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I am a robotics researcher. My research interests are in the robotics in the harsh environment such as space and unstructured terrain. Feel free to download my CV (Contact info. is in it.).
Some projects are supported by JKA and its promotion funds from KEIRIN RACE.
Kentaro Uno All Rights Reserved.
Research Areas
Exploration Rovers
Wheeled robotic exploration on planetary surfaces needs an innovation in terms of the efficiency and locomotion speed for advanced mission. Increse of the ratio of the on-board autonomization (sensing, mapping, localization, online path planning, and navigation) is the essential mission.
Data-Driven Terramechanics Approach Towards a Realistic Real-Time Simulator for Lunar Rovers
(Paper:
)
Climbing Robotics
To drastically extend the robots’ explorable world, for exploring the steep and irregular terrain represented as an outcrop, cliff wall, cave ceiling, and Lunar and Martian lava tube, the legged robot equipped with the gripping mechanism, called limbed climbing robot is to be the innovative strategy. For the future advanced exploration mission, this research and development project tackles the challenge to realize the autonomous limbed robot’s climbing locomotion.
3D Mapping Using a Monocular Hand-Eye Camera of Limbed Climbing Robots
(Paper:
iSpaRo 2025
)
RAMP: Reaction-Aware Motion Planning of Multi-Legged Robots for Locomotion in Microgravity
( Best Paper Award in ICRA 2023 
)
Novel Mechanisms
Innovative mechanism enhances the robotic system drastically.
A Pin-Array Structure for Gripping and Shape Recognition of Convex and Concave Terrain Profiles
(Paper: IEEE ROBIO 2022
)
A Sequential Hermaphrodite Coupling Mechanism for Lattice-Based Modular Robots
(Paper: IEEE ICM 2022
)
Orbital Servicing Robitics
With the boost in the number of spacecraft launches in the current decades, the space debris problem is daily becoming significantly crucial. For sustainable space utilization, the continuous removal of space debris is the most severe problem for humanityActive Debris Removal (ADR) is the essential towards the sustainable orbital activity.
A Camera-based Structure from Motion Approach for Motion Estimation and 3D Reconstruction of Unknown Shaped Space Debris
(Paper: IEEE CASE 2024
)
Space Debris Reliable Capturing by a Dual-Arm Orbital Robot: Detumbling and Caging
( Best Paper Award in iSpaRo 2024
)
Optimal Trajectory Planning for Orbital Robot Rendezvous and Docking
(Paper:
iSpaRo 2025
)
Online Inertia Parameter Estimation for Unknown Objects Grasped by a Manipulator Towards Space Applications
(Paper:
iSpaRo 2025
)
Robotics for Lunar Base Construction
The allure of lunar surface exploration and development has recently captured widespread global attention. Robots have proved to be indispensable for exploring uncharted terrains, uncovering and leveraging local resources, and facilitating the construction of future human habitats.
For this mission, as a novel robotic solution, we introduce a heterogeneous modular and on-demand reconfigurable robot. The system is engineered to maximize functionality while operating within the stringent mass constraints of lunar payloads and adapting to varying environmental conditions and task requirements.
Concept - Self-Evolving AI Robot System for Lunar Exploration and Human Outpost Construction
Reconfiguration Diversity by MoonBot
MoonBot: Modular and On-demand Reconfigurable Robot -- Moon Base Construction Demo
(Paper: IEEE T-FR
)
Motion Stack: Robust and Modular Multi-Limb Synchronization for Space Robots with Trajectory Clamping via Hypersphere
(Paper:
IEEE/RSJ IROS 2025
)
An Agnostic End-Effector Alignment Controller for Robust Assembly of Modular Robots
(Paper:
iSpaRo 2025
)
Reinforcement Learning for Modular Reconfigurable Lunar Robots
( Best Paper Award in
iSpaRo 2025
)
What’s New
| DATE | CONTENT |
|---|---|
| Present | Please check out our new publication in IEEE T-FR! “MoonBot: Modular and On-Demand Reconfigurable Robot Toward Moon Base Construction” |
| Present | Please check out the new video: Tohoku University Cross-Technology Initiative for Space Systems.  |
| 2026.01.07. | Whole webpage is rearranged. |
| 2025.12.04. |  Thank you very much for coming to iSpaRo 2025, Sendai!! |
| 2022.09.29. | Whole webpage is renewed. |
| 2022.04.19. | We will be the Japanese TV news on Apr. 19th! (only for Japan Tohoku area broadcast.) |
| 2022.02.17. | We will be the Japanese TV news on Feb. 25th! (only for Japan Tohoku area broadcast.) |
| 2021.11.22. | Japan Tohoku area local news paper “Kahoku-Shimpo” featured our research project! |