Trajectory control of Cartesian type industrial manipulators with flexible joints. - Tsuneo Yoshikawa; Koh Hosoda; Kensuke Harada; Masashi Ichikawa (IROS, 1993)

Hybrid Position/Force Control of Flexible Manipulators by Macro-Micro Manipulator System. - Tsuneo Yoshikawa; Koh Hosoda; Kensuke Harada; Atsushi Matsumoto; Hiroki Murakami (ICRA, 1994)

Internal stabilization in dynamic trajectory control of flexible manipulators. - Kensuke Harada; Tsuneo Yoshikawa (IROS, 1996)

Hybrid position/force control of flexible-macro/rigid-micro manipulator systems. - Tsuneo Yoshikawa; Kensuke Harada; Atsushi Matsumoto (IEEE Trans. Robotics Autom., 1996)

Enveloping Grasp for Multiple Objects. - Kensuke Harada; Makoto Kaneko (ICRA, 1998)

Kinematics and internal force in grasping multiple objects. - Kensuke Harada; Makoto Kaneko (IROS, 1998)

Necessary and sufficient number of fingers for capturing pyramidal-like objects. - Makoto Kaneko; Michael Kessler; Kensuke Harada; Toshio Tsuji (IROS, 1998)

Grasp and manipulation for multiple objects. - Makoto Kaneko; Tatsuya Shirai; Kensuke Harada; Toshio Tsuji (Adv. Robotics, 1998)

Experimental Approach on Grasping and Manipulating Multiple Objects. - Makoto Kaneko; Kensuke Harada; Toshio Tsuji (ISER, 1999)

Neighborhood Equilibrium Grasp for Multiple Objects. - Kensuke Harada; Makoto Kaneko (ICRA, 2000)

Grasp Strategy Simplified by Detaching Assist Motion (DAM). - Makoto Kaneko; Tatsuya Shirai; Kensuke Harada; Toshio Tsuji (ISER, 2000)

Rolling-based manipulation for multiple objects. - Kensuke Harada; Makoto Kaneko; Toshio Tsuji (IEEE Trans. Robotics Autom., 2000)

Rolling Based Manipulation under Neighborhood Equilibrium. - Kensuke Harada; Makoto Kaneko (ICRA, 2001)

Analysis on Detaching Assist Motion (DAM). - Makoto Kaneko; Tatsuya Shirai; Kensuke Harada; Toshio Tsuji (ICRA, 2001)

Enveloping Grasp Feasibility Inequality. - Jonghoon Park; Kensuke Harada; Makoto Kaneko (ICRA, 2001)

A Neuro-based Adaptive Training Method for Robotic Rehabilitation Aids. - Toshio Tsuji; Kensuke Harada; Makoto Kaneko (ICRA, 2001)

Analysis of frictional forces in indeterminate enveloping grasps. - Jonghoon Park; Kensuke Harada; Makoto Kaneko (IROS, 2001)

Pushing Multiple Objects using Equivalent Friction Center. - Kensuke Harada; Jun Nishiyama; Yoshihiro Murakami; Makoto Kaneko (ICRA, 2002)

Dynamic Friction Closure. - Makoto Kaneko; Kensuke Harada; Toshio Tsuji (ICRA, 2002)

Manipulation of 3D enveloped object. - Kensuke Harada; Makoto Kaneko (IROS, 2002)

Torque distribution for achieving a Hugging Walk. - Makoto Kaneko; Akihiko Mizuno; Kensuke Harada (IROS, 2002)

Rolling Based Manipulation under Neighborhood Equilibrium. - Kensuke Harada; Taiga Kawashima; Makoto Kaneko (Int. J. Robotics Res., 2002)

Active force closure for multiple objects. - Kensuke Harada; Makoto Kaneko; Toshio Tsuji (J. Field Robotics, 2002)

A sufficient condition for manipulation of Envelope Family. - Kensuke Harada; Makoto Kaneko; Toshio Tsuji (IEEE Trans. Robotics Autom., 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)

The first humanoid robot that has the same size as a human and that can lie down and get up. - Fumio Kanehiro; Kenji Kaneko; Kiyoshi Fujiwara; Kensuke Harada; Shuuji Kajita; Kazuhito Yokoi (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)

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)

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)

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)

Object Manipulation under Hybrid Active/Passive Closure. - Tetsuyou Watanabe; Kensuke Harada; Zhongwei Jiang; Tsuneo Yoshikawa (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)

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)

Natural Motion Generation for Humanoid Robots. - Kensuke Harada; Kris K. Hauser; Timothy Bretl; Jean-Claude Latombe (IROS, 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)

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)

Towards Whole Arm Manipulation by Contact State Transition. - Tetsuyou Watanabe; Kensuke Harada; Tsuneo Yoshikawa; Zhongwei Jiang (IROS, 2006)

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

Using Motion Primitives in Probabilistic Sample-Based Planning for Humanoid Robots. - Kris K. Hauser; Timothy Bretl; Kensuke Harada; Jean-Claude Latombe (WAFR, 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)

Development of Multi-fingered Hand for Life-size Humanoid Robots. - Kenji Kaneko; Kensuke Harada; Fumio Kanehiro (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)

A friction based "twirl" for biped robots. - Kanako Miura; Shinichiro Nakaoka; Mitsuharu Morisawa; Kensuke Harada; Shuuji Kajita (Humanoids, 2008)

Selecting a suitable grasp motion for humanoid robots with a multi-fingered hand. - Tokuo Tsuji; Kensuke Harada; Kenji Kaneko; Fumio Kanehiro; Yoshihiro Kawai (Humanoids, 2008)

Fast grasp planning for hand/arm systems based on convex model. - Kensuke Harada; Kenji Kaneko; Fumio Kanehiro (ICRA, 2008)

Kinodynamic gait planning for full-body humanoid robots. - Kensuke Harada; Mitsuharu Morisawa; Kanako Miura; Shinichiro Nakaoka; Kiyoshi Fujiwara; Kenji Kaneko; Shuuji Kajita (IROS, 2008)

Humanoid robot HRP-3. - Kenji Kaneko; Kensuke Harada; Fumio Kanehiro; Gou Miyamori; Kazuhiko Akachi (IROS, 2008)

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)

Motion Planning for Legged Robots on Varied Terrain. - Kris K. Hauser; Timothy Bretl; Jean-Claude Latombe; Kensuke Harada; Brian Wilcox (Int. J. Robotics Res., 2008)

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

Robot motion remix based on motion capture data towards human-like locomotion of humanoid robots. - Kanako Miura; Mitsuharu Morisawa; Shinichiro Nakaoka; Fumio Kanehiro; Kensuke Harada; Kenji Kaneko; Shuuji Kajita (Humanoids, 2009)

Reactive stepping to prevent falling for humanoids. - Mitsuharu Morisawa; Kensuke Harada; Shuuji Kajita; Kenji Kaneko; Joan Solà; Eiichi Yoshida; Nicolas Mansard; Kazuhito Yokoi; Jean-Paul Laumond (Humanoids, 2009)

Toward human-like walking pattern generator. - Kensuke Harada; Kanako Miura; Mitsuharu Morisawa; Kenji Kaneko; Shinichiro Nakaoka; Fumio Kanehiro; Tokuo Tsuji; Shuuji Kajita (IROS, 2009)

Easy and fast evaluation of grasp stability by using ellipsoidal approximation of friction cone. - Tokuo Tsuji; Kensuke Harada; Kenji Kaneko (IROS, 2009)

Cybernetic Human HRP-4C: A Humanoid Robot with Human-Like Proportions. - Shuuji Kajita; Kenji Kaneko; Fumio Kanehiro; Kensuke Harada; Mitsuharu Morisawa; Shinichiro Nakaoka; Kanako Miura; Kiyoshi Fujiwara; Ee Sian Neo; Isao Hara (ISRR, 2009)

Kinodynamic Planning for Humanoid Robots Walking on Uneven Terrain. - Kensuke Harada; Mitsuharu Morisawa; Shinichiro Nakaoka; Kenji Kaneko; Shuuji Kajita (J. Robotics Mechatronics, 2009)

Analysis on a friction based "twirl" for biped robots. - Kanako Miura; Shinichiro Nakaoka; Mitsuharu Morisawa; Fumio Kanehiro; Kensuke Harada; Shuuji Kajita (ICRA, 2010)

Biped walking stabilization based on linear inverted pendulum tracking. - Shuuji Kajita; Mitsuharu Morisawa; Kanako Miura; Shinichiro Nakaoka; Kensuke Harada; Kenji Kaneko; Fumio Kanehiro; Kazuhito Yokoi (IROS, 2010)

Grasp Planning for a Multifingered Hand with a Humanoid Robot. - Tokuo Tsuji; Kensuke Harada; Kenji Kaneko; Fumio Kanehiro; Kenichi Maruyama (J. Robotics Mechatronics, 2010)

Humanoid robot that achieves bipedal walk, visual recognition, and multiple finger grasp. - Tokuo Tsuji; Kenji Kaneko; Kensuke Harada; Fumio Kanehiro; Mitsuharu Morisawa (Humanoids, 2011)

Grasp planning for parallel grippers with flexibility on its grasping surface. - Kensuke Harada; Tokuo Tsuji; Kazuyuki Nagata; Natsuki Yamanobe; Kenichi Maruyama; Akira Nakamura; Yoshihiro Kawai (ROBIO, 2011)

Probabilistic state verification for snap assemblies using the relative-change-based hierarchical taxonomy. - Juan Rojas 001; Kensuke Harada; Hiromu Onda; Natsuki Yamanobe; Eiichi Yoshida; Kazuyuki Nagata; Yoshihiro Kawai (Humanoids, 2012)

Pick and place planning for dual-arm manipulators. - Kensuke Harada; Torea Foissotte; Tokuo Tsuji; Kazuyuki Nagata; Natsuki Yamanobe; Akira Nakamura; Yoshihiro Kawai (ICRA, 2012)

Object placement planner for robotic pick and place tasks. - Kensuke Harada; Tokuo Tsuji; Kazuyuki Nagata; Natsuki Yamanobe; Hiromu Onda; Takashi Yoshimi; Yoshihiro Kawai (IROS, 2012)

A relative-change-based hierarchical taxonomy for cantilever-snap assembly verification. - Juan Rojas 001; Kensuke Harada; Hiromu Onda; Natsuki Yamanobe; Eiichi Yoshida; Kazuyuki Nagata; Yoshihiro Kawai (IROS, 2012)

Gradient calibration for the RCBHT cantilever snap verification system. - Juan Rojas 001; Kensuke Harada; Hiromu Onda; Natsuki Yamanobe; Eiichi Yoshida; Kazuyuki Nagata; Yoshihiro Kawai (ROBIO, 2012)

Probabilistic approach for object bin picking approximated by cylinders. - Kensuke Harada; Kazuyuki Nagata; Tokuo Tsuji; Natsuki Yamanobe; Akira Nakamura; Yoshihiro Kawai (ICRA, 2013)

Error recovery using task stratification and error classification for manipulation robots in various fields. - Akira Nakamura; Kazuyuki Nagata; Kensuke Harada; Natsuki Yamanobe; Tokuo Tsuji; Torea Foissotte; Yoshihiro Kawai (IROS, 2013)

Grasp planning using quadric surface approximation for parallel grippers. - Soichiro Uto; Tokuo Tsuji; Kensuke Harada; Ryo Kurazume; Tsutomu Hasegawa (ROBIO, 2013)

Towards snap sensing. - Juan Rojas 001; Kensuke Harada; Hiromu Onda; Natsuki Yamanobe; Eiichi Yoshida; Kazuyuki Nagata; Yoshihiro Kawai (Int. J. Mechatronics Autom., 2013)

Motion planning for dual-arm assembly of ring-shaped elastic objects. - Ixchel Georgina Ramirez-Alpizar; Kensuke Harada; Eiichi Yoshida (Humanoids, 2014)

Contextualized early failure characterization of cantilever snap assemblies. - Juan Rojas 001; Kensuke Harada; Hiromu Onda; Natsuki Yamanobe; Eiichi Yoshida; Kazuyuki Nagata (Humanoids, 2014)

A manipulation motion planner for dual-arm industrial manipulators. - Kensuke Harada; Tokuo Tsuji; Jean-Paul Laumond (ICRA, 2014)

Stability of soft-finger grasp under gravity. - Kensuke Harada; Tokuo Tsuji; Soichiro Uto; Natsuki Yamanobe; Kazuyuki Nagata; Kosei Kitagaki (ICRA, 2014)

Early failure characterization of cantilever snap assemblies using the PA-RCBHT. - Juan Rojas 001; Kensuke Harada; Hiromu Onda; Natsuki Yamanobe; Eiichi Yoshida; Kazuyuki Nagata (ICRA, 2014)

Grasp planning for constricted parts of objects approximated with quadric surfaces. - Tokuo Tsuji; Soichiro Uto; Kensuke Harada; Ryo Kurazume; Tsutomu Hasegawa; Ken'ichi Morooka (IROS, 2014)

Modeling of everyday objects for semantic grasp. - Yohei Shiraki; Kazuyuki Nagata; Natsuki Yamanobe; Akira Nakamura; Kensuke Harada; Daisuke Sato 002; Dragomir N. Nenchev (RO-MAN, 2014)

Strategies, controllers, and coordination: Bi-manual snap assembly automation. - Juan Rojas 001; TianQiang Guan; Weiqiang Luo; Kensuke Harada (ROBIO, 2014)

Model-Based Optimization for Robotics [TC Spotlight]. - Katja D. Mombaur; Abderrahmane Kheddar; Kensuke Harada; Thomas Buschmann; Christopher G. Atkeson (IEEE Robotics Autom. Mag., 2014)

Validating an object placement planner for robotic pick-and-place tasks. - Kensuke Harada; Tokuo Tsuji; Kazuyuki Nagata; Natsuki Yamanobe; Hiromu Onda (Robotics Auton. Syst., 2014)

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

Divide-and-conquer manipulation planning by lazily searching a weighted two-layer manipulation graph. - Weiwei Wan; Kensuke Harada (ARSO, 2015)

Simulation-based optimal motion planning for deformable object. - Eiichi Yoshida; Ko Ayusawa; Ixchel Georgina Ramirez-Alpizar; Kensuke Harada; Christian Duriez; Abderrahmane Kheddar (ARSO, 2015)

Optimizing the parameters of tilting surfaces in robotic workcells. - Weiwei Wan; Ernest C. H. Cheung; Jia Pan 001; Kensuke Harada (CASE, 2015)

Base position planning for dual-arm mobile manipulators performing a sequence of pick-and-place tasks. - Kensuke Harada; Tokuo Tsuji; Kohei Kikuchi; Kazuyuki Nagata; Hiromu Onda; Yoshihiro Kawai (Humanoids, 2015)

Reorientating objects with a gripping hand and a table surface. - Weiwei Wan; Kensuke Harada (Humanoids, 2015)

Experimental investigation of effect of fingertip stiffness on resistible force in grasping. - Yoshinori Fujihira; Kensuke Harada; Tokuo Tsuji; Tetsuyou Watanabe (ICRA, 2015)

Grasp stability evaluation based on energy tolerance in potential field. - Tokuo Tsuji; Kosei Baba; Kenji Tahara; Kensuke Harada; Ken'ichi Morooka; Ryo Kurazume (IROS, 2015)

Error Recovery of Pick-and-Place Tasks in Consideration of Reusability of Planning. - Akira Nakamura; Kazuyuki Nagata; Kensuke Harada; Natsuki Yamanobe (J. Robotics Netw. Artif. Life, 2015)

Initial experiments on learning-based randomized bin-picking allowing finger contact with neighboring objects. - Kensuke Harada; Weiwei Wan; Tokuo Tsuji; Kohei Kikuchi; Kazuyuki Nagata; Hiromu Onda (CASE, 2016)

Robot contact task state estimation via position-based action grammars. - Juan Rojas 001; Zhengjie Huang; Kensuke Harada (Humanoids, 2016)

Motion generation for pulling a fire hose by a humanoid robot. - Ixchel Georgina Ramirez-Alpizar; Maximilien Naveau; Christophe Benazeth; Olivier Stasse; Jean-Paul Laumond; Kensuke Harada; Eiichi Yoshida (Humanoids, 2016)

Analyzing the utility of a support pin in sequential robotic manipulation. - Chao Cao; Weiwei Wan; Jia Pan 001; Kensuke Harada (ICRA, 2016)

Rope caging and grasping. - Tsz-Ho Kwok; Weiwei Wan; Jia Pan 001; Charlie C. L. Wang; Jianjun Yuan 003; Kensuke Harada; Yong Chen 017 (ICRA, 2016)

An empirical comparison among the effect of different supports in sequential robotic manipulation. - Chao Cao; Weiwei Wan; Jia Pan 001; Kensuke Harada (IROS, 2016)

Iterative Visual Recognition for Learning Based Randomized Bin-Picking. - Kensuke Harada; Weiwei Wan; Tokuo Tsuji; Kohei Kikuchi; Kazuyuki Nagata; Hiromu Onda (ISER, 2016)

Integrated single-arm assembly and manipulation planning using dynamic regrasp graphs. - Weiwei Wan; Kensuke Harada (RCAR, 2016)

A framework for systematic accumulation, sharing and reuse of task implementation knowledge. - Ryo Hanai; Kensuke Harada (SII, 2016)

Modeling development process of skill-based system for human-like manipulation robot. - Ryo Hanai; Hisashi Suzuki; Yoshihiro Nakabo; Kensuke Harada (Adv. Robotics, 2016)

Special Issue on Recent Advancements on Industrial Robot Technology. - Kensuke Harada; Katja D. Mombaur; Takayuki Matsuno; Dinesh Manocha (Adv. Robotics, 2016)

Proposal of a shape adaptive gripper for robotic assembly tasks. - Kensuke Harada; Kazuyuki Nagata; Juan Rojas 001; Ixchel Georgina Ramirez-Alpizar; Weiwei Wan; Hiromu Onda; Tokuo Tsuji (Adv. Robotics, 2016)

Achieving high success rate in dual-arm handover using large number of candidate grasps, handover heuristics, and hierarchical search. - Weiwei Wan; Kensuke Harada (Adv. Robotics, 2016)

Robot Contact Task State Estimation via Action Grammars. - Juan Rojas 001; Zhengjie Huang; Kensuke Harada (CoRR, 2016)

Robot Introspection via Wrench-based Action Grammars. - Juan Rojas 001; Zhengjie Huang; Shuangqi Luo; Yunlong Du; Wenwei Kuang; Dingqiao Zhu; Kensuke Harada (CoRR, 2016)

Assembly Sequence Planning for Motion Planning. - Weiwei Wan; Kensuke Harada; Kazuyuki Nagata (CoRR, 2016)

A Mid-level Planning System for Object Reorientation. - Weiwei Wan; Hisashi Igawa; Kensuke Harada; Zepei Wu; Hiromu Onda; Kazuyuki Nagata; Natsuki Yamanobe (CoRR, 2016)

Developing and Comparing Single-Arm and Dual-Arm Regrasp. - Weiwei Wan; Kensuke Harada (IEEE Robotics Autom. Lett., 2016)

Humanoids. - Paul M. Fitzpatrick; Kensuke Harada; Charles C. Kemp; Yoshio Matsumoto; Kazuhito Yokoi; Eiichi Yoshida (Springer Handbook of Robotics, 2nd Ed., 2016)

Self-locking underactuated mechanism for robotic gripper. - Jui Hsu; Eiichi Yoshida; Kensuke Harada; Abderrahmane Kheddar (AIM, 2017)

Extracting grasping, contact points and objects motion from assembly demonstration. - Damien Petit; Ixchel Georgina Ramirez-Alpizar; Kensuke Harada; Natsuki Yamanobe; Weiwei Wan; Kazuyuki Nagata (CASE, 2017)

Robot introspection with Bayesian nonparametric vector autoregressive hidden Markov models. - Hongmin Wu; Hongbin Lin; Yisheng Guan; Kensuke Harada; Juan Rojas 001 (Humanoids, 2017)

Online robot introspection via wrench-based action grammars. - Juan Rojas 001; Shuangqi Luo; Dingqiao Zhu; Yunlong Du; Hongbin Lin; Zhengjie Huang; Wenwei Kuang; Kensuke Harada (IROS, 2017)

Regrasp planning using 10, 000s of grasps. - Weiwei Wan; Kensuke Harada (IROS, 2017)

Using simplified geometric models in skill-based manipulation for objects used in daily life. - Akira Nakamura; Kazuyuki Nagata; Kensuke Harada; Natsuki Yamanobe (Artif. Intell. Res., 2017)

Special issue on advanced manipulation. - Kensuke Harada; Máximo A. Roa; Akihiko Yamaguchi (Adv. Robotics, 2017)

A brief review of affordance in robotic manipulation research. - Natsuki Yamanobe; Weiwei Wan; Ixchel Georgina Ramirez-Alpizar; Damien Petit; Tokuo Tsuji; Shuichi Akizuki; Manabu Hashimoto; Kazuyuki Nagata; Kensuke Harada (Adv. Robotics, 2017)

Robot Introspection with Bayesian Nonparametric Vector Autoregressive Hidden Markov Models. - Hongmin Wu; Juan Rojas 001; Hongbin Lin; Kensuke Harada (CoRR, 2017)

Teaching robots to do object assembly using multi-modal 3D vision. - Weiwei Wan; Feng Lu 005; Zepei Wu; Kensuke Harada (Neurocomputing, 2017)

The Suitable Timing of Visual Sensing in Error Recovery Using Task Stratification and Error Classification. - Akira Nakamura; Kazuyuki Nagata; Kensuke Harada; Natsuki Yamanobe (J. Robotics Netw. Artif. Life, 2017)

Estimation and Categorization of Errors in Error Recovery Using Task Stratification and Error Classification. - Akira Nakamura; Kazuyuki Nagata; Kensuke Harada; Natsuki Yamanobe (J. Robotics Netw. Artif. Life, 2017)

A virtual capture framework for assembly tasks. - Damien Petit; Ixchel Georgina Ramirez-Alpizar; Qiming He; Kensuke Harada (CASE, 2018)

Force Control Law Selection for Elastic Part Assembly from Human Data and Parameter Optimization. - Yasuhiko Fukumoto; Kensuke Harada (Humanoids, 2018)

Regrasp Planning Considering Bipedal Stability Constraints. - Daniel Sánchez 011; Weiwei Wan; Kensuke Harada; Fumio Kanehiro (Humanoids, 2018)

A Double Jaw Hand Designed for Multi-Object Assembly. - Joshua C. Triyonoputro; Weiwei Wan; Kensuke Harada (Humanoids, 2018)

Tool Exchangeable Grasp/Assembly Planner. - Kensuke Harada; Kento Nakayama; Weiwei Wan; Kazuyuki Nagata; Natsuki Yamanobe; Ixchel Georgina Ramirez-Alpizar (IAS, 2018)

Learning Based Industrial Bin-Picking Trained with Approximate Physics Simulator. - Ryo Matsumura; Kensuke Harada; Yukiyasu Domae; Weiwei Wan (IAS, 2018)

Deep Learning Scooping Motion Using Bilateral Teleoperations. - Hitoe Ochi; Weiwei Wan; Yajue Yang; Natsuki Yamanobe; Jia Pan 001; Kensuke Harada (ICARM, 2018)

An Adaptive Robotic Gripper with L-Shape Fingers for Peg-in-Hole Tasks. - Kaidi Nie; Weiwei Wan; Kensuke Harada (IROS, 2018)

Obstacle Avoidance Method in Real Space for Virtual Reality Immersion. - Kohei Kanamori; Nobuchika Sakata; Tomu Tominaga; Yoshinori Hijikata; Kensuke Harada; Kiyoshi Kiyokawa (ISMAR, 2018)

Walking Support in Real Space Using Social Force Model When Wearing Immersive HMD. - Kohei Kanamori; Nobuchika Sakata; Tomu Tominaga; Yoshinori Hijikata; Kensuke Harada; Kiyoshi Kiyokawa (ISMAR Adjunct, 2018)

Industry 4.0, Intelligent Visual Assisted Picking Approach. - Mario Arbulú; Paola Mateus; Manuel Wagner; Cristian Beltran; Kensuke Harada (MIKE, 2018)

A Double-jaw Hand that Mimics A Mouth of the Moray Eel. - Joshua C. Triyonoputro; Weiwei Wan; Kantapon Akanesuvan; Kensuke Harada (ROBIO, 2018)

Real Friendship and Virtual Friendship: Differences in Similarity of Contents/People and Proposal of Classification Models on SNS. - Takafumi Komori; Yoshinori Hijikata; Tomu Tominaga; Shogoro Yoshida; Nobuchika Sakata; Kensuke Harada (WI, 2018)

Preparatory Manipulation Planning using Automatically Determined Single and Dual Arms. - Weiwei Wan; Kensuke Harada; Fumio Kanehiro (CoRR, 2018)

Arm Manipulation Planning of Tethered Tools with the Help of a Tool Balancer. - Daniel Sánchez 011; Weiwei Wan; Kensuke Harada (CoRR, 2018)

Experiments on learning-based industrial bin-picking with iterative visual recognition. - Kensuke Harada; Weiwei Wan; Tokuo Tsuji; Kohei Kikuchi; Kazuyuki Nagata; Hiromu Onda (Ind. Robot, 2018)

Technique of Recovery Process and Application of AI in Error Recovery Using Task Stratification and Error Classification. - Akira Nakamura; Kazuyuki Nagata; Kensuke Harada; Natsuki Yamanobe (J. Robotics Netw. Artif. Life, 2018)

Optimizing the Motion for Robotic Snap Assembly Using FEM. - Peihao Shi; Kensuke Harada; Weiwei Wan; Ixchel G. Ramirez; Juan Rojas 001; Hiromu Onda (J. Robotics Netw. Artif. Life, 2018)

Walking Assist Method for VR Zombie. - Kohei Kanamori; Nobuchika Sakata; Tomu Tominaga; Yoshinori Hijikata; Kensuke Harada; Kiyoshi Kiyokawa (APMAR, 2019)

Speech-Driven Facial Animation by LSTM-RNN for Communication Use. - Ryosuke Nishimura; Nobuchika Sakata; Tomu Tominaga; Yoshinori Hijikata; Kensuke Harada; Kiyoshi Kiyokawa (APMAR, 2019)

Constrained Motion Planning for Flipping Stick-like Objects. - Mohamed Raessa; Weiwei Wan; Kensuke Harada (ARSO, 2019)

Combined Task and Motion Planning for a Dual-arm Robot to Use a Suction Cup Tool. - Hao Chen 065; Weiwei Wan; Kensuke Harada (Humanoids, 2019)

Designing Grasping Tools for Robotic Assembly Based on Shape Analysis of Parts. - Kento Nakayama; Weiwei Wan; Kensuke Harada (Humanoids, 2019)

Multi-contact Stability of Humanoids using ZMP and CWC. - Zhenting Wang; Kensuke Harada; Weiwei Wan (Humanoids, 2019)

Motion Planning through Demonstration to Deal with Complex Motions in Assembly Process. - Yan Wang 082; Kensuke Harada; Weiwei Wan (Humanoids, 2019)

Visually Guided Extrinsic Manipulation for Assembly Tasks. - Mohamed Raessa; Damien Petit; Weiwei Wan; Kensuke Harada (ICARM, 2019)

Learning Based Robotic Bin-picking for Potentially Tangled Objects. - Ryo Matsumura; Yukiyasu Domae; Weiwei Wan; Kensuke Harada (IROS, 2019)

Dual-arm Assembly Planning Considering Gravitational Constraints. - Ryota Moriyama; Weiwei Wan; Kensuke Harada (IROS, 2019)

Quickly Inserting Pegs into Uncertain Holes using Multi-view Images and Deep Network Trained on Synthetic Data. - Joshua C. Triyonoputro; Weiwei Wan; Kensuke Harada (IROS, 2019)

Learning to Grasp with Primitive Shaped Object Policies. - Cristian C. Beltran-Hernandez; Damien Petit; Ixchel Georgina Ramirez-Alpizar; Kensuke Harada (SII, 2019)

Recognition of Assembly Tasks Based on the Actions Associated to the Manipulated Objects. - Kosuke Fukuda; Ixchel Georgina Ramirez-Alpizar; Natsuki Yamanobe; Damien Petit; Kazuyuki Nagata; Kensuke Harada (SII, 2019)

Realizing an assembly task through virtual capture. - Damien Petit; Ixchel Georgina Ramirez-Alpizar; Wataru Kamei; Qiming He; Kensuke Harada (SMC, 2019)

Special issue on real-world application. - Kensuke Harada (Adv. Robotics, 2019)

Special issue on artificial intelligence and machine learning for robotic manipulation. - Akihiko Yamaguchi; Takamitsu Matsubara; Nikolaus Vahrenkamp; Oliver Kroemer; Kensuke Harada (Adv. Robotics, 2019)

Humanoid walking pattern generation based on model predictive control approximated with basis functions. - Ang Zhang; Ixchel Georgina Ramirez-Alpizar; Kevin Giraud-Esclasse; Olivier Stasse; Kensuke Harada (Adv. Robotics, 2019)

A regrasp planning component for object reorientation. - Weiwei Wan; Hisashi Igawa; Kensuke Harada; Hiromu Onda; Kazuyuki Nagata; Natsuki Yamanobe (Auton. Robots, 2019)

Teaching a robot to use electric tools with regrasp planning. - Mohamed Raessa; Daniel Sánchez 011; Weiwei Wan; Damien Petit; Kensuke Harada (CAAI Trans. Intell. Technol., 2019)

Designing a Mechanical Tool for Robots with 2-Finger Parallel Grippers. - Zhengtao Hu; Weiwei Wan; Kensuke Harada (CoRR, 2019)

Planning Grasps for Assembly Tasks. - Weiwei Wan; Kensuke Harada; Fumio Kanehiro (CoRR, 2019)

Motion-Data Driven Grasp/Assembly Planner. - Kensuke Harada; Natsuki Yamanobe; Weiwei Wan; Kazuyuki Nagata; Ixchel Georgina Ramirez-Alpizar; Tokuo Tsuji (J. Robotics Netw. Artif. Life, 2019)

Using Importance Ranks to Derive Suitable Timing of Visual Sensing in Manipulation Task Containing Error Recovery. - Akira Nakamura; Kazuyuki Nagata; Kensuke Harada; Yukiyasu Domae (J. Robotics Netw. Artif. Life, 2019)

Designing a Mechanical Tool for Robots With Two-Finger Parallel Grippers. - Zhengtao Hu; Weiwei Wan; Kensuke Harada (IEEE Robotics Autom. Lett., 2019)

A Hand Combining Two Simple Grippers to Pick Up and Arrange Objects for Assembly. - Kaidi Nie; Weiwei Wan; Kensuke Harada (IEEE Robotics Autom. Lett., 2019)

Regrasp Planning Using Stable Object Poses Supported by Complex Structures. - Jiayao Ma; Weiwei Wan; Kensuke Harada; Qiuguo Zhu; Hong Liu 008 (IEEE Trans. Cogn. Dev. Syst., 2019)

Planning an Efficient and Robust Base Sequence for a Mobile Manipulator Performing Multiple Pick-and-place Tasks. - Jingren Xu; Kensuke Harada; Weiwei Wan; Toshio Ueshiba; Yukiyasu Domae (ICRA, 2020)

Functionally Divided Manipulation Synergy for Controlling Multi-fingered Hands. - Kazuki Higashi; Keisuke Koyama; Ryuta Ozawa; Kazuyuki Nagata; Weiwei Wan; Kensuke Harada (IROS, 2020)

Assembly Motion Recognition Framework Using Only Images. - Kosuke Fukuda; Natsuki Yamanobe; Ixchel Georgina Ramirez-Alpizar; Kensuke Harada (SII, 2020)

Probabilistic Action/Observation Planning for Playing Yamakuzushi. - Tomohiro Motoda; Weiwei Wan; Kensuke Harada (SII, 2020)

Team O2AS at the world robot summit 2018: an approach to robotic kitting and assembly tasks using general purpose grippers and tools. - Felix Von Drigalski; Chisato Nakashima; Yoshiya Shibata; Yoshinori Konishi; Joshua C. Triyonoputro; Kaidi Nie; Damien Petit; Toshio Ueshiba; Ryuichi Takase; Yukiyasu Domae; Taku Yoshioka; Yoshihisa Ijiri; et al. (Adv. Robotics, 2020)

Team O2AS' approach for the task-board task of the World Robot Challenge 2018. - Kaidi Nie; Felix Von Drigalski; Joshua C. Triyonoputro; Chisato Nakashima; Yoshiya Shibata; Yoshinori Konishi; Yoshihisa Ijiri; Taku Yoshioka; Yukiyasu Domae; Toshio Ueshiba; Ryuichi Takase; Xinyi Zhang; et al. (Adv. Robotics, 2020)

Motion planning of skillful motions in assembly process through human demonstration. - Yan Wang 082; Kensuke Harada; Weiwei Wan (Adv. Robotics, 2020)

Special issue on Industrial Robot Technology-Selected Papers from WRS 2018. - Tetsuyou Watanabe; Kensuke Harada; Tokuo Tsuji (Adv. Robotics, 2020)

Learning Contact-Rich Manipulation Tasks with Rigid Position-Controlled Robots: Learning to Force Control. - Cristian Camilo Beltran-Hernandez; Damien Petit; Ixchel Georgina Ramirez-Alpizar; Takayuki Nishi; Shinichi Kikuchi; Takamitsu Matsubara; Kensuke Harada (CoRR, 2020)

Planning to Build Soma Blocks Using a Dual-arm Robot. - Hao Chen 065; Weiwei Wan; Keisuke Koyama; Kensuke Harada (CoRR, 2020)

A Mechanical Screwing Tool for 2-Finger Parallel Grippers - Design, Optimization, and Manipulation Policies. - Zhengtao Hu; Weiwei Wan; Keisuke Koyama; Kensuke Harada (CoRR, 2020)

Variable Compliance Control for Robotic Peg-in-Hole Assembly: A Deep Reinforcement Learning Approach. - Cristian Camilo Beltran-Hernandez; Damien Petit; Ixchel Georgina Ramirez-Alpizar; Kensuke Harada (CoRR, 2020)

Four-Arm Collaboration: Two Dual-Arm Robots Work Together to Maneuver Tethered Tools. - Daniel Sánchez 011; Weiwei Wan; Keisuke Koyama; Kensuke Harada (CoRR, 2020)

Multi-Pen Robust Robotic 3D Drawing Using Closed-Loop Planning. - Ruishuang Liu; Weiwei Wan; Keisuke Koyama; Kensuke Harada (CoRR, 2020)

Planning a Sequence of Base Positions for a Mobile Manipulator to Perform Multiple Pick-and-Place Tasks. - Jingren Xu; Yukiyasu Domae; Toshio Ueshiba; Weiwei Wan; Kensuke Harada (CoRR, 2020)

Re-posing Objects Considering Bipedal Stability Constraints: An Approach for Stability Preservation During Humanoid Manipulation. - Daniel Sánchez 011; Weiwei Wan; Fumio Kanehiro; Kensuke Harada (Int. J. Humanoid Robotics, 2020)

Integrating combined task and motion planning with compliant control. - Hao Chen 065; Juncheng Li 007; Weiwei Wan; Zhifeng Huang; Kensuke Harada (Int. J. Intell. Robotics Appl., 2020)

Cost-oriented Planning for Error Recovery in an Automation Plant. - Akira Nakamura; Natsuki Yamanobe; Ixchel Georgina Ramirez-Alpizar; Kensuke Harada; Yukiyasu Domae (J. Robotics Netw. Artif. Life, 2020)

Real-time Planning Robotic Palletizing Tasks using Reusable Roadmaps. - Takumi Sakamoto; Kensuke Harada; Weiwei Wan (J. Robotics Netw. Artif. Life, 2020)

User Interface and Motion Planner for Task Database. - Tokuo Tsuji; Natsuki Yamanobe; Kei Ikeda; Kensuke Harada (J. Robotics Netw. Artif. Life, 2020)

Learning Force Control for Contact-Rich Manipulation Tasks With Rigid Position-Controlled Robots. - Cristian Camilo Beltran-Hernandez; Damien Petit; Ixchel Georgina Ramirez-Alpizar; Takayuki Nishi; Shinichi Kikuchi; Takamitsu Matsubara; Kensuke Harada (IEEE Robotics Autom. Lett., 2020)

Tethered Tool Manipulation Planning With Cable Maneuvering. - Daniel Sánchez 011; Weiwei Wan; Kensuke Harada (IEEE Robotics Autom. Lett., 2020)

Towards Tethered Tool Manipulation Planning with the Help of a Tool Balancer. - Daniel Sánchez 011; Weiwei Wan; Kensuke Harada (Robotics, 2020)

Human-in-the-Loop Robotic Manipulation Planning for Collaborative Assembly. - Mohamed Raessa; Jimmy Chi Yin Chen; Weiwei Wan; Kensuke Harada (IEEE Trans Autom. Sci. Eng., 2020)

Preparatory Manipulation Planning Using Automatically Determined Single and Dual Arm. - Weiwei Wan; Kensuke Harada; Fumio Kanehiro (IEEE Trans. Ind. Informatics, 2020)

Bimanual Shelf Picking Planner Based on Collapse Prediction. - Tomohiro Motoda; Damien Petit; Weiwei Wan; Kensuke Harada (CASE, 2021)

A Topological Solution of Entanglement for Complex-shaped Parts in Robotic Bin-Picking. - Xinyi Zhang; Keisuke Koyama; Yukiyasu Domae; Weiwei Wan; Kensuke Harada (CASE, 2021)

Planning to Build Soma Blocks Using a Dual-arm Robot. - Hao Chen 065; Weiwei Wan; Kensuke Harada (ICDL, 2021)

Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning. - Yan Wang 082; Cristian C. Beltran-Hernandez; Weiwei Wan; Kensuke Harada (ICRA, 2021)

Assembly Action Understanding from Fine-Grained Hand Motions, a Multi-camera and Deep Learning Approach. - Enrique Coronado; Kosuke Fukuda; Ixchel Georgina Ramirez-Alpizar; Natsuki Yamanobe; Gentiane Venture; Kensuke Harada (IROS, 2021)

Efficient Picking by Considering Simultaneous Two-Object Grasping. - Takumi Sakamoto; Weiwei Wan; Takao Nishi; Kensuke Harada (IROS, 2021)

Assembly Planning by Recognizing a Graphical Instruction Manual. - Issei Sera; Natsuki Yamanobe; Ixchel Georgina Ramirez-Alpizar; Zhenting Wang; Weiwei Wan; Kensuke Harada (IROS, 2021)

Error Identification and Recovery in Robotic Snap Assembly. - Yusuke Hayami; Weiwei Wan; Keisuke Koyama; Peihao Shi; Juan Rojas 001; Kensuke Harada (SII, 2021)

Cooking Actions Inference based on Ingredient's Physical Features. - Ixchel Georgina Ramirez-Alpizar; Ryosuke Hiraki; Kensuke Harada (SII, 2021)

Hybrid Trajectory and Force Learning of Complex Assembly Tasks: A Combined Learning Framework. - Yan Wang 082; Cristian C. Beltran-Hernandez; Weiwei Wan; Kensuke Harada (IEEE Access, 2021)

Planning a Minimum Sequence of Positions for Picking Parts From Multiple Trays Using a Mobile Manipulator. - Jingren Xu; Yukiyasu Domae; Toshio Ueshiba; Weiwei Wan; Kensuke Harada (IEEE Access, 2021)

Controlling Pivoting Gait Using Graph Model Predictive Control. - Ang Zhang; Keisuke Koyama; Weiwei Wan; Kensuke Harada (IEEE Access, 2021)

Development of a shape-memorable adaptive pin array fixture. - Peihao Shi; Zhengtao Hu; Kazuyuki Nagata; Weiwei Wan; Yukiyasu Domae; Kensuke Harada (Adv. Robotics, 2021)

Selecting and designing grippers for an assembly task in a structured approach. - Jingren Xu; Weiwei Wan; Keisuke Koyama; Yukiyasu Domae; Kensuke Harada (Adv. Robotics, 2021)

Planning to Repose Long and Heavy Objects Considering a Combination of Regrasp and Constrained Drooping. - Mohamed Raessa; Weiwei Wan; Kensuke Harada (CoRR, 2021)

Challenges and Outlook in Robotic Manipulation of Deformable Objects. - Jihong Zhu 002; Andrea Cherubini; Claire Dune; David Navarro-Alarcon; Farshid Alambeigi; Dmitry Berenson; Fanny Ficuciello; Kensuke Harada; Xiang Li 009; Jia Pan 001; Wenzhen Yuan 001 (CoRR, 2021)

Learning a Sequential Policy of Efficient Actions for Tangled-Prone Parts in Robotic Bin Picking. - Xinyi Zhang; Yukiyasu Domae; Weiwei Wan; Kensuke Harada (CoRR, 2021)

An Adaptive Imitation Learning Framework for Robotic Complex Contact-Rich Insertion Tasks. - Yan Wang 082; Cristian C. Beltran-Hernandez; Weiwei Wan; Kensuke Harada (Frontiers Robotics AI, 2021)

Presenting Walking Route for VR Zombie. - Nobuchika Sakata; Kohei Kanamori; Tomu Tominaga; Yoshinori Hijikata; Kensuke Harada; Kiyoshi Kiyokawa (IEICE Trans. Inf. Syst., 2021)

Planning to Flip Heavy Objects Considering Soft-Finger Contacts. - Mohamed Raessa; Weiwei Wan; Keisuke Koyama; Kensuke Harada (Int. J. Autom. Technol., 2021)

Selection of Optimal Error Recovery Process using Evaluation Standards in Automated Plants. - Akira Nakamura; Natsuki Yamanobe; Ixchel Georgina Ramirez-Alpizar; Kensuke Harada; Yukiyasu Domae (J. Robotics Netw. Artif. Life, 2021)

Online Object Searching by a Humanoid Robot in an Unknown Environment. - Masato Tsuru 002; Adrien Escande; Arnaud Tanguy; Kevin Chappellet; Kensuke Harada (IEEE Robotics Autom. Lett., 2021)

Emerging Paradigms for Robotic Manipulation: From the Lab to the Productive World [From the Guest Editors]. - Maria Pozzi; Virginia Ruiz Garate; Arash Ajoudani; Kensuke Harada; Monica Malvezzi; Leonel Dario Rozo; Máximo A. Roa (IEEE Robotics Autom. Mag., 2021)

Planning Grasps With Suction Cups and Parallel Grippers Using Superimposed Segmentation of Object Meshes. - Weiwei Wan; Kensuke Harada; Fumio Kanehiro (IEEE Trans. Robotics, 2021)

Food Arrangement Framework for Cooking Robots. - Hoshito Nagahama; Ixchel Georgina Ramirez-Alpizar; Kensuke Harada (AIM, 2022)

Metal Wire Manipulation Planning for 3D Curving - A Low Payload Robot that Uses a Bending Machine to Bend High-Stiffness Wire. - Ruishuang Liu; Weiwei Wan; Emiko Isomura; Kensuke Harada (IROS, 2022)

Efficient Task/Motion Planning for a Dual-arm Robot from Language Instructions and Cooking Images. - Kota Takata; Takuya Kiyokawa; Ixchel Georgina Ramirez-Alpizar; Natsuki Yamanobe; Weiwei Wan; Kensuke Harada (IROS, 2022)

An Optimization-based Motion Planner for a Mobile Manipulator to Perform Tasks During the Motion. - Jingren Xu; Yukiyasu Domae; Weiwei Wan; Kensuke Harada (SII, 2022)

Team O2AC at the world robot summit 2020: towards jigless, high-precision assembly. - Felix von Drigalski; Cristian C. Beltran-Hernandez; Chisato Nakashima; Zhengtao Hu; Shuichi Akizuki; Toshio Ueshiba; Manabu Hashimoto; Kazumi Kasaura; Yukiyasu Domae; Weiwei Wan; Kensuke Harada (Adv. Robotics, 2022)

Grasp pose detection for deformable daily items by pix2stiffness estimation. - Koshi Makihara; Yukiyasu Domae; Ixchel Georgina Ramirez-Alpizar; Toshio Ueshiba; Kensuke Harada (Adv. Robotics, 2022)

Special issue on industrial robot technology - selected papers from WRS 2020. - Tokuo Tsuji; Kensuke Harada (Adv. Robotics, 2022)

Fast pivoting gait generation by model predictive control designed with basis functions. - Ang Zhang; Weiwei Wan; Kensuke Harada (Adv. Robotics, 2022)

Metal Wire Manipulation Planning for 3D Curving - How a Low Payload Robot Can Use a Bending Machine to Bend Stiff Metal Wire. - Ruishuang Liu; Weiwei Wan; Emiko Isomura; Kensuke Harada (CoRR, 2022)

A Dual-Arm Robot that Manipulates Heavy Plates Cooperatively with a Vacuum Lifter. - Shogo Hayakawa; Weiwei Wan; Keisuke Koyama; Kensuke Harada (CoRR, 2022)

Accelerating Robot Learning of Contact-Rich Manipulations: A Curriculum Learning Study. - Cristian C. Beltran-Hernandez; Damien Petit; Ixchel Georgina Ramirez-Alpizar; Kensuke Harada (CoRR, 2022)

Integrating a Manual Pipette into a Collaborative Robot Manipulator for Flexible Liquid Dispensing. - Junbo Zhang; Weiwei Wan; Nobuyuki Tanaka; Miki Fujita; Kensuke Harada (CoRR, 2022)

Category-Association Based Similarity Matching for Novel Object Pick-and-Place Task. - Hao Chen 065; Takuya Kiyokawa; Weiwei Wan; Kensuke Harada (IEEE Robotics Autom. Lett., 2022)

Prying Grasp for Picking Thin Object Using Thick Fingertips. - Qi Zhang 098; Zhengtao Hu; Keisuke Koyama; Weiwei Wan; Kensuke Harada (IEEE Robotics Autom. Lett., 2022)

Challenges and Outlook in Robotic Manipulation of Deformable Objects. - Jihong Zhu 002; Andrea Cherubini; Claire Dune; David Navarro-Alarcon; Farshid Alambeigi; Dmitry Berenson; Fanny Ficuciello; Kensuke Harada; Jens Kober; Xiang Li 009; Jia Pan 001; Wenzhen Yuan 001; et al. (IEEE Robotics Autom. Mag., 2022)

Arranging test tubes in racks using combined task and motion planning. - Weiwei Wan; Takeyuki Kotaka; Kensuke Harada (Robotics Auton. Syst., 2022)

Shelf Replenishment Based on Object Arrangement Detection and Collapse Prediction for Bimanual Manipulation. - Tomohiro Motoda; Damien Petit; Takao Nishi; Kazuyuki Nagata; Weiwei Wan; Kensuke Harada (Robotics, 2022)

Graph-Based Framework on Bimanual Manipulation Planning from Cooking Recipe. - Kota Takata; Takuya Kiyokawa; Natsuki Yamanobe; Ixchel Georgina Ramirez-Alpizar; Weiwei Wan; Kensuke Harada (Robotics, 2022)

Planning to Build Block Structures With Unstable Intermediate States Using Two Manipulators. - Hao Chen 065; Weiwei Wan; Keisuke Koyama; Kensuke Harada (IEEE Trans Autom. Sci. Eng., 2022)

A Dual-Arm Robot That Autonomously Lifts Up and Tumbles Heavy Plates Using Crane Pulley Blocks. - Shogo Hayakawa; Weiwei Wan; Keisuke Koyama; Kensuke Harada (IEEE Trans Autom. Sci. Eng., 2022)

A Mechanical Screwing Tool for Parallel Grippers - Design, Optimization, and Manipulation Policies. - Zhengtao Hu; Weiwei Wan; Keisuke Koyama; Kensuke Harada (IEEE Trans. Robotics, 2022)

Robust Robotic 3-D Drawing Using Closed-Loop Planning and Online Picked Pens. - Ruishuang Liu; Weiwei Wan; Keisuke Koyama; Kensuke Harada (IEEE Trans. Robotics, 2022)

Planning Dense Object Packing by Pushing Objects. - Kazuki Iwao; Takao Nishi; Takuya Kiyokawa; Damien Petit; Weiwei Wan; Kensuke Harada (CASE, 2023)

A Stiffness-Changeable Soft Finger Based on Chain Mail Jamming. - Zhengtao Hu; Abdullah Ahmed; Weiwei Wan; Tetsuyou Watanabe; Kensuke Harada (ICRA, 2023)

Probabilistic Slide-support Manipulation Planning in Clutter. - Shusei Nagato; Tomohiro Motoda; Takao Nishi; Damien Petit; Takuya Kiyokawa; Weiwei Wan; Kensuke Harada (IROS, 2023)

Industrial Bin Picking of Potential Entangled Objects in Dense Clutter by Skeletonized Shape Restoration. - Mizuki Takasu; Xinyi Zhang; Yukiyasu Domae; Weiwei Wan; Kensuke Harada (ISER, 2023)

In-Rack Test Tube Pose Estimation Using RGB-D Data. - Hao Chen 065; Weiwei Wan; Masaki Matsushita; Takeyuki Kotaka; Kensuke Harada (ROBIO, 2023)

Multi-objective geometric optimization of a multi-link robot manipulator considering dynamics performance. - Zixin Gao; Liang Du 002; Xiaomeng Hu; Zhengtao Hu; Sheng Bao; Kensuke Harada; Jianjun Yuan 003 (ROBIO, 2023)

In-Hand Pose Estimation Using Hand-Mounted RGB Cameras and Visuotactile Sensors. - Yuan Gao; Shogo Matsuoka; Weiwei Wan; Takuya Kiyokawa; Keisuke Koyama; Kensuke Harada (IEEE Access, 2023)

Torque-Sensing Soft Bellows Actuator for Multi-Fingered Hands Taking Bellow's Buckling Into Consideration. - Kazuki Higashi; Keisuke Koyama; Ryuta Ozawa; Kazuyuki Nagata; Takuya Kiyokawa; Weiwei Wan; Kensuke Harada (IEEE Access, 2023)

Multi-Step Object Extraction Planning From Clutter Based on Support Relations. - Tomohiro Motoda; Damien Petit; Takao Nishi; Kazuyuki Nagata; Weiwei Wan; Kensuke Harada (IEEE Access, 2023)

Error Correction in Robotic Assembly Planning From Graphical Instruction Manuals. - Zhenting Wang; Takuya Kiyokawa; Issei Sera; Natsuki Yamanobe; Weiwei Wan; Kensuke Harada (IEEE Access, 2023)

Implicit Contact-Rich Manipulation Planning for a Manipulator with Insufficient Payload. - Kento Nakatsuru; Weiwei Wan; Kensuke Harada (CoRR, 2023)

Learning Efficient Policies for Picking Entangled Wire Harnesses: An Approach to Industrial Bin Picking. - Xinyi Zhang; Yukiyasu Domae; Weiwei Wan; Kensuke Harada (IEEE Robotics Autom. Lett., 2023)

Learning to Dexterously Pick or Separate Tangled-Prone Objects for Industrial Bin Picking. - Xinyi Zhang; Yukiyasu Domae; Weiwei Wan; Kensuke Harada (IEEE Robotics Autom. Lett., 2023)

Special issue on online motion planning and model predictive control. - Yuichi Tazaki; Kensuke Harada; Masaki Murooka; Adrien Escande (Adv. Robotics, 2023)

Obtaining an Object's 3D Model Using Dual-Arm Robotic Manipulation and Stationary Depth Sensing. - Sho Kobayashi; Weiwei Wan; Takuya Kiyokawa; Keisuke Koyama; Kensuke Harada (IEEE Trans Autom. Sci. Eng., 2023)

M3R-CNN: on effective multi-modal fusion of RGB and depth cues for instance segmentation in bin-picking. - Takao Nishi; Shinya Kawasaki; Kosuke Iewaki; Fumio Okura; Damien Petit; Yoichi Takano; Kensuke Harada (Adv. Robotics, 2023)

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)

A Dual-Arm Robot That Manipulates Heavy Plates With the Support of a Vacuum Lifter. - Shogo Hayakawa; Weiwei Wan; Keisuke Koyama; Kensuke Harada (IEEE Trans Autom. Sci. Eng., 2023)

Difficulty and complexity definitions for assembly task allocation and assignment in human-robot collaborations: A review. - Takuya Kiyokawa; Naoki Shirakura; Zhenting Wang; Natsuki Yamanobe; Ixchel Georgina Ramirez-Alpizar; Weiwei Wan; Kensuke Harada (Robotics Comput. Integr. Manuf., 2023)

CAD-Informed Uncertainty-Aware Sequence and Motion Planning for Robotic Assembly. - Takuya Kiyokawa; Ismael Rodríguez; Korbinian Nottensteiner; Peter Lehner; Thomas Eiband; Máximo A. Roa; Kensuke Harada (CASE, 2024)

Active Vapor-Based Robotic Wiper. - Takuya Kiyokawa; Hiroki Katayama; Jun Takamatsu; Kensuke Harada (IRC, 2024)

Task-Difficulty-Aware Efficient Object Arrangement Leveraging Tossing Motions. - Takuya Kiyokawa; Mahiro Muta; Weiwei Wan; Kensuke Harada (IRC, 2024)

Synergy Hand Using Fluid Network: Realization of Various Grasping/Manipulation Styles. - Kazuki Higashi; Keisuke Koyama; Fanny Ficuciello; Ryuta Ozawa; Takuya Kiyokawa; Weiwei Wan; Kensuke Harada (IEEE Access, 2024)

Deformability-Based Grasp Pose Detection From a Visible Image. - Koshi Makihara; Yukiyasu Domae; Ryo Hanai; Ixchel Georgina Ramirez-Alpizar; Hirokatsu Kataoka; Kensuke Harada (IEEE Access, 2024)

Assembly Task Allocation for Human-Robot Collaboration Considering Stability and Assembly Complexity. - Zhenting Wang; Takuya Kiyokawa; Natsuki Yamanobe; Weiwei Wan; Kensuke Harada (IEEE Access, 2024)

Many-Objective-Optimized Semi-Automated Robotic Disassembly Sequences. - Takuya Kiyokawa; Kensuke Harada; Weiwei Wan; Tomoki Ishikura; Naoya Miyaji; Genichiro Matsuda (CoRR, 2024)

Robotic Test Tube Rearrangement Using Combined Reinforcement Learning and Motion Planning. - Hao Chen 065; Weiwei Wan; Masaki Matsushita; Takeyuki Kotaka; Kensuke Harada (CoRR, 2024)

Direction-Constrained Control for Efficient Physical Human-Robot Interaction under Hierarchical Tasks. - Mengxin Xu; Weiwei Wan; Hesheng Wang 001; Kensuke Harada (CoRR, 2024)

NBV/NBC Planning Considering Confidence Obtained From Shape Completion Learning. - Ruishuang Liu; Chuan Li; Weiwei Wan; Jia Pan 001; Kensuke Harada (IEEE Robotics Autom. Lett., 2024)

Compliant Peg-in-Hole Assembly Using a Very Soft Wrist. - Qi Zhang 098; Zhengtao Hu; Weiwei Wan; Kensuke Harada (IEEE Robotics Autom. Lett., 2024)

Reducing Uncertainty Using Placement and Regrasp Planning on a Triangular Corner Fixture. - Zhengtao Hu; Weiwei Wan; Keisuke Koyama; Kensuke Harada (IEEE Trans Autom. Sci. Eng., 2024)

A closed-loop bin picking system for entangled wire harnesses using bimanual and dynamic manipulation. - Xinyi Zhang; Yukiyasu Domae; Weiwei Wan; Kensuke Harada (Robotics Comput. Integr. Manuf., 2024)

Automatically Prepare Training Data for YOLO Using Robotic In-Hand Observation and Synthesis. - Hao Chen 065; Weiwei Wan; Masaki Matsushita; Takeyuki Kotaka; Kensuke Harada (IEEE Trans Autom. Sci. Eng., 2024)

TAMP for 3D Curving - A Low-Payload Robot Arm Works Aside a Bending Machine to Curve High-Stiffness Metal Wires. - Ruishuang Liu; Weiwei Wan; Kensuke Harada (IEEE Trans Autom. Sci. Eng., 2024)

Component Selection for Craft Assembly Tasks. - Vitor Hideyo Isume; Takuya Kiyokawa; Natsuki Yamanobe; Yukiyasu Domae; Weiwei Wan; Kensuke Harada (IEEE Robotics Autom. Lett., 2024)

Integrating a Pipette Into a Robot Manipulator With Uncalibrated Vision and TCP for Liquid Handling. - Junbo Zhang; Weiwei Wan; Nobuyuki Tanaka; Miki Fujita; Koichi Takahashi; Kensuke Harada (IEEE Trans Autom. Sci. Eng., 2024)

Vision-Sensorless Bin-Picking System Using Compliant Fingers with Proximity Sensors. - Michihisa Ohara; Keisuke Koyama; Kensuke Harada (SII, 2025)

Vision-based Robotic Assembly from Novel Graphical Instructions. - Chenxi Wang; Zhenting Wang; Takuya Kiyokawa; Weiwei Wan; Natsuki Yamanobe; Kensuke Harada (SII, 2025)

A Multilevel Similarity Approach for Single-View Object Grasping: Matching, Planning, and Fine-Tuning. - Hao Chen 065; Takuya Kiyokawa; Zhengtao Hu; Weiwei Wan; Kensuke Harada (IEEE Trans. Robotics, 2025)

Dexterous Manipulation of Deformable Objects via Pneumatic Gripping: Lifting by One End. - Roman Mykhailyshyn; Jonathan Lee; Mykhailo Mykhailyshyn; Kensuke Harada; Ann Majewicz Fey (CoRR, 2025)

Temperature Driven Multi-modal/Single-actuated Soft Finger. - Prashant Kumar; Weiwei Wan; Kensuke Harada (CoRR, 2025)

Adaptive Grasping of Moving Objects in Dense Clutter via Global-to-Local Detection and Static-to-Dynamic Planning. - Hao Chen 065; Takuya Kiyokawa; Weiwei Wan; Kensuke Harada (CoRR, 2025)

Learning to Group and Grasp Multiple Objects. - Takahiro Yonemaru; Weiwei Wan; Tatsuki Nishimura; Kensuke Harada (CoRR, 2025)

Robotic Paper Wrapping by Learning Force Control. - Hiroki Hanai; Takuya Kiyokawa; Weiwei Wan; Kensuke Harada (CoRR, 2025)

Cooking Task Planning using LLM and Verified by Graph Network. - Ryunosuke Takebayashi; Vitor Hideyo Isume; Takuya Kiyokawa; Weiwei Wan; Kensuke Harada (CoRR, 2025)

IKSel: Selecting Good Seed Joint Values for Fast Numerical Inverse Kinematics Iterations. - Xinyi Yuan; Weiwei Wan; Kensuke Harada (CoRR, 2025)

Bimanual Regrasp Planning and Control for Eliminating Object Pose Uncertainty. - Ryuta Nagahama; Weiwei Wan; Zhengtao Hu; Kensuke Harada (CoRR, 2025)

Functional Eigen-Grasping Using Approach Heatmaps. - Malek Aburub; Kazuki Higashi; Weiwei Wan; Kensuke Harada (IEEE Robotics Autom. Lett., 2025)

Learning from Planned Data to Improve Robotic Pick-and-Place Planning Efficiency. - Liang Qin; Weiwei Wan; Jun Takahashi; Ryo Negishi; Masaki Matsushita; Kensuke Harada (CoRR, 2025)

A Multi-Level Similarity Approach for Single-View Object Grasping: Matching, Planning, and Fine-Tuning. - Hao Chen 065; Takuya Kiyokawa; Zhengtao Hu; Weiwei Wan; Kensuke Harada (CoRR, 2025)

Modular Vacuum-Based Fixturing System for Adaptive Disassembly Workspace Integration. - Haohui Pan; Takuya Kiyokawa; Tomoki Ishikura; Shingo Hamada; Genichiro Matsuda; Kensuke Harada (CoRR, 2025)

Affordance-Guided Dual-Armed Disassembly Teleoperation for Mating Parts. - Gen Sako; Takuya Kiyokawa; Kensuke Harada; Tomoki Ishikura; Naoya Miyaji; Genichiro Matsuda (CoRR, 2025)

Bimanual Regrasp Planning and Control for Active Reduction of Object Pose Uncertainty. - Ryuta Nagahama; Weiwei Wan; Zhengtao Hu; Kensuke Harada (IEEE Robotics Autom. Lett., 2025)

Zero-Shot Recognition of Test Tube Types by Automatically Collecting and Labeling RGB Data. - Yu Tang; Weiwei Wan; Hao Chen 065; Masaki Matsushita; Jun Takahashi; Takeyuki Kotaka; Kensuke Harada (IEEE Robotics Autom. Lett., 2025)