37 citations · 134 across the 11 of their papers we have counts for
12 papers
ICP-Based Pallet Tracking for Unloading on Inclined Surfaces by Autonomous Forklifts
Takuro Kato, Mitsuharu Morisawa
This paper proposes a control method for autonomous forklifts to unload pallets on inclined surfaces, enabling the fork to be withdrawn without dragging the pallets. The proposed m…
Learning Differentiable Reachability Maps for Optimization-based Humanoid Motion Generation
Masaki Murooka, Iori Kumagai, Mitsuharu Morisawa +1
To reduce the computational cost of humanoid motion generation, we introduce a new approach to representing robot kinematic reachability: the differentiable reachability map. This…
TACT: Humanoid Whole-body Contact Manipulation through Deep Imitation Learning with Tactile Modality
Masaki Murooka, Takahiro Hoshi, Kensuke Fukumitsu +5
Manipulation with whole-body contact by humanoid robots offers distinct advantages, including enhanced stability and reduced load. On the other hand, we need to address challenges…
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…
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…
Whole-body Multi-contact Motion Control for Humanoid Robots Based on Distributed Tactile Sensors
Masaki Murooka, Kensuke Fukumitsu, Marwan Hamze +4
To enable humanoid robots to work robustly in confined environments, multi-contact motion that makes contacts not only at extremities, such as hands and feet, but also at intermedi…
Robust Humanoid Walking on Compliant and Uneven Terrain with Deep Reinforcement Learning
Rohan P. Singh, Mitsuharu Morisawa, Mehdi Benallegue +2
For the deployment of legged robots in real-world environments, it is essential to develop robust locomotion control methods for challenging terrains that may exhibit unexpected de…
Humanoid Robot RHP Friends: Seamless Combination of Autonomous and Teleoperated Tasks in a Nursing Context
Mehdi Benallegue, Guillaume Lorthioir, Antonin Dallard +15
This paper describes RHP Friends, a social humanoid robot developed to enable assistive robotic deployments in human-coexisting environments. As a use-case application, we present…
Learning Bipedal Walking for Humanoid Robots in Challenging Environments with Obstacle Avoidance
Marwan Hamze, Mitsuharu Morisawa, Eiichi Yoshida
Deep reinforcement learning has seen successful implementations on humanoid robots to achieve dynamic walking. However, these implementations have been so far successful in simple…
Learning Bipedal Walking On Planned Footsteps For Humanoid Robots
Rohan Pratap Singh, Mehdi Benallegue, Mitsuharu Morisawa +2
Deep reinforcement learning (RL) based controllers for legged robots have demonstrated impressive robustness for walking in different environments for several robot platforms. To e…
Lyapunov-Stable Orientation Estimator for Humanoid Robots
Mehdi Benallegue, Rafael Cisneros, Abdelaziz Benallegue +3
In this paper, we present an observation scheme, with proven Lyapunov stability, for estimating a humanoid's floating base orientation. The idea is to use velocity aided attitude e…