37 citations · 99 across the 5 of their papers we have counts for
5 papers
Humanoid Loco-Manipulations Pattern Generation and Stabilization Control
Masaki Murooka, Kevin Chappellet, Arnaud Tanguy +5
In order for a humanoid robot to perform loco-manipulation such as moving an object while walking, it is necessary to account for sustained or alternating external forces other tha…
Humanoid Loco-manipulation Planning based on Graph Search and Reachability Maps
Masaki Murooka, Iori Kumagai, Mitsuharu Morisawa +2
In this letter, we propose an efficient and highly versatile loco-manipulation planning for humanoid robots. Loco-manipulation planning is a key technological brick enabling humano…
Optimization-based Posture Generation for Whole-body Contact Motion by Contact Point Search on the Body Surface
Masaki Murooka, Kei Okada, Masayuki Inaba
Whole-body contact is an effective strategy for improving the stability and efficiency of the motion of robots. For robots to automatically perform such motions, we propose a postu…
Centroidal Trajectory Generation and Stabilization based on Preview Control for Humanoid Multi-contact Motion
Masaki Murooka, Mitsuharu Morisawa, Fumio Kanehiro
Multi-contact motion is important for humanoid robots to work in various environments. We propose a centroidal online trajectory generation and stabilization control for humanoid d…
3D Object Segmentation for Shelf Bin Picking by Humanoid with Deep Learning and Occupancy Voxel Grid Map
Kentaro Wada, Masaki Murooka, Kei Okada +1
Picking objects in a narrow space such as shelf bins is an important task for humanoid to extract target object from environment. In those situations, however, there are many occlu…