37 citations · 121 across the 8 of their papers we have counts for
11 papers · 1 filter
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proposes a control method for autonomous forklifts to unload pallets on inclined surfaces, enabling the fork to be withdrawn without dragging the pallets.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…