation, pp.3989-3994, April 2007.


• Mitsuharu Morisawa, Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Fumio Kanehiro, Kiyoshi Fujiwara, Shinichiro Nakaoka and Hirohisa Hirukawa, "A Biped Pattern Generation Allowing Immediate Modification of Foot Placement in Real-time", Proc. IEEE-RAS International Conference on Humanoid Robots, pp.524-529, December 2006.


• Kiyoshi Fujiwara, Shuuji Kajita, Kensuke Harada, Kenji Kaneko, Mitsuharu Morisawa, Fumio Kanehiro, Shinichiro Nakaoka and Hirohisa Hirukawa, "Towards an Optimal Falling Motion for a Humanoid Robot", Proc. IEEE-RAS International Conference on Humanoid Robots, pp.524-529, December 2006.


• Miti Ruchanurucks, Shinichiro Nakaoka, Shunsuke Kudoh and Katsushi Ikeuchi, "Humanoid Robot Motion Generation with Sequential Physical Constraints", "Proc. 2006 IEEE International Conference on Robotics and Automation", pp.2649-2654, May 2006.


• Shinichiro Nakaoka, Atushi Nakazawa, Fumio Kanehiro, Kenji Kaneko, Mitsuharu Morisawa and Katsushi Ikeuchi, "Task Model of Lower Body Motion for a Biped Humanoid Robot to Imitate Human Dances", Proc. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2769–2774, August 2005.


• Miti Ruchanurucks, Shinichiro Nakaoka, Shunsuke Kudoh and Katsushi Ikeuchi, "Generation of Humanoid Robot Motions with Physical Constraints using Hierarchical B-Spline", Proc. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.674-679, August 2005.


• Shinichiro Nakaoka, Atsushi Nakazawa and Katsushi Ikeuchi, "An Efficient Method for Composing Whole Body Motions of a Humanoid Robot", Proc. Tenth International Conference on Virtual Systems and Multimedia, pp.1142–1151, November 2004.


• Atsushi Nakazawa, Shinichiro Nakaoka and Katsushi Ikeuchi, "Matching and Blending Human Motions using Temporal Scaleable Dynamic Programming", Proc. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.287-294, September 2004.


• Shinichiro Nakaoka, Atsushi Nakazawa, Kazuhito Yokoi and Katsushi Ikeuchi, "Leg Motion Primitives for a Dancing Humanoid Robot", Proc. 2004 IEEE International Conference on Robotics and Automation, pp.610–615, April 2004.


• Shinichiro Nakaoka, Atsushi Nakazawa, Kazuhito Yokoi, Hirohisa Hirukawa and Katsushi Ikeuchi, "Generating Whole Body Motions for a Biped Humanoid Robot from Captured Human Dances", Proc. 2003 IEEE International Conference on Robotics and Automation, pp.3905–3910, September 2003.


• Atsushi Nakazawa, Shinichiro Nakaoka and Katsushi Ikeuchi, "Synthesize Stylistic Human Motion from Examples", Proc. 2003 IEEE International Conference on Robotics and Automation, pp.3899-3904, September 2003.


• Atsushi Nakazawa, Shinichiro Nakaoka and Katsushi Ikeuchi, "Imitating Human Dance Motions through Motion Structure Analysis", Proc. 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2539–2544, September 2002.


• Atsushi Nakazawa, Shinichiro Nakaoka and Katsushi Ikeuchi, "Imitating Human Dance Motions through Motion Structure Analysis", Proc. 2002 IEEE International Conference on Intelligent Robots and Systems, pp.2539-2544, September 2002.


• Atsushi Nakazawa, Shinichiro Nakaoka, Shunsuke Kudoh and Katsushi Ikeuchi, "Digital Archive of Human Dance Motions", Proc. Eighth International Conference on Virtual Systems and MultiMedia, pp.952–960, September 2002.

Symposium / Workshop Presentations

• Shin'ichiro Nakaoka, "Choreonoid: Extensible GUI Framework for Handling Virtual Robots", ICRA 2013 Workshop on Developments of Simulation Tools for Robotics & Biomechanics, Karlsruhe, Germany, May 2013.


• Kanako Miura, Shin'ichiro Nakaoka, Shuji Kajita, Kenji Kaneko, Fumio Kanehiro, Mitsuharu Morisawa and Kazuhito Yokoi, "Trials of Cybernetic Humand HRP-4C toward Humanoid Business", Proc. of 6th IEEE Workshop on Advanced Robotics and its Social Impacts, Seoul, Korea, Octover 2010.


• Makoto Tachibana, Shin'ichiro Nakaoka and Hideki Kenmochi, "A Singing Robot Realized by a Collaboration of VOCALOID and Cybernetic Human HRP-4C", InterSinging 2010, Tokyo, Japan, October 2010.


• Takaaki Shiratori, Atsushi Nakazawa, Shin'ichiro Nakaoka, Shunsuke Kudoh and Katsushi Ikeuchi, "Task Models of Upper Body Motion for a Dancing Humanoid Robot Based on Motion and Music Features", Proc. International Workshop on Art and Robots in conjunction with IROS 2008, September 2008.


• Jun Takamatsu, Takaaki Shiratori, Shin'ichiro Nakaoka, Shunsuke Kudoh, Atsushi Nakazawa, Fumio Kanehiro and Katsushi Ikeuchi, "Entertainment Robot: Learning from Observation Paradigm for Humanoid Robot Dancing", Proc. International Workshop on Art and Robots in conjunction with IROS 2007, October 2007.


• Shinichiro Nakaoka, Atsushi Nakazawa, Kazuhito Yokoi and Katsushi Ikeuchi, "Leg Motion Primitives for a Humanoid Robot to Imitate Human Dances", Proc. Sixth International Conference on Humans and Computers, Fukushima, Japan, August 2003.


• Atsushi Nakazawa, Shinichiro Nakaoka, Takaaki Shiratori and Katsushi Ikeuchi, "Analysis and Synthesis of Human Motions using Motion Capture", Proc. Sixth International Conference on Humans and Computers, Fukushima, Japan, August 2003.


• Shinichiro Nakaoka, Atsushi Nakazawa, Kazuhito Yokoi and Katsushi Ikeuchi, "Recognition and Generation of Leg Primitive Motions for Dance Imitation by a Humanoid Robot", Proc. 2nd International Symposium on Adaptive Motion of Animals and Machines, Kyoto, Japan, March 2003.

Contributed Articles

• Katsushi Ikeuchi, Takaaki Shiratori, Shunsuke Kudoh, Hirohisa Hirukawa, Shin'ichiro Nakaoka and Fumio Kanehiro, "Robots That Learn to Dance from Observation", IEEE Intelligent Systems, vol.23, no.2, pp.74-76, March 2008.