Logo JRL


Joint Robotics Laboratory


Date of creation: 2009

CNRS Institute: CNRS Engineering

Director: Fumio KANEHIRO

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

Co-director: Guillaume CARON

Staff: 11 permanent researchers (8 AIST, 3 CNRS); 3 postdoc fellows; 14 PhD students; 7 Master students

Website: https://jrl-umi3218.github.io/

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

Humanoid avatar HRP-4CR


JRL is a joint laboratory established between the CNRS and AIST. It is located at the AIST Information Technology and Human factors department in Tsukuba. It was created as an International Research Project in 2004 and became an International Research Laboratory in 2008.

An important topic at JRL since its beginning has been to design humanoid robots and to develop their ability to perform locomotion, manipulation, 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 executes a sequence of contact.

We have also been working on applications of this technology to industrial scenarii, especially within the context of large-scale manufacturing. Among them, airplane assembly has been our central topic as it requires locomotion in non-flat surface and accurate task execution in constrained spaces.

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.

This research has emphasized the need to develop more robust, adaptive, and reliable robot perception, beyond off the shelf tools. Hence, JRL is now also researching on using emerging sensors, designing new ones (vision, tactile, etc.) and use them for robot localization in environments of large range of illumination, for the 3D tracking and loco-manipulation of large industrial objects, etc.

JRL is involved in several projects on its research topics among which Dr. Kheddar is currently working on i.am. project, financed by the European program H2020. Furthermore, JRL is leading and involved in several JST and JSPS grant-in-aid projects (Kakenhi) among which the development of avatar robots. Finally, JRL is tackling collaborative industrial projects with Japanese and foreign private companies.



  • Human observation, understanding and skill reproduction
  • Advanced perception
  • Continual learning





  • CNRS Engineering


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