The ultimate goal is to develop the next generation autonomous robot that autonomously produces multiple objectives, selects what the robot wishes to achieve from among them, and acquires dynamic motions to achieve the selected objective.



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Robotics and Autonomous Systems
We propose a method to uniformly control biped walking and running of a humanoid robot and achieve a natural transition between them according to the gait speed.

IEEE Transactions on Robotics
From bipedal walking with excellent efficiency and quadruped walking with excellent stability, the robot selects the optimal locomotion according to the robot's states, thereby improving mobility as a whole.


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  • kobayashi[at]
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  • 1518 Natl. Ctr. of Sci., 2-1-2 Hitotsubashi, Chiyoda-ku, Tokyo, 101-8430, Japan
  • N308, Kashiwa Annex, 6-2-3, Kashiwanoha, Kashiwa-city, Chiba, 277-0882, Japan