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)

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)

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)