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)

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)

Task model of lower body motion for a biped humanoid robot to imitate human dances. - Shinichiro Nakaoka; Atsushi Nakazawa; Fumio Kanehiro; Kenji Kaneko; Mitsuharu Morisawa; Katsushi Ikeuchi (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)

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)

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)

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)

ZMP-based Biped Running Enhanced by Toe Springs. - Shuuji Kajita; Kenji Kaneko; Mitsuharu Morisawa; Shinichiro Nakaoka; Hirohisa Hirukawa (ICRA, 2007)

Getting up Motion Planning using Mahalanobis Distance. - Fumio Kanehiro; Kiyoshi Fujiwara; Hirohisa Hirukawa; Shinichiro Nakaoka; Mitsuharu Morisawa (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)

Learning from Observation Paradigm: Leg Task Models for Enabling a Biped Humanoid Robot to Imitate Human Dances. - Shinichiro Nakaoka; Atsushi Nakazawa; Fumio Kanehiro; Kenji Kaneko; Mitsuharu Morisawa; Hirohisa Hirukawa; Katsushi Ikeuchi (Int. J. Robotics Res., 2007)

Field and service appkications - Dinosaur robotics for entertainment applications - Design, Configurations, Controt, and Exhibition at the World Exposition. - Hirohisa Hirukawa; Fumio Kanehiro; Kenji Kaneko; Shuuji Kajita; Mitsuharu Morisawa (IEEE Robotics Autom. Mag., 2007)

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

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)

Feasible pattern generation method for humanoid robots. - Fumio Kanehiro; Wael Suleiman; Kanako Miura; Mitsuharu Morisawa; Eiichi Yoshida (Humanoids, 2009)

Cybernetic human HRP-4C. - Kenji Kaneko; Fumio Kanehiro; Mitsuharu Morisawa; Kanako Miura; Shinichiro Nakaoka; Shuuji Kajita (Humanoids, 2009)

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)

Creating facial motions of Cybernetic Human HRP-4C. - Shinichiro Nakaoka; Fumio Kanehiro; Kanako Miura; Mitsuharu Morisawa; Kiyoshi Fujiwara; Kenji Kaneko; Shuuji Kajita; Hirohisa Hirukawa (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)

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)

Integrating geometric constraints into reactive leg motion generation. - Fumio Kanehiro; Mitsuharu Morisawa; Wael Suleiman; Kenji Kaneko; Eiichi Yoshida (IROS, 2010)

Combining suppression of the disturbance and reactive stepping for recovering balance. - Mitsuharu Morisawa; Fumio Kanehiro; Kenji Kaneko; Nicolas Mansard; Joan Solà; Eiichi Yoshida; Kazuhito Yokoi; Jean-Paul Laumond (IROS, 2010)

Reactive biped walking control for a collision of a swinging foot on uneven terrain. - Mitsuharu Morisawa; Fumio Kanehiro; Kenji Kaneko; Shuuji Kajita; Kazuhito Yokoi (Humanoids, 2011)

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

Humanoid robot HRP-4 - Humanoid robotics platform with lightweight and slim body -. - Kenji Kaneko; Fumio Kanehiro; Mitsuharu Morisawa; Kazuhiko Akachi; Gou Miyamori; Atsushi Hayashi; Noriyuki Kanehira (IROS, 2011)

Hardware improvement of cybernetic human HRP-4C for entertainment use. - Kenji Kaneko; Fumio Kanehiro; Mitsuharu Morisawa; Tokuo Tsuji; Kanako Miura; Shinichiro Nakaoka; Shuuji Kajita; Kazuhito Yokoi (IROS, 2011)

Human-like walking with toe supporting for humanoids. - Kanako Miura; Mitsuharu Morisawa; Fumio Kanehiro; Shuuji Kajita; Kenji Kaneko; Kazuhito Yokoi (IROS, 2011)

Disturbance observer that estimates external force acting on humanoid robots. - Kenji Kaneko; Fumio Kanehiro; Mitsuharu Morisawa; Eiichi Yoshida; Jean-Paul Laumond (AMC, 2012)

Evaluation of a stabilizer for biped walk with toe support phase. - Shuuji Kajita; Kanako Miura; Mitsuharu Morisawa; Kenji Kaneko; Fumio Kanehiro; Kazuhito Yokoi (Humanoids, 2012)

Balance control based on Capture Point error compensation for biped walking on uneven terrain. - Mitsuharu Morisawa; Shuuji Kajita; Fumio Kanehiro; Kenji Kaneko; Kanako Miura; Kazuhito Yokoi (Humanoids, 2012)

Vertical vibration suppression for a position controlled biped robot. - Shuuji Kajita; Futoshi Asano; Mitsuharu Morisawa; Kanako Miura; Kenji Kaneko; Fumio Kanehiro; Kazuhito Yokoi (ICRA, 2013)

Obstacle detection for a bipedal walking robot by a fisheye stereo. - Nobuyuki Kita; Fumio Kanehiro; Mitsuharu Morisawa; Kenji Kaneko (SII, 2013)

Vertical ladder climbing by the HRP-2 humanoid robot. - Joris Vaillant; Abderrahmane Kheddar; Herve Audren; François Keith; Stanislas Brossette; Kenji Kaneko; Mitsuharu Morisawa; Eiichi Yoshida; Fumio Kanehiro (Humanoids, 2014)

Risk evaluation of ground surface using multichannel foot sensors for biped robots. - Futoshi Asano; Hideki Asoh; Mitsuharu Morisawa; Shuuji Kajita; Kazuhito Yokoi (ROSE, 2014)

Sound source localization using a single-point stereo microphone for robots. - Futoshi Asano; Mitsuharu Morisawa; Kenji Kaneko; Kazuhito Yokoi (APSIPA, 2015)

Task-level teleoperated manipulation for the HRP-2Kai humanoid robot. - Rafael Cisneros 001; Shuuji Kajita; Takeshi Sakaguchi; Shinichiro Nakaoka; Mitsuharu Morisawa; Kenji Kaneko; Fumio Kanehiro (Humanoids, 2015)

Humanoid robot HRP-2Kai - Improvement of HRP-2 towards disaster response tasks. - Kenji Kaneko; Mitsuharu Morisawa; Shuuji Kajita; Shinichiro Nakaoka; Takeshi Sakaguchi; Rafael Cisneros 001; Fumio Kanehiro (Humanoids, 2015)

Task sequencer integrated into a teleoperation interface for biped humanoid robots. - Shinichiro Nakaoka; Mitsuharu Morisawa; Rafael Cisneros 001; Takeshi Sakaguchi; Shuuji Kajita; Kenji Kaneko; Fumio Kanehiro (Humanoids, 2015)

Motion retargeting for humanoid robots based on identification to preserve and reproduce human motion features. - Ko Ayusawa; Mitsuharu Morisawa; Eiichi Yoshida (IROS, 2015)

Modeling dynamic scenes by one-shot 3D acquisition system for moving humanoid robot. - Ryusuke Sagawa; Charles Malleson; Mitsuharu Morisawa; Kenji Kaneko; Fumio Kanehiro; Yoshio Matsumoto; Adrian Hilton 001 (RO-MAN, 2015)

Enabling a teleoperated humanoid robot to pass through debris-filled terrain using manipulation. - Rafael Cisneros 001; Mitsuharu Morisawa; Shinichiro Nakaoka; Kenji Kaneko; Shuuji Kajita; Takeshi Sakaguchi; Fumio Kanehiro (Humanoids, 2016)

Impact acceleration of falling humanoid robot with an airbag. - Shuuji Kajita; Rafael Cisneros 001; Mehdi Benallegue; Takeshi Sakaguchi; Shinichiro Nakaoka; Mitsuharu Morisawa; Kenji Kaneko; Fumio Kanehiro (Humanoids, 2016)

Effective teleoperated manipulation for humanoid robots in partially unknown real environments: team AIST-NEDO's approach for performing the Plug Task during the DRC Finals. - Rafael Cisneros 001; Shinichiro Nakaoka; Mitsuharu Morisawa; Kenji Kaneko; Shuuji Kajita; Takeshi Sakaguchi; Fumio Kanehiro (Adv. Robotics, 2016)

Multi-contact vertical ladder climbing with an HRP-2 humanoid. - Joris Vaillant; Abderrahmane Kheddar; Hervé Audren; François Keith; Stanislas Brossette; Adrien Escande; Karim Bouyarmane; Kenji Kaneko; Mitsuharu Morisawa; Pierre Gergondet; Eiichi Yoshida; Shuuji Kajita; et al. (Auton. Robots, 2016)

Developing semi-autonomous humanoid robots that perform various composite tasks via a task sequencer and dynamics simulator. - Shinichiro Nakaoka; Rafael Cisneros Limón; Mitsuharu Morisawa; Takeshi Sakaguchi; Kenji Kaneko; Shuuji Kajita; Fumio Kanehiro (ARSO, 2017)

Quick squatting motion generation of a humanoid robot for falling damage reduction. - Shuuji Kajita; Takeshi Sakaguchi; Shinichiro Nakaoka; Mitsuharu Morisawa; Kenji Kaneko; Fumio Kanehiro (CBS, 2017)

Biped walking pattern generation based on spatially quantized dynamics. - Shuuji Kajita; Mehdi Benallegue; Rafael Cisneros Limón; Takeshi Sakaguchi; Shinichiro Nakaoka; Mitsuharu Morisawa; Kenji Kaneko; Fumio Kanehiro (Humanoids, 2017)

Partial Yaw Moment Compensation Using an Optimization-Based Multi-Objective Motion Solver. - Rafael Cisneros 001; Mehdi Benallegue; Mitsuharu Morisawa; Eiichi Yoshida; Kazuhito Yokoi; Fumio Kanehiro (Humanoids, 2018)

Biped Gait Control Based on Spatially Quantized Dynamics. - Shuuji Kajita; Mehdi Benallegue; Rafael Cisneros 001; Takeshi Sakaguchi; Shinichiro Nakaoka; Mitsuharu Morisawa; Hiroshi Kaminaga; Iori Kumagai; Kenji Kaneko; Fumio Kanehiro (Humanoids, 2018)

Efficient Locomotion Planning for a Humanoid Robot with Whole-Body Collision Avoidance Guided by Footsteps and Centroidal Sway Motion. - Iori Kumagai; Mitsuharu Morisawa; Shinichiro Nakaoka; Fumio Kanehiro (Humanoids, 2018)

Online 3D CoM Trajectory Generation for Multi-Contact Locomotion Synchronizing Contact. - Mitsuharu Morisawa; Rafael Cisneros 001; Mehdi Benallegue; Iori Kumagai; Adrien Escande; Fumio Kanehiro (Humanoids, 2018)

Model-Based External Force/Moment Estimation for Humanoid Robots with no Torque Measurement. - Mehdi Benallegue; Pierre Gergondet; Herve Audrerr; Alexis Mifsud; Mitsuharu Morisawa; Florent Lamiraux; Abderrahmane Kheddar; Fumio Kanehiro (ICRA, 2018)

Perception Based Locomotion System for a Humanoid Robot with Adaptive Footstep Compensation under Task Constraints. - Iori Kumagai; Mitsuharu Morisawa; Shinichiro Nakaoka; Takeshi Sakaguchi; Hiroshi Kaminaga; Kenji Kaneko; Fumio Kanehiro (IROS, 2018)

Robust Humanoid Control Using a QP Solver with Integral Gains. - Rafael Cisneros Limón; Mehdi Benallegue; Abdelaziz Benallegue; Mitsuharu Morisawa; Herve Audren; Pierre Gergondet; Adrien Escande; Abderrahmane Kheddar; Fumio Kanehiro (IROS, 2018)

Detecting Errors in a Humanoid Robot. - Jun Inoue 001; Fumio Kanehiro; Mitsuharu Morisawa; Akira Mori (QRS, 2018)

QP-based task-space hybrid / parallel control for multi-contact motion in a torque-controlled humanoid robot. - Rafael Cisneros 001; Mehdi Benallegue; Mitsuharu Morisawa; Fumio Kanehiro (Humanoids, 2019)

Position-Based Lateral Balance Control for Knee-Stretched Biped Robot. - Shuuji Kajita; Mehdi Benallegue; Rafael Cisneros Limón; Takeshi Sakaguchi; Mitsuharu Morisawa; Hiroshi Kaminaga; Iori Kumagai; Kenji Kaneko; Fumio Kanehiro (Humanoids, 2019)

Bipedal Locomotion Planning for a Humanoid Robot Supported by Arm Contacts Based on Geometrical Feasibility. - Iori Kumagai; Mitsuharu Morisawa; Mehdi Benallegue; Fumio Kanehiro (Humanoids, 2019)

Multi-Contact Stabilization of a Humanoid Robot for Realizing Dynamic Contact Transitions on Non-coplanar Surfaces. - Mitsuharu Morisawa; Mehdi Benallegue; Rafael Cisneros Limón; Iori Kumagai; Adrien Escande; Kenji Kaneko; Fumio Kanehiro (IROS, 2019)

Humanoid Robot HRP-5P: An Electrically Actuated Humanoid Robot With High-Power and Wide-Range Joints. - Kenji Kaneko; Hiroshi Kaminaga; Takeshi Sakaguchi; Shuuji Kajita; Mitsuharu Morisawa; Iori Kumagai; Fumio Kanehiro (IEEE Robotics Autom. Lett., 2019)

Toward Industrialization of Humanoid Robots: Autonomous Plasterboard Installation to Improve Safety and Efficiency. - Iori Kumagai; Fumio Kanehiro; Mitsuharu Morisawa; Takeshi Sakaguchi; Shinichiro Nakaoka; Kenji Kaneko; Hiroshi Kaminaga; Shuuji Kajita; Mehdi Benallegue; Rafael Cisneros 001 (IEEE Robotics Autom. Mag., 2019)

Reliable chattering-free simulation of friction torque in joints presenting high stiction. - Rafael Cisneros 001; Mehdi Benallegue; Ryo Kikuuwe; Mitsuharu Morisawa; Fumio Kanehiro (IROS, 2020)

An inverse dynamics-based multi-contact locomotion control framework without joint torque feedback. - Rafael Cisneros Limón; Mitsuharu Morisawa; Mehdi Benallegue; Adrien Escande; Fumio Kanehiro (Adv. Robotics, 2020)

A survey: dynamics of humanoid robots. - Tomomichi Sugihara; Mitsuharu Morisawa (Adv. Robotics, 2020)

On-Site Locomotion Planning for a Humanoid Robot with Stable Whole-Body Collision Avoidance Motion Guided by Footsteps and Centroidal Trajectory. - Iori Kumagai; Mitsuharu Morisawa; Shin'ichiro Nakaoka; Fumio Kanehiro (Int. J. Humanoid Robotics, 2020)

Sequential Trajectory Generation for Dynamic Multi-Contact Locomotion Synchronizing Contact. - Mitsuharu Morisawa; Rafael Cisneros 001; Mehdi Benallegue; Iori Kumagai; Adrien Escande; Fumio Kanehiro (Int. J. Humanoid Robotics, 2020)

Lyapunov-Stable Orientation Estimator for Humanoid Robots. - Mehdi Benallegue; Rafael Cisneros 001; Abdelaziz Benallegue; Yacine Chitour; Mitsuharu Morisawa; Fumio Kanehiro (IEEE Robotics Autom. Lett., 2020)

Multi-Contact Locomotion Planning for Humanoid Robot Based on Sustainable Contact Graph With Local Contact Modification. - Iori Kumagai; Mitsuharu Morisawa; Shizuko Hattori; Mehdi Benallegue; Fumio Kanehiro (IEEE Robotics Autom. Lett., 2020)

On compliance and safety with torque-control for robots with high reduction gears and no joint-torque feedback. - Mehdi Benallegue; Rafael Cisneros 001; Abdelaziz Benallegue; Arnaud Tanguy; Adrien Escande; Mitsuharu Morisawa; Fumio Kanehiro (IROS, 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)

Learning Bipedal Walking On Planned Footsteps For Humanoid Robots. - Rohan P. Singh; Mehdi Benallegue; Mitsuharu Morisawa; Rafael Cisneros 001; Fumio Kanehiro (Humanoids, 2022)

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)

Robust Humanoid Walking on Compliant and Uneven Terrain with Deep Reinforcement Learning. - Rohan P. Singh; Mitsuharu Morisawa; Mehdi Benallegue; Zhaoming Xie; Fumio Kanehiro (Humanoids, 2024)

A mathematical characterization of the convergence domain for Direct Visual Servoing. - Meriem Belinda Naamani; Guillaume Caron; Mitsuharu Morisawa; El Mustapha Mouaddib (IROS, 2024)

ICP-Based Pallet Tracking for Unloading on Inclined Surfaces by Autonomous Forklifts. - Takuro Kato; Mitsuharu Morisawa (SII, 2024)

Learning Bipedal Walking for Humanoid Robots in Challenging Environments with Obstacle Avoidance. - Marwan Hamze; Mitsuharu Morisawa; Eiichi Yoshida (CoRR, 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)

A Cybernetic Avatar System to Embody Human Telepresence for Connectivity, Exploration, and Skill Transfer. - Rafael Cisneros Limón; Antonin Dallard; Mehdi Benallegue; Kenji Kaneko; Hiroshi Kaminaga; Pierre Gergondet; Arnaud Tanguy; Rohan Pratap Singh; Leyuan Sun; Yang Chen 026; Carole Fournier; Guillaume Lorthioir; et al. (Int. J. Soc. Robotics, 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)