A collision avoidance method for robot manipulators based on the safety first algorithm and the potential function. - Hirohisa Hirukawa; Shinzo Kitamura (Adv. Robotics, 1989)

A general algorithm for derivation and analysis of constraint for motion of polyhedra in contact. - Hirohisa Hirukawa; Toshihiro Matsui; Kunikatsu Takase (IROS, 1991)

Kraft: An Autonomous Robot Manipulation System Based on Geometrical Modeling and Processing. - Hirohisa Hirukawa; Yuuki Inoue; Toshihide Yoshimura; Shinzo Kitamura; Satoshi Sakakibara; Makoto Hitomi; Kazutoshi Sumiya (J. Robotics Mechatronics, 1992)

A Motion Planning Algorithm for Convex Polyhedra in Contact Under Translation and Rotation. - Hirohisa Hirukawa; Yves Papegay; Toshihiro Matsui (ICRA, 1994)

A lazy algorithm for planning motions in contact. - Yves Papegay; Hirohisa Hirukawa (IROS, 1994)

Automatic determination of possible velocity and applicable force of frictionless objects in contact from a geometric model. - Hirohisa Hirukawa; Toshihiro Matsui; Kunikatsu Takase (IEEE Trans. Robotics Autom., 1994)

A Simple and Effeicient Procedure for Polyhedral Assembly Partitioning under Infinitesimal Motions. - Leonidas J. Guibas; Dan Halperin; Hirohisa Hirukawa; Jean-Claude Latombe; Randall H. Wilson (ICRA, 1995)

Assembly motion teaching system using position/force simulator extracting a sequence of contact state transition. - Hiromu Onda; Hirohisa Hirukawa; Kunikatsu Takase (IROS (1), 1995)

Preface. - Hirohisa Hirukawa (Adv. Robotics, 1996)

Prototypes of teleoperation systems via a standard protocol with a standard human interface. - Hirohisa Hirukawa; Toshihiro Matsui; Hiromu Onda; Kunikatsu Takase; Yoichi Ishiwata; Kenji Konaka (ICRA, 1997)

A prototype of standard teleoperation systems on an enhanced VRML. - Hirohisa Hirukawa; Toshihiro Matsui; Shigeoki Hirai; Kenji Konaka; S. Kawamura (IROS, 1997)

Assembly motion teaching system using position/force simulator-generating control program. - Hiromu Onda; Hirohisa Hirukawa; Fumiaki Tomita; Takashi Suehiro; Kunikatsu Takase (IROS, 1997)

A Telerobotics System for Maintenance Tasks Integrating Planning Functions Based on Manipulation Skills. - Tsukasa Ogasawara; Hirohisa Hirukawa; Kosei Kitagaki; Hiromu Onda; Akio Nakamura; Hideo Tsukune (ICRA, 1998)

Polyhedral Assembly Partitioning Using Maximally Covered Cells in Arrangements of Convex Polytopes. - Leonidas J. Guibas; Dan Halperin; Hirohisa Hirukawa; Jean-Claude Latombe; Randall H. Wilson (Int. J. Comput. Geom. Appl., 1998)

Motion Planning of Objects in Contact by the Silhouette Algorithm. - Hirohisa Hirukawa; Yves Papegay (ICRA, 2000)

A symbolic-numeric silhouette algorithm. - Hirohisa Hirukawa; Bernard Mourrain; Yves Papegay (IROS, 2000)

Web-top robotics. - Hirohisa Hirukawa; Isao Hara (IEEE Robotics Autom. Mag., 2000)

Developmental Software Environment that is applicable to Small-size Humanoids and Life-size Humanoids. - Fumio Kanehiro; Masayuki Inaba; Hirochika Inoue; Hirohisa Hirukawa; Shigeoki Hirai (ICRA, 2001)

The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation. - Shuuji Kajita; Fumio Kanehiro; Kenji Kaneko; Kazuhito Yokoi; Hirohisa Hirukawa (IROS, 2001)

Virtual humanoid robot platform to develop controllers of real humanoid robots without porting. - Fumio Kanehiro; Natsuki Miyata; Shuuji Kajita; Kiyoshi Fujiwara; Hirohisa Hirukawa; Yoshihiko Nakamura; Katsu Yamane; Ichitaro Kohara; Yuichiro Kawamura; Yoshiyuki Sankai (IROS, 2001)

Humanoid robot simulator for the METI HRP Project. - Yoshihiko Nakamura; Hirohisa Hirukawa; Katsu Yamane; Shuuji Kajita; Kiyoshi Fujiwara; Fumio Kanehiro; Fumio Nagashima; Yuichi Murase; Masayuki Inaba (Robotics Auton. Syst., 2001)

A Realtime Pattern Generator for Biped Walking. - Shuuji Kajita; Fumio Kanehiro; Kenji Kaneko; Kiyoshi Fujiwara; Kazuhito Yokoi; Hirohisa Hirukawa (ICRA, 2002)

Open Architecture Humanoid Robotics Platform. - Fumio Kanehiro; Kiyoshi Fujiwara; Shuuji Kajita; Kazuhito Yokoi; Kenji Kaneko; Hirohisa Hirukawa; Yoshihiko Nakamura; Katsu Yamane (ICRA, 2002)

Design of Advanced Leg Module for Humanoid Robotics Project of METI. - Kenji Kaneko; Shuuji Kajita; Fumio Kanehiro; Kazuhito Yokoi; Kiyoshi Fujiwara; Hirohisa Hirukawa; Toshikazu Kawasaki; Masaru Hirata; Takakatsu Isozumi (ICRA, 2002)

UKEMI: falling motion control to minimize damage to biped humanoid robot. - Kiyoshi Fujiwara; Fumio Kanehiro; Shuuji Kajita; Kenji Kaneko; Kazuhito Yokoi; Hirohisa Hirukawa (IROS, 2002)

Experimental Study of Biped Locomotion of Humanoid Robot HRP-1S. - Kazuhito Yokoi; Fumio Kanehiro; Kenji Kaneko; Kiyoshi Fujiwara; Shuuji Kajita; Hirohisa Hirukawa (ISER, 2002)

Pushing manipulation by humanoid considering two-kinds of ZMPs. - Kensuke Harada; Shuuji Kajita; Kenji Kaneko; Hirohisa Hirukawa (ICRA, 2003)

Experimental evaluation of the dynamic simulation of biped walking of humanoid robots. - Hirohisa Hirukawa; Fumio Kanehiro; Shuuji Kajita; Kiyoshi Fujiwara; Kazuhito Yokoi; Kenji Kaneko; Kensuke Harada (ICRA, 2003)

Biped walking pattern generation by using preview control of zero-moment point. - Shuuji Kajita; Fumio Kanehiro; Kenji Kaneko; Kiyoshi Fujiwara; Kensuke Harada; Kazuhito Yokoi; Hirohisa Hirukawa (ICRA, 2003)

Generating whole body motions for a biped humanoid robot from captured human dances. - Shinichiro Nakaoka; Atsushi Nakazawa; Kazuhito Yokoi; Hirohisa Hirukawa; Katsushi Ikeuchi (ICRA, 2003)

Cooperative works by a human and a humanoid robot. - Kazuhiko Yokoyama; Hiroyuki Handa; Takakatsu Isozumi; Yutaro Fukase; Kenji Kaneko; Fumio Kanehiro; Yoshihiro Kawai; Fumiaki Tomita; Hirohisa Hirukawa (ICRA, 2003)

The first human-size humanoid that can fall over safely and stand-up again. - Kiyoshi Fujiwara; Fumio Kanehiro; Shuuji Kajita; Kazuhito Yokoi; Hajime Saito; Kensuke Harada; Kenji Kaneko; Hirohisa Hirukawa (IROS, 2003)

ZMP analysis for arm/leg coordination. - Kensuke Harada; Shuuji Kajita; Kenji Kaneko; Hirohisa Hirukawa (IROS, 2003)

Resolved momentum control: humanoid motion planning based on the linear and angular momentum. - Shuuji Kajita; Fumio Kanehiro; Kenji Kaneko; Kiyoshi Fujiwara; Kensuke Harada; Kazuhito Yokoi; Hirohisa Hirukawa (IROS, 2003)

Biped walking pattern generation by a simple three-dimensional inverted pendulum model. - Shuuji Kajita; Fumio Kanehiro; Kenji Kaneko; Kiyoshi Fujiwara; Kazuhito Yokoi; Hirohisa Hirukawa (Adv. Robotics, 2003)

An analytical method on real-time gait planning for a humanoid robot. - Kensuke Harada; Shuuji Kajita; Kenji Kaneko; Hirohisa Hirukawa (Humanoids, 2004)

Falling Motion Control of a Humanoid Robot Trained by Virtual Supplementary Tests. - Kiyoshi Fujiwara; Fumio Kanehiro; Hajime Saito; Shuuji Kajita; Kensuke Harada; Hirohisa Hirukawa (ICRA, 2004)

Real-time Planning of Humanoid Robot's Gait for Force Controlled Manipulation. - Kensuke Harada; Shuuji Kajita; Fumio Kanehiro; Kiyoshi Fujiwara; Kenji Kaneko; Kazuhito Yokoi; Hirohisa Hirukawa (ICRA, 2004)

Locomotion Planning of Humanoid Robots to Pass Through Narrow Spaces. - Fumio Kanehiro; Hirohisa Hirukawa; Kenji Kaneko; Shuuji Kajita; Kiyoshi Fujiwara; Kensuke Harada; Kazuhito Yokoi (ICRA, 2004)

Humanoid Robot HRP-2. - Kenji Kaneko; Fumio Kanehiro; Shuuji Kajita; Hirohisa Hirukawa; Toshikazu Kawasaki; Masaru Hirata; Kazuhiko Akachi; Takakatsu Isozumi (ICRA, 2004)

Safe knee landing of a human-size humanoid robot while falling forward. - Kiyoshi Fujiwara; Fumio Kanehiro; Shuuji Kajita; Hirohisa Hirukawa (IROS, 2004)

Robust speech interface based on audio and video information fusion for humanoid HRP-2. - Isao Hara; Futoshi Asano; Hideki Asoh; Jun Ogata; Naoyuki Ichimura; Yoshihiro Kawai; Fumio Kanehiro; Hirohisa Hirukawa; Kiyoshi Yamamoto (IROS, 2004)

Dynamical balance of a humanoid robot grasping an environment. - Kensuke Harada; Hirohisa Hirukawa; Fumio Kanehiro; Kiyoshi Fujiwara; Kenji Kaneko; Shuuji Kajita; Masaru Nakamura (IROS, 2004)

Biped walking on a low friction floor. - Shuuji Kajita; Kenji Kaneko; Kensuke Harada; Fumio Kanehiro; Kiyoshi Fujiwara; Hirohisa Hirukawa (IROS, 2004)

Integration of Manipulation and Locomotion by a Humanoid Robot. - Kensuke Harada; Shuuji Kajita; Hajime Saito; Fumio Kanehiro; Hirohisa Hirukawa (ISER, 2004)

OpenHRP: Open Architecture Humanoid Robotics Platform. - Fumio Kanehiro; Hirohisa Hirukawa; Shuuji Kajita (Int. J. Robotics Res., 2004)

Experimental Study of Humanoid Robot HRP-1S. - Kazuhito Yokoi; Fumio Kanehiro; Kenji Kaneko; Shuuji Kajita; Kiyoshi Fujiwara; Hirohisa Hirukawa (Int. J. Robotics Res., 2004)

Humanoid robotics platforms developed in HRP. - Hirohisa Hirukawa; Fumio Kanehiro; Kenji Kaneko; Shuuji Kajita; Kiyoshi Fujiwara; Yoshihiro Kawai; Fumiaki Tomita; Shigeoki Hirai; Kazuo Tanie; Takakatsu Isozumi; Kazuhiko Akachi; Toshikazu Kawasaki; et al. (Robotics Auton. Syst., 2004)

A Humanoid Robot Carrying a Heavy Object. - Kensuke Harada; Shuuji Kajita; Hajime Saito; Mitsuharu Morisawa; Fumio Kanehiro; Kiyoshi Fujiwara; Kenji Kaneko; Hirohisa Hirukawa (ICRA, 2005)

Whole Body Locomotion Planning of Humanoid Robots based on a 3D Grid Map. - Fumio Kanehiro; Takashi Yoshimi; Shuuji Kajita; Mitsuharu Morisawa; Kiyoshi Fujiwara; Kensuke Harada; Kenji Kaneko; Hirohisa Hirukawa; Fumiaki Tomita (ICRA, 2005)

Pattern Generation of Biped Walking Constrained on Parametric Surface. - Mitsuharu Morisawa; Shuuji Kajita; Kenji Kaneko; Kensuke Harada; Fumio Kanehiro; Kiyoshi Fujiwara; Hirohisa Hirukawa (ICRA, 2005)

Slip observer for walking on a low friction floor. - Kenji Kaneko; Fumio Kanehiro; Shuuji Kajita; Mitsuharu Morisawa; Kiyoshi Fujiwara; Kensuke Harada; Hirohisa Hirukawa (IROS, 2005)

Emergency stop algorithm for walking humanoid robots. - Mitsuharu Morisawa; Shuuji Kajita; Kensuke Harada; Kiyoshi Fujiwara; Fumio Kanehiro; Kenji Kaneko; Hirohisa Hirukawa (IROS, 2005)

Session Overview Humanoids. - Hirohisa Hirukawa (ISRR, 2005)

Expo 2005 Robotics Project. - Hirohisa Hirukawa; Hirochika Inoue (ISRR, 2005)

Distributed Real-Time Processing for Humanoid Robots. - Toshihiro Matsui; Hirohisa Hirukawa; Yutaka Ishikawa; Nobuyuki Yamasaki; Satoshi Kagami; Fumio Kanehiro; Hajime Saito; Tetsuya Inamura (RTCSA, 2005)

The Human-size Humanoid Robot That Can Walk, Lie Down and Get Up. - Hirohisa Hirukawa; Shuuji Kajita; Fumio Kanehiro; Kenji Kaneko; Takakatsu Isozumi (Int. J. Robotics Res., 2005)

Towards an Optimal Falling Motion for a Humanoid Robot. - Kiyoshi Fujiwara; Shuuji Kajita; Kensuke Harada; Kenji Kaneko; Mitsuharu Morisawa; Fumio Kanehiro; Shinichiro Nakaoka; Hirohisa Hirukawa (Humanoids, 2006)

The Tele-operation of the Humanoid Robot-Whole Body Operation for Humanoid Robots in Contact with Environment-. - Hitoshi Hasunuma; Kensuke Harada; Hirohisa Hirukawa (Humanoids, 2006)

A Biped Pattern Generation Allowing Immediate Modification of Foot Placement in Real-time. - Mitsuharu Morisawa; Kensuke Harada; Shuuji Kajita; Kenji Kaneko; Fumio Kanehiro; Kiyoshi Fujiwara; Shinichiro Nakaoka; Hirohisa Hirukawa (Humanoids, 2006)

A Universal Stability Criterion of the Foot Contact of Legged Robots - Adios ZMP. - Hirohisa Hirukawa; Shizuko Hattori; Kensuke Harada; Shuuji Kajita; Kenji Kaneko; Fumio Kanehiro; Kiyoshi Fujiwara; Mitsuharu Morisawa (ICRA, 2006)

Biped Walking Pattern Generator allowing Auxiliary ZMP Control. - Shuuji Kajita; Mitsuharu Morisawa; Kensuke Harada; Kenji Kaneko; Fumio Kanehiro; Kiyoshi Fujiwara; Hirohisa Hirukawa (IROS, 2006)

Distributed Control System of Humanoid Robots based on Real-time Ethernet. - Fumio Kanehiro; Yoichi Ishiwata; Hajime Saito; Kazuhiko Akachi; Gou Miyamori; Takakatsu Isozumi; Kenji Kaneko; Hirohisa Hirukawa (IROS, 2006)

Motion Suspension System for Humanoids in case of Emergency; Real-time Motion Generation and Judgment to suspend Humanoid. - Kenji Kaneko; Fumio Kanehiro; Shuuji Kajita; Mitsuharu Morisawa; Kiyoshi Fujiwara; Kensuke Harada; Hirohisa Hirukawa (IROS, 2006)

Motion Planning of Emergency Stop for Humanoid Robot by State Space Approach. - Mitsuharu Morisawa; Kenji Kaneko; Fumio Kanehiro; Shuuji Kajita; Kiyoshi Fujiwara; Kensuke Harada; Hirohisa Hirukawa (IROS, 2006)

Task Autonomy for a Teleoperated Humanoid Robot. - Kensuke Harada; Hitoshi Hasunuma; Katsumi Nakashima; Yoshihiro Kawai; Hirohisa Hirukawa (ISER, 2006)

Dynamic simulator for humanoids using constraint-based method with static friction. - Jean-Rémy Chardonnet; Sylvain Miossec; Abderrahmane Kheddar; Hitoshi Arisumi; Hirohisa Hirukawa; François Pierrot; Kazuhito Yokoi (ROBIO, 2006)

An Analytical Method for Real-Time Gait Planning for Humanoid Robots. - Kensuke Harada; Shuuji Kajita; Kenji Kaneko; Hirohisa Hirukawa (Int. J. Humanoid Robotics, 2006)

Dynamics and balance of a humanoid robot during manipulation tasks. - Kensuke Harada; Shuuji Kajita; Kenji Kaneko; Hirohisa Hirukawa (IEEE Trans. Robotics, 2006)

A Pattern Generator of Humanoid Robots Walking on a Rough Terrain. - Hirohisa Hirukawa; Shizuko Hattori; Shuuji Kajita; Kensuke Harada; Kenji Kaneko; Fumio Kanehiro; Mitsuharu Morisawa; Shinichiro Nakaoka (ICRA, 2007)

ZMP-based Biped Running Enhanced by Toe Springs. - Shuuji Kajita; Kenji Kaneko; Mitsuharu Morisawa; Shinichiro Nakaoka; Hirohisa Hirukawa (ICRA, 2007)

Getting up Motion Planning using Mahalanobis Distance. - Fumio Kanehiro; Kiyoshi Fujiwara; Hirohisa Hirukawa; Shinichiro Nakaoka; Mitsuharu Morisawa (ICRA, 2007)

Experimentation of Humanoid Walking Allowing Immediate Modification of Foot Place Based on Analytical Solution. - Mitsuharu Morisawa; Kensuke Harada; Shuuji Kajita; Shinichiro Nakaoka; Kiyoshi Fujiwara; Fumio Kanehiro; Kenji Kaneko; Hirohisa Hirukawa (ICRA, 2007)

An optimal planning of falling motions of a humanoid robot. - Kiyoshi Fujiwara; Shuuji Kajita; Kensuke Harada; Kenji Kaneko; Mitsuharu Morisawa; Fumio Kanehiro; Shinichiro Nakaoka; Hirohisa Hirukawa (IROS, 2007)

Motion planning for walking pattern generation of humanoid. - Kensuke Harada; Shizuko Hattori; Hirohisa Hirukawa; Mitsuharu Morisawa; Shuuji Kajita; Eiichi Yoshida (IROS, 2007)

Constraint-based dynamics simulator for humanoid robots with shock absorbing mechanisms. - Shinichiro Nakaoka; Shizuko Hattori; Fumio Kanehiro; Shuuji Kajita; Hirohisa Hirukawa (IROS, 2007)

Learning from Observation Paradigm: Leg Task Models for Enabling a Biped Humanoid Robot to Imitate Human Dances. - Shinichiro Nakaoka; Atsushi Nakazawa; Fumio Kanehiro; Kenji Kaneko; Mitsuharu Morisawa; Hirohisa Hirukawa; Katsushi Ikeuchi (Int. J. Robotics Res., 2007)

Field and service appkications - Dinosaur robotics for entertainment applications - Design, Configurations, Controt, and Exhibition at the World Exposition. - Hirohisa Hirukawa; Fumio Kanehiro; Kenji Kaneko; Shuuji Kajita; Mitsuharu Morisawa (IEEE Robotics Autom. Mag., 2007)

ZMP-Based Biped Running Control. - Shuuji Kajita; Takashi Nagasaki; Kenji Kaneko; Hirohisa Hirukawa (IEEE Robotics Autom. Mag., 2007)

A pattern generator of humanoid robots walking on a rough terrain using a handrail. - Ken'ichi Koyanagi; Hirohisa Hirukawa; Shizuko Hattori; Mitsuharu Morisawa; Shinichiro Nakaoka; Kensuke Harada; Shuuji Kajita (IROS, 2008)

Cheek to Chip: Dancing Robots and AI's Future. - Jean-Julien Aucouturier; Katsushi Ikeuchi; Hirohisa Hirukawa; Shinichiro Nakaoka; Takaaki Shiratori; Shunsuke Kudoh; Fumio Kanehiro; Tetsuya Ogata; Hideki Kozima; Hiroshi G. Okuno; Marek P. Michalowski; Yuta Ogai; et al. (IEEE Intell. Syst., 2008)

Humanoids. - Charles C. Kemp; Paul M. Fitzpatrick; Hirohisa Hirukawa; Kazuhito Yokoi; Kensuke Harada; Yoshio Matsumoto (Springer Handbook of Robotics, 2008)

Creating facial motions of Cybernetic Human HRP-4C. - Shinichiro Nakaoka; Fumio Kanehiro; Kanako Miura; Mitsuharu Morisawa; Kiyoshi Fujiwara; Kenji Kaneko; Shuuji Kajita; Hirohisa Hirukawa (Humanoids, 2009)

Introduction to Humanoid Robotics - Shuuji Kajita; Hirohisa Hirukawa; Kensuke Harada; Kazuhito Yokoi (Springer, 2014)

Robotics for innovation. - Hirohisa Hirukawa (VLSIC, 2015)

Overview of Robotic Devices for Nursing Care Project. - Hirohisa Hirukawa (AAATE Conf., 2017)

A Control Assist Suit for Stable Walking. - Makiko Sasaki; Yoshio Matsumoto; Hirohisa Hirukawa (ROBIO, 2019)

Hip Flexion/Extension Assistance Measures to Improve Dynamic Gait Stability. - Yukari Yonetani; Takehiro Kitahara; Yumeko Imamura; Kazuaki Kishimoto; Hirohisa Hirukawa; Motoki Shino (SII, 2024)