Publications

Evidence, shared.

Complete publication record. * denotes equal contribution.

At a glance

Publication record

22 records

ICRA, IROS & RSS

10
  • ICRA 2026 · 2025 x3 · 2024 x2
  • IROS 2022 x2 · 2021
  • RSS 2026

Transactions & journals

02
  • IEEE Transactions on Robotics 2025
  • IEEE RA-L 2020

Other publications

10
  • Humanoid 2025 · 2023
  • Aerospace 2025
  • UR 2026 · 2023
  • CPS-IoT 2023
  • Thesis 2025
  • arXiv Under Review · 2025 · 2022

journalIEEE Transactions on Robotics / 2025

SCALER: Versatile Multi-Limbed Robot for Free-Climbing in Extreme Terrains

Y. Tanaka, Y. Shirai, A. Schperberg, X. Lin, and D. Hong
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conferenceICRA / 2026

AURA: Autonomous Upskilling with Retrieval-Augmented Agents

Y. Tanaka*, A. Zhu*, Andrew Goldberg, D. Hong
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conferenceICRA / 2025

Mechanisms and Computational Design of Multi-Modal End-Effector with Force Sensing using Gated Networks

Y. Tanaka*, A. Zhu*, R. Lin, A. Mehta, D. Hong
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conferenceICRA / 2025

Cycloidal Quasi-Direct Drive Actuator Designs with Learning-based Torque Estimation for Legged Robotics

Y. Tanaka*, A. Zhu*, D. Hong
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conferenceICRA / 2025

Buoyant Choreographies: Harmonies of Light, Sound, and Human Connection

D. Hong, Y. Tanaka
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conferenceICRA / 2024

Optistate: State estimation of legged robots using gated networks with transformer-based vision and Kalman filtering

A. Schperberg, Y. Tanaka, S. Mowlavi, F. Xu, B. Balaji, D. Hong
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conferenceICRA / 2024

Scaler-b: A multimodal versatile robot for simultaneous locomotion and grasping

Y. Tanaka, A. Schperberg, A. Zhu, D. Hong
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conferenceIROS / 2022

Scaler: A tough versatile quadruped free-climber robot

Y. Tanaka, Y. Shirai, X. Lin, A. Schperberg, H. Kato, A. Swerdlow, N. Kumagai, D. Hong
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conferenceIROS / 2022

Simultaneous contact-rich grasping and locomotion via distributed optimization enabling free-climbing for multi-limbed robots

Y. Shirai, X. Lin, A. Schperberg, Y. Tanaka, H. Kato, V. Vichathorn, D. Hong
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conferenceIROS / 2021

An under-actuated whippletree mechanism gripper based on multi-objective design optimization with auto-tuned weights

Y. Tanaka, Y. Shirai, Z. Lacey, X. Lin, J. Liu, D. Hong
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conferenceRSS / 2026

MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll

Y. Tanaka*, A. Schperberg*, S. Di Cairano, D. Hong
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journalIEEE RA-L / 2020

Risk-aware motion planning for a limbed robot with stochastic gripping forces using nonlinear programming

Y. Shirai, X. Lin, Y. Tanaka, A. Mehta, D. Hong
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conferenceHumanoid / 2025

Mechanical Intelligence-Aware Curriculum Reinforcement Learning for Humanoids with Parallel Actuation

Y. Tanaka*, A. Zhu*, Q. Wang, Y. Liu, D. Hong
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conferenceHumanoid / 2023

Adaptive force controller for contact-rich robotic systems using an unscented Kalman filter

A. Schperberg, Y. Shirai, X. Lin, Y. Tanaka, D. Hong
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conferenceAerospace / 2025

Tethered Variable Inertial Attitude Control Mechanisms through a Modular Jumping Limbed Robot

Y. Tanaka, A. Zhu, D. Hong
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conferenceUR / 2023

Real-to-Sim: Predicting Residual Errors of Robotic Systems with Sparse Data using a Learning-based Unscented Kalman Filter

A. Schperberg, Y. Tanaka, F. Xu, M. Menner, D. Hong
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conferenceCPS-IoT / 2023

Tackling simulation inconsistencies in the robot design process by selective empirical evaluation

A. Chattoraj, E. Vin, Y. Tanaka, JN. Pantig, DJ. Fremont, A. Mehta
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thesisThesis / 2025

Multi-Modal Loco-Grasping: Design and Mechanisms of Limbed Robots for Extreme Climbing

Y. Tanaka
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conferenceUR / 2026

Computational Design Framework for a Compact Multi-axis Contact Force Sensing Mechanism

Y. Tanaka*, A. Zhu*, C. Ku, S. Ha, D. Hong

preprintarXiv / Under Review

Rapid co-design of buoyancy-assisted robots for challenging locomotion using Gaussian evolutionary specialists

A. Sinha*, N. R. Sontakke, D. Hong, Y. Tanaka, S. Ha

preprintarXiv / 2025

From Lab to Gallery: Transforming a Balloon-Based Robot into an Expressive Kinetic Installation for Public Display

D. Hong, Y. Tanaka*

preprintarXiv / 2022

REMS: Middleware for Robotics Education and Development

Y. Tanaka, A. Mehta
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IEEE Transactions on Robotics 2025

SCALER: Versatile Multi-Limbed Robot for Free-Climbing in Extreme Terrains Los Angeles, USA · 34.0522°, -118.2437°

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