A method to extract passable area using stereo measurement and projective transformation for small vehicles. - Hideaki Nishijima; Yu Ichihashi; Hidemichi Aoshima; Naoki Hiraoka; Takeshi Hashimoto (HCCE, 2012)

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)

Online System for Dynamic Multi-contact Motion with Impact Force Based on Contact Wrench Estimation and Current-Based Torque Control. - Kazuki Fukazawa; Naoki Hiraoka; Kunio Kojima; Shintaro Noda; Masahiro Bando; Kei Okada; Masayuki Inaba (IROS, 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)

Estimation and Control of Motor Core Temperature With Online Learning of Thermal Model Parameters: Application to Musculoskeletal Humanoids. - Kento Kawaharazuka; Naoki Hiraoka; Kei Tsuzuki; Moritaka Onitsuka; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (IEEE Robotics Autom. Lett., 2020)

Online Learning of Danger Avoidance for Complex Structures of Musculoskeletal Humanoids and Its Applications. - Kento Kawaharazuka; Naoki Hiraoka; Yuya Koga; Manabu Nishiura; Yusuke Omura; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (HUMANOIDS, 2021)

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)

Development of a Multi-Fingered Hand with a Multi-Step Locking Mechanism for Carrying Heavy Objects by a Humanoid Robot. - Yutaro Matsuura; Naoki Hiraoka; Kunio Kojima; Iori Yanokura; Hiroki Yoshioka; Kei Okada; Masayuki Inaba (Humanoids, 2022)

Design and Development for Humanoid-Vehicle Transformer Platform with Plastic Resin Structure and Distributed Redundant Sensors. - Tasuku Makabe; Naoki Hiraoka; Shintaro Noda; Tomoki Anzai; Kohei Kimura; Mirai Hattori; Hiroya Sato; Fumihito Sugai; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (ICRA, 2022)

Whole-Body Torque Control Without Joint Position Control Using Vibration-Suppressed Friction Compensation for Bipedal Locomotion of Gear-Driven Torque Sensorless Humanoid. - Takuma Hiraoka; Shimpei Sato; Naoki Hiraoka; Annan Tang; Kunio Kojima; Kei Okada; Masayuki Inaba; Koji Kawasaki (IROS, 2023)

Development of a Whole-Body Work Imitation Learning System by a Biped and Bi-Armed Humanoid. - Yutaro Matsuura; Kento Kawaharazuka; Naoki Hiraoka; Kunio Kojima; Kei Okada; Masayuki Inaba (IROS, 2023)

Humanoid Walking System with CNN-Based Uneven Terrain Recognition and Landing Control with Swing-Leg Velocity Constraints. - Shimpei Sato; Kunio Kojima; Naoki Hiraoka; Kei Okada; Masayuki Inaba (IROS, 2023)

HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot via Wasserstein Adversarial Imitation. - Annan Tang; Takuma Hiraoka; Naoki Hiraoka; Fan Shi 002; Kento Kawaharazuka; Kunio Kojima; Kei Okada; Masayuki Inaba (ICRA, 2024)

Magnetic tactile sensor with load tolerance and flexibility using frame structures for estimating triaxial contact force distribution of humanoid. - Takuma Hiraoka; Ren Kunita; Kunio Kojima; Naoki Hiraoka; Masanori Konishi; Tasuku Makabe; Annan Tang; Kei Okada; Masayuki Inaba (IROS, 2024)

Design of Upper-Limb Exoskeleton with Distal Branching Link Mechanism for Bilateral Operation of Humanoid Robots. - Hiroki Yoshioka; Naoki Hiraoka; Kunio Kojima; Kei Okada; Masayuki Inaba (IROS, 2024)

Sampling-Based Global Path Planning Using Convex Polytope Approximation for Narrow Collision-Free Space of Humanoid. - Naoki Hiraoka; Hirokazu Ishida; Takuma Hiraoka; Kunio Kojima; Kei Okada; Masayuki Inaba (Int. J. Humanoid Robotics, 2024)

CoverLib: Classifiers-Equipped Experience Library by Iterative Problem Distribution Coverage Maximization for Domain-Tuned Motion Planning. - Hirokazu Ishida; Naoki Hiraoka; Kei Okada; Masayuki Inaba (IEEE Trans. Robotics, 2025)