Basic Information

Faculty

• 工学部

Academic Degree

• 博士（工学）(奈良先端科学技術大学院大学)
• 修士（工学）(奈良先端科学技術大学院大学)

Research History

• From Dec. 2019, To Mar. 2021

  RIKEN, Team Leader
• From Apr. 2001, To Mar. 2002

  Carnegie Mellon University, The Robotics Institute, Postdoctoral Fellow
• From Apr. 2021, To Present

  Kyoto University, Gradulate School of Informatics, Professor
• From Apr. 2008, To Present

  Advanced Telecommunications Research Institute International (ATR), Computational Neuroscience Laboratories, Head of Department

ID,URL

• J-Global ID

  202201013588315130

researchmap URL

• https://researchmap.jp/jun_morimoto

Research

Research Interests

• Robotics
• Reinforcement Learning
• Humanoid Robots
• Computational Neuroscience

Papers

• Towards Synergistic Human-Robot Co-Adaptation via Reciprocal Feedback for Shared Contact Tasks

  Deniz Yilmaz; Shinya Chiyohara; Jun-Ichiro Furukawa; Erhan Oztop; Hiroshi Imamizu; Jun Morimoto; Barkan Ugurlu

  2026 IEEE/SICE International Symposium on System Integration (SII), 11 Jan. 2026

  
• Generating Velocity-Adaptive Manipulation Through Learning from Human Movement Speed Variations

  Kai Tsunoda; Satoshi Yagi; Satoshi Yamamori; Jun Morimoto

  2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids), 30 Sep. 2025

  
• Poxel: Voxel Reconstruction for 3D Printing.

  Ruixiang Cao; Satoshi Yagi; Satoshi Yamamori; Jun Morimoto

  CoRR, Jan. 2025

  
• Unsupervised Neural Motion Retargeting for Humanoid Teleoperation.

  Satoshi Yagi; Mitsunori Tada; Eiji Uchibe; Suguru Kanoga; Takamitsu Matsubara; Jun Morimoto

  CoRR, 2024

  
• Robot Learning Methods for Exoskeleton Control

  Jun-ichiro Furukawa; Jun Morimoto

  Journal of the Robotics Society of Japan, 2024

  
• Robotizing Double-Bar Ankle-Foot Orthosis.

  Tomoyuki Noda; Asuka Takai; Tatsuya Teramae; Eiko Hirookai; Kimitaka Hase; Jun Morimoto

  2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, May 21-25, 2018, 2018, Peer-reviewed

  
• User-robot collaborative excitation for PAM model identification in exoskeleton robots

  Masashi Hamaya; Takamitsu Matsubara; Tomoyuki Noda; Tatsuya Teramae; Jun Morimoto

  IEEE International Conference on Intelligent Robots and Systems, 13 Dec. 2017, Peer-reviewed

  
• Learning task-parametrized assistive strategies for exoskeleton robots by multi-task reinforcement learning

  Masashi Hamaya; Takamitsu Matsubara; Tomoyuki Noda; Tatsuya Teramae; Jun Morimoto

  Proceedings - IEEE International Conference on Robotics and Automation, 21 Jul. 2017, Peer-reviewed

  
• Efficient reuse of previous experiences in humanoid motor learning

  Norikazu Sugimoto; Voot Tangkaratt; Thijs Wensveen; Tingting Zhao; Masashi Sugiyama; Jun Morimoto

  IEEE-RAS International Conference on Humanoid Robots, 12 Feb. 2015, Peer-reviewed

  
• Learning and adaptation of a Stylistic Myoelectric Interface: EMG-based robotic control with individual user differences

  Takamitsu Matsubara; Sang-Ho Hyon; Jun Morimoto

  2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, 2011, Peer-reviewed

  
• eMOSAIC model for humanoid robot control

  Norikazu Sugimoto; Jun Morimoto; Sang-Ho Hyon; Mitsuo Kawato

  NEUROSCIENCE RESEARCH, 2010

  
• From Compliant Balancing to Dynamic Walking on Humanoid Robot: Integration of CNS and CPG

  Sang-Ho Hyon; Jun Morimoto; Mitsuo Kawato

  2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2010

  
• Learning to acquire whole-body humanoid CoM movements to achieve dynamic tasks

  Takamitsu Matsubara; Jun Morimoto; Jun Nakanishi; Sang-Ho Hyon; Joshua G. Hale; Gordon Cheng

  PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, Peer-reviewed

  
• Optimizing non-assisted body part movements for robot-assisted therapy

  Tatsuya Teramae; Takamitsu Matsubara; Tomoyuki Noda; Jun Morimoto

  Biomedical Signal Processing and Control, Sep. 2025

  
• Transformer-based multitask assist control from first-person view image and user’s kinematic information for exoskeleton robots

  Jun-ichiro Furukawa; Jun Morimoto

  npj Robotics, 11 Jun. 2025

  
• Cutting Sequence Diffuser: Sim-to-Real Transferable Planning for Object Shaping by Grinding

  Takumi Hachimine; Jun Morimoto; Takamitsu Matsubara

  IEEE Robotics and Automation Letters, Feb. 2025

  
• An empirical evaluation of a hierarchical reinforcement learning method towards modular robot control

  Sho Takeda; Satoshi Yamamori; Satoshi Yagi; Jun Morimoto

  ARTIFICIAL LIFE AND ROBOTICS, 23 Jan. 2025

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• Improvement of fault tolerance of quadruped robots by detecting correlation anomalies in sensor signals

  Eisuke Matsubara; Satoshi Yagi; Yuta Goto; Satoshi Yamamori; Jun Morimoto

  Artificial Life and Robotics, 17 Jan. 2025

  
• Neural-Enhanced Motion-to-EMG: Refining Simulated Muscle Activity from Musculoskeletal Models using a Seq2Seq Approach

  Tatsuya Teramae; Takamitsu Matsubara; Tomoyuki Noda; Jun Morimoto

  Frontiers in Bioengineering and Biotechnology, 2025

  
• Role specialization enables superior task performance by human dyads than individuals

  Asuka Takai; Qiushi Fu; Yuzuru Doibata; Giuseppe Lisi; Toshiki Tsuchiya; Keivan Mojtahedi; Toshinori Yoshioka; Mitsuo Kawato; Jun Morimoto; Marco Santello

  International Journal of Robotics research, 2025, Peer-reviewed

  
• Foundational Policy Acquisition via Multitask Learning for Motor Skill Generation

  Satoshi Yamamori; Jun Morimoto

  IEEE Transactions on Cognitive and Developmental Systems, 2025

  
• Phase-amplitude reduction-based imitation learning

  Satoshi Yamamori; Jun Morimoto

  Advanced Robotics, 17 Dec. 2024

  
• GAN-Based Semi-Supervised Training of LSTM Nets for Intention Recognition in Cooperative Tasks

  Matija Mavsar; Jun Morimoto; Aleš Ude

  IEEE Robotics and Automation Letters, Jan. 2024

  
• Stable Control of Force, Position, and Stiffness for Robot Joints Powered via Pneumatic Muscles

  Barkan Ugurlu; Paolo Forni; Corinne Doppmann; Emre Sariyildiz; Jun Morimoto

  IEEE Transactions on Industrial Informatics, Dec. 2019

  
• EEG Sensorimotor Correlates of Speed During Forearm Passive Movements

  Fumiaki Iwane; Giuseppe Lisi; Jun Morimoto

  IEEE Transactions on Neural Systems and Rehabilitation Engineering, Sep. 2019

  
• Design of physical user–robot interactions for model identification of soft actuators on exoskeleton robots

  Masashi Hamaya; Takamitsu Matsubara; Tatsuya Teramae; Tomoyuki Noda; Jun Morimoto

  The International Journal of Robotics Research, 06 Jun. 2019

  
• Assistive Arm-Exoskeleton Control Based on Human Muscular Manipulability

  Tadej Petrič; Luka Peternel; Jun Morimoto; Jan Babič

  Frontiers in Neurorobotics, 29 May 2019

  
• Harmonization of resting-state functional MRI data across multiple imaging sites via the separation of site differences into sampling bias and measurement bias

  Ayumu Yamashita; Noriaki Yahata; Takashi Itahashi; Giuseppe Lisi; Takashi Yamada; Naho Ichikawa; Masahiro Takamura; Yujiro Yoshihara; Akira Kunimatsu; Naohiro Okada; Hirotaka Yamagata; Koji Matsuo; Ryuichiro Hashimoto; Go Okada; Yuki Sakai; Jun Morimoto; Jin Narumoto; Yasuhiro Shimada; Kiyoto Kasai; Nobumasa Kato; Hidehiko Takahashi; Yasumasa Okamoto; Saori C. Tanaka; Mitsuo Kawato; Okito Yamashita; Hiroshi Imamizu

  PLOS Biology, 18 Apr. 2019

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• Human-In-The-Loop Control and Task Learning for Pneumatically Actuated Muscle Based Robots

  Tatsuya Teramae; Koji Ishihara; Jan Babič; Jun Morimoto; Erhan Oztop

  Frontiers in Neurorobotics, 06 Nov. 2018

  
• An optimal control strategy for hybrid actuator systems: Application to an artificial muscle with electric motor assist

  Koji Ishihara; Jun Morimoto

  Neural Networks, Mar. 2018

  
• Skill learning and action recognition by arc-length dynamic movement primitives

  Timotej Gašpar; Bojan Nemec; Jun Morimoto; Aleš Ude

  Robotics and Autonomous Systems, Feb. 2018

  
• Markov Switching Model for Quick Detection of Event Related Desynchronization in EEG

  Giuseppe Lisi; Diletta Rivela; Asuka Takai; Jun Morimoto

  Frontiers in Neuroscience, 01 Feb. 2018

  
• EMG-Based Model Predictive Control for Physical Human–Robot Interaction: Application for Assist-As-Needed Control

  Tatsuya Teramae; Tomoyuki Noda; Jun Morimoto

  IEEE Robotics and Automation Letters, Jan. 2018

  
• Soft humanoid motor learning

  Jun Morimoto

  Science Robotics, 20 Dec. 2017

  
• Learning assistive strategies for exoskeleton robots from user-robot physical interaction

  Masashi Hamaya; Takamitsu Matsubara; Tomoyuki Noda; Tatsuya Teramae; Jun Morimoto

  Pattern Recognition Letters, Nov. 2017

  
• A Neural Marker of Obsessive-Compulsive Disorder from Whole-Brain Functional Connectivity

  Yu Takagi; Yuki Sakai; Giuseppe Lisi; Noriaki Yahata; Yoshinari Abe; Seiji Nishida; Takashi Nakamae; Jun Morimoto; Mitsuo Kawato; Jin Narumoto; Saori C Tanaka

  Scientific Reports, 08 Aug. 2017

  
• Human Movement Modeling to Detect Biosignal Sensor Failures for Myoelectric Assistive Robot Control

  Jun-ichiro Furukawa; Tomoyuki Noda; Tatsuya Teramae; Jun Morimoto

  IEEE Transactions on Robotics, Aug. 2017

  
• Model-based reinforcement learning with dimension reduction

  Voot Tangkaratt; Jun Morimoto; Masashi Sugiyama

  Neural Networks, Dec. 2016

  
• An EMG-Driven Weight Support System With Pneumatic Artificial Muscles

  Jun-ichiro Furukawa; Tomoyuki Noda; Tatsuya Teramae; Jun Morimoto

  IEEE Systems Journal, Sep. 2016

  
• A small number of abnormal brain connections predicts adult autism spectrum disorder

  Noriaki Yahata; Jun Morimoto; Ryuichiro Hashimoto; Giuseppe Lisi; Kazuhisa Shibata; Yuki Kawakubo; Hitoshi Kuwabara; Miho Kuroda; Takashi Yamada; Fukuda Megumi; Hiroshi Imamizu; José E. Náñez Sr; Hidehiko Takahashi; Yasumasa Okamoto; Kiyoto Kasai; Nobumasa Kato; Yuka Sasaki; Takeo Watanabe; Mitsuo Kawato

  Nature Communications, 14 Apr. 2016

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• Trial and Error: Using Previous Experiences as Simulation Models in Humanoid Motor Learning

  Norikazu Sugimoto; Voot Tangkaratt; Thijs Wensveen; Tingting Zhao; Masashi Sugiyama; Jun Morimoto

  IEEE Robotics & Automation Magazine, Mar. 2016

  
• Adaptive Control of Exoskeleton Robots for Periodic Assistive Behaviours Based on EMG Feedback Minimisation

  Luka Peternel; Tomoyuki Noda; Tadej Petrič; Aleš Ude; Jun Morimoto; Jan Babič

  PLOS ONE, 16 Feb. 2016

  
• Adaptation and coaching of periodic motion primitives through physical and visual interaction

  Andrej Gams; Tadej Petrič; Martin Do; Bojan Nemec; Jun Morimoto; Tamim Asfour; Aleš Ude

  Robotics and Autonomous Systems, Jan. 2016

  
• Spatiotemporal synchronization of biped walking patterns with multiple external inputs by style–phase adaptation

  Takamitsu Matsubara; Akimasa Uchikata; Jun Morimoto

  Biological Cybernetics, 12 Oct. 2015

  
• EEG Single-Trial Detection of Gait Speed Changes during Treadmill Walk

  Giuseppe Lisi; Jun Morimoto

  PLOS ONE, 01 May 2015

  
• Fault tolerant approach for biosignal-based robot control

  Jun-ichiro Furukawa; Tomoyuki Noda; Tatsuya Teramae; Jun Morimoto

  Advanced Robotics, 03 Apr. 2015

  
• Creating the brain and interacting with the brain: an integrated approach to understanding the brain

  Jun Morimoto; Mitsuo Kawato

  Journal of The Royal Society Interface, 06 Mar. 2015

  
• Variable Ankle Stiffness Improves Balance Control: Experiments on a Bipedal Exoskeleton

  Barkan Ugurlu; Corinne Doppmann; Masashi Hamaya; Paolo Forni; Tatsuya Teramae; Tomoyuki Noda; Jun Morimoto

  IEEE/ASME Transactions on Mechatronics, 2015

  
• Model-based policy gradients with parameter-based exploration by least-squares conditional density estimation

  Voot Tangkaratt; Syogo Mori; Tingting Zhao; Jun Morimoto; Masashi Sugiyama

  Neural Networks, Sep. 2014

  
• Brain-machine interfacing control of whole-body humanoid motion

  Karim Bouyarmane; Joris Vaillant; Norikazu Sugimoto; François Keith; Jun-ichiro Furukawa; Jun Morimoto

  Frontiers in Systems Neuroscience, 05 Aug. 2014

  
• Decoding the ERD/ERS: influence of afferent input induced by a leg assistive robot

  Giuseppe Lisi; Tomoyuki Noda; Jun Morimoto

  Frontiers in Systems Neuroscience, 14 May 2014

  
• Bilinear Modeling of EMG Signals to Extract User-Independent Features for Multiuser Myoelectric Interface

  Takamitsu Matsubara; Jun Morimoto

  IEEE Transactions on Biomedical Engineering, Aug. 2013

  
• Integrating visual perception and manipulation for autonomous learning of object representations

  David Schiebener; Jun Morimoto; Tamim Asfour; Aleš Ude

  Adaptive Behavior, 15 Jul. 2013

  
• COMBINING CORRELATION-BASED AND REWARD-BASED LEARNING IN NEURAL CONTROL FOR POLICY IMPROVEMENT

  PORAMATE MANOONPONG; CHRISTOPH KOLODZIEJSKI; FLORENTIN WÖRGÖTTER; JUN MORIMOTO

  Advances in Complex Systems, May 2013

  
• Extraction of primitive representation from captured human movements and measured ground reaction force to generate physically consistent imitated behaviors

  Yuka Ariki; Sang-Ho Hyon; Jun Morimoto

  Neural Networks, Apr. 2013

  
• On-line motion synthesis and adaptation using a trajectory database

  Denis Forte; Andrej Gams; Jun Morimoto; Aleš Ude

  Robotics and Autonomous Systems, Oct. 2012

  
• The eMOSAIC model for humanoid robot control

  Norikazu Sugimoto; Jun Morimoto; Sang-Ho Hyon; Mitsuo Kawato

  Neural Networks, May 2012

  
• Real-time stylistic prediction for whole-body human motions

  Takamitsu Matsubara; Sang-Ho Hyon; Jun Morimoto

  Neural Networks, Jan. 2012

  
• Learning parametric dynamic movement primitives from multiple demonstrations

  Takamitsu Matsubara; Sang-Ho Hyon; Jun Morimoto

  Neural Networks, Jun. 2011

  
• Task-Specific Generalization of Discrete and Periodic Dynamic Movement Primitives

  Aleš Ude; Andrej Gams; Tamim Asfour; Jun Morimoto

  IEEE Transactions on Robotics, Oct. 2010

  
• Nonparametric representation of an approximated Poincaré map for learning biped locomotion

  Jun Morimoto; Christopher G. Atkeson

  Autonomous Robots, Aug. 2009

  
• A Biologically Inspired Biped Locomotion Strategy for Humanoid Robots: Modulation of Sinusoidal Patterns by a Coupled Oscillator Model

  Jun Morimoto; Gen Endo; Jun Nakanishi; Gordon Cheng

  IEEE Transactions on Robotics, Feb. 2008

  
• Learning CPG-based Biped Locomotion with a Policy Gradient Method: Application to a Humanoid Robot

  Gen Endo; Jun Morimoto; Takamitsu Matsubara; Jun Nakanishi; Gordon Cheng

  The International Journal of Robotics Research, 01 Feb. 2008

  
• Learning to Acquire Whole-Body Humanoid Center of Mass Movements to Achieve Dynamic Tasks

  Takamitsu Matsubara; Jun Morimoto; Jun Nakanishi; Sang-Ho Hyon; Joshua G. Hale; Gordon Cheng

  Advanced Robotics, Jan. 2008

  
• Learning Biped Locomotion

  Jun Morimoto; Christopher Atkeson

  IEEE Robotics & Automation Magazine, Jun. 2007

  
• Reinforcement Learning State Estimator

  Jun Morimoto; Kenji Doya

  Neural Computation, Mar. 2007

  
• CB: A Humanoid Research Platform for Exploring NeuroScience

  Gordon Cheng; Sang-ho Hyon; Jun Morimoto; Ales Ude; Glenn Colvin; Wayco Scroggin; Stephen Jacobsen

  2006 6th IEEE-RAS International Conference on Humanoid Robots, Dec. 2006

  
• Learning CPG-based biped locomotion with a policy gradient method

  Takamitsu Matsubara; Jun Morimoto; Jun Nakanishi; Masa-aki Sato; Kenji Doya

  Robotics and Autonomous Systems, Nov. 2006

  
• Robust Reinforcement Learning

  Jun Morimoto; Kenji Doya

  Neural Computation, 01 Feb. 2005

  
• Learning Sensory Feedback to CPG with Policy Gradient for Biped Locomotion

  T. Matsubara; Jun Morimoto; Jun Nakanishi; M. Sato; K. Doya

  Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Jun. 2004

  
• Reinforcement learning with via-point representation

  Hiroyuki Miyamoto; Jun Morimoto; Kenji Doya; Mitsuo Kawato

  Neural Networks, Apr. 2004

  
• Acquisition of stand-up behavior by a real robot using hierarchical reinforcement learning

  Jun Morimoto; Kenji Doya

  Robotics and Autonomous Systems, Jul. 2001

  
• Hierarchical reinforcement learning for motion learning: learning 'stand-up' trajectories

  Jun Morimoto; Kenji Doya

  Advanced Robotics, Jan. 1998

  
• Modeling Inverse Airflow Dynamics Toward Fast Movement Generation Using Pneumatic Artificial Muscle With Long Air Tubes

  Hidaka Asai; Tomoyuki Noda; Tatsuya Teramae; Jun Morimoto

  IEEE/ASME Transactions on Mechatronics, 2024

  
• Simulation-Aided Handover Prediction From Video Using Recurrent Image-to-Motion Networks

  Matija Mavsar; Barry Ridge; Rok Pahič; Jun Morimoto; Aleš Ude

  IEEE Transactions on Neural Networks and Learning Systems, Jan. 2024

  
• Curriculum-based humanoid robot identification using large-scale human motion database

  Sunhwi Kang; Koji Ishihara; Norikazu Sugimoto; Jun Morimoto

  Frontiers in Robotics and AI, 30 Nov. 2023

  
• Proprioceptive short-term memory in passive motor learning

  Shinya Chiyohara; Jun-ichiro Furukawa; Tomoyuki Noda; Jun Morimoto; Hiroshi Imamizu

  Scientific Reports, 27 Nov. 2023

  
• Learning to Shape by Grinding: Cutting-Surface-Aware Model-Based Reinforcement Learning

  Takumi Hachimine; Jun Morimoto; Takamitsu Matsubara

  IEEE Robotics and Automation Letters, Oct. 2023

  
• Development of split-force-controlled body weight support (SF-BWS) robot for gait rehabilitation

  Asuka Takai; Tatsuya Teramae; Tomoyuki Noda; Koji Ishihara; Jun-ichiro Furukawa; Hiroaki Fujimoto; Megumi Hatakenaka; Nobukazu Fujita; Akihiro Jino; Yuichi Hiramatsu; Ichiro Miyai; Jun Morimoto

  Frontiers in Human Neuroscience, 11 Jul. 2023

  
• Distinctive alterations in the mesocorticolimbic circuits in various psychiatric disorders

  Yuko Nakamura; Takuya Ishida; Saori C. Tanaka; Yuki Mitsuyama; Satoshi Yokoyama; Hotaka Shinzato; Eri Itai; Go Okada; Yuko Kobayashi; Takahiko Kawashima; Jun Miyata; Yujiro Yoshihara; Hidehiko Takahashi; Ryuta Aoki; Motoaki Nakamura; Haruhisa Ota; Takashi Itahashi; Susumu Morita; Shintaro Kawakami; Osamu Abe; Naohiro Okada; Akira Kunimatsu; Ayumu Yamashita; Okito Yamashita; Hiroshi Imamizu; Jun Morimoto; Yasumasa Okamoto; Toshiya Murai; Ryu‐Ichiro Hashimoto; Kiyoto Kasai; Mitsuo Kawato; Shinsuke Koike

  Psychiatry and Clinical Neurosciences, 30 Mar. 2023

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• Aberrant Large-Scale Network Interactions Across Psychiatric Disorders Revealed by Large-Sample Multi-Site Resting-State Functional Magnetic Resonance Imaging Datasets

  Takuya Ishida; Yuko Nakamura; Saori C Tanaka; Yuki Mitsuyama; Satoshi Yokoyama; Hotaka Shinzato; Eri Itai; Go Okada; Yuko Kobayashi; Takahiko Kawashima; Jun Miyata; Yujiro Yoshihara; Hidehiko Takahashi; Susumu Morita; Shintaro Kawakami; Osamu Abe; Naohiro Okada; Akira Kunimatsu; Ayumu Yamashita; Okito Yamashita; Hiroshi Imamizu; Jun Morimoto; Yasumasa Okamoto; Toshiya Murai; Kiyoto Kasai; Mitsuo Kawato; Shinsuke Koike

  Schizophrenia Bulletin, 09 Mar. 2023

  
• Learning acquisition of consistent leader–follower relationships depends on implicit haptic interactions

  Asuka Takai; Qiushi Fu; Yuzuru Doibata; Giuseppe Lisi; Toshiki Tsuchiya; Keivan Mojtahedi; Toshinori Yoshioka; Mitsuo Kawato; Jun Morimoto; Marco Santello

  Scientific Reports, 01 Mar. 2023

  
• Robotized Knee-Ankle-Foot Orthosis-Assisted Gait Training on Genu Recurvatum during Gait in Patients with Chronic Stroke: A Feasibility Study and Case Report

  Yoko Takahashi; Kohsuke Okada; Tomoyuki Noda; Tatsuya Teramae; Takuya Nakamura; Koshiro Haruyama; Kohei Okuyama; Kengo Tsujimoto; Katsuhiro Mizuno; Jun Morimoto; Michiyuki Kawakami

  Journal of Clinical Medicine, 04 Jan. 2023

  
• Randomized-to-Canonical Model Predictive Control for Real-World Visual Robotic Manipulation

  Tomoya Yamanokuchi; Yuhwan Kwon; Yoshihisa Tsurumine; Eiji Uchibe; Jun Morimoto; Takamitsu Matsubara

  IEEE Robotics and Automation Letters, Oct. 2022

  
• Deep learning, reinforcement learning, and world models

  Yutaka Matsuo; Yann LeCun; Maneesh Sahani; Doina Precup; David Silver; Masashi Sugiyama; Eiji Uchibe; Jun Morimoto

  Neural Networks, Aug. 2022

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• Development of a classifier for gambling disorder based on functional connections between brain regions

  Hideaki Takeuchi; Noriaki Yahata; Giuseppe Lisi; Kosuke Tsurumi; Yujiro Yoshihara; Ryosaku Kawada; Takuro Murao; Hiroto Mizuta; Tatsunori Yokomoto; Takashi Miyagi; Yukako Nakagami; Toshinori Yoshioka; Junichiro Yoshimoto; Mitsuo Kawato; Toshiya Murai; Jun Morimoto; Hidehiko Takahashi

  Psychiatry and Clinical Neurosciences, 14 Apr. 2022

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• Selective Assist Strategy by Using Lightweight Carbon Frame Exoskeleton Robot

  Jun-ichiro Furukawa; Shotaro Okajima; Qi An; Yuichi Nakamura; Jun Morimoto

  IEEE Robotics and Automation Letters, Apr. 2022

  
• Implicit Contact Dynamics Modeling With Explicit Inertia Matrix Representation for Real-Time, Model-Based Control in Physical Environment

  Takeshi D. Itoh; Koji Ishihara; Jun Morimoto

  Neural Computation, 14 Jan. 2022

  
• Parallel and hierarchical neural mechanisms for adaptive and predictive behavioral control

  Tom Macpherson; Masayuki Matsumoto; Hiroaki Gomi; Jun Morimoto; Eiji Uchibe; Takatoshi Hikida

  Neural Networks, Dec. 2021

  
• Bayesian Estimation of Potential Performance Improvement Elicited by Robot-Guided Training

  Asuka Takai; Giuseppe Lisi; Tomoyuki Noda; Tatsuya Teramae; Hiroshi Imamizu; Jun Morimoto

  Frontiers in Neuroscience, 21 Oct. 2021

  
• A Collaborative Filtering Approach Toward Plug-and-Play Myoelectric Robot Control

  Jun-ichiro Furukawa; Shinya Chiyohara; Tatsuya Teramae; Asuka Takai; Jun Morimoto

  IEEE Transactions on Human-Machine Systems, Oct. 2021

  
• A multi-site, multi-disorder resting-state magnetic resonance image database

  Saori C. Tanaka; Ayumu Yamashita; Noriaki Yahata; Takashi Itahashi; Giuseppe Lisi; Takashi Yamada; Naho Ichikawa; Masahiro Takamura; Yujiro Yoshihara; Akira Kunimatsu; Naohiro Okada; Ryuichiro Hashimoto; Go Okada; Yuki Sakai; Jun Morimoto; Jin Narumoto; Yasuhiro Shimada; Hiroaki Mano; Wako Yoshida; Ben Seymour; Takeshi Shimizu; Koichi Hosomi; Youichi Saitoh; Kiyoto Kasai; Nobumasa Kato; Hidehiko Takahashi; Yasumasa Okamoto; Okito Yamashita; Mitsuo Kawato; Hiroshi Imamizu

  Scientific Data, 30 Aug. 2021

  
• Composing an Assistive Control Strategy Based on Linear Bellman Combination From Estimated User's Motor Goal

  Jun-ichiro Furukawa; Jun Morimoto

  IEEE Robotics and Automation Letters, Apr. 2021

  
• Quaternion-Based Trajectory Optimization of Human Postures for Inducing Target Muscle Activation Patterns

  Tatsuya Teramae; Takamitsu Matsubara; Tomoyuki Noda; Jun Morimoto

  IEEE Robotics and Automation Letters, Oct. 2020

  
• Phase portraits as movement primitives for fast humanoid robot control

  Guilherme Maeda; Okan Koç; Jun Morimoto

  Neural Networks, Sep. 2020

  
• Passive training with upper extremity exoskeleton robot affects proprioceptive acuity and performance of motor learning

  Shinya Chiyohara; Jun-ichiro Furukawa; Tomoyuki Noda; Jun Morimoto; Hiroshi Imamizu

  Scientific Reports, 16 Jul. 2020

  
• Training of deep neural networks for the generation of dynamic movement primitives

  Rok Pahič; Barry Ridge; Andrej Gams; Jun Morimoto; Aleš Ude

  Neural Networks, Jul. 2020

  
• Overlapping but Asymmetrical Relationships Between Schizophrenia and Autism Revealed by Brain Connectivity

  Yujiro Yoshihara; Giuseppe Lisi; Noriaki Yahata; Junya Fujino; Yukiko Matsumoto; Jun Miyata; Gen-ichi Sugihara; Shin-ichi Urayama; Manabu Kubota; Masahiro Yamashita; Ryuichiro Hashimoto; Naho Ichikawa; Weipke Cahn; Neeltje E M van Haren; Susumu Mori; Yasumasa Okamoto; Kiyoto Kasai; Nobumasa Kato; Hiroshi Imamizu; René S Kahn; Akira Sawa; Mitsuo Kawato; Toshiya Murai; Jun Morimoto; Hidehiko Takahashi

  Schizophrenia Bulletin, 17 Apr. 2020

  
• Primary functional brain connections associated with melancholic major depressive disorder and modulation by antidepressants

  Naho Ichikawa; Giuseppe Lisi; Noriaki Yahata; Go Okada; Masahiro Takamura; Ryu-ichiro Hashimoto; Takashi Yamada; Makiko Yamada; Tetsuya Suhara; Sho Moriguchi; Masaru Mimura; Yujiro Yoshihara; Hidehiko Takahashi; Kiyoto Kasai; Nobumasa Kato; Shigeto Yamawaki; Ben Seymour; Mitsuo Kawato; Jun Morimoto; Yasumasa Okamoto

  Scientific Reports, 26 Feb. 2020

  
• Full-Body Optimal Control Toward Versatile and Agile Behaviors in a Humanoid Robot

  Koji Ishihara; Takeshi D. Itoh; Jun Morimoto

  IEEE Robotics and Automation Letters, Jan. 2020

  

Misc.

• 階層方策によるモジュラーロボットの動作生成

  南川健志郎; 山森聡; 八木聡明; 武田照; 吉田和哉; 森本淳; 森本淳

  日本ロボット学会学術講演会予稿集(CD-ROM), 2025

  
• Considerations on Anomaly Detection and Fault Tolerance Improvement for Quadruped Robots

  松原瑛将; 八木聡明; 後藤祐汰; 山森聡; 森本淳; 森本淳

  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(CD-ROM), 2024

  
• 教師無し学習を用いた動作リターゲットによるヒューマノイドテレオペレーション

  八木聡明; 多田充徳; 内部英治; 叶賀卓; 松原崇充; 森本淳; 森本淳

  日本ロボット学会学術講演会予稿集(CD-ROM), 2024

  
• Canonical correlation analysis (CCA) of multi-joint motion (JM) and dorsal root ganglion (DRG) neuronal activities

  Jun Morimoto; Tatsuya Umeda; Yukio Nishimura; Tadashi Isa; Mitsuo Kawato; Keisuke Toyama

  NEUROSCIENCE RESEARCH, 2011

  
• User-adaptive myoelectric interface for EMG-based robotic hand control

  Takamitsu Matsubara; Sang-Ho Hyon; Jun Morimoto

  NEUROSCIENCE RESEARCH, 2011

  
• Exoskeleton assistive robot: Learning feedforward assist model iteratively through human-robot interaction

  Tomoyuki Noda; Sang-Ho Hyon; Jun Morimoto

  NEUROSCIENCE RESEARCH, 2011

  
• Push-recovery strategies implemented on a compliant humanoid robot

  Sang-Ho Hyon; Rieko Osu; Yohei Otaka; Jun Morimoto

  NEUROSCIENCE RESEARCH, 2009

  

External funds: Kakenhi

• Generative adversarial brain: a comprehensive study of multi-agent learning by natural and artificial intelligence

  Grant-in-Aid for Scientific Research (S)

  Broad Section J

  Kyoto University

  石井 信

  From 27 Apr. 2022, To 31 Mar. 2027, Granted

  計算神経科学;敵対生成ネットワーク;意思決定;モデルベース強化学習;知能ロボティクス;敵対生成脳;強化学習;ロボティクス;計算論的神経科学;敵対的生成ネットワーク;Artificial Intelligence;Meta learning;Agile robotics;Artificial intelligence

  https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-22H04998/
• 作業価値関数の相互獲得を通じた人とロボットの共有学習制御手法の開発

  Grant-in-Aid for Scientific Research (B)

  Basic Section 61050:Intelligent robotics-related

  Kyoto University

  森本 淳

  From 01 Apr. 2022, To 31 Mar. 2025, Granted

  強化学習;ロボティクス;テレオペレーション;機械学習

  https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-22H03669/
• Cooperative control of multiple assistive devices according to synchronized muscle activation in human standing-up motion

  Grant-in-Aid for Scientific Research (B)

  Basic Section 20020:Robotics and intelligent system-related

  The University of Tokyo

  安 ち

  From 01 Apr. 2022, To 31 Mar. 2025, Granted

  アシストロボット;筋シナジー;筋骨格シミュレーション;起立動作;運動の支援機器;筋骨格モデル

  https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-22H01452/
• 敵対生成脳の計算理論と人工知能応用

  Grant-in-Aid for Scientific Research (A)

  Medium-sized Section 61:Human informatics and related fields

  Kyoto University

  石井 信

  From 01 Apr. 2022, To 31 Mar. 2023, Discontinued

  敵対生成脳;計算論的神経科学;知能ロボティクス;深層強化学習;脳型人工知能;計算神経科学;非侵襲脳活動計測;サル神経生理;ベイズ学習

  https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-22H00534/
• 自信を持たせる動作支援: 動作予測と体性感覚呈示とモニタリングによる柔らかい支援

  Grant-in-Aid for Scientific Research (A)

  Medium-sized Section 61:Human informatics and related fields

  Kyoto University

  中村 裕一

  From 05 Apr. 2021, To 31 Mar. 2026, Granted

  動作支援;動作予測;パワーアシスト;QOLモニタリング;筋電位計測;体性感覚提示;体性感覚呈示

  https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-21H04894/
• Internal model construction by observing others and policy acquisition through self learning

  Grant-in-Aid for Scientific Research on Innovative Areas (Research in a proposed research area)

  Complex systems

  Kyoto University;Advanced Telecommunications Research Institute International

  Jun Morimoto

  From 30 Jun. 2016, To 31 Mar. 2021, Project Closed

  強化学習;モデル予測制御;ヒューマノイドロボット;非線形最適制御;ロボティクス;機械学習

  https://kaken.nii.ac.jp/grant/KAKENHI-PLANNED-16H06565/
• Development of Machine Learning Theory for Prediction and Decision Making and Its Realization in Neural Networks

  Grant-in-Aid for Scientific Research on Innovative Areas (Research in a proposed research area)

  Complex systems

  The University of Tokyo;Tokyo Institute of Technology

  Masashi Sugiyama

  From 01 Apr. 2011, To 31 Mar. 2016, Project Closed

  予測;意志決定;機械学習;特徴選択;強化学習;ロボット制御;意思決定;スパース学習;ロバスト学習;制御理論

  https://kaken.nii.ac.jp/grant/KAKENHI-PLANNED-23120004/
• Theory and experiment of skill transfer by direct teaching and online learning

  Grant-in-Aid for Young Scientists (A)

  Ritsumeikan University;Advanced Telecommunications Research Institute International

  Soukou GEN

  From 01 Apr. 2009, To 31 Mar. 2012, Project Closed

  知能ロボット

  https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-21680021/
• 作業価値関数の相互獲得を通じた人とロボットの共有学習制御手法の開発

  Grant-in-Aid for Scientific Research (B)

  Basic Section 61050:Intelligent robotics-related

  Kyoto University

  森本 淳

  From 01 Apr. 2024, To 31 Mar. 2026, Granted

  ロボティクス;機械学習;強化学習;テレオペレーション

  https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-23K24925/
• Cooperative control of multiple assistive devices according to synchronized muscle activation in human standing-up motion

  Grant-in-Aid for Scientific Research (B)

  Basic Section 20020:Robotics and intelligent system-related

  The University of Tokyo

  安 ち

  From 01 Apr. 2024, To 31 Mar. 2026, Granted

  アシストロボット;立ち上がり動作;筋シナジー;筋骨格シミュレーション;筋力モビリティ楕円体;高齢者;起立動作;運動の支援機器;筋骨格モデル

  https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-23K22723/

Education

Teaching subject(s)

• From 01 Apr. 2026, To 31 Mar. 2027

  Introduction to Informatics

  9147, Spring, Faculty of Engineering, 2
• From 01 Apr. 2026, To 31 Mar. 2027

  Linear Control Theory

  9072, Fall, Faculty of Engineering, 2
• From 01 Apr. 2026, To 31 Mar. 2027

  Modern Control Theory

  9058, Spring, Faculty of Engineering, 2
• From 01 Apr. 2026, To 31 Mar. 2027

  Systems Science, Advanced II

  3512, Fall, Graduate School of Informatics, 2
• From 01 Apr. 2026, To 31 Mar. 2027

  Theory of Learning Machines

  3556, Fall, Graduate School of Informatics, 2
• From 01 Apr. 2026, To 31 Mar. 2027

  Systems Science, Advanced I

  3542, Spring, Graduate School of Informatics, 2
• From 01 Apr. 2025, To 31 Mar. 2026

  Introduction to Applied Mathematics and Physics

  9114, Spring, Faculty of Engineering, 2
• From 01 Apr. 2025, To 31 Mar. 2026

  Introduction to Systems Analysis

  9007, Fall, Faculty of Engineering, 2
• From 01 Apr. 2025, To 31 Mar. 2026

  Theory of Learning Machines

  3556, Fall, Graduate School of Informatics, 2
• From 01 Apr. 2025, To 31 Mar. 2026

  Systems Science, Advanced I

  3542, Spring, Graduate School of Informatics, 2
• From 01 Apr. 2025, To 31 Mar. 2026

  Systems Science, Advanced II

  3512, Fall, Graduate School of Informatics, 2
• From 01 Apr. 2024, To 31 Mar. 2025

  Introduction to Systems Analysis

  9007, Fall, Faculty of Engineering, 2
• From 01 Apr. 2024, To 31 Mar. 2025

  Graduation Thesis 1

  9991, Spring, Faculty of Engineering, 2
• From 01 Apr. 2024, To 31 Mar. 2025

  Graduation Thesis 1

  9991, Fall, Faculty of Engineering, 2
• From 01 Apr. 2024, To 31 Mar. 2025

  Introduction to Applied Mathematics and Physics

  9114, Spring, Faculty of Engineering, 2
• From 01 Apr. 2024, To 31 Mar. 2025

  Theory of Learning Machines

  3556, Fall, Graduate School of Informatics, 2
• From 01 Apr. 2024, To 31 Mar. 2025

  Systems Science, Advanced I

  3542, Spring, Graduate School of Informatics, 2
• From 01 Apr. 2024, To 31 Mar. 2025

  Systems Science, Advanced II

  3512, Fall, Graduate School of Informatics, 2
• From 01 Apr. 2024, To 31 Mar. 2025

  Graduation Thesis 2

  9992, Spring, Faculty of Engineering, 3
• From 01 Apr. 2024, To 31 Mar. 2025

  Graduation Thesis 2

  9992, Fall, Faculty of Engineering, 3
• From 01 Apr. 2023, To 31 Mar. 2024

  Introduction to Applied Mathematics and Physics

  9114, Spring, Faculty of Engineering, 2
• From 01 Apr. 2023, To 31 Mar. 2024

  Introduction to Systems Analysis

  9007, Fall, Faculty of Engineering, 2
• From 01 Apr. 2023, To 31 Mar. 2024

  Theory of Learning Machines

  3556, Fall, Graduate School of Informatics, 2
• From 01 Apr. 2023, To 31 Mar. 2024

  Systems Science, Advanced I

  3542, Spring, Graduate School of Informatics, 2
• From 01 Apr. 2023, To 31 Mar. 2024

  Systems Science, Advanced II

  3512, Fall, Graduate School of Informatics, 2
• From 01 Apr. 2022, To 31 Mar. 2023

  Introduction to Systems Analysis

  9007, Fall, Faculty of Engineering, 2
• From 01 Apr. 2022, To 31 Mar. 2023

  Systems Science, Advanced II

  3512, Fall, Graduate School of Informatics, 2
• From 01 Apr. 2022, To 31 Mar. 2023

  Systems Science, Advanced I

  3542, Spring, Graduate School of Informatics, 2
• From 01 Apr. 2022, To 31 Mar. 2023

  ILAS Seminar

  Z001, Spring, Institute for Liberal Arts and Sciences, 2
• From 01 Apr. 2022, To 31 Mar. 2023

  Theory of Learning Machines

  3556, Fall, Graduate School of Informatics, 2
• From Apr. 2021, To Mar. 2022

  Theory of Information Systems, Advanced

  Fall, 情報学研究科
• From Apr. 2021, To Mar. 2022

  Systems Science, Advanced II

  Fall, 情報学研究科
• From Apr. 2021, To Mar. 2022

  Systems Science, Advanced I

  Spring, 情報学研究科

Participation in PhD Defense

• Reinforcement Learning for Observation Robustness via Regularization and Soft Adversarial Bellman Updates

  NAKANISHI KOSUKE, Graduate School of Informatics, Sub-chief Examiner

  23 Mar. 2026
• Engineering Embodied Intelligence through Softness in Musculoskeletal Systems: Control, Design, and Advantages

  ASAI HIDAKA, Graduate School of Informatics, Chief Examiner

  23 Jan. 2026
• Resilient Logistics through Optimal Transport Control and Robotic Automation

  OISHI KOSHI, Graduate School of Informatics, Sub-chief Examiner

  24 Sep. 2025
• Reward-Driven Hierarchical Learning for Visual Tracking and Control Tasks

  KUBO AKIHIRO, Graduate School of Informatics, Sub-chief Examiner

  24 Mar. 2025
• Variational Inference-based Skill Learning for Robot Control

  YAMAMORI SATOSHI, Graduate School of Informatics, Sub-chief Examiner

  24 Mar. 2025
• Computational Modeling and Neural Mechanisms of Hierarchical Inference and Decision-making in Partially-observable Environments

  KATAYAMA RISA, Graduate School of Informatics, Sub-chief Examiner

  24 Sep. 2024
• Toward Scalable Reinforcement Learning via Massive Batching

  KOYAMADA SOTETSU, Graduate School of Informatics, Sub-chief Examiner

  25 Nov. 2024
• Offline Reinforcement Learning from Imperfect Human Guidance

  ZHANG, GUOXI, Graduate School of Informatics, Sub-chief Examiner

  24 Jul. 2023
• Design and Realization of Wearable Haptic Devices for Improved Human-Machine Interaction in Neurofeedback and Robot-Assisted Surgery

  FARHAD SHABANI, Graduate School of Engineering, Sub-chief Examiner

  23 Mar. 2023
• Fast Model Predictive Control of Robotic Systems with Rigid Contacts

  KATAYAMA SOTARO, Graduate School of Informatics, Sub-chief Examiner

  26 Sep. 2022
• Sample-efficient Data-driven Learning of Dynamical Systems with Physical Prior Information and Active Learning

  TANG SHENGBING, Graduate School of Engineering, Sub-chief Examiner

  25 Jul. 2022

Administration

School management (title, position)

• From 01 Apr. 2022, To 31 Mar. 2024

  学生生活委員会 委員

Faculty management (title, position)

• From 01 Apr. 2026, To 31 Mar. 2027

  教務委員会 委員長
• From 01 Apr. 2025, To 31 Mar. 2026

  財務委員会委員
• From 01 Apr. 2024, To 31 Mar. 2025

  工学部情報学科数理工学コース長
• From 01 Apr. 2024, To 31 Mar. 2025

  財務委員会委員長
• From 01 Apr. 2022, To 31 Mar. 2023

  制規委員会委員
• From 01 Apr. 2022, To 31 Mar. 2023

  専攻長
• From 01 Apr. 2022, To 31 Mar. 2023

  情報セキュリティ委員会　委員
• From 01 Apr. 2021, To 31 Mar. 2022

  基盤整備委員会副委員長