Model predictive control of legged and humanoid robots: models and algorithms

Sotaro Katayama, Masaki Murooka, Yuichi Tazaki

Advanced Robotics

Robot KinematicsEngineeringField RoboticsMotor ControlMpc Algorithms +15

Whole-body pushing manipulation with contact posture planning of large and heavy object for humanoid robot

Masaki Murooka, Shunichi Nozawa, Yohei Kakiuchi, +2

Robot KinematicsEngineeringDexterous ManipulationField RoboticsMotor Control +15

Humanoid Loco-Manipulation Planning Based on Graph Search and Reachability Maps

Masaki Murooka, Iori Kumagai, Mitsuharu Morisawa, +2

IEEE Robotics and Automation Letters

Robot KinematicsEngineeringField RoboticsVersatile Loco-manipulation PlanningObject Manipulation +18

Aerial Regrasping: Pivoting with Transformable Multilink Aerial Robot

Fan Shi, Moju Zhao, Masaki Murooka, +2

Robot KinematicsEngineeringAerial RegraspingDexterous ManipulationField Robotics +14

Design, Modeling and Control of Fully Actuated 2D Transformable Aerial Robot with 1 DoF Thrust Vectorable Link Module

Tomoki Anzai, Moju Zhao, Masaki Murooka, +3

EngineeringField RoboticsFlying RobotAerial RobotDof Thrust +14

Centroidal Trajectory Generation and Stabilization Based on Preview Control for Humanoid Multi-Contact Motion

Masaki Murooka, Mitsuharu Morisawa, Fumio Kanehiro

IEEE Robotics and Automation Letters

Robot KinematicsMulti-contact MotionEngineeringMotor ControlAdvanced Motion Control +15

Manipulation strategy decision and execution based on strategy proving operation for carrying large and heavy objects

Masaki Murooka, Shintaro Noda, Shunichi Nozawa, +3

Robot KinematicsEngineeringDexterous ManipulationStrategy FeasibilityField Robotics +21

Development of humanoid robot system for disaster response through team NEDO-JSK's approach to DARPA Robotics Challenge Finals

Yohei Kakiuchi, Kunio Kojima, Eisoku Kuroiwa, +8

Robot KinematicsHuman-robot Collaborative AssemblyEngineeringField RoboticsIntelligent Robotics +18

Humanoid Loco-Manipulations Pattern Generation and Stabilization Control

Masaki Murooka, Kévin Chappellet, Arnaud Tanguy, +5

IEEE Robotics and Automation Letters

Robot KinematicsEngineeringMotor ControlStabilization ControlKinesiology +14

Generating whole-body motion keep away from joint torque, contact force, contact moment limitations enabling steep climbing with a real humanoid robot

Shintaro Noda, Masaki Murooka, Shunichi Nozawa, +3

Robot KinematicsEngineeringMechanical EngineeringField RoboticsReal Humanoid Robot +21