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Tokyo University of Science

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Selected work

Representative Papers

Characterizations of Proportional Division Value in TU-Games via Fixed-Population Consistency

Nov 07, 2025

This paper investigates the proportional allocation value in TU cooperative games—i.e., the rule that distributes the grand coalition’s total worth among players in proportion to their individual stand-alone values. We introduce three novel axioms—homogeneity, compositionality, and consistency for nullified games—and combine them with efficiency to provide the first complete axiomatic characterization of this value; notably, the “fixed-population consistency” axiom ensures stability and fairness of allocations under invariant coalition structures. Methodologically, we integrate axiomatic analysis with a decomposition–recomposition structural technique, achieving rigorous formal derivation within the transferable utility game framework. Our main contributions are: (i) establishing a minimal and complete axiom system for the proportional allocation value; (ii) clarifying its fundamental distinction from classical solutions (e.g., the Shapley value); and (iii) furnishing a theoretically grounded and operationally applicable principle for fair resource allocation proportional to individual marginal contributions.

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Whole-Body Multi-Contact Motion Control for Humanoid Robots Based on Distributed Tactile Sensors

Nov 01, 2024IEEE Robotics and Automation Letters

To address the challenge of robust locomotion and manipulation for humanoid robots in confined spaces, this paper proposes a whole-body multi-contact motion control framework that transcends conventional end-effector (hand/foot)-only contact paradigms. For the first time, flexible, sheet-based distributed tactile sensing is extended to intermediate limb segments—including the forearm and thigh—enabling rich spatial contact awareness. The method integrates multi-point tactile feedback with six-axis force/torque measurements to formulate an augmented multi-contact dynamic model and a closed-loop feedback control architecture. Experimental validation on the full-scale humanoid robot RHP Kaleido demonstrates complex behaviors such as forearm-supported stepping and thigh-contact seated balance. Both simulation and physical experiments confirm substantial improvements in robustness against environmental modeling errors and external disturbances. This work establishes a novel paradigm for whole-body active contact control in unstructured environments.

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