Real-time skating motion control of humanoid robots for acceleration and balancing. - Noriaki Takasugi; Kunio Kojima; Shunichi Nozawa; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (IROS, 2016)

Development of life-sized humanoid robot platform with robustness for falling down, long time working and error occurrence. - Yohei Kakiuchi; Masayuki Kamon; Nobuyasu Shimomura; Sou Yukizaki; Noriaki Takasugi; Shunichi Nozawa; Kei Okada; Masayuki Inaba (IROS, 2017)

3D walking and skating motion generation using divergent component of motion and gauss pseudospectral method. - Noriaki Takasugi; Kunio Kojima; Shunichi Nozawa; Kei Okada; Masayuki Inaba (IROS, 2017)

Extended Three-Dimensional Walking and Skating Motion Generation for Multiple Noncoplanar Contacts With Anisotropic Friction: Application to Walk and Skateboard and Roller Skate. - Noriaki Takasugi; Kunio Kojima; Shunichi Nozawa; Fumihito Sugai; Youhei Kakiuchi; Kei Okada; Masayuki Inaba (IEEE Robotics Autom. Lett., 2019)

Tachyon: Design and Control of High Payload, Robust, and Dynamic Quadruped Robot with Series-Parallel Elastic Actuators. - Yasuhisa Kamikawa; Masaya Kinoshita; Noriaki Takasugi; Katsufumi Sugimoto; Toshimitsu Kai; Takashi Kito; Atsushi Sakamoto; Ken'ichiro Nagasaka; Yasunori Kawanami (IROS, 2021)

Versatile Telescopic-Wheeled-Legged Locomotion of Tachyon 3 via Full-Centroidal Nonlinear Model Predictive Control. - Sotaro Katayama; Noriaki Takasugi; Mitsuhisa Kaneko; Masaya Kinoshita (CoRR, 2023)

Robustifying Model-Based Locomotion by Zero-order Stochastic Nonlinear Model Predictive Control with Guard Saltation Matrix. - Sotaro Katayama; Noriaki Takasugi; Mitsuhisa Kaneko; Norio Nagatsuka; Masaya Kinoshita (IROS, 2024)

Real-time Perceptive Motion Control using Control Barrier Functions with Analytical Smoothing for Six-Wheeled-Telescopic-Legged Robot Tachyon 3. - Noriaki Takasugi; Masaya Kinoshita; Yasuhisa Kamikawa; Ryoichi Tsuzaki; Atsushi Sakamoto; Toshimitsu Kai; Yasunori Kawanami (IROS, 2024)

Robust Locomotion via Zero-order Stochastic Nonlinear Model Predictive Control with Guard Saltation Matrix. - Sotaro Katayama; Noriaki Takasugi; Mitsuhisa Kaneko; Norio Nagatsuka; Masaya Kinoshita (CoRR, 2024)

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions. - Yu Ishihara; Noriaki Takasugi; Kotaro Kawakami; Masaya Kinoshita; Kazumi Aoyama (CoRR, 2025)