経歴

金広 文男 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.

論文リストは完全ではない場合があります。特に2017年以前の論文については、更新作業を進めています。
タイトル 著者 学会/論文誌 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
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
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
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
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
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 2023
Synchronized Human-Humanoid Motion Imitation A. Dallard, M. Benallegue, F. Kanehiro, A. Kheddar IEEE Robotics and Automation Letters 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
Learning Bipedal Walking for Humanoids with Current Feedback R. Singh, Z. Xie, P. Gergondet, F. Kanehiro IEEE Access 2023
TransFusionOdom: Transformer-based LiDAR-Inertial Fusion Odometry Estimation L. Sun, G. Ding, Y. Qiu, Y. Yoshiyasu, F. Kanehiro IEEE Sensors Journal 2023
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
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
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
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
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
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
Benchmarking Cameras for OpenVSLAM Indoors K. Chappellet, G. Caron, F. Kanehiro, K. Sakurada, A. Kheddar IAPR/IEEE International Conference on Pattern Recognition 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
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
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
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
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
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
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
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
Multi-purpose SLAM framework for Dynamic Environment L. Sun, F. Kanehiro, I. Kumagai, Y. Yoshiyasu IEEE/SICE International Symposium on System Integration 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
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
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
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
On prioritized inverse kinematics tasks: Time-space decoupling W. Suleiman, Ko Ayusawa, F. Kanehiro, E. Yoshida IEEE International Workshop on Advanced Motion Control 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
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
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
Regrasp Planning Considering Bipedal Stability Constraints D. Sánchez, W. Wan, K. Harada, F. Kanehiro IEEE-RAS International Conference on Humanoid Robots 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
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
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
Detecting Errors in A Humanoid Robot J. Inoue, F. Kanehiro, M. Morisawa, A. Mori International Conference on Software Quality, Reliability and Security 2018
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
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
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
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
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
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
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
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
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