Publications

• My Google Scholar Citations are here >

• My SCOPUS is here >

• My researchmap is here >

Videos

• Please check out Space Robotics Lab. YouTube Channel for the digests of our works.

Journals

• Keisuke Takehana, Shino Kizaki, Tomomi Tanaka, Kentaro Uno, and Kazuya Yoshida, “Comparison of Lunar Rover Wheel Performance in Soils with Different Cohesive Properties,” Journal of Terramechanics, vol. 117, p. 101011, 2025.

• Taku Okawara, Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno, Kentaro Uno, and Kazuya Yoshida, “Tightly-Coupled LiDAR-IMU-Wheel Odometry with Online Calibration of a Kinematic Model for Skid-Steering Robots,” IEEE Access, vol. 12, pp. 134728–134738, 2024.

• David Rodr´ıguez-Mart´ınez*, Kentaro Uno*, Kenta Sawa, Masahiro Uda, Gen Kudo, Gustavo Hernen Diaz, Ayumi Umemura, Shreya Santra, and Kazuya Yoshida, “Enabling Faster Locomotion of Planetary Rovers with a Mechanically-Hybrid Suspension,” IEEE Robotics and Automation Letters (IEEE RA-L), vol. 9, no. 1, pp. 619–626, DOI: 10.1109/LRA.2023.3335769, 2023. *These authors contributed equally. (This work will be presented in IEEE ICRA 2024 @Yokohama)

• Masahiro Uda, Kenta Sawa, Kentaro Uno, Li Zheng Travis Lim, Kazuya Yoshida, “Development and Grasping Performance Evaluation of a Wheel-Gripper Transformable Mechanism,” Journal of the Robotics Society of Japan (JRSJ)，vol. 42, no. 6, pp. 580–583, 2023. (in Japanese)

• Kentaro Uno, Warley F. R. Ribeiro，Yusuke Koizumi, Kenji Nagaoka, Kazuya Yoshida, “Tumble Stability Criterion Using Gravito-Inertial Acceleration for Wall-Climbing Motion of Legged Robots,”Journal of the Robotics Society of Japan (JRSJ)，vol. 42, no. 3, pp. 295–298, 2023. (in Japanese)

• Takuya Kato, Kentaro Uno, Kazuya Yoshida, “A Gripper with Pin-Array Structure for Convex and Concave Terrain Shapes,” Journal of the Robotics Society of Japan (JRSJ)，vol. 42, no. 2, pp. 177–180, 2023. (in Japanese)

• Warley F. R. Ribeiro, Kentaro Uno, Kenji Nagaoka, Kazuya Yoshida, “Analysis of Motion Control for a Quadruped Ground-Gripping Robot for Minor Body Exploration on Uneven Terrain”, Transactions of The Japan Society for Aeronautical and Space Sciences, Aerospace Technology Japan (Trans. JSASS), vol. 19, no. 5, pp. 794–801, 2021.

• Kentaro Uno, Louis-Jerome Burtz, Marc Hulcelle, Kazuya Yoshida, “Qualification of a Time-of-Flight Camera as a Hazard Detection and Avoidance Sensor for a Moon Exploration Microrover”, Transactions of The Japan Society for Aeronautical and Space Sciences, Aerospace Technology Japan (Trans. JSASS), vol. 16, no. 7, pp. 619–627, 2018.

• Takuto Oikawa, Toshiki Tanaka, Yuto Suebe, Kentaro Uno, Hugo Zuliani, Louis-Jerome Burtz, Kazuya Yoshida, “Preliminary Radiation Test Result for Space-Ready Qualification of Lunar Micro Rover”, Transactions of The Japan Society for Aeronautical and Space Sciences, Aerospace Technology Japan (Trans. JSASS), vol. 16, no. 7, pp. 613–618, 2018.

Conferences

2025

• Seiko Piotr Yamaguchi*, Kentaro Uno*, Yasumaru Fujii, Masazumi Imai, Kazuki Takada, Kazuya Yoshida, “Towards the Automation in the Space Station: Feasibility Study and Ground Tests of a Multi-Limbed Intra Vehicular Robot,” Proceedings of the IEEE/SICE International Symposium on System Integration (SII), pp. TBD, 2024. *These authors contributed equally. (to be presented)

• Luca Nunziante, Kentaro Uno, Gustavo H. Diaz, Shreya Santra, Alessandro De Luca, Kazuya Yoshida, “Assembling Solar Panels by Dual Robot Arms Towards Full Autonomous Lunar Base Construction,” Proceedings of the IEEE/SICE International Symposium on System Integration (SII), pp. TBD, 2024. (to be presented)

2024

• Junnosuke Kamohara*, Vinicius Ares*, James Hurrell, Keisuke Takehana, Antoine Richard, Shreya Santra, Kentaro Uno, Eric Rohmer, Kazuya Yoshida, “Modelling of Terrain Deformation by a Grouser Wheel for Lunar Rover Simulation,” Proceedings of the 17th European-African Regional Conference of the International Society for Terrain-Vehicle Systems (ISTVS), pp. TBD, 2024. *These authors contributed equally.

• Tomomi Tanaka*, Keisuke Takehana*, James Hurrell, Kentaro Uno, and Kazuya Yoshida, “Evaluation of the Multi-Pass Effect of an Exploration Rover by Single Wheel Testing Assuming Lunar Gravity and Soil,” Proceedings of the 17th European-African Regional Conference of the International Society for Terrain-Vehicle Systems (ISTVS), pp. TBD, 2024. *These authors contributed equally.

• Keisuke Takehana, Kenta Sawa, Kentaro Uno, Shreya Santra, and Kazuya Yoshida, “Evaluation of Grouser Wheel Traction Performance in High-Speed by Single-Wheel Test,” Proceedings of the 17th European-African Regional Conference of the International Society for Terrain-Vehicle Systems (ISTVS), pp. TBD, 2024., pp. TBD, 2024.

• Masazumi Imai, Kentaro Uno, and Kazuya Yoshida, “Admittance Control-based Floating Base Reaction Mitigation for Limbed Climbing Robots,” Proceedings of the 27th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR) 2024, pp. TBD, 2024. @paper link is to be added.

• Kentaro Uno*, Takehiro Matsuoka*, Akiyoshi Uchida, and Kazuya Yoshida, “Structure from Motion-based Motion Estimation and 3D Reconstruction of Unknown Shaped Space Debris,” Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE), pp. 1283–1288, 2024. *These authors contributed equally.

• Gustavo H. Diaz*, Kentaro Uno*, Shreya Santra, Kazuya Yoshida, “Towards Self-Assembling of Modular Robots for the Human Outpost Construction on the Moon,” late-breaking results short paper for the Workshop on Exploring the Lunar Frontier Leveraging Robotic Missions in 2024 International Conference on Space Robotics (iSpaRo), pp. TBD, 2024. *These authors contributed equally.

• Shreya Santra*, Kentaro Uno*, Gen Kudo* Kazuya Yoshida, “Risk-Aware Coverage Path Planning for Lunar Micro-Rovers Leveraging Global and Local Environmental Data,” Proceedings of the 2024 International Conference on Space Robotics (iSpaRo), pp. TBD, 2024. (accepted) *These authors contributed equally.

• Akiyoshi Uchida, Kentaro Uno, Kazuya Yoshida, “Space Debris Reliable Capturing by a Dual-Arm Orbital Robot: Detumbling and Caging,” Proceedings of the 2024 International Conference on Space Robotics (iSpaRo), pp. 194–201, 2024. (Best Papers Award)

• Antoine Richard*, Junnosuke Kamohara*, Kentaro Uno, Shreya Santra, Dave van der Meer, Miguel Olivares-Mendez, and Kazuya Yoshida, “OmniLRS: A Photorealistic Simulator for Lunar Robotics,” Proceedings of the 2024 IEEE International Conference on Robotics and Automation (ICRA), pp. TBD, 2024. *These authors contributed equally.

• David Rodr´ıguez-Mart´ınez*, Kentaro Uno*, Kenta Sawa, Masahiro Uda, Gen Kudo, Gustavo Hernen Diaz, Ayumi Umemura, Shreya Santra, and Kazuya Yoshida, “Enabling Faster Locomotion of Planetary Rovers with a Mechanically-Hybrid Suspension,” IEEE Robotics and Automation Letters (IEEE RA-L), vol. 9, no. 1, pp. 619–626, DOI: 10.1109/LRA.2023.3335769, 2023. *These authors contributed equally. (This work will be presented in IEEE ICRA 2024 @Yokohama)

• Gustavo H. Diaz, Tharit Sinsunthorn, Shreya Santra, Kentaro Uno, Kazuya Yoshida, “Toward Autonomous Assembly of Modular Robots and Structures using Real-time Object Detection and Imitation Learning for Lunar Missions,” Proceedings of the 29th International Symposium on Artificial Life and Robotics (AROB 29th 2024), pp. 1389–1393, 2024.

• Kentaro Uno, Kazuki Takada, Keita Nagaoka, Takuya Kato, Arthur Candalot, and Kazuya Yoshida, “Lower Gravity Demonstratable Testbed for Space Mobile Robot Experiments,” Proceedings of the IEEE/SICE International Symposium on System Integration (SII), pp. 1183–1184, 2024.

• Camille Boucher, Gustavo H. A. Diaz, Shreya Santra, Kentaro Uno, and Kazuya Yoshida, “Integration of Vision-based Object Detection and Grasping for Articulated Manipulator in Lunar Conditions,” Proceedings of the IEEE/SICE International Symposium on System Integration (SII), pp. 484–489, 2024.

2023

• Kazuki Takada, Kentaro Uno, and Kazuya Yoshida, “Graph-Based Path/Foothold Planning and Quantitative Map Evaluation for Multi-Limbed Climbing Robots,” Proceedings of the 2023 8th International Conference on Robotics and Automation Engineering (ICRAE 2023), pp. TBD, 2023. (Best Presentation Achievement in the Session)

• Keisuke Takehana, Shino Kizaki, Kentaro Uno, Tomomi Tanaka, Gentaro Suda and Kazuya Yoshida, “Evaluation and Comparison of Driving Performance of a Lunar Exploration Rover Wheel in Different Soils,” Proceedings of the 16th European-African Regional Conference of the International Society for Terrain-Vehicle Systems (ISTVS), pp. TBD, 2023. (Best Papers Award)

• James Hurrell, Keisuke Takehana, Gentaro Suda, Kentaro Uno, Kazuya Yoshida, “Lunar Rover Discrete Element Method Study and Calibration,” Proceedings of the 16th European-African Regional Conference of the International Society for Terrain-Vehicle Systems (ISTVS), pp. TBD, 2023.

• Warley F. R. Ribeiro, Kentaro Uno, Masazumi Imai, Koki Murase, Barış Can Yalçın, Matteo El Hariry, Miguel A. Olivares-Mendez and Kazuya Yoshida, “Mobility Strategy of Multi-Limbed Climbing Robots for Asteroid Exploration”, Proceedings of the 24th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR) 2023, pp. TBD, 2023. (Highly Commended Paper)

• Ayumi Umemura, Kentaro Uno, Shreya Santra, Miguel Angel Olivares Mendez, Kazuya Yoshida, “Optimizing Planetary Exploration by Refinement Localization and Mapping using Multiple Rovers”, Contributed paper of the ICRA2023 workshop: Heterogeneous multi-robot cooperation for exploration and science in extreme environments, 2023. (link of the workshop presentation material)

• Warley F. R. Ribeiro, Kentaro Uno, Masazumi Imai, Koki Murase, Kazuya Yoshida, “RAMP: Reaction-Aware Motion Planning of Multi-Legged Robots for Locomotion in Microgravity,” Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2023), pp. 11845–11851, 2023. (ICRA 2023 Outstanding Locomotion Paper Finalist) (IEEE RAS Japan Joint Chapter Young Award (ICRA2023))

• Andrew Price, Kentaro Uno, Swapnil Parekh, Til Reichelt, Kazuya Yoshida, “Render-to-Real Image Dataset and CNN Pose Estimation for Down-Link Restricted Spacecraft Missions,” Proceedings of the 2023 IEEE Aerospace Conference, pp. 1–11, 2023.

2022

• Takuya Kato, Kentaro Uno, Kazuya Yoshida, “A Pin-Array Structure for Gripping and Shape Recognition of Convex and Concave Terrain Profile,” Proceedings of the 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO 2022), pp. 1365–1370, 2022.

• Warley F. R. Ribeiro, Kentaro Uno, Kazuya Yoshida, “Low-Reaction Trajectory Generation for a Legged Robot in Microgravity,” Proceedings of the 2022 IEEE/SICE International Symposium on System Integration (SII), pp. 505–510, 2022.

• Keigo Haji, Kentaro Uno, Warley F. R. Ribeiro, Kazuya Yoshida, “Path and Gait Planning of Limbed Climbing Robots for Planetary Cliff Exploration,” Proceedings of the 33rd International Symposium on Space Technology Science (ISTS), #2022-k-11, 2022.

• Taku Okawara, Kentaro Uno, Kazuya Yoshida, “Lunar Skylight Exploration by a Limbed Climbing Robot Using a Hand-Eye System,” Proceedings of the 33rd International Symposium on Space Technology Science (ISTS), #2022-k-09, 2022.

2021

• Kentaro Uno*, Giorgio Valsecchi*, Marco Hutter, Kazuya Yoshida, “Simulation-Based Climbing Capability Analysis for Quadrupedal Robots”, Robotics for Sustainable Future: Proceedings of the 24th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR) 2021, pp. 179–191, 2021. *These authors contributed equally.

• Kentaro Uno*, Warley F. R. Ribeiro*, Yusuke Koizumi, Keigo Haji, Koki Kurihara, William Jones, Kazuya Yoshida, ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics”, Robotics for Sustainable Future: Proceedings of the 24th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR) 2021, pp. 179–191, 2021. *These authors contributed equally. (Highly Commended Paper)

• Kentaro Uno, Naomasa Takada, Taku Okawara, Keigo Haji, Arthur Candalot, Warley F. R. Ribeiro, Kenji Nagaoka, Kazuya Yoshida, “HubRobo: A Lightweight Multi-Limbed Climbing Robot for Exploration in Challenging Terrain”, Proceedings of the 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), pp. 209–215, 2021.

2020

• Kentaro Uno, Yusuke Koizumi, Keigo Haji, Maximilian Keiff, Simon Harms, Warley F. R. Ribeiro, Kenji Nagaoka, Kazuya Yoshida, “Non-Periodic Gait Planning Based on Salient Region Detection for a Planetary Cave Exploration Robot”, Proceedings of the 15th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), #5027, 2020.

• Warley F. R. Ribeiro, Kentaro Uno, Kenji Nagaoka, Kazuya Yoshida, “Dynamic Equilibrium of Climbing Robots Based on Stability Polyhedron for Gravito-Inertial Acceleration”, Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), pp. 297–304, 2020. (Conference Awards a Third Prize)

~2019

• Kentaro Uno, Warley F. R. Ribeiro, William Jones, Yuki Shirai, Hayato Minote, Kenji Nagaoka, Kazuya Yoshida, “Gait Planning for a Free-Climbing Robot based on Tumble Stability”, Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, pp. 289-294, 2019.

• Kentaro Uno, Louis-Jerome Burtz, Masafumi Endo, Kenji Nagaoka, Kazuya Yoshida, “Quality of the 3D Point Cloud of a Time-of-Flight Camera Under Lunar Surface Illumination Conditions: Impact Improvement Techniques”, Proceedings of the 14th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), #10a-2, 2018.

• Kentaro Uno, Louis-Jerome Burtz, Marc Hulcelle, Kazuya Yoshida, “Capability of a Time-of-Flight Camera as a Hazard Detection and Avoidance Sensor for a Moon Exploration Microrover”, Proceedings of the 31st International Symposium on Space Technology Science (ISTS), #2017-k-37, 2017.

• Takuto Oikawa, Toshiki Tanaka, John Walker, Kentaro Uno, Paulo Costa, Nathan Britton, Kazuya Yoshida, “Preliminary Radiation Test Result for Space-Ready Qualification of Lunar Micro Rover”, Proceedings of the 31st International Symposium on Space Technology Science (ISTS), #2017-i-10, 2017.

• Takuto Oikawa, Toshiki Tanaka, John Walker, Kentaro Uno, Paulo Costa, Nathan Britton, Kazuya Yoshida, “Thermal Design Analysis of Conceptual Flight Model for a Lunar Exploration Rover,” Proceedings of the 13th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), 2016.

Domestic Conferences

• Please see the Japanese page.

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