Optimization of obstacle avoidance using reinforcement learning. - Keishi Kominami; Tomohito Takubo; Kenichi Ohara; Yasushi Mae; Tatsuo Arai (SII, 2012)

Collision Avoidance Using Contact Information with Multiple Objects by Multi-Leg Robot. - Tomohito Takubo; Keishi Kominami; Kenichi Ohara; Yasushi Mae; Tatsuo Arai (J. Robotics Mechatronics, 2016)