Description and execution of manipulation and locomotion by a humanoid robot using cascaded contact states graph. - Shunichi Nozawa; Masaki Murooka; Shintaro Noda; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (Humanoids, 2013)

Description and execution of humanoid's object manipulation based on object-environment-robot contact states. - Shunichi Nozawa; Masaki Murooka; Shintaro Noda; Kei Okada; Masayuki Inaba (IROS, 2013)

Manipulation strategy learning for carrying large objects based on mapping from object physical property to object manipulation action in virtual environment. - Masaki Murooka; Shintaro Noda; Shunichi Nozawa; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (CASE, 2014)

Online maintaining behavior of high-load and unstable postures based on whole-body load balancing strategy with thermal prediction. - Shintaro Noda; Masaki Murooka; Shunichi Nozawa; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (CASE, 2014)

Manipulation strategy decision and execution based on strategy proving operation for carrying large and heavy objects. - Masaki Murooka; Shintaro Noda; Shunichi Nozawa; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (ICRA, 2014)

Generating whole-body motion keep away from joint torque, contact force, contact moment limitations enabling steep climbing with a real humanoid robot. - Shintaro Noda; Masaki Murooka; Shunichi Nozawa; Yohei 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)

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)

Configurable autonomy applicable to humanoid manipulation in unstructured and communication-limited environment. - Yu Ohara; Masaki Murooka; Ryohei Ueda; Shunichi Nozawa; 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)

Whole-body pushing manipulation with contact posture planning of large and heavy object for humanoid robot. - Masaki Murooka; Shunichi Nozawa; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (ICRA, 2015)

Whole-body holding manipulation by humanoid robot based on transition graph of object motion and contact. - Masaki Murooka; Yuto Inagaki; Ryohei Ueda; Shunichi Nozawa; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (IROS, 2015)

Transformable semantic map based navigation using autonomous deep learning object segmentation. - Yuki Furuta; Kentaro Wada; Masaki Murooka; Shunichi Nozawa; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (Humanoids, 2016)

3D object segmentation for shelf bin picking by humanoid with deep learning and occupancy voxel grid map. - Kentaro Wada; Masaki Murooka; Kei Okada; Masayuki Inaba (Humanoids, 2016)

Planning and execution of groping behavior for contact sensor based manipulation in an unknown environment. - Masaki Murooka; Ryohei Ueda; Shunichi Nozawa; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (ICRA, 2016)

Rappelling by a humanoid robot based on transition motion generation and reliable rope manipulation. - Masahiro Bando; Masaki Murooka; Iori Yanokura; Shunichi Nozawa; Kei Okada; Masayuki Inaba (Humanoids, 2017)

Unified humanoid manipulation of an object of unknown mass properties and friction based on online constraint estimation. - Shunichi Nozawa; Masaki Murooka; Shintaro Noda; Kunio Kojima; Yuta Kojio; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (Humanoids, 2017)

Feasibility evaluation of object manipulation by a humanoid robot based on recursive estimation of the object's physical properties. - Masaki Murooka; Shunichi Nozawa; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (ICRA, 2017)

Online estimation of object-environment constraints for planning of humanoid motion on a movable object. - Shunichi Nozawa; Shintaro Noda; Masaki Murooka; Kei Okada; Masayuki Inaba (ICRA, 2017)

Global planning of whole-body manipulation by humanoid robot based on transition graph of object motion and contact switching. - Masaki Murooka; Ryohei Ueda; Shunichi Nozawa; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (Adv. Robotics, 2017)

Whole-Body Posture Evaluation and Modification for Crane-Less Servo-Off Operation of Life-Sized Humanoid Robot. - Masaki Murooka; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (Humanoids, 2018)

Variance Based Trajectory Segmentation in Object-Centric Coordinates. - Iori Yanokura; Masaki Murooka; Shunichi Nozawa; Kei Okada; Masayuki Inaba (IAS, 2018)

Simultaneous Planning and Estimation Based on Physics Reasoning in Robot Manipulation. - Masaki Murooka; Shunichi Nozawa; Masahiro Bando; Iori Yanokura; Kei Okada; Masayuki Inaba (ICRA, 2018)

Walking on a Steep Slope Using a Rope by a Life-Size Humanoid Robot. - Masahiro Bando; Masaki Murooka; Shunichi Nozawa; Kei Okada; Masayuki Inaba (IROS, 2018)

Design, Modeling and Control of Fully Actuated 2D Transformable Aerial Robot with 1 DoF Thrust Vectorable Link Module. - Tomoki Anzai; Moju Zhao; Masaki Murooka; Fan Shi 002; Kei Okada; Masayuki Inaba (IROS, 2019)

Whole-Body Control of Humanoid Robot in 3D Multi-Contact under Contact Wrench Constraints Including Joint Load Reduction with Self-Collision and Internal Wrench Distribution. - Naoki Hiraoka; Masaki Murooka; Hideaki Ito; Iori Yanokura; Kei Okada; Masayuki Inaba (IROS, 2019)

Generating a Key Pose Sequence Based on Kinematics and Statics Optimization for Manipulating a Heavy Object by a Humanoid Robot. - Riku Shigematsu; Masaki Murooka; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (IROS, 2019)

Learning of Key Pose Evaluation for Efficient Multi-contact Motion Planner. - Shintaro Noda; Masaki Murooka; Yuki Asano 002; Ryusuke Ishizaki; Tomohiro Kawakami; Tomoki Watabe; Kei Okada; Takahide Yoshiike; Masayuki Inaba (ICRA, 2020)

Aerial Regrasping: Pivoting with Transformable Multilink Aerial Robot. - Fan Shi 002; Moju Zhao; Masaki Murooka; Kei Okada; Masayuki Inaba (ICRA, 2020)

Learning of Tool Force Adjustment Skills by a Life-sized Humanoid using Deep Reinforcement Learning and Active Teaching Request. - Yoichiro Kawamura; Masaki Murooka; Naoki Hiraoka; Hideaki Ito; Kei Okada; Masayuki Inaba (IROS, 2020)

A survey of motion planning techniques for humanoid robots. - Yuichi Tazaki; Masaki Murooka (Adv. Robotics, 2020)

Optimization-Based Posture Generation for Whole-Body Contact Motion by Contact Point Search on the Body Surface. - Masaki Murooka; Kei Okada; Masayuki Inaba (IEEE Robotics Autom. Lett., 2020)

Selective grasp in occluded space by all-around proximity perceptible finger. - Naoya Yamaguchi; Shun Hasegawa; Masaki Murooka; Kei Okada; Masayuki Inaba (Robotics Auton. Syst., 2020)

Online generation and control of quasi-static multi-contact motion by PWT Jacobian matrix with contact wrench estimation and joint load reduction. - Naoki Hiraoka; Masaki Murooka; Shintaro Noda; Kei Okada; Masayuki Inaba (Adv. Robotics, 2021)

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)

Centroidal Trajectory Generation and Stabilization Based on Preview Control for Humanoid Multi-Contact Motion. - Masaki Murooka; Mitsuharu Morisawa; Fumio Kanehiro (IEEE Robotics Autom. Lett., 2022)

Model predictive control of legged and humanoid robots: models and algorithms. - Sotaro Katayama; Masaki Murooka; Yuichi Tazaki (Adv. Robotics, 2023)

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

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)

The Kinetics Observer: A Tightly Coupled Estimator for Legged Robots. - Arnaud Demont; Mehdi Benallegue; Abdelaziz Benallegue; Pierre Gergondet; Antonin Dallard; Rafael Cisneros 001; Masaki Murooka; Fumio Kanehiro (CoRR, 2024)

Humanoid Loco-Manipulations Using Combined Fast Dense 3D Tracking and SLAM With Wide-Angle Depth-Images. - Kevin Chappellet; Masaki Murooka; Guillaume Caron; Fumio Kanehiro; Abderrahmane Kheddar (IEEE Trans Autom. Sci. Eng., 2024)

Whole-Body Multi-Contact Motion Control for Humanoid Robots Based on Distributed Tactile Sensors. - Masaki Murooka; Kensuke Fukumitsu; Marwan Hamze; Mitsuharu Morisawa; Hiroshi Kaminaga; Fumio Kanehiro; Eiichi Yoshida (IEEE Robotics Autom. Lett., 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)

Learning Bimanual Manipulation via Action Chunking and Inter-Arm Coordination with Transformers. - Tomohiro Motoda; Ryo Hanai; Ryoichi Nakajo; Masaki Murooka; Floris Erich; Yukiyasu Domae (CoRR, 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)

TACT: Humanoid Whole-Body Contact Manipulation Through Deep Imitation Learning With Tactile Modality. - Masaki Murooka; Takahiro Hoshi; Kensuke Fukumitsu; Shimpei Masuda; Marwan Hamze; Tomoya Sasaki; Mitsuharu Morisawa; Eiichi Yoshida (IEEE Robotics Autom. Lett., 2025)