Jun Nakanishi

Designated Associate Professor
Department of Micro-Nano Mechanical Science and Engineering
Graduate School of Engineering
Nagoya University, Japan


Jun Nakanishi is a designated associate professor at Department of Mico-Nano Mechanical Science and Engineering, Nagoya University, Japan. He received his doctorate in engineering from Nagoya University. During his master's program at Nagoya University, he studied in the University of Michigan. He was a Research Associate at Nagoya University, and then a postdoctoral fellow at the University of Southern California. He joined ATR, Kyoto, Japan and was also with the Computational Brain Project, ICORP, Japan Science and Technology Agency, and then he was a research fellow at the University of Edinburgh. Prior to joining Nagoya University, he was a senior researcher at the Technical University of Munich.


I am interested in the control of dynamic movements in robotic systems towards the goal of understanding the principles of motion generation and control design. My research has focused in the fields of dynamical systems based task encoding, adaptive and optimal control and their application to robotics towards achieving dynamically dexterous behavior in robotic systems.


Selected Publications
  • Spatio-temporal stiffness optimization with switching dynamics
    Jun Nakanishi, Andreea Radulescu, David J. Braun, and Sethu Vijayakumar
    Autonomous Robots, vol. 41, issue 2, pp. 273-291 (2017) [DOI, Open access]
  • Dynamical Movement Primitives: Learning Nonlinear Attractor Models for Motor Behaviors
    Auke Jan Ijspeert, Jun Nakanishi, Heiko Hoffmann, Peter Pastor, and Stefan Schaal
    Neural Computation, no. 25, issue 2, pp. 328-373 (2013) [DOI]
  • Exploiting Passive Dynamics with Vairable Stiffness Actuation in Robot Brachiation
    Jun Nakanishi and Sethu Vijayakumar
    Robotics: Science and Systems (R:SS), Sydney, Australia, July 9-13 (2012) [Full text at RSS online Proceedings]
  • Operational Space Control: A Theoretical and Empirical Comparison
    Jun Nakanishi, Rick Cory, Michael Mistry, Jan Peters, and Stefan Schaal
    International Journal of Robotics Research, vol. 27, no. 6, pp. 737-757 (2008) [DOI]
  • Composite Adaptive Control with Locally Weighted Statistical Learning
    Jun Nakanishi, Jay Farrell, and Stefan Schaal
    Neural Networks, vol. 18, issue 1, pp. 71-90 (2005) [DOI]
  • Feedback Error Learning and Nonlinear Adaptive Control
    Jun Nakanishi, and Stefan Schaal
    Neural Networks, vol. 17, issue 10, pp. 1453-1465 (2004) (received JNNS Best Paper Award) [DOI]
  • Learning from Demonstration and Adaptation of Biped Locomotion
    Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, and Mitsuo Kawato
    Robotics and Autonomous Systems, vol. 47, no. 2-3, pp. 79-91 (2004) [DOI]
  • A Brachiating Robot Controller
    Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
    IEEE Transactions on Robotics and Automation, Vol.16, No. 2, pp. 109-123 (2000) [DOI]


  • SICE SI2016 Annual Conference, Excellent Presentation Award (2016)
  • Japanese Neural Network Society (JNNS) Best Paper Award (2005)
  • IEEE International Conference on Robotics and Automation (ICRA) Best Paper Award (2002)
  • Japan Society of Mechanical Engineers Hatakeyama Award (1995)


Department of Mico-Nano Mechanical Science and Engineering
Graduate School of Engineering
Nagoya University
1 Furo-cho, Chikusa-ku
Nagoya 464-8603, Japan
Email: nakanishi [at] mein.nagoya-u.ac.jp