Logo JRL


Joint Robotics Laboratory


Date of creation: 2009

CNRS Institute: INSIS (Engineering and Systems Sciences)

Director: Eiichi YOSHIDA

Japanese partner: National Institute of Advanced Industrial Science and Technology (AIST)

Co-director: Abderrahmane KHEDDAR

Staff: 17 permanent researchers (14 AIST, 3 CNRS) and 5 adjunct AIST members; 2 postdoc fellows; 10 PhD students; 6 Master students

Website: https://unit.aist.go.jp/jrl-2/index_en.html

CNRS logo
AIST logo, scaled
Humanoid platform HRP-2Kai

Humanoid platform HRP-2Kai


JRL is a joint laboratory established between the CNRS and AIST. It is located at the AIST Intelligent Systems Research Institute in Tsukuba. It was created as an IRP in 2004 and became an IRL in 2008.

An important topic at JRL since its beginning has been to develop the ability for humanoid robots to perform locomotion and tasks involving multiple contacts. This research consists of the planning level, thinking in advance about the sequence of contact, and the control level, deciding in real-time how to move while the robot execute a sequence of contact.

We have also been working on applications of this technology to an industrial scenario, especially large-scale manufacturing. Among them, airplane assembly has been our central topic as it requires locomotion in non-flat surface and task execution in a constrained space.

Using our humanoid platform HRP-2Kai, we have demonstrated multi-contact locomotion into a hole and execution of nut fastening by using tools with one hand and by supporting its body holding the environment with the other hand.

Dr. Ko Ayusawa, Senior Research Scientist who belongs to JRL since 2014, received The Young Scientists’ Award of The Commendation for Science and Technology by the Minister of Education, Culture, Sports, Science and Technology (MEXT) in April 2020. This is a prestigious prize that is awarded to only around 100 excellent young scientists in all science and technology area every year.

Dr. Ayusawa has been actively conducting original research on dynamics theory and optimization of anthropomorphic systems, which is highly recognized in international research community though publications in top-tier journals.

Dr. Kheddar is currently working on i.am. project, financed by the European program H2020. Furthermore, Dr. Kajita, Dr. Ayusawa, and Dr. Yoshida are working on JSPS Grant-in-Aid (Kakenhi) projects. Finally, JRL is tackling collaborative industrial projects with Japanese and foreign private companies.



  • Humanoid robots: multi-contact planning, control and model-based optimization, retargeting
  • Cognitive robots, applied neuroscience and intelligent interaction
  • Human modeling for human-centered design and human monitoring





  • CNRS/INSIS (Engineering and Systems Sciences)


  • National Institute of Advanced Industrial Science and Technology (AIST)