37 citations · 61 across the 3 of their papers we have counts for
4 papers
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…
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…
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…