Whole-Body Torque Control Without Joint Position Control Using Vibration-Suppressed Friction Compensation for Bipedal Locomotion of Gear-Driven Torque Sensorless Humanoid.

[BibT_eX]

[DOI]

Takuma Hiraoka

Shimpei Sato

IROS, 2023

2022

Reference-Free Learning Bipedal Motor Skills via Assistive Force Curricula.

[BibT_eX]

[DOI]

Proceedings of the Robotics Research, 2022

RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Robust Humanoid Walking System Considering Recognized Terrain and Robots' Balance.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Manipulation of Heavy Object with Rapid Force Fluctuation by Humanoids Based on Motion Failure Detection and Repeated Trials.

[BibT_eX]

[DOI]

Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

Development of a Multi-Fingered Hand with a Multi-Step Locking Mechanism for Carrying Heavy Objects by a Humanoid Robot.

[BibT_eX]

[DOI]

Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

2021

Dynamic Fall Recovery Motion Generation on Biped Robot With Shell Protector.

[BibT_eX]

[DOI]

Kim-Ngoc-Khanh Nguyen

IEEE Robotics Autom. Lett., October, 2021

Drop Prevention Control for Humanoid Robots Carrying Stacked Boxes.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Fixed-root Aerial Manipulator: Design, Modeling, and Control of Multilink Aerial Arm to Adhere Foot Module to Ceilings using Rotor Thrust.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

2020

Footstep Modification Including Step Time and Angular Momentum Under Disturbances on Sparse Footholds.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

Bilateral Humanoid Teleoperation System Using Whole-Body Exoskeleton Cockpit TABLIS.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

Semi-Passive Walk and Active Walk by One Bipedal Robot: Mechanism, Control and Parameter Identification.

[BibT_eX]

[DOI]

Shintaro Noda

Fumihito Sugai

Kunio Kojima

Kim-Ngoc-Khanh Nguyen

Yohei Kakiuchi

Kei Okada

Masayuki Inaba

Int. J. Humanoid Robotics, 2020

Drive-Train Design in JAXON3-P and Realization of Jump Motions: Impact Mitigation and Force Control Performance for Dynamic Motions.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Fast Tennis Swing Motion by Ball Trajectory Prediction and Joint Trajectory Modification in Standalone Humanoid Robot Real-time System.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Online System for Dynamic Multi-contact Motion with Impact Force Based on Contact Wrench Estimation and Current-Based Torque Control.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

2019

Extended Three-Dimensional Walking and Skating Motion Generation for Multiple Noncoplanar Contacts With Anisotropic Friction: Application to Walk and Skateboard and Roller Skate.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

Autonomous Safe Locomotion System for Bipedal Robot Applying Vision and Sole Reaction Force to Footstep Planning.

[BibT_eX]

[DOI]

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Humanoid Robot's Force-Based Heavy Manipulation Tasks with Torque-Controlled Arms and Wrist Force Sensors.

[BibT_eX]

[DOI]

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Whole-body Posture Generation by Adjusting Tool Force with CoG Movement: Application to Soil Digging.

[BibT_eX]

[DOI]

Proceedings of the 19th IEEE-RAS International Conference on Humanoid Robots, 2019

A Robot Design Method for Weight Saving Aimed at Dynamic Motions: Design of Humanoid JAXON3-P and Realization of Jump Motions.

[BibT_eX]

[DOI]

Proceedings of the 19th IEEE-RAS International Conference on Humanoid Robots, 2019

2018

High Speed Whole Body Dynamic Motion Experiment with Real Time Master-Slave Humanoid Robot System.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Design of Tiny High-Power Motor Driver without Liquid Cooling for Humanoid JAXON.

[BibT_eX]

[DOI]

Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots, 2018

Semi-Passive Walk and Active Walk by One Bipedal Robot.

[BibT_eX]

[DOI]

Shintaro Noda

Fumihito Sugai

Kunio Kojima

Kim-Ngoc-Khanh Nguyen

Yohei Kakiuchi

Kei Okada

Masayuki Inaba

Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots, 2018

2017

Rotational Sliding Motion Generation for Humanoid Robot by Force Distribution in Each Contact Face.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2017

3D walking and skating motion generation using divergent component of motion and gauss pseudospectral method.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Bipedal walking control against swing foot collision using swing foot trajectory regeneration and impact mitigation.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Bipedal oriented whole body master-slave system for dynamic secured locomotion with LIP safety constraints.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Unified humanoid manipulation of an object of unknown mass properties and friction based on online constraint estimation.

[BibT_eX]

[DOI]

Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017

2016

Real-time skating motion control of humanoid robots for acceleration and balancing.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Walking control in water considering reaction forces from water for humanoid robots with a waterproof suit.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Achievement of dynamic tennis swing motion by offline motion planning and online trajectory modification based on optimization with a humanoid robot.

[BibT_eX]

[DOI]

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Online master-slave footstep control for dynamical human-robot synchronization with wearable sole sensor.

[BibT_eX]

[DOI]

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

2015

Shuffle motion for humanoid robot by sole load distribution and foot force control.

[BibT_eX]

[DOI]

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Humanoid integrated UI system for supervised autonomy with massive data visualization over narrow and unreliable network communication for DRC competition.

[BibT_eX]

[DOI]