Bio
Fumio Kanehiro received the BE, ME, and PhD in engineering from The University of Tokyo, Japan, in 1994, 1996, and 1999, respectively. He was a Research Fellow of the Japan Society for the Promotion of Science in 1998-1999. In 2000, he joined the Electrotechnical Laboratory, Agency of Industrial Science and Technology, Ministry of Industrial Science and Technology (AIST-MITI), later reorganized as National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan. From April 2007, he was a visiting researcher at the LAAS- CNRS for one year and three months. He is currently Director of CNRS-AIST JRL (Joint Robotics Laboratory), IRL, AIST. His research interests include the software platform development and whole body motion planning of the humanoid robot.
Publications
The publication list may not be complete, especially for publications prior to 2017. We are working on updating it.
| Title | Authors | Conference/Book | Year | bib | |
| Humanoid Loco-Manipulations using Combined Fast Dense 3D Tracking and SLAM with Wide-Angle Depth-Images | K. Chappellet, M. Murooka, G. Caron, F. Kanehiro, A. Kheddar | IEEE Transactions on Automation Science and Engineering | 2024 | ||
| Whole-Body Multi-Contact Motion Control for Humanoid Robots Based on Distributed Tactile Sensors | M. Murooka, K. Fukumitsu, M. Hamze, M. Morisawa, H. Kaminaga, F. Kanehiro, E. Yoshida | IEEE Robotics and Automation Letters | 2024 | ||
| End-Effectors Changer Design for Humanoids | J. Roux, J.-B. Izard, A. Tanguy, H. Kaminaga, F. Kanehiro, A. Kheddar | IEEE Robotics and Automation Letters | 2024 | ||
| Analysis and Perspectives on the ANA Avatar XPRIZE Competition | K. Hauser, E. Watson, J. Bae, J. Bankston, S. Behnke, B. Borgia, M. G. Catalano, S. Dafarra, J. B.f. Van Erp, T. Ferris, J. Fishel, G. Hoffman, S. Ivaldi, F. Kanehiro, A. Kheddar, G. Lannuzel, J. Ford Morie, P. Naughton, S. Nguyen, P. Oh, T. Padir, J. Pippine, J. Park, D. Pucci, J. Vaz, P. Whitney, P. Wu, D. Locke | International Journal of Social Robotics | 2024 | ||
| A cybernetic avatar system to embody human telepresence for connectivity, exploration, and skill transfer | R. Cisneros-Limón, A. Dallard, M. Benallegue, K. Kaneko, H. Kaminaga, P. Gergondet, A. Tanguy, R. Singh, L. Sun, Y. Chen, C. Fournier, G. Lorthioir, M. Tsuru, Ś. Chefchaouni-Moussaoui, Y. Osawa, G. Caron, K. Chappellet, M. Morisawa, A. Escande, Ko Ayusawa, Y. Houhou, I. Kumagai, M. Ono, K. Shirasaka, S. Wada, H. Wada, F. Kanehiro, A. Kheddar | International Journal of Social Robotics | 2024 | ||
| Aligning objects as preprocessing combined with imitation learning for improved generalization | M. Barstugan, S. Masuda, R. Sagawa, F. Kanehiro | International Conference on Control and Robotics | 2024 | ||
| Robust Humanoid Walking on Compliant and Uneven Terrain with Deep Reinforcement Learning | R. Singh, M. Morisawa, M. Benallegue, Z. Xie, F. Kanehiro | IEEE-RAS International Conference on Humanoid Robots | 2024 | ||
| Contact Stability Control of Stepping Over Partial Footholds Using Plantar Tactile Feedback | J. Guadarrama-Olvera, S. Kajita, F. Kanehiro, G. Cheng | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2024 | ||
| On camera model conversions | E. Goichon, G. Caron, P. Vasseur, F. Kanehiro | IEEE International Conference on Robotics and Automation | 2024 | ||
| Vision-Based Software System for Indoor Quadrupedal Locomotion: Integrated with SLAM, Foothold Planning, and Multimodal Gait | G. Nara, F. Kanehiro | IEEE/SICE International Symposium on System Integration | 2024 | ||
| Sensor Anomaly Detection for Biped Robot Using the Dynamic Equation of a Robotic System | A. Alaverdov, F. Kanehiro | IEEE/SICE International Symposium on System Integration | 2024 | ||
| Learning and Generalizing Tasks on Humanoid Robots with an Automatic Multisensory Segmentation Method | V. Barberteguy, F. Kanehiro | IEEE/SICE International Symposium on System Integration | 2024 | ||
| Evaluation de localisation et cartographie simultanées de robot mobile par caméra couleur-profondeur embarquée | E. Goichon, F. Kanehiro, P. Vasseur, G. Caron | Congrès des Jeunes Chercheurs en Vision par Ordinateur | 2023 | ||
| Mc-Mujoco: Simulating Articulated Robots with FSM Controllers in MuJoCo | R. Singh, P. Gergondet, F. Kanehiro | IEEE/SICE International Symposium on System Integration | 2023 | ||
| Learning Bipedal Walking for Humanoids with Current Feedback | R. Singh, Z. Xie, P. Gergondet, F. Kanehiro | IEEE Access | 2023 | ||
| Spatial Calibration of Humanoid Robot Flexible Tactile Skin for Human-Robot Interaction | S. Chefchaouni Moussaoui, R. Cisneros-Limón, H. Kaminaga, M. Benallegue, T. Nobeshima, S. Kanazawa, F. Kanehiro | Sensors | 2023 | ||
| Dual-Arm Mobile Manipulation Planning of a Long Deformable Object in Industrial Installation | Y. Qin, A. Escande, F. Kanehiro, E. Yoshida | IEEE Robotics and Automation Letters | 2023 | ||
| Synchronized Human-Humanoid Motion Imitation | A. Dallard, M. Benallegue, F. Kanehiro, A. Kheddar | IEEE Robotics and Automation Letters | 2023 | ||
| TransFusionOdom: Transformer-based LiDAR-Inertial Fusion Odometry Estimation | L. Sun, G. Ding, Y. Qiu, Y. Yoshiyasu, F. Kanehiro | IEEE Sensors Journal | 2023 | ||
| Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM | Y. Chen, L. Sun, M. Benallegue, R. Cisneros-Limón, R. Singh, K. Kaneko, A. Tanguy, G. Caron, K. Suzuki, A. Kheddar, F. Kanehiro | IEEE-RAS International Conference on Humanoid Robots | 2022 | ||
| Learning Bipedal Walking on Planned Footsteps for Humanoid Robots | R. Singh, M. Benallegue, M. Morisawa, R. Cisneros-Limón, F. Kanehiro | IEEE-RAS International Conference on Humanoid Robots | 2022 | ||
| Reachability Based Trajectory Generation Combining Global Graph Search in Task Space and Local Optimization in Configuration Space | I. Kumagai, M. Murooka, M. Morisawa, F. Kanehiro | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2022 | ||
| CertainOdom: Uncertainty Weighted Multi-task Learning Model for LiDAR Odometry Estimation | L. Sun, G. Ding, Y. Yoshiyasu, F. Kanehiro | International Conference on Robotics and Biomimetics | 2022 | ||
| Centroidal Trajectory Generation and Stabilization Based on Preview Control for Humanoid Multi-Contact Motion | M. Murooka, M. Morisawa, F. Kanehiro | IEEE Robotics and Automation Letters | 2022 | ||
| Multi-Contact Locomotion Planning With Bilateral Contact Forces Considering Kinematics and Statics During Contact Transition | I. Kumagai, M. Murooka, M. Morisawa, F. Kanehiro | IEEE Robotics and Automation Letters | 2021 | ||
| Visual SLAM framework based on segmentation with the improvement of loop closure detection in dynamic environments | L. Sun, R. Singh, F. Kanehiro | Journal of Robotics and Mechatronics | 2021 | ||
| On compliance and safety with torque-control for robots with high reduction gears and no joint-torque feedback | M. Benallegue, R. Cisneros-Limón, A. Benallegue, A. Tanguy, A. Escande, M. Morisawa, F. Kanehiro | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2021 | ||
| Rapid Pose Label Generation through Sparse Representation of Unknown Objects | R. Singh, M. Benallegue, Y. Yoshiyasu, F. Kanehiro | IEEE International Conference on Robotics and Automation | 2021 | ||
| Benchmarking Cameras for OpenVSLAM Indoors | K. Chappellet, G. Caron, F. Kanehiro, K. Sakurada, A. Kheddar | IAPR/IEEE International Conference on Pattern Recognition | 2021 | ||
| Humanoid Loco-Manipulations Pattern Generation and Stabilization Control | M. Murooka, K. Chappellet, A. Tanguy, M. Benallegue, I. Kumagai, M. Morisawa, F. Kanehiro, A. Kheddar | IEEE Robotics and Automation Letters | 2021 | ||
| Humanoid Loco-Manipulation Planning Based on Graph Search and Reachability Maps | M. Murooka, I. Kumagai, M. Morisawa, F. Kanehiro, A. Kheddar | IEEE Robotics and Automation Letters | 2021 | ||
| Multi-Contact Locomotion Planning for Humanoid Robot Based on Sustainable Contact Graph With Local Contact Modification | I. Kumagai, M. Morisawa, S. Hattori, M. Benallegue, F. Kanehiro | IEEE Robotics and Automation Letters | 2020 | ||
| Lyapunov-Stable Orientation Estimator for Humanoid Robots | M. Benallegue, R. Cisneros-Limón, A. Benallegue, Y. Chitour, M. Morisawa, F. Kanehiro | IEEE Robotics and Automation Letters | 2020 | ||
| Re-posing Objects Considering Bipedal Stability Constraints: An Approach for Stability Preservation During Humanoid Manipulation | D. Sánchez, W. Wan, F. Kanehiro, K. Harada | International Journal of Humanoid Robotics | 2020 | ||
| Sequential Trajectory Generation for Dynamic Multi-Contact Locomotion Synchronizing Contact | M. Morisawa, R. Cisneros-Limón, M. Benallegue, I. Kumagai, A. Escande, F. Kanehiro | International Journal of Humanoid Robotics | 2020 | ||
| An inverse dynamics-based multi-contact locomotion control framework without joint torque feedback | R. Cisneros-Limón, M. Morisawa, M. Benallegue, A. Escande, F. Kanehiro | Advanced Robotics | 2020 | ||
| Preparatory Manipulation Planning Using Automatically Determined Single and Dual Arm | W. Wan, K. Harada, F. Kanehiro | IEEE Transactions on Industrial Informatics | 2020 | ||
| Planning Grasps With Suction Cups and Parallel Grippers Using Superimposed Segmentation of Object Meshes | W. Wan, K. Harada, F. Kanehiro | IEEE Transactions on Robotics | 2020 | ||
| Multi-purpose SLAM framework for Dynamic Environment | L. Sun, F. Kanehiro, I. Kumagai, Y. Yoshiyasu | IEEE/SICE International Symposium on System Integration | 2020 | ||
| Instance-specific 6-DoF Object Pose Estimation from Minimal Annotations | R. Singh, I. Kumagai, A. Gabas, M. Benallegue, Y. Yoshiyasu, F. Kanehiro | IEEE/SICE International Symposium on System Integration | 2020 | ||
| Reliable chattering-free simulation of friction torque in joints presenting high stiction | R. Cisneros-Limón, M. Benallegue, R. Kikuuwe, M. Morisawa, F. Kanehiro | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2020 | ||
| Multi-Contact Stabilization of a Humanoid Robot for Realizing Dynamic Contact Transitions on Non-coplanar Surfaces | M. Morisawa, M. Benallegue, R. Cisneros-Limón, I. Kumagai, A. Escande, K. Kaneko, F. Kanehiro | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2019 | ||
| Toward 6 DOF Object Pose Estimation with Minimum Dataset | K. Suzui, Y. Yoshiyasu, A. Gabas, F. Kanehiro, E. Yoshida | IEEE/SICE International Symposium on System Integration | 2019 | ||
| Humanoid robots in aircraft manufacturing: the Airbus use-cases | A. Kheddar, S. Caron, P. Gergondet, A. Comport, A. Tanguy, C. Ott, B. Henze, G. Mesesan, J. Englsberger, M. Roa, P.-B. Wieber, F. Chaumette, F. Spindler, G. Oriolo, L. Lanari, A. Escande, K. Chappellet, F. Kanehiro, P. Rabate | IEEE Robotics & Automation Magazine | 2019 | ||
| Toward Industrialization of Humanoid Robots: Autonomous Plasterboard Installation to Improve Safety and Efficiency | I. Kumagai, M. Morisawa, T. Sakaguchi, S. Nakaoka, K. Kaneko, H. Kaminaga, S. Kajita, M. Benallegue, R. Cisneros-Limón, F. Kanehiro | IEEE Robotics & Automation Magazine | 2019 | ||
| Detecting Errors in A Humanoid Robot | J. Inoue, F. Kanehiro, M. Morisawa, A. Mori | International Conference on Software Quality, Reliability and Security | 2018 | ||
| Perception Based Locomotion System For a Humanoid Robot with Adaptive Footstep Compensation under Task Constraints | I. Kumagai, M. Morisawa, S. Nakaoka, T. Sakaguchi, H. Kaminaga, K. Kaneko, F. Kanehiro | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2018 | ||
| Robust humanoid control using a QP solver with integral gains | R. Cisneros-Limón, M. Benallegue, A. Benallegue, M. Morisawa, H. Audren, P. Gergondet, A. Escande, A. Kheddar, F. Kanehiro | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2018 | ||
| Model-based external force/moment estimation for humanoid robots with no direct measurement | M. Benallegue, P. Gergondet, H. Audren, A. Mifsud, M. Morisawa, F. Lamiraux, A. Kheddar, F. Kanehiro | IEEE International Conference on Robotics and Automation | 2018 | ||
| Regrasp Planning Considering Bipedal Stability Constraints | D. Sánchez, W. Wan, K. Harada, F. Kanehiro | IEEE-RAS International Conference on Humanoid Robots | 2018 | ||
| Online 3D CoM Trajectory Generation for Multi-Contact Locomotion Synchronizing Contact | M. Morisawa, R. Cisneros-Limón, M. Benallegue, I. Kumagai, A. Escande, F. Kanehiro | IEEE-RAS International Conference on Humanoid Robots | 2018 | ||
| Efficient Locomotion Planning for a Humanoid Robot with Whole-Body Collision Avoidance Guided by Footsteps and Centroidal Sway Motion | I. Kumagai, M. Morisawa, S. Nakaoka, F. Kanehiro | IEEE-RAS International Conference on Humanoid Robots | 2018 | ||
| Redundant Strain Measurement of Link Structures for Improved Stability of Light Weight Torque Controlled Robots | H. Kaminaga, F. Kanehiro | IEEE-RAS International Conference on Humanoid Robots | 2018 | ||
| Biped Gait Control Based on Spatially Quantized Dynamics | S. Kajita, M. Benallegue, R. Cisneros-Limón, T. Sakaguchi, S. Nakaoka, M. Morisawa, H. Kaminaga, I. Kumagai, K. Kaneko, F. Kanehiro | IEEE-RAS International Conference on Humanoid Robots | 2018 | ||
| Partial Yaw Moment Compensation using an Optimization-based Multi-Objective Motion Solver | R. Cisneros-Limón, M. Benallegue, M. Morisawa, E. Yoshida, K. Yokoi, F. Kanehiro | IEEE-RAS International Conference on Humanoid Robots | 2018 | ||
| On prioritized inverse kinematics tasks: Time-space decoupling | W. Suleiman, Ko Ayusawa, F. Kanehiro, E. Yoshida | IEEE International Workshop on Advanced Motion Control | 2018 | ||
| Complementary Integration Framework of Localization and Recognition for a Humanoid Robot Based on Task-Oriented Frequency and Accuracy Requirement | I. Kumagai, F. Sugai, S. Nozawa, Y. Kakiuchi, K. Okada, M. Inaba, F. Kanehiro | IEEE-RAS International Conference on Humanoid Robots | 2017 | ||
| Biped walking pattern generation based on spatially quantized dynamics | S. Kajita, M. Benallegue, R. Cisneros-Limón, T. Sakaguchi, S. Nakaoka, M. Morisawa, K. Kaneko, F. Kanehiro | IEEE-RAS International Conference on Humanoid Robots | 2017 | ||
| Developing Semi-Autonomous Humanoid Robots that Perform Various Composite Tasks via a Task Sequencer and Dynamics Simulator | S. Nakaoka, R. Cisneros-Limón, M. Morisawa, T. Sakaguchi, K. Kaneko, S. Kajita, F. Kanehiro | IEEE International Conference on Advanced Robotics and its Social Impacts | 2017 | ||
| 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 | R. Cisneros-Limón, S. Nakaoka, M. Morisawa, K. Kaneko, S. Kajita, T. Sakaguchi, F. Kanehiro | Advanced Robotics | 2016 | ||
| Multi-Contact Vertical Ladder Climbing with a HRP-2 Humanoid | J. Vaillant, A. Kheddar, H. Audren, F. Keith, S. Brossette, A. Escande, K. Bouyarmane, K. Kaneko, M. Morisawa, P. Gergondet, E. Yoshida, S. Kajita, F. Kanehiro | Autonomous Robots | 2016 | ||
| Enabling a teleoperated humanoid robot to pass through debris-filled terrain using manipulation | R. Cisneros-Limón, M. Morisawa, S. Nakaoka, K. Kaneko, S. Kajita, T. Sakaguchi, F. Kanehiro | IEEE-RAS International Conference on Humanoid Robots | 2016 | ||
| Impact Acceleration of Falling Humanoid Robot with an Airbag | S. Kajita, R. Cisneros-Limón, M. Benallegue, T. Sakaguchi, S. Nakaoka, M. Morisawa, K. Kaneko, F. Kanehiro | IEEE-RAS International Conference on Humanoid Robots | 2016 | ||
| Stable simulation of flexible cable-like objects by using serial kinematic chains with high number of passive degrees-of-freedom | R. Cisneros-Limón, R. Kikuuwe, S. Nakaoka, F. Kanehiro | IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots | 2016 | ||
| Infeasibility-free inverse kinematics method | W. Suleiman, F. Kanehiro, E. Yoshida | IEEE/SICE International Symposium on System Integration | 2015 | ||
| Modeling Dynamic Scenes by One-shot 3D Acquisition System for Moving Humanoid Robot | R. Sagawa, C. Malleson, M. Morisawa, K. Kaneko, F. Kanehiro, Y. Matsumoto, A. Hilton | International Symposium on Robot and Human Interactive Communication | 2015 | ||
| Task Sequencer Integrated into a Teleoperation Interface for Biped Humanoid Robots | S. Nakaoka, M. Morisawa, R. Cisneros-Limón, T. Sakaguchi, S. Kajita, K. Kaneko, F. Kanehiro | IEEE-RAS International Conference on Humanoid Robots | 2015 | ||
| Humanoid Robot HRP-2Kai - Improvement of HRP-2 towards Disaster Response Tasks | K. Kaneko, M. Morisawa, S. Kajita, S. Nakaoka, T. Sakaguchi, R. Cisneros-Limón, F. Kanehiro | IEEE-RAS International Conference on Humanoid Robots | 2015 | ||
| Task-Level Teleoperated Manipulation for the HRP-2Kai Humanoid Robot | R. Cisneros-Limón, S. Kajita, T. Sakaguchi, S. Nakaoka, M. Morisawa, K. Kaneko, F. Kanehiro | IEEE-RAS International Conference on Humanoid Robots | 2015 | ||
| Biped Locomotion Control for Uneven Terrain with Narrow Support Region | M. Morisawa, N. Kita, S. Nakaoka, K. Kaneko, S. Kajita, F. Kanehiro | IEEE/SICE International Symposium on System Integration | 2014 | ||
| Efficient reaching motion planning method for low-level autonomy of teleoperated humanoid robots | F. Kanehiro, E. Yoshida, K. Yokoi | Advanced Robotics | 2014 | ||
| As-Conformal-As-Possible Surface Registration | Y. Yoshiyasu, W.-C. Ma, E. Yoshida, F. Kanehiro | Computer Graphics Forum | 2014 | ||
| Development of an Indirect-type Teleoperation Interface for Biped Humanoid Robots | S. Nakaoka, M. Morisawa, K. Kaneko, S. Kajita, F. Kanehiro | IEEE/SICE International Symposium on System Integration | 2014 | ||
| Vertical ladder climbing by the HRP-2 humanoid robot | J. Vaillant, A. Kheddar, H. Audren, F. Keith, S. Brossette, K. Kaneko, M. Morisawa, E. Yoshida, F. Kanehiro | IEEE-RAS International Conference on Humanoid Robots | 2014 | ||
| Obstacle Detection for a Bipedal Walking Robot by a Fisheye Stereo | N. Kita, F. Kanehiro, M. Morisawa, K. Kaneko | IEEE/SICE International Symposium on System Integration | 2013 | ||
| Humanoid Robot as an Evaluator of Assistive Devices | K. Miura, E. Yoshida, Y. Kobayashi, Y. Endo, F. Kanehiro, K. Homma, Kajitani.isamu, Y. Matsumoto, T. Tanaka | IEEE International Conference on Robotics and Automation | 2013 | ||
| Vertical vibration suppression for a position controlled biped robot | S. Kajita, F. Asano, M. Morisawa, K. Miura, K. Kaneko, F. Kanehiro, K. Yokoi | IEEE International Conference on Robotics and Automation | 2013 | ||
| Recognizing clothing states using 3D data observed from multiple directions | Y. Kita, T. Ueshiba, F. Kanehiro, N. Kita | IEEE-RAS International Conference on Humanoid Robots | 2013 | ||
| Foot Landing State Estimation from Point Cloud at a Landing Place | N. Kita, M. Morisawa, F. Kanehiro | IEEE-RAS International Conference on Humanoid Robots | 2013 | ||
| Disturbance Observer that estimates External Force acting on Humanoid Robots | K. Kaneko, F. Kanehiro, M. Morisawa, E. Yoshida, J.-P. Laumond | IEEE International Workshop on Advanced Motion Control | 2012 | ||
| Efficient Reaching Motion Planning and Execution for Exploration by Humanoid Robots | F. Kanehiro, E. Yoshida, K. Yokoi | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2012 | ||
| Quick Slip-Turn of HRP-4C on its Toes | K. Miura, F. Kanehiro, K. Kaneko, S. Kajita, K. Yokoi | IEEE International Conference on Robotics and Automation | 2012 | ||
| 3D Shape Measurement of a Large Cloth close to a Fisheye Stereo | N. Kita, F. Kanehiro, Y. Kita | IEEE/SICE International Symposium on System Integration | 2012 | ||
| Balance Control based on Capture Point Error Compensation for Biped Walking on Uneven Terrain | M. Morisawa, S. Kajita, F. Kanehiro, K. Kaneko, K. Miura, K. Yokoi | IEEE-RAS International Conference on Humanoid Robots | 2012 | ||
| Evaluation of a Stabilizer for Biped Walk with Toe Support Phase | S. Kajita, K. Miura, M. Morisawa, K. Kaneko, F. Kanehiro, K. Yokoi | IEEE-RAS International Conference on Humanoid Robots | 2012 | ||
| Human-like Walking with Toe Supporting for Humanoids | K. Miura, M. Morisawa, F. Kanehiro, S. Kajita, K. Kaneko, K. Yokoi | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2011 | ||
| Hardware Improvement of Cybernetic Human HRP-4C for Entertainment Use | K. Kaneko, F. Kanehiro, M. Morisawa, T. Tsuji, K. Miura, S. Nakaoka, K. Yokoi | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2011 | ||
| Humanoid Robot HRP-4- Humanoid Robotics Platform with Lightweight and Slim Body | K. Kaneko, F. Kanehiro, M. Morisawa, K. Akachi, Go Miyamori, A. Hayashi, N. Kanehira | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2011 | ||
| Reactive Robot Motion using Path Replanning and Deformation | E. Yoshida, F. Kanehiro | IEEE International Conference on Robotics and Automation | 2011 | ||
| Humanoid Robot that Achieves Bipedal Walk, Visual Recognition, and Multiple Finger Grasp | T. Tsuji, K. Kaneko, K. Harada, F. Kanehiro, M. Morisawa | IEEE-RAS International Conference on Humanoid Robots | 2011 | ||
| Reactive biped walking control for a collision of a swinging foot on uneven terrain | M. Morisawa, F. Kanehiro, K. Kaneko, S. Kajita, K. Yokoi | IEEE-RAS International Conference on Humanoid Robots | 2011 | ||
| Clothes handling based on recognition by strategic observation | Y. Kita, F. Kanehiro, T. Ueshiba, N. Kita | IEEE-RAS International Conference on Humanoid Robots | 2011 | ||
| Enhancing Zero Moment Point-Based Control Model: System Identification Approach | W. Suleiman, F. Kanehiro, K. Miura, E. Yoshida | Advanced Robotics | 2011 | ||
| Integrating Geometric Constraints into Reactive Leg Motion Generation | F. Kanehiro, M. Morisawa, W. Suleiman, K. Kaneko, E. Yoshida | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2010 | ||
| Generating Dynamically Stable Walking Patterns for Humanoid Robots Using Quadratic System Model | W. Suleiman, F. Kanehiro, K. Miura, E. Yoshida | IEEE/ASME International Conference on Advanced Intelligent Mechatronics | 2010 | ||
| Slip turn generation of humanoid robots based on an analysis of friction model ,Emerging Trends in Mobile Robotics | K. Miura, F. Kanehiro, K. Harada, K. Yokoi, S. Kajita | International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines | 2010 | ||
| Analysis on a Friction Based ``Twirl" for Biped Robots | K. Miura, S. Nakaoka, M. Morisawa, F. Kanehiro, K. Harada, S. Kajita | IEEE International Conference on Robotics and Automation | 2010 | ||
| Biped Walking Stabilization Based on Linear Inverted Pendulum Tracking | S. Kajita, M. Morisawa, K. Miura, S. Nakaoka, K. Harada, K. Kaneko, F. Kanehiro, K. Yokoi | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2010 | ||
| Time Parameterization of Humanoid-Robot Paths | W. Suleiman, F. Kanehiro, E. Yoshida, J.-P. Laumond, A. Monin | IEEE Transactions on Robotics | 2010 | ||
| Grasp Planning for a Multi-fingered Hand with a Humanoid Robot | T. Tsuji, K. Harada, K. Kaneko, F. Kanehiro, K. Maruyama | Journal of Robotics and Mechatronics | 2010 | ||
| Feasible Pattern Generation Method for Humanoid Robots | F. Kanehiro, W. Suleiman, K. Miura, M. Morisawa, E. Yoshida | IEEE-RAS International Conference on Humanoid Robots | 2009 | ||
| Cybernetic Human HRP-4C | K. Kaneko, F. Kanehiro, M. Morisawa, K. Miura, S. Nakaoka, S. Kajita | IEEE-RAS International Conference on Humanoid Robots | 2009 | ||
| Robot Motion Remix based on Motion Capture Data - Towards Human-like Locomotion of Humanoid Robots - | K. Miura, M. Morisawa, S. Nakaoka, F. Kanehiro, K. Harada, K. Kaneko, S. Kajita | IEEE-RAS International Conference on Humanoid Robots | 2009 | ||
| Creating Facial Motions of Cybernetic Human HRP-4C | S. Nakaoka, F. Kanehiro, K. Miura, M. Morisawa, K. Fujiwara, K. Kaneko, K. Kajita, S. Kajita, H. Hirukawa | IEEE-RAS International Conference on Humanoid Robots | 2009 | ||
| Improving ZMP-based Control Model Using System Identification Techniques | W. Suleiman, F. Kanehiro, K. Miura, E. Yoshida | IEEE-RAS International Conference on Humanoid Robots | 2009 | ||
| Prioritizing linear equality and inequality systems: application to local motion planning for redundant robots | O. Kanoun, F. Lamiraux, P.-B. Wieber, F. Kanehiro, E. Yoshida, J.-P. Laumond | IEEE International Conference on Robotics and Automation | 2009 | ||
| Toward Human-Like Walking Pattern Generator | K. Harada, K. Miura, M. Morisawa, K. Kaneko, S. Nakaoka, F. Kanehiro, T. Tsuji, Kajita.shuuji | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2009 | ||
| Humanoid Robot HRP-3 | K. Kaneko, K. Harada, F. Kanehiro, Go Miyamori, K. Akachi | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2008 | ||
| Integrating Dynamics into Motion Planning for Humanoid Robots | F. Kanehiro, W. Suleiman, F. Lamiraux, E. Yoshida, J.-P. Laumond | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2008 | ||
| On Human Motion Imitation by Humanoid Robot | W. Suleiman, E. Yoshida, F. Kanehiro, J.-P. Laumond, A. Monin | IEEE International Conference on Robotics and Automation | 2008 | ||
| Fast Grasp Planning for Hand/Arm Systems Based on Convex Model | K. Harada, K. Kaneko, F. Kanehiro | IEEE International Conference on Robotics and Automation | 2008 | ||
| Selecting a Suitable Grasping Motion for Humanoid Robots with Multi-Fingered | T. Tsuji, K. Harada, K. Kaneko, F. Kanehiro, Y. Kawai | IEEE-RAS International Conference on Humanoid Robots | 2008 | ||
| An Optimal Planning of Falling Motions of a Humanoid Robot | K. Fujiwara, S. Kajita, K. Harada, K. Kaneko, M. Morisawa, F. Kanehiro, S. Nakaoka, H. Hirukawa | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2007 | ||
| Dinosaur Robotics for Entertainment Applications | H. Hirukawa, F. Kanehiro, K. Kaneko, S. Kajita, M. Morisawa | IEEE Robotics & Automation Magazine | 2007 | ||
| Learning from Observation Paradigm: Leg Task Models for Enabling a Biped Humanoid Robot to Imitate Human Dances | S. Nakaoka, A. Nakazawa, F. Kanehiro, K. Kaneko, M. Morisawa, H. Hirukawa, K. Ikeuchi | The International Journal of Robotics Research | 2007 | ||
| Online object search with a humanoid robot | F. Saidi, O. Stasse, K. Yokoi, F. Kanehiro | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2007 | ||
| Constraint-based Dynamics Simulator for Humanoid Robots with Shock Absorbing Mechanisms | S. Nakaoka, S. Hattori, F. Kanehiro, S. Kajita, H. Hirukawa | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2007 | ||
| Experimentation of Humanoid Walking Allowing Immediate Modification of Foot Place Based on Analytical Solution | M. Morisawa, K. Harada, S. Kajita, S. Nakaoka, K. Fujiwara, F. Kanehiro, K. Kaneko, H. Hirukawa | IEEE International Conference on Robotics and Automation | 2007 | ||
| Development of Multi-fingered Hand for Life-size Humanoid Robots | K. Kaneko, K. Harada, F. Kanehiro | IEEE International Conference on Robotics and Automation | 2007 | ||
| Getting up Motion Planning using Mahalanobis Distance | F. Kanehiro, K. Fujiwara, H. Hirukawa, S. Nakaoka, M. Morisawa | IEEE International Conference on Robotics and Automation | 2007 | ||
| Motion Planning of Emergency Stop for Humanoid Robot by State Space Approach | M. Morisawa, K. Kaneko, F. Kanehiro, S. Kajita, K. Fujiwara, K. Harada, H. Hirukawa | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2006 | ||
| Towards an Optimal Falling Motion for a Humanoid Robot | K. Fujiwara, S. Kajita, K. Harada, K. Kaneko, M. Morisawa, F. Kanehiro, S. Nakaoka, H. Hirukawa | IEEE-RAS International Conference on Humanoid Robots | 2006 | ||
| A Biped Pattern Generation Allowing Immediate Modification of Foot Placement in Real-time | M. Morisawa, K. Harada, S. Kajita, K. Kaneko, F. Kanehiro, K. Fujiwara, S. Nakaoka, H. Hirukawa | IEEE-RAS International Conference on Humanoid Robots | 2006 | ||
| A Universal Stability Criterion of the Foot Contact of Legged Robots ? Adios ZMP | H. Hirukawa, S. Hattori, K. Harada, S. Kajita, K. Kaneko, F. Kanehiro, K. Fujiwara, M. Morisawa | IEEE International Conference on Robotics and Automation | 2006 | ||
| Biped Walking Pattern Generator allowing Auxiliary ZMP Control | S. Kajita, M. Morisawa, K. Harada, K. Kaneko, F. Kanehiro, K. Fujiwara, H. Hirukawa | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2006 | ||
| Distributed Control System of Humanoid Robots based on Real-time Ethernet | F. Kanehiro, Y. Ishiwata, H. Saito, K. Akachi, Go Miyamori, T. Isozumi, K. Kaneko, H. Hirukawa | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2006 | ||
| Motion Suspension System for Humanoids in case of Emergency - Real-time Motion Generation and Judgment to suspend Humanoid - | K. Kaneko, F. Kanehiro, S. Kajita, M. Morisawa, K. Fujiwara, K. Harada, H. Hirukawa | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2006 | ||
| Distributed Real-Time Processing for Humanoid Robots | T. Matsui, H. Hirukawa, Y. Ishikawa, N. Yamasaki, S. Kagami, F. Kanehiro, H. Saito, T. Inamura | IEEE International Conference on Embedded and Real-Time Computing Systems and Applications | 2005 | ||
| A Humanoid Robot Carrying a Heavy Object | K. Harada, S. Kajita, H. Saito, M. Morisawa, F. Kanehiro, K. Fujiwara, K. Kaneko, H. Hirukawa | IEEE International Conference on Robotics and Automation | 2005 | ||
| The Human-Size Humanoid Robot That Can Walk, Lie Down and Get Up | H. Hirukawa, S. Kajita, F. Kanehiro, K. Kaneko, T. Isozumi | The International Journal of Robotics Research | 2005 | ||
| Whole Body Locomotion Planning of Humanoid Robots based on a 3D Grid Map | F. Kanehiro, T. Yoshimi, S. Kajita, M. Morisawa, K. Fujiwara, K. Harada, K. Kaneko, H. Hirukawa, F. Tomita | IEEE International Conference on Robotics and Automation | 2005 | ||
| Pattern Generation of Biped Walking Constrained on Parametric Surface | M. Morisawa, S. Kajita, K. Kaneko, K. Harada, F. Kanehiro, K. Fujiwara, H. Hirukawa | IEEE International Conference on Robotics and Automation | 2005 | ||
| Task Model of Lower Body Motion for a Biped Humanoid Robot to Imitate Human Dances | S. Nakaoka, A. Nakazawa, F. Kanehiro, K. Kaneko, M. Morisawa, K. Ikeuchi | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2005 | ||
| Slip Observer for Walking on a Low Friction Floor | K. Kaneko, F. Kanehiro, S. Kajita, M. Morisawa, K. Fujiwara, K. Harada, H. Hirukawa | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2005 | ||
| Emergency stop algorithm for walking humanoid robots | M. Morisawa, S. Kajita, K. Harada, K. Fujiwara, F. Kanehiro, K. Kaneko, H. Hirukawa | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2005 | ||
| Real-Time Planning of Humanoid Robot's Gait for Force Controlled Manipulation | K. Harada, S. Kajita, F. Kanehiro, K. Fujiwara, K. Kaneko, K. Yokoi, H. Hirukawa | IEEE International Conference on Robotics and Automation | 2004 | ||
| Locomotion Planning of Humanoid Robots to Pass through Narrow Spaces | F. Kanehiro, H. Hirukawa, K. Kaneko, S. Kajita, K. Fujiwara, K. Harada, K. Yokoi | IEEE International Conference on Robotics and Automation | 2004 | ||
| Humanoid Robot HRP-2 | K. Kaneko, F. Kanehiro, S. Kajita, H. Hirukawa, T. Kawasaki, M. Hirata, K. Akachi, T. Isozumi | IEEE International Conference on Robotics and Automation | 2004 | ||
| OpenHRP: A Software Platform for Humanoid Robotics | F. Kanehiro, H. Hirukawa, S. Kajita | The International Journal of Robotics Research | 2004 | ||
| Experimental Study of Humanoid Robot HRP-1S | K. Yokoi, F. Kanehiro, K. Kaneko, S. Kajita, K. Fujiwara, H. Hirukawa | The International Journal of Robotics Research | 2004 | ||
| Humanoid robotics platforms developed in HRP | H. Hirukawa, F. Kanehiro, K. Kaneko, S. Kajita, K. Fujiwara, Y. Kawai, F. Tomita, S. Hirai, K. Tanie, T. Isozumi, K. Akachi, T. Kawasaki, S. Ota, K. Yokoyama, H. Handa, Y. Fukase, J.-I. Maeda, Y. Nakamura, S. Tachi, H. Inoue | Robotics and Autonomous Systems | 2004 | ||
| Dynamical Balance of a Humanoid Robot Grasping an Environment | K. Harada, H. Hirukawa, F. Kanehiro, K. Fujiwara, K. Kaneko, S. Kajita, M. Nakamura | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2004 | ||
| Biped Walking on a Low Friction Floor, | S. Kajita, K. Kaneko, K. Harada, F. Kanehiro, K. Fujiwara, H. Hirukawa | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2004 | ||
| Falling motion control of a humanoid robot trained by virtual supplementary tests | K. Fujiwara, F. Kanehiro, H. Saito, S. Kajita, K. Harada, H. Hirukawa | IEEE International Conference on Robotics and Automation | 2004 | ||
| The First Human-Size Humanoid that can Fall Over Safely and Stand-up Again | K. Fujiwara, F. Kanehiro, S. Kajita, K. Yokoi, H. Saito, K. Harada, K. Kaneko, H. Hirukawa | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2003 | ||
| The First Humanoid Robot that has the Same Size as a Human and that can Lie down and Get up | F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, S. Kajita, K. Yokoi, H. Hirukawa, K. Akachi, T. Isozumi | IEEE International Conference on Robotics and Automation | 2003 | ||
| Experimental Evaluation of the Dynamics Simulation of Biped Walking of Humanoid Robots | H. Hirukawa, F. Kanehiro, S. Kajita, K. Fujiwara, K. Yokoi, K. Kaneko, K. Harada | IEEE International Conference on Robotics and Automation | 2003 | ||
| UKEMI: Falling Motion Control to Minimize Damage to Biped Humanoid Robot | K. Fujiwara, F. Kanehiro, S. Kajita, K. Kaneko, K. Yokoi, H. Hirukawa | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2002 | ||
| Rapid Development System for Humanoid Vision-based Behaviors with Real-Virtual Common Interface | K. Okada, Y. Kino, F. Kanehiro, Y. Kuniyasu, M. Inaba, H. Inoue | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2002 | ||
| Design of Prototype Humanoid Robotics Platform for HRP | K. Kaneko, F. Kanehiro, S. Kajita, K. Yokoyama, K. Akachi, T. Kawasaki, S. Ota, T. Isozumi | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2002 | ||
| Design and Experiments of Advanced Leg Module(HRP-2L)for Humanoid Robot(HRP-2)Development | N. Kanehira, T. Kawasaki, S. Ota, T. Isozumi, T. Kawada, F. Kanehiro, S. Kajita, K. Kaneko | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2002 | ||
| A Realtime Pattern Generator for Biped Walking | S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Yokoi, H. Hirukawa | IEEE International Conference on Robotics and Automation | 2002 | ||
| Open Architecture Humanoid Robot Platform | F. Kanehiro, K. Fujiwara, S. Kajita, K. Yokoi, K. Kaneko, H. Hirukawa, Y. Nakamura, K. Yamane | IEEE International Conference on Robotics and Automation | 2002 | ||
| Design of Advanced Leg Module for Humanoid Robotics Project of METI | K. Kaneko, S. Kajita, F. Kanehiro, K. Yokoi, K. Fujiwara, H. Hirukawa, T. Kawasaki, M. Hirata, T. Isozumi | IEEE International Conference on Robotics and Automation | 2002 | ||
| Virtual Humanoid Robot Platform to Develop Controllers of Real Humanoid Robots without Porting | F. Kanehiro, N. Miyataka, S. Kajita, K. Fujiwara, H. Hirukawa, Y. Nakamura, K. Yamane, I. Kohara, Y. Kawamura, Y. Sankai | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2001 | ||
| The 3D Linear Inverted Pendulum Mode: A simple modeling for a biped walking pattern generation | S. Kajita, F. Kanehiro, K. Kaneko, K. Yokoi, H. Hirukawa | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2001 | ||
| Developmental Software Environment that is applicable to Small-size Humanoids and Life-size Humanoids | F. Kanehiro, M. Inaba, H. Inoue, H. Hirukawa, S. Hirai | IEEE International Conference on Robotics and Automation | 2001 |