Preliminary studies of a second generation brachiation robot controller. - Jun Nakanishi; Toshio Fukuda; Daniel E. Koditschek (ICRA, 1997)

Experimental Implementation of a "Target Dynamics" Controller on a Two-link Brachiating Robot. - Jun Nakanishi; Toshio Fukuda; Daniel E. Koditschek (ICRA, 1998)

A Leaping Maneuver for a Brachiating Robot. - Jun Nakanishi; Toshio Fukuda (ICRA, 2000)

A brachiating robot controller. - Jun Nakanishi; Toshio Fukuda; Daniel E. Koditschek (IEEE Trans. Robotics Autom., 2000)

Trajectory formation for imitation with nonlinear dynamical systems. - Auke Jan Ijspeert; Jun Nakanishi; Stefan Schaal (IROS, 2001)

Self-organizing control of urban traffic signal network. - Kousuke Sekiyama; Jun Nakanishi; Isao Takagawa; Toshimitsu Higashi; Toshio Fukuda (SMC, 2001)

Movement Imitation with Nonlinear Dynamical Systems in Humanoid Robots. - Auke Jan Ijspeert; Jun Nakanishi; Stefan Schaal (ICRA, 2002)

Learning rhythmic movements by demonstration using nonlinear oscillators. - Auke Jan Ijspeert; Jun Nakanishi; Stefan Schaal (IROS, 2002)

A locally weighted learning composite adaptive controller with structure adaptation. - Jun Nakanishi; Jay A. Farrell; Stefan Schaal (IROS, 2002)

Learning Attractor Landscapes for Learning Motor Primitives. - Auke Jan Ijspeert; Jun Nakanishi; Stefan Schaal (NIPS, 2002)

Brachiation on a ladder with irregular intervals. - Jun Nakanishi; Toshio Fukuda; Daniel E. Koditschek (Adv. Robotics, 2002)

Learning Movement Primitives. - Stefan Schaal; Jan Peters 001; Jun Nakanishi; Auke Jan Ijspeert (ISRR, 2003)

Acquisition of a biped walking pattern using a Poincare map. - Jun Morimoto; Jun Nakanishi; Gen Endo; Gordon Cheng (Humanoids, 2004)

A framework for learning biped locomotion with dynamical movement primitives. - Jun Nakanishi; Jun Morimoto; Gen Endo; Gordon Cheng; Stefan Schaal; Mitsuo Kawato (Humanoids, 2004)

An Empirical Exploration of a Neural Oscillator for Biped Locomotion Control. - Gen Endo; Jun Morimoto; Jun Nakanishi; Gordon Cheng (ICRA, 2004)

Learning Composite Adaptive Control for a Class of Nonlinear Systems. - Jun Nakanishi; Jay A. Farrell; Stefan Schaal (ICRA, 2004)

An empirical exploration of phase resetting for robust biped locomotion with dynamical movement primitives. - Jun Nakanishi; Jun Morimoto; Gen Endo; Gordon Cheng; Stefan Schaal; Mitsuo Kawato (IROS, 2004)

Feedback error learning and nonlinear adaptive control. - Jun Nakanishi; Stefan Schaal (Neural Networks, 2004)

Learning from demonstration and adaptation of biped locomotion. - Jun Nakanishi; Jun Morimoto; Gen Endo; Gordon Cheng; Stefan Schaal; Mitsuo Kawato (Robotics Auton. Syst., 2004)

Learning CPG Sensory Feedback with Policy Gradient for Biped Locomotion for a Full-Body Humanoid. - Gen Endo; Jun Morimoto; Takamitsu Matsubara; Jun Nakanishi; Gordon Cheng (AAAI, 2005)

Experimental Studies of a Neural Oscillator for Biped Locomotion with QRIO. - Gen Endo; Jun Nakanishi; Jun Morimoto; Gordon Cheng (ICRA, 2005)

Learning Sensory Feedback to CPG with Policy Gradient for Biped Locomotion. - Takamitsu Matsubara; Jun Morimoto; Jun Nakanishi; Masa-aki Sato; Kenji Doya (ICRA, 2005)

Poincaré-Map-Based Reinforcement Learning For Biped Walking. - Jun Morimoto; Jun Nakanishi; Gen Endo; Gordon Cheng; Christopher G. Atkeson; Garth Zeglin (ICRA, 2005)

Comparative experiments on task space control with redundancy resolution. - Jun Nakanishi; Rick Cory; Michael N. Mistry; Jan Peters 001; Stefan Schaal (IROS, 2005)

A unifying methodology for the control of robotic systems. - Jan Peters 001; Michael N. Mistry; Firdaus E. Udwadia; Rick Cory; Jun Nakanishi; Stefan Schaal (IROS, 2005)

Composite adaptive control with locally weighted statistical learning. - Jun Nakanishi; Jay A. Farrell; Stefan Schaal (Neural Networks, 2005)

Modulation of Simple Sinusoidal Patterns by a Coupled Oscillator Model for Biped Walking. - Jun Morimoto; Gen Endo; Jun Nakanishi; Sang-Ho Hyon; Gordon Cheng; Darrin C. Bentivegna; Christopher G. Atkeson (ICRA, 2006)

A Bayesian Approach to Nonlinear Parameter Identification for Rigid Body Dynamics. - Jo-Anne Ting; Michael N. Mistry; Jan Peters 001; Stefan Schaal; Jun Nakanishi (Robotics: Science and Systems, 2006)

Learning CPG-based biped locomotion with a policy gradient method. - Takamitsu Matsubara; Jun Morimoto; Jun Nakanishi; Masa-aki Sato; Kenji Doya (Robotics Auton. Syst., 2006)

Learning to acquire whole-body humanoid CoM movements to achieve dynamic tasks. - Takamitsu Matsubara; Jun Morimoto; Jun Nakanishi; Sang-Ho Hyon; Joshua G. Hale; Gordon Cheng (ICRA, 2007)

Inverse Dynamics Control with Floating Base and Constraints. - Jun Nakanishi; Michael N. Mistry; Stefan Schaal (ICRA, 2007)

Task space control with prioritization for balance and locomotion. - Michael N. Mistry; Jun Nakanishi; Stefan Schaal (IROS, 2007)

Towards compliant humanoids-an experimental assessment of suitable task space position/orientation controllers. - Jun Nakanishi; Michael N. Mistry; Jan Peters 001; Stefan Schaal (IROS, 2007)

Learning a dynamic policy by using policy gradient: application to biped walking. - Takamitsu Matsubara; Jun Morimoto; Jun Nakanishi; Masa-aki Sato; Kenji Doya (Syst. Comput. Jpn., 2007)

Inverse kinematics with floating base and constraints for full body humanoid robot control. - Michael N. Mistry; Jun Nakanishi; Gordon Cheng; Stefan Schaal (Humanoids, 2008)

CB: Exploring neuroscience with a humanoid research platform. - Gordon Cheng; Sang-Ho Hyon; Ales Ude; Jun Morimoto; Joshua G. Hale; Joseph Hart; Jun Nakanishi; Darrin C. Bentivegna; Jessica K. Hodgins; Christopher G. Atkeson; Michael N. Mistry; Stefan Schaal; et al. (ICRA, 2008)

Learning to Acquire Whole-Body Humanoid Center of Mass Movements to Achieve Dynamic Tasks. - Takamitsu Matsubara; Jun Morimoto; Jun Nakanishi; Sang-Ho Hyon; Joshua G. Hale; Gordon Cheng (Adv. Robotics, 2008)

A unifying framework for robot control with redundant DOFs. - Jan Peters 001; Michael N. Mistry; Firdaus E. Udwadia; Jun Nakanishi; Stefan Schaal (Auton. Robots, 2008)

Learning CPG-based Biped Locomotion with a Policy Gradient Method: Application to a Humanoid Robot. - Gen Endo; Jun Morimoto; Takamitsu Matsubara; Jun Nakanishi; Gordon Cheng (Int. J. Robotics Res., 2008)

Operational Space Control: A Theoretical and Empirical Comparison. - Jun Nakanishi; Rick Cory; Michael N. Mistry; Jan Peters 001; Stefan Schaal (Int. J. Robotics Res., 2008)

A Biologically Inspired Biped Locomotion Strategy for Humanoid Robots: Modulation of Sinusoidal Patterns by a Coupled Oscillator Model. - Jun Morimoto; Gen Endo; Jun Nakanishi; Gordon Cheng (IEEE Trans. Robotics, 2008)

Stiffness and temporal optimization in periodic movements: An optimal control approach. - Jun Nakanishi; Konrad Rawlik; Sethu Vijayakumar (IROS, 2011)

Exploiting Passive Dynamics with Variable Stiffness Actuation in Robot Brachiation. - Jun Nakanishi; Sethu Vijayakumar (Robotics: Science and Systems, 2012)

Spatio-temporal optimization of multi-phase movements: Dealing with contacts and switching dynamics. - Jun Nakanishi; Andreea Radulescu; Sethu Vijayakumar (IROS, 2013)

Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors. - Auke Jan Ijspeert; Jun Nakanishi; Heiko Hoffmann; Peter Pastor; Stefan Schaal (Neural Comput., 2013)

Optimal Control of Multi-phase Movements with Learned Dynamics. - Andreea Radulescu; Jun Nakanishi; Sethu Vijayakumar (ICMMI, 2015)

Conceptual design of a versatile robot for minimally invasive transnasal microsurgery. - Murilo M. Marinho; Atsushi Nakazawa; Jun Nakanishi; Tsuyoshi Ueyama; Yasuhisa Hasegawa; Jumpei Arata; Mamoru Mitsuishi; Kanako Harada (MHS, 2016)

Real-time microscopic video shooting using a view-expanded microscope system. - Tadayoshi Aoyama; Mamoru Kaneishi; Takeshi Takaki; Idaku Ishii; Sarau Takeno; Masaru Takeuchi; Jun Nakanishi; Yasuhisa Hasegawa (MHS, 2017)

A concept of a user interface capable of intuitive operation of 4-DoF articulated forceps. - Jacinto Enrique Colan Zaita; Jun Nakanishi; Keisuke Ohara; Tadayoshi Aoyama; Yasuhisa Hasegawa (MHS, 2017)

Dynamic motion learning for multi-DOF flexible-joint robots using active-passive motor babbling through deep learning. - Kuniyuki Takahashi; Tetsuya Ogata; Jun Nakanishi; Gordon Cheng; Shigeki Sugano (Adv. Robotics, 2017)

Spatio-temporal stiffness optimization with switching dynamics. - Jun Nakanishi; Andreea Radulescu; David J. Braun; Sethu Vijayakumar (Auton. Robots, 2017)

Optimal Control of Variable Stiffness Policies: Dealing with Switching Dynamics and Model Mismatch. - Andreea Radulescu; Jun Nakanishi; David J. Braun; Sethu Vijayakumar (Geometric and Numerical Foundations of Movements, 2017)

Experimental Evaluation of Haptic Visualization Interface for Robot Teleoperation Using Onomatopoeia in a Haptic Recognition Task. - Maika Ando; Jotaro Chiba; Shunki Itadera; Jun Nakanishi; Tadayoshi Aoyama; Yasuhisa Hasegawa (MHS, 2018)

Development of a Precision-grip based Interface for 4-DoF Articulated Forceps. - Keisuke Ohara; Jacinto Enrique Colan Zaita; Daisuke Uozumi; Tadayoshi Aoyama; Jun Nakanishi; Yasuhisa Hasegawa (MHS, 2018)

Impedance Control based Assistive Mobility Aid through Online Classification of User's State. - Shunki Itadera; Taisuke Kobayashi; Jun Nakanishi; Tadayoshi Aoyama; Yasuhisa Hasegawa (SII, 2019)

Predictive Optimization of Assistive Force in Admittance Control-Based Physical Interaction for Robotic Gait Assistance. - Shunki Itadera; Emmanuel C. Dean-Leon; Jun Nakanishi; Yasuhisa Hasegawa; Gordon Cheng (IEEE Robotics Autom. Lett., 2019)

Towards the development of an intuitive teleoperation system for human support robot using a VR device. - Jun Nakanishi; Shunki Itadera; Tadayoshi Aoyama; Yasuhisa Hasegawa (Adv. Robotics, 2020)

Admittance control based robotic clinical gait training with physiological cost evaluation. - Shunki Itadera; Jun Nakanishi; Yasuhisa Hasegawa; Toshio Fukuda; Masanori Tanimoto; Izumi Kondo (Robotics Auton. Syst., 2020)

Towards physical interaction-based sequential mobility assistance using latent generative model of movement state. - Shunki Itadera; Taisuke Kobayashi; Jun Nakanishi; Tadayoshi Aoyama; Yasuhisa Hasegawa (Adv. Robotics, 2021)

Optimization-Based Constrained Trajectory Generation for Robot-Assisted Stitching in Endonasal Surgery. - Jacinto Colan; Jun Nakanishi; Tadayoshi Aoyama; Yasuhisa Hasegawa (Robotics, 2021)