Bio

Mitsuharu Morisawa received the Ph.D. degree in engineering from Keio University, Japan, in 2004. Researcher of the Intelligent Systems Research Institute, AIST from 2004. He was visiting researcher at the LAAS-CNRS, France from 2009 to 2010, and invited researcher at INRIA rhone-alples, France in 2011. Since 2020, he is deputy director of the Cooperative Research Laboratory at the CNRS-AIST JRL (Joint Robotics Laboratory), IRL, AIST, the co-chair the IEEE/RAS Technical committee on humanoid robotics. His research interests include whole body and multi-contact locomotion and its stabilization for humanoid robots.

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 pdf
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
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
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
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
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
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 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
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
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
A survey: dynamics of humanoid Robots T. Sugihara, M. Morisawa Advanced 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
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 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
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
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
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
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
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
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
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
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
Sound source localization using a single-point stereo microphone for robots F. Asano, M. Morisawa, K. Kaneko, K. Yokoi Asia-Pacific Signal and Information Processing Association Annual Summit and Conference 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
Motion Retargeting for Humanoid Robots Based on Identification to Preserve and Reproduce Human Motion Features Ko Ayusawa, M. Morisawa, E. Yoshida IEEE/RSJ International Conference on Intelligent Robots and Systems 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
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
Risk Evaluation of Ground Surface Using Multichannel Foot Sensors for Biped Robots F. Asano, H. Asoh, M. Morisawa, S. Kajita, K. Yokoi International Symposium on Robotic and Sensors Environments 2014
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
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 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
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
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
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
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
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
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
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
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
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
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
Two-Stage Time-Parametrized Gait Planning for Humanoid Robots K. Harada, S. Hattori, H. Hirukawa, M. Morisawa, S. Kajita, E. Yoshida IEEE-ASME Transactions on Mechatronics 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
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
Reactive Stepping to Prevent Falling for Humanoids M. Morisawa, K. Harada, S. Kajita, K. Kaneko, J. Sola, E. Yoshida, N. Mansard, K. Yokoi, J.-P. Laumond 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
Cybernetic Human HRP-4C K. Kaneko, F. Kanehiro, M. Morisawa, K. Miura, S. Nakaoka, S. Kajita IEEE-RAS International Conference on Humanoid Robots 2009
Kinodynamic Planning for Humanoid Robots walking on Uneven Terrain K. Harada, M. Morisawa, S. Nakaoka, K. Kaneko, S. Kajita Journal of Robotics and Mechatronics 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
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
Kinodynamic gait planning for full-body humanoid robots K. Harada, M. Morisawa, K. Miura, S. Nakaoka, K. Fujiwara, K. Kaneko, S. Kajita IEEE/RSJ International Conference on Intelligent Robots and Systems 2008
A Friction Based ``Twirl'' for Biped Robots K. Miura, S. Nakaoka, M. Morisawa, K. Harada, S. Kajita 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
A Pattern Generator of Humanoid Robots Walking on a Rough Terrain K. Koyanagi, H. Hirukawa, S. Hattori, M. Morisawa, S. Nakaoka, K. Harada, S. Kajita IEEE/RSJ International Conference on Intelligent Robots and Systems 2007
Motion Planning for Walking Pattern Generation of Humanoid Robots K. Harada, S. Hattori, H. Hirukawa, M. Morisawa, S. Kajita, E. Yoshida 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
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
ZMP-based Biped Running Enchanced by Toe Springs S. Kajita, K. Kaneko, M. Morisawa, S. Nakaoka 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
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
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
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