教員情報

中西 淳
ナカニシ ジュン
理工学部 機械工学科
准教授
Last Updated :2019/06/04

基本情報

プロフィール

    男性

学歴

  • 名古屋大学, 工学部, 機械工学科, 卒業
  • 名古屋大学大学院, 工学研究科, 機械情報システム工学専攻 博士課程前期課程, 修了
  • ミシガン大学大学院, 工学部, 電気工学・計算機科学学科, 留学
  • 名古屋大学大学院, 工学研究科, マイクロシステム工学専攻 博士課程後期課程, 修了 博士(工学)

受賞学術賞

  • 1995年
    日本機械学会
    畠山賞
  • 2002年
    2002 IEEE International Conference on Robotics and Automation
    Best Paper Award
  • 2005年
    日本神経回路学会
    論文賞
  • 2016年
    第17回計測自動制御学会システムインテグレーション部門講演会
    優秀講演賞
  • 2017年
    第18回計測自動制御学会システムインテグレーション部門講演会
    優秀講演賞

現在所属している学会

  • The Institute of Electrical and Electronics Engineers (IEEE)
  • 日本ロボット学会

学会

  • 2000年, The 26th Annual Conference of the IEEE Industrial Electronics Society (IECON 2000), General Affairs Member
  • 2003年, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), Tutorial Co-organizer
  • 2004年, IEEE-RAS/RSJ International Conference on Humanoid Robots (Humanoids 2004), Program Committee Member
  • 2005年, IEEE International Conference on Robotics and Automation (ICRA 2005), Video Committee Member
  • 2005年, 2007年, 計測自動制御学会制御部門 生物制御調査研究会 委員
  • 2005年, 3rd International Symposium on Adaptive Motion in Animals and Machines, Program Committee Member
  • 2005年, IEEE-RAS International Conference on Humanoid Robots (Humanoids 2005), Program Committee Member
  • 2006年, Robotics: Science and Systems (R:SS) Conference 2006, Program Committee Member
  • 2006年, IEEE-RAS International Conference on Humanoid Robots (Humanoids 2006), Program Committee Member
  • 2008年, IEEE RAS Technical Committee on Robot Learning, Committee Member
  • 2012年, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Associate Editor
  • 2012年, Robotics: Science and Systems (R:SS) Conference 2012, Program Committee Member
  • 2013年, Robotics: Science and Systems (R:SS) Conference 2013, Program Committee Member
  • 2015年, International Conference on Advanced Robotics (ICAR 2015), Area Chair
  • 2015年, IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR 2015), Associate Editor
  • 2017年, IEEE International Conference on Robotics and Automation (ICRA 2017), Associate Editor
  • 2017年, International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017), Local Arrangement Committee Member
  • 2017年, 日本ロボット学会 ヒューマノイド・ロボティクス研究専門委員会 委員
  • 2018年, IEEE International Conference on Robotics and Automation (ICRA 2018), Associate Editor
  • 2018年, Robotics: Science and Systems (R:SS) Conference 2018, Program Committee Member
  • 2018年, IEEE International Conference on Intelligent Robots and Systems (IROS 2018), Associate Editor
  • 2018年, Conference on Robot Learning (CoRL 2018), Area Chair

研究活動

研究分野

  • 知能機械学・機械システム
  • 知覚情報処理・知能ロボティクス

研究キーワード

  • ロボティクス
  • 運動学習制御
  • 制御工学

著書

  • Optimal Control of Variable Impedance Policies: Dealing with Switching Dynamics and Model Mismatch
    Andreea Radulescu, Jun Nakanishi, David J. Braun, Sethu Vijayakumar
    Springer
    2017年05月
    Book Chapter (pp. 393-419) in Geometric and Numerical Foundations of Movements (Editors, J.-P. Laumond, N. Mansard, and J.-B. Lasserre)

学術論文

  • Effective Dynamic Motion Learning for Multi-DOF Flexible-Joint Robots with Active-Passive Motor Babbling
    共著
    Kuniyuki Takahashi, Tetsuya Ogata, Jun Nakanishi, Gordon Cheng, and Shigeki Sugano
    Advanced Robotics
    31, 18, 1002, 1015
    2017年
  • Practice reduces task relevant variance modulation and forms nominal trajectory
    共著
    Rieko Osu, Ken-ichi Morishige, Jun Nakanishi, Hiroyuki Miyamoto, and Mitsuo Kawato
    Scientific Reports
    5
    2015年
  • Dynamical Movement Primitives: Learning Nonlinear Attractor Models for Motor Behaviors
    共著
    Auke Ijspeert, Jun Nakanishi, Heiko Hoffmann, Peter Pastor, and Stefan Schaal
    Neural Computation
    25, 2, 328, 373
    2013年
  • A Unifying Framework for Robot Control with Redundant DOFs
    共著
    Jan Peters, Michael Mistry, Firdaus Udwadia, Jun Nakanishi, and Stefan Schaal
    Autonomous Robots
    24, 1, 1, 12
    2008年
  • Learning CPG-based Biped Locomotion with a Policy Gradient Method: Application to a Humanoid Robot
    共著
    Gen Endo, Jun Morimoto, Takamitsu Matsubara, Jun Nakanishi, and Gordon Cheng
    Gen Endo, Jun Morimoto, Takamitsu Matsubara, Jun Nakanishi, and Gordon Cheng
    27, 2, 213, 228
    2008年
  • A Biologically Inspired Biped Locomotion Strategy for Humanoid Robots: Modulation of Sinusoidal Patterns by a Coupled Oscillator Model
    共著
    Jun Morimoto, Gen Endo, Jun Nakanishi, and Gordon Cheng
    IEEE Transaction on Robotics
    24, 1, 185, 191
    2008年
  • Learning to Acquire Whole-Body Humanoid Center of Mass Movements to Achieve Dynamic Tasks
    共著
    Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Sang-Ho Hyon, Joshua G. Hale, and Gordon Cheng
    Advanced Robotics
    22, 10, 1125, 1142
    2008年
  • Operational Space Control: A Theoretical and Empirical Comparison
    共著
    Jun Nakanishi, Rick Cory, Michael Mistry, Jan Peters, and Stefan Schaal
    International Journal of Robotics Research
    27, 6, 737, 757
    2008年
  • Learning CPG-based Biped Locomotion with a Policy Gradient Method
    共著
    Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Masa-aki Sato, and Kenji Doya
    Robotics and Autonomous Systems
    54, 11, 911, 920
    2006年
  • 方策こう配法を用いた動的行動則の獲得:2足歩行運動への適用
    共著
    松原崇充,森本 淳,中西 淳,佐藤雅昭,銅谷賢治
    電子情報通信学会論文誌
    J88-D2, 1, 53, 65
    2005年
  • Composite Adaptive Control with Locally Weighted Statistical Learning
    共著
    Jun Nakanishi, Jay A. Farrell, and Stefan Schaal
    Neural Networks
    18, 1, 71, 90
    2005年
  • Learning from Demonstration and Adaptation of Biped Locomotion
    共著
    Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, and Mitsuo Kawato
    Robotics and Autonomous Systems
    47, 2-3, 79, 91
    2004年
  • Feedback Error Learning and Nonlinear Learning Adaptive Control
    共著
    Jun Nakanishi and Stefan Schaal
    Neural Networks
    17, 10, 1453, 1451
    2004年
  • 信号ネットワークの自己組織化制御
    共著
    関山浩介,中西 淳,高川 功,東 俊光,福田敏男
    日本機械学会論文集C編
    69, 684, 2077, 2084
    2003年
  • Brachiation on a Ladder with Irregular Intervals
    共著
    Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
    Advanced Robotics
    16, 2, 147, 160
    2002年
  • ハイブリッドコントローラによる2リンクブラキエーションロボットの振幅制御
    共著
    中西 淳,福田敏男,Daniel E. Koditschek
    日本ロボット学会誌
    19, 5, 652, 659
    2001年
  • A Brachiating Robot Controller
    共著
    Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
    IEEE Transactions on Robotics and Automation
    16, 2, 109, 123
    2000年
  • 2リンクブラキエーションロボットの制御─目標ダイナミクス法の実ロボットへの適用─
    共著
    中西 淳,福田敏男,Daniel E. Koditschek
    日本ロボット学会誌
    17, 1, 110, 117
    1999年
  • 2リンクブラキエーションロボットの制御 (目標ダイナミクス法による枝間隔の異なる枝渡りの実現)
    共著
    中西 淳,福田敏男,Daniel E. KODITSCHEK
    日本機械学会論文集C編
    65, 639, 4387, 4394
    1999年
  • 解析的手法による2リンクブラキエーションロボットの制御
    共著
    中西 淳,福田敏男,Daniel E. Koditschek
    日本ロボット学会誌
    16, 3, 361, 368
    1998年

講演・口頭発表等

  • Preliminary Studies of a Second Generation Brachiation Robot Controller
    Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
    IEEE International Conference on Robotics and Automation
    1997年
  • Experimental Implementation of a Target Dynamics Controller on a Two-link Brachiating Robot
    Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
    IEEE International Conference on Robotics and Automation
    1998年
  • Brachiation on a Ladder with Irregular Intervals
    Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
    IEEE International Conference on Robotics and Automation
    1999年
  • A Hybrid Swing up Controller for a Two-link Brachiating Robot
    Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
    IEEE/ASME International Conference on Advanced Intelligent Mechatronics
    1999年
  • A Leaping Maneuver for a Brachiating Robot
    Jun Nakanishi and Toshio Fukuda
    IEEE International Conference on Robotics and Automation
    2000年
  • Experimental Implementation of a Hybrid Swing up Controller on a Two-link Brachiating Robot
    Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
    Mechatronics Forum International Conference
    2000年
  • Self-Organizing Control of Urban Traffic Signal Network
    Kosuke Sekiyama, Jun Nakanishi, Isao Takagawa, Toshimitsu Higashi, and Toshio Fukuda
    IEEE International Conference on Systems, Man and Cybernetics
    2001年
  • Trajectory Formation for Imitation with Nonlinear Dynamical Systems
    Auke J. Ijspeert, Jun Nakanishi, and Stefan Schaal
    IEEE/RSJ International Conference on Intelligent Robots and Systems
    2001年
  • Real-Time Statistical Learning For Robotics and Human Augmentation
    Real-Time Statistical Learning For Robotics and Human Augmentation
    International Symposium of Robotics Research
    2001年
  • Nonlinear Dynamical Systems for Imitation with Humanoid Robots
    Auke J. Ijspeert, Jun Nakanishi, Tomohiro Shibata, and Stefan Schaal
    IEEE-RAS International Conference on Humanoid Robots
    2001年
  • Movement Imitation with Nonlinear Dynamical Systems in Humanoid Robots
    Auke J. Ijspeert, Jun Nakanishi, and Stefan Schaal
    IEEE International Conference on Robotics and Automation
    2002年
  • A Locally Weighted Learning Composite Adaptive Controller with Structure Adaptation
    Jun Nakanishi, Jay Farrell, and Stefan Schaal
    IEEE/RSJ International Conference on Intelligent Robots and Systems
    2002年
  • Learning Attractor Landscapes for Learning Motor Primitives
    Auke J. Ijspeert, Jun Nakanishi, and Stefan Schaal
    Neural Information Processing Systems
    2002年
  • Learning Movement Primitives
    Stefan Schaal, Jan Peters, and Jun Nakanishi, and Auke Ijspeert
    International Symposium of Robotics Research
    2003年
  • Learning Composite Adaptive Control for a Class of Nonlinear Systems
    Jun Nakanishi, Jay A. Farrell, and Stefan Schaal
    IEEE International Conference on Robotics and Automation
    2004年
  • An Empirical Exploration of a Neural Oscillator for Biped Locomotion Control
    Gen Endo, Jun Morimoto, Jun Nakanishi, and Gordon Cheng
    IEEE International Conference on Robotics and Automation
    2004年
  • An Empirical Exploration of Phase Resetting for Robust Biped Locomotion with Dynamical Movement Primitives
    Jun Nakanishi, Jun Morimoto, Gen Endo, Stefan Schaal, Gordon Cheng, and Mitsuo Kawato
    IEEE/RSJ International Conference on Intelligent Robots and Systems
    2004年
  • A Framework for Learning Biped Locomotion with Dynamical Movement Primitives
    A Framework for Learning Biped Locomotion with Dynamical Movement Primitives
    IEEE-RAS/RSJ International Conference on Humanoid Robots
    2004年
  • Acquisition of a Biped Walking Pattern using a Poincare Map
    Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Christopher G. Atkeson, and Garth Zeglin
    IEEE-RAS/RSJ International Conference on Humanoid Robots
    2004年
  • Experimental Studies of a Neural Oscillator for Biped Locomotion using QRIO
    Gen Endo, Jun Nakanishi, Jun Morimoto, and Gordon Cheng
    IEEE International Conference on Robotics and Automation
    2005年
  • Poincare-Map-based Reinforcement Learning for Biped Walking
    Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Christopher G. Atkeson, and Garth Zegli
    IEEE International Conference on Robotics and Automation
    2005年
  • Learning Sensory Feedback to CPG with Policy Gradient for Biped Locomotion
    Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Masa-aki Sato, and Kenji Doya
    IEEE International Conference on Robotics and Automation
    2005年
  • Learning CPG Sensory Feedback with Policy Gradient for Biped Locomotion for a Full-body Humanoid
    Gen Endo, Jun Morimoto, Takamitsu Matsubara, Jun Nakanishi, and Gordon Cheng
    National Conference on Artificial Intelligence (AAAI-05)
    2005年
  • Motor Learning and Control in Humanoid Robots
    Jun Nakanishi
    Japan-America Frontiers of Engineering Symposium (JAFoE)
    2005年
  • Comparative Experiments on Task Space Control with Redundancy Resolution
    Jun Nakanishi, Rick Cory, Michael Mistry, Jan Peters, and Stefan Schaal
    IEEE/RSJ International Conference on Intelligent Robots and Systems
    2005年
  • Learning and Adaptation of Biped Locomotion withDynamical Movement Primitives
    Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, and Mitsuo Kawato
    Workshop on Learning for Locomotion, Robotics: Science and Systems
    2005年
  • A Unifying Methodology for the Control of Robotic Systems
    Jan Peters, Michael Mistry, Firdaus Udwadia, Rick Cory, Jun Nakanishi, and Stefan Schaal
    IEEE/RSJ International Conference on Intelligent Robots and Systems
    2005年
  • Learning CPG-based Biped Locomotion with a Policy Gradient Method
    Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Masa-aki Sato, and Kenji Doya
    IEEE-RAS/RSJ International Conference on Humanoid Robots
    2005年
  • Modulation of Simple Sinusoidal Patterns by a Coupled Oscillator Model for Biped Walking
    Jun Morimoto, Gen Endo, Jun Nakanishi, Sang-Ho Hyon, Gordon Cheng, Darrin Bentivegna, Christopher G. Atkeson
    IEEE International Conference on Robotics and Automation
    2006年
  • A Bayesian Approach to Nonlinear Parameter Identification for Rigid Body Dynamics
    Jo-Anne Ting, Michael Mistry, Jan Peters, Stefan Schaal, and Jun Nakanishi
    Robotics: Science and Systems
    2006年
  • Inverse Dynamics Control with Floating Base and Constraints
    Jun Nakanishi, Michael Mistry, and Stefan Schaal
    IEEE International Conference on Robotics and Automation
    2007年
  • Learning to Acquire Whole-Body Humanoid CoM Movements to Achieve Dynamic Tasks
    Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Sang-Ho Hyon, Joshua G. Hale, and Gordon Cheng
    IEEE International Conference on Robotics and Automation
    2007年
  • Task Space Control with Prioritization for Balance and Locomotion
    Michael Mistry, Jun Nakanishi, and Stefan Schaa
    IEEE/RSJ International Conference on Intelligent Robots and Systems
    2007年
  • Towards Compliant Humanoids - An Experimental Assessment of Suitable Task Space Position/orientation Controllers
    Jun Nakanishi, Michael Mistry, and Stefan Schaal
    IEEE/RSJ International Conference on Intelligent Robots and Systems
    2007年
  • CB: Exploring Neuroscience with a Humanoid Research Platform
    G. Cheng, S.-H. Hyon, A. Ude, J. Morimoto, J. G. Hale, J. Hart, J. Nakanishi, D. Bentivegna, J. Hodgins, C. G. Atkeson, M. Mistry, S. Schaal, and M. Kawato
    IEEE International Conference on Robotics and Automation
    2008年
  • Inverse Kinematics with Floating Base and Constraints for Full Body Humanoid Robot Control
    Michael Mistry, Jun Nakanishi, Gordon Cheng, and Stefan Schaal
    IEEE-RAS International Conference on Humanoid Robots
    2008年
  • Stiffness and Temporal Optimization in Periodic Movements: An Optimal Control Approach
    Jun Nakanishi, Konrad Rawlik, and Sethu Vijayakumar
    IEEE/RSJ International Conference of Intelligent Robots and Systems
    2011年
  • Exploiting Passive Dynamics with Variable Stiffness Actuation in Robot Brachiation
    Jun Nakanishi and Sethu Vijayakumar
    Robotics: Science and Systems
    2012年
  • Spatio-temporal Optimization for Variable Stiffness Robots: Dealing with Contacts and Switching Dynamics
    Jun Nakanishi, Andreea Radulescu and Sethu Vijayakumar
    IEEE/RSJ International Conference of Intelligent Robots and Systems
    2013年
  • Optimal Control of Multi-phase Movements with Learned Dynamics
    Andreea Radulescu, Jun Nakanishi and Sethu Vijayakumar
    4th International Conference on Man-Machine Interactions
    2015年
  • Conceptual design of a versatile robot for minimally invasive transnasal microsurgery
    M. M. Marinho, A. Nakazawa, J. Nakanishi, T. Ueyama, Y. Hasegawa, J. Arata, M. Mitsuishi, K. Harada
    International Symposium on Micro-NanoMechatronics and Human Science
    2016年
  • A Concept of a User Interface Capable of Intuitive Operation of 4-DoF Articulated Forceps
    Jacinto E. Colan Zaita, Jun Nakanishi, Keisuke Ohara, Tadayoshi Aoyama and Yasuhisa Hasegawa
    International Symposium on Micro-NanoMechatronics and Human Science
    2017年
  • Real-time Microscopic Video Shooting Using a View-expanded Microscope System
    Tadayoshi Aoyama, Mamoru Kaneishi, Takeshi Takaki, Idaku Ishii, Sarau Takeno, Masaru Takeuchi, Jun Nakanishi and Yasuhisa Hasegawa
    International Symposium on Micro-NanoMechatronics and Human Science
    2017年

その他の研究業績

  • 運動学習プリミティブを用いたロボットの見まね学習
    共著
    中西 淳,Auke Ijspeert,Stefan Schaal,Gordon Cheng
    日本ロボット学会特集号解説
    22, 2, 165, 170
    2004年

特許等

  • 特許第3868358号
    物理系の制御方法および装置ならびに物理系の制御のためのコンピュータプログラム
  • 特許第3872457号
    学習適応制御装置
  • 特許第4587699号
    ロボット装置及びその制御方法
  • 特許第4587738号
    ロボット装置及びロボットの姿勢制御方法
  • 特許第4644833号
    2足歩行移動装置
  • 特願2006-001668
    特開2007-183824
    運転支援装置
  • 特許第4836592号
    ロボット装置及びその制御方法
  • 特許第4951732号
    駆動方法、駆動制御装置及びロボット
  • 特許第5052013号
    ロボット装置及びその制御方法
  • 特願2016-240701
    術具操作装置
  • Chinese Patent CN100346941
    Robot and attitude control method of robot
  • US Patent US7657345
    Robot and attitude control method of robot
  • EU Patent EP1510446
    Robot and attitude control method of robot
  • Korean Patent KR101100657
    Robot and attitude control method of robot
  • US Patent US7908032
    Driving method, drive control apparatus, and robot
  • US Patent US7949428
    Robot apparatus and method of controlling the same


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