Jun Morimoto, Ph.D.

Head of Department
Department of Brain Robot Interface (BRI)
ATR Computational Neuroscience Labs

E-mail: xmorimo (at) atr (dot) jp

[English] / [Japanese]

Research Interests:

Reinforcement learning
Humanoid robotics
Exoskeleton robotics
State estimation problems
Brain-Robot Interfaces

Publications:

International Journals / Conference Papers
Domestic Journals / Conference Papers /Patents (in Japanese)

Social Activities:

Committees (International)/Committees (Domestic)

Biography:
He is head of department of Brain Robot Interface in ATR Computational Neuroscience Laboratories.

He received his Ph.D. in information science from Nara Institute of Science and Technology (NAIST), Nara, Japan, in 2001.
He was a Research Assistant with the Kawato Dynamic Brain Project, ERATO, JST, from 1999 to 2001.
From 2001 to 2002, he was a postdoctoral fellow at the Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA.
He Jointed ATR in 2002. He also joined JST, ICORP from 2004 to 2009. From 2019 to 2022, he was a team leader of Man-Machine Collaboration Research Team, Robotics Project, RIKEN.

International Journal Papers:

• Matija Mavsar, Barry Ridge, Rok Pahic, Jun Morimoto, Ales Ude (2022)
  Simulation-Aided Handover Prediction From Video Using Recurrent Image-to-Motion Networks
  IEEE Transactions on Neural Networks and Learning Systems,  [Open Access]

• Yutaka Matsuo, Yann LeCun, Maneesh Sahani, Doina Precup, David Silver, Masashi Sugiyama, Eiji Uchibe, Jun Morimoto (2022)
  Deep learning, reinforcement learning, and world models
  Neural Networks, Vol. 152, pp. 267-275,  [Open Access]

• Takeuchi H, Yahata N, Lisi G, Tsurumi K, Yoshihara Y, Kawada R, Murao T, Mizuta H, Yokomoto T, Miyagi T, Nakagami Y, Yoshioka T, Yoshimoto J, Kawato M, Murai T, Morimoto J, Takahashi H (2022)
  Development of a classifier for gambling disorder based on functional connections between brain regions.
  Psychiatry Clin Neurosci. 2022 Mar 13. doi: 10.1111/pcn.13350.  [Open Access]

• Jun-ichiro Furukawa, Shotaro Okajima, Qi An, Yuichi Nakamura,  Jun Morimoto (2022)
  Selective Assist Strategy by Using Lightweight Carbon Frame Exoskeleton Robot
  IEEE Robotics and Automation Letters,  [Open Access]

• Takeshi D. Itoh, Koji Ishihara, Jun Morimoto (2022)
  Implicit Contact Dynamics Modeling With Explicit Inertia Matrix Representation for Real-Time, Model-Based Control in Physical Environment
  Neural Computation,  [Open Access]

• Asuka Takai, Giuseppe Lisi, Tomoyuki Noda, Tatsuya Teramae, Hiroshi Imamizu, Jun Morimoto (2021)
  Bayesian Estimation of Potential Performance Improvement Elicited by Robot-Guided Training
  Frontiers in Neurscience, fnins.2021.704402,  [Open Access]

• Tom Macpherson, Masayuki Matsumoto, Hiroaki Gomi, Jun Morimoto, Eiji Uchibe, Takatoshi Hikida (2021)
  Parallel and hierarchical neural mechanisms for adaptive and predictive behavioral control
  Neural Networks, Vol. 144, pp. 507-521,  [Open Access]

• 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 (2021)
  A multi-site, multi-disorder resting-state magnetic resonance image database
  Scientific Data, 8, Article number: 227   [Open Access]

• Jun-ichiro Furukawa, Shinya Chiyohara, Tatsuya Teramae, Asuka Takai, Jun Morimoto (2021)
  A Collaborative Filtering Approach Toward Plug-and-Play Myoelectric Robot Control
  IEEE Transactions on Human-Machine Systems, Vol. 51, Issue 5, 514-523. [Open Access]

• Jun-ichiro Furukawa, Jun Morimoto (2021)
  Composing an Assistive Control Strategy Based on Linear Bellman Combination From Estimated User's Motor Goal
  IEEE Robotics and Automation Letters, Vol. 6, Issue: 2, pp. 1051 - 1058. [Open Access]

• Tatsuya Teramae, Takamitsu Matsubara, Tomoyuki Noda, Jun Morimoto (2020)
  Quaternion-Based Trajectory Optimization of Human Postures for Inducing Target Muscle Activation Patterns
  IEEE Robotics and Automation Letters, Vol. 5, Issue: 4, pp. 6607-6614. [Open Access]

• Shinya Chiyohara, Jun-ichiro Furukawa, Tomoyuki Noda, Jun Morimoto, Hiroshi Imamizu (2020)
  Passive Training with Upper Extremity Exoskeleton Robot Affects Proprioceptive Acuity and Performance of Motor Learning
  Scientific Reports, 10, Article number: 11820(2020). [Open Access]

• Rok Pathic, Barry Ridge, Andrej Gams, Jun Morimoto, Ales Ude (2020)
  Training of deep neural networks for the generation of dynamic movement primitives
  Neural Networks, Vol. 127, pp. 121-131. [Open Access]

• Guilherme Maeda, Okan Koc, Jun Morimoto (2020)
  Phase portraits as movement primitives for fast humanoid robot controls
  Neural Networks, Vol. 129, pp. 109-122. [Available online]

• 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 (2020)
  Overlapping but Asymmetrical Relationships Between Schizophrenia and Autism Revealed by Brain Connectivit
  Shizophernia Bulletin, sbaa021. [Available online]

• 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 (2020)
  Primary functional brain connections associated with melancholic major depressive disorder and modulation by antidepressant
  Scientific Reports, 10, Article number 3542. [Open Access]

• Koji Ishihara, Takeshi Itoh, Jun Morimoto (2020)
  Full-body Optimal Control toward Versatile and Agile Behaviors in a Humanoid Robot
  IEEE Robotics and Automation Letters, Vol. 5, Issue 1, pp. 119-126. [Open Access]

• Fumiaki Iwane, Giuseppe Lisi, Jun Morimoto (2019)
  EEG Sensorimotor Correlates of Speed During Forearm Passive Movements
  IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 27, Issue 9, pp. 1667 – 1675. [Available online]

• Masashi Hamaya, Takamitsu Matsubara, Tatsuya Teramae, Tomoyuki Noda, Jun Morimoto (2019)
  Design of Physical User-Robot Interactions for Model Identification of Soft Actuators on Exoskeleton Robots
  International Journal of Robotics Research, first published online: June 6, 2019 (Vol. 40, Issue 1, pp. 397 – 410, 2021). [Open Access]

• Barkan Ugurlu, Paolo Forni, Corinne Doppmann, Emre Sariyildiz, Jun Morimoto (2019)
  Stable Control of Force, Position, and Stiffness for Robot Joints Powered via Pneumatic Muscles
  IEEE Transactions on Industrial Informatics, Vol. 15, Issue 12, pp. 6270 - 6279. [Available online]

• Tadej Petric, Luka Peternel, Jun Morimoto, Jan Babic (2019)
  Assistive Arm-Exoskeleton Control Based on Human Muscular Manipulability
  Frontiers in Neurorobotics, fnbot.2019.00030, 2019. [Open Access]

• 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 (2019)
  Harmonization of resting-state functional MRI data across multiple imaging sites via the separation of site differences into sampling bias and measurement bias
  PLOS Biology, pbio.3000042, 2019. [Open Access]
  

• Tatsuya Teramae, Koji Ishihara, Jan Babic, Jun Morimoto, Erhan Oztop (2018)
  Human-In-The-Loop Control and Task Learning for Pneumatically Actuated Muscle Based Robots
  Frontiers in Neurorobotics, fnbot.2018.00071. [Open Access]

• Giuseppe Lisi, Diletta Rivela, Asuka Takai, Jun Morimoto (2018)
  Markov Switching Model for Quick Detection of Event Related Desynchronization in EEG
  Frontiers in Neuroscience, fnins.2018.00024. [Open Access]

• Koji Ishihara, Jun Morimoto (2018)
  An optimal control strategy for hybrid actuator systems: Application to an articial muscle with electric motor assist
  Neural Networks, vol. 99, pp. 92-100. [Open Access]

• Tatsuya Teramae, Tomoyuki Noda, Jun Morimoto (2018)
  EMG-Based Model Predictive Control for Physical Human-Robot Interaction: Application for Assist-As-Needed Control
  IEEE Robotics and Automation Letters, vol. 3, issue 1, pp. 210 - 217. [Open Access]

• Timotej Gaspar, Bojan Nemeca, Jun Morimoto, Ales Ude (2018)
  Skill learning and action recognition by arc-length dynamic movement primitives
  Robotics and Autonomous Systems. [Available online]

• Jun Morimoto (2017)
  Soft Humanoid Motor Learning
  Science Robotics (Focus), vol. 2, issue 13. [Available online]

• Yu Takagi, Yuki Sakai, Giuseppe Lisi, Noriaki Yahata, Yoshinari Abe, Seiji Nishida, Takashi Nakamae, Jun Morimoto,
  Mitsuo Kawato, Jin Narumoto, Saori C Tanaka (2017)
  A Neural Marker of Obsessive-Compulsive Disorder from Whole-Brain Functional Connectivity
  Scientific Reports, 7, Article number: 7538. [Open Access]

• Masashi Hamaya, Takamitsu Matsubara, Tomoyuki Noda, Tatsuya Teramae, Jun Morimoto (2017)
  Learning assistive strategies for exoskeleton robots from user-robot physical interaction
  Pattern Recognition Letters. [Open Access]

• Jun-ichiro Furukawa, Tomoyuki Noda, Tatsuya Teramae, Jun Morimoto (2017)
  Human movement modeling to detect bio-signal sensor failures for myoelectric assistive robot control
  IEEE Transaction on Robotics, Vol. 33, Issue 4, pp. 846-857. [Open Access]

• Norikazu Sugimoto, Voot Tangkaratt, Thijs Wensveen, Tingting Zhao, Masashi Sugiyama, Jun Morimoto (2016)
  Trial and Error: Using Previous Experiences as Simulation Models in Humanoid Motor Learning
  IEEE Robotics and Automation Magazine, Vol. 23, No. 1, pp. 96-105. [Available Online]

• Voot Tangkaratt, Jun Morimoto, Masashi Sugiyama (2016)
  Model-based reinforcement learning with dimension reduction
  Neural Networks, Vol. 84, pp. 1-16. [Available Online]

• Noriaki Yahata*, Jun Morimoto*, Ryuichiro Hashimoto*, Giuseppe Lisi*, (*These authors contributed equally to this work)
  Kazuhisa Shibata, Yuki Kawakubo, Hitoshi Kuwabara, Miho Kuroda, Takashi Yamada,
  Fukuda Megumi, Hiroshi Imamizu, Jose E. Nanez Sr, Hidehiko Takahashi, Yasumasa Okamoto,
  Kiyoto Kasai, Nobumasa Kato, Yuka Sasaki, Takeo Watanabe, Mitsuo Kawato (2016)
  A small number of abnormal brain connections predicts adult autism spectrum disorder
  Nature Communications, Vol. 7, Article Number 11254. [Open Access]

• Andrej Gams, Tadej Petric, Martin Do, Bojan Nemec, Jun Morimoto, Tamim Asfour, Ales Ude (2016)
  Adaptation and coaching of periodic motion primitives through physical and visual interaction
  Robotics and Autonomous Systems, Vol. 75, pp. 340-351. [Available Online]

• Jun-ichiro Furukawa, Tomoyuki Noda, Tatsuya Teramae, Jun Morimoto (2016)
  An EMG-Driven Weight Support System With Pneumatic Artificial Muscles
  IEEE Systems Journal, Vol. 10, No. 3, pp. 1026-1034. [PDF]

• Luka Peternel, Tomoyuki Noda, Tadej Petric, Ales Ude, Jun Morimoto, Jan Babic (2016)
  Adaptive Control of Exoskeleton Robots for Periodic Assistive Behaviours Based on EMG Feedback Minimisation
  PLoS One, doi: 10.1371/journal.pone.0148942. [Open Access]

• Barkan Ugurlu, Corinne Doppmann, Masashi Hamaya, Paolo Forni, Tatsuya Teramae, Tomoyuki Noda, Jun Morimoto (2016)
  Variable Ankle Stiffness Improves Balance Control: Experiments on a Bipedal Exoskeleton
  IEEE/ASME Transactions on Mechatronics, Vol. 21, Issue 1, pp. 79-87. [PDF]

• Jun-ichiro Furukawa, Tomoyuki Noda, Tatsuya Teramae, Jun Morimoto (2015)
  Fault tolerant approach for biosignal-based robot control
  Advanced Robotics, Vol. 29, No. 7, pp. 505-514.

• Takamitsu Matsubara, Akimasa Uchikata, Jun Morimoto (2015)
  Spatiotemporal synchronization of biped walking patterns with multiple external inputs by style-phase adaptation
  Biological Cybernetics, Vol. 109, No. 6, pp. 597-610.

• Giuseppe Lisi, Jun Morimoto (2015)
  EEG Single-Trial Detection of Gait Speed Changes during Treadmill Walk
  PLoS One, doi: 10.1371/journal.pone.0125479. [Open Access]

• Jun Morimoto, Mitsuo Kawato (2015)
  Creating the brain and interacting with the brain: an integrated approach to understanding the brain
  Journal of the Royal Society Interface, Vol. 12, Issue 104. [Open Access]

• Voot Tangkaratt, Syogo Mori, Tingting Zhao, Jun Morimoto, Masashi Sugiyama (2014)
  Model-based policy gradients with parameter-based exploration by least-squares conditional density estimation
  Neural Networks, Vol. 57, pp. 128-140.

• Karim Bouyarmane, Joris Vaillant, Norikazu Sugimoto, Francois Keith, Jun-ichiro Furukawa, Jun Morimoto (2014)
  Brain-machine interfacing control of whole-body humanoid motion
  Frontiers in Systems Neuroscience, doi: 10.3389/fnsys.2014.00138. [Open Access]

• Giuseppe Lisi, Tomoyuki Noda, Jun Morimoto (2014)
  Decoding the ERD/ERS: influence of afferent input induced by a leg assistive robot
  Frontiers in Systems Neuroscience, doi: 10.3389/fnsys.2014.00085. [Open Access]

• David Schiebener, Jun Morimoto, Tamim Asfour, Ales Ude (2013)
  Integrating visual perception and manipulation for autonomous learning of object representations
  Adaptive Behaviour, Vol. 21, No. 5, pp. 328-345. [PDF]

• Poramate Manoonpong, Christoph Kolodziejski, Florentin Worgotter, Jun Morimoto (2013)
  Combining Correlation-Based and Reward-Based Learning in Neural Control for Policy Improvement
  Advances in Complex Systems, Vol. 16, No. 2-3. [PDF]

• Tingting Zhao, Hirotaka Hachiya, Voot Tangkaratt, Jun Morimoto, Masashi Sugiyama (2013)
  Efficient Sample Reuse in Policy Gradients with Parameter-Based Exploration
  Neural Computation, Vol. 25, No. 6, pp. 1512-1547.

• Yuka Ariki, Sang-Ho Hyon, Jun Morimoto (2013)
  Extraction of primitive representation from captured human movements and measured ground reaction force to generate physically consistent imitated behaviors
  Neural Networks, Vol. 40, pp. 32-43.

• Takamitsu Matsubara, Jun Morimoto (2013)
  Bilinear Modeling of EMG Signals to Extract User-Independent Features for Multiuser Myoelectric Interface
  IEEE Transaction on Biomedical Engineering, Vol. 60, No. 8, pp. 2205-2213.

• Denis Forte, Andrej Gams, Jun Morimoto, and Ales Ude (2012)
  On-line motion synthesis and adaptation using a trajectory database
  Robotics and Autonomous Systems, Vol. 60, No. 10, pp. 1327-1339.

• Norikazu Sugimoto, Jun Morimoto, Sang-Ho Hyon and Mitsuo Kawato (2012)
  eMOSAIC model for Humanoid Robot Control
  Neural Networks, Volume 29-30, pages 8-19, 2012. [PDF]

• Takamitsu Matsubara, Sang-Ho Hyon and Jun Morimoto (2012)
  Real-time stylistic prediction for whole-body human motions
  Neural Networks, Volume 25, Issue 1, pages 191-199, 2012 [PDF]

• Takamitsu Matsubara, Sang-Ho Hyon and Jun Morimoto (2011)
  Learning parametric dynamic movement primitives from multiple demonstraions
  Neural Networks, Volume 24, Issue 5, pages 493-500, 2011

• Ales Ude, Andrej Gams, Tamim Asfour and Jun Morimoto (2010)
  Task-specific generalization of discrete and periodic dynamic movement primitives
  IEEE Transaction on Robotics, Volume 26, Issue 5, pages 800-815, 2010. [PDF]

• Jun Morimoto and Christopher G. Atkeson (2009)
  Nonparametric representation of an approximated Poincare map for learning biped locomotion
  Autonomous Robots, Volume 27, Number 2, pages 131-144, 2009. [PDF]

• Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Sang-Ho Hyon, Joshua G. Hale, and Gordon Cheng (2008)
  Learning to Acquire Whole-Body Humanoid Center of Mass Movements to Achieve Dynamic Tasks
  Advanced Robotics, Volume 22, Number 10, pages 1125-1142, 2008.

• Gen Endo, Jun Morimoto, Takamitsu Matsubara, Jun Nakanish, and Gordon Cheng (2008)
  Learning CPG-based Biped Locomotion with a Policy Gradient Method: Application to a Humanoid Robot,
  International Journal of Robotics Research, Volume 27, Number 2, pages 213-228, 2008. [PDF]

• Jun Morimoto, Gen Endo, Jun Nakanish, and Gordon Cheng. (2008)
  A Biologically Inspired Biped Locomotion Strategy for Humanoid Robots: Modulation of Sinusoidal Patterns by a Coupled Oscillator Model
  IEEE Transaction on Robotics, Volume 24, Issue 1, pages 185-191, 2008. [PDF]

• Gordon Cheng, Sang-Ho Hyon, Jun Morimoto, Ales Ude, Joshua G.Hale, Glenn Colvin, Wayco Scroggin, and Stephen C. Jacobsen (2007)
  CB: A Humanoid Research Platform for Exploring Neuroscience,
  Advanced Robotics, Volume 21, Number 10, pages 1097-1114, 2007

• Jun Morimoto and Christopher G. Atkeson (2007)
  Learning Biped Locomotion: Application of poincare-map-based reinforcement learning
  Robotics and Automation Magazine, IEEE, Volume 14, Issue 2, pages 41-51, 2007 [Available Online]

• Jun Morimoto and Kenji Doya (2007)
  Reinforcement Learning State Estimator
  Neural Computation, Volume 19, Number 3, Pages 730-756, 2007. [Available Online]

• Takamitsu Matsubara, Jun Morimoto, Jun Nakanish, Masa-aki Sato, and Kenji Doya (2006)
  Learning feedback pathway of CPG-based controller using policy gradient
  Robotics and Autonomous Systems, volume 54, issue 11, pages 911-920, 2006. [Available Online]

• Jun Morimoto and Kenji Doya (2005)
  Robust Reinforcement Learning
  Neural Computation, Volume 17, Number 2, pages 335-359, 2005. [Available Online]

• Jun Nakanish, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, and Mitsuo Kawato (2004)
  Learning from Demonstration and Adaptation of Biped Locomotion
  Robotics and Autonomous Systems, volume, 47, number 2-3, pages 79-91, 2004

• Hiroyuki Miyamoto, Jun Morimoto, Kenji Doya, and Mitsuo Kawato
  Reinforcement Learning with Via-point Representaion
  Neural Networks, Volume 17, Issue 3, pages 299-305, 2004. [Available Online]

• Jun Morimoto and Kenji Doya (2001)
  Acquisition of Stand-up Behavior by a Real Robot using Hierarchical Reinforcement Learning
  Robotics and Autonomous Systems, Volume 36, Issue 1, pages 37-51, 2001. [Available Online]

• Jun Morimoto and Kenji Doya (1998)
  Hierarchical reinforcement learning for motion learning: Learning "Stand-up" Trajectories,
  Advanced Robotics, Volume 13, Number 3, pages 267-268, 1998

[Top]

International Conference Papers:

• Koji Ishihara and Jun Morimoto (2015)
  Computationally Affordable Hierarchical Framework for Humanoid Robot Control
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021).
  
  
• Corinne Doppmann, Barkan Ugurlu, Masashi Hamaya, Tatsuya Teramae, Tomoyuki Noda and Jun Morimoto (2015)
  Towards balance recovery control for lower body exoskeleton robots with Variable Stiffness Actuators: Spring-loaded flywheel model
  IEEE International Conference on Robotics and Automation (ICRA 2015), pp. 5551-5556, May 26-30, Seattle, Washington.
  
  
• Jun-ichiro Furukawa, Tomoyuki Noda, Tatsuya Teramae and Jun Morimoto (2015)
  Estimating joint movements from observed EMG signals with multiple electrodes under sensor failure situations toward safe assistive robot control
  IEEE International Conference on Robotics and Automation (ICRA 2015), pp. 4985-4991, May 26-30, Seattle, Washington.

• Yuka Ariki, Tetsunari Inamura, Shiro Ikeda and Jun Morimoto (2015)
  Sparsely Extracting Stored Movements to Construct Interfaces for Humanoid End-effector Control
  IEEE International Conference on Robotics and Biomimetics (ROBIO 2015), pp. 1816-1821, Dec. 6-9, Zhuhai, China. [PDF]

• Tomoyuki Noda, Tatsuya Teramae, Barkan Ugurlu, Jun Morimoto (2014)
  Development of an upper limb exoskeleton powered via pneumatic electric hybrid actuators with bowden cable,
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), pages 3573-3578,
  Chicago, USA, Sep 14-18, 2014. [PDF]

• Sakyasingha Dasgupta, Florentin Worgotter, Jun Morimoto, Poramate Manoonpong (2013)
  Neural Combinatorial Learning of Goal-Directed Behavior with Reservoir Critic and Reward Modulated Hebbian Plasticity,
  IEEE International Conference on Systems, Man, and Cybernetics (SMC2013), pp. 993-1000, 13-16 Oct., Manchester, UK.

• Jun Morimoto (2013)
  Using humanoid technologies to assist humans
  35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2013), Osaka, Japan, July 3-7. [PDF].

• Norikazu Sugimoto and Jun Morimoto (2013)
  Off-line path integral reinforcement learning using stochastic robot dynamics approximated by sparse pseudo-input Gaussian processes: Application to humanoid robot motor learning in the real environment
  IEEE International Conference on Robotics and Automation (ICRA 2013), pp. 1311-1316, Karlsruhe, Germany, May 6-10.

• Tomoyuki Noda, Norikazu Sugimoto, Jun-ichiro Furukawa, Masa-aki Sato, Sang-Ho Hyon and Jun Morimoto (2012)
  Brain-controlled exoskeleton robot for BMI rehabilitation
  IEEE-RAS International Conference on Humanoid Robots (Humaniods 2012), pp. 21-27, Nov.29-Dec.1, Business Innovation Center Osaka, Japan

• Jun Morimoto, Tomoyuki Noda, Sang-Ho Hyon (2012)
  Extraction of latent kinematic relationships between human users and assistive robots
  IEEE International Conference on Robotics and Automation (ICRA 2012), pp. 3909-3915, RiverCentre, Saint Paul, Minnesota, USA, May 14-18 [PDF]

• Takamitsu Matsubara, Sang-Ho Hyon and Jun Morimoto (2011)
  Learning and adaptation of a stylistic myoelectric interface: EMG-based robotic control with individual user differences
  IEEE International Conference on Robotics and Biomimetics(ROBIO 2011), pp. 390-395, Phuket, Thailand

• Norikazu Sugimoto and Jun Morimoto (2011)
  Phase-dependent Trajectory Optimization for CPG-based Biped Walking Using Pah Integral Reinforcement Learning
  IEEE-RAS International Conference on Humanoid Robots (Humaniods 2011), pp. 255-206, Bled, Slovenia

• David Schiebener, Ales Ude, Jun Morimoto, Tamim Asfour and Rudiger Dillmann(2011)
  Segmentation and learning of unknown objects through physical interaction
  IEEE-RAS International Conference on Humanoid Robots (Humaniods 2011), pp. 500-506, Bled, Slovenia

• Takamitsu Matsubara, Tomoyuki Noda, Sang-Ho Hyon and Jun Morimoto (2011)
  An Optimal Control Approach for Hybrid Actuator System
  IEEE-RAS International Conference on Humanoid Robots (Humaniods 2011), pp. 300-305, Bled, Slovenia

• Poramate Manoonpong, Florentin Worgotter and Jun Moriomto (2011),
  A combinatorial learning model using correlation-based and reward-based learning for efficient control policy development: acquisition of goal-directed behavior.
  4th International Workshop on Guided Self-Organization, 2011.

• Norikazu Sugimoto and Jun Morimoto(2011)
  Switching multiple LQG controllers based on Bellman's optimality principle: using full-state feedback to control a humanoid robot,
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), pages 2715-2722,
  San Francisco, USA, Sep25-30, 2011.

• Sang-Ho Hyon, Jun Morimoto, Takamitsu Matsubara, Tomoyuki Noda and Mitsuo Kawato(2011)
  XoR: Hybrid drive exoskeleton robot that can balance,
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), pages 2715-2722,
  San Francisco, USA, Sep25-30, 2011.

• Hiromichi Suetani, Akiko M. Ideta, and Jun Morimoto(2011)
  Nonlinear structure of escape-times to fall for a passive dynamic walker on an irregular slope:
  anomaly detection using multi-class support vector machine and latent state extraction by canonical correlation analysis,
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), pages 2715-2722,
  San Francisco, USA, Sep25-30, 2011.

• Takamitsu Matsubara, Sang-Ho Hyon and Jun Morimoto(2010)
  Learning Parametric Dynamic Movement Primitives from Multiple Demonstrations,
  17th International Conference on Neural Information Processing, Part I, LNCS 6443, pp. 347-354,
  Sydney, Australia, Nov 22-25, 2010.

• Poramate Manoonpong, Florentin Worgotter and Jun Morimoto(2010)
  Extraction of Reward-Related Feature Space Using Correlation-Based and Reward-Based Learning Methods,
  17th International Conference on Neural Information Processing, Part I, LNCS 6443, pp. 414-421,
  Sydney, Australia, Nov 22-25, 2010.
  

• Takamitsu Matsubara, Tetsuro Morimura and, Jun Morimoto(2010)
  Adaptive Step-size Policy Gradient with Average Reward,
  The 2nd Conference on Machine Learning (ACML 2010), pages 285-298,
  Tokyo, Japan, Nov 8-10, 2010.

• Takamitsu Matsubara, Sang-Ho Hyon, and, Jun Morimoto(2010)
  Learning Stylistic Dynamic Movement Primitives from Multiple Demonstrations,
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), pages 1277-1283,
  Taipei, Taiwan, Oct 18-22, 2010.

• Norikazu Sugimoto, Jun Morimoto, Sang-Ho Hyon, and Mitsuo Kawato(2010)
  eMOSAIC Model for Humanoid Robot Control
  From Animals to Animats 11: 11th International Conference on Simulation of Adaptive Behavior
  (SAB 2010), pages 447-457, Paris, France, Aug 24-28.

• Sang-Ho Hyon, Jun Morimoto, and Mitsuo Kawato(2010)[Video session]
  From compliant balancing to dynamic walking on humanoid robot: Interation of CNS and CPG
  IEEE International Conference on Robotics and Automation, pp. 1084-1085, Anchorage, AK, USA, May 3-8.

• Yuka Ariki, Jun Morimoto, and Sang-Ho Hyon (2008)
  Behavior recogition with ground reaction force estimation and its application to imitation learning
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), pages 2029-2034, Nice, France.

• Sang-Ho Hyon, Jun Morimoto, and Gordon Cheng (2008)
  Hierarchical Motor Learning and Synthesis with Passivity-Based Controller and Phase Oscillator
  IEEE International Conference on Robotics and Automation, pp. 2706-2710, Pasadena, CA, USA, May 19-23.

• Jun Morimoto, Sang-Ho Hyon, Gordon Cheng, Christopher G. Atkeson, and Gordon Cheng(2008)
  Low-dimensional feature extraction for humaniod locomotion using kernel dimension reduction
  IEEE International Conference on Robotics and Automation, pp. 2711-2716, Pasadena, CA, USA, May 19-23. [PDF]

• Gordon Cheng, Sang-Ho Hyon, Ales Ude, Jun Morimoto, Joshua G. Hale, Joseph Hart, Jun Nakanishi, Darrin Bentivegna, Jessica Hodgins, Christopher G. Atkeson, Michael Mistry, Stefan Schaal, and Mitsuo Kawato(2008)[Video session]
  CB: Exploring Neuroscience with a Humanoid Research Platform
  IEEE International Conference on Robotics and Automation, pp. 1772-1773, Pasadena, CA, USA, May 19-23.

• Jun Morimoto, Gen Endo, Sang-Ho Hyon, and Gordon Cheng(2007)
  A simple approach to diverse humanoid locomotion
  IEEE-RAS International Conference on Humanoid Robots (Humaniods 2007), pp. 596-602, Pittsburgh, PA, USA

• Cheng, G., Fitzsimmons, N. A., Morimoto, J., Lebedev, M. A., Kawato, M., & Nicolelis, M. A. L. (2007)
  Bipedal locomotion with a humanoid robot controlled by cortical ensemble activity.
  Society for Neuroscience 37th Annual Meeting. San Diego, CA, USA.

• Jun Morimoto, Christopher G. Atkeson, Gen Endo, and Gordon Cheng (2007)
  Improving Humanoid Locomotive Performance with Learnt Approximated Dynamics via Gaussian Processes for Regression
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), pages 4234-4240, San Diego, CA, USA.

• Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Sang-Ho Hyon, Joshua G. Hale, and Gordon Cheng(2007)
  Learning to acquire whole-body humanoid CoM movements to achieve dynamic tasks
  IEEE International Conference on Robotics and Automation, pp. 2688-2693, Rome, Italy, April 10-14

• Jun Morimoto, Gen Endo, Jun Nakanishi, Sang-Ho Hyon, Gordon Cheng, Darrin Bentivegna, and Christopher G. Atkeson (2006)
  Modulation of simple sinusoidal patterns by a coupled oscillator model for biped walking
  IEEE International Conference on Robotics and Automation, pp. 1579-1584, Orlando, FL, USA, May 15-19
  

• Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Masa-aki Sato, and Kenji Doya (2005)
  Learning CPG-based Biped Locomotion with a Policy Gradient Method
  IEEE-RAS/RSJ International Conference on Humanoid Robots (Humaniods 2005), pp. 208-213, Tsukuba, Japan

• Gen Endo, Jun Morimoto, Takamitsu Matsubara, Jun Nakanishi, and Gordon Cheng (2005)
  Learning CPG Sensory Feedback with Policy Gradient for Biped Locomotion for a Full-body Humanoid
  The Twentieth National Conference on Artificial Intelligence, pp. 1267-1273 (AAAI 2005), Pittsburgh, PA, USA, July 9--13 .

• Gen Endo, Jun Nakanishi, Jun Morimoto, and Gordon Cheng (2005)
  Experimental Study of a Neural Oscillator for Biped Locomotion using QRIO
  IEEE International Conference on Robotics and Automation, pp. 598-604, Barcelona, Spain, April 18-22

• Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Masa-aki Sato, and Kenji Doya (2005)
  Learning Sensory Feedback to CPG with Policy Gradient for Biped Locomotion
  IEEE International Conference on Robotics and Automation, pp. 4175-4180, Barcelona, Spain, April 18-22

• Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Christopher G. Atkeson, and Garth Zeglin (2005)
  Poincare-Map-based Reinforcement Learning for Biped Walking
  IEEE International Conference on Robotics and Automation, pp. 2392-2397, Barcelona, Spain, April 18-22

• Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Christopher G. Atkeson, and Garth Zeglin (2004)
  Acquisition of a Biped Walking Pattern using a Approximated Poincare Map
  IEEE-RAS/RSJ International Conference on Humanoid Robots (Humaniods 2004), pp. 912-924, Los Angeles, CA, USA.

• Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, and Mitsuo Kawato (2004)
  A Framework for Learning Biped Locomotion with Dynamical Movement Primitives
  IEEE-RAS/RSJ International Conference on Humanoid Robots (Humaniods 2004), pp. 925-940, Los Angeles, CA, USA.

• Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, and Mitsuo Kawato (2004)
  An Empirical Exploration of Phase Resetting for Robust Biped Locomotion with Dynamical Movement Primitives
  IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 919-924, Sendai, Japan

• Gen Endo, Jun Morimoto, Jun Nakanishi, and Gordon Cheng (2004)
  An Empirical Exploration of a Neural Oscillator for Biped Locomotion Control
  IEEE International Conference on Robotics and Automation, pp. 3036-3042, New Orleans, LA, USA

• Jun Moriimioto, Garth Zeglin, Christopher G. Atkeson, and Gordon Cheng (2004)
  A Simple Reinforcement Learning Algorithm for Biped Walking
  IEEE International Conference on Robotics and Automation (ICRA 2004), pages 3036-3042, New Orleans, LA, USA

• Jun Morimoto, Garth Zeglin, and Christopher G. Atkeson (2003)
  Minimax Differential Dynamic Programming: Application to a Biped Walking Robot
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), Volume 2, Issue , 27-31, Pages: 1927 - 1932, Las Vegas, NV, USA

• Jun Morimoto and Christopher G. Atkeson (2002)
  Minimax Differential Dynamic Programming: An application to Robust Biped Walking
  Advances in Neural Information Processing Systems 15, MIT Press, Cambridge, MA, Pages: 1563-1570. [PDF]

• Christopher G. Atkeson and Jun Morimoto (2002)
  Nonparametric Representation of Policies and Value Functions: A Trajectory-Based Approach
  Advances in Neural Information Processing Systems 15, MIT Press, Cambridge, MA, Pages: 1643-1650, (NIPS2002).

• Jun Morimoto and Christopher G. Atkeson (2002)
  Robust Low Torque Biped Walking Using Differential Dynamic Programming with a minimax Criterion
  5th International Conference on Climbing and Waling Robots (CLAWAR 2002), pages 453-459.

• Jun Morimoto and Kenji Doya (2000)
  Robust Reinforcement Learning
  Advances in Neural Information Processing Systems 13, MIT Press, Cambrige, MA, pages 1061-1067,(NIPS2000).

• Jun Morimoto and Kenji Doya (2000)
  fAcquisition of Stand-Up Behavior by a Real Robot using Hierarchical Reinforcement Learning,
  International Conference on Machine Learning, pages 623-630, (ICML2000).

• Jun Morimoto and Kenji Doya (1998)
  Hierarchical Reinforcement Learning of Low-dimensional Subgoals and High-dimensional Trajectories
  The 5th International Conference on neural Information Processing, Volume 2, pages 850-853, (ICONIP1998).

• Jun Morimoto and Kenji Doya (1998)
  Reinforcement Learning of Dynamic Motor Sequence: Learning to Stand Up
  IEEE/RSJ International Conference on Intelligent Robots and Systems, Volume 3, pages 1721-1726, (IROS1998).

• Takayuki Nakamura, Jun Morimoto, and Minoru Asada (1996)
  Direct coupling of multisensor information and actions for mobile robot behavior acquisition.
  IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems
  pages 139-144.

[Top]

Invited Talks:

• Sparks2013: NeuroEngineering the Brain: from Neuroscience to Robots and back, Decoding methods of brain activities and its application to a brain-controlled exoskeleton robot, 2013.

• The Statistical Physics of Inference and Control Theory, Applications of stochastic optimal control methods to humanoid robots, Sep. 12-16, 2012

• The 11^th Japan-Korea-China Joint Workshop on Neurobiology and Neuroinformatics (NBNI 2011), 2011

• CITEC: Lecture Series in Cognitive Interaction, 2011

• BFNT/BCCN,  AG-Seminar, 2011

• DFG-workshop "Linking Neuroscience to Robotics: How Complex Machines Benefit from Brain Theory",
  In the framework of the "German-Japanese Science and Innovation Forum 2010", 2010.

• Session topic: Modeling Brain Circuits, Brain/Machine Interface-Learning,
  Japanese-American Frontiers of Science Symposium(JAFoS), Chiba, 2010.

• Frontiers in Dynamical Brain Studies, 2009

• Second bilateral German-Japanese Workshop on Computational Neuroscience, 2009.

• RSS 2009 Workshop, Bridging the gap between high-level discrete representations and low-level continuous behaviors.

• ICRA 2009 Workshop, Brain Machine Interfaces for Neuroprostheses and Robot Control.

• ICRA 2009 Workshop, Approaches to Sensorimotor Learning on Humanoid Robots.

• IROS 2008 Workshop, Robot Learning.

• RSS 2005 Workshop, Learning for Locomotion.

Committees:

• Workshop on "Semantics, Identification and Control of Robot-Human-Environment Interaction",
  IEEE International Conference on Robotics and Automation (ICRA2013),
  Wataru Takano, Justus Piater, Ales Ude, Jun Morimoto, Minija Tamosiunaite, Norbert Kruger, May 10, 2013

• 2013 IEEE International Conference on Robotics and Automation (ICRA2013),
  Workshop/Tutorials Co-Chair, 2013

• 12th IEEE-RAS International Conference on Humanoid Robots (Humaniods 2012)
  Program Committee, 2012

• 2012 IEEE International Conference on Robotics and Automation (ICRA2012),
  Associate Editor, 2012

• 10th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2011),
  Program Co-Chair 2011.10

• 2011 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS2011),
  Associate Editor, 2011.

• Robotics: Science and Systems (RSS) 2011 Area Chair 2011.6

• 2011 IEEE International Conference on Robotics and Automation (ICRA2011),
  Associate Editor, 2011.

• 10th IEEE-RAS International Conference on Humanoid Robots (Humaniods 2010)
  Program Committee 2010.12

• IEEE BIOROB 2010, Program Committee, 2010.9

• Robotics: Science and Systems (RSS) 2010 Program committee 2010.6

• Special issue on "Robot Learning in Practice", IEEE Robotics and
  Automation Magazine, Guest Editor, 2010.6

• 2010 IEEE International Conference on Robotics and Automation (ICRA2010),
  Associate Editor, 2010.

• 9th IEEE-RAS International Conference on Humanoid Robots (Humaniods2009),
  Program Committee 2009.12

• Robotics: Science and Systems (RSS) 2009 Area Chair 2009.6

• Workshop on "Approaches to Sensorimotor Learning on Humanoid Robots",
  2009 IEEE International Conference on Robotics and Automation (ICRA2009),
  Organizer, 2009.5

• Workshop on "Robotics Challenges for Machine Learning",
  IEEE/RSJ 2008 International Conference on Inteligent Robots and Systems
  (IROS 2008), Organizer, 2008.9

• IEEE Technical Committee on Robot Learning, Co-Chair, 2008-2012
  (IEEE-RAS Most Active Technical Committee Award 2010)