KH
Publications
- Manipulation Planning for Large Objects through Pivoting, Tumbling, and Regrasping
- Preparatory manipulation planning using automatically determined single and dual arm
- Re-posing Objects Considering Bipedal Stability Constraints: An Approach for Stability Preservation during Humanoid Manipulation
- Assembly Motion Recognition Framework Using only Images
- Probabilistic Action/Observation Planning for Playing Yamakuzushi
- Hedgehog Signal Inhibitor GANT61 Inhibits the Malignant Behavior of Undifferentiated Hepatocellular Carcinoma Cells by Targeting Non-Canonical GLI Signaling
- Planning a Minimum Sequence of Positions for Picking Parts From Multiple Trays Using a Mobile Manipulator
- Category-Association Based Similarity Matching for Novel Object Pick-and-Place Task
- A topological solution of entanglement for complex-shaped parts in robotic bin-picking
- Assembly planning by recognizing a graphical instruction manual
- Bimanual shelf picking planner based on collapse prediction
- Challenges and Outlook in Robotic Manipulation of Deformable Objects
- Ontrolling pivoting gait using graph model predictive control
- Error identification and recovery in robotic snap assembly
- Robotic imitation of human assembly skills using hybrid trajectory and force learning
- Planning to repose long and heavy objects considering a combination of regrasp and constrained drooping
- A dual-arm robot that autonomously lifts up and tumbles heavy plates using crane pulley blocks
- Motion generation by learning relationship between object shapes and human motions
- Robotic picking for piled sushi topping
- Using various evaluation standards to determine an error recovery process in an automation plant
- Planning a sequence of base positions for a mobile manipulator to perform multiple pick-and-place tasks
- Multi-pen robust robotic 3D drawing using closed-loop planning
- Four-Arm collaboration: Two dual-arm robots work together to maneuver tethered tools
- A Mechanical Screwing Tool for 2-Finger Parallel Grippers – Design, Optimization, and Manipulation Policies
- Development of a Shape-memorable Adaptive Pin Array Fixture
- Arranging Test Tubes in Racks Using Combined Task and Motion Planning
- Integrating combined task and motion planning with compliant control successfully conducting planned dual-arm assembly motion using compliant peg-in-hole control
- Functionally divided manipulation synergy for controlling multi-fingered hands
- Planning to build soma blocks using a dual-arm robot
- Learning force control for contact-rich manipulation tasks with rigid position-controlled robots
- Planning an efficient and robust base sequence for a mobile manipulator performing multiple pick-and-place tasks
- Planning to Build Block Structures With Unstable Intermediate States Using Two Manipulators
- Cooking Actions Inference based on Ingredient's Physical Features
- Online Object Searching by a Humanoid Robot in an Unknown Environment
- Presenting walking route for VR zombie
- Robust Robotic 3-D Drawing Using Closed-Loop Planning and Online Picked Pens
- Integrating combined task and motion planning with compliant control: Successfully conducting planned dual-arm assembly motion using compliant peg-in-hole control
- Planning Grasps with Suction Cups and Parallel Grippers Using Superimposed Segmentation of Object Meshes
- Hybrid Trajectory and Force Learning of Complex Assembly Tasks: A Combined Learning Framework
- Pomdp-based action planning for the recognition of occluded objects with humanoid robots
- Motion planning of skillful motions in assembly process through human demonstration
- A Mechanical Screwing Tool for Parallel Grippers—Design, Optimization, and Manipulation Policies
- Four-Arm Collaboration: Two Dual-Arm Robots Work Together to Manipulate Tethered Tools
- Planning to flip heavy objects considering soft-finger contacts
- An Adaptive Imitation Learning Framework for Robotic Complex Contact-Rich Insertion Tasks
- Emerging Paradigms for Robotic Manipulation: From the Lab to the Productive World [From the Guest Editors]
- Shelf Replenishment Based on Object Arrangement Detection and Collapse Prediction for Bimanual Manipulation
- Selection of Optimal Error Recovery Process using Evaluation Standards in Automated Plants
- Controlling Pivoting Gait Using Graph Model Predictive Control
- Cost-oriented Planning for Error Recovery in an Automation Plant
- Arm Manipulation Planning of Tethered Tools with the Help of a Tool Balancer
- Team O2AS' approach for the task-board task of the World Robot Challenge 2018
- Team O2AS at the world robot summit 2018: an approach to robotic kitting and assembly tasks using general purpose grippers and tools
- Special issue on artificial intelligence and machine learning for robotic manipulation
- Obstacle Avoidance Method in Real Space for Virtual Reality Immersion
- Motion Planning through Demonstration to Deal with Complex Motions in Assembly Process
- Designing Grasping Tools for Robotic Assembly Based on Shape Analysis of Parts
- Special issue on Industrial Robot Technology–Selected Papers from WRS 2018
- Speech-driven facial animation by LSTM-RNN for communication use
- Tethered Tool Manipulation Planning with Cable Maneuvering
- A Double-jaw Hand that Mimics A Mouth of the Moray Eel
- Walking Assist Method for VR Zombie
- Real Friendship and Virtual Friendship: Differences in Similarity of Contents/People and Proposal of Classification Models on SNS
- Two-Stage Picking Method for Piled Shiny Objects
- A regrasp planning component for object reorientation
- Multi-dimensional Error Identification during Robotic Snap Assembly
- Learning based industrial bin-picking trained with approximate physics simulator
- Learning to Grasp with Primitive Shaped Object Policies
- Visually guided extrinsic manipulation for assembly tasks
- A simple assembly planner for the insertion of ring-shaped deformable objects
- Recognition of Assembly Tasks Based on the Actions Associated to the Manipulated Objects
- Force Control Law Selection for Elastic Part Assembly from Human Data and Parameter Optimization
- Constrained Motion Planning for Flipping Stick-like Objects
- Using Importance Ranks to Derive Suitable Timing of Visual Sensing in Manipulation Task Containing Error Recovery
- Motion-Data Driven Grasp/Assembly Planner
- Variable Compliance Control for Robotic Peg-In-Hole Assembly: A Deep-Reinforcement-Learning Approach
- Variable compliance control for robotic peg-in-hole assembly: A deep reinforcement learning approach
- Selecting and designing grippers for an assembly task in a structured approach
- User interface and motion planner for task database
- Human-in-the-loop robotic manipulation planning for collaborative assembly
- Planning grasps for assembly tasks
- Designing a mechanical tool for robots with 2-finger parallel grippers
- A Double Jaw Hand Designed for Multi-Object Assembly
- Combined Task and Motion Planning for a Dual-Arm Robot to Use a Suction Cup Tool
- Learning Based Robotic Bin-picking for Potentially Tangled Objects
- Regrasp Planning Using Stable Object Poses Supported by Complex Structures
- Regrasp Planning Considering Bipedal Stability Constraints
- Humanoid walking pattern generation based on model predictive control approximated with basis functions
- Multi-contact stability of humanoids using zmp and cwc
- Special issue on real-world application
- Quickly Inserting Pegs into Uncertain Holes using Multi-view Images and Deep Network Trained on Synthetic Data
- Deep Learning Scooping Motion Using Bilateral Teleoperations
- Dual-arm Assembly Planning Considering Gravitational Constraints
- Tool exchangeable grasp/assembly planner
- Realizing an assembly task through virtual capture
- Designing a Mechanical Tool for Robots with Two-Finger Parallel Grippers
- A Hand Combining Two Simple Grippers to Pick Up and Arrange Objects for Assembly
- Teaching a robot to use electric tools with regrasp planning
- Real-time Planning Robotic Palletizing Tasks using Reusable Roadmaps
- Towards Tethered Tool Manipulation Planning with the Help of a Tool Balancer
- Planning dexterous dual-arm manipulation
- Humanoids
- Grasp Synergy Analysis Based on Contact Area of Fingers Using Thermal Signatures
- Teaching robots to do object assembly using multi-modal 3D vision
- Industry 4.0, intelligent visual assisted picking approach
- Rope caging and grasping
- Proposal of a shape adaptive gripper for robotic assembly tasks
- Robot introspection with Bayesian nonparametric vector autoregressive hidden Markov models
- Special Issue on Recent Advancements on Industrial Robot Technology
- Contextualized early failure characterization of cantilever snap assemblies
- Analyzing the utility of a support pin in sequential robotic manipulation
- Regrasp planning using 10,000s of grasps
- Modeling development process of skill-based system for human-like manipulation robot
- Integrated single-arm assembly and manipulation planning using dynamic regrasp graphs
- A virtual capture framework for assembly tasks
- A brief review of affordance in robotic manipulation research
- Experiments on learning-based industrial bin-picking with iterative visual recognition
- Walking Support in Real Space Using Social Force Model When Wearing Immersive HMD
- Grasp stability evaluation based on energy tolerance in potential field
- Simulation-based optimal motion planning for deformable object
- Achieving high success rate in dual-arm handover using large number of candidate grasps, handover heuristics, and hierarchical search
- Self-locking Underactuated Mechanism for Robotic Gripper
- An empirical comparison among the effect of different supports in sequential robotic manipulation
- Assembly sequence planning for motion planning
- Estimation and Categorization of Errors in Error Recovery Using Task Stratification and Error Classification
- Error Recovery of Pick-and-Place Tasks in Consideration of Reusability of Planning
- The Suitable Timing of Visual Sensing in Error Recovery Using Task Stratification and Error Classification
- Optimizing the Motion for Robotic Snap Assembly Using FEM
- Preparatory Manipulation Planning using Automatically Determined Single and Dual Arms
- Tool exchangeable grasp/assembly planner
- Experiments on learning based industrial bin-picking with iterative visual recognition
- Human inspired dexterity in robotic manipulation
- A framework for systematic accumulation, sharing and reuse of task implementation knowledge
- Optimizing the parameters of tilting surfaces in robotic workcells
- Online robot introspection via wrench-based action grammars
- Motion generation for pulling a fire hose by a humanoid robot
- Robot contact task state estimation via position-based action grammars
- Initial experiments on learning-based randomized bin-picking allowing finger contact with neighboring objects
- Motion planning for dual-arm assembly of ring-shaped elastic objects
- Experimental investigation of effect of fingertip stiffness on resistible force in grasping
- Research trends on assembly automation by using industrial robots
- Base position planning for dual-arm mobile manipulators performing a sequence of pick-and-place tasks
- Divide-and-conquer manipulation planning by lazily searching a weighted two-layer manipulation graph
- Extracting grasping, contact points and objects motion from assembly demonstration
- Special issue on advanced manipulation
- An Adaptive Robotic Gripper with L-Shape Fingers for Peg-in-Hole Tasks
- Developing and Comparing Single-Arm and Dual-Arm Regrasp
- Design of robot programming software for the systematic reuse of teaching data including environment model
- Human-based framework for the assembly of elastic objects by a dual-arm robot
- Iterative Visual Recognition for Learning Based Randomized Bin-Picking
- Robot technology to support manufacturing industry
- Motion planning for a humanoid robot based on a biped walking pattern generator
- Collision avoidance planning of a humanoid robot under dynamic walking
- Reactive stepping to prevent falling for humanoids
- Humanoid robot that achieves bipedal walk, visual recognition, and multiple finger grasp
- Modeling of everyday objects for semantic grasp
- Toward human-like walking pattern generator
- Probabilistic approach for object bin picking approximated by cylinders
- Probabilistic state verification for snap assemblies using the relative-change-based hierarchical taxonomy
- Slip turn generation of humanoid robots based on an analysis of friction model
- Early failure characterization of cantilever snap assemblies using the PA-RCBHT
- Grasp planning for multi-fingered hands based on rectangular convex models
- Pick-and-place motion planning for manipulators with dual-arms
- Reorientating objects with a gripping hand and a table surface
- Selecting a suitable grasp motion for humanoid robots with a multi-fingered hand
- Grasp planning for constricted parts of objects approximated with quadric surfaces
- A constraint-based motion control strategy for cantilever snap assemblies
- Pick and place planning for dual-arm manipulators
- Robot motion remix based on motion capture data - Towards human-like locomotion of humanoid robots
- Biped walking stabilization based on linear inverted pendulum tracking
- Validating an object placement planner for robotic pick-and-place tasks
- Grasp planning using quadric surface approximation for parallel grippers
- Project on Development of a Robot System for Random Picking-Grasp/manipulation planner for a dual-arm manipulator
- Object placement planner for robotic pick and place tasks
- Error recovery using task stratification and error classification for manipulation robots in various fields
- Gradient calibration for the RCBHT cantilever snap verification system
- A manipulation motion planner for dual-arm industrial manipulators
- A pattern generator of humanoid robots walking on a rough terrain using a handrail
- Selecting a suitable grasp motion for humanoid robots with a multi-fingered hand
- Grasp Planning for a Humanoid Hand
- Grasp planning for parallel grippers with flexibility on its grasping surface
- A friction based "twirl" for biped robots
- Cantilever snap assemblies failure detection using SVMs and the RCBHT
- Analysis on a friction based "twirl" for biped robots
- Model-based optimization for robotics
- A relative-change-based hierarchical taxonomy for cantilever-snap assembly verification
- Cybernetic human HRP-4C: A humanoid robot with human-like proportions
- Strategies, controllers, and coordination: Bi-manual snap assembly automation
- Simultaneous whole-body/foot-place planning for full-body humanoid robots
- Stability of soft-finger grasp under gravity
- Task autonomy for a teleoperated humanoid robot
- Grasp stability analysis for elastic fingertips by using potential energy
- Two-stage time-parametrized gait planning for humanoid robots
- Kinodynamic gait planning for full-body humanoid robots
- Preface
- Motion planning for humanoid robots
- Introduction to Humanoid Robotics
- Fast grasp planning for hand/arm systems based on convex model
- Humanoid robot HRP-3
- Motion planning for legged robots on varied terrain
- Falling motion control of a humanoid robot trained by virtual supplementary tests
- Biped walking on a low friction floor
- Manipulation of 3D enveloped object
- Analysis on Detaching Assist Motion (DAM)
- Integration of manipulation and locomotion by a humanoid robot
- Real-time planning of humanoid robot's gait for force-controlled manipulation
- Motion planning for walking pattern generation of humanoid robots
- Towards whole arm manipulation by contact state transition
- A biped pattern generation allowing immediate modification of foot placement in real-time
- A neuro-based adaptive training method for robotic rehabilitation aids
- A universal stability criterion of the foot contact of legged robots - Adios ZMP
- Dynamics and balance of a humanoid robot during manipulation tasks
- Natural motion generation for humanoid robots
- Pattern generation of biped walking constrained on parametric surface
- Towards an optimal falling motion for a humanoid robot
- Experimentation of humanoid walking allowing immediate modification of foot place based on analytical solution
- Motion suspension system for humanoids in case of emergency - Real-time motion generation and judgment to suspend humanoid
- Slip observer for walking on a low friction floor
- Dexterous Humanoid Whole-Body Manipulation by Pivoting
- H.Hirukawa, “Motion suspension system for humanoids in case of emergency; real-time motion generation and judgment to suspend humanoid
- Experimentation of humanoid walking allowing immediate modication of foot place based on analytical solution
- Whole body manipulation
- Emergency stop algorithm for walking humanoid robots
- The tele-operation of the humanoid robot - Whole body operation for humanoid robots in contact with environment
- Whole body locomotion planning of humanoid robots based on a 3D grid map
- A sufficient condition for manipulation of envelope family
- Analysis of frictional forces in indeterminate enveloping grasps
- A humanoid robot carrying a heavy object
- Object manipulation under hybrid active/passive closure
- Tactile Differentiator
- Biped walking pattern generator allowing auxiliary ZMP control
- Real-time planning of humanoid robot's gait for force controlled manipulation
- An analytical method on real-time gait planning for a humanoid robot
- Dynamical balance of a humanoid robot grasping an environment
- The First Human-size Humanoid that can Fall over Safely and Stand-up Again
- ZMP Analysis for ARM/Leg Coordination
- Resolved Momentum Control: Humanoid Motion Planning Based on the Linear and Angular Momentum
- Pushing manipulation by humanoid considering two-kinds of ZMPs
- Pushing manipulation for multiple objects
- Torque distribution for achieving a hugging walk
- Dynamic friction closure
- Pushing multiple objects using equivalent friction center
- Using motion primitives in probabilistic sample-based planning for humanoid robots
- Locomotion Planning of Humanoid Robots to Pass Through Narrow Spaces
- Active force closure for multiple objects
- Experimental evaluation of the dynamic simulation of biped walking of humanoid robots
- The first humanoid robot that has the same size as a human and that can lie down and get up
- Biped walking pattern generation by using preview control of zero-moment point
- H.: Biped walking pattern generator allowing auxiliary zmp control
- An optimal planning of falling motions of a humanoid robot
- Manipulation of enveloped object with elasticity at contact points
- Necessary and sufficient number of fingers for capturing pyramidal-like objects
- Kinematics and internal force in grasping multiple objects
- Enveloping grasp feasibility inequality
- Manipulation of enveloped multiple objects
- Internal Stabilization in Dynamic Hybrid Position/Force Control of Flexible Manipulators by Macro-Micro System
- Scale-dependent grasps
- 0 Grasp Planning for a Humanoid Hand
- 24 Dexterous Humanoid Whole-Body Manipulation by Pivoting
- Enveloping Grasp with a New Detaching Strategy
- Pattern generation of biped walking constrained on parametric surface
- Kinodynamic Gait Planning for Full-Body Humanoid
- A Universal Stability Criterion of the Foot Contact of Legged Robots
- Internal stabilization in dynamic trajectory control of flexible manipulators
- Hybrid position/force control of flexible manipulators by macro-micro manipulator system
- Trajectory control of cartesian type industrial manipulators with flexible joints
- Hybrid position/force control of flexible-macro/rigid-micro manipulator systems
- Trajectory control of Cartesian-type robotic mechanisms with flexible joints
- Grasp and manipulation for multiple objects
- Enveloping grasp for multiple objects
- Rolling based manipulation under neighborhood equilibrium
- Sufficient condition for manipulation of envelope family
- Rolling based manipulation for multiple objects
- Neighborhood equilibrium grasp for multiple objects
- Rolling-based manipulation for multiple objects
- Motion Planning of Emergency Stop for Humanoid Robot by State Space Approach
- A Pattern Generator of Humanoid Robots Walking on a Rough Terrain
- Development of Multi-fingered Hand for Life-size Humanoid Robots
- Easy and Fast Evaluation of Grasp Stability by using Ellipsoidal Approximation of Friction Cone
- Graph Based Framework on Bimanual Manipulation Planning from Cooking Recipe
- Graph-Based Framework on Bimanual Manipulation Planning from Cooking Recipe
- Online Multi-Contact Motion Replanning for Humanoid Robots with Semantic 3D Voxel Mapping: ExOctomap