Publications

This page provides an updated list of academic publications.

You can also check my Google Scholar, Research Gate, and Scopus pages.

Last update: 2023-Oct-20

RAMP: Reaction-Aware Motion Planning of Multi-Legged Robots for Locomotion in Microgravity

Warley F. R. Ribeiro, Kentaro Uno, Masazumi Imai, Koki Murase, Kazuya Yoshida

Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom. 2023.

DOI: 10.1109/ICRA48891.2023.10161185

[arXiv][video]

Award: IEEE Robotics and Automation Society Japan Joint Chapter Young Award (ICRA2023)

Finalist for ICRA 2023 Outstanding  Locomotion Paper

Mobility Strategy of Multi-Limbed Climbing Robots for Asteroid Exploration

Warley F. R. Ribeiro, Kentaro Uno, Masazumi Imai, Koki Murase, Baris Can Yalcin, Matteo El Hariry, Miguel A. Olivares-Mendez, Kazuya Yoshida

Proceedings of the 26th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), Florianopolis, Brazil. 2023. 

DOI: (to be added after publication)

[arXiv]

Award: Industrial Robot Practical Innovation Highly Commended Paper

Experimental Verification of Robotic Landing and Locomotion on Asteroids

Baris Can Yalcin, Warley F. R. Ribeiro, Matteo El Hariry, Kentaro Uno, Miguel Olivares-Mendez, Kazuya Yoshida

Proceedings of the 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), Leiden, The Netherlands. 2023. 

Tumble Stability Criterion Using Gravito-Inertial Acceleration for Wall-Climbing Motion of Legged Robots (重力慣性加速度（GIA）を用いた脚型壁登りロボットの転倒安定性評価基準)

Kentaro Uno, Warley F. R. Ribeiro, Yusuke Koizumi, Kenji Nagaoka, Kazuya Yoshida

Journal of Robotics Society of Japan (JRSJ). 2023 (Accepted). 

重力慣性加速度（GIA）を用いた脚型壁登りロボットの転倒安定性評価基準

Kentaro Uno, Warley F. R. Ribeiro, Yusuke Koizumi, Kenji Nagaoka, Kazuya Yoshida

41st annual conference of the Robotics Society of Japan (RSJ), AC2D1-01. Sendai, Japan. 2023. 

脚型ロボットの障害物回避のための深層強化学習を用いた局所移動方向決定手法

Muku Yamaguchi, Kentaro Uno, Masazumi Imai, Warley F. R. Ribeiro, Koki Kurihara, Kazuya Yoshida

41st annual conference of the Robotics Society of Japan (RSJ), AC2D2-01. Sendai, Japan. 2023. 

The Simulated Micro-Gravity Experiment of the Intra-Vehicular Legged Mobile Robot for ISS Automation (ISS 船内伝い歩き移動ロボットの微小重力模擬移動実験)

Takada Kazuki, Kentaro Uno, Koki Murase, Taku Okawara, Masazumi Imai, Warley F. R. Ribeiro, Seiko Piotr Yamaguchi, Riichi Itakura, Akiko Otsuka, Tetsuya Inagaki, Masaru Wada, Kazuya Yoshida

The Robotics and Mechatronics Conference (Robomech), 1A2-B27. Nagoya, Japan. 2023.

Low-reaction trajectory generation for a legged robot in microgravity

Warley F. R. Ribeiro, Kentaro Uno, Kazuya Yoshida

Proceedings of the IEEE/SICE International Symposium on System Integration (SII), Narvik, Norway. 2022. 

DOI: 10.1109/SII52469.2022.9708772

Path and gait planning of limbed climbing robots for planetary cliff exploration

Keigo Haji, Kentaro Uno, Warley F. R. Ribeiro, Kazuya Yoshida

Proceedings of the 33rd International Symposium on Space Technology and Science (ISTS), Beppu, Japan. 2022. 

Leg Configuration and Gait Planning Study for the ISS Intra-Vehicular Mobile Robot (ISS船内移動ロボットのための脚構成検討と歩容計画)

Masazumi Imai, Kentaro Uno, Warley F. R. Ribeiro, Seiko Piotr Yamaguchi, Riichi Itakura, Masaru Wada, Kazuya Yoshida

Proceedings of JSME Annual Conference on Robotics and Mechatronics  (Robomec), 1P1-H06. Sapporo, Japan. 2022. 

DOI: 10.1299/jsmermd.2022.1P1-H06

Analysis of Motion Control for a Quadruped Ground-Gripping Robot for Minor Body Exploration on Uneven Terrain

Warley F. R. Ribeiro, Kentaro Uno, Kenji Nagaoka, Kazuya Yoshida

Transactions of the Japan Society for Aeronautical and Space Sciences, Aerospace Technology Japan, 19(5), p. 794-801. 2021.

DOI: 10.2322/tastj.19.794

ClimbLab: MATLAB simulation platform for legged climbing robotics

Kentaro Uno*, Warley F. R. Ribeiro*, Yusuke Koizumi, Keigo Haji, Koki Kurihara, William Jones, Kazuya Yoshida

Proceedings of the 24th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), Takarazuka, Japan. 2021. 

DOI: 10.1007/978-3-030-86294-7_20

Award: CLAWAR 2021  Industrial Robot Award for Practical Innovation Highly Commended Paper

HubRobo: A Lightweight Multi-Limbed Climbing Robot for Exploration in Challenging Terrain

Kentaro Uno, Naomasa Takada, Taku Okawara, Keigo Haji, Arthur Candalot, Warley F. R. Ribeiro, Kenji Nagaoka, Kazuya Yoshida

Proceedings of the IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), Munich, Germany. 2021.

DOI: 10.1109/HUMANOIDS47582.2021.9555799

[video]

HubRobo: A Limbed Robot for Cliff-Climbing Exploration (HubRobo: 崖登り探査を可能とする脚型ロボットの研究開発)

Kentaro Uno, Kazuya Yoshida, Taku Okawara, Naomasa Takada, Warley F. R. Ribeiro, Keigo Haji

65th Symposium of Space Science and Technology, 3K18. Yamagata, Japan. 2021.

Award: Young Encouragement Award (若手奨励賞)

Dynamic equilibrium of climbing robots based on stability polyhedron for gravito-inertial acceleration

Warley F. R. Ribeiro, Kentaro Uno, Kenji Nagaoka, Kazuya Yoshida

Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), Moscow, Russian Federation. 2020. 

DOI: 10.13180/clawar.2020.24-26.08.18

Award: CLAWAR 2020 Local Organizing Committee (LOC) Third Prize Award

Non-periodic gait planning based on salient region detection for a planetary cave exploration robot

Kentaro Uno, Yusuke Koizumi, Keigo Haji, Maximilian Keiff, Simon Harms, Warley F. R. Ribeiro, William Jones, Kenji Nagaoka, Kazuya Yoshida

Proceedings of the 15th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), Virtual Conference. 2020.

Analysis of motion control for a quadruped ground-gripping robot for minor body exploration

Warley F. R. Ribeiro, Kentaro Uno, Kenji Nagaoka, Kazuya Yoshida

Proceedings of the 32nd International Symposium on Space Technology and Science (ISTS), Fukui, Japan. 2019.

Gait planning for a free-climbing robot based on tumble stability

Kentaro Uno, Warley F. R. Ribeiro, William Jones, Yuki Shirai, Hayato Minote, Kenji Nagaoka, Kazuya Yoshida

Proceedings of the IEEE/SICE International Symposium on System Integration (SII), Paris, France. 2019.

DOI: 10.1109/SII.2019.8700455

Proposal of Gait Planning Technique for a Free-Climbing Robot Considering Tumble Stability (フリークライミングロボットのための歩容計画法の提案)

Kentaro Uno, Warley F. R. Ribeiro, Yuki Shirai, Kenji Nagaoka, Kazuya Yoshida

19th SICE System Integration Division Symposium (SI), 2B3-11 . Osaka, Japan. 2018. 

Voltage control of a generator for a hybrid vehicle prototype

Bernardo M. Gontijo, Vítor I. P. P. Henriques Filho, Warley F. R. Ribeiro, Rogerio Jorge Amorim

FME Transactions, 45(3), p. 421-427. 2017.

DOI: 10.5937/fmet1703421G

Analysis on motion control based on reaction null space for ground grip robot on an asteroid

Yudai Yuguchi, Warley F. R. Ribeiro, Kenji Nagaoka, Kazuya Yoshida

Transactions of the Japan Society for Aeronautical and Space Sciences, Aerospace Technology Japan, 14, Pk 125-Pk 130. 2016.

DOI: 10.2322/tastj.14.Pk_125

Experimental evaluation of gripping characteristics based on frictional theory for ground grip locomotive robot on an asteroid

Yudai Yuguchi, Warley F. R. Ribeiro, Kenji Nagaoka, Kazuya Yoshida

Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA. 2015.

DOI: 10.1109/ICRA.2015.7139583