Development of a full body multi-axis soft tactile sensor suit for life sized humanoid robot and an algorithm to detect contact states. - Iori Kumagai; Kazuya Kobayashi; Shunichi Nozawa; Youhei Kakiuchi; Tomoaki Yoshikai; Kei Okada; Masayuki Inaba (Humanoids, 2012)

Humanoid full-body controller adapting constraints in structured objects through updating task-level reference force. - Shunichi Nozawa; Iori Kumagai; Youhei Kakiuchi; Kei Okada; Masayuki Inaba (IROS, 2012)

Development of Robots with Soft Sensor Flesh for Achieving Close Interaction Behavior. - Tomoaki Yoshikai; Marika Hayashi; Yui Ishizaka; Hiroko Fukushima; Asuka Kadowaki; Takashi Sagisaka; Kazuya Kobayashi; Iori Kumagai; Masayuki Inaba (Adv. Artif. Intell., 2012)

Creating socially acceptable robots: Leaning grasp configurations for object handovers from demonstrations. - Wesley P. Chan; Iori Kumagai; Shunichi Nozawa; Youhei Kakiuchi; Kei Okada; Masayuki Inaba (ARSO, 2013)

Whole body joint load reduction control for high-load tasks of humanoid robot through adapting joint torque limitation based on online joint temperature estimation. - Iori Kumagai; Shintaro Noda; Shunichi Nozawa; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (Humanoids, 2014)

Implementation of a robot-human object handover controller on a compliant underactuated hand using joint position error measurements for grip force and load force estimations. - Wesley P. Chan; Iori Kumagai; Shunichi Nozawa; Youhei Kakiuchi; Kei Okada; Masayuki Inaba (ICRA, 2014)

Development of humanoid robot system for disaster response through team NEDO-JSK's approach to DARPA Robotics Challenge Finals. - Yohei Kakiuchi; Kunio Kojima; Eisoku Kuroiwa; Shintaro Noda; Masaki Murooka; Iori Kumagai; Ryohei Ueda; Fumihito Sugai; Shunichi Nozawa; Kei Okada; Masayuki Inaba (Humanoids, 2015)

Achievement of recognition guided teleoperation driving system for humanoid robots with vehicle path estimation. - Iori Kumagai; Ryo Terasawa; Shintaro Noda; Ryohei Ueda; Shunichi Nozawa; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (Humanoids, 2015)

Multi-layered real-time controllers for humanoid's manipulation and locomotion tasks with emergency stop. - Shunichi Nozawa; Eisoku Kuroiwa; Kunio Kojima; Ryohei Ueda; Masaki Murooka; Shintaro Noda; Iori Kumagai; Yu Ohara; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (Humanoids, 2015)

Humanoid integrated UI system for supervised autonomy with massive data visualization over narrow and unreliable network communication for DRC competition. - Ryohei Ueda; Masaki Murooka; Yu Ohara; Iori Kumagai; Ryo Terasawa; Yuki Furuta; Kunio Kojima; Tatsuhi Karasawa; Fumihito Sugai; Satoshi Iwaishi; Shunichi Nozawa; Yohei Kakiuchi; et al. (Humanoids, 2015)

Evaluation-controlling mechanism of perception, planning, and execution for a life-sized humanoid robot. - Yohei Kakiuchi; Ryohei Ueda; Iori Kumagai; Shunichi Nozawa; Kei Okada; Masayuki Inaba (Humanoids, 2016)

Achievement of localization system for humanoid robots with virtual horizontal scan relative to improved odometry fusing internal sensors and visual information. - Iori Kumagai; Ryohei Ueda; Fumihito Sugai; Shunichi Nozawa; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (IROS, 2016)

Complementary integration framework for localization and recognition of a humanoid robot based on task-oriented frequency and accuracy requirements. - Iori Kumagai; Fumihito Sugai; Shunichi Nozawa; Youhei Kakiuchi; Kei Okada; Masayuki Inaba; Fumio Kanehiro (Humanoids, 2017)

Biped Gait Control Based on Spatially Quantized Dynamics. - Shuuji Kajita; Mehdi Benallegue; Rafael Cisneros 001; Takeshi Sakaguchi; Shinichiro Nakaoka; Mitsuharu Morisawa; Hiroshi Kaminaga; Iori Kumagai; Kenji Kaneko; Fumio Kanehiro (Humanoids, 2018)

Efficient Locomotion Planning for a Humanoid Robot with Whole-Body Collision Avoidance Guided by Footsteps and Centroidal Sway Motion. - Iori Kumagai; Mitsuharu Morisawa; Shinichiro Nakaoka; Fumio Kanehiro (Humanoids, 2018)

Online 3D CoM Trajectory Generation for Multi-Contact Locomotion Synchronizing Contact. - Mitsuharu Morisawa; Rafael Cisneros 001; Mehdi Benallegue; Iori Kumagai; Adrien Escande; Fumio Kanehiro (Humanoids, 2018)

Perception Based Locomotion System for a Humanoid Robot with Adaptive Footstep Compensation under Task Constraints. - Iori Kumagai; Mitsuharu Morisawa; Shinichiro Nakaoka; Takeshi Sakaguchi; Hiroshi Kaminaga; Kenji Kaneko; Fumio Kanehiro (IROS, 2018)

Position-Based Lateral Balance Control for Knee-Stretched Biped Robot. - Shuuji Kajita; Mehdi Benallegue; Rafael Cisneros Limón; Takeshi Sakaguchi; Mitsuharu Morisawa; Hiroshi Kaminaga; Iori Kumagai; Kenji Kaneko; Fumio Kanehiro (Humanoids, 2019)

Bipedal Locomotion Planning for a Humanoid Robot Supported by Arm Contacts Based on Geometrical Feasibility. - Iori Kumagai; Mitsuharu Morisawa; Mehdi Benallegue; Fumio Kanehiro (Humanoids, 2019)

Multi-Contact Stabilization of a Humanoid Robot for Realizing Dynamic Contact Transitions on Non-coplanar Surfaces. - Mitsuharu Morisawa; Mehdi Benallegue; Rafael Cisneros Limón; Iori Kumagai; Adrien Escande; Kenji Kaneko; Fumio Kanehiro (IROS, 2019)

Humanoid Robot HRP-5P: An Electrically Actuated Humanoid Robot With High-Power and Wide-Range Joints. - Kenji Kaneko; Hiroshi Kaminaga; Takeshi Sakaguchi; Shuuji Kajita; Mitsuharu Morisawa; Iori Kumagai; Fumio Kanehiro (IEEE Robotics Autom. Lett., 2019)

Toward Industrialization of Humanoid Robots: Autonomous Plasterboard Installation to Improve Safety and Efficiency. - Iori Kumagai; Fumio Kanehiro; Mitsuharu Morisawa; Takeshi Sakaguchi; Shinichiro Nakaoka; Kenji Kaneko; Hiroshi Kaminaga; Shuuji Kajita; Mehdi Benallegue; Rafael Cisneros 001 (IEEE Robotics Autom. Mag., 2019)

Instance-specific 6-DoF Object Pose Estimation from Minimal Annotations. - Rohan P. Singh; Iori Kumagai; Antonio Gabas; Mehdi Benallegue; Yusuke Yoshiyasu; Fumio Kanehiro (SII, 2020)

Multi-purpose SLAM framework for Dynamic Environment. - Leyuan Sun; Fumio Kanehiro; Iori Kumagai; Yusuke Yoshiyasu (SII, 2020)

On-Site Locomotion Planning for a Humanoid Robot with Stable Whole-Body Collision Avoidance Motion Guided by Footsteps and Centroidal Trajectory. - Iori Kumagai; Mitsuharu Morisawa; Shin'ichiro Nakaoka; Fumio Kanehiro (Int. J. Humanoid Robotics, 2020)

Sequential Trajectory Generation for Dynamic Multi-Contact Locomotion Synchronizing Contact. - Mitsuharu Morisawa; Rafael Cisneros 001; Mehdi Benallegue; Iori Kumagai; Adrien Escande; Fumio Kanehiro (Int. J. Humanoid Robotics, 2020)

Multi-Contact Locomotion Planning for Humanoid Robot Based on Sustainable Contact Graph With Local Contact Modification. - Iori Kumagai; Mitsuharu Morisawa; Shizuko Hattori; Mehdi Benallegue; Fumio Kanehiro (IEEE Robotics Autom. Lett., 2020)

Multi-Contact Locomotion Planning With Bilateral Contact Forces Considering Kinematics and Statics During Contact Transition. - Iori Kumagai; Masaki Murooka; Mitsuharu Morisawa; Fumio Kanehiro (IEEE Robotics Autom. Lett., 2021)

Humanoid Loco-Manipulations Pattern Generation and Stabilization Control. - Masaki Murooka; Kevin Chappellet; Arnaud Tanguy; Mehdi Benallegue; Iori Kumagai; Mitsuharu Morisawa; Fumio Kanehiro; Abderrahmane Kheddar (IEEE Robotics Autom. Lett., 2021)

Humanoid Loco-Manipulation Planning Based on Graph Search and Reachability Maps. - Masaki Murooka; Iori Kumagai; Mitsuharu Morisawa; Fumio Kanehiro; Abderrahmane Kheddar (IEEE Robotics Autom. Lett., 2021)

Reachability Based Trajectory Generation Combining Global Graph Search in Task Space and Local Optimization in Configuration Space. - Iori Kumagai; Masaki Murooka; Mitsuharu Morisawa; Fumio Kanehiro (IROS, 2022)

Online Multi-Contact Motion Replanning for Humanoid Robots with Semantic 3D Voxel Mapping: ExOctomap. - Masato Tsuru 002; Adrien Escande; Iori Kumagai; Masaki Murooka; Kensuke Harada (Sensors, 2023)

Tactile Sensor-Based Detection of Partial Foothold for Balance Control in Humanoid Robots. - Taro Tako; Rafael Cisneros Limón; Hiroshi Kaminaga; Kenji Kaneko; Masaki Murooka; Iori Kumagai; Hiroaki Masuzawa; Yohei Kakiuchi (Humanoids, 2024)

Towards Retail Stores Automation: 6-DOF Pose Estimation Combining Deep Learning Object Detection and Dense Depth Alignment. - Virgile Foussereau; Iori Kumagai; Guillaume Caron (SII, 2024)

Reinforcement Learning of Contact Preferability in Multi-Contact Locomotion Planning for Humanoids. - Iori Kumagai; Masaki Murooka; Mitsuharu Morisawa; Fumio Kanehiro (IEEE Robotics Autom. Lett., 2025)

A Cybernetic Avatar System to Embody Human Telepresence for Connectivity, Exploration, and Skill Transfer. - Rafael Cisneros Limón; Antonin Dallard; Mehdi Benallegue; Kenji Kaneko; Hiroshi Kaminaga; Pierre Gergondet; Arnaud Tanguy; Rohan Pratap Singh; Leyuan Sun; Yang Chen 026; Carole Fournier; Guillaume Lorthioir; et al. (Int. J. Soc. Robotics, 2025)

Humanoid Robot RHP Friends: Seamless Combination of Autonomous and Teleoperated Tasks in a Nursing Context. - Mehdi Benallegue; Guillaume Lorthioir; Antonin Dallard; Rafael Cisneros 001; Iori Kumagai; Mitsuharu Morisawa; Hiroshi Kaminaga; Masaki Murooka; Antoine N. André; Pierre Gergondet; Kenji Kaneko; Guillaume Caron; et al. (IEEE Robotics Autom. Mag., 2025)

Learning Differentiable Reachability Maps for Optimization-based Humanoid Motion Generation. - Masaki Murooka; Iori Kumagai; Mitsuharu Morisawa; Fumio Kanehiro (CoRR, 2025)