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Publication

Transaction on Robotics (TRO), Journal

  1. Y. Tanaka, Y. Shirai, A. Schperberg, X. Lin, and D. Hong, “SCALER: Versatile Multi-Limbed Robot for Free-Climbing in Extreme Terrains,” IEEE Transactions on Robotics (TRO), accepted, 2025.

ICRA

  1. Y. Tanaka*, A. Zhu*, R. Lin, A. Mehta, D. Hong, “Mechanisms and Computational Design of Multi-Modal End-Effector with Force Sensing using Gated Networks,” ICRA 25, 2025.
  2. Y. Tanaka*, A. Zhu*, D. Hong, “Cycloidal Quasi-Direct Drive Actuator Designs with Learning-based Torque Estimation for Legged Robotics,” ICRA 25, 2025.
  3. D. Hong, Y.Tanaka, “Buoyant Choreographies: Harmonies of Light, Sound, and Human Connection,” ICRA Arts in Robotics 25, 2025.
  4. A. Schperberg, Y. Tanaka, S. Mowlavi, F. Xu, B. Balaji, D. Hong, “Optistate: State estimation of legged robots using gated networks with transformer-based vision and Kalman filtering,” ICRA 24, 2024.
  5. Y. Tanaka, A. Schperberg, A. Zhu, D. Hong, “Scaler-b: A multimodal versatile robot for simultaneous locomotion and grasping,” ICRA 40, 2024.

IROS

  1. Y.Tanaka, Y. Shirai, X. Lin, A. Schperberg, H.Kato, A.Swerdlow, N.Kumagai, D. Hong, “Scaler: Atough versatile quadruped free-climber robot,” IROS 22, 2022.
  2. Y. Shirai, X. Lin, A. Schperberg, Y. Tanaka, H. Kato, V. Vichathorn, D. Hong, “Simultaneous contact-rich grasping and locomotion via distributed optimization enabling free-climbing for multi-limbed robots,” IROS 22, 2022.
  3. Y. Tanaka, Y. Shirai, Z. Lacey, X. Lin, J. Liu, D. Hong, “An under-actuated whippletree mechanism gripper based on multiobjective design optimization with auto-tuned weights,” IROS 21, 2021.

Journal

  1. Y. Shirai, X. Lin, Y. Tanaka, A. Mehta, and D. Hong, “Risk-aware motion planning for a limbed robot with stochastic gripping forces using nonlinear programming,” IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 4, pp. 4994–5001, 2020.

Humanoid

  1. Y. Tanaka*, A. Zhu*, Q. Wang, Y. Liu, D. Hong, “Mechanical Intelligence-Aware Curriculum Reinforcement Learning for Humanoids with Parallel Actuation,” IEEE Humanoids, 2025.
  2. A. Schperberg, Y. Shirai, X. Lin, Y. Tanaka, and D. Hong, “Adaptive force controller for contact-rich robotic systems using an unscented Kalman filter,” IEEE Humanoids, 2023, pp. 1–8.

Aerospace

  1. Y.Tanaka, A. Zhu, D. Hong, “Tethered Variable InertialAttitude Control Mechanisms through a Modular Jumping Limbed Robot,” AeroConf, 2025.

Others

  1. A. Schperberg, Y. Tanaka, F. Xu, M. Menner, D. Hong, “Real-to-Sim: Predicting Residual Errors of Robotic Systems with SparseData using a Learning-based Unscented Kalman Filter,” IEEE International Conference on UbiquitousRobots, 2023.
  2. A. Chattoraj, E. Vin, Y. Tanaka, JN. Pantig, DJ. Fremont, A. Mehta, “Tackling simulation inconsistencies in the robot design process by selective empirical evaluation,” Cyber-Physical Systems and IoT Week, 2023.

Arxiv

  1. Y. Tanaka*, A. Zhu*, D. Hong, “AURA: Agentic Upskilling via Reinforced Abstractions,” arXiv preprint, Under review for conference.

  2. Y. Tanaka, A. Mehta, “REMS: Middleware for Robotics Education and Development,” arXiv preprint arXiv:2210.05784, 2022, Open-source project.

Google Scholar

Contributions