Forward and Inverse Kinematics for a Small-Sized Humanoid Robot. - Juan Manuel Ibarra Zannatha; Rafael Cisneros Limón (CONIELECOMP, 2009)

Visual SLAM with oriented landmarks and partial odometry. - Eric Hernández; Juan Manuel Ibarra; José Neira; Rafael Cisneros 001; Jorge E. Lavín (CONIELECOMP, 2011)

Mechanical design and kinematic analysis of the AH1N1 humanoid robot. - M. E. Hunter Sanchez; Felipe J. K. Lara Leyva; Rafael Cisneros Limón; Juan Manuel Ibarra Zannatha (CONIELECOMP, 2011)

Monocular visual self-localization for humanoid soccer robots. - Juan Manuel Ibarra Zannatha; Rafael Cisneros Limón; Ángel David Gómez Sánchez; Eric Hernández Castillo; L. E. Figueroa Medina; Felipe J. K. Lara Leyva (CONIELECOMP, 2011)

Behavior control for a humanoid soccer player using Webots. - Juan Manuel Ibarra Zannatha; L. E. Figueroa Medina; Rafael Cisneros Limón; Pedro Mejía-Alvarez (CONIELECOMP, 2011)

Ball dynamics simulation on OpenHRP3. - Rafael Cisneros 001; Eiichi Yoshida; Kazuhito Yokoi (ROBIO, 2012)

Impulsive pedipulation of a spherical object for reaching a 3D goal position. - Rafael Cisneros 001; Kazuhito Yokoi; Eiichi Yoshida (Humanoids, 2013)

Partial yaw moment compensation through whole-body motion. - Rafael Cisneros 001; Eiichi Yoshida; Kazuhito Yokoi (Humanoids, 2014)

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)

Workspace analysis of a 6-RSS parallel robot considering non-ideal spherical joints. - Rafael Cisneros Limón; José Luis Vázquez-González; Jose Rafael Mendoza Vazquez (IROS, 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)

Stable simulation of flexible cable-like objects by using serial kinematic chains with high number of passive degrees-of-freedom. - Rafael Cisneros 001; Ryo Kikuuwe; Shinichiro Nakaoka; Fumio Kanehiro (SIMPAR, 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)

Impulsive Pedipulation of a Spherical Object with 3D Goal Position by a Humanoid Robot: A 3D Targeted Kicking Motion Generator. - Rafael Cisneros 001; Kazuhito Yokoi; Eiichi Yoshida (Int. J. Humanoid Robotics, 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)

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)

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)

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)

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)

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)

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)

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)

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)

Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM. - Yang Chen 026; Leyuan Sun; Mehdi Benallegue; Rafael Cisneros Limón; Rohan P. Singh; Kenji Kaneko; Arnaud Tanguy; Guillaume Caron; Kenji Suzuki 002; Abderrahmane Kheddar; Fumio Kanehiro (Humanoids, 2022)

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

Spatial Calibration of Humanoid Robot Flexible Tactile Skin for Human-Robot Interaction. - Sélim Chefchaouni Moussaoui; Rafael Cisneros Limón; Hiroshi Kaminaga; Mehdi Benallegue; Taiki Nobeshima; Shusuke Kanazawa; Fumio Kanehiro (Sensors, 2023)

Teleoperation of Humanoid Robots: A Survey. - Kourosh Darvish; Luigi Penco; Joao Ramos; Rafael Cisneros 001; Jerry E. Pratt; Eiichi Yoshida; Serena Ivaldi; Daniele Pucci (IEEE Trans. Robotics, 2023)

Velocity-Aided IMU-Based Tilt and Attitude Estimation. - Mehdi Benallegue; Abdelaziz Benallegue; Rafael Cisneros 001; Yacine Chitour (IEEE Trans. Autom. Control., 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)

Learning to Classify Surface Roughness Using Tactile Force Sensors. - Younes Houhou; Rohan Pratap Singh; Rafael Cisneros Limón (SII, 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)

Compliant Contacts Balance-Force Controller for Legged Robots. - Marwan Hamze; Mehdi Benallegue; Rafael Cisneros 001; Abdelaziz Benallegue (IEEE Robotics Autom. Lett., 2024)

A Lightweight Approach to Efficient Multimodal 2D Navigation and Mapping: Unified Laser-Scans as an Alternative to 3D Methods. - Ocean Noel; Rafael Cisneros Limón; Kenji Kaneko; Fumio Kanehiro (SII, 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)